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

Volume

45

Issue

1

fYear

1996

fDate

2/1/1996 12:00:00 AM

Firstpage

107

Lastpage

111

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;

fLanguage

English

Journal_Title

Instrumentation and Measurement, IEEE Transactions on

Publisher

ieee

ISSN

0018-9456

Type

jour

DOI

10.1109/19.481320

Filename

481320