KR101604762B1 - Apparatus for controlling ultrasonic sensor and control method thereof - Google Patents

Apparatus for controlling ultrasonic sensor and control method thereof Download PDF

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Publication number
KR101604762B1
KR101604762B1 KR1020140120044A KR20140120044A KR101604762B1 KR 101604762 B1 KR101604762 B1 KR 101604762B1 KR 1020140120044 A KR1020140120044 A KR 1020140120044A KR 20140120044 A KR20140120044 A KR 20140120044A KR 101604762 B1 KR101604762 B1 KR 101604762B1
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South Korea
Prior art keywords
signal
burst
ultrasonic
pulses
ringing time
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KR1020140120044A
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Korean (ko)
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반재원
정효은
조일남
고재두
우해민
곽미정
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만도헬라일렉트로닉스(주)
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    • 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
    • G01S7/52004—Means for monitoring or calibrating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound

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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

Disclosed are an ultrasonic sensor control device and a control method thereof. According to an embodiment of the present invention, the ultrasonic sensor control device includes: an ultrasonic element unit which transmits ultrasonic waves to an object, receives the reflected waves, converts the waves into electrical echo signals, and outputs the signals; a signal generation unit which generates and outputs burst signals for the ultrasonic element unit to transmit ultrasonic waves; a receiving unit which receives the echo signals outputted by the ultrasonic element unit; and a control unit which detects the distance to the object based on the echo signals received by the receiving unit and controls the signal generation unit to change the number of pulses of the burst signals depending on the detected distance. The objective of the present invention is to provide an ultrasonic sensor control device capable of adjusting the maximum measurement distance and the minimum measurement distance of an ultrasonic sensor and a control method thereof.

Description

TECHNICAL FIELD [0001] The present invention relates to an ultrasonic sensor control apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an ultrasonic sensor control apparatus and a control method thereof, and more particularly, to an ultrasonic sensor control apparatus and a control method thereof for transmitting and receiving ultrasonic waves and measuring a distance to an object.

Generally, the vehicle is provided with an ultrasonic sensor for detecting the presence or absence of an object located in the vicinity and the distance to the object.

The ultrasonic sensor transmits an ultrasonic wave by using a transducer having a piezoelectric element, receives an echo signal which is a reflected wave reflected by the object to be measured, and receives an echo signal from the ultrasonic wave transmission The distance to the object is detected. At this time, the transducer converts an electric signal into an acoustic signal by a piezoelectric element, or converts an acoustic signal into an electric signal.

Conventionally, the number of pulses of a burst signal output to the transducer so that the transducer transmits ultrasonic waves is fixed. Therefore, in the past, the maximum measurement distance and the minimum measurement distance of the ultrasonic sensor are fixed.

However, depending on the usage environment, it is necessary to detect an object located at a distance or nearer than the detection range of the ultrasonic sensor. In this case, since the maximum measurement distance and the minimum measurement distance of the ultrasonic sensor are fixed, There is an inconvenience to replace.

Japanese Patent Laid-Open No. 2009-0300233 (December 24, 2009)

According to an embodiment of the present invention, there is provided an ultrasonic sensor control apparatus and a control method thereof capable of varying a maximum measurement distance and a minimum measurement distance of an ultrasonic sensor.

According to an embodiment of the present invention, there is provided an ultrasonic sensor controller capable of varying a maximum measurement distance and a minimum measurement distance of an ultrasonic sensor and enhancing a sensor diagnostic function, and a control method thereof.

According to an aspect of the present invention, there is provided an ultrasonic diagnostic apparatus comprising: an ultrasonic wave element for transmitting an ultrasonic wave to an object, receiving the reflected wave, converting the ultrasonic wave into an electric signal, A signal generator for generating and outputting a burst signal for transmitting the ultrasonic wave; A receiving unit for receiving an echo signal output from the ultrasonic element unit; And a control unit for detecting a distance to the object based on the echo signal received from the receiving unit and controlling the signal generating unit so that the number of pulses of the burst signal varies according to the distance to the detected object, Wherein the control unit compares a first actual ringing time and a maximum ringing time of a signal obtained by digitizing the burst signal and the echo signal while varying the number of pulses of the burst signal, And comparing the second actual ringing time and the maximum ringing time of the signal obtained by digitizing the burst signal and the echo signal in which the number of pulses is reduced and the number of pulses of the burst signal is decreased when the ringing time is exceeded, 2 Ultrasonic to judge the abnormality of the ultrasonic sensor when the actual ringing time exceeds the maximum ringing time A sensor control device may be provided.

