JPS61167887A - Ultrasonic measurement system - Google Patents

Abstract

PURPOSE:To measure the accurate position of a target and to perform safe follow-up control by making a validity check on basic data based upon an output received from the target body. CONSTITUTION:Receivers S2-S-2 of a robot 2 receive an ultrasonic wave (a) from the target body 1. Light from a projector 1b is photodetected 5 to synchronize a clock pulse generator 4 with a transmitter 1a, thereby supplying time difference pulses (h)-(m) with pulse width corresponding to the time difference from the transmission of an ultrasonic wave (a) to its reception to a counter group 6. Then, clock pulses CLK begins to be counted according to synchronizing pulses (b) and respective pulse width intervals of the pulses (h)-(m) are converted into counted values of pulses CLK individually. Then, an arithmetic part 7 starts an interruption processing according to the pulses (b) and arithmetic is performed according to the pulses CLK on the basis of counted values corresponding to the receivers S2-S-2 to calculate the individual distance from the target body 1 according to the combination of couples of counted values, thereby the mean distance and the relative angle to the target body 1. Then a control part 8 judges as to run control according to the speed and angle data and the robot 2 runs according to the moving speed of the target body 1.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a method for receiving ultrasonic waves transmitted from a target object and measuring the position of the target object using the method [Prior art] ] When using ultrasonic waves to determine the position of a target object based on distance and relative angle, the ultrasonic waves are generally transmitted alternately from two locations on the measurement device side, and the reflected waves generated from the target object are reflected from two locations in response. The method of calculating the distance and relative angle to the target object by calculating the time difference between transmitting and receiving the waves at each point, and calculating the distance and relative angle to the target object, and while measuring the position of the moving target object, a
Automatically equipped ff1l such as a bot is at a constant distance of 11 from the target! ? When performing follow-up I11, high reliability is required for the measurement results, and depending on the conventional method, if an error occurs in any of the reception conditions, the measured value will immediately become inaccurate, and the necessary Therefore, a means to obtain high reliability using at least three receivers has been proposed in the "Ultrasonic Targeted Measurement Device" filed separately by the applicant. .

[Problem that the invention seeks to solve]

However, even when using at least three receivers, in order to obtain higher reliability, it is necessary to check whether the basic data based on the received wave output of each receiver is valid. determine,
It has become necessary to use legitimate information, and a means to perform all of this discrimination has become necessary.

[Means for solving problems]

In order to solve the above-mentioned problems, the present invention provides the following measures.
It is configured as follows.

In other words, in a method in which ultrasonic waves transmitted from the same target object are received by multiple receivers and measurements are made based on the received wave output of each receiver, the basic method is based on each received wave output. Validity is determined when the difference between any one pair in the data is the expected value F small, and validity is determined when this condition is not satisfied, and the presence or absence of validity is determined for each receiver. , it is said that the basic data from the receiver containing more than all the specified number without validity will be invalidated.

[For production]

Therefore, ultrasonic waves transmitted by self-excitation and reflection from the same target body are received by multiple receivers, and various measurements are performed using basic data based on the received wave output from each receiver. When performing this, the differences between any one pair of each basic data are smoothed and compared with the expected value according to the measurement conditions, and the presence or absence of validity is checked. Basic data from receivers exceeding a predetermined number are excluded as invalid, and measurements are performed only using basic data from reliable receivers.

[1i1[! Example] Below, 'Ji! The present invention will be explained in detail with reference to figures showing examples.

FIG. 2 is a block diagram of the entire configuration, and FIG. 3 is a timing chart showing the waveforms of each part in FIG. A pulsed ultrasonic wave (a
) is repeatedly transmitted with a constant synchronization t of, for example, 50mlSc, and in synchronization with this, the light emitter 1b 4
It is a repetition of the origin.

