Toposens TS3 Configuration Manual Download Page 2

Configuration

The flexible sensor configuration enables the adaption of the systems detection properties to a wide variety of possible use case
applications and environmental situations. Those parameters can be comfortably adjusted in the TS3-Visualizer and via serial
commands.

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Echo Rejection Threshold

Command

sReje

Effect

Sets the minimum amplitude for echoes above which they are considered valid detections. A low value will
result in a higher number of detections but also a higher probability of false detections

Parameter

5-digit unsigned integer representing the threshold

Applicable Values

Default = 1, min. = 0, max. = 20

Example

CsReje00001\r

for a threshold offset of 1

Number of Pulses

Command

sPuls

Effect

Sets number of ultrasonic pulses emitted by the piezo transducer in each transmission cycle. Increasing the
value will allow the detection of objects that are further away, decreasing it will increase the quality of
detections in close range

Parameter

5-digit unsigned integer representing the number of pulses to be sent out

Applicable Values

Default = 8, min. = 0, max. = 20

Example

CsPuls00010\r

for 10 pulses

Peak Detection Window

Command

sPeak

Effect

Sets the kernel size (window width) that is applied on raw ADC signals to detect valid echoes (peaks in the raw
ADC signal). A low value will allow for better separation of multiple objects that are close to each other. A high
value will result in "smoother" and more stable detections

Parameter

5-digit unsigned integer representing the size of the the object filter

Applicable Values

Default = 3, min. = 1, max. = 5

Example

CsPeak00003\r

for size of 3

Sensor Functionality Explanation

[1] the transducer (red) sends out an ultrasonic pulse,
[2] the wave is carried forward by the air molecules,
[3] the wave is reflected by an object, [4] a portion of
the echo is directed back to the sensor, [5] the echo is
sequentially captured by the microphone array,
arriving first at (a) the left microphone, and then at (b)
the right microphone, [6] a 3D location of the

echo’s

origin (light red) is determined from the

signal’s

time-

of-flight and the delay between microphones
receiving the echo.

The algorithmic parameters exposed for user manipulation change the sensitivity, selectivity and stability of the point cloud. While
it is possible to set all parameters to high values or use the trial and error method the following explanations seek to help the user
to understand the influences.

Summary of Contents for TS3

Page 1: ... V 1 0 08 2020 Initial release PRELIMINARY PROTOTYPE The Sensor configuration changes the behavior and the data quality The Sensor can not be damaged by configuration 1 Toposens TS3 Visualizer Operation Manual and Documentation 1 Disclaimer of Liability 1 Document Version 1 Table of Contents 1 Configuration 2 Explanation of Sensor Functionality 2 Graphic Explanation 3 Number of Pulses 3 Echo Rejec...

Page 2: ... 8 min 0 max 20 Example CsPuls00010 r for 10 pulses Peak Detection Window Command sPeak Effect Sets the kernel size window width that is applied on raw ADC signals to detect valid echoes peaks in the raw ADC signal A low value will allow for better separation of multiple objects that are close to each other A high value will result in smoother and more stable detections Parameter 5 digit unsigned ...

Page 3: ...cates the sensor position and heading while the red dots show the actual object positions e g pole or sphere in this case The size of the red circles indicate the size of the real objects while the grey circles indicate the sensors perception of the acoustic reflection Less visible brighter colored circles indicate less loud echoes In the following explanations a single parameter is changed at a t...

Page 4: ...e00001 r for a threshold of 1 Low 0 1 Low Amplitude Threshold Medium 2 4 Medium Amplitude Threshold Medium 5 20 High Amplitude Threshold Low values for the echo rejection threshold result in lots of instable points Those points are not necessarily noise but small reflections which can not be located continuously Medium values allow for the most versatile sensor configuration Noise is not as promin...

Page 5: ...unsigned integer representing the window width size of the the object filter Applicable Values Default 3 min 1 max 5 Example CsPeak00003 r for size of 3 Please note the tendency of smaller objects to fuse when higher values are configured Smaller objects with similar relative position to the sensor as bigger objects are fused with the bigger object Note that each object fusion will change the resu...

Page 6: ...ts Additional post processing likely needed to filter noise This setting is enabling the lowest false positive rate while increasing the false negative rate Good for medium distance obstacle avoidance Small objects are likely to be ignored if not close to the sensor Low noise level combined with a reasonable detection area Due to the high pulsed volume accuracy issues may occur Due to the high pea...

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