Ultrasonic obstacle location apparatus and method

Details Ultrasonic obstacle location apparatus and method Ultrasonic obstacle location apparatus and method

1985-05-09

1987-01-13

Swann, III, Glen R.

Communications, electrical: acoustic wave systems and devices

Echo systems

Presence or movement only detection

367 96, 367107, 367127, 367909, G01S 1546

Patent

active

046369961

ABSTRACT:
An obstacle sensing area ahead of a mobile robot is divided into a plurality of sensing regions. A number of ultrasonic transmitters and plural receivers on the robot cooperate to detect the presence of obstacles in the sensing regions. Coordinates representing four corners of each sensing region, and time data representing a time period from emission of ultrasonic waves from selected transmitters to reception of the waves by each receiver when the waves are reflected by an obstacle at each corner point, are prestored in data ROMs. The data ROMs are retrieved by a CPU in response to obtained time data, and precise position data of the obstacle in the sensing area is determined.

REFERENCES:
patent: 3493920 (1970-02-01), MacMunn
patent: 3715577 (1973-02-01), Bohman
patent: 3742435 (1973-06-01), Pann et al.
patent: 4103278 (1978-07-01), Satake et al.
patent: 4240152 (1980-12-01), Duncan et al.
patent: 4281241 (1981-07-01), Knight et al.
patent: 4459689 (1984-07-01), Biber
patent: 4528563 (1985-07-01), Takeuchi

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