| 摘要 |
PURPOSE:To detect the information on the distance and position of an obstruction with simple constitution by accessing a memory which stores the obstruction detecting region made into the matrix in accordance with the obstruction detection signals from plural ultrasonic wave transducers. CONSTITUTION:Three sets of ultrasonic wave transmitters T1-T3 are provided at an equal angle with respect to the transmitter in the central part to the front surface part of a robot 11, etc. and two sets or the like of ultrasonic wave receivers R1, R2 are equidistantly provided on both sides thereof, by which the obstruction distance is spot-measured by the ultrasonic waves. The memory which stores the obstruction region made into the matrix by these distance measured values as addresses is accessed and the obstruction position is detected without calculation, etc. The information on the distance and position of the obstruction is thus detected with the simple constitution.
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