| 摘要 |
PURPOSE:To measure the accurate position of a target and to perform safe follow-up control by making a validity check on basic data based upon an output received from the target body. CONSTITUTION:Receivers S2-S-2 of a robot 2 receive an ultrasonic wave (a) from the target body 1. Light from a projector 1b is photodetected 5 to synchronize a clock pulse generator 4 with a transmitter 1a, thereby supplying time difference pulses (h)-(m) with pulse width corresponding to the time difference from the transmission of an ultrasonic wave (a) to its reception to a counter group 6. Then, clock pulses CLK begins to be counted according to synchronizing pulses (b) and respective pulse width intervals of the pulses (h)-(m) are converted into counted values of pulses CLK individually. Then, an arithmetic part 7 starts an interruption processing according to the pulses (b) and arithmetic is performed according to the pulses CLK on the basis of counted values corresponding to the receivers S2-S-2 to calculate the individual distance from the target body 1 according to the combination of couples of counted values, thereby the mean distance and the relative angle to the target body 1. Then a control part 8 judges as to run control according to the speed and angle data and the robot 2 runs according to the moving speed of the target body 1.
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