EP0733408B1 - Capteur à ultrasons et procédés de détection utilisant un tel capteur - Google Patents
Capteur à ultrasons et procédés de détection utilisant un tel capteur Download PDFInfo
- Publication number
- EP0733408B1 EP0733408B1 EP96400620A EP96400620A EP0733408B1 EP 0733408 B1 EP0733408 B1 EP 0733408B1 EP 96400620 A EP96400620 A EP 96400620A EP 96400620 A EP96400620 A EP 96400620A EP 0733408 B1 EP0733408 B1 EP 0733408B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- sensor
- transducers
- network
- transducer
- emitted
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000001514 detection method Methods 0.000 title description 2
- 238000000034 method Methods 0.000 claims description 18
- 238000002604 ultrasonography Methods 0.000 claims description 11
- 238000010304 firing Methods 0.000 claims description 6
- 230000000644 propagated 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
- 230000001902 propagating effect Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000009432 framing 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
Images
Classifications
-
- 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 a method detection and / or recognition of objects in the air, in particular for a guidance system of a mobile robot.
- sensors constituted by transducer arrays.
- Liquid media are particularly suitable for use of this technique, due to the fact that the ultrasonic waves spread easily and quickly.
- the present invention aims to provide a new method which solves in particular the problems recalled above.
- the present invention relates to a method according to claim 1.
- 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 used in the method of the invention is suitable, because of its structure, to provide an ultrasonic wave with directivity variable.
- the directivity of the shooting is obtained by interference, by superimposition of waves emitted simultaneously by a variable number transducers, it being understood that the number and the position of the excited transducers determine the directivity of the resulting wave issued.
- the direction of fire can be adjusted, in the manner known, by creating a phase shift between the transducers of the sensor.
- the network can be planar, spherical, or arranged on a tablecloth of any other shape.
- a sensor arranged on a spherical cap could have the advantage of being more suited to an emission of acoustic waves directional.
- the choice of a particular form of sheet on which the transducers of the sensor are arranged can be done, depending on the type of acoustic wave that we want to generate from the sensor.
- the network regular at the nodes of which the transducers are placed is a network with square mesh.
- the network is a network with triangular mesh.
- the sensor can cover a field observation with a fairly low number of transducers.
- the dimensions of the matrix of the sensor can be increased by adding a number limited transducers.
- the senor consists of a plurality of alignments of transducers, alignments whose axes cross at the center of a common central transducer.
- the transducers can be arranged in a cross in the case of a square mesh network, or following a six-pointed star in the case of a mesh network triangular, the nodes of the network located outside the branches do not with no transducer.
- the large dimension of the matrix, determining to fix the directivity of the sensor, is then equal to the length of the alignments.
- 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.
- the transducers making up the sensor may be of the type capable of both transmitting and receiving an acoustic wave.
- the method according to the invention has the advantage of providing information on high level with each emission of an ultrasonic wave, which is advantageous considering the low speed of sound movement in the air.
- the method according to the invention nevertheless makes it possible to obtain quickly information on an object to recognize, minimizing the number of shots to be taken.
- the senor emits waves which propagate substantially in a vertical plane and scan the field of observations in a horizontal direction. So much as the ultrasonic wave bounces off the wall, the energy of the echo is important. On the other hand, as soon as the wave enters the framing of with the door open, the energy of the echo suddenly drops.
- each the robot sees a sudden drop in echo energy during a horizontal scan of a wave emitted in a thin volume substantially vertical, it deduces the possible presence of a door in his field of observations.
- the transducers located at the ends of the branches of the sensor to receive the echo of the wave ultrasonic.
- the transducers are located at the nodes of a planar mesh network triangular.
- the distance between the centers of two contiguous transducers 1 is at most equal to about the wavelength in 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 around 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 of D 2 of the sensor of FIG. 2, but which has the advantage of having a much smaller number of transducers.
- the sensor of FIG. 2 comprises 37 transducers, while that of Figure 3 has only 19.
- the transducers are aligned on three axes X 1, X 2, X 3 forming in pairs an angle of 60 ° and intersecting at the center of a transducer 1 has central sensor.
- This star arrangement also gives the sensor a ability to emit acoustic waves with side lobes weak, compared to those that would be obtained with a square mesh.
- the directivity of the signal emitted by several aligned sensors is substantially the Fourier transform of the number sensors.
- the transform of Fourrier therefore provides an enlarged main lobe and lobes flattened secondaries.
- 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 a extended envelope of ultrasonic wave energy as a function of the emission angle, the mean opening angle of the wave being approximately equal to 100 °.
- the interference between the waves ultrasound emitted by the three transducers result in a resulting wave with finer directivity.
- the resulting wave has a main lobe and smaller secondary lobes, which gives an angle average opening of about 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 envelope of the energy of the ultrasonic waves is thinned in plane 8, as shown in Figure 8, where we see that the average opening angle is around 8 °.
- FIG. 4 shows a sensor which can be used according to a fourth embodiment of the invention, the transducers 1 of which are distributed at the nodes of a square mesh network, while being aligned on axes X 1 and X 2 perpendicular, intersecting at the center of a common central transducer 1 a .
- Such a sensor is particularly suitable for the emission of waves ultrasound propagating inside thin enveloping volumes vertical and horizontal shots.
Description
- la figure 1 représente schématiquement, vu de face, un capteur utilisable selon un premier mode de mise eu oeuvre de l'invention,
- la figure 2 représente schématiquement, vu de face, un capteur utilisable selon un deuxième mode de mise en oeuvre de l'invention,
- la figure 3 représente schématiquement, vu de face, un capteur utilisable selon un troisième mode de mise en oeuvre 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 utilisable selon un quatrième mode de mise en oeuvre de l'invention.