On the other hand, robots (hereinafter referred to as
ROB) 211 includes, for example, receivers S! arranged at predetermined intervals on the same straight line in the horizontal direction. ~82 are provided, these receive the ultrasonic wave (a) t- each individually, and the received wave output (
c) to (P) Th are generated, and these are given to the receiving section (hereinafter referred to as RX) 3, and constant synchronization 1. Based on the synchronization pulse (b) from a pulse generator (hereinafter referred to as CPG) 4 that generates a synchronization pulse (b) and a clock pulse CLK' synchronized with Time difference t! ~Time difference pulse with pulse width according to tg (稙~(c)t-RX3-
It is supposed to be AM.

It should be noted that each of the received wave outputs (c) to (P) is added and the time when the signal reaches the bell L is the reception time t, while in this example, TAGl exists on the straight line in front of the receiver So. I'm going to do it.

Immediately before TAGl performs guidance control for ROB2, it applies the light emitted from the emitter 1b to the receiver 5 on the ROBZ side, thereby causing the CPG4 to cycle tI! It is to be set in synchronization with T.
Since source oscillation is performed by a highly stable crystal oscillator or the like in AGl and CPG4, a synchronized state between the two is maintained for a certain period of time, for example, 30 minutes, which does not cause any problem in usage.

time difference pulse can) to - are each a counter group (hereinafter referred to as C
UT) is applied to the valley counter of 6, where the clock pulse CLK is counted from beginning to end according to the synchronization pulse (b), and each pulse width period of the time difference pulses (5) to - is applied to the clock pulse CLK count. Each of the signals is converted into a value and then provided to an arithmetic unit (hereinafter referred to as ALIJ') 7.

Then, the ALU 7, which consists of a processor such as a microprocessor and a memory, etc., starts interrupt l&filling in response to the synchronization pulse (eg), and adjusts the clock pulse CLK based on the valley count value corresponding to each receiver S3 to s2. Therefore, calculation is performed to find the individual distances to TAG1 according to each pair of valley count values, and to average these to find the distance to TAG1,
Find the relative angle with TAGI, and as a result 'kALU
It is given to a control unit (hereinafter referred to as CNT) 8 similar to 7.

Therefore, the CNT 8 makes decisions regarding travel control based on the distance data and angle data from the ALU 7, and drives the servo drive circuit (hereinafter referred to as 5DR) 9L.

Servo motor (hereinafter referred to as SM) IOL via 9R'.

10R't' control, and drive the left and right driving wheels 11L and 11R individually connected to these, and in a direction where the distance from TAGl is a constant distance of, for example, 2 In, and TA
With the speed corresponding to the moving speed of G 1,
Run 2.

In this example, the moving mechanism is '15M10L.

It is composed of 10R and driving wheels 10L and 10R4C, and the required number of cars are separately provided, and the direction is changed depending on the driving situation of the driving wheels 10L and 10H.The moving mechanism includes various engines, crawlers, and walking wheels. The legs, etc. are combined and configured according to the conditions, and 5DR9 is constructed accordingly.
L, 9Rr may be replaced with a compatible one.

In addition, the time difference pulse (h) ~ &nl is the received wave output (c)
The same result can be obtained even if a differential pulse is sent out when ~(P) reaches a predetermined level Ls, thereby causing the CUT 8 to stop counting.

Figure 4 is a block diagram of TAG III.An oscillator using a highly stable crystal oscillator (hereinafter referred to as 08CT) 2
1, a source oscillation of, for example, 1 MHz is performed, and its output is released by a divider (hereinafter referred to as DVT) 22, such as a t counter, as a synchronizing pulse with a period t, and then the emitter 1
b) A pulse generator such as a monostable multivibrator that generates pulses with a pulse width suitable for IjA motion (hereinafter referred to as P
Gt) 23, and is applied to the projector 1b through an AND gate Gl'i which is turned on in response to the input of the output kW source, and is caused to emit light in synchronization with tll.

In addition, the DVr22O output is a PG similar to PGr23.
t24 is also driven, and this is for example 500μs
Pulse width tp of ec? A pulse with period t.

