Method of determining range data in a time-of-flight ranging sys

Details Method of determining range data in a time-of-flight ranging sys Method of determining range data in a time-of-flight ranging sys

1993-03-31

1994-06-07

Pihulic, Daniel T.

Communications, electrical: acoustic wave systems and devices

Echo systems

Returned signal used for control

367909, G01S 1593

Patent

active

053196112

ABSTRACT:
A time-of-flight range sensing system for a vehicle such as a mobile robot comprised of a number of sensors that are situated at preset locations and aligned with particular orientations on the vehicle. Each sensor may consist of single or multiple transmitting transducers and single or multiple receiving transducers. Each sensor provides a means for changing the effective sensing volume of the sensors or it has two or more separate processing channels for processing the time-of-flight information with several different effective sensing volumes using the sensor signal processor. The sensor signal processor also provides a means for collecting information regarding the echo signal peak value and the noise present in the received signal before reception of the first echo. A sensor array processor excites the transducers, measures the time-of-flight of arrival of the first echo above a predetermined threshold and combines the data from the multiple signal processing channels so as to increase the range data gathering speed and to improve the fidelity of the range data received. The sensor array processor determines from the range data received and the signal and noise information the position and orientation of gross geometric features in the environment (flat surfaces, posts inside corners and outside corners) relative to the sensor array. This information may be used by a navigation control processor to avoid collisions, recognize features in the environment, or map the environment.

REFERENCES:
Watanabe et al,; "An Ultrasonic Visual Sensor for Three-Dimensional Object Recognition Using Neural Networks"; IEEE Transactions on Robots and Automation, Vol. 8, No. 2, Apr. 1992; pp. 204-209.
Turennout et al.; "Following a Wall with a Mobile Robot Using Ultrasonic Sensors"; Proceedings of the 1992 IEEE/RSJ International Conference on Intellegent Robots and Systems; Jul. 1992; pp. 1451-1456.
Sabatini; "Active Hearing for External Imaging Based on an Ultrasonic Transducer Array"; Proceedings of the 1992 IEEE/RSJ International Conference on Intellegent Rotobs and Systems; July 1992; pp. 829-836.

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