Ultrasonic sensor of object

Abstract

The invention relates to an ultrasonic sensor of objects, and two sensors are arranged on an object with one sensor used in the front and back direction while the other sensor used in the left and right direction; each sensor comprises an ultrasonic probe with integrated sending and receiving and a reflector with two intersectant reflecting surfaces which are arranged horizontally and form a shape of V, the whole reflecting surfaces of the reflector both take an angle of 45 degrees with the horizontal plane, and the ultrasonic probe faces to the reflector. The reflecting surface projection of one sensor lies along the left and right direction and the reflecting surface projection of the other sensor lies in the front and back direction.

Description

Technical field: [0001] The invention relates to an object ultrasonic sensor, which is mainly used for sensing obstacles or distance measurement and positioning of electromechanical objects such as robots during the moving process. Background technique: [0002] For moving objects—for example, a robot needs to measure the distance from the robot to walls or obstacles during the movement to determine the orientation of the robot itself. In actual use, non-contact sensors such as ultrasonic or photoelectric sensors are often used, which need to be installed around the appearance of the robot. There are many, but due to the high cost of non-contact sensors such as ultrasonic waves, the patent application specification of CN200410014702.1 describes a solution that saves the most sensors, only one set of ultrasonic sensors that integrate transceivers towards a pyramidal reflector, After transmitting the ultrasonic signal, the echoes returned by the robot in the four directions of...

AI Technical Summary

Problems solved by technology

[0002] For moving objects—for example, a robot needs to measure the distance from the robot to walls or obstacles during the movement to determine the orientation of the robot itself. In actual use, non-contact sensors such as ultrasonic or photoelectric sensors are often used, which need to be installed around the appearance of the robot. There are many, but due to the high cost of non-contact sensors such as ultrasonic waves, the patent application specification of CN200410014702.1 describes a solution that saves the most sensors, only one set of ultrasonic sensors that integrate transceivers towards a pyramidal reflector, After transmitting the ultrasonic signal, the echoes returned by the robot in the four directions of front, back, left, and right can be received in multiple time periods, so as to calculate the distance of the boundaries or obstacles in the four directions of the robot, but in actual use, this set The device itself cannot determine which of the four distances is the front, which is the rear, which is the left, and which is the right. Although it can be analyzed through the changes in the four data during the movement of the robot, if the detection boundary is not linear Changes (unpredictable values), or the detected object boundary is oblique, no ultrasonic waves are reflected back, or the distance is too long, the echo is too weak to be detected, and the data analysis may be wrong, so this device has uncertain factors

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