JPH0344677B2 - - Google Patents
Info
- Publication number
- JPH0344677B2 JPH0344677B2 JP59107560A JP10756084A JPH0344677B2 JP H0344677 B2 JPH0344677 B2 JP H0344677B2 JP 59107560 A JP59107560 A JP 59107560A JP 10756084 A JP10756084 A JP 10756084A JP H0344677 B2 JPH0344677 B2 JP H0344677B2
- Authority
- JP
- Japan
- Prior art keywords
- ultrasonic
- wave
- wavelength
- length
- transmitting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 5
- 239000012212 insulator Substances 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000002238 attenuated effect Effects 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/004—Mounting transducers, e.g. provided with mechanical moving or orienting device
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/002—Devices for damping, suppressing, obstructing or conducting sound in acoustic devices
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
- Transducers For Ultrasonic Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
【発明の詳細な説明】
（産業上の利用分野）
この発明は、超音波信号の送受信によつて、対
物距離等の検出を行なうために用いる超音波セン
サに関し、特に、その送・受信波の送出・導入用
のホーンの改良に関する。Detailed Description of the Invention (Field of Industrial Application) The present invention relates to an ultrasonic sensor used for detecting object distance, etc. by transmitting and receiving ultrasonic signals, and in particular, to Concerning improvements to horns for delivery and introduction.
（発明の背景）
超音波信号を用して、対物距離を検出するため
に用いられる超音波センサとしては、例えば、特
開昭57−182544号「路面状態検出装置」に示され
るような自動車に適用されるもの等が提案されて
いる。(Background of the Invention) As an ultrasonic sensor used for detecting an object distance using an ultrasonic signal, for example, an ultrasonic sensor used in an automobile as shown in Japanese Patent Application Laid-Open No. 182544/1982 entitled "Road Surface Condition Detection Device" is used. Applicable items are proposed.
このような超音波センサを構成する超音波送・
受波器には、その指向性向上のために、第１図に
示すようにホーン１，２を取付けたものがある
（例えば、特開昭53−21953号）。 Ultrasonic transmission and
Some wave receivers are equipped with horns 1 and 2 as shown in FIG. 1 in order to improve their directivity (for example, Japanese Patent Laid-Open No. 53-21953).
しかしながら、上記のように、ホーンによつて
指向性を高めても、超音波送・受波器３，４が近
接して設置されると、受波器４には、送波器３か
ら送信された超音波信号S1の反射波S2の他に、対
象物に反射することなく、直接送波器３側から入
射して来る信号波（以下、これを「回り込み波」
とする）S3が受信される。 However, as mentioned above, even if the directivity is increased by the horn, if the ultrasonic transmitter/receiver 3 and 4 are installed close to each other, the receiver 4 will receive the In addition to the reflected wave S2 of the ultrasonic signal S1 , the signal wave that is directly incident from the transmitter 3 side without being reflected on the target object (hereinafter referred to as a "wrapping wave")
) S 3 is received.
この回り込み波S3は、特に、前述した自動車の
車高のように短距離を検出する場合には、反射波
S2に部分的に重なつて干渉を生じたり、反射波S2
を減衰させる等の検出誤差の原因となるような現
象が起こり易い。 This wrap-around wave S 3 is a reflected wave, especially when detecting a short distance such as the height of the car mentioned above.
S 2 may partially overlap and cause interference, or reflected waves S 2
Phenomena that cause detection errors, such as attenuation of the signal, are likely to occur.
（発明の目的）
この発明の目的は、上述の回り込み波をホーン
形状の改善によつて、効果的に減衰させて、検出
性能を向上させた超音波センサを提供することに
ある。(Objective of the Invention) An object of the present invention is to provide an ultrasonic sensor in which the above-mentioned wraparound waves are effectively attenuated by improving the shape of the horn, and the detection performance is improved.
（発明の構成）
上記目的を達成するために、本発明は、近接し
て配置された超音波送波器及び受波器に、直筒部
と錐筒部からなるホーンを設けるとともに、直筒
部の長さが略1.5×（送波面及び受波面の半径）2／
（超音波信号の波長）となるように構成したこと
を特徴とする。(Structure of the Invention) In order to achieve the above object, the present invention provides an ultrasonic transmitter and a receiver arranged in close proximity to each other with a horn consisting of a straight cylindrical part and a conical cylindrical part. Length is approximately 1.5 x (radius of transmitting and receiving surfaces) 2 /
(wavelength of ultrasonic signal).
