Position and posture measurements and shape recognition of columnar objects using an ultrasonic sensor array and neural networks
Position and posture measurements and shape recognition of columnar objects using an ultrasonic sensor array and neural networks
复制标题
使用超声波传感器阵列和神经网络进行柱状物体的位置和姿态测量以及形状识别
DOI：
10.1002/scj.10103
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
T. Konishi
中科院分区：
文献类型：
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作者：
K. Ohtani;M. Baba;T. Konishi
提出了一种利用超声波声压信号和神经网络测量位置和姿势（pose）并识别形状的新方法。在过去的大多数此类方法中，特征量都是基于飞行时间方法或声全息方法。在这些方法中，以高分辨率同时测量和识别宽度和深度方向原则上是困难的。本文通过改变观点，将超声波照射到被测物体时的穿透波形和反射波形的峰值、位置、偏转点、间隔等标准作为赋予神经网络的特征量，解决了以往方法的问题。此外，通过引入高分辨率检测声压信号分布波形峰值位置的电路，构建了实现该方案的原型测量和识别系统。实验结果在位置测量和形状识别方面令人满意，证实该方法适用于直角棱柱等。结果表明，该方案可以在宽度和深度方向上实现高分辨率的位姿测量和形状识别，并且该方法在应用于超声位姿测量和形状识别等方面非常有效。 © 2002 Wiley periodicals, Inc. Syst Comp Jpn, 33(11): 27–38, 2002；在线发表于 Wiley InterScience (www.interscience.wiley.com)。 DOI 10.1002/scj.10103
A new method for measuring the position and posture (pose) and recognizing the shape using ultrasonic wave sound pressure signals and neural networks is proposed. In most of the past methods of this kind, the characteristic quantities have been based on either time of flight methods or acoustic holographic methods. In these methods, measuring and recognizing the width and depth directions simultaneously with a high resolution has been difficult in principle. In this paper, the problems of the past methods are resolved by changing the viewpoints by using criteria such as the peak values of the penetrating and reflecting waveforms, their positions, their deflection points, and their intervals when ultrasonic waves are directed onto a measured object, as characteristic quantities given to neural networks. In addition, a prototype measuring and recognizing system implementing the proposed scheme is constructed by introducing a circuit for detecting the peak positions of the sound pressure signal distribution waveforms with high resolution. The experimental results are satisfactory in position measurements and shape recognition, and confirm that the method is applicable to rectangular prisms and the like. It is shown that the position and pose measurements and shape recognition can be realized with high resolution in both the width and depth directions by this scheme, and that the proposed method is very effective when applied to position and pose measurements and shape recognition and the like ultrasonically. © 2002 Wiley Periodicals, Inc. Syst Comp Jpn, 33(11): 27–38, 2002; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/scj.10103