It is generated by an ultrasonic oscillator (hereinafter referred to as 8
80) Since the output of the same wave number 40KHz is given from PGt25, this output passes through the AND game)G,'i according to the output of PGt24, and is connected to the power amplifier (hereinafter referred to as P
A) It drives the transmitter 1a through 28t,
As a result, pulsed ultrasonic waves having a period of t8 are repeatedly transmitted.

On the other hand, the output of the DVT 22 operates a timer (hereinafter referred to as TM) 27 using a counter, etc. If this time-up occurs after a set time of 10 minutes, for example, the power supply control circuit (hereinafter referred to as PC) 2B is reset by this output. The power supply to each part is automatically cut off, and the light emitting diode LD, which indicates that the power is being turned on, is also turned off.

In addition, when turning on the power, if the power switch 5Wt- is turned on, resistors R, ! Power supply V applied from the battery via
cc is grounded, and in response, a re-trigger prevention circuit (hereinafter referred to as RTI) 29 using a flip-flop circuit etc. is set, so this output powers on PO28 and starts after 1M27 is cleared. Meanwhile, the rear gate Gl is turned on.

Once the RTI 29 is set, the set state is maintained until the PC 2B is reset and the power is turned off to prevent re-triggering due to erroneous operation of the switch SW.

Therefore, the battery is prevented from being consumed more than necessary, and efficient operation can be achieved.

FIG. 5 is a diagram showing how the transmitter 1a is installed. Figure 9 shows a side view, and Figure 5 shows a front view in the original size. The transmitter 1a is fixed, and its pointing direction is set upward by about lθ° from the horizontal direction, so that it faces the receivers S3 to S2 of the ROB 2 at a predetermined distance.

In addition, mounting holes 43, 44, etc. are formed in the base plate 41 to make it easy to mount it on a moving object, or for human use, the transmitter 1a is protruded from the back of a jacket, etc. A through hole is bored and a pocket for accommodating the base plate 41' is provided on the inner side of the hole, thereby providing a convenient shape and size for holding the whole.

Note that a lead wire 45 is drawn out from the wave transmitter 1a, and a plug (not shown in the figure) is connected to the end of the lead wire 45, thereby establishing connection with the main body.

Figure 6 shows the external appearance of the main body in y actual size, 0 is a plan view, ω is a side view, and (0 is a front view). Each part and battery are accommodated, and an angular through hole 52 is bored in the top surface.
The light emitting surface of the projector 1b is arranged inside this.

Also, on the side, a non-locking switch SW1 and a light emitting diode LD are provided which are exposed in the through hole drilled into the button of this switch, as well as a connector 53 into which a plug from the wave transmitter 1a is inserted. The cover can be removed by removing the screws 54 and the like, making it possible to replace the battery and inspect the inside.

Since the entire device is small and lightweight, it can be easily stored in a jacket pocket, etc., and is manufactured in a shape that does not require any particular storage space.

FIG. 1 is a flowchart of the calculation status by the ALU 7 in FIG.
This is also done while accessing the required data to memory.

In other words, interrupt processing is performed in response to the synchronization pulse (b).
” t-Start and wait for 1 signal settling time set as 25m5ec, for example, until the count value becomes stable' 10
1 After doing @, one-man processing “102”
Each count value from T6, BUSY signal, work, C
The abnormal signal from the RX3 via the UT6 is taken in and stored in the memory.

In addition, the abnormal signal is sent to the pigeon house where the received wave outputs (e) to (1r) of the receivers S~8-2''IP etc. do not occur, and the BU
The SY signal is sent to the pigeon coop where the CUT 6 continues counting even after the signal settling time has elapsed.

Next, in response to the abnormal signal, it is determined whether the 1 receiver is abnormal T''11, and in response to the BUSY signal, 'BUSY/3CH
If you judge the above T"112'i and the answer is NO,
In accordance with the normal count value, 1 basic data correctness check '121t'' described later is performed, and 1 distance/angle/calculation #122t described later is performed using only valid basic data.
- Then, these results are sent to CNT8 by 1 output processing' 131.

Either step 111 or 112
If YES, move to ◆Abnormal processing' 141,
Via the CNT 8, a warning display section (not shown in the figure) displays an alarm, and controls the stopping of the vehicle.

