JP4036843B2 - 発信装置、音波センサ及び自走車 - Google Patents
発信装置、音波センサ及び自走車 Download PDFInfo
- Publication number
- JP4036843B2 JP4036843B2 JP2004104391A JP2004104391A JP4036843B2 JP 4036843 B2 JP4036843 B2 JP 4036843B2 JP 2004104391 A JP2004104391 A JP 2004104391A JP 2004104391 A JP2004104391 A JP 2004104391A JP 4036843 B2 JP4036843 B2 JP 4036843B2
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- Prior art keywords
- piezoelectric element
- frequency band
- drive circuit
- sound wave
- detected
- Prior art date
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- Expired - Fee Related
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- 230000005540 biological transmission Effects 0.000 title description 14
- 230000010355 oscillation Effects 0.000 claims description 18
- 238000010586 diagram Methods 0.000 description 8
- 238000005259 measurement Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 6
- 239000000428 dust Substances 0.000 description 3
- 230000002238 attenuated effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/0207—Driving circuits
- B06B1/0223—Driving circuits for generating signals continuous in time
- B06B1/0238—Driving circuits for generating signals continuous in time of a single frequency, e.g. a sine-wave
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Transducers For Ultrasonic Waves (AREA)
Description
2 受信装置
8a,8b,8c,8d 壁(被検出物)
11 駆動回路
13a 圧電素子
Claims (4)
- タイミング回路が所定の時間間隔でトリガ信号を駆動回路に出力し、
該駆動回路は、該駆動回路に備えられる発振器が出力する所定の周波数の発振信号を、前記トリガ信号に同期して所定の時間幅だけ昇圧回路に出力し、
該昇圧回路は、入力された前記発振信号の電圧を昇圧し、昇圧した電圧を圧電素子に印加し、
該圧電素子は、印加された電圧の周波数に応じて振動し、音波を空気中へ発信するように構成された発信装置であって、
前記駆動回路は、前記圧電素子を含む振動系が最も強く共振する共振周波数帯域と異なる周波数帯域で前記圧電素子を駆動すべくなしてあるものであり、
前記圧電素子が駆動される前記周波数帯域は、10kHz〜50kHzの範囲であり、該範囲における音圧の極大値と極小値との差が15dB未満であることを特徴とする発信装置。 - 発信装置から音波を空気中へ発信し、被検出物で反射した音波を受信装置で受信して前記被検出物に関する情報を得る音波センサにおいて、
前記発信装置は、請求項1に記載された発信装置であることを特徴とする音波センサ。 - タイミング回路が所定の時間間隔でトリガ信号を駆動回路に出力し、
該駆動回路は、該駆動回路に備えられる発振器が出力する所定の周波数の発振信号を、前記トリガ信号に同期して所定の時間幅だけ昇圧回路に出力し、
該昇圧回路は、入力された前記発振信号の電圧を昇圧し、昇圧した電圧を圧電素子に印加し、
該圧電素子は印加された電圧の周波数に応じて振動し、音波を空気中へ発信し、
被検出物で反射した音波を前記圧電素子で受信して前記被検出物に関する情報を得るように構成された音波センサであって、
前記駆動回路は、前記圧電素子を含む振動系が最も強く共振する共振周波数帯域と異なる周波数帯域で前記圧電素子を駆動すべくなしてあるものであり、
前記圧電素子が駆動される前記周波数帯域は、10kHz〜50kHzの範囲であり、該範囲における音圧の極大値と極小値との差が15dB未満であることを特徴とする音波センサ。 - 被検出物を検出する音波センサを備え、該音波センサからの情報に基づいて発停,操向制御を行う自走車において、
前記音波センサは、請求項2又は3に記載された音波センサであることを特徴とする自走車。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004104391A JP4036843B2 (ja) | 2004-03-31 | 2004-03-31 | 発信装置、音波センサ及び自走車 |
US11/045,144 US7098579B2 (en) | 2004-03-31 | 2005-01-31 | Transmitting apparatus, sound sensor and autonomous traveling vehicle |
KR1020050013648A KR101126512B1 (ko) | 2004-03-31 | 2005-02-18 | 발신 장치, 음파 센서 및 자주차 |
CN2005100516637A CN1678133B (zh) | 2004-03-31 | 2005-02-18 | 发射装置及声波传感器 |
US11/510,839 US20070046145A1 (en) | 2004-03-31 | 2006-08-28 | Transmitting apparatus, sound sensor and autonomous traveling vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004104391A JP4036843B2 (ja) | 2004-03-31 | 2004-03-31 | 発信装置、音波センサ及び自走車 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005291798A JP2005291798A (ja) | 2005-10-20 |
