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WO2024225062A1 - Dispositif de commande d'entraînement de capteur ultrasonore et procédé de commande d'entraînement de capteur ultrasonore - Google Patents

Dispositif de commande d'entraînement de capteur ultrasonore et procédé de commande d'entraînement de capteur ultrasonore Download PDF

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Publication number
WO2024225062A1
WO2024225062A1 PCT/JP2024/014688 JP2024014688W WO2024225062A1 WO 2024225062 A1 WO2024225062 A1 WO 2024225062A1 JP 2024014688 W JP2024014688 W JP 2024014688W WO 2024225062 A1 WO2024225062 A1 WO 2024225062A1
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WO
WIPO (PCT)
Prior art keywords
drive control
ultrasonic sensor
wave
ultrasonic
reflected
Prior art date
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PCT/JP2024/014688
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English (en)
Japanese (ja)
Inventor
大輔 青木
直希 磯部
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Tokai Rika Co Ltd
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Tokai Rika Co Ltd
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Filing date
Publication date
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Publication of WO2024225062A1 publication Critical patent/WO2024225062A1/fr
Anticipated expiration legal-status Critical
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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
    • G01S7/523—Details of pulse systems
    • G01S7/524—Transmitters

Definitions

  • This disclosure relates to an ultrasonic sensor drive control device and an ultrasonic sensor drive control method.
  • JP 2018-132450 A discloses an obstacle detection device that can suppress the fluctuation of the detection range due to temperature and humidity without using a temperature sensor and a humidity sensor because the range in which obstacles can be detected varies depending on the temperature and humidity. Specifically, the obstacle detection device performs calibration by selecting a threshold value corresponding to the reverberation waveform of ultrasonic waves from pre-stored threshold values.
  • the present disclosure provides an ultrasonic sensor drive control device and an ultrasonic sensor drive control method that can absorb manufacturing variations and changes over time in ultrasonic sensors and maintain detection at a specified long distance.
  • the ultrasonic sensor drive control device of the first aspect of the present disclosure is a drive control device that drives and controls an ultrasonic sensor that transmits ultrasonic waves by vibrating a vibrating body at a predetermined frequency and receives the reflected waves of the ultrasonic waves reflected by an object, and includes a drive control unit that vibrates the vibrating body by inputting a single pulse wave to the ultrasonic sensor, detects the resonant frequency of the vibrating body based on the reflected waves of the ultrasonic waves transmitted by the vibration of the vibrating body and reflected by an object, and drives the vibrating body by continuously inputting a waveform at the detected resonant frequency.
  • the ultrasonic sensor drive control device of the first aspect of the present disclosure in an ultrasonic sensor that transmits ultrasonic waves by vibrating a vibrator at a predetermined frequency and receives the reflected waves of the ultrasonic waves reflected by an object, the vibrator is vibrated by inputting a single pulse wave, and the resonant frequency of the vibrator is detected based on the reflected waves of the ultrasonic waves transmitted by the vibration of the vibrator and reflected by the object. Therefore, even if there is a deviation in the resonant frequency in the ultrasonic sensor due to manufacturing variations or changes over time, the resonant frequency unique to the ultrasonic sensor can be detected, and the resonant frequency can be corrected.
  • the vibrator since the vibrator is driven by continuously inputting a waveform at the detected resonant frequency, the vibrator can be driven at the corrected resonant frequency, i.e., a resonant frequency that can amplify the sound wave. This allows the ultrasonic sensor to absorb manufacturing variations and changes over time and maintain the specified long-distance detection.
  • the pulse wave is a square wave or a sine wave.
  • the ultrasonic sensor drive control device of the second aspect of the present disclosure when the pulse wave is a square wave, the ultrasonic sensor can be driven more easily. Furthermore, when the pulse wave is a sine wave, the ultrasonic sensor can be driven more efficiently with less vibration and noise than when the pulse wave is a square wave.
  • the drive control unit continuously inputs a square wave or a sine wave at the resonant frequency.
