Robobot linesensor description - Revision history

Jca: /* Sensor values */

2024-01-10T14:11:05Z

Sensor values

← Older revision		Revision as of 16:11, 10 January 2024
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	[[File:line-sensor-1_values.png \| 400px]]		[[File:line-sensor-1_values.png \| 400px]]

	Figure. The line becomes valid after about 0.3 seconds; ~~here,~~ the left edge (red) is ~~seen~~ 6cm to the left (of the robot centre line). The robot then turned left, a bit too much, and then kept the left edge centered with the robot.		Figure. The line becomes valid after about 0.3 seconds; the left edge (red) is 6cm to the left (of the robot's centre line). The robot then turned left a bit too much and then kept the left edge centered with the robot.
	The line width (green dotted) is estimated to be about 5cm; it is 4.3cm, so it is a bit over-estimated.		The line width (green dotted) is estimated to be about 5cm; it is 4.3cm, so it is a bit over-estimated.
	After 2 seconds, the line width expands to about 7 cm~~, but this does not trigger the crossing line flag, as the threshold is set to 8cm.~~		After 2 seconds, the line width expands to about 7 cm.
	~~After 4 seconds, a crossing line is detected~~.

	== Edge drive ==		== Edge drive ==

Jca: /* extracted edge data */

2024-01-10T14:09:15Z

extracted edge data

← Older revision		Revision as of 16:09, 10 January 2024
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	% 3 Left edge position(m)		% 3 Left edge position(m)
	% 4 Right edge position (m)		% 4 Right edge position (m)
	% 5 Crossing valid		% 5 Crossing valid (width > 8cm) - removed in newer versions
	% 6 Line width (m)		% 6 Line width (m)
	1703755938.9043 0 -0.000 -0.000 0 0.0000		1703755938.9043 0 -0.000 -0.000 0 0.0000

Jca: /* extracted edge data */

2024-01-10T14:08:08Z

extracted edge data

← Older revision		Revision as of 16:08, 10 January 2024
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	% Calib black 121 105 144 147 123 142 124 90		% Calib black 121 105 144 147 123 142 124 90
	% White threshold (of 1000) 700		% White threshold (of 1000) 700
	~~% Crossing line level (m) 0.080000~~
	% 1 Time (sec)		% 1 Time (sec)
	% 2 Edge valid		% 2 Edge valid
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	1703755940.6801 1 -0.001 -0.053 0 0.0517		1703755940.6801 1 -0.001 -0.053 0 0.0517
	1703755940.6879 1 -0.001 -0.051 0 0.0497		1703755940.6879 1 -0.001 -0.051 0 0.0497


	=== Sensor heat map ===		=== Sensor heat map ===

Jca: /* Edge detect (medge) */

2024-01-10T14:07:57Z

Edge detect (medge)

← Older revision		Revision as of 16:07, 10 January 2024
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	== Edge detect (medge) ==		== Edge detect (medge) ==

	This module normalizes the sensor data based on a sensor calibration, then three data items are extracted from the data:		This module normalizes the sensor data based on a sensor calibration; then three data items are extracted from the data:

	* Left edge (in meters relative to the robot ~~center~~ axis)		* Left edge (in meters relative to the robot centre axis)
	* Right edge (m)		* Right edge (m)
	* Line width (m)		* Line width (m)

	~~In addition, two flags are generated:~~		These three values are valid only if the 'edge valid' flag is true. Otherwise, the values will be zero.

	* Edge valid
	* Crossing valid

	~~The~~ three ~~first~~ values are valid only if the 'edge valid' flag is true.

	=== Edge detect option ===		=== Edge detect option ===

Jca: /* Edge detect option */

2024-01-10T14:06:25Z

Edge detect option

← Older revision		Revision as of 16:06, 10 January 2024
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	calibblack = 121 105 144 147 123 142 124 90 (average raw values when looking at something black)		calibblack = 121 105 144 147 123 142 124 90 (average raw values when looking at something black)
	whitethreshold = 700 (normalized value for detection of white)		whitethreshold = 700 (normalized value for detection of white)
	~~crossingwidth = 0.08 (in meters. Line width for flagging a crossing line)~~
	~~crossingwidthd = 1 (an additional factor added to the line width, if the width increases (factor on change since the last sample)).~~
	log = true (log detections (to log_edge.txt))		log = true (log detections (to log_edge.txt))
	print = false (print detections to the console)		print = false (print detections to the console)

Jca: /* Line sensor calibration */

2023-12-29T13:19:20Z

Line sensor calibration

← Older revision		Revision as of 15:19, 29 December 2023
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	The calibration influences how the data is normalized. See the data analysis below.		The calibration influences how the data is normalized.

