WO2011048649A1 - 空中超音波センサ - Google Patents
空中超音波センサ Download PDFInfo
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- WO2011048649A1 WO2011048649A1 PCT/JP2009/067986 JP2009067986W WO2011048649A1 WO 2011048649 A1 WO2011048649 A1 WO 2011048649A1 JP 2009067986 W JP2009067986 W JP 2009067986W WO 2011048649 A1 WO2011048649 A1 WO 2011048649A1
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- sensor body
- housing
- sensor
- ultrasonic sensor
- wave
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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
- 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
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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
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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
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
- G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
Definitions
- the present invention relates to an aerial ultrasonic sensor that obtains a distance to a reflection source or a transmitted sound speed of the surroundings by radiating ultrasonic waves in the air and receiving a reflected wave from a reflection source (object) existing in the surroundings.
- the present invention relates to a technique for reducing unnecessary waves that propagate through a housing to which a sensor body is attached and reach the sensor body.
- an airborne ultrasonic sensor is a device that transmits an ultrasonic wave in the air and receives an ultrasonic wave reflected by an object, and is applied to various fields such as in-vehicle use.
- a vehicle-mounted obstacle detection device including an aerial ultrasonic sensor has been proposed as a conventional device (see, for example, Patent Document 1).
- Patent Document 2 an apparatus in which a groove is formed in the bumper has been proposed (see, for example, Patent Document 2).
- the obstacle detection device described in Patent Document 2 has a configuration in which a signal due to unnecessary vibration is not transmitted or received by providing a groove or a protrusion around the sensor disposed on the back surface of the bumper.
- Patent Document 2 an unnecessary wave that is generated when a reflected wave from the reflection source is incident on the bumper is not assumed. A situation where the sensor propagates through the bumper and is received by the sensor is also conceivable.
- FIG. 7 is a plan view showing a conventional aerial ultrasonic sensor.
- the sensor body 1 is attached to the back surface of a housing 20 (a bumper in the case of an in-vehicle aerial ultrasonic sensor).
- An electrical signal transmission / reception device 10 is connected to the sensor body 1, and the sensor body 1 is excited by an excitation signal input from the transmission / reception device 10 to transmit an ultrasonic wave.
- the ultrasonic wave transmitted from the sensor main body 1 propagates through the housing 20 from the radiation surface 20a to the outside.
- the ultrasonic wave propagated to the outside through the casing 20 is reflected by the reflection source 3 (peripheral object), and a part of the reflected wave (necessary wave) is received by the sensor body 1 via the path R1 and the casing 20. , Converted into an electrical signal.
- the reflected wave from the reflection source 3 propagates not only in the direction of the sensor body 1 but also in a wide range, naturally, it propagates in a direction different from the sensor body 1, and as shown by the path R2, There is also a reflected wave (unnecessary wave) that vibrates the housing 20.
- the vibration see broken-line wave arrow
- the housing 20 vibrates, the vibration (see broken-line wave arrow) propagates through the housing 20 and reaches the sensor body 1.
- the path R1 (directly propagated in the direction of the sensor body 1) and the path R2 (vibration of the casing 20) There are two paths, which are propagated through the housing 20 and received).
- the propagation path difference is “natural number times the wavelength”
- the received signals via the two propagation paths strengthen each other.
- “+ half wavelength” the received signals via the two propagation paths weaken each other.
- the propagation path difference is one wavelength
- the two received signals interfere so as to strengthen each other, so the amplitude of the combined wave increases.
- the propagation path difference is a half wavelength
- the two received signals interfere so as to weaken each other, the amplitude of the combined wave becomes small.
- the size of the reflection source 4 is applied when applied to a system that estimates the size of the reflection source 3 according to the amplitude of the combined wave. May be overestimated.
- the propagation path difference is a half wavelength and the amplitude of the combined wave is small, it may be difficult to detect the reflection source 3 as a result. Further, even if the two received signals do not interfere with each other, the vibration duration time of the combined wave becomes long, so that there is a possibility that the resolution of the airborne ultrasonic sensor is deteriorated.
- the present invention has been made in order to solve the above-described problems.
- an aerial ultrasonic sensor in which a sensor body and a housing have an integrated structure, it is unnecessary to propagate through the housing and reach the sensor body.