（実施例の説明）
この発明の一実施例の構成を第２図に断面図で
示す。(Description of an Embodiment) The configuration of an embodiment of the present invention is shown in a sectional view in FIG.
ケース１０は、プラスチツク等の合成樹脂成形
体からなり、超音波送波器３と超音波受波器４が
２つの並設された収容室内にそれぞれ近接して収
容されている。 The case 10 is made of a synthetic resin molded body such as plastic, and an ultrasonic wave transmitter 3 and an ultrasonic wave receiver 4 are housed in two parallel housing chambers in close proximity to each other.
ケース１０と送、受波器３，４との間の、送波
面３ａおよび受波面４ａを除く部分には、軟質ゴ
ム等の防音効果を有する材質からなるインシユレ
ータ１１，１２が介在されている。 Insulators 11 and 12 made of a material having a soundproofing effect, such as soft rubber, are interposed between the case 10 and the transmitter and receiver 3, 4, excluding the wave transmitting surface 3a and the wave receiving surface 4a.
また、ケース１０には、下面から、送波面３ａ
と受波面４ａにそれぞれ連通するように開口形成
されたホーン１３，１４が設けられている。 The case 10 also has a wave transmitting surface 3a from the bottom surface.
Horns 13 and 14 are provided with openings formed so as to communicate with the wave receiving surface 4a, respectively.
上記ホーン１３，１４は、送・受波面３ａ，４
ａの周囲から下方へ向けて円筒状に形成された直
筒部１３ａ，１４ａと、直筒部１３ａ，１４ａの
下端からケース１０下面へ向けて拡開する円錐状
の錐筒部１３ｂ，１４ｂとから構成されている。 The horns 13 and 14 have transmitting and receiving surfaces 3a and 4.
Consisting of straight cylindrical parts 13a, 14a formed in a cylindrical shape downward from the circumference of a, and conical conical parts 13b, 14b that expand from the lower ends of the straight cylindrical parts 13a, 14a toward the lower surface of the case 10. has been done.
上記直筒部１３ａ，１４ａの長さｘは、
ｘ＝1.5γ2／λ ……(1)
なる関係を満足するように設定されている。ただ
しγは、送波面３ａ、受波面４ａの半径、λは送
波器３から発生する超音波信号の波長である。 The length x of the straight cylindrical portions 13a and 14a is set to satisfy the following relationship: x=1.5γ 2 /λ (1). However, γ is the radius of the wave transmitting surface 3a and the wave receiving surface 4a, and λ is the wavelength of the ultrasonic signal generated from the transmitter 3.
また、ホーン１３，１４の開口径ｙは、 ｙ＝2λ ……(2) となるように設定されている。 Moreover, the opening diameter y of the horns 13 and 14 is y=2λ...(2) It is set so that
以上の関係(1)，(2)を満足させるホーン１３，１
４を形成することにより、回り込み波を大幅に減
衰させて、その影響を回避することができる。 Horn 13, 1 that satisfies the above relationships (1) and (2)
4, it is possible to significantly attenuate the wrap-around waves and avoid their influence.
以下、上記の関係(1)，(2)を導き出すために、本
願発明者らが行なつた実験の結果を示す。 The results of experiments conducted by the inventors of the present invention in order to derive the above relationships (1) and (2) are shown below.
実験に使用した超音波送、受波器３，４は、中
心周波数が40KHz（波長λ＝8.5mm）、送・受波面
３ａ，４ａの半径γが5.4mm（ただし、通常の超
音波送、受波器の振動モードは、ベンデイングモ
ードであるため、ここでは、振動面の有効半径
5.0mmとして考えるものとする）のものである。 The ultrasonic transmitter and receivers 3 and 4 used in the experiment had a center frequency of 40 KHz (wavelength λ = 8.5 mm), and a radius γ of the transmitting and receiving surfaces 3a and 4a of 5.4 mm (however, the ultrasonic transmitter and receiver 3 and 4 used in the experiment Since the vibration mode of the receiver is bending mode, here, the effective radius of the vibration surface is
5.0mm).
第３図に示す実験結果は、ホーン１３，１４の
開口径ｙを変化させたときのＳ／Ｎ（開口面から
30cm離れた位置にアルミニウム板を置いた状態で
の反射波と回り込み波の強度の比）の変化を示す
ものである。 The experimental results shown in Fig. 3 show the S/N (from the aperture surface
This shows the change in the intensity ratio of reflected waves and wraparound waves when an aluminum plate is placed 30 cm away.