  • the drive control unit continuously inputs a square wave or a sine wave at the detected resonant frequency, so when a square wave is continuously input, the ultrasonic sensor can be driven more easily. Furthermore, when a sine wave is continuously input, the ultrasonic sensor can be driven more efficiently with less vibration and noise than when a square wave is input.
  • the ultrasonic sensor drive control device of the fourth aspect of the present disclosure is any one of the first to third aspects and includes a distance detection unit that detects the distance to the object based on the time required from transmitting the ultrasonic wave to receiving the reflected wave, and the distance detection unit detects a closer distance than the distance based on the time required from inputting the pulse wave to receiving the reflected wave of the pulse wave.
  • the distance detection unit detects a closer distance than the above-mentioned distance based on the time required from inputting a pulse wave to receiving the reflected wave of the pulse wave. Therefore, the distance to an object located in a close distance can be obtained by inputting a single pulse wave.
  • the distance detection unit detects the short distance in parallel with the detection of the resonant frequency by the drive control unit.
  • the distance detection unit detects the short distance in parallel with the detection of the resonant frequency by the drive control unit, so that the resonant frequency and the distance to an object located in the short distance can be obtained efficiently.
  • the drive control unit detects the resonant frequency by detecting free vibration in the reflected wave of the input pulse wave.
  • the drive control unit detects the resonant frequency by detecting free vibrations in the reflected wave of the input pulse wave, so that the resonant frequency can be easily detected without using any other device.
  • the seventh aspect of the ultrasonic sensor drive control method of the present disclosure is a drive control method for driving and controlling an ultrasonic sensor that transmits ultrasonic waves by vibrating a vibrating body at a predetermined frequency and receives the reflected waves of the ultrasonic waves reflected by an object, in which the vibrating body is vibrated by inputting a single pulse wave to the ultrasonic sensor, the resonant frequency of the vibrating body is detected based on the reflected waves of the ultrasonic waves transmitted by the vibration of the vibrating body and reflected by the object, and the vibrating body is driven by continuously inputting a waveform at the detected resonant frequency.
  • the vibrator in an ultrasonic sensor that transmits ultrasonic waves by vibrating a vibrator at a predetermined frequency and receives the reflected waves of the ultrasonic waves reflected by an object, the vibrator is vibrated by inputting a single pulse wave, and the resonant frequency of the vibrator is detected based on the reflected waves of the ultrasonic waves transmitted by the vibration of the vibrator and reflected by the object. Therefore, even if there is a deviation in the resonant frequency of the ultrasonic sensor due to manufacturing variations or changes over time, the resonant frequency unique to the ultrasonic sensor can be detected, and the resonant frequency can be corrected.
  • the vibrator since the vibrator is driven by continuously inputting a waveform at the detected resonant frequency, the vibrator can be driven at the corrected resonant frequency, i.e., a resonant frequency that can amplify the sound wave. This absorbs manufacturing variations and changes over time and maintains the specified long-distance detection.
  • the ultrasonic sensor drive control device and ultrasonic sensor drive control method disclosed herein have the effect of absorbing manufacturing variations and changes over time in the ultrasonic sensor and maintaining the specified long-distance detection.
  • FIG. 1 is a configuration diagram illustrating a schematic configuration of an ultrasonic sensor system including a drive control device according to a first embodiment of the present disclosure.
  • 1 is a graph showing an ultrasonic waveform.
  • FIG. 11 is an explanatory diagram for explaining a method for detecting a free vibration frequency.
  • 5 is a flowchart showing an example of the flow of a drive control process of a drive control device.
  • 10 is a flowchart showing an example of a flow of a drive control process of a drive control device according to a second embodiment of the present disclosure.
  • FIG. 11 is a diagram illustrating a configuration of an ultrasonic sensor system including a modified example of an ultrasonic sensor.
  • FIG. 13 is a configuration diagram illustrating a schematic configuration of an ultrasonic sensor system including another modified example of the ultrasonic sensor.
  • FIG. 2 is a configuration diagram illustrating a hardware configuration of a drive control device.