- An object is to obtain an aerial ultrasonic sensor capable of reducing waves.
- An aerial ultrasonic sensor radiates an ultrasonic wave into the air, receives a reflected wave from a reflection source existing in the air, drives the sensor main body, and reflects the reflection source based on the reflected wave.
- unnecessary waves reaching the sensor main body can be suppressed by reflecting unnecessary waves by a specific part, so that a stable received signal can be obtained.
- Example 1 It is a top view which shows the air ultrasonic sensor which concerns on Example 1 of this invention.
- Example 1 It is a front view of the aerial ultrasonic sensor of FIG. Example 1 It is a side view which shows the reception state of the air ultrasonic sensor of FIG. 1 in case a reflection source is perpendicular
- Example 1 It is a side view which shows the reception state of the air ultrasonic sensor of FIG. 1 in case a reflection source inclines.
- Example 1 It is a front view which shows the other example of the air ultrasonic sensor of FIG. Example 1 It is explanatory drawing which shows the arrangement period of the groove part in FIG. Example 1 It is a top view which shows the conventional air ultrasonic sensor.
- FIGS. 1 is a plan view showing an aerial ultrasonic sensor according to Embodiment 1 of the present invention
- FIG. 2 is a front view of the aerial ultrasonic sensor shown in FIG.
- FIGS. 3 and 4 are side views showing the reception state of the aerial ultrasonic sensor of FIG. 1, and show cases where the path R1 and the path R2 of the reflected wave from the reflection source 3 are different.
- the illustration of the groove 4 is omitted for the sake of simplicity in order to avoid complexity.
- FIG. 5 is another front view of the aerial ultrasonic sensor of FIG. 1
- FIG. 6 is an explanatory diagram specifically showing the arrangement period of the grooves 4 in FIG.
- the sensor main body 1 is excited by an electrical signal from the transmission / reception device 10 to emit ultrasonic waves, and emits ultrasonic waves from the radiation surface 2 a of the housing 2.
- the reflected wave reflected by the reflection source 3 is incident on the housing 2 via the paths R1 and R2, and the signal received by the sensor main body 1 is processed by the transmission / reception device 10 to be a relative distance to the reflection source 3. And the transmitted sound speed and the like are calculated.
- the housing 2 to which the sensor main body 1 is attached is provided with a plurality of grooves 4 at equal intervals so as to cover both side surfaces of the sensor main body 1.
- each groove 4 is provided obliquely with respect to the extending direction of the housing 2, and is provided only in the left-right direction of the sensor body 1. There is no direction.
- the groove 4 receives a transmission wave propagating from the sensor body 1 in the side surface direction during transmission of ultrasonic waves. It reflects in the direction (direction of the sensor main body 1).
- the sensor main body 1 receives the reflected wave from the groove 4, so that the reception signal immediately after exciting the sensor main body 1 continues for a long time.
- a reception signal that continues immediately after exciting the sensor body 1 is called transmission tailing, and when the transmission tailing becomes long as described above, the reflection source 3 existing at a short distance is detected. Becomes difficult.
- the aerial ultrasonic sensor according to the first embodiment of the present invention assumes that the directivity in the vertical direction is different from the directivity in the horizontal direction, and has a sharp directivity in the vertical direction. It has a wide directivity.
- the reflection source 3 may be erroneously detected.
- the directivity in the vertical direction is set sharply so as not to receive the reflected wave from the unevenness of the ground.
- the reflection source 3 (electric pole, road sign, etc.) is often erected perpendicularly to the ground, and therefore has a sharp directivity by the reflection source 3 erected perpendicularly to the ground.
- the reflected wave (unnecessary wave) via the path R2 does not return in the direction of the sensor body 1, but propagates in the vertical divergence direction (see the broken-line wave arrow in FIG. 3). Therefore, even if the reflected wave (unnecessary wave) via the path R2 propagates through the housing 2, it is not received by the sensor body 1, and therefore it is not necessary to provide the groove 4 in the vertical direction of the sensor body 1. .
- the two received signals in the sensor main body 1 do not interfere with each other and are received at almost the same timing to such an extent that it is difficult to distinguish the two received signals. Therefore, it is not necessary to provide the groove portion 4 in the vertical direction. If the groove portion is also provided in the vertical direction, it may cause a long tail at the time of transmission.
