How does a 3D Ultrasonic Sensor work?

Toposens’ 3D Ultrasonic Sensors work by combining the time-of-flight principle of conventional ultrasonic sensors with triangulation and advanced signal processing algorithms.
At the beginning of each measurement cycle, a transducer on the sensor sends out an ultrasonic pulse. This pulse is reflected by surrounding objects and received by an array of microphones on the sensor. Based on the different times of when echoes arrive at the individual microphones, the origins of the echoes are calculated as 3D coordinates. These 3D coordinates are put out at the end of each measurement cycle.
A 3D Ultrasonic Sensor detects an object only at the strongest points of reflection. This explains why there are less points (i.e. the point cloud is sparse) for 3D Ultrasonic Sensors compared to other sensors, which scan a grid (i.e. Lidar or 3D cameras).
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