Ultrasonic Robotic-Sensors for Exact Short Range Distance Measurement and Object Identification

Kleinschmidt, P. D.; Mágori, V.

doi:10.1109/ultsym.1985.198552

Cited by 45 publications

(12 citation statements)

References 1 publication

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“…The contactless and cheap measurement of distances in the range of a few millimiters to a few meters is a strategic task in several fields [1]- [3]. Although several solutions providing good accuracy can be conceived, for example optical solutions which are based on lasers or position sensitive devices, such solutions are usually rather expensive.…”

Section: Ultrasonic-based Distance Measurement: State Of the Artmentioning

confidence: 99%

“…the time elapsing between the firing up of the transducer and the detection of the echo originated by any discontinuity or reflector in the propagation medium. The desired information, x, concerning distance (the object of unknown distance acts like a reflector), or level (the surface of the fluid of unknown level gives rise to a discontinuity), or integrity (any crack in the structure under test disturbs medium continuity) is then gained through a very common and straightforward expression: (1) where c is the propagation velocity of the ultrasonic burst, and t is the TOF estimate. Two sequential steps generally characterize TOF-based measurements.…”

Section: Introductionmentioning

confidence: 99%

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Ultrasonic-Based Distance Measurement Through Discrete Extended Kalman Filter

Angrisani¹,

Baccigalupi²,

Schiano³

et al. 2009

Kalman Filter Recent Advances and Applications

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Section: Ultrasonic-based Distance Measurement: State Of the Artmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Ultrasonic-Based Distance Measurement Through Discrete Extended Kalman Filter

Angrisani¹,

Baccigalupi²,

Schiano³

et al. 2009

Kalman Filter Recent Advances and Applications

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“…Currently, optical methods and ultrasonic methods are the two main methods for positioning [1][2][3][4][5][6][7]. Compared with optical sensors, ultrasonic sensors have the advantages of low cost, low power consumption, and low computational complexity [8][9][10]. Furthermore, ultrasonic sensors can be used in opaque/non-transparent environments where optical sensors are difficult to work [11][12][13][14][15].…”

Section: Introductionmentioning

confidence: 99%

A New Positioning Method Based on Multiple Ultrasonic Sensors for Autonomous Mobile Robot

Shen

Wang

Jiang

et al. 2019

Sensors

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This work proposes a new positioning method based on multiple ultrasonic sensors for the autonomous mobile robot. Unlike the conventional ultrasonic positioning methods, this new method can realize higher accuracy ultrasonic positioning without additional temperature information. Three ultrasonic sensors are used for positioning. A generalized measurement model is established for general sensor configuration. A simplified measurement model, which considers the computational complexity, is also established for linear/simplified sensor configuration. Three time-of-flight signals are obtained from the three ultrasonic sensors. The coordinates of the target are calculated by the ratios of time-of-flights. Positioning experiments were carried out to verify the feasibility and effectiveness of the proposed method. Experimental results show that the new ultrasonic positioning method is effective, both the two established models can implement positioning successfully, and the positioning accuracy is satisfactory. Compared with the conventional ultrasonic positioning method with the default ultrasonic velocity, the positioning accuracy is greatly improved by the proposed method. Compared with the ultrasonic positioning method with additional temperature compensation, the results obtained by the proposed method are comparable.Huang and Young presented an accurate ultrasonic distance measurement system which had a self-temperature compensation with the environmental average temperature in space [25]. Although these methods can improve the positioning performance, they need to introduce additional temperature sensors and a calibration process, which make the positioning system more complex.This work aims to propose a new positioning method based on multiple ultrasonic sensors (three sensors in this work). The new method can implement higher accuracy ultrasonic positioning without additional temperature information or calibration process. The coordinates of the target are calculated according to the ratios of three time-of-flights measured by the three ultrasonic sensors, which means the influence of environmental temperature on positioning is avoided. Different from the previous/conventional methods using time-of-flights directly for positioning [12,[20][21][22][23][24][25][26][27], this work features in a novel idea which uses the ratios of time-of-flights to realize ultrasonic positioning and hence to improve the positioning accuracy. Figure 1 shows the basic measurement principle of ultrasonic ranging. New Ultrasonic Positioning Method

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“…It is possible to measure distance passively (assuming an illuminated target) by methods based on stereo vision [4]; depth from focus [5]; or coded aperture masks [6]. By active means, distance can be measured by time of flight of a pressure pulse in air [7] or water [8]; microwave radars [9]; interfering laser beams [10], phase modulating lasers [11]; amplitude modulating lasers [12]; laser pulse time of flight [12]; and triangulation [13] can be used for distance measurement. In this specific application, the system is required to operate at night, and therefore, an active sensing technology was chosen.…”

Section: Introductionmentioning

confidence: 99%

Structured Light System on Mars Rover Robotic Arm Instrument

Pedersen

Liebe

Jørgensen

2019

IEEE Trans. Aerosp. Electron. Syst.

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A structured light system is used to position a scientific instrument mounted on a Mars rover robotic arm relative to a Mars surface sample. Fifty laser spots are projected on the Mars surface sample. The identification of individual laser spots, the centroiding algorithm and the calibration are discussed. Results show that the system measures the distance to the Mars surface sample more accurate than 50 microns at a nominal operating distance of 30 mm.

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Ultrasonic Robotic-Sensors for Exact Short Range Distance Measurement and Object Identification

Cited by 45 publications

References 1 publication

Ultrasonic-Based Distance Measurement Through Discrete Extended Kalman Filter

Ultrasonic-Based Distance Measurement Through Discrete Extended Kalman Filter

A New Positioning Method Based on Multiple Ultrasonic Sensors for Autonomous Mobile Robot

Structured Light System on Mars Rover Robotic Arm Instrument

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