As the revolution in robot development continues over the next decade there are major challenges still ahead. Besides security and safety concerns as well connecting autonomous robots to the cloud there are necessary technology improvements required in how robots move, see and sense their surroundings. This presentation shows selected examples of semiconductor solutions playing a key role in sensor technology. Solid state laser detection and ranging (LIDAR) enabling detection and ranging in UAS (unmanned aircraft systems) sense-and-avoid applications. Laser distance sensing (LDS) providing short to long distance range distance measurements as well combining rotation structure to do 360 degree sensing to build up a floor map for both indoor and outdoor usage. And, inductive position sensing (IPS) providing the fine joint position feedback information and aids in joint motor commutation to achieve human like qualities, and in particular fluid limb movement where off-axis measurements and higher/scalable resolution is needed.

1. © Copyright 2017, IDT Inc. Analog Mixed Signal Systems
IDTechex Show | Berlin, Germany | April 12, 2018 | Heinz Oyrer
Examples Of Advanced Semiconductor
Sensor Technologies Playing A Key Role In
Today's Robotics Applications
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Sensors & Robots will share a
common destiny
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Position Sensing
Laser Distance Sensing
Light Detection And Ranging

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Robotics
Inductive Position Sensing

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Position sensing is key for robots
• Position sensors control
position, orientation or motion of
the robotic joints.
• Contactless position sensors
offer a high-resolution sensor/IC
solution.
• Therefore position sensors are
ideally suited for sensing and
controlling the position of the
joint systems for humanoid,
industrial, surgical and security
robots.
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photo credit: JOANNEUM RESEARCH

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Position sensing and motion control
• Actuator positioning
• Robotic joint positioning
• Linear motion sensors
• Low speed and high speed
motor commutation
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photo credit: JOANNEUM RESEARCH

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Challenge to produce fine joint control
• For fluid joint and limb movement,
fine motor control of robot arms,
legs, waists, and head is critical
• To achieve fine joint motor control:
high resolution, high accuracy,
motor position feedback sensors
are essential
– Position sensors need to be fast,
small, and co-located with joint motors
– Reliable and affordable
• Energy efficiency, reduced weight
and reduced wiring are also key
robot design goals
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7. © Copyright 2017, IDT Inc. Analog Mixed Signal Systems
Selected Robot Applications
– Wheel control, e.g. in gearbox motors
(wheel motor)
– Position control, e.g. head movement
– Joint motor control and position
feedback
– Position Sensors replace low
performance potentiometers in servos
for improved robot performance
– Position sensors enabling improved
payload capacity and performance,
e.g. camera stability in Drones
– Position Sensors enabling liquid level
measurement, e.g. in agriculture
drones
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Most Prevalent Position Sensors in
Robots
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• Encoders
• Resolvers
• Potentiometers
• Magneto resistive sensors
• Hall effect sensors
Why?
• Operating in harsh
environments
• High reliability
• Small size
• Absolute position sensing

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COMPANY CONFIDENTIAL
IDT (Inductive) Contactless Solution
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Metallic Target
IDT
Inductive
Position
Sensor
Passives
PCB

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Inductive Position Sensor Insertion
Point using Example of Robot Joints
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Position Sensor
Motor Position Sensor
Motor
Gearbox
Robot Motor
Servo Controller
photo credit: JOANNEUM RESEARCH

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COMPANY CONFIDENTIAL
Solves the Problems
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Aluminum,
Copper on PCB,
Iron, Steel

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Robotics
LiDAR –
Light Detection And Ranging