同図から、開口径ｙが18.5mmの場合（これは、
波長λの約２倍である）に最もＳ／Ｎが大となる
ことが判る。 From the same figure, when the opening diameter y is 18.5 mm (this is
It can be seen that the S/N is highest at wavelength λ, which is approximately twice the wavelength λ.
第４図に示す実験結果は、第３図の実験結果か
ら最適であると判明した開口径ｙ＝18.5mmのホー
ン１３，１４において、直筒部の長さｘを変化さ
せたときのＳ／Ｎを示すものである。 The experimental results shown in Fig. 4 show the S/N ratio when the length x of the straight cylinder part is changed in the horns 13 and 14 with the opening diameter y = 18.5 mm, which was found to be optimal from the experimental results shown in Fig. 3. This shows that.
同図から、直筒部の長さｘが約4.5mmのときに、
Ｓ／Ｎが最大となることが判る。 From the same figure, when the length x of the straight cylinder part is about 4.5 mm,
It can be seen that the S/N is maximum.
次に、上記直筒部の長さｘの最適値に関係する
パラメータとして、送・受波面の半径γと超音波
信号の波長λが考えられることから、直筒部の長
さｘを両者の関数
ｘ＝ｆ（γ，λ） ……(3)
とする。 Next, since the radius γ of the transmitting/receiving surface and the wavelength λ of the ultrasonic signal can be considered as parameters related to the optimal value of the length x of the straight cylinder, the length x of the straight cylinder is a function of both x =f(γ,λ)...(3).
第５図に、波長λを一定（8.5mm）として、
送・受波面の半径γを変化させたときの、Ｓ／Ｎ
が最大となる直筒部の長さ（これを最適直筒部長
とする）ｘを求めた実験結果を示す。 In Figure 5, with the wavelength λ constant (8.5 mm),
S/N when changing the radius γ of the transmitting and receiving surfaces
The experimental results are shown in which the length x of the straight cylinder section at which the maximum value (this is assumed to be the optimum straight cylinder length) is determined.
また、第６図に、前記半径γを一定（５mm）と
して、波長λを変化させたときの最適直筒部長ｘ
を求めた実験結果を示す。 In addition, Fig. 6 shows the optimum straight cylinder length x when the radius γ is constant (5 mm) and the wavelength λ is varied.
The experimental results obtained are shown below.
両図から、最適直筒部長ｘは、半径の２乗に比
例し、かつ、波長λに反比例していることが判明
した。 From both figures, it has been found that the optimum straight cylinder length x is proportional to the square of the radius and inversely proportional to the wavelength λ.
従つて、前記関数式(3)は ｘ＝ｋ・γ2／λ ……(4) （ｋは定数） となる。 Therefore, the above functional formula (3) becomes x=k·γ 2 /λ (4) (k is a constant).
ここで、前記第４図に示した実験結果から判明
した最適直筒部長ｘ＝4.5（mm）、およびλ＝8.5
（mm）、γ＝５（mm）を上記式(4)に代入して定数ｋ
を求めると、ｋ＝1.5となる。 Here, the optimum straight cylinder length x = 4.5 (mm) and λ = 8.5 found from the experimental results shown in Fig. 4 above.
(mm), γ = 5 (mm) into the above equation (4) and constant k
When calculating, k=1.5.
このようにして、直筒部１３ａ，１４ａの長さ
ｘを最適長とするための関係式(1)が求められたの
である。 In this way, the relational expression (1) for setting the length x of the straight cylindrical portions 13a and 14a to the optimum length was determined.
さらに、上述のようなホーン形状がもたらす回
り込み波の減衰効果を実験した結果を、第７図お
よび第８図に示す。ただし、第７図は送波器３の
指向特性、第８図は受波器４の指向特性を示し、
図中Ｐが本実施例における特性、図中Ｑはホーン
を用いない場合の特性を示している。 Further, FIGS. 7 and 8 show the results of an experiment on the effect of attenuating wraparound waves brought about by the above-described horn shape. However, FIG. 7 shows the directional characteristics of the transmitter 3, and FIG. 8 shows the directional characteristics of the receiver 4.
