3D SOKUIKI sensor module by roundly swinging mechanism and SCIP-3D command system

This paper describes a 3D SOKUIKI sensor module by roundly swinging mechanism and SCIP (Sensor Communication Interface Protocol)-3D command system for taking 3D reflecting points information in real space. We developed a 3D SOKUIKI sensor module, in which the body of the twodimensional SOKUIKI sensor is moved by roundly swinging mechanism. The sensor module has the communication interface based on SCIP-3D, which is a command language for 3D SOKUIKI sensor defined by the authors' group. We desighed and implemented a minimal set of commands which is named "SCIP-3D mini" for our sensor module. We studied system architecture of the sensor module to implement SCIP-3D interface. We designed and made up hardware and software of the system to control the sensor. We took actual reflecting points in real space experimentally in various environment by using the developed sensor module. The results have shown the usefulness on the real-time environmental measurements.