The signal generator includes a burst generator for outputting a burst signal whose pulse number is variable according to a control signal of the controller, and a transformer for boosting the burst signal output from the burst generator and delivering the burst signal to the ultrasonic element can do.

The control unit may control the signal generator to increase the number of pulses of the burst signal as the distance from the detected object increases, and decrease the number of pulses of the burst signal as the distance from the detected object decreases The signal generator can be controlled.

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According to another aspect of the present invention, there is provided an ultrasonic imaging apparatus including an ultrasonic element for transmitting an ultrasonic wave to an object, receiving the reflected wave, converting the ultrasonic wave into an electric signal, and outputting the burst signal to the ultrasonic element And outputting a burst signal of the number of reference pulses, receiving the echo signal, and outputting the echo signal to the object, based on the echo signal, And outputs a burst signal in which the number of pulses is increased if the distance from the detected object is longer and outputs a burst signal in which the number of pulses is decreased if the distance from the detected object is shorter, While varying the number of pulses of the burst signal and the echo signal Comparing a first actual ringing time of the signal with a maximum ringing time and decreasing the number of pulses of the burst signal when the first actual ringing time exceeds the maximum ringing time as a result of the comparison, The second ringing time of the burst signal having the reduced number of pulses and the signal obtained by digitizing the echo signal is compared with the maximum ringing time, and when the second actual ringing time exceeds the maximum ringing time as a result of the comparison, A control method of the ultrasonic sensor control apparatus can be provided.

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According to the embodiment of the present invention, by changing the number of pulses of the burst waveform signal according to the distance to the object, the maximum measurement distance and the minimum measurement distance of the ultrasonic sensor can be varied to change the detection area.

According to the embodiment of the present invention, when an object is not detected when the maximum measurement distance of the ultrasonic sensor is varied, by reducing the number of pulses of the burst waveform signal, it is possible to prevent the sensor abnormality due to superposition of the burst waveform signal and the echo signal It can enhance the sensor diagnosis function.

FIG. 1 is a view for explaining an object around a vehicle in a vehicle equipped with an ultrasonic sensor operated by an ultrasonic sensor controller according to an embodiment of the present invention. Referring to FIG.
2 is an exploded perspective view of an ultrasonic sensor operated by an ultrasonic sensor control apparatus according to an embodiment of the present invention.
3 is a partially cutaway perspective view of an ultrasonic sensor operated by an ultrasonic sensor control apparatus according to an embodiment of the present invention.
4 is a view for explaining that an ultrasonic sensor control apparatus according to an embodiment of the present invention transmits and receives ultrasonic signals for object detection.
5 is a schematic control block diagram of an ultrasonic sensor control apparatus according to an embodiment of the present invention.
6 is a diagram for explaining a configuration of a signal generating unit of an ultrasonic sensor control apparatus according to an embodiment of the present invention.
FIGS. 7 and 8 are diagrams for explaining how to change the number of pulses of the burst signal in the burst generating unit of the signal generating unit of the ultrasonic sensor control apparatus according to the embodiment of the present invention.
9 is a view for explaining ultrasonic waves transmitted through the ultrasonic element unit when the burst generating unit of the ultrasonic sensor control apparatus according to the embodiment of the present invention outputs a burst signal having the first number of pulses.
10 is a view for explaining ultrasonic waves transmitted through the ultrasonic element unit when the burst generating unit of the ultrasonic sensor control apparatus according to the embodiment of the present invention outputs a burst signal having the second number of pulses.
FIG. 11 is a view for explaining an echo signal received through the ultrasonic element unit when the burst generating unit of the ultrasonic sensor control apparatus according to the embodiment of the present invention outputs a burst signal having the first number of pulses.
12 is a view for explaining an echo signal received through an ultrasonic wave unit when a burst generating unit of the ultrasonic sensor control apparatus according to an embodiment of the present invention outputs a burst signal having a second number of pulses.
FIG. 13 is a graph illustrating a signal received through a receiver of an ultrasonic sensor control apparatus according to an embodiment of the present invention. Referring to FIG.
FIG. 14 is a graph for explaining a case where an object is located in a short distance after a burst generating unit of the ultrasonic sensor control apparatus according to an embodiment of the present invention outputs a burst signal with a reduced number of pulses.
15 is a graph for explaining a case where a burst generating unit of an ultrasonic sensor control apparatus according to an embodiment of the present invention outputs a burst signal with a reduced number of pulses and there is no object at a short distance.
16 is a control flowchart of a method of controlling an ultrasonic sensor according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The embodiments described below are provided by way of example so that those skilled in the art will be able to fully understand the spirit of the present invention. The present invention is not limited to the embodiments described below, but may be embodied in other forms. In order to clearly explain the present invention, parts not related to the description are omitted from the drawings, and the width, length, thickness, etc. of the components may be exaggerated for convenience. Like reference numerals designate like elements throughout the specification.