In the figure, P indicates the characteristic in this embodiment, and Q in the figure indicates the characteristic when no horn is used.
両図から、本実施例の場合は、ホーンの側方で
の減衰量が大きく、すなわち、回り込み波の減衰
が充分に行われることが判る。 From both figures, it can be seen that in this example, the amount of attenuation on the sides of the horn is large, that is, the wrap-around waves are sufficiently attenuated.
なお、上記実施例において、直筒部１３ａ，１
４ａが、インシユレータ１１，１２とケース１０
との両者で構成されているのは、インシユレータ
１１，１２による防音効果をホーン１３，１４の
回り込み波の減衰効果を加味するとともに、送・
受波面３，４の収容工程で、インシユレータ１
１，１２の弾性による位置決め誤差をケース１０
によつて抑制するためである。 In addition, in the above embodiment, the straight cylindrical portions 13a, 1
4a is the insulators 11 and 12 and the case 10
This structure combines the soundproofing effect of the insulators 11 and 12 with the attenuation effect of the wraparound waves of the horns 13 and 14, and also
In the process of accommodating the wave receiving surfaces 3 and 4, the insulator 1
Case 10 shows the positioning error due to the elasticity of 1 and 12.
This is to suppress it by
なお、本考案は、第１図に示したような、送、
受波器３，４を別個のケース収容して並設したも
のに適用できるこは明らかである。 In addition, the present invention is based on the transport, as shown in Fig. 1.
It is obvious that the present invention can be applied to a structure in which the receivers 3 and 4 are housed in separate cases and arranged side by side.
（発明の効果）
以上詳細に説明したように、本発明にあつて
は、送・受波器を近接して配置した際の回り込み
波を別部品の追加に一切頼ることなくホーン形状
の改良によつて大幅に減衰させることができ、反
射波の検出に支障を来たすことを防止できる。(Effects of the Invention) As explained in detail above, in the present invention, it is possible to improve the shape of the horn without relying on the addition of separate parts at all to prevent wrap-around waves when the transmitter and receiver are placed close to each other. Therefore, it is possible to significantly attenuate the reflected wave, and to prevent interference with detection of the reflected wave.
また、ホーンの回り込み波減衰効率が高いこと
から、送・受波器を極めて近接して配置すること
が可能となり、超音波センサ自体の小型化ができ
る。 Furthermore, since the horn has a high efficiency of attenuating the loop waves, it is possible to arrange the transmitter and receiver very close together, and the ultrasonic sensor itself can be downsized.
第１図は従来の超音波センサを示す断面図、第
２図は本発明の一実施例の構成を示す断面図、第
３図は実験によつて求めたホーン開口径とＳ／Ｎ
の関係を示す図、第４図は実験によつて求めた直
筒部の長さとＳ／Ｎの関係を示す図、第５図は実
験によつて求めた送・受波面の半径と最適直筒部
長の関係を示す図、第６図は超音波信号の波長と
最適直筒部長の関係を実験によつて求めた結果を
示す図、第７図は第２図に示した実施例における
送波器の指向特性図、第８図は同じく受波器の指
向特性図である。
３……超音波送波器、４……超音波受波器、１
０……ケース、１１，１２……インシユレータ、
１３，１４……ホーン、３ａ……送波面、４ａ…
…受波面、１３ａ，１４ａ……直筒部、１３ｂ，
１４ｂ……錐筒部。
Fig. 1 is a sectional view showing a conventional ultrasonic sensor, Fig. 2 is a sectional view showing the configuration of an embodiment of the present invention, and Fig. 3 is a horn aperture diameter and S/N determined by experiment.
Figure 4 is a diagram showing the relationship between the length of the straight cylinder part and S/N determined by experiment, and Figure 5 is the radius of the transmitting/receiving surface and the optimum length of the straight cylinder part determined by experiment. FIG. 6 is a diagram showing the relationship between the wavelength of the ultrasonic signal and the optimum length of the straight cylinder, which was obtained through experiments. FIG. The directional characteristic diagram, FIG. 8, is also a directional characteristic diagram of the receiver. 3... Ultrasonic wave transmitter, 4... Ultrasonic wave receiver, 1
0...Case, 11,12...Insulator,
13, 14... Horn, 3a... Wave transmission surface, 4a...
...Wave receiving surface, 13a, 14a...Straight cylinder part, 13b,
14b... Conical cylinder part.