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What is LiDAR
• LiDAR is an active remote sensing technology which uses
the pulse from a laser to collect measurements which can
then be used to create 3D models and maps of objects and
environments.
• A LiDAR system calculates how long it takes for the light to
hit an object or surface and reflect back to the scanner. The
distance is then calculated using the velocity of light*. These
are known as ‘Time of Flight’ measurements.
• This means the LiDAR system sends a pulse of light and it
waits for the pulse to return.
• This is different than passive sensors which collects
reflected energy originating from the sun. Active sensors
are very accurate because it’s being controlled in the
platform.
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Typical LiDAR Applications
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• LiDAR systems are most commonly used for surveying tasks.
• Because of their ability to collect three dimensional
measurements, laser scanning systems are popular for surveying
the built environment (such as buildings, road networks and
railways) as well as creating digital terrain (DTM) and elevation
models (DEMs) of specific landscapes.
• LiDAR helps in environmental applications – laser scanning is a
popular method of mapping flood risk, carbon stocks in forestry and
monitoring coastal erosion.
• LiDAR helps robots identify their location and determine where
to place the plants they’are carrying amid thousands of others —and
avoid obstacles in the way. “
• LiDAR is a key technology addition to the current suite of advanced
driver assistance systems (ADAS) sensors in helping car OEM’s
to implement saftey functions (collision warning, automatic
emergency braking) and autonomous vehicles

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Why LiDAR ?
LIDAR is far more target selective than RADAR
Detect well in any lighting conditions  image sensors only work well in
daylight)
Ultrasonic sensors are limited to short distances
Cost efficient solution: ~ $100 per module (solid state)
Redundancy of sensors required for L3-L5 type of automated driving is a
major factor for increasing penetration of LiDAR modules
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Types of LiDAR design
• Mechanical Scanning LiDAR
– Scanning LiDARs bear a higher price
– More processing required
– Less rugged
– Less reliable
– Key application: 3D point-cloud images and localization
• Solid state – the key to significantly reduce system cost
– Smaller in size
– More robust
– More reliable
– Can be produced at much lower prices in large volume
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LiDAR Module
Simplified Overview
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µC+DSP IC
3D Frame Generation, Interface
Laser-Driver IC
HV, Pulse Generator
Light Acquisition IC
TIA, ADC, RAM, Control
©2017 by System Plus Consulting

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A typical LiDAR system
Time of Flight
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Tx
Rx
32...
Photodiode Array
• PIN diodes
• APDs
Laser emitter
• Single
• Array
PMIC
µC I/O
Timing
MEMS I/O
Blue colored boxes represent
IDT insertion points

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LiDAR Receiver IC
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Detection
Time-Stamp
+
Range
+
Amplitude
Light Detection And Ranging
LAU
1 - n
Func.
Safety
Timing
Digital
Data
Processing
LiDAR ASIC
Photo
Array
ADAS
Microcontroller
Light
Emitter
Objects
Clock
Typical LiDAR
System Architecture
Time-of-Flight
Power
Control
System
Control

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Solid State LiDAR Solutions
for Drones (UAS and Collision Avoidance)
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Source: Leddartech, InterDrone, September 2016
• Towards 360° sense-and-avoid solutions
• Higher resolutoion LiDAR
• 360° situational awarness

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IDT capabilities to supply components
for LiDAR systems
• Flash-LiDAR Interface with 32 x 1 pixel
• High bandwidth trans-impedance amplifier (photo-current detection)
• 100MHz ADC with 300ps clock-phase adjustment - sample timing
resolutions
• Digital “light” acquisition controller
• Advanced chip-internal diagnostic features to ensure ASIL requirements
• CORTEX-µC for image data processing
• High slew rate laser-diode driver
• DSP-Engine
• On-Chip memory simultaneous sampling + data transfer

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Source: JOANNEUM RESEARCH, ROBOTICS – Institute for Robotics and Mechatronics

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Robotics
LDS for Robotics
Laser Distance Sensing

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Technology options of
laser distance measurements
• High speed @ Khz
• Wide range @ cm ~1000m
• Resolution @ mm~cm
Laser Diode
Photo Diode
Lens
Housing
Laser Diode Driver
TDC
Amplifier
Microcontroller
Phase Shift Method Triangulation
Time of Flight /
Pulse type measurements
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25. © Copyright 2017, IDT Inc. Analog Mixed Signal Systems
IDT LDS - Laser Distance
Measurement Solution
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• ToF / Pulse Type distance measurements technology
• Intelligent operation by ARM Cortex M3
• Support up to 3 channels distance measurement operation
• TDC data length support up to 1200m distance measurement
• Dynamic 2mm-10mm-50mm resolution for accuracy and speed balance
• Integrated laser diode driver (Ch1) for short distance 10 meters measurements
• Integrated Amplifier/TIA for 3 channel photodiode (PD/APD) input
• Raw-data pre-process for Indoor Positioning Solution
• Small package QFN 5*5mm
LDS chip Integration
Laser Diode
Photo Diode
Lens
Housing
Laser Diode Driver
TDC
Amplifier
Microcontroller
• Integrated 3 channels LD/PD interface
• Integrated LD driver for short distance application
• Integrated photo diode amplifier TIA
• Integrated ARM M3 microcontroller