  • the ultrasonic sensor system 10 including a drive control device 30 as an ultrasonic sensor drive control device will be described with reference to Figures 1 to 4.
  • the ultrasonic sensor system 10 of this embodiment uses ToF (Time of Flight) technology, which measures distance from the speed of sound based on the time interval between a transmitted wave consisting of ultrasonic waves and a reflected wave that is reflected by an object and returns.
  • ToF Time of Flight
  • the ultrasonic sensor 20 of the ultrasonic sensor system 10 of this embodiment is formed using a microfabrication technology (MEMS: Micro Electro Mechanical Systems) that processes silicon or the like to form fine elements.
  • MEMS Micro Electro Mechanical Systems
  • FIG. 1 is a schematic diagram showing the configuration of an ultrasonic sensor system 10 including a drive control device 30 according to a first embodiment of the present disclosure.
  • the ultrasonic sensor system 10 of this embodiment includes an ultrasonic sensor 20 and a drive control device 30.
  • the ultrasonic sensor 20 includes an actuator 40 that transmits ultrasonic waves 40A, and a sensor 50 that receives reflected waves 50A of the ultrasonic waves 40A reflected by an object OB.
  • the actuator 40 includes an ultrasonic speaker 42 that transmits ultrasonic waves 40A, and an ultrasonic driver 44 that drives the ultrasonic speaker 42 based on a control signal output from a drive controller 32, which will be described later.
  • the ultrasonic speaker 42 includes a vibrator 42A, which is connected to the ultrasonic driver 44 by a wiring 46. Note that in FIG. 1, the vibrator 42A is shown diagrammatically, and is actually composed of a number of components, which will be described later.
  • the vibrating body 42A is configured to include, for example, a substrate (not shown), a diaphragm (not shown), and a piezoelectric film (not shown).
  • a voltage is applied to the piezoelectric film, the piezoelectric film expands and contracts, and the expansion and contraction causes the diaphragm to vibrate, causing the vibrating body 42A to vibrate.
  • Ultrasonic waves 40A are generated by the vibration of the vibrating body 42A.
  • the ultrasonic driving unit 44 has a driving circuit (not shown) equipped with a boost circuit, an amplifier, etc., and applies a voltage to the vibrating body 42A based on a control signal output from the driving control unit 32, which will be described later.
  • the sensor 50 includes an ultrasonic microphone 52 that receives the reflected wave 50A, converts it into an electrical signal, and outputs it, an amplifier 54 that amplifies the electrical signal output by the ultrasonic microphone 52, and an A/D converter 56 that converts the electrical signal amplified by the amplifier 54 from an analog signal to a digital signal.
  • the ultrasonic microphone 52 and the amplifier 54, and the amplifier 54 and the A/D converter 56 are each connected by a wire 58.
  • the ultrasonic microphone 52 has a vibrating body 52A that is configured in a manner similar to the vibrating body 42A of the ultrasonic speaker 42 described above, and the vibrating body 52A is connected to the amplifier 54 by a wiring 58.
  • the vibrating body 52A receives the reflected wave 50A, the reflected wave 50A causes the diaphragm to vibrate, and this vibration causes the piezoelectric film to deform, generating a voltage.
  • the amplifier 54 amplifies the voltage output signal generated by the deformation of the piezoelectric film of the vibrating body 52A due to the reflected wave 50A, and outputs it to the A/D converter 56.
  • the amplifier 54 has an anti-aliasing function that performs processing to prevent aliasing, i.e., folding noise, from occurring during sampling or downsampling.
  • the anti-aliasing function is realized by providing an LPF (Low Pass Filter) that passes only low frequencies among filters that have the function of blocking signals other than those of specific frequencies.
  • the A/D converter 56 converts the output signal amplified by the amplifier 54 from an analog signal to a digital signal.
  • a known A/D converter can be used as the A/D converter 56.
  • the drive control device 30 includes a CPU (Central Processing Unit) 70, a ROM (Read Only Memory) 71, a RAM (Random Access Memory) 72, a storage 73, a communication interface (communication I/F) 74, and an input/output interface (input/output I/F) 75.
