KR102207157B1 - Sound communication apparatus and method for controlling the same - Google Patents

Abstract

In the present invention, at least one first sound wave communication unit 10T for outputting input data through a speaker 61 in a sound wave communication method, and the first sound wave communication unit 10T and the relative position thereof are arranged to be variable, and the A sound wave communication device including a second sound wave communication unit 10R for receiving and outputting the data from sound waves output from a speaker 61 through a microphone sensor 51 and a control method thereof are provided.

Description

Sound wave communication device and its control method {SOUND COMMUNICATION APPARATUS AND METHOD FOR CONTROLLING THE SAME}

The present invention relates to a sound wave communication device and method thereof using sound wave communication, and more particularly, to a sound wave communication in an inaudible band between a transmission side sound wave communication unit and a reception side sound wave communication unit occupying positions that can change relative distances from each other. The present invention relates to a sound wave communication device and a control method thereof.

Inaudible sound communication technology is a technology that performs communication between devices by loading digital data on high-frequency sound waves that are not heard by human hearing. Such inaudible sound communication technology is used as a smart cheering tool or a smart toy. There is a need for a method that can be used in devices used in various areas of daily life, such as, and in addition to the need for utility at home, the scope of use is actively being discussed in various fields of industry.

On the other hand, due to automation of industrial production facilities, the need and demand for I/O modules required for communication between devices are rapidly increasing. I/O modules are very widely used in the industrial market, and are generally used in industrial production facilities, that is, various industrial production facilities such as conveyor belts or conveying carts on a conveyor belt line.

In the conventional case, the proportion of wired I/O modules was much higher. In industrial processes, especially in the process of moving equipment, in the case of a conventional wired module, connection may not be easy, and if a connection problem occurs in a specific process, the shutdown of the entire production line entails a productivity problem. Maintenance problems occurred due to the physical connection structure of

For example, on various production lines such as automobile production lines, which are representative conveyor belt production lines, the conventional wired I/O module uses a contact method to move the transport truck to the station location where the operator or work subject such as the work robot is placed. In this case, connection between communication modules is made through a physical connection method, and this wired physical connection method has difficulty in installation and maintenance, and damage to the connection module occurs when a sudden stop state occurs to prevent safety accidents or such connection process. The possibility of physical error in the phase was rich.

In order to solve this problem of physical access, demand for wireless I/O modules and research and development production according to the demand for wireless I/O modules have been actively conducted. For example, in the case of a wireless connection communication structure such as ZigBee, WIFI, BLE, etc., the connection and physical damage issues can be excluded by excluding physical access by establishing a communication connection through wireless communication between a work station and a transport truck.

However, in the case of a wireless I/O module, it is composed of a product that performs communication between paired modules, and an attempt to apply a wireless module has been made, but problems related to pairing are involved. In other words, there is a problem that it is difficult to detect a pairing target module during the process of pairing the wireless module. For example, in order to minimize a problem accompanying the work environment of an industrial production facility site, that is, a communication failure caused by not smoothly pairing wireless communication between wireless modules under a metallic industrial site environment, or this communication failure problem, By installing additional expensive equipment, there was a problem in which the installation cost increased rapidly.

The present invention is invented to solve the problems of the prior art as described above, and is a non-audible sound communication technology that carries out communication even in industrial production facilities by loading digital data on sound waves in a high frequency band that are not heard by human hearing. It provides a sound wave communication device for transmitting data and its control using

The present invention for achieving the above technical problem, at least one first sound wave communication unit (10T) for outputting the input data in a sound wave communication method through the speaker 61, and the first sound wave communication unit (10T) It provides a sound wave communication device including a second sound wave communication unit 10R that is disposed so as to be able to change its relative position to and receives the data from the sound wave output from the speaker 61 through the microphone sensor 51 and outputs it.

In the sound wave communication device, the first sound wave communication unit 10T loads input data onto sound waves of an inaudible high frequency band and transmits the sound waves to the second sound wave communication unit 10R through the speaker 61. It may also include a transmission unit 140.

In the sound wave communication device, the sound wave transmission unit 140 may change the base method of data to remove the reverberation sound of the sound wave transmitted through the speaker 61.

