JPS60205208A - Ultrasonic wave distance measuring apparatus - Google Patents

Abstract

PURPOSE:To attain to enhance measuring accuracy, by bringing a transmission sensor and a receiving sensor parallelly arranged so as to provide a predetermined distance therebetween to such a structure that both sensors can be synchronously rotated to opposite directions so as to obtain max. sensitivity and further providing an angle sensor to calculate a real value. CONSTITUTION:The titled apparatus is constituted of a sensor attachment mechanism 21 having a transmission sensor 23 and a receiving sensor 24 attached thereto, a rotation controller 25 for controlling the rotation of the sensors, a rotary angle detector 26 for detecting the rotary angles of the sensors and a measuring instrument 27 in which display devices 28, 29 respectively displaying max. sound pressure and a distance are assembled. In this apparatus, the real value of a distance is displayed by the measuring instrument 27 from a time required in allowing ultrasonic beam 6 emitted from the transmission sensor 23 to be incident to the receiving sensor 24 while reflecting the same from an object 22 and the max. sound pressure receiving angle theta inputted from the rotary angle detection apparatus 26. By this mechanism, S/N is improved and high sensitivity and high accuracy measurement is enabled.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an ultrasonic distance measuring device that is attached to, for example, the hand or foot of a robot.

FIG. 1 shows a conventional configuration of an ultrasonic distance measuring sensor that is attached to the mouth, hands, feet, etc.

In Figure 1, is 1 a running or moving port? , a sensor mounting structure serving as the hand (or foot) of the body 1, 5 a transmitting part (hereinafter referred to as a transmitting sensor) of an ultrasonic distance measuring sensor attached to this body 1, and 8 a receiving part (hereinafter referred to as a receiving sensor) of the ultrasonic distance measurement sensor. ). To measure the distance, when the electric nous generated by the measuring device 4 is applied to the transmitting sensor 5, the transmitting sensor 5 emits an ultrasonic beam 6 (1!r). This ultrasonic beam 6 is reflected when it hits the object 2, and the reflected beam 7 is incident (received (!r)) on the receiving sensor 8VC.The ultrasonic beam is emitted (transmitted) and then incident (received).
The distance 3 is calculated from the measured time and displayed on the digital display 9. In this way, ultrasonic distance measurement between the body structure 1 and the object 2 is performed.

However, since conventional distance measuring sensors of this kind generally do not require high accuracy, as shown in FIG. It was fixedly placed at right angles to.

In such a sensor arrangement, the measurement error is relatively small as long as the measurement distance interval is sufficiently large, but when the measurement distance interval becomes sufficiently small, the angle formed by each of the sensors 5 and 8 becomes 1 no (θ). Center distance J x between the above sensors 5 and 8
There is a drawback that the error increases depending on (t,).

The present invention was made in view of the above circumstances, and provides an ultrasonic distance measuring device that can always measure distances with high accuracy regardless of the measurement distance interval, and can have high sensitivity and a sufficiently large S/N ratio. The purpose is to provide.

The present invention provides an ultrasonic distance measuring sensor to be attached to various work robots, etc., which has a structure in which a transmitting sensor and a receiving sensor can be rotated inwardly in synchronization with each other, and the beam direction angle is shifted by rotation of the sensor. In addition, the angle at which the maximum sound pressure can be obtained is detected by an angle sensor, and the distance measurement value at the location θ is calculated by cotr 2 ( θ is the angle formed by both sensors) and the true value is displayed digitally.
This realizes high precision distance sensors.

By implementing a distance measurement sensor with this type of configuration (for example, in various work robots), it becomes possible to accurately grasp the distance to an object, greatly improving the performance of the robot, and preventing collisions and associated damage. The reliability of the robot can be greatly improved by avoiding such inconveniences.

An embodiment of the present invention will be described below with reference to FIG. In Fig. 2, numeral 2 is a sensor mounting structure that serves as an attachment body for an ultrasonic distance measurement sensor, such as a member such as a hand (or foot) of a robot, 22 is an object to be measured, and 23 is an ultrasonic sensor mounting structure. A transmitting part of a distance measurement sensor (hereinafter referred to as a transmitting sensor),
24 is a receiving section (hereinafter referred to as a receiving sensor). The transmitting sensor 23 and the receiving sensor 24 are attached to the sensor mounting structure 21 so as to be rotatable with respect to each other in the direction of the arrow shown in the figure, and are capable of rotating at a predetermined angle in opposite directions (facing directions) in synchronization with each other. The structure is such that it can be done.

25 is a rotation controller that controls the rotation of each of the sensors 23 and 24, and 26 is a rotation angle detection device that detects the rotation angle 11 (θ) of the sensors 23 and 24. 27 is a measuring device, 28 is a maximum sound pressure memory display device built into the measuring device 26, and 29 is a distance digital display device also built into the measuring device 26 to display the corrected distance.

To explain the operation of the above embodiment, the transmitting sensor 23 and the receiving sensor 24 of the ultrasonic distance measuring sensor incorporated in the sensor mounting structure 21 which becomes the robot's hand (or foot) When the robot's hand (or foot) reaches the desired position, the rotation controller 25 simultaneously controls the robot's rotation in the directions of opposite arrows shown in the figure (for example, directions facing each other), and the inclination angle is simultaneously changed and measured. When the maximum sound pressure memory a-claw device 28 built into the device 27 indicates the maximum sound pressure, its rotation stops and it comes to rest at that point (η (rotation angle). At this time, 113 degrees 11 (
17') is detected by the rotation angle detection device 26, and this value is input to the correction circuit in the measurement hole 27 as the value of CQ R2.

Then, in the measuring instrument 27, the time (beam 6 + beam 7 = W) multiplied by co8T of the maximum sound pressure receiving angle θ input from the rotation angle detection device 26 is the distance digital display 2.
9 is displayed as the corrected true distance. Further, at this time, a higher sound pressure (maximum sound pressure) can be obtained than in the device configuration shown in FIG.

The ultrasonic distance measuring device configured according to the above embodiment or
I? By installing them on the robot's hands, feet, etc., the distance to the object can be determined more accurately, which not only improves the robot's performance, but also avoids unnecessary collisions and improves the reliability of the robot. can be improved.

Claims (1)

[Claims] Ultrasonic distance measurement, characterized in that a transmitting part and a receiving part of ultrasonic distance measuring sensors arranged side by side and separated from each other at a predetermined distance are rotated in synchronization in opposite directions so as to obtain maximum sensitivity. Device.