DETECTING METHOD FOR ANGLE OF ROTATION OF MOVING BODY

摘要

PURPOSE:To detect the angle of rotation of a moving body without using any external information by propagating an ultrasonic wave signal into a looped pipe filled with liquid, detecting the rotating speed of the pipe from the difference between propagation times during the rotation and stop of the pipe, and detecting the angle of rotation of the moving body from the rotating speed and run distance. CONSTITUTION:The ultrasonic wave signal from an ultrasonic wave oscillator 2 is propagated in the looped pipe 1 filled with gas or liquid to detect the propagation time of the signal in the pipe during the rotation of the pipe and that in the stop of the pipe. The rotating speed of the pipe is detected from the difference in propagation time and this time difference is processed to detect the rotating speed of the pipe. The angle of rotation of the moving body is detected from the rotating speed and the run distance detected by the run distance sensor.