  • Each component is connected to each other via a bus 76 so that they can communicate with each other.
  • the storage 73 is realized by a non-volatile storage medium such as a HDD (Hard Disk Drive) or SSD (Solid State Drive).
  • the ultrasonic drive unit 44 of the actuator 40 and the A/D converter 56 of the sensor 50 are connected to the input/output I/F 74 via wiring 60.
  • the drive control device 30 uses the above hardware resources to realize various functions. Specifically, as shown in FIG. 1, the drive control device 30 is configured to include a drive control unit 32 and a distance detection unit 34 as its functional components. Each functional component is realized by the CPU 70 as a processor reading and executing a program stored in the ROM 71 as a memory or the storage 73 as a memory.
  • the drive control unit 32 drives the vibrator 42A of the ultrasonic speaker 42 by continuously inputting a waveform at the resonant frequency to the ultrasonic drive unit 44. Specifically, as an example, the drive control unit 32 continuously inputs a square wave at the resonant frequency.
  • the drive control unit 32 drives the vibrator 42A of the ultrasonic speaker 42 by inputting a single pulse wave to the ultrasonic drive unit 44 before continuously inputting a waveform at the resonant frequency to the ultrasonic drive unit 44.
  • the drive control unit 32 detects the actual resonant frequency F of the vibrator 42A based on the reflected wave 50A that is the ultrasonic wave 40A transmitted by the vibration of the vibrator 42A and reflected by the object OB.
  • FIG. 2 is a graph showing an ultrasonic waveform.
  • the horizontal axis represents time.
  • the upper graph in FIG. 2 shows the waveform of a single pulse wave 40B applied to the actuator 40, and the lower graph shows the received waveform 50B received by the sensor 50 before being input to the amplifier 54.
  • the drive control unit 32 inputs a single rectangular wave waveform signal as a single pulse wave to the ultrasonic drive unit 44 as a control signal. Based on this input control signal, the ultrasonic drive unit 44 applies a voltage to the vibrator 42A. The vibrator 42A is vibrated by the applied voltage, and this vibration generates ultrasonic waves 40A from the ultrasonic speaker 42.
  • Ultrasonic wave 40A generated by a single pulse wave 40B from ultrasonic speaker 42 is reflected by object OB and becomes reflected wave 50A.
  • Sensor 50 receives this reflected wave 50A, and when receiving the reflected wave 50A, the reflected wave 50A causes vibrator 52A to vibrate and generate a voltage.
  • ultrasonic microphone 52 Based on the generated voltage, ultrasonic microphone 52 receives received waveform 50B, as shown in the lower diagram of Figure 2 as an example. Note that since there is an acoustic impedance of air in the air, the detected sound is dulled. In other words, the detected received waveform 50B is attenuated.
  • FIG. 3 is an explanatory diagram for explaining the method for detecting the free vibration frequency. Note that Figure 3 shows, from the top, the received waveform, the bit that represents the highest digit when the bit string is considered to be a binary value, i.e. the most significant bit (MSB), a counter by a digital counter, and the count number.
  • MSB most significant bit
  • the received waveform is subjected to A/D conversion, which converts it from analog to digital, and is represented as a digital value, i.e., two's complement.
  • A/D conversion converts it from analog to digital
  • the digital value of the apex indicated by the arrow D1 is "01011”
  • the digital value of the apex indicated by the arrow D2 is “10110”. Since the MSB of the digital value indicates the sign, the change from "0" to "1" and the change from "1" to "0” are the zero crossing points.
  • the frequency is measured by measuring the time starting from this zero crossing point.
  • one period that includes the zero crossing point of the change from "0" to "1" in the center is defined as the period P (s).
  • the clock used for the digital counter is a clock with a sampling frequency equal to or higher than the sampling frequency of the A/D converter 56.
  • the clock may be a hardware clock (not shown), or a clock configured by software pre-installed in the drive control device 30.
  • this free frequency F0 is detected.
