“…Due to its advantages of non-contact measurement, low cost, easy operation, and rapid measurement, it has been widely used in industrial measurements, safety warnings, scientific obstacle avoidance by robots, and ultrasonic motors [ 17 , 18 , 19 , 20 , 21 , 22 , 23 ]. Particularly in distance measurement, as researchers continue to explore and further expand the ultrasonic ranging technology [ 24 , 25 , 26 , 27 , 28 ], measurement accuracy and the stability of ultrasonic ranging are more suitable for industrial control and high-level instruments.…”