EP0733408A1 - Ultrasonic sensor and detection method using such a sensor - Google Patents
Ultrasonic sensor and detection method using such a sensor Download PDFInfo
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- EP0733408A1 EP0733408A1 EP96400620A EP96400620A EP0733408A1 EP 0733408 A1 EP0733408 A1 EP 0733408A1 EP 96400620 A EP96400620 A EP 96400620A EP 96400620 A EP96400620 A EP 96400620A EP 0733408 A1 EP0733408 A1 EP 0733408A1
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- transducers
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- 238000001514 detection method Methods 0.000 title description 2
- 238000000034 method Methods 0.000 claims description 13
- 238000010304 firing Methods 0.000 claims description 7
- 230000001902 propagating effect Effects 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 description 6
- 230000010363 phase shift Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000135 prohibitive effect Effects 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
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- 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
- B06B1/06—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction
- B06B1/0607—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction using multiple elements
- B06B1/0622—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction using multiple elements on one surface
Definitions
- the present invention relates to an ultrasonic sensor for a system for detecting and / or recognizing objects in the air, in particular for a system for guiding a mobile robot, and to detection methods using such a sensor.
- sensors constituted by arrays of transducers.
- a directional acoustic wave is generated by interference, the echo of which indicates a possible obstacle encountered by this wave in its firing direction.
- Liquid media lend themselves particularly well to the implementation of this technique, because the ultrasonic waves propagate there easily and quickly.
- the present invention aims to provide a new sensor which in particular solves the problems mentioned above.
- the subject of the present invention is an ultrasonic sensor for a system for detecting and / or recognizing objects in the air, in particular for a system for guiding a mobile robot, comprising a plurality of transducers designed to operate at the same together of given frequencies, arranged at the nodes of a regular network, characterized in that the transducers are circular, and that the distance which separates the centers of two adjacent transducers from the network is at most of the order of the wavelength in the air waves emitted by the transducers.
- the term “set of frequencies” means a single frequency, a superposition of random frequencies forming a noise, or a superposition of fixed frequencies.
- the sensor according to the invention is suitable, by virtue of its structure, for providing an ultrasonic wave with variable directivity.
- the directivity of the shot is obtained by interference, by superposition of waves emitted simultaneously by a variable number of transducers, it being understood that the number and the position of the excited transducers determine the directivity of the resulting emitted wave.
- the direction of fire can be adjusted, in the known manner, by creating a phase shift between the transducers of the sensor.
- the network can be planar, spherical, or arranged on a sheet of any other shape.
- an advantage resulting from such a sensor lies in the fact that it is easy and economical to manufacture.
- a sensor arranged on a spherical cap could have the advantage of being more suitable for the emission of directional acoustic waves.
- the choice of a particular form of sheet on which the transducers of the sensor according to the invention are arranged can be made, depending on the type of acoustic wave that it is desired to generate from the sensor.
- the regular network at the nodes of which the transducers are placed is a square mesh network.
- the network is a triangular mesh network.
- the sensor according to the invention can cover an observation field with a fairly low number of transducers.
- the dimensions of the sensor matrix can be increased by adding a limited number of transducers.
- the senor is constituted by a plurality of alignments of transducers, alignments whose axes intersect at the center of a common central transducer.
- the transducers can be arranged crosswise in the case of a square mesh network, or along a six-pointed star in the case of a triangular mesh network, the nodes of the network located outside the branches not having a transducer.
- the large dimension of the matrix decisive for fixing the directivity of the sensor, is then equal to the length of the alignments.
- the wave energy is reduced secondary emitted in directions different from the direction of fire, within propagation volumes called secondary lobes.
- the transducers making up the sensor can be of the type capable of both transmitting and receiving an acoustic wave.
- the present invention also relates to a method for detecting and / or recognizing objects in the air, in particular for guiding a mobile robot, using a sensor as described above.
- This process is characterized by the fact that a priori the shape of an object to be recognized is determined, which is emitted from the sensor an ultrasonic wave which propagates inside a volume having common geometrical characteristics with said a priori determined shape, which one collects the echo of the ultrasonic wave emitted, and which one analyzes the energy of this echo to determine if the geometric characteristics determined a priori have been encountered in the object to be recognized.
- This method has the advantage of providing high level information on each emission of an ultrasonic wave, which is advantageous given the low speed of movement of sound in air.
- the method according to the invention nevertheless allows to quickly obtain information on an object to recognize, minimizing the number of shots to be made.
- the robot when navigating a mobile robot in an establishment, we know a priori that the robot will have to recognize walls, doors, angles and some specific obstacles. To enable the robot to recognize these objects, it is fitted with a sensor as defined above and an electronic device for controlling the sensor is programmed so that the latter emits waves which propagate to the 'interior of specific volumes which coincide with particular forms of the objects to be recognized.
- the senor emits waves which propagate substantially in a vertical plane and scans the field of observations in a horizontal direction. As long as the ultrasonic wave bounces off the wall, the energy of the echo is important. However, as soon as the wave enters the frame of the open door, the energy of the echo drops suddenly.
- a determined number of contiguous transducers is excited with the same alignment of transducers of the sensor, the axis of this alignment extending substantially perpendicular to said firing plane.
