TDK CH101 User Manual page 12

Sensor settings:
•
ODR: The time interval at which the sensor should be periodically triggered to take a measurement. Reducing ODR increases
the data bandwidth required to transfer data from the sensor to the host. A 40ms ODR is equal to a data acquisition frequency
of 25Hz. Default value is 40ms. Range of permitted values is [10, 1000].
•
Max range in samples: The number of IQ traces to acquire for each sensor measurement. Higher values allow the sensor to
search for echoes further away, but also increases the amount of data collected, the data transfer time, and data processing
time. The cliff detection algorithm has the best performance at 40 samples. Default value is 40 samples. Range of permitted
values is [20, 80].
Mechanical Device settings:
Note: Changing mechanical device settings from default values may require re-tuning cliff and/or floor type parameter settings to
achieve optimal algorithm performance.
•
Sensor height: Distance between the floor and the bottom of the horn (e.g. bottom of the robot) in mm. Default value is
30mm. Range of permitted values is [0, 140].
•
Horn/Tube length: Length of horn/tube in mm. Default value is 18mm. Range of permitted values is [2, 50].
•
Distance between 2 sensors: Center-to-center distance between the two sensors (how far they are spaced apart from each
other). Default value is 11mm. Range of permitted values is [10, 60].
•
Sensor tilt angle: Sensor tilt angle relative to the floor, in degrees. Sensor pointing directly down at the floor is 0 degrees.
Default value is 15 degrees. Range of permitted values is [0, 45].
•
For best algorithm performance, all physical input measurements should be accurate to +/- 1 mm or +/- 1 degree.
Cliff Parameters settings:
•
Min cliff depth to detect: The minimum cliff depth that should be detected and considered as a cliff. Cliff depths that are
smaller than this value will be treated as a regular floor. Default value is 30mm. Range of permitted values is [10, 140].
•
Amplitude value to detect near cliff: The amplitude threshold to consider an ultrasound echo as a short-range cliff. Default
value is 4000 LSBs.
•
Amplitude value to detect far cliff: The amplitude threshold to consider an ultrasound echo as a long-range cliff. Default
value is 2000 LSBs.
•
Voting window length: Length of detection voting window in number of frames. This parameter is used to smooth the
instantaneous detection result. Lower values will result in faster algorithm reaction, but also will increase likelihood of false
cliff detections. Set this parameter to balance between reaction time and false detection frequency. Default value is 11
frames. Range of permitted values is [1, 101].
Floor Type Parameters settings:
•
Threshold soft floor: Initial threshold on the floor type detection metric. Values below this threshold will be considered a soft
floor.
•
Threshold hard floor: Initial threshold on the floor type detection metric. Values above this threshold will be considered a
hard floor.
Buttons:
•
Import: Import parameters from json file. The json file format must be the same as the "Export" button.
•
Export: Export parameters to json file.
•
OK: Apply modifications and close window.
•
Cancel: Discard modifications and close window.
Document Number: AN-000349
Revision: 1.0
Page 12 of 23
AN-000349