Error-eliminating rapid ultrasonic firing

Details Error-eliminating rapid ultrasonic firing Error-eliminating rapid ultrasonic firing

1991-11-26

1993-08-24

Eldred, J. Woodrow

Communications, electrical: acoustic wave systems and devices

Echo systems

367 95, 367105, 367140, 36442401, 901 46, G01S 1500

Patent

active

052395154

ABSTRACT:
A system for producing reliable navigation data for a mobile vehicle, such as a robot, combines multiple range samples to increase the "confidence" of the algorithm in the existence of an obstacle. At higher vehicle speed, it is crucial to sample each sensor quickly and repeatedly to gather multiple samples in time to avoid a collision. Erroneous data is rejected by delaying the issuance of an ultrasonic energy pulse by a predetermined wait-period, which may be different during alternate ultrasonic firing cycles. Consecutive readings are compared, and the corresponding data is rejected if the readings differ by more than a predetermined amount. The rejection rate for the data is monitored and the operating speed of the navigation system is reduced if the data rejection rate is increased. This is useful to distinguish and eliminate noise from the data which truly represents the existence of an article in the field of operation of the vehicle.

REFERENCES:
patent: 4896304 (1990-01-01), Tanigawa
patent: 4920520 (1990-04-01), Gobel et al.
patent: 4967860 (1990-11-01), Kremser

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