- the transducers of the sensor which emitted this ultrasonic wave.
- the transducers are located at the nodes of a planar triangular mesh network.
- the distance which separates the centers of two contiguous transducers 1 is at most equal to approximately the wavelength in the air of the ultrasonic wave emitted.
- the transducers are designed to operate at a frequency of approximately 40 KHz, which corresponds to a wavelength in air of approximately 8.5 mm.
- the transducers are contiguous.
- the sensor of FIG. 1 has a directivity corresponding to an opening angle of approximately 20 ° on average, owing to the fact that its overall diameter D 1 is approximately equal to three times that of a transducer.
- the sensor of Figure 2 has an increased directivity, an average opening angle of about 8 °, because its overall diameter D 2 is about 7 cm.
- FIG. 3 shows a sensor whose directivity is substantially the same as that of FIG. 2, owing to the fact that its overall diameter D 3 is equal to that D 2 of the sensor of FIG. 2, but which has the advantage of having a much smaller number of transducers.
- the sensor in Figure 2 has 37 transducers, while the sensor in Figure 3 has only 19.
- the transducers are aligned on three axes X 1 , X 2 , X 3 forming two by two an angle of 60 ° and intersecting the center of the sensor with a transducer.
- This star arrangement also gives the sensor an ability to emit acoustic waves with weak side lobes, compared to those that would be obtained with a square mesh network.
- the directivity of the signal emitted by several aligned sensors is substantially the Fourrier transform of the number of sensors.
- the Fourrier transform therefore provides an enlarged main lobe and flattened secondary lobes.
- the transducer of FIG. 3 can be supplied so as to emit an ultrasonic wave from three contiguous transducers located on the same axis X 1 , identified by hatching in FIG. 4.
- an ultrasonic wave propagating inside a thin volume is emitted, as visible in FIGS. 5 and 6 which represent the acoustic energy of the waves emitted as a function of the angle of emission.
- the directivity is substantially equal to the directivity of a single transducer, which results in an extended envelope of the energy of the ultrasonic wave as a function of the angle of emission, the angle d 'average opening of the wave being approximately equal to 100 °.
- the interference between the ultrasonic waves emitted by the three transducers results in a resulting wave whose directivity is finer.
- the resulting wave comprises a main lobe and secondary lobes of smaller extent, which gives an average opening angle of approximately 20 °.
- phase shifts between the three excited transducers of the sensor it is possible to modify the orientation of the plane 6 so as to scan a field of observation along the axis X 1 , as indicated on the double arrow in FIG. 5.
- the resulting wave has, in a plane perpendicular to the axis of alignment of the transducers concerned, an unchanged directivity substantially identical to that shown in figure 6.
- the envelope of the energy of the ultrasonic waves is thinned in the plane 8, as shown in FIG. 8, where it can be seen that the average opening angle is around 8 °.
- the transducers located at the ends of the alignments of sensors.
- FIG. 4 shows a sensor according to a fourth embodiment of the invention, the transducers of which are distributed at the nodes of a square mesh network, while being aligned on perpendicular axes X 1 and X 2 , intersecting at the center of a common central transducer 1 a .
- Such a sensor is particularly suitable for the emission of ultrasonic waves propagating inside thin volumes enveloping vertical and horizontal shooting planes.
Abstract
Description
La présente invention concerne un capteur à ultrasons pour un système de détection et/ou de reconnaissance d'objets dans l'air, notamment pour un système de guidage d'un robot mobile, et des procédés de détection utilisant un tel capteur.The present invention relates to an ultrasonic sensor for a system for detecting and / or recognizing objects in the air, in particular for a system for guiding a mobile robot, and to detection methods using such a sensor.
Il est connu, par exemple en échographie, d'utiliser des ultrasons dans des milieux liquides pour "voir" des objets.It is known, for example in ultrasound, to use ultrasound in liquid media to "see" objects.
A cet effet, on utilise des capteurs constitués par des matrices de transducteurs.For this purpose, use is made of sensors constituted by arrays of transducers.
Grâce à un déphasage approprié entre les différents transducteurs de la matrice, on génère par interférences une onde acoustique directionnelle dont l'echo renseigne sur un éventuel obstacle rencontré par cette onde dans sa direction de tir.Thanks to an appropriate phase shift between the different transducers of the matrix, a directional acoustic wave is generated by interference, the echo of which indicates a possible obstacle encountered by this wave in its firing direction.
En effectuant un balayage point par point d'un champ d'observation à analyser, on peut ainsi reconstituer une image et la reproduire sur un écran.By performing a point-by-point scan of an observation field to be analyzed, we can thus reconstruct an image and reproduce it on a screen.
On comprend que le balayage point par point d'une surface nécessite un nombre considérable de tirs.It is understood that the point-by-point scanning of a surface requires a considerable number of shots.
Les milieux liquides se prêtent particulièrement bien à la mise en oeuvre de cette technique, du fait que les ondes ultrasonores s'y propagent facilement et rapidement.Liquid media lend themselves particularly well to the implementation of this technique, because the ultrasonic waves propagate there easily and quickly.
En revanche, dans l'air, cette technique de balayage ne pourrait pas être mise en oeuvre dans des conditions satisfaisantes, en raison de la faible vitesse de déplacement du son qui imposerait des durées de balayage trop longues. Or, de telles durées seraient prohibitives notamment pour des applications de robotique.On the other hand, in air, this scanning technique could not be implemented under satisfactory conditions, due to the low speed of movement of the sound which would impose too long scanning times. However, such periods would be prohibitive, especially for robotics applications.
Il s'ensuit que les capteurs constitués de matrices de transducteurs connus jusqu'à ce jour ne permettent pas de reconnaître efficacement des objets dans l'air.It follows that the sensors made up of matrixes of transducers known to date do not allow effective recognition of objects in the air.
La présente invention vise à fournir un nouveau capteur qui résout notamment les problèmes rappelés ci-dessus.The present invention aims to provide a new sensor which in particular solves the problems mentioned above.
La présente invention a pour objet un capteur à ultrasons pour système de détection et/ou de reconnaissance d'objets dans l'air, notamment pour un système de guidage d'un robot mobile, comportant une pluralité de transducteurs prévus pour fonctionner à un même ensemble de fréquences donné, agencés aux noeuds d'un réseau régulier, caractérisé par le fait que les transducteurs sont circulaires, et que la distance qui sépare les centres de deux transducteurs adjacents du réseau est au plus de l'ordre de la longueur d'onde dans l'air des ondes émises par les transducteurs.The subject of the present invention is an ultrasonic sensor for a system for detecting and / or recognizing objects in the air, in particular for a system for guiding a mobile robot, comprising a plurality of transducers designed to operate at the same together of given frequencies, arranged at the nodes of a regular network, characterized in that the transducers are circular, and that the distance which separates the centers of two adjacent transducers from the network is at most of the order of the wavelength in the air waves emitted by the transducers.
Selon l'invention, on entend par ensemble de fréquences, une seule fréquence, une superposition de fréquences aléatoires formant un bruit, ou une superposition de fréquences fixées.According to the invention, the term “set of frequencies” means a single frequency, a superposition of random frequencies forming a noise, or a superposition of fixed frequencies.
Le capteur selon l'invention est approprié, de par sa structure, pour fournir une onde ultrasonore d'une directivité variable.The sensor according to the invention is suitable, by virtue of its structure, for providing an ultrasonic wave with variable directivity.
En effet, la directivité du tir est obtenue par interférences, par superposition d'ondes émises simultanément par un nombre variable de transducteurs, étant entendu que le nombre et la position des transducteurs excités déterminent la directivité de l'onde résultante émise.Indeed, the directivity of the shot is obtained by interference, by superposition of waves emitted simultaneously by a variable number of transducers, it being understood that the number and the position of the excited transducers determine the directivity of the resulting emitted wave.
En outre, la direction du tir peut être ajustée, à la manière connue, en créant un déphasage entre les transducteurs du capteur.In addition, the direction of fire can be adjusted, in the known manner, by creating a phase shift between the transducers of the sensor.
Conformément à l'invention, le réseau peut être plan, sphérique, ou agencé sur une nappe de toute autre forme.According to the invention, the network can be planar, spherical, or arranged on a sheet of any other shape.
S'agissant d'un réseau plan, un avantage résultant d'un tel capteur réside dans le fait qu'il est facile et économique à fabriquer.As regards a flat network, an advantage resulting from such a sensor lies in the fact that it is easy and economical to manufacture.
Un capteur agencé sur une calotte sphérique pourrait présenter l'avantage d'être plus adapté à une émission d'ondes acoustiques directionnelles.A sensor arranged on a spherical cap could have the advantage of being more suitable for the emission of directional acoustic waves.
D'une manière générale, le choix d'une forme particulière de nappe sur laquelle sont agencés les transducteurs du capteur selon l'invention peut être fait, en fonction du type d'onde acoustique que l'on désire générer à partir du capteur.In general, the choice of a particular form of sheet on which the transducers of the sensor according to the invention are arranged can be made, depending on the type of acoustic wave that it is desired to generate from the sensor.
Dans un premier mode de réalisation de l'invention, le réseau régulier aux noeuds duquel sont placés les transducteurs est un réseau à maille carrée.In a first embodiment of the invention, the regular network at the nodes of which the transducers are placed is a square mesh network.
Dans un autre mode de réalisation, le réseau est un réseau à maille triangulaire.In another embodiment, the network is a triangular mesh network.
Le capteur selon l'invention peut couvrir un champ d'observation avec un nombre de transducteurs assez faible.The sensor according to the invention can cover an observation field with a fairly low number of transducers.
En effet, on sait que pour accroître la directivité d'un capteur, on peut lui ajouter des transducteurs, de manière à augmenter les dimensions globales de sa matrice. La directivité du capteur est alors équivalente à celle d'un transducteur de diamètre égal à la grande dimension de la matrice.Indeed, we know that to increase the directivity of a sensor, we can add transducers to it, so as to increase the overall dimensions of its matrix. The directivity of the sensor is then equivalent to that of a transducer with a diameter equal to the large dimension of the matrix.
Or, conformément à l'invention, les dimensions de la matrice du capteur peuvent être augmentées moyennant l'ajout d'un nombre limité de transducteurs.However, in accordance with the invention, the dimensions of the sensor matrix can be increased by adding a limited number of transducers.