1 is a view for explaining an object around a vehicle in a vehicle equipped with an ultrasonic sensor operated by an ultrasonic sensor control apparatus according to an embodiment of the present invention. FIG. 3 is a partially cutaway perspective view of an ultrasonic sensor operated by an ultrasonic sensor control apparatus according to an embodiment of the present invention. FIG. 3 is an exploded perspective view of an ultrasonic sensor operated by an ultrasonic sensor control apparatus according to an embodiment of the present invention.

1 to 3, the ultrasonic sensor 10 is provided in at least one of the front, rear, and side of the vehicle. For example, the ultrasonic sensor 10 may be disposed on the rear bumper of the vehicle so as to be able to detect an object located behind the vehicle.

The ultrasonic sensor 10 forms a dotted detection area DZ. The ultrasonic sensor 10 transmits an ultrasonic signal, receives an ultrasonic wave reflected by the object and returns, and determines the presence or absence of an object in the detection area and measures the distance to the object.

The ultrasonic sensor 10 includes a housing 20, a substrate unit 30 provided inside the housing 20, an ultrasonic wave element unit 40 provided to be electrically connected to the substrate unit 30, And an inner cover 50 for fixing the housing 40 to the housing 20.

A connector connection portion 21 is provided at one side of the housing 20 so as to be connected to an external connector and a component receiving portion 25 for accommodating the substrate portion 30 and the ultrasonic element portion 40 is provided at the other side . The connector connection portion 21 may include a bar-shaped terminal inlet so that an external connector can be inserted. A plurality of connector connecting pins 22 may be provided in the terminal inlet.

The component receiving portion 23 includes a rectangular internal space so that the substrate portion 30 and the ultrasonic element portion 40 can be installed therein. An element coupling hole 24 is provided on the bottom surface of the component accommodating portion 23 so that the ultrasonic element portion 40 is provided on the bottom surface of the component accommodating portion 23. A stepped portion 25 protruding from the bottom surface of the component accommodating portion 23 A substrate portion 30 is provided. A plurality of connection terminal pins 26 are provided on the step 25 of the component accommodating portion 23 so as to be electrically connected to the connector connection pin 22 of the connector connection portion 21.

The substrate portion 30 electrically connects the connection terminal pin 26 and the element terminal pin 42 of the ultrasonic element portion 40. The substrate unit 30 may include a microcontroller unit (MCU) so as to perform overall control of the ultrasonic sensor 10.

The ultrasonic element unit 40 may include an element body 41 including a transducer provided as a piezoelectric element and an element terminal pin 42 extending from the element body 41. The ultrasonic element unit 40 includes a cap 43 provided on the upper part of the element body 41 and a supporter 44 protruding from one side of the cap 43. The cap 43 is fixed on the upper side of the element body 41 surrounding the transducer. The supporter 44 is provided at one side of the cap 43 to protrude from the main body and supports the element terminal pin 45 extended from the cap 43. The ultrasonic element portion 40 may include a ring guide 46 that allows the element body 41 to be sealed when the element body 41 is assembled to the element coupling hole 24 of the housing 20. [

The inner cover 50 is provided at an upper portion of the ultrasonic wave element unit 40 to prevent the ultrasonic wave element unit 40 provided in the housing 20 from swinging and departing from the position.

The ultrasonic sensor controller for operating the ultrasonic sensor 10 having the above-described configuration transmits an ultrasonic signal having a frequency of a certain frequency band through the ultrasonic sensor 10, and receives the ultrasonic wave reflected by the object do. The ultrasonic sensor control device measures the time from when the ultrasonic wave is transmitted to when the ultrasonic wave is reflected by the object and returns as a reflected wave, thereby detecting the distance to the object.

4 is a view for explaining that an ultrasonic sensor control apparatus according to an embodiment of the present invention transmits and receives ultrasonic signals for object detection.

4, the ultrasonic sensor 10 transmits an ultrasonic wave Wa at a frequency of a predetermined frequency through an ultrasonic wave element unit 40 provided in the housing 20 and receives a reflected wave Wb by an object And detects an object. Assuming that the time difference between the transmission wave Wa and the reception wave Wb is T [sec], the inter-vehicle distance is L [m], and the sound velocity is C [m / sec] Can be expressed as the following equation [1].

Da = (T / 2) xC Equation [1]

In this way, the distance between the ultrasonic sensor 10 and the object is detected by measuring the time from the transmission of the ultrasonic signal to the return of the ultrasonic sensor 10 to the object . For example, when the object is close to the ultrasonic sensor 10, the time that the ultrasonic signal returns to the reflected wave is shortened, and when the object is far away, the time that the ultrasonic signal returns to the reflected wave becomes long. can do.

FIG. 5 is a schematic control block diagram of an ultrasonic sensor control apparatus according to an embodiment of the present invention, and FIG. 6 is a diagram illustrating a configuration of a signal generator of the ultrasonic sensor control apparatus according to an embodiment of the present invention.

5 and 6, the ultrasonic sensor control apparatus may include an ultrasonic wave element unit 40, a control unit 60, a signal generation unit 70, and a reception unit 80.

The controller 60 performs overall control of the ultrasonic sensor 10. The controller 60 may be a micro controller unit (MCU). The control unit 60 may include, for example, a memory in which data and programs necessary for signal processing are stored, and an internal timer that is a reference of time lapse.

The signal generating unit 70 may include a burst generating unit 71 and a transformer unit 72.

The burst generating unit 71 outputs a burst signal having a predetermined number of pulses in accordance with the control signal of the controller 60. [

The burst generating unit 71 outputs a burst signal whose pulse number is variable according to the control signal of the control unit 60. [

The transformer unit 72 boosts the burst signal output from the burst generating unit 71 and outputs a signal having a predetermined voltage and amplitude.

The ultrasonic element unit 40 is driven by a signal provided from the transformer unit 72 to transmit ultrasonic waves. The ultrasonic element section 40 includes a transducer which is a piezoelectric element. This transducer has a natural vibration corresponding to the shape and dimensions. Therefore, when the frequency of the applied voltage is matched with this natural vibration, resonance is produced. When the piezoelectric element is vibrated at the resonance frequency, a large vibration width can be obtained. The ultrasonic element unit 40 transmits the ultrasonic wave by oscillating at a resonance frequency inherent to the signal supplied from the transformer unit 72 by the transducer.

In addition, the ultrasonic wave element unit 40 vibrates the transmitted ultrasonic wave by a sound wave reflected by the object, and converts the vibration into an electric signal (echo signal) and outputs it.

The receiving unit 80 receives and amplifies an echo signal output from the ultrasonic element unit 40. [ The receiving unit 80 may include an amplifying circuit such as an operational amplifier. The receiving unit 80 amplifies the echo signal and outputs it to the control unit 60. At this time, the receiving unit 80 may receive the burst signal output from the burst generating unit 71 of the signal generating unit 70, and may transmit the burst signal to the control unit 60 together with the echo signal.

The control unit 60 detects the distance to the object based on the echo signal received from the receiving unit 80 and varies the number of pulses of the burst signal output from the burst generating unit 71 according to the detected distance.

Hereinafter, the operation of the ultrasonic sensor control apparatus having the above-described configuration will be described.

The control unit 60 outputs a control signal to the burst generating unit 71 of the signal generating unit 70. The burst generating unit 71 outputs a burst signal of a predetermined number of pulses in accordance with the control signal. The burst signal is transmitted to the ultrasonic element unit 40 via the transformer unit 72. With this burst signal, the ultrasonic element unit 40 transmits ultrasonic waves having a frequency component determined by the electrical and mechanical design of the transducer. Ultrasonic waves transmitted from the ultrasonic element unit 40 reach an object existing in the sensing area. The ultrasonic waves reaching the object are reflected by the surface of the object and return to the ultrasonic wave element part 40 to vibrate the ultrasonic wave element part 40. The vibration of the ultrasonic element unit 40 is converted into an electric signal and input to the receiving unit 80 as an echo signal. The receiving unit 80 amplifies the input echo signal and transmits the amplified echo signal to the controller 60. The control unit 60 receives the echo signal amplified by the receiving unit 80 and detects the distance to the object. The distance to the object can be calculated from the point of time when the echo signal is received from the point of time when the ultrasonic wave is transmitted. The control unit 60 varies the number of pulses of the burst signal to be output in the next cycle according to the distance to the object. That is, the control unit 60 outputs a burst signal having the number of pulses corresponding to the distance to the detected object. The control unit 60 controls the burst signal having a relatively small number of pulses to be output as the distance from the object is relatively short (see FIG. 7), and the burst signal having a relatively large number of pulses is output (See FIG. 8).

9 is a view for explaining ultrasonic waves transmitted through the ultrasonic element unit when the burst generating unit of the ultrasonic sensor control apparatus according to the embodiment of the present invention outputs a burst signal having the first number of pulses, FIG. 5 is a view for explaining ultrasonic waves transmitted through an ultrasonic wave unit when a burst generating unit of the ultrasonic sensor control apparatus according to an embodiment of the present invention outputs a burst signal having a second number of pulses. FIG.

9, when the burst generating unit 71 outputs a burst signal having a first number of pulses (for example, eight pulses), the ultrasonic element unit 40 is relatively small Since the ultrasonic wave of the sound pressure is outputted, it is possible to reliably detect an object located in a relatively close position, thereby reducing the minimum measuring distance. In other words, even near objects can be detected.

10, when the burst generating section 71 outputs a burst signal having a second number of pulses (for example, 32 pulses), the ultrasonic element section 40 is relatively large Since the ultrasonic waves of the negative pressure are outputted, the maximum distance of the ultrasonic sensor 10 can be increased. In other words, it is possible to detect objects even farther away.

The sound pressure intensity of the ultrasonic waves is proportional to the square box area. Therefore, as the number of ultrasonic waves increases, the square box area also increases, so that the sound pressure intensity of the ultrasonic waves also increases. 10, the ultrasonic sound pressure intensity when the pulse number of the burst signal is adjusted to 32 is larger than the ultrasonic sound pressure intensity when the pulse number of the burst signal is adjusted to 8 as shown in FIG. 9 .

FIG. 11 is a view for explaining an echo signal received through the ultrasonic element unit when the burst generating unit of the ultrasonic sensor control apparatus according to the embodiment of the present invention outputs a burst signal having the first number of pulses. FIG. FIG. 5 is a diagram for explaining an echo signal received through the ultrasonic element unit when the burst generation unit of the ultrasonic sensor control apparatus according to the embodiment of the present invention outputs a burst signal having the second number of pulses. FIG.

11 and 12, when a burst signal having a first number of pulses (for example, eight pulses) is output, a digital signal corresponding to an echo signal received by the ultrasonic element unit 40 (ADC count value) of the signal is 102, but when the burst signal having the second number of pulses (for example, 32 pulses) is output, the ADC count value of the echo signal is significantly increased to 255 .

FIG. 13 is a graph illustrating a signal received through a receiver of an ultrasonic sensor control apparatus according to an embodiment of the present invention. Referring to FIG.

Referring to FIG. 13, a signal obtained by digitizing the burst signal and the echo signal input from the receiving unit 80 to the control unit 60 according to time flows.

When the burst signal is output, the digitized signal corresponding to the output burst signal appears first, followed by the digitized signal corresponding to the echo signal as the echo signal is received.

The ringing time is a time until a digitized signal (ADC count value) corresponding to the burst signal reaches a reference value lowered by a predetermined value from a maximum value. For example, the reference value may be a value corresponding to 10% of the maximum value.

The control unit 60 determines the actual ringing time from the digitized signal, compares the determined actual ringing time with a preset maximum ringing time, and if the determined actual ringing time exceeds the maximum ringing time, Or more. At this time, the maximum ringing time may be a value corresponding to the number of pulses, the voltage, or the period of the burst signal.

However, there is a fear that the ringing time is erroneously judged to be long due to overlapping of the burst signal and the echo signal, as in the case where the burst signal with the increased number of pulses is output or the object is located close to the object. In this case, even if the sensor is not abnormal, it can be mistakenly determined that the sensor is abnormal.

If the actual ringing time exceeds the maximum ringing time, the control unit 60 determines that the actual ringing time does not exceed the maximum ringing time but outputs the burst signal with the reduced number of pulses. If the actual ringing time exceeds the maximum ringing time after the determination, it is determined that the sensor is abnormal.

FIG. 14 is a graph for explaining a case where an object is located at a short distance after a burst generation unit of the ultrasonic sensor control apparatus according to an embodiment of the present invention outputs a burst signal with a reduced number of pulses. FIG. 8 is a graph for explaining a case where a burst generating unit of an ultrasonic sensor control apparatus according to an embodiment does not have an object at a short distance after outputting a burst signal with a reduced number of pulses.

14 and 15, when the actual ringing time exceeds the maximum ringing time, after analyzing the digitized signal of the received burst signal and the echo signal after outputting the burst signal with the reduced number of pulses, the actual ringing time It can be seen that the maximum ringing time is not exceeded. In this case, since the echo signal is superimposed on the burst signal, it can be seen that the actual ringing time exceeds the maximum ringing time. Therefore, by separating the burst signal and the echo signal by outputting the burst signal with the reduced number of pulses, it can be judged that it is not the sensor abnormality.

16 is a control flowchart of a method of controlling an ultrasonic sensor according to an embodiment of the present invention.

Referring to FIG. 16, the control unit 60 outputs a burst signal of the number of reference pulses through the burst generating unit 71 of the signal generating unit 70 (100). The ultrasonic element unit 40 transmits the ultrasonic wave corresponding thereto by the burst signal of the number of reference pulses.

Thereafter, the control unit 60 receives the burst signal of the number of reference pulses output through the burst generating unit 71 and the echo signal that is transmitted from the ultrasonic element unit 40 and returned to the object and converted into an electric signal (102).

The control unit 60 analyzes the signal obtained by digitizing the received burst signal and the echo signal to determine the actual ringing time (104). The controller 60 compares the determined actual ringing time with the maximum ringing time, and determines whether the determined actual ringing time exceeds a maximum ringing time (106).

If the actual ringing time determined as a result of the operation mode 106 exceeds the maximum ringing time, it is determined whether the actual ringing time is less than the predetermined number of times (108).

If it is determined that the number of pulses is less than the predetermined number of times, the control unit 60 outputs a burst signal with a reduced number of pulses through the burst generating unit 71 (110). Then, the control unit 60 performs the operation mode of the operation mode 102 or less.

On the other hand, if it is determined that the operation mode is not less than the predetermined number of times, the controller 60 determines that the sensor of the ultrasonic sensor 10 is abnormal (112). Then, it returns to a preset routine.

