Proximity Sensing of Obstacles with an Ultrasonic Sensor Array Using the Sensory Nervous System for Service Robots

Abstract

The sensory nervous system for service robots (S3R) is intended to ease development of sensory systems of services robots. Three key modules, i.e., sensor units, spinal cord units that aggregate sensor data, and nerve cables that connect both units using the 2-wire connection technology, are used to build a dedicated system to sense external / internal events and changes of the robot. In this paper, the proximity detection function for safety is realized using an ultrasonic sensor array and the S3R. The nerve cables and spinal cord units simplify the placement of the ultrasonic sensors and the implementation of the software.