JP4036843B2 true JP4036843B2 (ja) | 2008-01-23 |
Family
ID=35050380
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004104391A Expired - Fee Related JP4036843B2 (ja) | 2004-03-31 | 2004-03-31 | 発信装置、音波センサ及び自走車 |
Country Status (4)
Country | Link |
---|---|
US (2) | US7098579B2 (ja) |
JP (1) | JP4036843B2 (ja) |
KR (1) | KR101126512B1 (ja) |
CN (1) | CN1678133B (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005011733B4 (de) * | 2005-03-11 | 2008-05-08 | Werma Signaltechnik Gmbh + Co. Kg | Signaleinheit mit einem akustischen Signalgeber |
US8280692B2 (en) | 2007-08-30 | 2012-10-02 | Nec Corporation | Ultrasonic wave propagation time measuring system |
JP5682973B2 (ja) | 2010-06-30 | 2015-03-11 | Necカシオモバイルコミュニケーションズ株式会社 | 発振装置および電子機器 |
EP3876068A1 (en) * | 2011-04-28 | 2021-09-08 | Positec Power Tools (Suzhou) Co., Ltd | Automatic working system, automatic walking device and steering method thereof |
CN102322905B (zh) * | 2011-05-24 | 2013-04-10 | 国网电力科学研究院 | 一种超声波流量计换能器驱动电路 |
CN105911981A (zh) * | 2012-04-28 | 2016-08-31 | 苏州宝时得电动工具有限公司 | 自动工作***、自动行走设备及其转向方法 |
US10122736B2 (en) * | 2014-06-02 | 2018-11-06 | Bastille Networks, Inc. | Ground and air vehicle electromagnetic signature detection and localization |
CN104569995A (zh) * | 2015-01-27 | 2015-04-29 | 华北水利水电大学 | 小盲区超声波传感器 |
JP6786407B2 (ja) * | 2017-01-23 | 2020-11-18 | 株式会社クボタ | 作業車無線管理システム |
CN112880733B (zh) * | 2020-08-03 | 2023-04-21 | 上海三利数字技术有限公司 | 限高防护架状态监测装置及方法 |
CN113655414B (zh) * | 2021-08-30 | 2024-05-07 | 杭州电子科技大学 | 用压电陶瓷产生共振频带的光学磁场传感*** |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4782550A (en) * | 1988-02-12 | 1988-11-08 | Von Schrader Company | Automatic surface-treating apparatus |
JPH09146637A (ja) * | 1995-11-27 | 1997-06-06 | Fujitsu General Ltd | 無人走行車の制御方法 |
JP2937153B2 (ja) * | 1996-12-17 | 1999-08-23 | 日本電気株式会社 | 超音波トランスデューサ及びこれを用いる水中用送受波器 |
JPH10290495A (ja) | 1997-04-15 | 1998-10-27 | Matsushita Electric Works Ltd | 音波信号送波方法及びその装置並びに音波信号受波方法及びその装置並びにこれらを用いた音波信号送受波処理システム |
US6250162B1 (en) * | 1998-04-24 | 2001-06-26 | Murata Manufacturing Co., Ltd. | Ultrasonic sensor |
-
2004
- 2004-03-31 JP JP2004104391A patent/JP4036843B2/ja not_active Expired - Fee Related
-
2005
- 2005-01-31 US US11/045,144 patent/US7098579B2/en not_active Expired - Fee Related
- 2005-02-18 KR KR1020050013648A patent/KR101126512B1/ko not_active IP Right Cessation
- 2005-02-18 CN CN2005100516637A patent/CN1678133B/zh not_active Expired - Fee Related
-
2006
- 2006-08-28 US US11/510,839 patent/US20070046145A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
CN1678133B (zh) | 2012-02-22 |
US20070046145A1 (en) | 2007-03-01 |
US20050231068A1 (en) | 2005-10-20 |
JP2005291798A (ja) | 2005-10-20 |
US7098579B2 (en) | 2006-08-29 |
CN1678133A (zh) | 2005-10-05 |
KR101126512B1 (ko) | 2012-04-12 |
KR20060043000A (ko) | 2006-05-15 |
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