On the other hand, if the actual ringing time determined as a result of the determination in the operation mode 106 does not exceed the maximum ringing time, the controller 60 calculates the distance to the object (114). After calculating the distance to the object, the number of pulses of the burst signal corresponding to the distance to the object is controlled (116).

10: ultrasonic sensor 40: ultrasonic element part
60: control unit 70:
71: burst generating unit 72: transformer unit
80: Receiver

Claims (8)

An ultrasound system, comprising: an ultrasonic wave element which transmits an ultrasonic wave to an object, receives the reflected wave, converts the reflected wave into an electric signal, and outputs the converted echo signal;
A signal generator for generating and outputting a burst signal for transmitting the ultrasonic wave;
A receiving unit for receiving an echo signal output from the ultrasonic element unit; And
And a controller for detecting the distance to the object based on the echo signal received from the receiver and controlling the signal generator so that the number of pulses of the burst signal varies according to the distance to the detected object,
Wherein the control unit compares a first actual ringing time and a maximum ringing time of a signal obtained by digitizing the burst signal and the echo signal while varying the number of pulses of the burst signal, And comparing the second actual ringing time and the maximum ringing time of the signal obtained by digitizing the burst signal and the echo signal in which the number of pulses is reduced and the number of pulses of the burst signal is decreased when the ringing time is exceeded, 2 < / RTI > when the actual ringing time exceeds the maximum ringing time, it is determined that the ultrasonic sensor is abnormal. The method according to claim 1,
Wherein the signal generator includes a burst generator for outputting a burst signal whose pulse number is variable according to the control signal of the controller, and a transformer for boosting the burst signal output from the burst generator to transmit the burst signal to the ultrasonic element, Sensor control device. The method according to claim 1,
Wherein the controller controls the signal generator to increase the number of pulses of the burst signal as the distance from the detected object increases, and adjusts the number of pulses of the burst signal so that the closer the distance to the detected object is, And an ultrasonic sensor controller for controlling the generating unit. delete delete An ultrasonic wave element unit for transmitting an ultrasonic wave to an object and converting the ultrasonic wave to an echo signal as an electric signal for receiving the reflected wave and generating a burst signal for transmitting the ultrasonic wave to output the burst signal to the ultrasonic wave element unit, A control method of an ultrasonic sensor control apparatus for receiving the echo signal,
Outputs a burst signal of the number of reference pulses,
Receiving the echo signal,
Detects a distance to the object based on the echo signal,
And outputs a burst signal in which the number of pulses is increased if the distance from the detected object is long and outputs a burst signal in which the number of pulses is decreased if the distance from the detected object is short,
Comparing a first actual ringing time and a maximum ringing time of a signal obtained by digitizing the burst signal and the echo signal while varying the number of pulses of the burst signal,
If the first actual ringing time exceeds the maximum ringing time, the number of pulses of the burst signal is reduced and output,
Comparing the second actual ringing time and the maximum ringing time of the burst signal in which the number of pulses is reduced and the signal obtained by digitizing the echo signal,
And if the second actual ringing time exceeds the maximum ringing time as a result of the comparison, it is determined that the second ringing time is abnormal with respect to the ultrasonic sensor. delete delete
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Cited By (5)

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KR101790888B1 (en) * 2016-08-09 2017-10-26 서울대학교산학협력단 Distance Measuring Method Using Ultrasonic Wave And Apparatus Using The Same
KR101816265B1 (en) * 2016-09-12 2018-01-08 현대오트론 주식회사 Apparatus for driving ultrasonic sensor and system driving ultrasonic sensor including the same and method for driving ultrasonic sensor
KR20190046496A (en) * 2017-10-26 2019-05-07 현대오트론 주식회사 Ultrasonic sensor and control method thereof
KR20190049239A (en) * 2017-11-01 2019-05-09 엘지전자 주식회사 Ultrasonic sensor and robot cleaner comprising the same
US11609575B2 (en) 2019-11-20 2023-03-21 Samsung Electronics Co., Ltd. Mobile robot device and method for controlling mobile robot device

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