| 摘要 |
PURPOSE:To enable accurate and highly dependable position measurement, by receiving supersonic wave transmitted from a target body by a plurality of wave receivers and measuring a position initiated by distance and relative angle. CONSTITUTION:A pulse-shape supersonic wave (a) is emitted repeatedly with the constant frequency ts from a wave sender 1a of a moving target body 1. Wave receivers S2-S-2 arranged with the specified distances on a horizontally identical line on a robot side receive the supersonic wave (a) individually and supply outputs (c)-(g) to a signal receiving unit 3. The signal receiving unit 3, basing on the synchronized pulse b synchronized with a frequency ts of an oscillator 4, sends out pulses (h)-(m) to a counter group 6 corresponding to time difference of wave sending and receiving times of the supersonic wave. The group 6 converting each time difference pulse into a count value of clock pulse of the oscillator 4 to supply it to a calculating unit 7. The calculating unit 7, upon receiving the pulse (b), starts an offering action to calculate per each count value and calculates an individual distance from the target body 1 corresponding to a combination of either one pair of each count value and after calculating the mean value of the distance from the target body 1 and at the same time, obtains a relative angle included with the target body 1.
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