- the aerial ultrasonic sensor according to the first embodiment (FIGS. 1 and 2) of the present invention emits an ultrasonic wave in the air and receives a reflected wave from the reflection source 3 existing in the air.
- the housing 2 has a groove 4 (unique part) having a different acoustic impedance from the surroundings, and the groove 4 is provided obliquely with respect to only the left-right direction of the sensor body 1.
- a plurality of grooves 4 are provided in the left-right direction of the sensor body 1.
- a plurality (three each) of the groove portions 4 are installed on the left and right sides of the sensor body 1, but the number of the groove portions 4 is arbitrary and may be three or more. If the number of unnecessary waves propagating through the body 2 can be sufficiently reduced, the number may be one.
- the inclination angle of the groove portion 4 is set to about 45 degrees, but is not limited to 45 degrees, and unnecessary waves propagating through the housing 2 can be reduced, and at the time of transmission As long as the tailing can be suppressed, it can be set to an arbitrary angle.
- the groove 4 ⁇ / b> A may be formed in a “ ⁇ ” shape on the surface of the housing 2 ⁇ / b> A.
- the reflected wave unnecessary wave
- the housing 2A returns to the direction of propagation not only in the horizontal direction but also in the vertical direction. Propagation in the vertical direction can also be suppressed.
- FIG. 2 the arrangement period when a plurality of groove portions 4 are installed has not been described.
- the arrangement conditions of the groove portions 4 will be described with reference to FIG. 6.
- the groove part 4 is installed for the purpose of reflecting the wave propagating through the housing 2, and the reflection efficiency is maximized when the reflected waves from the groove parts 4 overlap each other in the same phase.
- the propagation path difference of the reflected wave (see the broken line arrow) from adjacent groove portions 4 is “P”. Therefore, if expressed using the wavelength ⁇ of the wave propagating in the housing 2, the arrangement period P preferably satisfies the following formula (1).
- n is a natural number.
- Expression (1) for example, the adjacent reflected wave (see the broken line arrow) in FIG. 6 has the same phase, so that the reflection efficiency is maximized.
- the propagation distance difference of the reflected wave in the adjacent grooves 4 becomes n (natural number) times the wavelength ⁇ of the reflected wave. Therefore, the effect of reducing unnecessary waves is increased.
- the reflected wave has the same phase when the expression (1) is satisfied, but the conditional expression that becomes the same phase differs depending on the inclination angle of the groove 4. Needless to say.
- the groove 4 (singular part) is provided obliquely with respect to only the left-right direction of the sensor body 1, but is provided obliquely with respect to either the left-right direction or the vertical direction of the sensor body 1. May be. Furthermore, in the above description, in consideration of the ease of the manufacturing process, an example in which the groove portion 4 is provided in the housing 2 to reduce unnecessary waves has been described. However, if the wave propagating in the housing 2 can be reflected, Even if it is not the groove part 4, the same effect can be show
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
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Abstract
Description
まず、従来装置として、空中超音波センサを備えた車載用障害物検知装置が提案されている(たとえば、特許文献1参照)。
しかし、上記特許文献1によれば、バンパとセンサとが一体化されているので、バンパを伝搬する不要波をセンサで受信してしまう可能性がある。
特許文献2に記載の障害物検出装置おいては、バンパ裏面に配置されたセンサの周囲に溝部や突起部を設けることにより、不要な振動による信号を送受信しないような構成を有している。
図7は従来の空中超音波センサを示す平面図である。
センサ本体1には電気信号の送受信装置10が接続されており、センサ本体1は、送受信装置10から入力される励振信号により励振されて超音波を発信する。
筐体20を通して外部へ伝搬した超音波は、反射源3(周辺物体)で反射され、反射波の一部(必要波)は、経路R1および筐体20を介して、センサ本体1により受信され、電気信号に変換される。
筐体20が振動すると、その振動(破線波矢印参照)は、筐体20を伝搬してセンサ本体1に到達する。
すなわち、不要波を含む2つの受信信号の干渉状態を考慮すると、伝搬経路差が1波長の場合には、2つの受信信号が強め合うように干渉するので、合成波の振幅は大きくなる。一方、伝搬経路差が半波長の場合には、2つの受信信号が弱め合うように干渉するので、合成波の振幅は小さくなる。
一方、伝搬経路差が半波長であって合成波の振幅が小さくなると、結果的に反射源3を検知することが困難になる可能性がある。
また、2つの受信信号が干渉しない場合であっても、合成波の振動継続時間が長くなるので、結的に空中超音波センサの分解能を劣化させる可能性がある。
以下、図1~図6を参照しながら、この発明の実施例1に係る空中超音波センサについて説明する。
図1はこの発明の実施例1に係る空中超音波センサを示す平面図であり、図2は図1の空中超音波センサの正面図である。
なお、図3、図4においては、煩雑さを回避するために、簡略化を目的として溝部4の図示を省略している。
図5は図1の空中超音波センサの他の正面図であり、図6は図2内の溝部4の配列周期を具体的に示す説明図である。
反射源3で反射された反射波は、経路R1、R2を介して筐体2に入射され、センサ本体1で受信された信号は、送受信装置10で処理されて、反射源3までの相対距離および伝達音速などが算出される。
これにより、図1に示すように、反射源3から経路R2を介して筐体2に到達した反射波(不要波)は、複数の溝部4を通過した後に(破線波矢印参照)、センサ本体1で受信される。
このように、本来の経路R1を辿ってセンサ本体1に伝搬する必要波に合成される不要波が小さくなることから、必要波に及ぼす不要波の影響が抑制されるので、センサ本体1において安定した受信信号を得ることができる。
仮に、溝部4が、筐体2の延長方向に対して垂直に設けられた場合には、超音波の送信時において、溝部4は、センサ本体1から側面方向に伝搬してきた送信波を入射してきた方向(センサ本体1の方向)に反射することになる。
一般に、センサ本体1を励振した直後に継続する受信信号は、送信の尾引と呼ばれており、上記のように送信の尾引が長くなると、近距離に存在する反射源3を検知することが困難になる。
以上のように、溝部4を斜めに設けることにより、筐体2を延長方向に伝搬する波を反射するとともに、送信の尾引を短く抑制することができる。
この発明の実施例1に係る空中超音波センサは、上下方向の指向性と左右方向の指向性とが異なるものを想定しており、上下方向に対しては鋭い指向性を有し、左右方向に対しては広い指向性を有しているものとする。
たとえば、車載用の空中超音波センサにおいて、筐体2がバンパであると想定すると、上下方向の指向性が広い場合には、地面の凸凹からの反射波を受信するので、車両周辺に障害物が存在しない場合でも、障害物(反射源3)を誤検出してしまう。
よって、上下方向での反射源3の誤検出を回避するために、上下方向の指向性を鋭く設定して、地面の凸凹からの反射波を受信しないようにしている。
よって、経路R2を介した反射波(不要波)が筐体2中を伝搬しても、センサ本体1に受信されることはないので、センサ本体1の上下方向に溝部4を設ける必要はない。
よって、溝部4を上下方向に設ける必要はなく、仮に、上下方向にも溝部を設けると、前述の送信時での尾引を長くする原因になりかねない。
また、溝部4は、センサ本体1の左右方向において、それぞれ複数個ずつ設置されている。
図5の形状により、筐体2Aに到達した反射波(不要波)は、左右方向のみならず、上下方向に対しても、伝搬してきた方向に戻っていくので、反射波(不要波)の上下方向への伝搬も抑制することができる。
溝部4は、筐体2中を伝搬する波を反射することを目的として設置されており、各溝部4からの反射波が同位相で重なりあうような場合に、最も反射効率が大きくなる。
したがって、筐体2中を伝搬する波の波長λを用いて表せば、配列周期Pは、以下の式(1)を満たすことが望ましい。
式(1)を満たす場合に、たとえば図6内の隣接反射波(破線矢印参照)が同位相となるので、反射効率が最大となる。
