JPS6177774A - Obstacle detector - Google Patents
Obstacle detectorInfo
- Publication number
- JPS6177774A JPS6177774A JP20026084A JP20026084A JPS6177774A JP S6177774 A JPS6177774 A JP S6177774A JP 20026084 A JP20026084 A JP 20026084A JP 20026084 A JP20026084 A JP 20026084A JP S6177774 A JPS6177774 A JP S6177774A
- Authority
- JP
- Japan
- Prior art keywords
- obstacle
- transmitter
- receiver
- distance
- receivers
- 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.)
- Pending
Links
Classifications
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
-
- 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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
- G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は超音波を用いた障害物探知装置に関するもので
ある。DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to an obstacle detection device using ultrasonic waves.
従来の技術
従来より障害物を探知する装置として超音波を用いた障
害物探知装面が知られている。これは第2図に示すよう
に、送信器4と受信器6および送信器5と受信器7をペ
アとし、ペアとなる送・受信器は間隔を隔てることなく
配置し、各ペア間はある一定の間隔Rを隔てて配管し−
また、送信器4と送信器5とで周波数の異なりた超音波
を発し、送信器4(または5)とペアになっている受信
器6(または7)のみが、その周波数の超音波を受信し
、ペアになってしない受信器7(または6)は受信しな
いようになっている。これにより障害物1と送信器4、
受信器6の間の距離r1、と障害物1と送信器5、受信
器7の間の距離r2が求まり、この距離r1とr2およ
び各送・受信間の距離Rの関係を演算回路で計算させる
ことにより、障害物の位置を求めている。2. Description of the Related Art Obstacle detection devices using ultrasonic waves have been known as devices for detecting obstacles. As shown in Fig. 2, the transmitter 4 and receiver 6 and the transmitter 5 and receiver 7 are paired, and the paired transmitters and receivers are arranged without any separation between each pair. Piping is done at a certain interval R.
Also, the transmitter 4 and the transmitter 5 emit ultrasonic waves of different frequencies, and only the receiver 6 (or 7) paired with the transmitter 4 (or 5) receives the ultrasonic waves of that frequency. However, receivers 7 (or 6) that are not paired do not receive signals. As a result, obstacle 1 and transmitter 4,
The distance r1 between the receiver 6 and the distance r2 between the obstacle 1, the transmitter 5, and the receiver 7 are determined, and the relationship between these distances r1 and r2 and the distance R between each transmission and reception is calculated by an arithmetic circuit. The position of the obstacle is determined by
発明が解決しようとする問題点
上記の障害物探知装置では、周波数の異なっ ゛
た2種類の超音波を用いなければならないため、2周波
信号の分離ならびに2周波を使用するための周波数の違
いによる分解能力の違いを考慮しなければならないとい
う欠点を有していた。Problems to be Solved by the Invention In the above-mentioned obstacle detection device, two types of ultrasonic waves with different frequencies must be used, so it is necessary to separate the two-frequency signals and to use the two frequencies. This method has the disadvantage that differences in decomposition ability must be taken into consideration.
問題点を解決するための手段
本発明は上記の問題を解決するため、超音波を発する1
つの送信器と障害物に反射して帰ってきた超音波を受信
する2つの受信器およびその受信器の出力信号を受けて
障害物の位置計算を行なう演算回路を用いたことを特徴
としている。Means for Solving the Problems In order to solve the above problems, the present invention provides a method for emitting ultrasonic waves.
The system is characterized by the use of two transmitters, two receivers that receive the ultrasonic waves reflected back from obstacles, and an arithmetic circuit that receives the output signals of the receivers and calculates the position of the obstacle.
作用
本発明は上記の特徴を有することにより、単一周波数を
用いるだけで障害物の位置を探知することが可能となる
。Effect: The present invention has the above-mentioned characteristics, so that it is possible to detect the position of an obstacle using only a single frequency.
実施例 本発明の一実施例を第1図により説明する。Example An embodiment of the present invention will be explained with reference to FIG.
超音波送信器4と障害物1との距離と受信器6と障害物
1との距離を常に同一距離r1と見なせる程度に送信器
4と受信器6を近接させ、他の1つの受信器7は送信器
4と受信器6の中心からRの距離を隔てて配置し、この
受信器7と障害物1の距離をrlとする。送信器4から
送信された超音波が障害物1にて反射し受信器6と7に
受信されるまでの時間をそれぞれtlとt2とすると、
空中での音速は340 m/sより、距離r1とrlの
関係は2 rl = 340 t、、r、 + r 2
= 340 t2となる。この関係式を演算回路3で
解き、rl 、rlを求める。The transmitter 4 and the receiver 6 are brought close to each other to the extent that the distance between the ultrasonic transmitter 4 and the obstacle 1 and the distance between the receiver 6 and the obstacle 1 can always be regarded as the same distance r1, and the other one receiver 7 is placed at a distance R from the center of the transmitter 4 and receiver 6, and the distance between the receiver 7 and the obstacle 1 is rl. Assuming that the time it takes for the ultrasonic wave transmitted from the transmitter 4 to be reflected by the obstacle 1 and received by the receivers 6 and 7 to be tl and t2, respectively,
Since the speed of sound in the air is 340 m/s, the relationship between distance r1 and rl is 2 rl = 340 t,, r, + r 2
= 340 t2. This relational expression is solved by the arithmetic circuit 3 to obtain rl and rl.
また、送信器4と受信器6および7を結ぶ線上に受信器
6から受信器7の向きを正にとったX軸を置き、送信器
4と受信器6の中心と受信器7との間の1/2Rの距離
の位置からX軸に垂直に探知方向を正の向きにとったy
軸を置く。Also, place the X axis with the direction from receiver 6 to receiver 7 positive on the line connecting the transmitter 4 and receivers 6 and 7, and place the X axis between the center of the transmitter 4 and receiver 6 and the receiver 7. y with the detection direction taken in a positive direction perpendicular to the X axis from a position 1/2R distance away from
Place the axis.
尚、原点はX軸とy軸の交点とする。Note that the origin is the intersection of the X axis and the y axis.
このようにX軸とy軸を定めることにより、演算回路3
で求めたrlsr2と送信器4と受信器6の中心と受信
器7との間の距離Rから、障害物1との位置はX座標が
(rニーr2’) / 2 Rとなり、y座標が二((
−R−2〜’+−rF −rX)/2RJ” lとなる
。この計算を演算回路3が行なうことにより、1つの送
信器4と2つの受信器6と7および演算回路3を用いる
ことにより、単一周波数の超音波を用いて障害物1の位
置を求めることが可能となる。By determining the X-axis and y-axis in this way, the arithmetic circuit 3
From the distance R between rlsr2, the center of transmitter 4 and receiver 6, and receiver 7, the x coordinate of the position with obstacle 1 is (r knee r2') / 2 R, and the y coordinate is two((
-R-2~'+-rF -rX)/2RJ"l. By performing this calculation in the arithmetic circuit 3, one transmitter 4, two receivers 6 and 7, and the arithmetic circuit 3 can be used. This makes it possible to determine the position of the obstacle 1 using single-frequency ultrasonic waves.
発明の効果
上述したように、本発明の実施により、単一周波数の超
音波を用いて障害物の位置を求めるる分解能の違いを考
慮する必要がなくなる。Effects of the Invention As described above, by implementing the present invention, it is no longer necessary to take into account the difference in resolution in determining the position of an obstacle using a single frequency ultrasound.
第1図は本発明の一実施例を示す説明図、第2図は従来
の障害物探知装置の説明図である。FIG. 1 is an explanatory diagram showing one embodiment of the present invention, and FIG. 2 is an explanatory diagram of a conventional obstacle detection device.
Claims (1)
きた超音波を受信する2つの受信器およびその受信器の
出力信号を受けて障害物の位置計算を行なう演算回路を
備えたことを特徴とする障害物探知装置。Equipped with one transmitter that emits ultrasonic waves, two receivers that receive the ultrasonic waves that are reflected back from obstacles, and an arithmetic circuit that receives the output signals of the receivers and calculates the position of the obstacle. An obstacle detection device featuring:
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP20026084A JPS6177774A (en) | 1984-09-25 | 1984-09-25 | Obstacle detector |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP20026084A JPS6177774A (en) | 1984-09-25 | 1984-09-25 | Obstacle detector |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS6177774A true JPS6177774A (en) | 1986-04-21 |
Family
ID=16421393
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP20026084A Pending JPS6177774A (en) | 1984-09-25 | 1984-09-25 | Obstacle detector |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6177774A (en) |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5730968A (en) * | 1980-08-01 | 1982-02-19 | Oki Electric Ind Co Ltd | Echo sounder |
-
1984
- 1984-09-25 JP JP20026084A patent/JPS6177774A/en active Pending
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5730968A (en) * | 1980-08-01 | 1982-02-19 | Oki Electric Ind Co Ltd | Echo sounder |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JPS6177774A (en) | Obstacle detector | |
JPS6157876A (en) | Obstacle detecting device | |
JP3998363B2 (en) | Distance detection device and distance detection method for navigation object | |
JPH053552B2 (en) | ||
JPS57182544A (en) | Detector for road condition | |
JP2916362B2 (en) | Apparatus and method for correcting sound velocity in position measurement | |
JPS63266377A (en) | Acoustic wave surveying system | |
JPH06222130A (en) | Method and device for measuring three-dimensional position | |
JPH0720223A (en) | Device for measuring position of unmanned carrying vehicle | |
JP3506604B2 (en) | Distance detecting device and distance detecting method for navigating object | |
US3673555A (en) | Modulated carrier acoustic beacon | |
JP2563790Y2 (en) | Underwater position measurement system using pinger | |
JP2944481B2 (en) | Underwater active sound detector | |
JPS63266376A (en) | Acoustic wave positioning system | |
JP3506605B2 (en) | Apparatus and method for detecting speed of navigation object | |
CN118209970A (en) | Method, system, vehicle and storage medium for eliminating synchronous interference of ultrasonic radar | |
JPS62172286A (en) | Ultrasonic matter detector | |
JPS6027975Y2 (en) | Ultrasonic position detection device | |
JPS5825225B2 (en) | Sound wave propagation time measurement method and position locating method | |
JPS61172083A (en) | Range finding type matter detection apparatus | |
JPS60107580A (en) | Recognizing device for position of running robot | |
JPS5928384Y2 (en) | Probe for current meter used for 3-directional measurement | |
JPS5935818Y2 (en) | Underwater distance measuring device | |
JP3040615B2 (en) | Ultrasonic tidal current distribution measuring device | |
JPS62122812A (en) | Road surface sensor for vehicle |