| 摘要 |
PURPOSE:To detect the corner part of an object with high precision by detecting the position of the corner part and by processing the level of a reflected signal obtained by transmitting and receiving an ultrasonic wave while varying the relative position relation between the object and an ultrasonic wave transmitting and receiving element at constant intervals of distance. CONSTITUTION:The received signal outputted by an ultrasonic wave transducer 53 is amplified 56 and converted by an A/D converter 57 into a digital value, which is stored in a memory 58. A data processing controller 51 consists of an interface control unit (ICU)59, a floppy disk drive (FDD), and a CPU61. The ICU59 is connected to the FDD60, the CPU61, an oscillator 55, and a memory 61. The data processing controller 51 outputs a control signal for operating the oscillator 55 and a control signal to a manipulator controller 52, and preprocesses input data from the memory 58, and the CPU61 detects the level of the reflected signal and performs the arithmetic processing of the position of the object an the arithmetic processing of the extent of movement of a manipulator 50.
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