Back to Top
English | Japanese
The URG sensor is a distance laser sensor made by Hokuyo Automatic. This sensor can acquire the highly accurate wide range data.
The first figure shows an URG sensor mounted on the robot top and
its surrounding environment. Obtained raw data from the sensor
are pairs of range and direction which can be plotted graphically
like second figure. In the second figure, the sensor is placed
at the origin of the coordinate, and obtained ranges and
directions are drawn by blue lines. Objects seen like continuous
line such as walls are shown by red points plotted, and this is
done not by sensor itself, but the viewer application.
This sensor has communication channel such as USB port or serial RS232, and can be controlled by command interface.
The communication protocol is common in all sensors.
Guaranteed ranges described below are only in condition that measurements achieved to target of white color paper.
Other materials may cause shorter range limitation because of less reflection properties of laser beam.
Another name is '''Ether-top'''.
Specifications | ||||
---|---|---|---|---|
Guaranteed range | 0.1 - 30 [m] | |||
Maximum range | 0.1 - 60 [m] | |||
Scan angle | 270 [deg] | |||
Angle resolution | 0.25 [deg] | |||
Scan speed | 25 [ms] (2400 [rpm]) | |||
Interface | Ethernet |
Another name is '''Tough-URG'''.
Specifications | ||||
---|---|---|---|---|
Guaranteed range | 0.1 - 30 [m] | |||
Maximum range | 0.1 - 100 [m] | |||
Scan angle | 190 [deg] | |||
Angle resolution | 0.25 [deg] | |||
Scan speed | 50 [ms] (1200 [rpm]) | |||
Interface | Ethernet |
Another name is '''Top-URG'''.
Specifications | ||||
---|---|---|---|---|
Guaranteed range | 0.1 - 30 [m] | |||
Maximum range | 0.1 - 60 [m] | |||
Scan angle | 270 [deg] | |||
Angle resolution | 0.25 [deg] | |||
Scan speed | 25 [ms] (2400 [rpm]) | |||
Interface | USB |
Another name is '''Classic-URG'''.
Specifications | ||||
---|---|---|---|---|
Guaranteed range | 0.06 - 4.0 [m] | |||
Maximum range | 0.02 - 5.6 [m] | |||
Scan angle | 240 [deg] | |||
Angle resolution | 0.36 [deg] | |||
Scan speed | 100 [ms] (600 [rpm]) | |||
Interface | USB or RS-232 |
Another name is '''Simple-URG'''.
Specifications | ||||
---|---|---|---|---|
Guaranteed range | 0.06 - 4.0 [m] | |||
Maximum range | 0.02 - 5.6 [m] | |||
Scan angle | 240 [deg] | |||
Angle resolution | 0.36 [deg] | |||
Scan speed | 100 [ms] (600 [rpm]) | |||
Interface | USB |
Another name is '''Rapid-URG'''.
Specifications | ||||
---|---|---|---|---|
Guaranteed range | 0.1 - 4.0 [m] | |||
Maximum range | 0.1 - 5.6 [m] | |||
Scan angle | 240 [deg] | |||
Angle resolution | 0.36 [deg] | |||
Scan speed | 28 [ms] (2142 [rpm]) | |||
Interface | USB or RS-232 |