			See the data analysis below.

	==== Calibrate on white ====		==== Calibrate on white ====

Jca: /* Calibrate on black */

2023-12-29T13:18:30Z

Calibrate on black

← Older revision		Revision as of 15:18, 29 December 2023
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	==== Calibrate on black ====		==== Calibrate on black ====

	* Place the robot on a homogeneous black surface, i.e., a black piece of paper or looking at something far away.		* Place the robot on a homogeneous black surface, i.e., a black piece of paper or looking at something far away. Another alternative is looking at the darkest floor you can find.
	Another alternative is looking at the darkest floor you can find.
	* start the ''raubase'' with a --black parameter.		* start the ''raubase'' with a --black parameter.

Jca: /* Line sensor calibration */

2023-12-29T13:18:14Z

Line sensor calibration

← Older revision		Revision as of 15:18, 29 December 2023
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	=== Line sensor calibration ===		=== Line sensor calibration ===

	~~To calibrate~~ the ~~edge sensor:~~
			The calibration influences how the data is normalized. See the data analysis below.

	==== Calibrate on white ====		==== Calibrate on white ====

	* ~~place~~ the robot so that the sensor illuminates a white line (the illumination will turn on during calibration, so repeat if you didn't hit the line first time).		To calibrate the edge sensor:
	* ~~start~~ the ''raubase'' with a white parameter; Note the new values will overwrite the old value in the robot.ini configuration file!:
			* Place the robot so that the sensor illuminates a white line (the illumination will turn on during calibration, so repeat if you didn't hit the line first time).
			* Start the ''raubase'' with a white parameter; Note the new values will overwrite the old value in the robot.ini configuration file!:

	cd svn/robobot/raubase/build		cd svn/robobot/raubase/build
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	==== Calibrate on black ====		==== Calibrate on black ====

	~~Calibrate on black should be~~ on a homogeneous black surface, i.e., a black piece of paper or looking at something far away.		* Place the robot on a homogeneous black surface, i.e., a black piece of paper or looking at something far away.
	Another alternative is looking at the darkest floor you can find.		Another alternative is looking at the darkest floor you can find.
			* start the ''raubase'' with a --black parameter.
	~~The calibration influences how~~ the ~~data is normalized. See the data analysis below~~.

	An example of black calibration (on a black fabric bag) could be:		An example of black calibration (on a black fabric bag) could be:

Jca: /* Calibrate on black */

2023-12-29T13:15:58Z

Calibrate on black

← Older revision		Revision as of 15:15, 29 December 2023
Line 99:		Line 99:
	Another alternative is looking at the darkest floor you can find.		Another alternative is looking at the darkest floor you can find.

	The calibration influences how the data is normalized; See the data analysis below.		The calibration influences how the data is normalized. See the data analysis below.

	An example of black calibration (on a black fabric bag) could be:		An example of black calibration (on a black fabric bag) could be:

Jca: /* Line sensor calibration */

2023-12-29T13:09:18Z

Line sensor calibration

← Older revision		Revision as of 15:09, 29 December 2023
Line 77:		Line 77:

	To calibrate the edge sensor:		To calibrate the edge sensor:

			==== Calibrate on white ====

	* place the robot so that the sensor illuminates a white line (the illumination will turn on during calibration, so repeat if you didn't hit the line first time).		* place the robot so that the sensor illuminates a white line (the illumination will turn on during calibration, so repeat if you didn't hit the line first time).
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	# --------- terminating -----------		# --------- terminating -----------
	# UService:: configuration saved to robot.ini		# UService:: configuration saved to robot.ini

			==== Calibrate on black ====

	Calibrate on black should be on a homogeneous black surface, i.e., a black piece of paper or looking at something far away.		Calibrate on black should be on a homogeneous black surface, i.e., a black piece of paper or looking at something far away.
	Another alternative is looking at the darkest floor you can find.		Another alternative is looking at the darkest floor you can find.
	The ~~difference is~~ how the data is normalized; ~~see~~ the data analysis below.
			The calibration influences how the data is normalized; See the data analysis below.

	An example of black calibration (on a black fabric bag) could be:		An example of black calibration (on a black fabric bag) could be: