I measured the field of view of ultrasonic sensor, by marking the spot where the robot can detect in most widely. I measured by using spray can (picture 3).
Picture 4 shows, when I was measuring the field of view by spray. The middle black line is just a marker to show the distance from the robot. Each black tape symbolizes that 10cm, and if the tape is 5th one, then it means that the tape is about 50cm from the robot.
The last picture shows the final field of view of my robot.
I first expected to just get wider as the object goes further away, however, mysteriously the field of view was a shape of snowman. The width of view became wider, but shorten in 30cm, gets wider again and get shorter in about 70cm, then gets wider again.
In addition, the detecting object is really determined by the shape of the object, and if the object is flat, then the robot will pick it up more easily.
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