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WO2008032982A1 - Capteur ultrasonore à directivités directionnelles différentes - Google Patents

Capteur ultrasonore à directivités directionnelles différentes Download PDF

Info

Publication number
WO2008032982A1
WO2008032982A1 PCT/KR2007/004397 KR2007004397W WO2008032982A1 WO 2008032982 A1 WO2008032982 A1 WO 2008032982A1 KR 2007004397 W KR2007004397 W KR 2007004397W WO 2008032982 A1 WO2008032982 A1 WO 2008032982A1
Authority
WO
WIPO (PCT)
Prior art keywords
ultrasonic
emission opening
sensor
ultrasonic sensor
directional
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2007/004397
Other languages
English (en)
Inventor
Byung Geuk Kim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HAGISONIC CO Ltd
Original Assignee
HAGISONIC CO Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by HAGISONIC CO Ltd filed Critical HAGISONIC CO Ltd
Publication of WO2008032982A1 publication Critical patent/WO2008032982A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/521—Constructional features

Definitions

  • the present invention relates to an open ultrasonic sensor for detecting and dodging invaders or obstacles, being mounted to a security alarm, an ultrasonic range finder, an industrial mobile robot, a robot cleaner and the likes. More particularly, the present invention relates to an ultrasonic sensor capable of detecting and dodging obstacles more accurately without a dead zone with only a few numbers, by forming an ultrasonic emission opening on a front of a housing in the form of an oval or rectangular slit to have different directivities according to its verticality and hori- zontality, applying a principle in that, when ultrasonic waves emitted from a piezoelectric diaphragm of the open ultrasonic sensor pass through the opening, the diffraction degree of waves varies depending on the wavelength of the waves and the width of the opening.
  • an open ultrasonic range sensor comprises a unimorph diaphragm 200 including a metal disc 10 and a piezoelectric ceramic plate 20.
  • the piezoelectric ceramic plate 20 has electrodes (not shown), one of which is bonded to the metal disc 10.
  • a conical resonator 30 is attached to an upper surface of the metal disc 10.
  • the diaphragm 200 is fixedly bonded by silicon to a base 50.
  • a cylindrical plastic housing 90 having an ultrasonic emission opening 80 on a front thereof covers the unimorph diaphragm 200.
  • a horn-shape housing 90 as shown in Fig. 3 has been highly suggested in order to reduce the directional angle.
  • a horn-shape housing 90 increases the whole size of the sensor.
  • the present invention has been made in view of the above problems, and it is an object of the present invention to provide an ultrasonic sensor with different- directional directivities, capable of having a wide ultrasonic directional angle of about 180 horizontally and a limited directional angle vertically not to receive unnecessary signals such as doubly reflected sound waves, in almost the same size as a conventional sensor.
  • an open ultrasonic sensor comprising a cylindrical housing and a unimorph diaphragm mounted in the housing, the unimorph diaphragm including a metal disc and a circular or square piezoelectric ceramic plate including electrodes of which one is bonded to the metal disc, a conical resonator attached to the metal disc, and an ultrasonic emission opening formed on a front of the housing to emit ultrasonic waves generated from the unimorph diaphragm, wherein the ultrasonic emission opening has a slit form relatively long in one of horizontal and vertical directions and relatively short in the other direction such that the ultrasonic waves emitted from the diaphragm and passing through the ultrasonic emission opening are diffracted by different degrees horizontally and vertically so that a directional angle of the sensor has different-directional directivities.
  • FIG. 1 is a sectional view of a conventional open ultrasonic sensor
  • FIG. 2 is a perspective view of a conventional sensor with a large directivity
  • FIG. 3 is a sectional view of a conventional ultrasonic sensor with a horn-type housing
  • FIG. 4 is a perspective view of an ultrasonic sensor according to an embodiment of the present invention
  • Fig. 5 is a front view of the ultrasonic sensor shown in Fig. 4;
  • Fig. 6 is a sectional view of the ultrasonic sensor shown in Fig. 4;
  • Fig. 7 shows a diffraction degree of ultrasonic waves according to the width of an ultrasonic emission opening
  • Fig. 8 is a perspective view of a ultrasonic emission opening for different-directional directivities in a robot platform to which the ultrasonic sensor according to the present invention is attached;
  • FIG. 9 is a front view of various types of the ultrasonic emission opening
  • Fig. 10 is a graph illustrating directivity of the ultrasonic sensor with respect to a horizontal direction
