High-Speed Measurement of Normal   Wall Direction by Ultrasonic Sensor

Akihisa Ohya; Yoshiaki Nagashima; Shin’ichi Yuta

doi:10.20965/jrm.1999.p0013

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JRM Vol.11 No.1 pp. 13-16

doi: 10.20965/jrm.1999.p0013

(1999)

Paper:

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High-Speed Measurement of Normal Wall Direction by Ultrasonic Sensor

Akihisa Ohya^*, Yoshiaki Nagashima^** and Shin’ichi Yuta^*

^*Intelligent Robot Laboratory, Institute of Information Science and Electronics, University of Tsukuba, 1-1-1 Tennodai, Tsukuba, Ibaraki 305-8573, Japan

^**Hitachi, Ltd. Power & Industrial Systems R&D Division, 7-2-1 Omika-cho, Hitachi-shi, Ibaraki 319-1221, Japan

Received:

February 20, 1998

Accepted:

June 5, 1998

Published:

February 20, 1999

Keywords:

ultasonic sensor, normal wall direction, mobile robot, high speed measurement

Abstract

In novel ultrasonic sensing that measures normal wall direction, wall inclination is calculated from the difference of round-trip time-of-flight detected using plural receivers. This system has four receivers for error correction using an inconsistency check of propagation time.

Cite this article as:

Akihisa Ohya, Yoshiaki Nagashima, and Shin’ichi Yuta, “High-Speed Measurement of Normal Wall Direction by Ultrasonic Sensor,” J. Robot. Mechatron., Vol.11, No.1, pp. 13-16, 1999.

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High-Speed Measurement of Normal Wall Direction by Ultrasonic Sensor

Akihisa Ohya*, Yoshiaki Nagashima** and Shin’ichi Yuta*

Akihisa Ohya^*, Yoshiaki Nagashima^** and Shin’ichi Yuta^*