bottom IR sensors looks inconsistent



  • I have tested IR sensors and noticed that bottom left and right IR sensor values are not consistent.

    I used the following script to check sensor values.

    from zumi.zumi import Zumi
    
    zumi = Zumi()
    
    ir_datas = zumi.get_all_IR_data()
    front_right = ir_datas[0]
    bottom_right = ir_datas[1]
    back_right = ir_datas[2]
    bottom_left = ir_datas[3]
    back_left = ir_datas[4]
    front_left = ir_datas[5]
    
    print("IR datas:\nFront   left {}, right {}\nBack    left {}, right {}\nBottom  left {}, right {}\n"
          .format(front_left, front_right, back_left, back_right, bottom_left, bottom_right))
    

    Upside down

    0_1584890275303_IMG_20200322_233943.jpg

    IR datas:
    Front   left 171, right 172
    Back    left 163, right 133
    Bottom  left 239, right 240
    

    All sensor values are large because there are no obstacle to reflect IR radiation.
    It looks fine.

    Obstacle in front of zumi

    0_1584890334568_IMG_20200322_233305.jpg

    IR datas:
    Front   left 29, right 14
    Back    left 157, right 132
    Bottom  left 13, right 68
    

    Front IR sensor values become smaller due to obstacle.
    Bottom IR sensor values also become smaller, but there are more than 50 discrepancy between left and right values.

    Obstacle behind zumi

    0_1584890537159_IMG_20200322_233547.jpg

    IR datas:
    Front   left 168, right 180
    Back    left 18, right 13
    Bottom  left 13, right 76
    

    Back IR sensor values become smaller due to obstacle.

    Box bellow zumi

    0_1584890444861_IMG_20200322_233749.jpg

    IR datas:
    Front   left 169, right 173
    Back    left 158, right 132
    Bottom  left 39, right 113
    

    Floor of zumi are changed from white paper to cardboard box.
    There are still large difference between left and right IR sensor values.
    Do you have any idea why bottom left and right sensor values are so different?



  • @robolink_leila Thank you very much for your quick reply.
    I see, I will use different threshold for each IR sensors!


  • administrators

    @nohzen Not all IR sensors will be exactly the same so that behavior is very normal. Just set different thresholds for each IR sensor for detecting objects 🙂


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