829 三次元空間を認識するための超音波センサに関する研究

概要

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The main purpose of this research is to develop ultrasonic sensor system for flying robot in indoor environment. In this way, some researchers have made ultrasonic sensor system for 2-dimensional space. But flying robot needs ultrasonic system for 3-dimensional space. There is a method using the ultrasonic sensor which has an array type transmitter as a method of measuring 3-dimensional environment. However, if a sensor is used as an array type, weight will increase so much and the merit using an ultrasonic sensor will decrease. So we represented some ultrasonic sensor system for 3-dimensional space. After making and comparing these systems we decided one system that has 4 receive sensors disposed cross and centered transmitter on the robot, and calculated circuit and pc on the ground. We acquired the orbit of proceeding flying robot to test his system to investigate performance of sensor range.
社団法人日本機械学会の論文