Claims (9)
- 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 comportant une pluralité de transducteurs circulaires (1) prévus pour fonctionner à un même ensemble de fréquences donné, agencés aux noeuds d'un réseau régulier, la distance qui sépare les centres de deux transducteurs adjacents du réseau étant au plus de l'ordre de la longueur d'onde dans l'air des ondes émises par les transducteurs, caractérisé par le fait que l'on détermine a priori la forme d'un objet à reconnaítre, 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 reconnaítre.
- Procédé selon la revendication 1, caractérisé par le fait qu'ayant déterminé a priori la forme de l'objet à reconnaítre, on émet ladite onde ultrasonore en balayant le champ d'observation du capteur.
- Procédé selon l'une quelconque des revendications 1 et 2, caractérisé par le fait que, 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 (X1) de cet alignement s'étendant sensiblement perpendiculairement audit plan de tir.
- Procédé selon l'une quelconque des revendications 1 et 2, caractérisé par le fait que pour émettre une onde ultrasonore se propageant suivant 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 (1a) du capteur.
- Procédé selon l'une quelconque des revendications 1 à 4, caractérisé par le fait que, pour recueillir l'écho de l'onde ultrasonore émise, on utilise des transducteurs du capteur.
- Procédé selon la revendication 5, utilisant un capteur constitué par une pluralité d'alignements de transducteurs (1), alignements dont les axes (X1, X2, X3) se croisent au centre d'un transducteur central commun (1a), caractérisé par le fait que l'on utilise les transducteurs situés aux extrémités des alignements de transducteurs pour recueillir l'écho de l'onde ultrasonore émise.
- Procédé selon l'une quelconque des revendications 1 à 6, caractérisé par le fait que l'on utilise un capteur dont le réseau de transducteurs est plan.
- Procédé selon l'une quelconque des revendications 1 à 7, caractérisé par le fait que l'on utilise un capteur dont le réseau de transducteurs est un réseau à maille triangulaire.
- Procédé selon l'une quelconque des revendications 1 à 7, caractérisé par le fait que l'on utilise un capteur dont le réseau de transducteurs est un réseau à maille carrée.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9503414A FR2732118B1 (fr) | 1995-03-23 | 1995-03-23 | Capteur a ultrasons et procedes de detection utilisant un tel capteur |
FR9503414 | 1995-03-23 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0733408A1 EP0733408A1 (fr) | 1996-09-25 |
EP0733408B1 true EP0733408B1 (fr) | 2001-07-04 |
Family
ID=9477344
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP96400620A Expired - Lifetime EP0733408B1 (fr) | 1995-03-23 | 1996-03-22 | Capteur à ultrasons et procédés de détection utilisant un tel capteur |
Country Status (5)
Country | Link |
---|---|
US (1) | US5703834A (fr) |
EP (1) | EP0733408B1 (fr) |
JP (1) | JPH08338869A (fr) |
DE (1) | DE69613613D1 (fr) |
FR (1) | FR2732118B1 (fr) |
Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0890849A1 (fr) * | 1997-07-10 | 1999-01-13 | Imra Europe S.A. | Méthode de combinaison de faisceaux acoustiques pour améliorer la qualité de la carbographie |
JPH11187492A (ja) * | 1997-10-06 | 1999-07-09 | Sumitomo Electric Ind Ltd | 複合超音波変換器 |
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 |
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 |
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 |
US8427979B1 (en) | 2006-07-27 | 2013-04-23 | Mobitrum Corporation | 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 |
US7926598B2 (en) | 2008-12-09 | 2011-04-19 | Irobot Corporation | Mobile robotic vehicle |
CN101770139B (zh) * | 2008-12-29 | 2012-08-29 | 鸿富锦精密工业(深圳)有限公司 | 对焦控制系统及方法 |
TWI492119B (zh) * | 2013-07-01 | 2015-07-11 | 原相科技股份有限公司 | 手持式電子裝置 |
FR3009123B1 (fr) * | 2013-07-24 | 2016-03-11 | Renault Sas | Transducteur ultrasonique et procede de controle par ultrasons d'une zone de soudure. |
CN106546986A (zh) * | 2016-10-31 | 2017-03-29 | 广西大学 | 一种基于超声波的测距仪 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4381144A (en) * | 1981-07-15 | 1983-04-26 | Lloyd Breslau | Underwater camera enclosure including sonar range finding device |
DE3811479A1 (de) * | 1988-04-06 | 1989-10-19 | Bosch Gmbh Robert | Verfahren zum identifizieren von objekten |
US5165064A (en) * | 1991-03-22 | 1992-11-17 | Cyberotics, Inc. | Mobile robot guidance and navigation system |
US5426619A (en) * | 1994-06-21 | 1995-06-20 | Westinghouse Electric Corporation | Matched array plate |
-
1995
- 1995-03-23 FR FR9503414A patent/FR2732118B1/fr not_active Expired - Fee Related
-
1996
- 1996-03-22 DE DE69613613T patent/DE69613613D1/de not_active Expired - Lifetime
- 1996-03-22 EP EP96400620A patent/EP0733408B1/fr not_active Expired - Lifetime
- 1996-03-25 JP JP8108776A patent/JPH08338869A/ja active Pending
- 1996-03-25 US US08/621,435 patent/US5703834A/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
FR2732118A1 (fr) | 1996-09-27 |
FR2732118B1 (fr) | 1997-04-30 |
JPH08338869A (ja) | 1996-12-24 |
EP0733408A1 (fr) | 1996-09-25 |
US5703834A (en) | 1997-12-30 |
DE69613613D1 (de) | 2001-08-09 |
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