  • this free frequency F0 is set to the actual resonant frequency F of the vibrating body 42A.
  • the drive control unit 32 continuously inputs a waveform at the actual resonant frequency F to the ultrasonic drive unit 44.
  • FIG. 4 is a flowchart showing an example of the flow of the drive control process of the drive control device 30.
  • step S11 the drive control unit 32 inputs a waveform signal of a single rectangular wave as a single pulse wave to the ultrasonic drive unit 44.
  • step S12 the drive control unit 32 detects the resonant frequency F of the vibrator 42A as described above.
  • step S13 the drive control unit 32 retains the resonant frequency F by storing the detected resonant frequency F in, for example, storage or the like.
  • step S14 the drive control unit 32 sets the resonant frequency F and the number of pulses for continuously inputting the waveform.
  • step S15 the drive control unit 32 continuously inputs the pulse wave waveform signal to the ultrasonic drive unit 44 based on the set resonant frequency F and number of pulses.
  • step S16 the drive control device 30 determines whether or not a reflected wave 50A has been detected. If a reflected wave 50A has not been detected in step S16 (step S16; NO), the process proceeds to step S15, where the drive control unit 32 continues to input the pulse wave waveform signal to the ultrasonic drive unit 44. On the other hand, if a reflected wave 50A has been detected in step S16 (step S16; YES), the distance detection unit 34 detects the distance L to the object OB based on the time TR from when the ultrasonic wave 40A is transmitted until when the reflected wave 50A is received, as described above.
  • step S18 the drive control device 30 outputs the distance L to the object OB to an ECU (Electronic Control Unit) (not shown) that controls the vehicle's driving, and causes the ECU to perform collision avoidance processing.
  • the ECU can use publicly known technology, and the collision avoidance processing can also use publicly known technology.
  • step S19 the drive control device 30 determines whether or not to end detection of the object OB by the ultrasonic sensor 20. Specifically, the drive control device 30 determines to end detection when, for example, the vehicle is placed in parking mode or the vehicle engine is stopped.
  • step S19 If it is determined in step S19 that detection should not be terminated (step S19; NO), the process proceeds to step S15, where the drive control unit 32 continues to input the pulse wave waveform signal to the ultrasonic drive unit 44. On the other hand, if it is determined in step S19 that detection should be terminated (step S19; YES), the drive control unit 30 terminates detection of the object OB by the ultrasonic sensor 20.
  • the vibrator 42A is vibrated by inputting a single pulse wave in the ultrasonic sensor 20, and the resonant frequency F of the vibrator 42A is detected based on the reflected wave 50A of the ultrasonic wave 40A transmitted by the vibration of the vibrator 42A and reflected by the object OB. Therefore, even if the resonant frequency of the ultrasonic sensor 20 is shifted due to manufacturing variations or changes over time, the resonant frequency F specific to the ultrasonic sensor 20 can be detected, so the resonant frequency can be corrected.
  • the vibrator 42A since the vibrator 42A is driven by continuously inputting a waveform at the detected resonant frequency F, the vibrator 42A can be driven at the corrected resonant frequency F, that is, the resonant frequency F that can amplify the sound wave. This allows the ultrasonic sensor 20 to absorb manufacturing variations and changes over time and maintain the specified long-distance detection.
  • the pulse wave input to the ultrasonic sensor 20 is a rectangular wave, so the ultrasonic sensor 20 can be driven more easily.
  • the drive control unit 32 continuously inputs a square wave at the detected resonant frequency F, making it easier to drive the ultrasonic sensor 20.
  • the drive control unit 32 detects the resonant frequency F by detecting the free vibration FV in the received waveform (reflected wave) 50B of the input pulse wave, so that the resonant frequency F can be easily detected without using any other device.
  • the drive control device 30A of the second embodiment has a configuration substantially similar to that of the drive control device 30 of the first embodiment described above, and therefore a description of the similar configuration will be omitted, and only the different configuration will be described in detail.