Therefore, according to step Ill, 112, the receiver S
! ~In the 5CH (channel) reception system from s2 to CUT 6, if up to 3CH are normal, status/'121
The subsequent steps are carried out, and highly reliable and accurate measurement results are obtained in step 121, ``Vehicle Validity Check''.

It is to be noted that in addition to the validity check #1, it is determined whether or not the value is reliable based on the time difference pulses 伪()--, and is performed by calculations to be described later.

Figures 7 and 8 are principle diagrams for determining individual distances and angles.
f: Arranged on the x-axis by intervals, and each of these and T
If the opposing distance with AG 1 is tl'h~11, then if any two of the receivers 82 to S-2 are considered as a pair, and the opposing distances between each and TAGl are R1 and J, then 1 The respective X-axis coordinate positions of the paired receivers are as shown in Figure 8.
@j and the central receiver 8. is the origin O, the individual distance between this and TAGl is Rlj, and the distance between TAGl and the y-axis perpendicular to origin 0 is x6
, If the distance between TAGl and the X axis is yo, then the following equation holds true from the Pythagorean theorem.

R1”=(xo-n@i)”+yo” +++ +
+ ・++ ++ ++ (1) Rj”=(xo D
・J)”+yo” −−−・・・−(2) J j=
°xo”+yo”・・・・・・・・・・・・・・・
・・・・・・・・・・・・(3) For this reason, (1) , (
The following equation is obtained from equation 21.

Also, (2), (31 equation) yields the following equation.

R"B=R, J"-(D-j)"+2(D-j)x
・= −−(5) If we substitute equation (4) into equation (5), however, if we transform equation (6), ΔR=Rj−Ri, where, and if, then equation (8) becomes It becomes the following formula.

Here, since ΔR-RJ-R4, therefore, if R1 and J are found based on the time difference pulses from any one pair of receivers 82 to S-2, the individual The distance R1j is determined, and this is transmitted to the receivers S2 to S.
-, and then calculate the average value using the following equation, the distance R to TAGl can be obtained accurately and with high reliability.

However, N is the number of individual distances 14j determined by each pair of receivers S2 to S-.

In addition, Mr. Kameoka uses α [formula as a weighted average to obtain the average value.

On the other hand, the individual angle θ1j of TAGl with respect to the y-axis with reference to the origin O shown in FIG. 8 can be obtained by the following calculation.

In other words, 0ij is (4) to αυ formula, (Substituting formula 51, here, θ1j(1) is, Therefore, if we calculate R1 and RJ in the same way as in the case of Q(1), from formula 031 The angle θij is determined, and by performing this for each pair of receivers 82 to s-2 and averaging each angle, an accurate and highly reliable relative angle θ can be determined.

That is, similar to the QG formula, All you have to do is find the relative angle θ.

Note that the same applies if the average value is determined by using the weighted average of Equation 04.

9 to 11 are diagrams of the principle of validity check. Based on FIG. From the figure, the following relationship exists between the receiver spacing 1 i-J ID and J, J.

IRs-Rjl<l i-J ID...
・・・・・・QυHere, the equality sign in equation 09 holds true only when D・i, D−j and TAGl exist on a straight line, and the variable k is O<k×1 Considering the condition of the following formula, IRs-JI=l i-j 1D-k ・・・・・・
(c) When 凰 and j in the @ expression are each set to fixed values, a hyperbola with k as a parameter is drawn as shown in FIG. 9.

In addition, as shown by the broken lines in Figures 10 and 11, the measurement range of TAGl is 1 m to 1 m from the y-axis in the direction along the 1-4
If constrained as m, the maximum value of k is from the origin O to TAG
It is a function of the distance R to I.

In addition, kl+ic2 in FIG. 9 is The relationship is 0<k+<k2<1.

On the other hand, the tojib and TAGl in Figures 10 and 11
If the measurement range of is determined according to the above-mentioned constraints, then l, j, where k in the equation becomes the maximum value depending on the distance R, and the coordinate position T! of TAGI. IT)' is expressed by the following formula.

In the case of Figure 10 , in the case of Fig. 11 (c) In formula 04, the symmetrical table values with respect to the y-axis are i and j.

Tx indicates , and Ty is equal, and k is equal, (1, j, Tx, Ty) = (2, 11-11R"-1)
Expanding for , we get the following equation.

lRt Rjl=Ih Rt =F stone stone〒〒〒1 ear-F tangle F wing T ear ......(c) Also, 2 R1 (2-1)D 3D =-(-+-') ・・・・・・・・・・・・・
・・・・・・・・・(C) R2 However, the distance R is the one to be finally determined, and when checking the validity, measure TAGI from each of the opposing distances R2 to R-2 in Fig. 7. It is sufficient to find the minimum value RMIN that is not unreasonable within the range, use this as a substitute for R, and perform calculations according to the following equation.

Therefore, by introducing k into Equation 09 and taking into account the allowable error α, 10
For each combination of pairs, we check whether the difference between any one pair in each facing distance is smaller than the expected value in advance using the condition of the following formula, and if this condition is met, it is used as basic data. Each opposing distance Ri.

If J is not satisfied, it can be determined that there is no validity.

If there is, convert it to the value of C-th = 0, if there is no, convert it to the value of C1j = 1,
Store these in the memory as a table according to the table below, add up the 6 values in the horizontal direction, and if this becomes a predetermined number of 3 or more, the facing distance Ri obtained from the corresponding receiver
By invalidating and not using it in subsequent calculations), the reliability of the distance R and relative angle θ that are finally determined can be ensured.

However, the previous table should be created according to the number of receivers S2 to S-2.
The predetermined value that determines whether each total value ΣC1j is used or not may be selected as appropriate, instead of only 3.

Therefore, the above validity check makes it possible to obtain high reliability of the measured position, improve accuracy, and perform tracking control of the ROB 2 safely and accurately.

FIG. 12 is a block diagram of the CPG4.
Similarly to the 08CT 21 in the figure, for example, an I MHz normal lock pulse CLK is generated, and this is divided by the same frequency division ratio by first and second frequency dividers (hereinafter referred to as DVR) 62 and 63, respectively. The period t is the same as the period t1 in FIG.
Each DVn 62 and 83 includes a setting section (hereinafter referred to as DOT) 64 for setting data, and a down counter (hereinafter referred to as 0CT). 65, 66 and OR gates 67, 68, each DC
T65.66 presets the data from DST64 when its own count value zero output R, C, start pulse sound or preset pulse ■ is applied to the load terminal via OR gate 67 or 68. , 08CR61 To start subtraction based on the clock pulse CLK from CR61, □ start pulse sound T or preset pulse PRK', each synchronization pulse °SL, S
It is possible to set the synchronization state of YN.

In addition, the light reception pulse (■) corresponding to the light emission with the period t shown in FIG.
1, only the first pulse is selected, and in response to this, only one pulse is sent from the TRG71 in synchronization with the clock pulse CLK and with the same width as the original period, so the DCT65 becomes stable according to this. It is a trap to move to a synchronized state with the received light pulse, and the same trigger pulse π is repeatedly sent out in response to the received light pulse °C. If the restart pulse R8 is given, the sending of only one pulse is repeated in the same way.

The trigger pulse 5 and the local synchronization pulse ■ are given to a phase difference detection section (hereinafter referred to as PDT) 72, and if the phase difference between the two is detected and the phase difference is within a predetermined value, the load pulse LD is sent. Only one pulse is sent out, and the detection pulse ■ synchronized with the trigger pulse TO is repeatedly sent out, but if the phase difference exceeds a predetermined value, the detection pulse ■ is not sent out and the load pulse ■ is used as the trigger pulse It is designed to be sent out repeatedly and synchronously.

Each of these pulses "PD" and "Kuzu" is given to a continuous detection section (hereinafter referred to as CD'r) 73 mainly composed of DCT,
A constant value is preset to cfzDct in the CD773 in response to the lock pulse low, and subtraction is performed according to the detection pulse penalty, and when the count value reaches zero, the detection completion pulse is sent out as OK and the surface is detected. The completion pulse and the load pulse are sent to TRG7 as a restart pulse R8 via an input inversion type OR gate) 74.
On the other hand, a detection completion pulse OK is applied to a gate section (hereinafter referred to as GAT) 75, which turns it on.

However, if GATT5 turns on and passes only one pulse through the local synchronization pulse, and sends it out as preset pulse ■, it will turn off until the next detection completion pulse OK is given, and preset pulse n will not be sent continuously. It is a symbol of sending out.

Note that the TRG 71, PDT 72, and CDT 73 are given an initial reset pulse IR that is generated in response to power-on, thereby setting the initial state.

Therefore, even if the received light pulse] is continuously given, only one start pulse ■ is sent out in response to the first pulse, and the DVRB2 follows the received light pulse].
If the phase difference between the trigger pulse TO synchronized with the light reception pulse LS and the local synchronization pulse is within a predetermined value, the cycle is repeated from the constant value shifted by the one-pulse load pulse LD. Subtraction corresponding to the detection pulse n is performed in the CDT 73, and a detection completion pulse OK, OK is sent out as the subtraction is completed. Assuming that the pulse strawberry and the local synchronization pulse n are in a synchronous state, when the GATT 5 is on, the preset pulse n is sent out and the DV and 63 are also in the same synchronous state as the DVR 62, and the light receiving pulse port and A synchronized synchronization pulse SYN is sent out.

For this reason, the synchronizing pulse SYN does not cause any unnecessary timing changes, and the various parts shown in FIG. 2 that operate in response to this change are in stable operating conditions.

Figure 13 is a block diagram of TRG71, Figure 14 is a block diagram of TRG71, and Figure 14 is a block diagram of TRG71.
This is a timing chart showing the waveforms of each part in the figure, and operates based on the clock pulse CLK (a), and the initial reset pulse! After the initial state of each part is set according to R-, if the received light pulse LS(b) is given as %Ll (low level), the inverter (
As the output of IN) 211 becomes %H1 (high level), a D-type 7 lip-flop circuit (hereinafter referred to as F
FC) 212 from %Ll to %H of clock pulse (a)
Set in response to rising DK to I, output Q(e) is set as %
In order to set Hl, FFC213 is also set and the output Q
(d) is set to %H1, output enabled (.) is set to 1Ll, and output (.) is sent out as trigger pulse 5.

Further, the output (a) is given to the NAND gate 214,
Since this is also given a clock pulse (&) via lN215, NAN
When the output (f) of the D game) 214 changes to %L I and returns to the output (f) -〇H1 in accordance with the rise of the clock pulse (1) from %Ll to %HI, this causes FFC216 is set and output Q(g) is 1H
1, the output of the NOR gate 21T becomes %Ll.
As a result, the FFCs 213 and 216 are reset, and the trigger pulse TO is the clock pulse (1
), and a pulse having the same pulse width as this period t is sent out, and the above operation is repeated depending on the reception pulse position.

On the other hand, in response to the end of the initial reset pulse
The output of 221 becomes 1LI, and the NOR gate 22
2 is turned on and the restart pulse R8 (h) is allowed to pass, but both FFCs 223 and 224 are reset, and the output QU) and (transfer) are 1Ll, and the input is inverted. Since the phantom gate 225 is also on, the trigger pulse is passed through and is given to the IN 228 to output (4 is set as % LI and sent as a start pulse).

Then, the FFC 223 is set in response to the end of this transmission, and in order to set the output (J) to %HI, the FFC 224 is also set in accordance with the rise of the next clock pulse (a), and the output (transfer) is set to %HI. Piece gate 22 as HI
5 is turned off, a restart pulse (h) is applied, and the start pulse (2) will not be sent until the FFCs 223 and 224 are reset.

FIG. 15 shows PDT72 and CD? 73, and FIG. 16 is a timing chart showing the waveforms of each part in FIG. 15. FIG. 15 (G) shows a synchronous state, and FIG. 15 (B) shows an asynchronous state.

