Title :
Airborne ultrasonic imaging system for parallelepipedic object localization
Author :
Ossant, Frédéric ; Poisson, Gérard ; Hue, Louis P Tran Huu ; Roncin, A. ; Lethiecq, Marc
Author_Institution :
Fac. de Medecine, GIP Ultrasons, Tours, France
fDate :
2/1/1996 12:00:00 AM
Abstract :
An ultrasonic image device was designed for use in robotic applications where parallelepipedic objects need to be manipulated. It is based on ranging measurement by an array of ten identical airborne ultrasonic transducers with an operating frequency of 200 kHz and a detection cone angle of approximately 7 degrees. An electronic scanning associated with a mechanical displacement of the array covers an area of 0.4×0.4 m in less than 0.5 seconds (100 measurement points). The system was tested in an automatic packaging line. It allowed a real-time localization of cubic objects as small as 2 cm and the determination of an emplacement in which a new object can be put by a robot arm
Keywords :
industrial robots; ultrasonic imaging; ultrasonic transducer arrays; 0.4 m; 2 cm; 200 kHz; 3D perception; airborne ultrasonic imaging; airborne ultrasonic transducers; automatic packaging line; cross coupling; cubic objects; detection cone angle; electronic scanning; measurement points; mechanical displacement; parallelepipedic object localization; ranging measurement; real-time localization; robot arm; robotic applications; Area measurement; Automatic testing; Displacement measurement; Frequency measurement; Mechanical variables measurement; Parallel robots; Ultrasonic imaging; Ultrasonic transducer arrays; Ultrasonic transducers; Ultrasonic variables measurement;
Journal_Title :
Instrumentation and Measurement, IEEE Transactions on