En effet, dans un mode de réalisation préféré de l'invention, le capteur est constitué par une pluralité d'alignements de transducteurs, alignements dont les axes se croisent au centre d'un transducteur central commun.In fact, in a preferred embodiment of the invention, the sensor is constituted by a plurality of alignments of transducers, alignments whose axes intersect at the center of a common central transducer.
Dans ce mode de réalisation, les transducteurs peuvent être disposés en croix dans le cas d'un réseau à maille carrée, ou suivant une étoile à six branches dans le cas d'un réseau à maille triangulaire, les noeuds du réseau situés en dehors des branches ne comportant pas de transducteur.In this embodiment, the transducers can be arranged crosswise in the case of a square mesh network, or along a six-pointed star in the case of a triangular mesh network, the nodes of the network located outside the branches not having a transducer.
La grande dimension de la matrice, déterminante pour fixer la directivité du capteur, est alors égale à la longueur des alignements.The large dimension of the matrix, decisive for fixing the directivity of the sensor, is then equal to the length of the alignments.
Il en résulte que la directivité du capteur est équivalente à celle d'un capteur d'aussi grand diamètre mais qui comporterait un transducteur à chaque noeud de sa matrice.It follows that the directivity of the sensor is equivalent to that of a sensor of such large diameter but which would include a transducer at each node of its matrix.
De plus, en utilisant un nombre plus réduit de capteurs, tout en les disposant, selon ce mode de réalisation de l'invention, sur des axes sécants d'un réseau régulier, notamment à maille triangulaire, on réduit l'énergie d'ondes secondaires émises dans des directions différentes de la direction de tir, à l'intérieur de volumes de propagation appelés lobes secondaires.In addition, by using a smaller number of sensors, while having them, according to this embodiment of the invention, on intersecting axes of a regular network, in particular with triangular mesh, the wave energy is reduced secondary emitted in directions different from the direction of fire, within propagation volumes called secondary lobes.
Conformément à l'invention, les transducteurs composant le capteur peuvent être du type apte à la fois à émettre et à recevoir une onde acoustique.According to the invention, the transducers making up the sensor can be of the type capable of both transmitting and receiving an acoustic wave.
La présente invention a également pour objet un procédé de détection et/ou de reconnaissance d'objets dans l'air, notamment pour le guidage d'un robot mobile, à l'aide d'un capteur tel que décrit ci-dessus.The present invention also relates to a method for detecting and / or recognizing objects in the air, in particular for guiding a mobile robot, using a sensor as described above.
Ce procédé est caractérisé par le fait que l'on détermine a priori la forme d'un objet à reconnaître, que l'on émet à partir du capteur une onde ultrasonore qui se propage à l'intérieur d'un volume présentant des caractéristiques géométriques communes avec ladite forme déterminée a priori, que l'on recueille l'écho de l'onde ultrasonore émise, et que l'on analyse l'énergie de cet écho pour déterminer si les caractéristiques géométriques déterminées a priori ont été rencontrées dans l'objet à reconnaître.This process is characterized by the fact that a priori the shape of an object to be recognized is determined, which is emitted from the sensor an ultrasonic wave which propagates inside a volume having common geometrical characteristics with said a priori determined shape, which one collects the echo of the ultrasonic wave emitted, and which one analyzes the energy of this echo to determine if the geometric characteristics determined a priori have been encountered in the object to be recognized.
Ce procédé présente l'avantage de fournir une information de niveau élevé à chaque émission d'une onde ultrasonore, ce qui est avantageux compte tenu de la faible vitesse de déplacement du son dans l'air.This method has the advantage of providing high level information on each emission of an ultrasonic wave, which is advantageous given the low speed of movement of sound in air.
En d'autres termes, si l'utilisation d'ondes ultrasonores pour balayer point par point un champ d'observation à analyser n'est pas raisonnablement envisageable dans l'air pour les raisons exposées ci-dessus, le procédé selon l'invention permet néanmoins d'obtenir rapidement des informations sur un objet à reconnaître, en minimisant le nombre de tirs à effectuer.In other words, if the use of ultrasonic waves to scan point by point an observation field to be analyzed is not reasonably possible in air for the reasons explained above, the method according to the invention nevertheless allows to quickly obtain information on an object to recognize, minimizing the number of shots to be made.
En particulier, pour la navigation d'un robot mobile dans un établissement, on sait a priori que le robot devra reconnaître des murs, des portes, des angles et quelques obstacles particuliers. Pour permettre au robot de reconnaître ces objets, on l'équipe d'un capteur tel que défini ci-dessus et l'on programme un dispositif électronique de commande du capteur de manière à ce que ce dernier émette des ondes qui se propagent à l'intérieur de volumes spécifiques qui coïncident avec des formes particulières des objets à reconnaître.In particular, when navigating a mobile robot in an establishment, we know a priori that the robot will have to recognize walls, doors, angles and some specific obstacles. To enable the robot to recognize these objects, it is fitted with a sensor as defined above and an electronic device for controlling the sensor is programmed so that the latter emits waves which propagate to the 'interior of specific volumes which coincide with particular forms of the objects to be recognized.