Here, the trigger pulse n(1) and the local synchronization pulse 5L(b) are given to an input inversion type OR gate 311, and the %LI to %LI, whichever occurs earlier, is
In response to the rise to HI, the pulse generation station (hereinafter referred to as PGR)
312 is driven, and the PGR 312 using a retriggerable monostable multivibrator or the like generates a pulse (e) with a time width 1a according to the setting of the variable resistor RV, and provides this to the FFC 313.

However, the PGR 312, FFC 313, and 314 have their initial states set by the initial reset pulse IR(j), and have a time width of 1. Therefore, the phase difference td between each pulse (a) and (b) is small, and
The trigger pulse n occurs earlier, and the subsequent local synchronization pulse n triggers the 1PGa 312 again, and the time width of the pulse (e) is lengthened.

The FFC 313 is set and reset repeatedly according to the rise of the pulse (,) from 1Ll to %Hl, and when reset by the first pulse (e), the output Q (d ) is set to 1Hl, FFC314 is also set by the next trigger pulse 5, output Q(・) is set to %HI, and the next pulse (Depending on (1), FFC314 is set to 1Hl).
13 is reset, and in response to the subsequent trigger pulse (1), the FFC 314 is also reset, and the above operation is repeated.

These outputs (d) and (・) are each directly given to input inversion type AND gates 321 and 322, and are also sent to AND gates 321 and 322 via INs 323 and 324. Since each output of the gate 321 and 322 is given to the NOR gate 325, the output of the gate 325 is the output (
d) %Hl only when both 1H or 1LI, this is given to the NAND gate 326, inverted by 1N327 and output (f)
The output signal is then applied to a NAND gate 328.

Therefore, while the output (f) is %HI, the NAND gate 3
When 28 is on, the trigger pulse (a) is passed through the IN529 as the output ω, and the output is repeatedly sent out as the detection pulse, but the NAND gate 3
26 is turned on due to the opposite relationship with the NAND gate 328, so only the trigger pulse (a) before the FFC 313 is set passes, and this output (h) is sent out as the load pulse LD, but after this does not send out the same pulse LD.

Therefore, the phase difference td between both pulses (a) and (b) is
is within a predetermined value determined by the time width t, the above state is maintained.

On the other hand, if the phase difference td is large throughout CB) and the time width t1, then the FFCs 313 and 314 erode and reset are repeated in response to both pulses (a) and (b), This time, the trigger pulse (a) is passed when the NAND gate 326 is on, and while the load pulse LD is repeatedly sent out, the NAND gate 326 is on.
The output (g) of 28 is fixed to %HI, and the detection pulse PD
is not sent.

Therefore, if an asynchronous state occurs in which the phase difference td exceeds the time width t, the above state is maintained.

On the other hand, in the CDT73, the input inversion type OR
411 and NOR gate 412 depending on the initial reset pulse (J) or load pulse n, D
In this example, "16" is preset as a constant value to the CT 413, and subtraction is performed according to the detection pulse PD via the IN 414. When the count value becomes zero, a detection completion pulse OK of %Hl is sent out, and the IN 415 The above operation is repeated by sending out the same pulse n of 1Ll which has been inverted and presetting itself via the NOR gate 412. Therefore, both pulses (a) and (b ), in addition to being reset by the low lower pulse LD, if the synchronization state is maintained for a certain period of time until the end of the count corresponding to the synchronization t of the detection pulse multiplication, the detection completion pulse is OK.
OK is sent out, and in the asynchronous state, presetting by the load pulse LD is repeated, subtraction is not performed, and detection completion pulses OK and OK are not sent out.

FIG. 17 is a block diagram of GATT5, which is an input inverted type MO tag provided with a local synchronization pulse (51).
1, and IN512 are connected in cascade, and initially when the output of IN512 becomes %HI, FFC521 is set, and the %HI of output Q becomes %Ll by IN522.
is applied to the preset terminal PRI of the FFC523, so the FFC523 is also set, the output Q is set to %H1, the output Q is set to 1Ll, and the melon gate 51
1 is turned off, the FFC 521 is reset, and this state is maintained.