  • the drive control device 30A of the second embodiment detects the distance based on the time required from when the distance detection unit 34 inputs a single pulse wave 40B to the ultrasonic sensor 20 until it receives the received waveform (reflected wave) 50B of this single pulse wave 40B.
  • the distance detected here is a closer distance than the distance detected when pulse waves are continuously input.
  • FIG. 5 is a flow chart showing an example of the flow of the drive control process of the drive control device 30A. Note that in FIG. 5, processes similar to steps S11 to S19 of the drive control device 30 of the first embodiment shown in FIG. 4 are indicated by the same step numbers and will not be described here, and only the added processes will be described in detail.
  • the distance detection unit 34 detects a short distance in step S20 in parallel with the process of detecting the resonant frequency of the vibrating body 42A in step S12. Specifically, as described above, the distance detection unit 34 detects a short distance based on the time required from when it inputs a single pulse wave 40B to the ultrasonic sensor 20 until it receives the received waveform (reflected wave) 50B of this single pulse wave 40B.
  • step S21 the drive control device 30A determines whether the process of step S14, i.e., setting the resonant frequency F and the number of pulses, has been completed. If the process of step S14 has not been completed (step S21; NO), in step S22, the drive control unit 32 inputs a new single pulse wave to the ultrasonic sensor 20, and the drive control device 30A proceeds to step S20. On the other hand, if the process of step S14 has been completed in step S21 (step S21; YES), the drive control device 30A proceeds to step S15 and performs the subsequent processes.
  • step S14 i.e., setting the resonant frequency F and the number of pulses
  • the distance detection unit 34 detects a short distance that is closer than the distance detected when pulse waves are continuously input, based on the time required from inputting a single pulse wave to receiving the received waveform (reflected wave) 50B of this single pulse wave 40B. Therefore, by inputting a single pulse wave, the distance to an object OB located at a short distance can be obtained.
  • the distance detection unit 34 detects the short distance in parallel with the detection of the resonant frequency F by the drive control unit 32, so that the resonant frequency F and the distance to the object OB located in the short distance can be efficiently obtained.
  • the ultrasonic sensor 20 has the ultrasonic speaker 42 of the actuator 40 and the ultrasonic microphone 52 of the sensor 50 facing the same direction, but the present disclosure is not limited thereto.
  • the ultrasonic sensor 20A may have the ultrasonic speaker 42 of the actuator 40 and the ultrasonic microphone 52 of the sensor 50 facing each other.
  • the processes of steps S11 and S12 in FIG. 4 and FIG. 5, that is, the process of detecting the resonant frequency F of the vibrator 42A are performed in a state in which no object OB exists between the ultrasonic speaker 42 of the actuator 40 and the ultrasonic microphone 52 of the sensor 50. Also, as shown in FIG.
  • the ultrasonic sensor 20B may have the ultrasonic speaker 42 of the actuator 40 and the ultrasonic microphone 52 of the sensor 50 as the same one.
  • the ultrasonic wave 40A is transmitted and the reflected wave 50A is received by one ultrasonic speaker 42 (ultrasonic microphone 52).
  • the single pulse wave input to the ultrasonic sensor 20 by the drive control unit 32 is a rectangular wave, but the present disclosure is not limited to this.
  • the single pulse wave may be a sine wave.
  • the ultrasonic sensor 20 can be driven more efficiently with less vibration and noise than when it is a rectangular wave.
  • the single pulse wave may be any waveform, such as a triangular wave, a trapezoidal wave, a Gaussian pulse wave, and a stepped sine wave, in addition to a sine wave or a rectangular wave.
  • the drive control unit 32 continuously inputs a square wave to the ultrasonic sensor 20 at the resonant frequency, but the present disclosure is not limited to this.
  • the continuously input waveform may be a sine wave.
  • the ultrasonic sensor can be driven more efficiently with less vibration and noise than when a square wave is input.
  • the waveform continuously input at the resonant frequency may be any waveform, such as a triangular wave, trapezoidal wave, Gaussian pulse wave, and stepped sine wave, in addition to a sine wave or square wave.