In the sound wave communication device, the sound wave transmission unit 140 comprises: a digital signal generation unit 141 for digitally forming (converting) data to be transmitted so as to be suitable for transmission of inaudible sound waves; A digital signal encoding unit 142 for encoding the digital data converted by the digital signal generating unit 141; A high frequency generator 143 for converting the data encoded by the digital signal encoding unit 142 into sound wave data by signal processing; It may be configured to include a; high frequency filtering unit 144 for fading the converted high frequency.

In the sound wave communication device, the input data from the digital signal generator 141 may be digitally converted into a preset radix.

In the sound wave communication apparatus, the digital signal encoding unit 142 may be configured to change the base method of input data to remove reverberation sound.

In the sound wave communication device, the base system conversion of the input data (inputi) for removing reverberant sound is:

Base-converted data (encodedi) may be calculated through a relational expression such as.

In the sound wave communication device, the high frequency generator 143 may add data indicating that the high frequency sound source starts and the sound source ends.

In the sound wave communication device, input data from a plurality of input sensors exist between the first sound wave communication unit 10T and the second sound wave communication unit 10R, but each input data is in a preset frequency range. Frequency assignment is possible, and each input data is converted into respective sound wave data by the high frequency generator 143, and the sound wave transmission unit 140 synthesizes high frequency and sound sources such as a sound wave mixer that integrates the respective sound wave data. It may contain more wealth.

In the sound wave communication device, the second sound wave communication unit 10R includes a microphone sensor 51 for receiving a sound wave in a high frequency band transmitted from the sound wave transmission unit 140 of the first sound wave communication unit 10T. It may include a sound wave receiving unit 210 having an input unit 50 to include it, and decoding input data included in the received high-frequency sound wave into digital data.

In the sound wave communication apparatus, the sound wave receiving unit 210 may amplify data received from a microphone sensor through a single/plural band frequency amplification filter having a high gain.

In the sound wave communication device, the sound wave receiving unit 210 may be an OPAMP amplifier circuit.

In the sound wave communication device, the sound wave receiving unit 210 may signal-process the received input data and store it as data in the form of a spectrogram.

In the sound wave communication device, the sound wave receiver 210 checks whether there is a start signal in the data, stops the operation if there is no start signal, and when a start signal is detected, the input data in the form of a spectrogram It is also possible to remove the reverberation and analyze the final processed frequency signal.

In the sound wave communication device, the sound wave receiver 210 detects an index with the highest signal in a spectrogram in order to detect the start of the signal, and the corresponding start signal in order to detect the index. Input data if the ratio between the two values is obtained by simultaneously measuring the signal strength in the frequency band and the signal strength in the frequency band other than the starting signal, and if the ratio of the two signal strengths is greater than or equal to the specified value and is maintained for a specified time or longer. You can also take a configuration that determines that the signal has started.

In the sound wave communication device, the unit data of the input data on the spectrogram has a unit data length BL composed of a preset number of data fragments BLF, and the sound wave receiving unit 210 includes the input When the start of a data signal is detected, when sorting from a certain time (x) in the unit data length (BL) of the input data, the remaining area after a certain time (x) in unit data length (BL) Among the spectrograms, the sum of the maximum values of the same number of indexes with the largest signal for the data fragments (BLF) in the same time period was calculated by incrementing a predetermined time (x) by a preset size (the data fragment (BLF)). A time (x) forming the largest value may be set as the starting point.

In the sound wave communication apparatus, reverberation may be removed by attenuating the aligned data with a preset attenuation rate (echoGain) for subsequent data following the unit data length BL of the aligned data.

In the sound wave communication device, after the reverberation sound is removed, the base system conversion of the aligned data (encodedi) is:

Inversely transformed data outputi may be calculated through a relational expression such as

In the sound wave communication device, the first sound wave communication unit 10T and the second sound wave communication unit 10R may be connected to each other in consideration of a distance index reflecting a distance between them.

According to another aspect of the present invention, the present invention provides a first sound wave communication group including at least one first sound wave communication unit 10T for outputting input data through a speaker 61 in a sound wave communication method, and the first At least one second sound wave communication unit 10R that is arranged to be able to change its relative position with the sound wave communication unit 10T and receives and outputs the data from the sound wave output from the speaker 61 through the microphone sensor 51. It provides a sound wave communication device having a second sound wave communication group including.

In the sound wave communication device, the first sound wave communication unit 10T and the second sound wave communication unit 10R may be connected to each other in consideration of a distance index reflecting a distance between them.

In the sound wave communication apparatus, a plurality of the second sound wave communication units are provided, and the distance index is arranged based on the strength of the signal received by the second sound wave communication unit 10R, and a preset value excluding a maximum strength value A second sound wave communication unit calculated based on a value and having a maximum distance index among the plurality of second sound wave communication units, but the calculated distance index is equal to or greater than a preset distance index, and the first sound wave communication unit may be communication-connected. .

In the sound wave communication apparatus, the preset value may be selected from values of a lower 50% or less among signals arranged based on intensity.

In the sound wave communication device, a plurality of second sound wave communication units may be provided, and both the first sound wave communication unit 10T and the second sound wave communication unit 10R may be capable of transmitting and receiving sound waves.

In the sound wave communication device, the second sound wave communication unit 10R transmits a distance measurement sound wave at a preset measurement period T, and the first sound wave communication unit 10T is the second sound wave communication unit 10R. When receiving a distance measurement sound wave from ), the carrier distance measurement sound wave is transmitted after a preset measurement period (T) after reception, and the second sound wave communication unit 10R is the carrier of the first sound wave communication unit 10T. Distance measurement A distance between the first sound wave communication unit 10T and the second sound wave communication unit 10R may be measured by receiving the sound wave.

According to another aspect of the present invention, the present invention provides at least one first sound wave communication unit 10T for outputting input data through a speaker 61 in a sound wave communication method, the first sound wave communication unit 10T, and Provides a sound wave communication device including at least one second sound wave communication unit 10R disposed to be able to change relative position and receiving and outputting the data from the sound wave output from the speaker 61 through the microphone sensor 51 In the providing step (S1), the sound wave transmission unit 140 of the first sound wave communication unit 10T loads the input data onto sound waves of an inaudible high frequency band, and communicates the second sound wave through the speaker 61 The sound wave transmission step (S10) transmitted to the unit 10R, and the sound wave receiving unit 210 of the second sound wave communication unit 10R transmits the input data of the high frequency band transmitted through the sound wave transmission step as described above to the microphone sensor. It provides a method for controlling a sound wave communication device including a sound wave receiving step (S20) of receiving and decoding digital data by analyzing input data included in the received sound wave of a high frequency band.

In the sound wave communication device control method, the sound wave transmission step (S10): Inaudible the input data to be transmitted from the digital signal generation unit 141 of the sound wave transmission unit 140 of the first sound wave communication unit 10T A digital data generation step (S11) prepared and formed in a digital data format suitable for sound wave transmission, and a digital data encoding step (S13) of encoding digital data prepared by the digital signal encoding unit 142 of the sound wave transmission unit 140 A sound wave conversion step (S16) of converting data encoded by the high frequency generator 143 of the sound wave transmission unit 140 into sound wave data by signal processing (S16), and a sound wave output through a sound wave communication method through the speaker 61 It may also include a sound wave output step (S19).

In the sound wave communication device control method, in the digital data generation step (S11), the input data may be digitally converted to a preset radix.

In the method of controlling the sound wave communication device, in the digital data encoding step (S13), the digitized input data may be base-converted to remove the reverberant sound.

In the sound wave communication device control method, in the digital data encoding step (S13), base code converted data (encodedi) is calculated through base code conversion of the digitized input data (inputi) for removing the reverberant sound, and the base code The conversion is:

May be calculated through a relational expression such as

In the method of controlling the sound wave communication device, the sound wave conversion step (S16) includes: a starting data adding step (S161) of adding notification data indicating a start and an end before and after the encoded input data, and the encoded input data A frequency domain conversion step (S163) of converting the frequency domain to the frequency domain, and a time domain conversion step (S165) of converting the frequency domain converted input data into an output sound wave form may be included.

In the method of controlling the sound wave communication device, a sound wave filtering step (S17) of fading the high frequency changed in the sound wave conversion step (S16) in the high frequency filtering unit 144 of the sound wave transmitting unit 140 may be further included.

In the sound wave communication device control method, input data from a plurality of input sensors exist between the first sound wave communication unit 10T and the second sound wave communication unit 10R, but a preset frequency for each input data The sound wave data frequency-allocated to each of the preset frequency ranges before the frequency allocation step (S15) in which a frequency is allocated to the range, and the sound wave output step (S19) in the high frequency and sound source synthesizer 145 of the sound wave transmission unit 140 A sound wave mixing step (S18) in which is integrated may be further provided.

In the sound wave communication device control method, the sound wave receiving step (S20) comprises: a sound wave signal receiving step (S21) of detecting a sound wave signal including input data of a high frequency band in the form of sound wave data through the microphone sensor 51 And, a frequency separation signal processing step (S23) of processing sound wave data by separating a frequency including the corresponding sound wave data from the received sound wave signal, and digital data for converting sound wave data of the separated sound wave signals into digital data It may include a decoding step (S24), a digital data consistency check step (S25) for checking the consistency of the signal decoded into the digital data, and a digital data output step (S26) for outputting the digital data whose consistency is confirmed. have.

In the sound wave communication device control method, the frequency-separated signal processing step (S23): converts input data in the form of corresponding sound wave data from the received sound wave signal into frequency signal data, and generates data in a spectrogram form. It may include a frequency signal data conversion step (S231) to store and a frequency signal data processing step (S233) of processing an alignment signal to check whether the input data converted in the frequency signal data conversion step (S231) starts.

In the sound wave communication device control method, the frequency signal data conversion step (S231) comprises: a frequency domain conversion step of forming frequency signal data by frequency domain conversion of input data in a corresponding sound wave data form from the received sound wave signal (S2311) ), and a frequency signal spectrogram conversion step (S2313) of converting the converted frequency signal data into a spectrogram form.

In the sound wave communication device control method, the frequency signal data processing step (S233) comprises: a frequency signal data start checking step (S2331) of checking whether the input data converted in the frequency signal data conversion step (S231) starts or not; If the frequency signal data start checking step (S2331) confirms whether or not it starts, the frequency signal data sorting step (S2333) for dividing each data bit in the spectrogram, and the unit data length of the sorted data ( A reverberation sound removal step (S2335) of removing reverberation by attenuating the sorted data with a preset attenuation rate (echoGain) for subsequent data following BL), and normalizing the data from which the reverberation sound is removed in a preset manner. A data restoration step (S2337) of performing the normalized data, and a data evaluation step (S2339) of calculating a data bit value by obtaining an energy intensity for each data bit from the normalized data may be included.

In the method of controlling the sound wave communication device, the step of confirming the start of the frequency signal data (S2331) includes: detecting an index having the highest signal strength in the spectrogram, and detecting a signal strength in a corresponding frequency band of the start signal. (index,start_freq)) and the signal strength of a frequency band other than the start signal are measured to calculate a start signal strength ratio (start signal ration(index)) with two signal strengths, and the start signal strength ratio (start signal ration( index)) is a start signal intensity ratio and a maintenance duration calculation step (S23311) of calculating a maintenance duration time of a state equal to or greater than a preset stored preset signal intensity ratio (ssrs), and the start signal intensity ratio (index )) and a preset stored preset signal strength ratio (ssrs), and comparing the maintenance duration time with the preset stored preset maintenance duration time to determine whether to start or not (S23313). .

In the sound wave communication device control method, the unit data of the input data on the spectrogram has a unit data length BL composed of a preset number of data fragments BLF, and the frequency signal data alignment step (S2333 ), when the start of the input data signal is detected, when the input data is aligned in the unit data length (BL) unit from a certain time (x), unit data for the remaining area after a certain time (x) In the length (BL) unit, the sum of the maximum values of the same number of indexes with the largest signal for the data fragment (BLF) in the same time period among the spectrograms is a predetermined time (x) as a preset size (the data fragment (BLF) A certain time (x) that forms the largest value when calculated by incrementing by) may be set as the starting point.

In the sound wave communication device control method, the frequency signal data alignment step (S2333) includes: a max energy index, which is an index of a data fragment (BLF) having the largest signal among the same data fragments (BLF) from a certain time (x) ( The Max Energy Index calculation step (S23331) of calculating MaxEnergyIndex(x)), and a new count (SameCount(val), which is the number of the same index in the unit data length BL) among the MaxEnergyIndex(x) x)), the new im count calculation step (S23333) of calculating the new im count (SameCount(val, x)) for the remaining area after the certain time (x) of the spectrogram in the unit data length (BL). The max repeat counter calculation step (S23335) of calculating a max repeat counter (MaxRepeatCounter(x)) that is the sum of the maximum values of ), and the max by incrementing a certain time (x) by a preset size (the data fragment (BLF)). Among the plurality of MaxRepeatCounter(x) derived by calculating the repeat counter calculation step, a point (x) forming the maximum MaxRepeatCounter(x) is set as the starting point, and the corresponding point (x A start index calculation step (S23337) of setting the index of) to the start index (StartIndex) may be included.

In the sound wave communication device control method, in the digital data decoding step (S24),

Base conversion of the data (encodedi) from which the reverberation sound has been removed after alignment is performed through the relational expression such as, and the inversely-transformed data (outputi) from which the reverberation sound is removed may be calculated.

In the sound wave communication device control method, the sound wave receiving step (S20) comprises: a sound wave signal receiving step (S21) of detecting a sound wave signal including input data of a high frequency band in the form of sound wave data through the microphone sensor 51 And, a frequency separation signal processing step (S23) of processing sound wave data by separating a frequency including the corresponding sound wave data from the received sound wave signal, and digital data for converting sound wave data of the separated sound wave signals into digital data In the decoding step (S24), the consistency of the signal decoded as the digital data is checked, and the precision is determined from the distance index reflecting the distance between the first sound wave communication unit 10T and the second sound wave communication unit 10R. It may include a digital data consistency and precision checking step (S25a) of checking whether or not the connection has been made, and a digital data outputting step (S26) of outputting the digital data whose consistency is confirmed.

In the sound wave communication device control method, the digital data consistency and precision checking step (S25a) comprises: a checksum checking step (S251a) of checking a checksum of the decoded digital data, the first sound wave communication unit (10T), and A distance calculation step (S252) of calculating a distance between the second sound wave communication units (10R), a checksum suitability determination step (S253) of determining whether the checksum checked in the checksum verification step (S251a) is appropriate, and the A distance fit determination step (S254) of comparing a distance index, which is a distance between the first sound wave communication unit 10T and the second sound wave communication unit 10R, and a preset distance ds may be included.

In the sound wave communication device control method, the digital data consistency and precision checking step (S25a) comprises: a checksum checking step (S251a) of calculating and confirming a checksum of the decoded digital data; and the first sound wave communication unit (10T) A distance index (DI) calculation step (S252a) for calculating a distance index (DI) between the and the second sound wave communication unit 10R, and determining whether the checksum calculated and verified in the checksum verification step (S251a) is appropriate. A checksum suitability determination step (S253) and a distance suitability determination step of comparing a distance index DI and a preset distance index DIs between the first sound wave communication unit 10T and the second sound wave communication unit 10R. It may also include (S254a).

In the sound wave communication device control method, a plurality of second sound wave communication units are provided, and the distance index is aligned based on the strength of the signal received by the second sound wave communication unit 10R, excluding a maximum strength value. A second sound wave communication unit calculated based on a preset value and having a calculated distance index equal to or greater than a preset distance index and the first sound wave communication unit may be communicatively connected in the distance suitability determination step S254a.

In the method for controlling the sound wave communication device, the distance index may be calculated through the following equation.

(Equation)

Here, the array (array = strength of data signal) is an array of signal strengths of the data bits of the input data, and the array sort (sorted_array = sort(array,descend)) is the order of the array.

In the method for controlling the sound wave communication device, the preset value may be selected from values of a lower 50% or less among signals arranged based on intensity.

In the sound wave communication device control method, the digital data consistency and precision checking step (S25a) comprises: a checksum checking step (S251a) of calculating and confirming a checksum of the decoded digital data; and the first sound wave communication unit (10T) A TOF distance index calculation step (S252b) of calculating a TOF distance (DTOF), which is a distance index between the and the second sound wave communication unit 10R, and determining whether the checksum confirmed in the checksum verification step (S251a) is appropriate. A checksum suitability determination step (S253) and a distance suitability determination step of comparing a distance index DTOF between the first sound wave communication unit 10T and the second sound wave communication unit 10R and a preset distance index Ds It may also include (S254b).

In the sound wave communication device control method, a plurality of the second sound wave communication units are provided, and both the first sound wave communication unit 10T and the second sound wave communication unit 10R may transmit and receive sound waves.

In the sound wave communication device control method, the distance measurement master sound wave signal transmission step (S2521b) of transmitting a distance measurement sound wave in a preset measurement period (T) in the second sound wave communication unit 10R, and the first sound wave communication A distance measurement master sound wave signal reception step (S2522b) in which the unit 10T receives the distance measurement sound wave, and the first sound wave communication unit 10T receives the distance measurement sound wave from the second sound wave communication unit 10R. In this case, a distance measurement slave sound wave signal transmission step (S2523b) of transmitting a carrier distance measurement sound wave after a preset measurement period (T) after reception, and a distance at which the second sound wave communication unit 10R receives the carrier distance measurement sound wave The first sound wave communication using the measurement slave sound wave signal reception step (S2524b) and the transmission time (trans) and reception time (trecv) of the carrier distance measurement sound wave in the second sound wave communication unit 10R, and a preset period A distance index calculation step (S2526b) of calculating a distance between the unit 10T and the second sound wave communication unit 10R may be included.

The effects of the sound wave communication device and method using sound wave communication of the present invention configured as described above are as follows.

First, since a microphone sensor is used instead of a communication module used in a conventional RF communication method or a WIFI/BLE communication method, there is an effect of lowering the price of a sound wave communication device having a sound wave communication unit.

Second, even in an industrial site where a beam of a steel structure is arranged, it is possible to secure work robustness through more accurate transmission and reception of input data by solving the communication restrictions due to wireless communication such as RF.

Third, when used in an industrial site, there is an effect of reducing the installation cost and period by making the installation of complex additional equipment for wireless communication unnecessary.

Third, it has the effect of enabling fast and stable communication by solving the problem of reverberation sound.

Fourth, by using distance-related information as well as the consistency of the communication connection, it is possible to smoothly adjust the communication connection between a plurality of sonic communication units by increasing the precision of the communication connection. It can also improve ease of use and speed.

Fifth, by obtaining distance information and enabling communication with only sound waves, it is possible to prevent the problem of communication quality deterioration of existing radio communication in an environment with many steel structures such as automobile line processes.

1 is a block diagram of a sound wave communication device using sound wave communication of the present invention,
Fig. 2 is a schematic diagram of a configuration example of a transmission/reception side of a sound wave communication unit of the sound wave communication device of the present invention.
3 and 4 are flowcharts of a method for controlling a sound wave communication device of the present invention.
5 is a diagram illustrating a gain-related diagram of a microphone sensor and a speaker.
6 is a schematic diagram showing a state in which reverberation sound is formed.
7 is a spectrogram showing a change in frequency over time by transmitting a high-frequency sound source to a speaker from a transmitting-side sound wave communication unit of the sound wave communication device of the present invention, and receiving data received by a microphone sensor of the receiving-side sound wave communication unit. ).
8 is a flowchart of a method for controlling a sound wave communication device of the present invention.
9 is a graph showing a result of analyzing a final signal to which start and end signals are added to both ends of input data in the control method of the sound wave communication device of the present invention.
10 is a diagram showing an allocation state of a frequency band used in the present invention.
11 is a schematic diagram for explaining an allocation state of a frequency band used by the sound wave communication device of the present invention.
11A is a diagram showing a frequency at which a window for fade processing is used.
12 is a block diagram of amplification through a band frequency amplification filter.
13 is a diagram of a terminal SDK Core signal analysis flow.
14 to 17B are flowcharts of a control method according to the present invention.
18 is a diagram illustrating an example of performing spectrogram analysis.
19 to 23 are diagrams illustrating a spectrogram data alignment process.
24 is a diagram showing a result of performing a normalization algorithm for restoration of a spectrogram.
25 is a diagram showing a value having the maximum energy per data bit for a spectrogram in red.
26 and 27 are diagrams showing a distance relationship between a transmitting-side acoustic wave communication unit and a receiving-side acoustic wave communication unit. '
28 and 29 are perspective views and plan views of examples of use of the sound wave communication device in an industrial site.
30 to 33 are flowcharts of a control method according to the present invention.
34 is a diagram of a spectrogram when an impact sound occurs.
35 is a diagram of a spectrogram in which corresponding data bits are displayed for calculating a distance index.
36 is a diagram showing an alignment state of corresponding data bits by strength.
Fig. 37 is a state diagram showing a distance relationship between a plurality of receiving-side acoustic wave communication units and a transmitting-side acoustic wave communication unit.
38 and 39 are flowcharts illustrating a process of measuring a distance using a carrier wave.
40 and 41 are state diagrams for explaining a state of reflecting a carrier wave on the transmitting and receiving side.
42 and 43 are diagrams illustrating an example of using the sound wave communication device of the present invention in another industrial site.
44 is a diagram showing an example of use of the acoustic wave communication device of the present invention in another industrial site.

