Toposens TS3 Configuration Manual Download Page 3

Graphic Explanation

Number of Pulses

The most comprehensible modifiable value is the length of the transmitted acoustic signal. Due to the resonance of the
transducer, longer signals equal a higher power for the transmission signal. This directly impacts the maximum detection distance
of the system. Longer pulses with higher amplitude can result in lower accuracy.

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Number of Pulses

Command

sPuls

Effect

Sets number of ultrasonic pulses emitted by the piezo transducer in every 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

The transmission signal length influences the maximum detection distance, the returned signal strength and the selectivity. Longer
signals carry more power but also fuse smaller object in close proximity to the sensor.

To visually demonstrate the influence of the parameters, the following substitute graphic is used. The red arrow indicates 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 time.

Short (1-3) = Low Amplitude/Length Signal

Medium (4-7) = Medium Amplitude/Length Signal

Large (8-20) = Large Amplitude/Length Signal

Short signals result in better discrimination
properties

regarding

close

ranged

detection of objects. Objects in a further
distance

can’t

be detected if the reflected

energy is lower than the configured
threshold.

Medium signals are the best all round fit
for most use cases. Objects at a further
distance have a chance of being detected,
while close objects can still be recognized
as separate ones.

Large signals enable the recognition of
objects farther away from the sensor.
Please note the “fusion” of close ranged
objects due to the loud and long
transmission pulse. This effect can’t be
compensated for by other parameters.

The size of the circles indicates the
detected position of the echo. Bigger
circles indicate less accuracy while
the brightness indicates echo signal
integrity.

If the circles are fusing, this indicated
possible echo interference which
results in inaccurate detection.

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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