Ultrasound Time-of-Flight Sensor Module for Object Rigidity Detection
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Solution Overview
Problem
Current tactile sensors lack effective methods for determining the rigidity and material identification of external objects, limiting their functionality in robotic systems.
Innovation Solution
The development of ultrasound time-of-flight and absorption sensor modules, which utilize ultrasonic transducers, elastic or deformable members, and signal processors to measure time-of-flight and absorption data, enabling the determination of object properties through ultrasound propagation and absorption analysis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional tactile sensors are used, then basic contact detection is achieved, but the ability to determine object rigidity and material identification is insufficient
Solution Approach 1:
The ultrasonic transducer device performs multiple functions: it acts as both ultrasonic transmitter and receiver, enables time-of-flight measurement for distance/rigidity detection, and facilitates material identification through echo analysis. This multi-functionality resolves the contradiction by achieving enhanced measurement precision without proportionally increasing device complexity
Solution Approach 2:
The elastic member serves as an intermediary element between the ultrasonic transducer and the external object. It transmits mechanical deformation from object contact to the transducer, enabling indirect measurement of object properties through ultrasound propagation time changes, thereby improving measurement precision while maintaining manageable device complexity
2Measurement precision
If ultrasound time-of-flight measurement is implemented, then object rigidity determination is improved, but the device complexity increases due to additional components
Solution Approach 1:
The ultrasonic transducer device integrates both transmission and reception capabilities in a single component. The same piezoelectric element that generates ultrasonic waves also detects the reflected echoes, enabling time-of-flight measurement while reducing the number of separate components and overall device complexity
Solution Approach 2:
The system dynamically switches the ultrasonic transducer between transmission mode and reception mode. During operation, the transducer first emits ultrasonic pulses, then switches to detect returning echoes. This dynamic operation enables rigidity measurement through time-of-flight calculation without requiring separate static transmitter and receiver components
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
These sensor modules effectively provide tactile-related data, including object rigidity and material characteristics, enhancing the interaction capabilities of robotic systems with external objects.
Implementation Method 1
The ultrasonic transducer device includes at least one ultrasonic transducer. Each ultrasonic transducer is configured as an ultrasonic transmitter and/or an ultrasonic receiver.
Implementation Method 2
The cover layer is configured to reflect a fraction f of ultrasound signals incident thereon (reflected ultrasound signals).
Implementation Method 3
The ultrasonic receiver(s) are configured to receive reflected ultrasound signals.
Implementation Method 4
The elastic member undergoes reversible compression in response to an external object impacting and/or contacting the cover layer, an ultrasound propagation distance between the ultrasonic transducer and the cover layer varying in accordance with the compression.
Implementation Method 5
An ultrasound propagation distance between the ultrasonic transducer and the cover layer varying in accordance with the compression.
Data Source
AI summary
An ultrasound time-of-flight (TOF) sensor module includes an ultrasonic transducer device, a cover layer, an elastic member, and a signal processor electronically coupled to the ultrasonic transducer. The ultrasonic transducer device includes at least one ultrasonic transducer, which is configured as an ultrasonic transmitter and/or an ultrasonic receiver. The elastic member is interposed between the ultrasonic transducer device and the cover layer. The elastic member undergoes reversible compression in response to an external object impacting and/or contacting the cover layer. An ultrasound propagation distance between the ultrasonic transducer and the cover layer varies in accordance with the compression. The ultrasonic transmitter(s) transmit ultrasound signals. The cover layer reflects a fraction f of the ultrasound signals incident thereon. The signal processor obtains TOF data which indicate time differences between times of transmission of transmitted ultrasound signals by the ultrasonic transmitter(s) and times of receipt of reflected ultrasound signals by the ultrasonic receiver(s). The time differences vary in accordance with the ultrasound propagation distance.