Claims (1)
器と超音波受波器とを並設してなる超音波センサ
において、 前記送波器及び受波器の送波面及び受波面の周
囲から送波方向及び受波方向へ延設された区筒ま
たは角筒状の直筒部と、該直筒部先端から円錐ま
たは角錐状に拡開する錐筒部とからなるホーンを
設け、 かつ、前記直筒部の長さが、略1.5×（送・受波
面の半径）2／（超音波信号の波長）の関係となる
ように構成したことを特徴とする超音波センサ。 ２ 前記錐筒部の先端開口の径が超音波信号の波
長の略整数倍であることを特徴とする特許請求の
範囲第１項記載の超音波センサ。[Claims] 1. An ultrasonic sensor comprising an ultrasonic transmitter and an ultrasonic receiver arranged in parallel for transmitting and receiving ultrasonic signals, comprising: A horn consisting of a sectioned or square tube-shaped straight tube extending from the periphery of the wave surface and the wave reception surface in the wave transmission direction and the wave reception direction, and a conical tube section expanding into a conical or pyramidal shape from the tip of the straight tube. An ultrasonic sensor characterized in that the length of the straight cylindrical portion is configured to have a relationship of approximately 1.5×(radius of wave transmitting/receiving surface) 2 /(wavelength of ultrasonic signal). 2. The ultrasonic sensor according to claim 1, wherein the diameter of the tip opening of the conical cylinder portion is approximately an integral multiple of the wavelength of the ultrasonic signal.
Priority Applications (8)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10756084A JPS60252284A (en) | 1984-05-29 | 1984-05-29 | Ultrasonic sensor |
| US06/737,937 US4739860A (en) | 1984-05-29 | 1985-05-28 | Ultrasonic rangefinder |
| GB08513476A GB2160321B (en) | 1984-05-29 | 1985-05-29 | Ultrasonic rangefinder |
| DE19853519254 DE3519254A1 (en) | 1984-05-29 | 1985-05-29 | ULTRASONIC DISTANCE METER |
| DE3546565A DE3546565C2 (en) | 1984-05-29 | 1985-05-29 | Ultrasonic range finder |
| GB08704173A GB2185817A (en) | 1984-05-29 | 1987-02-23 | Ultrasonic rangefinder |
| GB08704174A GB2186690B (en) | 1984-05-29 | 1987-02-23 | Ultrasonic rangefinder |
| US07/117,807 US4796726A (en) | 1984-05-29 | 1987-11-06 | Ultrasonic rangefinder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10756084A JPS60252284A (en) | 1984-05-29 | 1984-05-29 | Ultrasonic sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60252284A JPS60252284A (en) | 1985-12-12 |
| JPH0344677B2 true JPH0344677B2 (en) | 1991-07-08 |
Family
ID=14462267
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10756084A Granted JPS60252284A (en) | 1984-05-29 | 1984-05-29 | Ultrasonic sensor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60252284A (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0515110Y2 (en) * | 1986-06-20 | 1993-04-21 | ||
| JP2685861B2 (en) * | 1988-12-23 | 1997-12-03 | 松下電工株式会社 | Ultrasonic transducer |
| NL1010369C2 (en) * | 1998-05-01 | 1999-12-21 | Maasland Nv | Method as well as a device for acoustically monitoring the progress of a process, such as a milking process. |
| JP5216317B2 (en) * | 2007-12-26 | 2013-06-19 | 西日本旅客鉄道株式会社 | Ultrasonic sensor for platform detection |
| JP7249924B2 (en) * | 2019-10-23 | 2023-03-31 | 株式会社東芝 | Sensors and inspection equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS557555A (en) * | 1978-07-01 | 1980-01-19 | Seisan Kaihatsu Kagaku Kenkyus | Hardening agent for alkali silicate |
| JPS57128867A (en) * | 1981-02-04 | 1982-08-10 | Nippon Denso Co Ltd | Obstacle detector |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55112989U (en) * | 1979-01-31 | 1980-08-08 |
-
1984
- 1984-05-29 JP JP10756084A patent/JPS60252284A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS557555A (en) * | 1978-07-01 | 1980-01-19 | Seisan Kaihatsu Kagaku Kenkyus | Hardening agent for alkali silicate |
| JPS57128867A (en) * | 1981-02-04 | 1982-08-10 | Nippon Denso Co Ltd | Obstacle detector |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60252284A (en) | 1985-12-12 |
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| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |