EP3622318A1

EP3622318A1 - Operating method and control unit for an ultrasound transceiver, ultrasound transceiver, and working apparatus

Info

Publication number: EP3622318A1
Application number: EP18723793.8A
Authority: EP
Inventors: Thomas Treptow; Dirk Schmid; Michael Schumann
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2017-05-08
Filing date: 2018-05-07
Publication date: 2020-03-18
Also published as: WO2018206476A1; US20200057152A1; JP2020518825A; CN110612457A; CN110612457B; JP6890682B2; DE102017207679A1; US11513203B2

Abstract

The present invention relates to an operating method for an ultrasound transceiver (1), in which (i) the ultrasound transceiver (1) is operated alternatively and in particular in an alternating manner in transmission operation and in receiving operation, (ii) the ultrasound transceiver (1), subsequently to transmission operation and/or prior to receiving operation, is actively damped by being acted on by a sequence of counter control pulses, (iii) a phase position and/or a damping energy are/is determined or adapted iteratively via a training in such a way that (iv) a magnitude of the damping success at least temporarily assumes an at least locally optimal value or approximates this value.

Description

description

title

Operating method and control unit for a

An ultrasound transceiver, an ultrasound transceiver, and a work device

State of the art

The present invention relates to an operation method and a control unit for an ultrasonic transceiver, a

Ultrasound transceiver device as such and a working device and in particular a vehicle.

In the field of mobile working devices and in particular in the vehicle sector, more and more use is made of ultrasound transceivers. These often serve the environment detection, for example to avoid collisions with objects located in the environment of a working device and in particular of a vehicle.

When ultrasonic transducers are used as transmitting and receiving elements, more and more operating methods with active damping are used in their operation. However, additional measures and their realization corresponding aggregates are often necessary, with the help of appropriate measurement and control methods parameters for controlling counter pulses for damping to achieve the greatest possible damping success can be adjusted. This is associated with an increased apparatus and procedural complexity, wherein operating parameters of the oscillating system, such as amplitude or phase angle, are determined in advance and monitored.

Disclosure of the invention The operating method according to the invention for a

Ultrasonic transceiver with the features of independent claim 1 has the advantage that without knowing the specific vibration behavior of the vibrating system of an underlying ultrasound transceiver can be achieved with simple means in a reliable manner, an active damping. This is inventively achieved with the features of claim 1, characterized in that an operating method for an ultrasonic transceiver is provided, in which (i) the ultrasound transceiver is alternatively and in particular alternately operated in a transmit mode and in a receive mode, (ii) the ultrasound transceiver (1) (iii) a phase position and / or an attenuation energy of the sequence of counter-control pulses are iteratively determined or adapted in such a way during a training, (iv) that a Measure of

Damping succession at least temporarily assumes an at least locally optimal value or approaches this value.

The dependent claims show preferred developments of the invention.

The operating method according to the invention is particularly advantageous if, according to a preferred embodiment, the phase position of the sequence of counter-control pulses is determined or adjusted by

Defining or adjusting a time interval between one end of a respective last sent drive pulse of the transmission mode and a

Start of an immediately following counter-tax pulse.

The damping energy of the sequence of counter-control pulses can be determined, determined and / or adapted by various methods.

In a particularly advantageous embodiment of the invention

Operating method, the damping energy is determined or adjusted by specifying or adjusting the number, the duration and / or the amplitude of the output during active damping or output counter control pulses, in particular via a setting or adjusting the course and / or the

Amplitude of a vibration element of the underlying Ultrasound transceiving device exciting electrical voltage and / or an electric current.

Particularly simple conditions arise in another

Embodiment of the operating method according to the invention, if the

Attenuation energy is determined or adjusted by specifying or adjusting the pulse width of a counter-control pulse last emitted during active damping. Another simplification can be achieved if, according to another

Embodiment of the operating method according to the invention in a disappearance of a last to be sent or sent

Counter-control pulse during active damping by reducing the pulse width, the damping energy is further determined or adjusted by specifying or adjusting the pulse width of a penultimate to be sent or sent

Against control pulse.

Also in terms of determining the damping success in active damping different concepts can come to fruition.

In a preferred embodiment of the invention

Operating method, a measure of the damping success is determined over a period of time from the time of the end of a last drive pulse until the time of falling of the oscillation amplitude in the

Ultrasound transceiver device below a predetermined

Threshold, in particular by minimization and / or by optimization.

Alternatively or additionally, it is conceivable that, according to another advantageous embodiment of the operating method according to the invention, a measure of the damping success is determined by determining an integral under or an oscillation signal or the envelope of the oscillation signal of the ultrasound transceiver and in particular one

Vibration element of the underlying

Ultrasonic transceiver device, from a start time to an end time at which value of the vibration signal or the envelope of the vibration signal has dropped below a predetermined threshold, in particular by minimization and / or by optimization. The training method as such likewise offers manifold possibilities of adaptation of the operating method according to the invention.

Thus, it may be provided that a training is carried out at a first start of the underlying ultrasound transceiver device and / or at a restart after a service interruption or after a break in operation of the underlying

Ultrasonic transmit-receive device.

Even if already a training in the operating procedure for a

Ultrasound transceiver was carried out, so there are further advantages if - according to another embodiment - after training and especially during operation of the underlying

Ultrasound transceiver the phase angle and / or the

Damping energy can be readjusted as damping parameters in a control mode.

A training and / or a regular operation can be carried out by

- The phase position and / or the damping energy as a damping parameter initially each set with a coarse adjustment and subsequently each optionally set or adjusted with a fine adjustment, - the phase angle and / or the damping energy as attenuation parameter by means of interval halving in a search window in the respective

Parameter range can be set or adjusted,

- The phase angle and / or the damping energy as a damping parameter in a fixed adjustment direction first by positive or negative

Incrementation and subsequently negative or positive

Incrementing in a search window in the respective parameter area are set or adjusted, and / or - after each setting or adjusting the phase angle and / or the

Attenuation energy as damping parameter the measure of

Damping success is determined and tested. Furthermore, the present invention relates to a control device for a

An ultrasound transceiver set up

Operating method for an ultrasonic transceiver according to any one of the preceding claims.

Furthermore, the subject of the present invention is a

Ultrasound transceiver with an inventively designed control device.

Finally, the present invention also relates to a working device and in particular a vehicle, which with an inventive

configured ultrasound transceiver device for detecting an environment of the working device or the vehicle are formed.

Brief description of the figures

Embodiments of the invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a schematic representation of an invention

formed ultrasonic transceiver device in the manner of a block diagram; FIG. 2 schematically shows a sequence of control pulses, followed by a sequence of counter-control pulses in their time course; schematically shows sequences of counter-control pulses with different damping energy, set over the pulse width of a final counter-control pulse;

FIGS. 4 and 5 show graphs for calculating a measure for the

Loss success; Figure 6 is a graph illustrating the damping success in active damping according to the present invention; FIGS. 7 to 9 are graphs illustrating a concrete one

Training algorithm;

FIG. 10 schematically illustrates aspects of a

Training algorithm with different starting values for damping energy and offset;

FIG. 11 illustrates a type of flowchart

Embodiment for the regular operation.

Preferred embodiments of the invention

Hereinafter, with reference to FIGS. 1 to 11

Embodiments of the invention and the technical background described in detail. Identical and equivalent as well as equivalent or equivalent elements and components are designated by the same reference numerals. Not in every case of their occurrence, the detailed description of the designated elements and components is reproduced.

The illustrated features and other properties can be isolated in any form from each other and combined with each other, without departing from the gist of the invention.

FIG. 1 is a schematic diagram showing, in the manner of a block diagram, an ultrasonic transceiver 1 formed according to the present invention.

This ultrasonic transceiver 1 has (i) a control unit 10 which is arranged, an embodiment of the present invention

(Ii) a signal generating unit 20, (iii) an ultrasonic transducer 30, which can also be regarded as a vibratory element and / or as a sensor, and (iv) a detection unit 40, the latter being designed to determine the extent of a Damping success to detect the amplitude of the ultrasonic transducer 30 as a vibratory system. The control unit 10 is connected via a first detection and control line 11 to the signal generation unit 20 and via a second detection and control line 12 to the detection unit 40 in order to detect their condition and to control their operation. About first to third detection and control lines 21, 22 and 23, the signal generating unit 20 on the one hand with the

Ultrasonic transducer 30 and on the other hand connected to the detection unit 40. The first and the second detection and control line 21 and 22 are used in the transmission mode of the control of the ultrasonic transducer 30 as a transmitter for the generation and emission of primary sound 31 in an environment 50 and on the other hand in the receiving operation of the detection of the ultrasonic transducer 30 received from secondary sound 32nd In this case, the secondary sound 32, inter alia, at an object 53 in the environment 50 reflected sound, ie an echo of the object 53, have. According to the invention, the control unit 10 is set up, after a transmission operation or to a section of the transmission operation in which transmission pulses in the form of primary sound 31 are emitted by the ultrasonic transducer 30, to cause corresponding counter control pulses generated by the signal generation unit 20 and to the ultrasonic transducer 30 be forwarded to its originating from the broadcasting company

To dampen vibration.

About first and second detection and control lines 41 and 42, this vibration state of the ultrasonic transducer 30 can be detected by the detection unit 40, so as to achieve the damping success by acting on the

To be able to evaluate counter control pulses.

FIG. 2 schematically shows, in a graph, a sequence of control pulses 33, followed by a sequence of counter-control pulses 35 in their time profile with time t plotted on the abscissa. It can be seen that the beginning of the first counter-control pulse 35 with respect to the end of the last control pulse 33 is delayed with a time offset 37, whereby the phase position of the sequence of counter-control pulses 35 is defined with respect to the drive pulses 33. The damping energy of the sequence of counter-control pulses 35 is determined at the same pulse height of the individual counter-control pulses 35 by the

Pulse width 38. For adjusting the damping energy is in particular the Pulse width 39 of the last counter control pulse 36 around the central position of the last counter control pulse 36 around reduced

FIG. 3 schematically shows a graph with sequences of counter-control pulses 35 with different damping energy, set over the pulse width 39 of a final counter-control pulse 36. The time t is plotted on the abscissa. In the upper area of FIG. 3, the pulse widths 38 of the preceding counter-control pulses 35 and the pulse width 39 of the final counter-control pulse 36 are identical, while in the lower area of the figure, the pulse width 39 of the final counter-control pulse 36 is halved.

FIGS. 4 and 5 show graphs 55 for calculating a measure of the damping success.

In connection with FIG. 4, the damping effect is achieved by a

Threshold method assessed. The time t is plotted on the abscissa 56 and a measure of the amplitude A of the oscillatory system of the ultrasonic transducer 30 is plotted on the ordinate 57. Shown is a respective track 58 with individual measuring points 59. The time t1 indicates the end of time of the last transmission pulse 33. The time t2 indicates that the falling below a predetermined threshold As by the amplitude A.

The graph 55 according to FIG. 5 does not use a threshold value As for the amplitude A, but instead an integral value I below the track 58 between a start time t2-1 and an end time t2-2 of the integration and after the end t1 of the last transmit pulse 33 ,

FIG. 6 shows a graph 60 illustrating the damping success in active damping according to the present invention.

On the abscissa 61 is the value of the offset 37 in microseconds and on the ordinate 62 in the arrow direction, ie down, the damping energy

applied. There are areas 63 of optimal damping and areas 64 with unsuitable damping in the entire parameter space.

FIGS. 7 to 9 show graphs 70, 80 and 90 for illustration of a concrete training algorithm. In FIG. 7, the graph 70 with offset 37 plotted on the abscissa 71 and with the amplitude of the oscillatory system of the ultrasonic transducer 30 plotted on the ordinate 72 shows a track 73 with individual measuring points 74 with a range 75 in the parameter space corresponding to a minimum of the amplitude A and thus corresponds to an optimum of attenuation. The directions of arrows 76 and 77 indicate possible directions of optimization as the offset 37 changes during training, starting from a starting value.

Figures 8 and 9, the energy search by interval halving or the

Fine adjustment of offset and energy, as explained in more detail below.

In the case of this training method shown in FIGS. 7 to 9, the search for a valley of the amplitude, that is to say a minimum, and for a corresponding value for the offset which leads to this minimum is initially carried out in a first phase. First, a predetermined search range 76 in the form of a search window is traversed, for example, with a span of + - 4 or 6 με in steps of 2 με, which is interrupted after a two-fold increase or increase in the amplitude A in a direction of change of the offset.

Then, in a second phase, the search for an optimizing energy by means of interval bisection, i. by adapting the pulse width 39 of a final counter-control pulse 36 according to FIGS. 2 and 3. This takes place by means of

Interval bisection up to 4 με. At 4 με the second shot is only optional.

Then, in a third phase, the fine tuning of the offset 37 takes place, namely by means of conditional steps with 2 με increment and conditional steps with 1 με step in the change of the offset 37.

Finally, in a fourth phase of the training, a fine adjustment of the damping energy takes place, first by means of conditional steps with 2 με increment in the pulse width 39 of the final determining the damping energy

Gegensteuerpulses 36 and then by conditional steps with 1 με step in the change of the damping energy. As a fifth step, the validation takes place without active damping, if necessary with resetting of the values of the damping energy to a minimum.

Figure 10 illustrates in a graph 100 the offset 37 plotted on the abscissa 101 and the damping energy plotted on the ordinate

102 schematically illustrates aspects of a training algorithm with different ones

Starting values 105 and 106 for damping energy or offset 37. Shown again is an area 103 in the parameter space, which corresponds to an optimum for the damping.

FIG. 11 illustrates, in the manner of a flow chart, an embodiment of a method S for regular operation.

This method S consists of setting S1 of a threshold value for the attenuation result from successive steps S3 to S6 of FIG

Offset adjustment and an energy adjustment, each with positive and negative increments of the respective parameter Offset or

Damping energy. In each case, in a first sub-step S3-1, S4-1, S5-1, S6-1, the attenuation result is determined with positive or negative incrementation with a predetermined step size. In a next step S3-2, S4-2,

S5-2, S6-2 checks whether the number of repetitions corresponds to a maximum repetition number. If this is not the case, a renewed

Adaptation. If the maximum number of passes has been reached, it is checked in the respective step S3-3, S4-3, S5-3, S6-3 whether the attenuation result is better than a desired threshold value. If this is the case, then in a subsequent

Step S3-4, S4-4, S5-4, S6-4 the leading to the optimal attenuation result offset or the corresponding energy as a new optimizing value

saved. Otherwise, the next step will be the next step

Processing step, that is from S3 to S4, from S4 to S5, from S5 to S6 or S6 to S1 changed.

These and other features and characteristics of the present invention will be further elucidated with reference to the following statements:

Because of the swinging out of the sensor element, understood as

oscillatory element 30 of an ultrasonic transceiver 1, is a detection of objects in the environment 50 one with a Ultrasound transceiver 1 equipped working device, for example, a vehicle, immediately after a transmission control not possible.

This results in a dead time in which objects 53 placed very close to the sensor 30 can not be detected. The length of the decay phase of the sensor 30 determines the length of the dead time.

By means of active damping, the decay phase and thus the unusable dead time in a sensor 30 can be shortened.

For the success of the active damping, the phase position of the so-called counter-control pulses as damping pulses is very important. This must be 180 ° for maximum damping success. Only slight deviations of the phase position lead to a loss of the damping success.

In addition to the phase position, the supplied damping energy is the same

decisive for the damping success. Too high a damping energy leads to a swinging, too little damping energy to an insufficient damping.

An effective damping therefore requires the need for an exact

Setting the two parameters damping energy and phase position of the counter control pulses.

A precise adjustment of the parameters can be achieved by explicitly determining the phase and amplitude of the oscillation to be damped and with these values an instantaneous counter-oscillation is generated. These known measures, which are used for example in active Noise Cancelation headphones or similar devices, should be avoided according to the invention because of their procedural and equipment expense.

In ultrasonic transducers 30 in the automotive sector transformers are used to generate the transmission voltages. These require an electrical circuit, which is also known as a parallel resonant circuit. The consequence of this wiring is that the phase and the amplitude of the mechanical

Vibration can not be determined by the receiving circuit and above methods for generating the counter-vibration can not be applied.

The specification of a defined antiphase and counter-amplitude as a function of the excitation frequency fails as well, since the sensors 30 have different attenuation and natural resonance as a result of production, and a transition to this natural frequency takes place after excitation. In addition, self-resonance and attenuation are temperature-dependent and change during operation.

It is an object of the invention to provide a method of operating ultrasound transceivers 1 with actively damped ones

Specify ultrasonic sensors 30, which are particularly effective without knowledge of the phase and amplitude of the vibration to be damped.

A key aspect of the present invention is (a) the nature of the counteracting relative to the desired damping energy, and (b) the specification of a training mode and a control mode S with determination of the damping energy and phase characteristic parameters that allow a damping optimum over the entire operating and Lifetime of an underlying sensor.

As stated above, the adjustment of the anti-phase position and the supplied counter-control pulses is necessary for the damping optimum.

For operation, it is desirable that these physical quantities are represented by linear measures or parameters in order to be able to clearly attribute the attenuation success to a specific combination of parameters.

The damping energy can be varied by adaptation

(a) the number of counter-damping pulses,

(b) the duration of the countermeasure pulses and / or

(c) the drive current of the counter-damping pulses. For the description of the parameter space, it is desirable to generate a measure that depends linearly on the damping energy, so for example to leave the number of pulses equal and to change only the drive current.

For the practical implementation, a combination of (a) and (b) has proved to be particularly advantageous and is also easier to implement than a current control.

The duration of the counter-damping pulses is changed so that the

Pulse width of the last counter-pulse is set around the central position to a maximum pulse width, as shown in connection with Figure 2 and 3.

The maximum pulse width is given by the period of the counter control frequency, which is defined by a default parameter. As the pulse width decreases, less damping energy is supplied. Should the

Damping energy can be further reduced, omitted in the scheme of the last pulse and the pulse width of the former penultimate pulse is varied accordingly.

The procedure can be continued up to the pulse width "0".

In order to obtain a linear measure of the damping energy is the

Total duration of the pulse widths of all counter control pulses used.

The phase position of the first counter-control pulse can be represented by a time measured in microseconds, wherein the time of the difference between the start of the counter-control pulse and the end of the last drive pulse can be defined from a transmission phase.

The phase positions of the following counter-control pulses can be characterized in the same way. This results in a multi-dimensional

Parameter space.

In order to keep the parameter space and thus the complexity of the method small, only the phase position of the first counter-control pulse can be varied and the phase relationships between the counter-control pulses can be kept constant. This results in only two parameters. loss success

The damping success can be determined by measuring the Nachschwingdauer over a falling below a defined predetermined and possibly fixed threshold.

A disadvantage of this approach is that the decay can be superimposed with the echo of the object 53 when an object 53 is in the vicinity of an underlying sensor 30.

For this case, falling below a predefined threshold no longer characterizes the ringing and the damping success is not measurable.

It is therefore more advantageous to determine the attenuation success by determining an integral of the oscillation amplitudes in an interval in the vicinity of the expected Nachschwingoptimums, as shown in connection with Figures 4 and 5.

If an object echo is present in this interval, then the attenuation success can nevertheless be determined, since the ringing amplitudes correspond to the

Add object echo amplitudes.

The attenuation success can be in dependence on the phase characterizing offset, hereinafter referred to as the parameter "offset", and damping energy, hereinafter referred to as the parameter "energy" represent, as is explained in the illustration of Figure 6.

It can be seen that damping optima can only be achieved with a suitable combination of offset and energy.

training phase

Due to the temperature and component dependency, the

Damping parameters are each newly determined at startup. This can This can be done by varying the parameters in the entire solution space and by determining the damping success. In order to keep the number of required attempts, ie the number of transmission pulses, as low as possible, the training is carried out in different steps or phases, for example with the steps

(a) rough training for the offset,

(b) rough training for the energy,

(c) fine adjustment for the offset,

(d) fine tuning for the energy and

(e) validation of the determined values for offset and energy without active

Damping.

A basic idea of the algorithm is to vary each parameter individually and to change it in a first step first in large increments and starting from an initial start parameterization, then in a second step to fine-tune both parameters in small increments and finally the attenuation success without active Damping to compare, as set out in connection with Figures 7 to 10.

Rough training / rough adjustment

For the rough training of offset, the parameter Offset is varied in large steps, typically 2 to 6 microseconds, at a predefined interval. In this case, the damping performance is calculated after each shot and compared with the previous result. Starting from the initial start value, the parameter is first varied in one direction - eg to larger values. If no damping success is recorded after two or another fixed finite number of steps, the parameter is changed in the other direction, ie, toward smaller values, and the damping result is determined. The process is repeated in one direction until, after two consecutive steps, there is no longer an improved damping effect or the predefined interval limit for the parameter has been reached. The setting of the parameter with the largest damping success is stored.

The rough training of the energy parameter is similar. Alternatively, the parameter setting of the largest damping success can be determined using the interval halving method. For this purpose, three tests are always carried out according to the parameter combination EO-x, E0, EO + x. The damping success is determined in each case and then the parameter position is repeated with the greatest attenuation success of the method with a half step size x / 2. These steps are repeated up to a predefined increment.

After steps (a) and (b) of the coarse adjustment, the parameter range for the largest attenuation success is narrowed and the fine adjustment can be started.

fine adjustment

For this purpose, as in step (b), by means of interval bisection for the parameters energy and offset, the procedure is up to a predefined minimum step size.

Verification

At the end of steps (a) through (d), the damping success is compared with a setting without active damping to determine the overall success.

Depending on this, it may be decided to operate the sensor without active damping.

FIG. 10 shows, by way of example, the parameter combinations which are traversed during training. The training can be done either when the system is restarted in the vehicle or during operation.

Particularly advantageous is a training at startup before the actual

Measuring operation, since it allows the full performance of the sensor 30 can be ensured.

For this, the above-described sequence for each sensor 30 in the system can be initiated one at a time and with rapid firing - e.g. every 2 ms to 5 ms - pass through.

If the sensor 30 is passed through with transmission pulses of different frequency coding, it is furthermore advantageous to carry out a training for each transmission pulse type. Optionally, the parameter combination by a

Calculation methods are transmitted from one to the other send pulse type.

Control phase / control mode

Due to the temperature dependence, the damping parameters must be checked not only at the start of operation, but also during measuring operation, and adjusted if necessary.

For this purpose, both parameters are changed with very small increments. For example, is set with the smallest possible setting e.g. below 1 microsecond determines the damping success and at higher damping success

adjusted if necessary.

In order to be as robust as possible against short-term disturbances, the parameter combination to be tested is measured several times with a predefined number of passes or shots and only when a

Significant improvement saved the newly defined parameter combination as a new optimum.

The variation takes place step by step, ie initially only the offset parameter is slightly incremented and thus measured several times. If this new combination of parameters leads to a higher attenuation success, then the Parameter offset in this direction further incremented and the process repeated until no improvement in the damping success sets more. If no damping result can be determined, the parameter is decremented and the process is run through accordingly.

Once the offset has been checked and adjusted as a damping parameter, energy is also used as the parameter for damping.

After passing through the entire loop, the process is repeated and the control loop begins again.

In addition to the figures, the following should be noted:

Figures 2 and 3 describe the counter-control with active damping. After the end of the excitation, the oscillation is damped by means of counter-control pulses.

The phase position of the counter control pulses is determined by the time difference between the end of the drive and the beginning of the counter drive. The damping energy results from the sum of the pulse widths of

Counter control pulses, wherein in each case the last pulse is varied in its pulse width.

Figures 4 and 5 illustrate the possible calculation schemes for the

Loss success. According to Figure 4, this is done by detecting the

Reverberation time by falling below a predefined threshold. According to FIG. 5, this is done by integral bonding.

FIG. 6 describes in the form of a graph 60 the damping success as optimum or minimum in the active damping as a function of FIG

Attenuation energy plotted on the ordinate 62 and the time offset in microseconds plotted on the abscissa 61. The circled areas 63 denote the optima or minima with a high degree

Attenuation success, the intermediate regions 64 in the vicinity of the abscissa show a low degree of attenuation success.

FIGS. 7 to 9 illustrate an embodiment of the training algorithm according to the invention for the training of the damping parameters energy and

Offset. FIG. 10, in conjunction with a graph 100, illustrates the parameter combinations passed through during a training in the training algorithm for the parameters energy and offset with the starting values 105 and 106 for the offset or for the energy.

Figure 1 1 shows schematically a method S and an algorithm for

Regular operation.

Claims

claims

Operating method for an ultrasonic transceiver (1), in which

- The ultrasonic transceiver device (1) alternatively and

in particular alternately in a transmission mode and in a

Receiving operation is operated,

- The ultrasound transceiver device (1) subsequent to a transmission mode and / or before a reception operation

Applying a sequence of counter-control pulses is actively attenuated,

a phase angle and / or a damping energy of the sequence of

Counter control pulses iteratively through a training to be determined or adjusted

- That a measure of the damping success at least temporarily assumes an at least locally optimal value or approaches this value.

Operating method according to claim 1,

in which the phase position of the sequence of counter-control pulses is determined or adjusted by specifying or adjusting a time interval between one end of a respective last-sent drive pulse of the transmission mode and a beginning of an immediately following counter-control pulse.

Operating method according to one of the preceding claims,

where the damping energy is determined or adjusted by setting or adjusting the number, duration and / or amplitude of the active damping output or output

Counter control pulses, in particular via a setting or adjusting the course and / or the amplitude of a vibration element of the underlying ultrasound transceiver device (1) exciting electrical voltage and / or an electric current. Operating method according to one of the preceding claims,

in which the damping energy is determined or adjusted by specifying or adjusting the pulse width of a counter-control pulse last emitted during active damping.

Operating method according to claim 4,

in which the damping energy is further determined or adjusted by the disappearance of a last sent or sent counter control pulse by reducing the pulse width during active damping by setting or adjusting the pulse width of a penultimate sent or emitted counter control pulse.

Operating method according to one of the preceding claims,

in which a measure of the damping success is determined via a

Time span from the time of the end of a last drive pulse to the

Time of decrease of the oscillation amplitude at the

Ultrasound transceiver (1) below a predetermined

Threshold, in particular by minimization and / or by

Optimization.

Operating method according to one of the preceding claims,

in which a measure of the damping success is determined by determining an integral under a vibration signal or the envelope of the vibration signal of

Ultrasound transceiver device (1) and in particular one

Vibration element of the ultrasonic transceiver (1), from a start time to an end time at which value of the vibration signal or the envelope of the vibration signal has dropped below a predetermined threshold, in particular by minimization and / or by optimization.

Operating method according to one of the preceding claims, in which a training is carried out

- at a first start of the underlying

Ultrasound transceiver device (1) and / or - in the event of a restart after a service interruption or after a break in operation of the underlying

Ultrasound Transceiver (1).

Operating method according to one of the preceding claims,

After training and in particular during operation of the underlying ultrasound transceiver device (1), the phase position and / or the damping energy as a damping parameter in one

Regular operation can be readjusted.

Operating method according to one of the preceding claims, in which a training and / or a regular operation are carried out by

- The phase angle and / or the damping energy as

Attenuation parameters are initially set or adjusted in each case with a coarse adjustment and subsequently each optionally with a fine adjustment,

- The phase angle and / or the damping energy as

Attenuation parameters are defined or adjusted by means of interval halving in a search window in the respective parameter range,

- The phase angle and / or the damping energy as

Attenuation parameters in a fixed adjustment direction are first defined or adjusted by positive or negative incrementation and subsequently by negative or positive incrementation in a search window in the respective parameter range, and / or

- after each setting or adjusting the phase angle and / or the damping energy as a damping parameter, the degree of

Damping success is determined and tested.

Control device (10) for an ultrasonic transceiver (1), which is set up, an operating method for a

Ultrasound transceiver device (1) according to one of the preceding claims.

Ultrasonic transceiver device (1) with a control device (10) according to Claim 10.

13. working device and in particular vehicle with a

Ultrasonic transceiver device (1) according to claim 1 1 for detecting an environment (50) of the working device.