Device, method, and program for detecting position

A position detecting method, comprising the steps of:

• calculating sonic wave speed among plural ultrasonic wave transmitting and receiving devices arranged around a part to be detected and calculating sonic wave speed at the part to be detected depending on the sonic wave speed among plural ultrasonic wave transmitting and receiving devices, and
• calculating a distance from the ultrasonic wave transmitting device arranged at the part to be detected to a specific ultrasonic wave transmitting and receiving device, depending on a spread time of ultrasonic waves from the ultrasonic wave transmitting device arranged at the part to be detected to the specific ultrasonic wave transmitting and receiving device included in the plural ultrasonic wave transmitting and receiving devices, and depending on the sonic wave speed at the part to be detected.

A program that executes the following processes by a computer, comprising:

• a process of calculating sonic wave speed among the plural ultrasonic wave transmitting and receiving devices and further calculating sonic wave speed at the part to be detected depending on the sonic wave speed among the plural ultrasonic wave transmitting and receiving devices, and
• a process of calculating a distance from the ultrasonic wave transmitting device arranged at the part to be detected to a specific ultrasonic wave transmitting and receiving device, depending on a spread time of ultrasonic waves from the ultrasonic wave transmitting device arranged at the part to be detected to the specific ultrasonic wave transmitting and receiving device included in the plural ultrasonic wave transmitting and receiving device, and depending on the sonic wave speed at the part to be detected.