小型空中超音波フェーズドアレイの開発

―マイクロホンアレイとの組み合わせによるグレーティングローブ活用法の提案―

抄録

This paper analyzes the relation between the number of ultrasonic beams and that of required microphones to reduce the measurement time by utilizing the grating lobes. An ultrasonic phased array device for environmental recognition of human-support robot is being developed by the authors. The goal of this research is to develop the ultrasonic phased array device that can scan a wide range of environment in high resolution. We proposed a method to estimate the object position by combining a microphone array with a phased array in the previous study. Experimental results showed that it is possible to estimate the object position. However, there are situations that estimation is impossible. In this paper,the number of microphones required is discussed to resolve the situation.