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Applications coverage
26
1200m
with
external driver
10m
with integrated driver
1m
with integrated driver
Drone
VR/AR
GestureDistance
Meter
Vacuum
Cleaner
Robotics
Range
Finder

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LDS Benefits to the Applications
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• Collision avoidance for Drone/Robotics
• Increase safety and application intelligence
• Accurate distance measurements
• Helping more intelligent control or adjustment
• Simplify the application design or operation
• Fast signal acquisition and flexible processing
• Enable applications for both indoor and outdoor usage
• Weather/Light independence

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Targeted market and applications
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Industrial
Factory
Parking structure
Storage, warehouse
Construction Safety, control, alignment, level sensing, distance measurements
Consumer
Drone
Vacuum Cleaner
Service Robot
Smart Device
Distance measurement, anti-collision, localization, mapping

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Application example: LDS for drone
anti-collision
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Block Diagram of Drone
LDS
Front sensing
Altitude sensing
Brushless Motors
Gate Drivers
Motors Speed Controller
System Power
Management
Battery Power
Management
PWM PWM PWM PWM
DC
MOSFETMOSFETMOSFETMOSFET
RF
Video
Audio
GPS
SoC
Lithium Battery
VPU /
Radar

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LDS supporting IPS
(Indoor Positioning Solution)
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LDS
Module
15 ft
12 ft
12 ft
(x1,y1)
(x6,y6)
(x3,y3)
(x4,y4)
(x5,y5)
(x2,y2)
Convert distance measurements data into floor mapping data

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Application example: IPS for vacuum
cleaner floor mapping
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Why IPS (Indoor Positioning Solution)
is important?
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• Improve Smart Device’s mobility with accuracy
• Extend Device’s battery operation
• Enable indoor Navigation, Location Sharing,
• Increase Gaming experience such as VR/AR
• Enhance Intelligence/Security/Defense such as
Fire/Police/Military missions within dark environment.
W/o IPS With IPS

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VR/AR improvement with LDS
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Built-in LDS for full coverageFixed on-wall Position Sensing

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LDS on VR/AR or Robotics
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• Improve VR/AR user’s safety
• Enable indoor Navigation, Location Sharing,
• Increase Gaming experience
• Increase AR image scaling accuracy

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VR/AR with LDS/IPS
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object
< 1m alert
3.5m
Distance Sensing (for OSD)
Indoor Positioning Solution
Object (Wall)

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Anti collision and indoor positioning
for Robotics
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object
< 1m alert
3.5m
Distance Sensing Indoor Positioning Solution
Object (Wall)

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Application example: Target distance
measurements
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Laser Diode
Or Infrared LED
Photo Diode/Sensor

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LDS for Gesture Sensing
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3 channel operation with IR transmitter and receiver
Sensing distance up to 1 meter with 6 different gesture recognition

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LDS for Robot Gesture Sensing
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3 channel operation with IR transmitter and receiver
Sensing distance up to 1 meter (IR) for 10 meter (Laser)
Wake up robots from sleep or as other operation instructions

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LDS technology for Hi-Fi Theater
System
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Distance
Sensing
Optimal surrounding effects by Dynamic Audience Distance Sensing

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LDS for Gesture Sensing
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Example

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LDS for Security System
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As a security device for specific area or object distance sensing

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LDS Compelling Solution
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• Highly integrated and intelligent Positioning system
– Single laser sensing technology covers all axes of measurement
• Reduces space occupation by approximately 50%
• Minimizes major sensor component count from 4 to 2
Vision Camera sensor
Ultrasonic sensor Laser sensor

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Thank You Analog Mixed Signal Product
Leadership in Growth Markets
44
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