Long-range sonar
A robotic device comprising a long-range sonar assembly configured to detect objects between 1000 mm to 9500 mm from the long range sonar assembly. The long-range sonar assembly comprises a flared bell housing and a transducer. The robotic device also comprises a transportation mechanism configured to move the robotic device in various directions in response to instructions from a processing device that is in communication with the ling-range sonar assembly and the transportation mechanism. The processing device may cause the long-range sonar assembly to, via the transducer transmit one or more pulses and receive the one or more pulses as echo pulses having reflected off an object in an environment. The processing device may then cause a transmitter to transmit instructions to the transportation mechanism to move the robotic device in the environment based on the received one or more pulses.
1. A robotic device comprising:
a long-range sonar assembly comprising a flared bell housing and a transducer, wherein:
the flared bell housing comprises an inner diameter configured for receiving a sub-assembly comprising the transducer,
the inner diameter is less than an outer diameter of the flared bell housing, and
the flared bell housing is configured to enable the long range sonar assembly to detect objects between 1000 mm to 9500 mm from the long range sonar assembly;
a transportation mechanism configured to move the robotic device in various directions in response to instructions from a processing device that is in communication with the ling-range sonar assembly and the transportation mechanism; and
a computer-readable storage medium comprising one or more programming instructions that, when executed, will cause the processing device to:
cause the long-range sonar assembly to transmit, via the transducer, one or more pulses,
cause the long-range sonar assembly to receive, via the transducer, the one or more pulses as echo pulses having reflected off an object in an environment, and
cause a transmitter to transmit instructions to the transportation mechanism to move the robotic device in the environment based on the received one or more pulses.
2. The robotic device of claim 1 , the computer-readable storage medium may also include programming instructions to determine a position of the robotic device in the environment relative to the object based on the one or more pulses as echo pulses having reflected off an object in an environment.
3. The robotic device of claim 2 , wherein the instructions that will cause the processing device to determine the position of the robotic device in the environment relative to the object further comprise programming instructions to determine a position of the object.
4. The robotic device of claim 3 , wherein the instructions that will cause the processing device to determine the position of the object further comprise programming instructions that will cause the processing device to determine whether the object is located at an edge of a beam angle corresponding to the long-range sonar assembly or in front of the long-range sonar assembly.
5. The robotic device of claim 4 , wherein the instructions that will cause the processing device to determine whether the object is located at the edge of a beam angle corresponding to the long-range sonar assembly or in front of the long-range sonar assembly comprise instructions that will cause the processing device to accept one or more of the echo pulses or reject one or more of the echo pulses based on a width of the echo pulses.
6. The robotic device of claim 1 , wherein the long-range sonar assembly further comprises a grommet placed about the transducer and fitted within the inner diameter.
7. The robotic device of claim 1 , wherein the transducer is configured to transmit one or more pulses at a transmit frequency and to receive echoed pulses at a receive sensitivity.
8. The robotic device of claim 7 , wherein the inner diameter is shaped such that the one or more transmitted pulses will be transmitted in a narrow beam.
9. The robotic device of claim 7 , wherein the inner diameter is shaped such that the echoed pulses will be received in a narrow beam.
10. The robotic device of claim 1 , wherein the transducer comprises an ultrasonic piezoelectric transducer.
11. The robotic device of claim 1 , wherein the outer diameter of the flared bell of the long-range sonar assembly is configured to minimize an impedance mismatch between the long-range sonar assembly and air.
12. The robotic device of claim 1 , wherein the long range sonar assembly further comprises a printed circuit board comprising:
a local controller operably connected to the processing device and configured to receive instructions from the processing device;
a transmit potentiometer operably connected to the local controller and configured to adjust a first transmit frequency; and
a receive potentiometer operably connected to the local controller and configured to adjust a first receive sensitivity, wherein:
the transducer is operably connected to the receive potentiometer and the transmit potentiometer.
13. The robotic device of claim 12 , wherein the printed circuit board further comprises a tunable transformer.
14. The robotic device of claim 1 , further comprising a removable fastener for affixing the sub-assembly within the flared bell housing.
15. A method controlling movements of a robotic device, the method comprising, by a processing device:
cause a long-range sonar assembly to transmit, via a transducer, one or more pulses, wherein the transducer is included within a flared bell housing of the long-range sonar assembly such that the flared bell housing enables the long range sonar assembly to detect objects between 1000 mm to 9500 mm from the long range sonar assembly;
cause the long-range sonar assembly to receive, via the transducer, the one or more pulses as echo pulses having reflected off an object in an environment; and
transmit instructions to a transportation mechanism of the robotic device to move the robotic device in the environment based on the received one or more pulses.
16. The method of claim 15 , further comprising determining a position of the robotic device in the environment relative to the object based on the one or more pulses as echo pulses having reflected off an object in an environment.
17. The method of claim 16 , wherein determining the position of the robotic device in the environment relative to the object further comprises determining a position of the object.
18. The method of claim 17 , wherein determining the position of the object further comprises determining whether the object is located at an edge of a beam angle corresponding to the long-range sonar assembly or in front of the long-range sonar assembly.
19. The method of claim 18 , wherein determining whether the object is located at the edge of a beam angle corresponding to the long-range sonar assembly or in front of the long-range sonar assembly comprises accepting, via a transducer, one or more of the echo pulses or rejecting one or more of the echo pulses based on a width of the echo pulses.
20. The method of claim 15 , wherein the transducer is configured to transmit one or more pulses at a transmit frequency and to receive echoed pulses at a receive sensitivity.