1Sensor Devices and Interfacing Introduction

Sensors and Interfacing（DCN3701/1094）

感測與介面

宋開泰教授

國立交通大學電機與控制系

工程五館 EE709

Phone：5731865（校內分機：31865）E-mail：ktsong@mail.nctu.edu.tw URL：http://isci.cn.nctu.edu.tw

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在智慧型機器及自動控制系統中，感測器是基本的組成元件之一。近年來由於材料科學與微機電(MEMS)技術的進步，各種新型的感測裝置不斷推陳出新，對提升產品的智慧性與市場競爭力有重要的貢獻。本課程之主要目的在訓練學生有關感測器應用的技術，課程內容將著重使學生熟悉各種常用感測器之工作原理與其介面電路。本課程討論之範圍包括感測訊號的特性與其處理方法、感測與轉換的基本原理、感測器的動態與靜態特性、介面電路設計及應用實例等等。為了加深學生對實際感測器應用的了解，本課程安排有具代表性的六個感測實習。成績的評定包含作業、實驗報告、期中考、及期末考。

課程說明

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Sensors in a control system(servo-loop)

Sensor: To measure actual system states Actuator: General some kind of effort to do some work (e.g. a DC motor)Processor (Microcontroller): Calculated or decide the control signal.

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課程教材及參考書目

教材:

• 感測與介面課程講義, 感測實驗講義參考書目:• John P. Bentley, Principles of Measurement Systems, Third

Edition, Longman Scientific Technical, 1995

• Ramon Pallas-Areny and John G. Webster, Sensors and Signal Conditioning, 2nd Ed., John Wiley and Sons, 2001

• J. Michael Jacob, Industrial Control Electronics, Prentice Hall, 1988

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感測器之應用

• 工業自動化系統• 安全監控系統• 3C多媒體系統• 智慧型運輸系統• 互動式玩具• 智慧型機器人• …

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From Intelligent Transport Systems and Services published by ERTICO

Adaptive Cruise Control (ACC) System

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From: IEEE Spectrum, Jan, 2002

Intelligent vehicles(IV)

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Segway: Gyros and Accelerometers are used for dynamic balance control.

From: Times, Dec. 10, 2001

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Home robot at $199

From: Time

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Vacuum cleaning logic

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智慧型機器人未來發展

• 近幾年來，智慧型自主式機器人(Intelligent autonomous robots)的研發逐漸受到普遍的重視，尤其是醫學(Medical)及服務性(Service)機器人已有成功商品化的實例，許多國家(如日本、歐盟、南韓)皆已展開許多研發計畫。以人為中心之機器人系統(Human-centered robotic systems)將逐漸走入社會，如醫院、機場、博物館、及家庭。另一方面，人口的高齡化已是未來社會的趨勢，幫助老年人的機器人將有其實用性。

日本BANDAI

圖片提供／星報

美國獨立科技公司

2004/04/03 世界日報

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Sony QRIO

From IEEE Spectrum, June 2004

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From: Time

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Easybot

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U10

045

05.22

U11

U12

U9

U8

U7

U6U5U4

U2

U3

U1

S1

S2

S3

S4

S5

RangeModule

BatteryModule

AT89C51

Ultrasonic sensor system

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Infrared Sensor

(1)FrontIR LED

(2) IRreceiver

(3)LeftLED

(4) Back LED

(5)Right LED

(6)IR sensorboard

Robot heading

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Infrared Sensor

• Low interval of transmitted signal– Start bit :1120 μs – Logic 1 :1560 μs – Logic 0 :2200 μs

• Received signal code550 μs

1120 μs 1560 μs 2200 μs

Start 1 0

26μs

550μs

550 μs

1120 μs 1560 μs 2200 μs

Start 1 0

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Real-Time Image Processing System

CMOS Sensor ICM205B

Frame Buffer AL422B

TI TMS320C6416 DSK

FPGA BoardALTERA FLEX10K50E240-3

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Eye-in-Hand Configuration

• The robot is equipped a 3 degree-of-freedom manipulator to grasp objects.• Eye-in-hand configuration for camera mounting.• Real-time robotic vision system for image processing.• Foot and gripper motion control cards to activate motors.

Foot and gripperMotion control card

IPC

BatteryBattery

CMOS sensor board

Real-time robotic vision system

Power supply (DC-DC converter)

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Face Tracking Platform

CMOS sensor

Tilt motor

Pan motor

Motion control part

Image Processing System

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Wireless sensor network components for bird watching

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Sensor Network

• Many tiny computers with sensors which are connected to a main computer using wireless communication. Analysis and control are performed on the main computer for specific applications.

Computers shrinks to the size of a sand, only a small computing power is needed. However, sensing and communication capacity is integrated.

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Significance of Sensor Network Technology

- A new stage of computing- Extension of Internet- Represents next technology of a sensor

revolution- Intelligent environment (room, building,

field,…)

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Applications

- Health-care centers (Intel)- Supermarkets (Wal-Mart)- Oil and water pipe-lines (Shell Oil Co.)- Web Service(Ember Corp., Boston)- Smart Tags(RFID) for warehouses- Thermal control (Tyco)- Military

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2.4G RFID Tag

源力科技

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Various Terms for Sensor Devices

• Sensors are devices that provide an instrumentation system with input signals

• A transducer is a sensing device that provides a usable electrical output to a specific measurand

• Measurand: the quantity that is to be measured• Transmitters are used in process industry• Detectors are used in optical measurement• Load cells are used in measurement of force• Gages, pickups, probes,...

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Introduction

Sensors and transducers are used in connection with measurement. Two most important applications are instrumentation and automatic control.

• Purpose of measurement system

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General measurement system

InputTrue value

Sensingelement

Signalconditioning

element

SignalProcessing

element

DataPresentation

element

OutputMeasured value

Measurand: the quantity that is to be measured

一個物理量之量測通常經過四個元件:

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電子體重計

• 例如：電子秤：(fig)

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CCD或CMOS影像sensor

自動對焦

自動曝光

自動背光補償

閃光燈

鏡頭DSP數位訊號處理器

影像暫存器記憶體(SRAM)

影像壓縮與解壓縮

影像儲存裝置(Flash memory)

系統控制中央處理器

使用者介面user I/O

電源管理

通訊介面輸入/輸出

螢幕顯示Driver LCD

影像擷取(sensing)

影像壓縮與儲存

數位訊號處理

系統控制與I/O

視訊輸出

數位影像輸出

網路卡電腦(USB介面)數據機Modem無線通訊(藍芽技術)

數位相機系統方塊圖

資料來源：產業調查與技術季刊,89年4月

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章節安排 (Organization of the course)

1. 感測系統介紹

2. 感測元件之靜態特性

3. 感測元件器之動態特性與動態誤差

4. 量測標準與校準實驗

5. 應用電阻變化之感測器

6. 應用電容、電感變化之感測器

7. 電磁作用感測器

8. 熱電效應及熱電耦

9. 壓電效應及壓電感測器、

10.光感測器、軸編碼器、伺服系統感測器

11.生理訊號感測器、IC感測器、壓阻感測器

12.訊號調整電路

13.負載效應

14.系統雜訊與雜訊消除方法

Sensors in a control system(servo-loop)課程教材及參考書目感測器之應用Home robot at $199Vacuum cleaning logic智慧型機器人未來發展Infrared SensorInfrared SensorReal-Time �Image Processing SystemEye-in-Hand ConfigurationFace Tracking PlatformSensor NetworkSignificance of Sensor Network TechnologyApplications2.4G RFID Tag Various Terms for Sensor DevicesIntroductionGeneral measurement system�電子體重計章節安排 (Organization of the course)