  • Fig. 11 is a graph illustrating directivity of the ultrasonic sensor with respect to a vertical direction
  • Fig. 12 is a plan view illustrating a sensing range of a mobile robot mounted with a plurality of ultrasonic sensors according to the present invention
  • Fig. 13 illustrates a sensing range of a mobile robot mounted with a single ultrasonic sensor according to the present invention, through a plan view and a side view;
  • Fig. 14 is a graph illustrating directivity of a conventional ultrasonic sensor with respect to a horizontal direction.
  • Fig. 15 is a plan view illustrating a front sensing range of the mobile robot mounted with a plurality of conventional ultrasonic sensors, and a dead zone.
  • an ultrasonic sensor according to an embodiment of the present invention comprises a unimorph diaphragm 200 including a metal disc 10 and a circular or square piezoelectric ceramic plate 20.
  • the piezoelectric ceramic plate 20 has electrodes (not shown) on upper and lower surfaces thereof, and at least one of the electrodes is bonded to the metal disc 10.
  • the ultrasonic sensor further comprises a conical resonator 30 attached to an upper surface of the metal disc 10 to improve ultrasonic efficiency, a base 50 supporting the diaphragm 20 and having a damping hole 40, leads 70 connected to the metal disc 10 and the piezoelectric ceramic plate 20 through conductive wires 60, an adhesive bonding the diaphragm 200 to the base 50 and sealing a gap between the diaphragm 200 and the base 50, and a housing 90 having an ultrasonic emission opening 80.
  • the housing 90 is fixedly bonded to the base 50, non-contactingly covering the diaphragm 200 and the conical resonator 30.
  • the ultrasonic emission opening 80 is vertically positioned in a rectangular form so that ultrasonic waves generated from the diaphragm 200 have different directional di- rectivities horizontally and vertically, respectively.
  • the ultrasonic emission opening 80 is provided with an ultrasonic emission screen 81 to prevent entry of dust and other foreign substances into the housing 90.
  • the diaphragm 200 vibrates in a longitudinal bending mode.
  • the directional angle (-6dB) can be controlled as the diffraction degree of the ultrasonic waves is varied according to the width of the ultrasonic emission opening 80. If the width of the ultrasonic emission opening 80 is too narrow, the emission efficiency is remarkably deteriorated.
  • an ultrasonic emission opening 140 having the same configuration as in the previous embodiment may be formed at an ultrasonic emission unit 130 outside the ultrasonic sensor as shown in Fig. 8 to achieve the same effect.
  • the ultrasonic sensor is designated by reference numeral " 110."
  • the ultrasonic emission opening 140 can be applied to various fields including a robot platform 120 and a rear side of a car.
  • Fig. 9 shows various types of ultrasonic emission openings applicable to the ultrasonic sensor according to the present invention.
  • the ultrasonic emission opening according to the present invention is not limited to those types of Fig. 9 but can be in other types including oval and rectangular, as long as it guarantees the different-directional directivities and appropriate sensitivity.
  • Fig. 10 and Fig. 11 are graphs illustrating directional angles measured by the ultrasonic sensor having the ultrasonic emission opening shown in Figs. 4 through 6.
  • the sensor herein used has a 4OD nominal frequency and 16D diameter.
  • the ultrasonic emission opening has a rectangular form of 2Dx4D.
  • the ultrasonic emission opening due to diffraction of the waves, generally has about 180° wide directional angle in a horizontal direction and about 60-70° directional angle in a vertical direction.
  • the ultrasonic emission opening has a wide horizontal directional angle of 172° for wide-range sensing and a vertical directional angle of 66 for preventing reception of unnecessary signals.
  • the ultrasonic sensor when applied to the robot platform 120 to detect forward obstacles and measure distances to the obstacles, the ultrasonic sensor is capable of covering a whole front side with only a few numbers. Furthermore, the limited vertical directional angle reduces undesired reception of signals.
  • the ultrasonic emission opening of the ultrasonic sensor is configured in a slit form being relatively longer in one of horizontal and vertical directions while relatively shorter in the other direction, so that the ultrasonic waves are emitted by a wide directional angle, i.e. about 180° horizontally.
  • a wide directional angle i.e. about 180° horizontally.
  • An ultrasonic sensor is appropriate for detecting and dodging obstacles by being mounted to a security alarm, an ultrasonic range finder, an industrial mobile robot, a robot cleaner and the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Transducers For Ultrasonic Waves (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