In the above state, when the detection completion pulse OK is given, the FFC 523 is reset, the output Q is set to %L11 and the output is set to %H1, and the AND gate 511 is turned on. 511 and is sent out as a preset pulse n via IN512, while the FFC521 is released from the clear state, the sent preset pulse n is completed, and the FFC521 is sent out as a preset pulse n.
In response to the output returning to %HI, FFC521 is set, and FF0523 is set in the same manner as described above.
Due to this, the FFC 521 is reset and enters a standby state.

Therefore, only one preset pulse PR is sent out after the detection completion pulse OK is given, and is not sent out until the detection completion pulse OK is given again.

As described above, the ultrasonic waves transmitted from TAGI are transmitted to the receiver S! ~8. In order to directly receive the waves and measure the position by distance and relative angle, compared to the case where the ultrasonic waves are transmitted from the ROB2 side and the reflected waves by TAGI are received,
The influence of noise caused by changes in ambient conditions is reduced, the signal-to-noise ratio of the received wave output is improved, and the measurement situation becomes stable. In addition to checking the validity of the basic data, the measured values are accurate and highly reliable, and the safety of tracking control is maintained.

However, the number of receivers 82 to S-2 may be determined according to the conditions, and the settings of each constant and time are also the same.
The ROB 2 may transmit ultrasonic waves and the TAG 1 may reflect the waves. The configuration of each part can be selected according to the situation. It can be applied to various automatic devices that have, or ultrasonic measurement for various purposes that require high reliability.
Various modifications are possible.

〔Effect of the invention〕

As is clear from the above explanation, according to the present invention, various measurements using ultrasonic waves can be carried out accurately and with high reliability, tracking control of automatic equipment can be made safe, and various measurements using ultrasonic waves can be performed with high accuracy and reliability. A remarkable effect can be obtained in various devices that perform measurements with high reliability.

[Brief explanation of drawings]

The figures show an embodiment of the present invention, with Fig. 1 being a flowchart of the calculation situation, Fig. 2 being a block diagram of the entire configuration, and Fig. 3 being the second embodiment of the present invention.
Timing chart showing waveforms of each part in the figure, No. 4
The figure is a block diagram of the TAG side, Figure 5 is a diagram showing the TAG side with a liquid sending transmitter, Figure 6 is a diagram showing the appearance of the main body used with the transmitter in Figure 5, Figures 7 and Figure 8 is a diagram of the principle for determining individual distances and angles, Figures 9 to 11 are diagrams of the principle of validity checking, Figure 12 is a block diagram of CPG, Figure 13 is a block diagram of TRG, and Figure 14 is a diagram of the principle of checking validity. 13th
Timing chart showing the waveforms of each part in the figure, 1st
Figure 5 is a block diagram of the PDT and CDT, Figure 16 is a timing chart showing waveforms of each part in Figure 15,
FIG. 17 is a block diagram of GAT. 1...TAG (target object), 1a...transmitter,
1b...e floodlight, 2...ROB (robot)
, 3...RX (receiving section), 4...CPG (
clock pulse generator), 5... light receiver, 6...
・CUT (counter group), 7-...ALU (calculation unit), 8...CNT (control unit), R2~R-Fu+J
, Rj... Opposing distance (basic data), Rtj...
...Individual distance, θiJ...Individual angle, S! ~S,
・Fist・Receiver. Figure 1 Figure 3 Figure 6 (A) (B)

Claims (1)

[Claims] In a method in which ultrasonic waves transmitted from the same target body are received by a plurality of receivers, and measurement is performed based on each received wave output of each of the receivers, basic data based on each of the received wave outputs. If the difference between any one of the pairs is smaller than the expected value, it is determined to be valid, and if this condition is not satisfied, it is determined to be not valid, and the presence or absence of validity is determined for each receiver. , an ultrasonic measurement method characterized in that basic data from a receiver that includes a predetermined number or more of invalid data is invalidated.