なお、溝部4の傾斜角度が45度の場合には、式(1)を満たす場合に反射波が同位相となるが、溝部4の傾斜角度に応じて同位相となる条件式が異なることは言うまでもない。
さらに、上記説明では、製造工程の容易さを考慮して、筐体2に溝部4を設けて不要波を低減する例について説明したが、筐体2中を伝搬する波を反射することができれば、溝部4でなくても同様の作用効果を奏することができる。
たとえば、溝部4を形成する代わりに、凸部を設けても、筐体2中を伝搬する波を反射することができるので、同様の作用効果を奏する。
要するに、筐体2の表面上において、周囲とは音響インピーダンスが異なる特異部位を形成すれば、センサ本体1に向かう不要波を反射することができるので、前述と同様の作用効果が得られる。
Claims (6)
- 空中に超音波を放射するとともに、前記空中に存在する反射源からの反射波を受信するセンサ本体と、
前記センサ本体を駆動するとともに、前記反射波に基づいて前記反射源までの距離または伝達音速を求める送受信装置と、
前記センサ本体を一体化構造で固定する筐体とを備え、
前記筐体は、周囲とは音響インピーダンスが異なる特異部位を有し、
前記特異部位は、前記センサ本体の左右方向または上下方向のいずれか一方に対して斜めに設けられたことを特徴とする空中超音波センサ。 - 前記特異部位は、前記筐体の表面上において、くの字形状を有することを特徴とする請求項1に記載の空中超音波センサ。
- 前記特異部位は、前記センサ本体の左右方向または上下方向のいずれか一方において、それぞれ複数個ずつ設置されたことを特徴とする請求項1または請求項2に記載の空中超音波センサ。
- 前記特異部位の配列周期は、隣接する各特異部位での反射波の伝搬距離差が、前記反射波の波長の自然数倍となるように、設定されたことを特徴とする請求項3に記載の空中超音波センサ。
- 前記特異部位は、前記筐体に設けられた溝部により形成されたことを特徴とする請求項1から請求項4までのいずれか1項に記載の空中超音波センサ。
- 前記特異部位は、前記センサ本体の左右方向のみに形成されたことを特徴とする請求項1から請求項5までのいずれか1項に記載の空中超音波センサ。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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JP2011537032A JP5289579B2 (ja) | 2009-10-19 | 2009-10-19 | 空中超音波センサ |
PCT/JP2009/067986 WO2011048649A1 (ja) | 2009-10-19 | 2009-10-19 | 空中超音波センサ |
US13/498,050 US8869620B2 (en) | 2009-10-19 | 2009-10-19 | Airborne ultrasonic sensor |
CN200980162015.5A CN102576072B (zh) | 2009-10-19 | 2009-10-19 | 空中超声波传感器 |
EP09850547.2A EP2492708B1 (en) | 2009-10-19 | 2009-10-19 | Airborne ultrasonic sensor |
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PCT/JP2009/067986 WO2011048649A1 (ja) | 2009-10-19 | 2009-10-19 | 空中超音波センサ |
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US (1) | US8869620B2 (ja) |
EP (1) | EP2492708B1 (ja) |
JP (1) | JP5289579B2 (ja) |
CN (1) | CN102576072B (ja) |
WO (1) | WO2011048649A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2014527163A (ja) * | 2011-07-23 | 2014-10-09 | フオルクスヴアーゲン アクチエンゲゼルシヤフト | 自動車の組付けアッセンブリ |
WO2017141402A1 (ja) * | 2016-02-18 | 2017-08-24 | 三菱電機株式会社 | 超音波送受信装置、壁部材、および、壁部材への超音波センサの取付方法 |
Families Citing this family (4)
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WO2012077224A1 (ja) | 2010-12-10 | 2012-06-14 | 三菱電機株式会社 | 空中超音波センサ |
CN106226772B (zh) * | 2016-08-01 | 2018-12-28 | 北京小轮科技有限公司 | 一种基于超声波传感器的运动物体识别方法 |
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JPWO2017141402A1 (ja) * | 2016-02-18 | 2018-02-22 | 三菱電機株式会社 | 超音波送受信装置、壁部材、および、壁部材への超音波センサの取付方法 |
Also Published As
Publication number | Publication date |
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CN102576072B (zh) | 2014-10-08 |
JP5289579B2 (ja) | 2013-09-11 |
EP2492708A1 (en) | 2012-08-29 |
EP2492708A4 (en) | 2013-03-13 |
CN102576072A (zh) | 2012-07-11 |
US20120204647A1 (en) | 2012-08-16 |
JPWO2011048649A1 (ja) | 2013-03-07 |
EP2492708B1 (en) | 2014-08-27 |
US8869620B2 (en) | 2014-10-28 |
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