Capteur ultrasonore pour la détection et la neutralisation d'envahisseurs ou d'obstacles, monté sur une alarme de sécurité, un télémètre ultrasonore, un robot industriel mobile, un nettoyeur robot, etc. Ledit capteur peut détecter et neutraliser des obstacles avec une précision accrue sans zone morte pour un seulement un petit nombre d'unités, en formant une ouverture d'émission ultrasonore sur une partie frontale d'enceinte, sous la forme d'une fente ovale ou rectangulaire, pour la mise en place de directivités différentes, selon la verticalité et l'horizontalité propres, en appliquant un principe selon lequel, lorsque des ondes ultrasonores issues d'un diaphragme piézoélectrique du capteur ultrasonore ouvert passent dans l'ouverture, le degré de diffraction des ondes varie d'après la longueur d'onde des ondes et la largeur de l'ouverture.
PCT/KR2007/004397 2006-09-13 2007-09-12 Capteur ultrasonore à directivités directionnelles différentes Ceased WO2008032982A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2006-0088457 2006-09-13
KR20060088457 2006-09-13
KR20060136117 2006-12-28
KR10-2006-0136117 2006-12-28

Publications (1)

Publication Number Publication Date
WO2008032982A1 true WO2008032982A1 (fr) 2008-03-20

Family

ID=39183986

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2007/004397 Ceased WO2008032982A1 (fr) 2006-09-13 2007-09-12 Capteur ultrasonore à directivités directionnelles différentes

Country Status (1)

Country Link
WO (1) WO2008032982A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2389856A1 (fr) * 2010-05-25 2011-11-30 Essilor International Dispositif de mesure d'une distance caractéristique de lecture
JP2013141176A (ja) * 2012-01-06 2013-07-18 Nippon Ceramic Co Ltd 超音波送受波器
US20140064035A1 (en) * 2011-05-09 2014-03-06 Ultra Electronics Maritime Systems Inc. Acoustic projector having synchronized acoustic radiators
CN108549072A (zh) * 2018-04-20 2018-09-18 广东奥迪威传感科技股份有限公司 全角度传感器及其制造方法
TWI663418B (zh) * 2018-08-29 2019-06-21 華碩電腦股份有限公司 超音波傳感裝置
EP4456029A1 (fr) 2023-04-26 2024-10-30 Hekatron Vertriebs GmbH Détecteur d'incendie et dispositif de surveillance

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60194380A (ja) * 1984-03-15 1985-10-02 Matsushita Electric Works Ltd 超音波センサ−
JPS60194699A (ja) * 1984-03-15 1985-10-03 Matsushita Electric Works Ltd 超音波センサ−
KR20050089184A (ko) * 2004-03-04 2005-09-08 안희태 지향성 초음파를 이용한 이동 물체의 연속 위치 추정 방법및 장치
WO2005104615A1 (fr) * 2004-04-26 2005-11-03 Murata Manufacturing Co., Ltd. Capteur a ultrasons

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60194380A (ja) * 1984-03-15 1985-10-02 Matsushita Electric Works Ltd 超音波センサ−
JPS60194699A (ja) * 1984-03-15 1985-10-03 Matsushita Electric Works Ltd 超音波センサ−
KR20050089184A (ko) * 2004-03-04 2005-09-08 안희태 지향성 초음파를 이용한 이동 물체의 연속 위치 추정 방법및 장치
WO2005104615A1 (fr) * 2004-04-26 2005-11-03 Murata Manufacturing Co., Ltd. Capteur a ultrasons

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2389856A1 (fr) * 2010-05-25 2011-11-30 Essilor International Dispositif de mesure d'une distance caractéristique de lecture
FR2960413A1 (fr) * 2010-05-25 2011-12-02 Essilor Int Dispositif de mesure d'une distance caracteristique de lecture d'un individu
US20140064035A1 (en) * 2011-05-09 2014-03-06 Ultra Electronics Maritime Systems Inc. Acoustic projector having synchronized acoustic radiators
US9275629B2 (en) * 2011-05-09 2016-03-01 Ultra Electronics Maritime Systems Inc. Acoustic projector having synchronized acoustic radiators
JP2013141176A (ja) * 2012-01-06 2013-07-18 Nippon Ceramic Co Ltd 超音波送受波器
CN108549072A (zh) * 2018-04-20 2018-09-18 广东奥迪威传感科技股份有限公司 全角度传感器及其制造方法
CN108549072B (zh) * 2018-04-20 2023-06-23 广东奥迪威传感科技股份有限公司 全角度传感器及其制造方法
TWI663418B (zh) * 2018-08-29 2019-06-21 華碩電腦股份有限公司 超音波傳感裝置
EP4456029A1 (fr) 2023-04-26 2024-10-30 Hekatron Vertriebs GmbH Détecteur d'incendie et dispositif de surveillance
DE102023203881A1 (de) 2023-04-26 2024-10-31 Hekatron Vertriebs Gmbh Brandmelder und Vorrichtung zur Überwachung

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