  • the drive control unit 32 detects the free vibration frequency F0 as shown in FIG. 3, but the present disclosure is not limited to this.
  • a separate device capable of detecting the free vibration frequency F0 may be provided, or the free vibration frequency F0 may be detected using known technology.
  • the drive control unit 32 detects the distance L to the object OB based on the time TR from when the ultrasonic wave 40A is transmitted to when the reflected wave 50A is received, but the present disclosure is not limited to this. Even if the distance L is not detected, it is sufficient to detect whether or not the object OB is present within a predefined long distance based on whether or not the reflected wave 50A is detected. In other words, the process of step S17 does not have to be executed. In this case, in FIG. 4, the process of steps S11 to S13 detects that the object OB is present within a close distance that is closer than the long distance.
  • the drive control unit 32 again inputs a single pulse wave to the ultrasonic sensor 20, but the present disclosure is not limited to this, and the input does not have to be performed. In other words, the processes of steps S21 and S22 do not have to be executed.
  • the distance detection unit 34 detects the short distance in step S20 in parallel with the detection of the resonance frequency F by the drive control unit 32 (the processing of step S12), but the present disclosure is not limited to this.
  • the processing of step S20 for detecting the short distance may be performed before the processing of step S12.
  • processors in this case include PLDs (Programmable Logic Devices) such as FPGAs (Field-Programmable Gate Arrays) whose circuit configuration can be changed after manufacture, and dedicated electric circuits such as ASICs (Application Specific Integrated Circuits), which are processors with circuit configurations designed specifically to execute specific processes.
  • PLDs Programmable Logic Devices
  • FPGAs Field-Programmable Gate Arrays
  • ASICs Application Specific Integrated Circuits
  • each process may be executed by one of these various processors, or by a combination of two or more processors of the same or different types (for example, multiple FPGAs, or a combination of a CPU and an FPGA).
  • the hardware structure of these various processors is, more specifically, an electric circuit that combines circuit elements such as semiconductor elements.
  • the programs described in the above embodiments may be provided in a form stored in a non-transitory storage medium such as a CD-ROM (Compact Disc Read Only Memory), a DVD-ROM (Digital Versatile Disc Read Only Memory), or a USB (Universal Serial Bus) memory.
  • the programs may also be provided in a form downloaded from an external device via a network.

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  • 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)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

La présente divulgation concerne un dispositif de commande d'entraînement de capteur ultrasonore qui permet d'absorber des changements temporels et des variations se produisant pendant la fabrication dans un capteur ultrasonore et également de maintenir une détection sur une longue distance prescrite.　Un dispositif de commande d'entraînement de capteur ultrasonore (30) selon la présente divulgation commande l'entraînement d'un capteur ultrasonore (20) qui transmet une onde ultrasonore (40A) par vibration d'un corps vibrant (42A) à une fréquence prescrite et qui reçoit une onde réfléchie (50A) de l'onde ultrasonore réfléchie par un objet (OB). Le dispositif de commande d'entraînement de capteur ultrasonore (30) comprend une unité de commande d'entraînement (32) qui : amène le corps vibrant (42A) à vibrer en entrant une onde d'impulsion unique (40B) dans le capteur ultrasonore (20) ; détecte une fréquence de résonance (F) du corps vibrant (42A) sur la base de l'onde réfléchie (50A) obtenue suite à la transmission de l'onde ultrasonore (40A) par la vibration du corps vibrant (42A) et réfléchie par l'objet (OB) ; et entraîne le corps vibrant (42A) par entrée continue de formes d'onde à la fréquence de résonance détectée (F).
PCT/JP2024/014688 2023-04-28 2024-04-11 Dispositif de commande d'entraînement de capteur ultrasonore et procédé de commande d'entraînement de capteur ultrasonore Pending WO2024225062A1 (fr)

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JP2023075035A JP2024159196A (ja) 2023-04-28 2023-04-28 超音波センサ駆動制御装置及び超音波センサ駆動制御方法
JP2023-075035 2023-04-28

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