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
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.