Par exemple, pour reconnaître une porte ouverte, le capteur émet des ondes qui se propagent sensiblement dans un plan vertical et balaye le champ d'observations dans une direction horizontale. Tant que l'onde ultrasonore rebondit sur le mur, l'énergie de l'écho est importante. En revanche, dès que l'onde rentre dans l'encadrement de la porte ouverte, l'énergie de l'écho chute brutalement.For example, to recognize an open door, the sensor emits waves which propagate substantially in a vertical plane and scans the field of observations in a horizontal direction. As long as the ultrasonic wave bounces off the wall, the energy of the echo is important. However, as soon as the wave enters the frame of the open door, the energy of the echo drops suddenly.
Ainsi, dans son processus de reconnaissance d'objets, chaque fois que le robot constate une chute brutale de l'énergie de l'écho lors d'un balayage horizontal d'une onde émise dans un volume mince sensiblement vertical, il en déduit la possible présence d'une porte dans son champ d'observations.Thus, in its process of recognizing objects, each time the robot notices a sudden drop in the energy of the echo during a horizontal scanning of a wave emitted in a thin, substantially vertical volume, it deduces the possible presence of a door in its field of observations.
Cette hypothèse peut alors être confirmée par l'émission d'autres ondes ultrasonores.This hypothesis can then be confirmed by the emission of other ultrasonic waves.
Conformément à l'invention, pour émettre une onde ultrasonore qui se propage à l'intérieur d'un volume mince enveloppant un plan de tir, on excite un nombre déterminé de transducteurs contigus d'un même alignement de transducteurs du capteur, l'axe de cet alignement s'étendant sensiblement perpendiculairement audit plan de tir.In accordance with the invention, to emit an ultrasonic wave which propagates inside a thin volume enveloping a firing plane, a determined number of contiguous transducers is excited with the same alignment of transducers of the sensor, the axis of this alignment extending substantially perpendicular to said firing plane.
De même, pour émettre une onde ultrasonore se propageant à l'intérieur d'un volume de révolution centré autour d'un axe de tir, on excite tous les transducteurs situés à l'intérieur d'un disque, de rayon déterminé, centré sur le transducteur central du capteur.Similarly, to emit an ultrasonic wave propagating inside a volume of revolution centered around a firing axis, all the transducers located inside a disc, of determined radius, centered on the central transducer of the sensor.
Grâce à la bonne directivité du capteur, on peut obtenir une information pertinente sur le ou les obstacles qui se trouvent à l'intérieur du volume de propagation de l'onde ultrasonore.Thanks to the good directivity of the sensor, it is possible to obtain relevant information on the obstacle or obstacles which are inside the propagation volume of the ultrasonic wave.
Conformément à l'invention, pour recueillir l'écho de l'onde ultrasonore, on peut utiliser les transducteurs du capteur qui a émis cette onde ultrasonore.According to the invention, to collect the echo of the ultrasonic wave, it is possible to use the transducers of the sensor which emitted this ultrasonic wave.
En particulier, dans le cas d'un capteur dont les transducteurs sont alignés suivant des axes sécants au centre d'un transducteur central commun, on peut utiliser les transducteurs situés aux extrémités des branches du capteur pour recevoir l'écho de l'onde ultrasonore.In particular, in the case of a sensor whose transducers are aligned along secant axes at the center of a common central transducer, one can use the transducers located at the ends of the branches of the sensor to receive the echo of the ultrasonic wave .
En choisissant convenablement ceux des transducteurs du capteur qui permettent de recueillir l'écho, on peut ainsi effectuer une mesure directionnelle de l'onde reçue, notamment en mesurant le déphasage entre ces transducteurs.By suitably choosing those of the transducers of the sensor which make it possible to collect the echo, it is thus possible to carry out a directional measurement of the received wave, in particular by measuring the phase shift between these transducers.
Dans le but de mieux faire comprendre l'invention, on va en décrire maintenant des modes de réalisation donnés à titre d'exemples non limitatifs, en référence au dessin annexé dans lequel :
- la figure 1 représente schématiquement, vu de face, un capteur selon un premier mode de réalisation de l'invention,
- la figure 2 représente schématiquement, vu de face, un capteur selon un deuxième mode de réalisation de l'invention,
- la figure 3 représente schématiquement, vu de face, un capteur selon un troisième mode de réalisation de l'invention,
- la figure 4 est une vue analogue à la figure 3, représentant le capteur en cours d'émission,
- la figure 5 est une vue en coupe selon V-V de la figure 4, représentant la directivité angulaire des ondes ultrasonores émises par le capteur,
- la figure 6 est une vue en coupe selon VI-VI de la figure 4, représentant la directivité angulaire des ondes ultrasonores émises par le capteur,
- la figure 7 est une vue analogue à la figure 3, représentant le capteur en cours d'émission,
- la figure 8 est une vue en coupe selon VIII-VIII de la figure 7, représentant la directivité angulaire des ondes ultrasonores émises par le capteur,
- la figure 9 est une vue analogue à la figure 3, représentant le capteur en cours d'émission,
- la figure 10 est une vue en coupe selon X-X de la figure 9, représentant la directivité angulaire des ondes ultrasonores émises par le capteur,
- la figure 11 représente schématiquement, vu de face, un capteur selon un quatrième mode de réalisation de l'invention.
- FIG. 1 schematically represents, seen from the front, a sensor according to a first embodiment of the invention,
- FIG. 2 schematically represents, seen from the front, a sensor according to a second embodiment of the invention,
- FIG. 3 schematically represents, seen from the front, a sensor according to a third embodiment of the invention,
- FIG. 4 is a view similar to FIG. 3, showing the sensor during transmission,
- FIG. 5 is a sectional view along VV of FIG. 4, representing the angular directivity of the ultrasonic waves emitted by the sensor,
- FIG. 6 is a sectional view along VI-VI of FIG. 4, representing the angular directivity of the ultrasonic waves emitted by the sensor,
- FIG. 7 is a view similar to FIG. 3, showing the sensor during transmission,
- FIG. 8 is a sectional view along VIII-VIII of FIG. 7, representing the angular directivity of the ultrasonic waves emitted by the sensor,
- FIG. 9 is a view similar to FIG. 3, showing the sensor during transmission,
- FIG. 10 is a sectional view along XX of FIG. 9, representing the angular directivity of the ultrasonic waves emitted by the sensor,
- FIG. 11 schematically represents, seen from the front, a sensor according to a fourth embodiment of the invention.
Comme on le voit sur le dessin, dans le capteur de la figure 2, les transducteurs sont situés aux noeuds d'un réseau plan à maille triangulaire.As can be seen in the drawing, in the sensor of FIG. 2, the transducers are located at the nodes of a planar triangular mesh network.
Comme représenté sur la figure 1, la distance qui sépare les centres de deux transducteurs contigus 1 est au plus égale à environ la longueur d'onde dans l'air de l'onde ultrasonore émise.As shown in FIG. 1, the distance which separates the centers of two
Dans le mode de réalisation décrit, les transducteurs sont prévus pour fonctionner à une fréquence d'environ 40 KHz, ce qui correspond à une longueur d'onde dans l'air d'environ 8,5 mm.In the embodiment described, the transducers are designed to operate at a frequency of approximately 40 KHz, which corresponds to a wavelength in air of approximately 8.5 mm.
Du fait qu'ils présentent chacun un diamètre d voisin de cette dimension, les transducteurs sont jointifs.Because they each have a diameter d close to this dimension, the transducers are contiguous.
Le capteur de la figure 1 présente une directivité correspondant à un angle d'ouverture d'environ 20° en moyenne, du fait que son diamètre global D1 est environ égal à trois fois celui d'un transducteur.The sensor of FIG. 1 has a directivity corresponding to an opening angle of approximately 20 ° on average, owing to the fact that its overall diameter D 1 is approximately equal to three times that of a transducer.
Le capteur de la figure 2 présente une directivité accrue, soit un angle d'ouverture moyen d'environ 8°, du fait que son diamètre global D2 est d'environ 7 cm.The sensor of Figure 2 has an increased directivity, an average opening angle of about 8 °, because its overall diameter D 2 is about 7 cm.
Sur la figure 3, on a représenté un capteur dont la directivité est sensiblement la même que celui de la figure 2, du fait que son diamètre global D3 est égal à celui D2 du capteur de la figure 2, mais qui présente l'avantage de comporter un nombre beaucoup plus réduit de transducteurs.FIG. 3 shows a sensor whose directivity is substantially the same as that of FIG. 2, owing to the fact that its overall diameter D 3 is equal to that D 2 of the sensor of FIG. 2, but which has the advantage of having a much smaller number of transducers.
En effet, le capteur de la figure 2 comporte 37 transducteurs, tandis que celui de la figure 3 n'en comporte que 19.In fact, the sensor in Figure 2 has 37 transducers, while the sensor in Figure 3 has only 19.
Dans ce capteur, les transducteurs sont alignés sur trois axes X1, X2, X3 formant deux à deux un angle de 60° et sécants au centre d'un transducteur la central du capteur.In this sensor, the transducers are aligned on three axes X 1 , X 2 , X 3 forming two by two an angle of 60 ° and intersecting the center of the sensor with a transducer.
Cette réduction du nombre de transducteurs est possible grâce à la disposition selon un réseau à maille triangulaire des transducteurs, lesquels sont ainsi disposés en étoile.This reduction in the number of transducers is possible thanks to the arrangement according to a triangular mesh network of the transducers, which are thus arranged in a star.
Cette disposition en étoile confère en outre au capteur une capacité à émettre des ondes acoustiques avec des lobes secondaires faibles, par rapport à ceux que l'on obtiendrait avec un réseau à maille carrée.This star arrangement also gives the sensor an ability to emit acoustic waves with weak side lobes, compared to those that would be obtained with a square mesh network.
Ceci s'explique par le fait que l'agencement en étoile des transducteurs fournit naturellement l'équivalent d'une pondération du signal émis par chaque transducteur.This is explained by the fact that the star arrangement of the transducers naturally provides the equivalent of a weighting of the signal emitted by each transducer.
Or, on sait que la directivité du signal émis par plusieurs capteurs alignés est sensiblement la transformée de Fourrier du nombre de capteurs. Dans le cas où ces capteurs sont pondérés, la transformée de Fourrier fournit donc un lobe principal élargi et des lobes secondaires aplatis.However, we know that the directivity of the signal emitted by several aligned sensors is substantially the Fourrier transform of the number of sensors. In the case where these sensors are weighted, the Fourrier transform therefore provides an enlarged main lobe and flattened secondary lobes.
En utilisation, le transducteur de la figure 3 peut être alimenté de manière à émettre une onde ultrasonore à partir de trois transducteurs contigus situés sur un même axe X1, repérés par des hachures sur la figure 4. Dans un tel cas, une onde ultrasonore se propageant à l'intérieur d'un volume mince est émise, comme visible sur les figures 5 et 6 qui représentent l'énergie acoustique des ondes émises en fonction de l'angle d'émission.In use, the transducer of FIG. 3 can be supplied so as to emit an ultrasonic wave from three contiguous transducers located on the same axis X 1 , identified by hatching in FIG. 4. In such a case, an ultrasonic wave propagating inside a thin volume is emitted, as visible in FIGS. 5 and 6 which represent the acoustic energy of the waves emitted as a function of the angle of emission.
Dans le plan VI, la directivité est sensiblement égale à la directivité d'un seul transducteur, ce qui se traduit par une enveloppe étendue de l'énergie de l'onde ultrasonore en fonction de l'angle d'émission, l'angle d'ouverture moyen de l'onde étant environ égal à 100°.In plane VI, the directivity is substantially equal to the directivity of a single transducer, which results in an extended envelope of the energy of the ultrasonic wave as a function of the angle of emission, the angle d 'average opening of the wave being approximately equal to 100 °.
En revanche, dans le plan V, les interférences entre les ondes ultrasonores émises par le trois transducteurs se traduisent par une onde résultante dont la directivité est plus fine. Comme on peut le voir sur la figure 5, l'onde résultante comporte un lobe principal et des lobes secondaires de moindre étendue, ce qui donne un angle d'ouverture moyen d'environ 20°.On the other hand, in the V plane, the interference between the ultrasonic waves emitted by the three transducers results in a resulting wave whose directivity is finer. As can be seen in FIG. 5, the resulting wave comprises a main lobe and secondary lobes of smaller extent, which gives an average opening angle of approximately 20 °.
En faisant varier les déphasages entre les trois transducteurs excités du capteur, on peut modifier l'orientation du plan 6 de manière à balayer un champ d'observation selon l'axe X1, comme indiqué sur la double flèche en figure 5.By varying the phase shifts between the three excited transducers of the sensor, it is possible to modify the orientation of the plane 6 so as to scan a field of observation along the axis X 1 , as indicated on the double arrow in FIG. 5.
Si l'on augmente le nombre de transducteurs excités, comme on le voit sur la figure 7, l'onde résultante présente, dans un plan perpendiculaire à l'axe de l'alignement des transducteurs concernés, une directivité inchangée sensiblement identique à celle représentée en figure 6.If the number of excited transducers is increased, as seen in FIG. 7, the resulting wave has, in a plane perpendicular to the axis of alignment of the transducers concerned, an unchanged directivity substantially identical to that shown in figure 6.
Par contre, l'enveloppe de l'énergie des ondes ultrasonores est amincie dans le plan 8, comme représenté sur la figure 8, où l'on voit que l'angle d'ouverture moyen est d'environ 8°.On the other hand, the envelope of the energy of the ultrasonic waves is thinned in the plane 8, as shown in FIG. 8, where it can be seen that the average opening angle is around 8 °.
Si l'on excite les transducteurs situés à l'intérieur d'un disque centré sur le transducteur central 1a, comme représenté sur la figure 9, on obtient par interférence, une onde résultante qui se propage à l'intérieur d'un volume de révolution représenté en coupe axiale sur la figure 10. L'angle d'ouverture moyen de l'onde est de 20°.If we excite the transducers located inside a disc centered on the
Par un déphasage approprié entre les différents transducteurs, on peut ajuster la directivité de cette onde, c'est-à-dire l'axe du volume de révolution à l'intérieur duquel l'onde ultrasonore se propage.By an appropriate phase shift between the different transducers, it is possible to adjust the directivity of this wave, that is to say the axis of the volume of revolution inside which the ultrasonic wave propagates.
D'une manière générale, il ressort des essais réalisés par les inventeurs que l'on obtient de bons résultats si l'on utilise des transducteurs de petit diamètre, ce qui permet d'élargir le champ d'interférence et de faire varier de façon précise la direction du tir pour faciliter les balayages angulaires du champ d'observation, le capteur présentant néanmoins un diamètre global élevé.In general, it appears from the tests carried out by the inventors that good results are obtained if small diameter transducers are used, which makes it possible to widen the interference field and to vary it in a way specifies the direction of the shot to facilitate the angular scans of the observation field, the sensor nevertheless having a large overall diameter.
Cet agencement est obtenu notamment par la disposition en étoile représentée sur la figure 3.This arrangement is obtained in particular by the star arrangement shown in FIG. 3.
Pour recevoir l'écho de l'onde émise par le capteur, on peut utiliser les transducteurs situés aux extrémités des alignements de capteurs.To receive the echo of the wave emitted by the sensor, one can use the transducers located at the ends of the alignments of sensors.
De cette manière, compte tenu du délai qui sépare la réception de l'écho par différents capteurs, on peut facilement déterminer l'angle de l'écho et ainsi localiser un objet.In this way, given the delay between reception of the echo by different sensors, one can easily determine the angle of the echo and thus locate an object.
Sur la figure 4, on a représenté un capteur selon un quatrième mode de réalisation de l'invention, dont les transducteurs sont répartis aux noeuds d'un réseau à maille carrée, tout en étant alignés sur des axes X1 et X2 perpendiculaires, sécants au centre d'un transducteur central commun 1a.FIG. 4 shows a sensor according to a fourth embodiment of the invention, the transducers of which are distributed at the nodes of a square mesh network, while being aligned on perpendicular axes X 1 and X 2 , intersecting at the center of a common
Un tel capteur est particulièrement adapté à l'émission d'ondes ultrasonores se propageant à l'intérieur de volumes minces enveloppant des plans de tir verticaux et horizontaux.Such a sensor is particularly suitable for the emission of ultrasonic waves propagating inside thin volumes enveloping vertical and horizontal shooting planes.
Il est bien entendu que les modes de réalisation qui viennent d'être décrits ne présentent aucun caractère limitatif et qu'ils pourront recevoir toute modification désirable sans sortir pour cela du cadre de l'invention.It is understood that the embodiments which have just been described have no limiting character and that they can receive any desirable modification without departing from the scope of the invention.
Claims (11)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9503414A FR2732118B1 (en) | 1995-03-23 | 1995-03-23 | ULTRASONIC SENSOR AND DETECTION METHODS USING SUCH A SENSOR |
FR9503414 | 1995-03-23 |
Publications (2)
Publication Number | Publication Date |
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EP0733408A1 true EP0733408A1 (en) | 1996-09-25 |
EP0733408B1 EP0733408B1 (en) | 2001-07-04 |
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EP96400620A Expired - Lifetime EP0733408B1 (en) | 1995-03-23 | 1996-03-22 | Ultrasonic sensor and detection method using such a sensor |
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US (1) | US5703834A (en) |
EP (1) | EP0733408B1 (en) |
JP (1) | JPH08338869A (en) |
DE (1) | DE69613613D1 (en) |
FR (1) | FR2732118B1 (en) |
Cited By (2)
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EP0890849A1 (en) * | 1997-07-10 | 1999-01-13 | Imra Europe S.A. | Acoustic lobe pattern combination method for improving mapping quality |
EP0908241A2 (en) * | 1997-10-06 | 1999-04-14 | Sumitomo Electric Industries, Ltd. | Composite ultrasonic transducer |
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US7586888B2 (en) | 2005-02-17 | 2009-09-08 | Mobitrum Corporation | Method and system for mesh network embedded devices |
US7630736B2 (en) | 2005-10-11 | 2009-12-08 | Mobitrum Corporation | Method and system for spatial data input, manipulation and distribution via an adaptive wireless transceiver |
US7801058B2 (en) | 2006-07-27 | 2010-09-21 | Mobitrum Corporation | Method and system for dynamic information exchange on mesh network devices |
US8305935B2 (en) | 2006-07-27 | 2012-11-06 | Mobitrum Corporation | Method and system for dynamic information exchange on location aware mesh network devices |
US8305936B2 (en) | 2006-07-27 | 2012-11-06 | Mobitrum Corporation | Method and system for dynamic information exchange on a mesh network in a vehicle |
USRE47894E1 (en) | 2006-07-27 | 2020-03-03 | Iii Holdings 2, Llc | Method and system for dynamic information exchange on location aware mesh network devices |
US8411590B2 (en) | 2006-07-27 | 2013-04-02 | Mobitrum Corporation | Mesh network remote control device |
US8427979B1 (en) | 2006-07-27 | 2013-04-23 | Mobitrum Corporation | Method and system for dynamic information exchange on location aware mesh network devices |
US7926598B2 (en) | 2008-12-09 | 2011-04-19 | Irobot Corporation | Mobile robotic vehicle |
CN101770139B (en) * | 2008-12-29 | 2012-08-29 | 鸿富锦精密工业(深圳)有限公司 | Focusing control system and method |
TWI492119B (en) * | 2013-07-01 | 2015-07-11 | 原相科技股份有限公司 | Handheld electronic device |
FR3009123B1 (en) * | 2013-07-24 | 2016-03-11 | Renault Sas | ULTRASONIC TRANSDUCER AND METHOD FOR ULTRASONIC CONTROL OF A WELDING AREA. |
CN106546986A (en) * | 2016-10-31 | 2017-03-29 | 广西大学 | A kind of rangefinder based on ultrasonic wave |
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- 1996-03-22 EP EP96400620A patent/EP0733408B1/en not_active Expired - Lifetime
- 1996-03-25 US US08/621,435 patent/US5703834A/en not_active Expired - Fee Related
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EP0908241A3 (en) * | 1997-10-06 | 2001-09-12 | Sumitomo Electric Industries, Ltd. | Composite ultrasonic transducer |
Also Published As
Publication number | Publication date |
---|---|
US5703834A (en) | 1997-12-30 |
JPH08338869A (en) | 1996-12-24 |
DE69613613D1 (en) | 2001-08-09 |
FR2732118A1 (en) | 1996-09-27 |
EP0733408B1 (en) | 2001-07-04 |
FR2732118B1 (en) | 1997-04-30 |
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