Abstract: To make mobile robot detect and locate scattered multi-targets accurately, a new intelligence measurement approach based on ultrasonic sensors was proposed. An array of three ultrasonic transceivers was employed to transmit approximate plane acoustic beam, and space coordinates were built. Three sensors sent timing ultrasonic pulses, while the digital signal processor sampled and analyzed the received echoes based on designed algorithm to complete the clutter filter, the recognition and extraction of characteristic signal data from the head wave echo, second echo and third echo etc. After detecting time-of-flight of the echoes of each channel correctly, the accurate location of the measured targets was calculated. Rods were adopted as the measured objects in the experiments, which coordinate value was calculated based on high-speed echo data acquisition and processing. Compared the calculated data with the actually measured data of the rod positions, results confirm the feasibility and validity of the method.