Hereinafter, a configuration of a sound wave communication apparatus and method using sound wave communication of the present invention will be described with reference to the drawings.

However, the disclosed drawings are provided as an example for sufficiently transferring the spirit of the present invention to those skilled in the art. Accordingly, the present invention is not limited to the drawings presented below and may be embodied in other aspects.

In addition, unless otherwise defined in terms of the terms used in the present specification, they have the meanings commonly understood by those of ordinary skill in the art to which the present invention belongs, and the gist of the present invention in the following description and accompanying drawings Detailed descriptions of known functions and configurations that may be unnecessarily obscure will be omitted.

A sound wave communication device according to an embodiment of the present invention includes at least one first sound wave communication unit 10T and at least one second sound wave communication unit 10R.

A sound wave communication device according to an embodiment of the present invention includes at least one first sound wave communication unit 10T and at least one second sound wave communication unit 10R, wherein the first sound wave communication unit 10T is input Data can be output in a sound wave communication method through the speaker 61, and the second sound wave communication unit 10R is arranged to be able to change its relative position with the first sound wave communication unit 10T, and from sound waves output from the speaker 61 Input data is received through the microphone sensor 51 and outputted (see FIG. 2(a)).

That is, the first sound wave communication unit 10T encodes the input data, converts it in the sound wave transmission unit 140, and outputs the sound wave communication method through the speaker 61, and the second sound wave communication unit 10R is the first The sound wave communication unit 10T and the relative position thereof are arranged to be variable, and input data from the sound wave output from the speaker 61 is received through the microphone sensor 51, converted by the sound wave receiving unit 210, decoded, and output. Here, the input data may be I/O data, analog data, or digital data, and various selection and application are possible according to use and design environments.

Here, in the case of the sound wave communication device of the present invention, a first sound wave communication unit group formed by at least one first sound wave communication unit is formed, and a second sound wave communication unit group formed by at least one second sound wave communication unit is formed. In this embodiment, at least one first sound wave communication unit 10T and at least one second sound wave communication unit 10R will be described.

In addition, the first sound wave communication unit 10T and the second sound wave communication unit 10R each have a sound wave transmitting unit 140 or a sound wave receiving unit 210 to be described below, so that one of them has a transmission function and the other is a reception function. It may take a configuration of a pair to perform (refer to Fig. 2(a)), and the first sound wave communication unit 10T and the second sound wave communication unit 10R include a sound wave transmitting unit 140 and a sound wave receiving unit 210 Various modifications are possible, such as having all of them and having the same configuration (see Fig. 2(b)). In the present embodiment, the first sound wave communication unit 10T and the second sound wave communication unit 10R will be described with reference to an embodiment of the same configuration, but as described above, each transmission/reception function can be combined and arranged.

First, the first sound wave communication unit 10T, the second sound wave communication unit 10R, that is, the sound wave communication unit 10 includes a sound wave transmitting unit 140 and a sound wave receiving unit 210, and the control unit 20 and A storage unit 30, an operation unit 40, an input unit 50, an output unit 60, a communication unit 70, and a detection unit 80 may be included. Here, the sound wave transmitting unit 140 and the sound wave receiving unit 210 may be modularized to take respective independent control structures. In this embodiment, when the control unit 20, the storage unit 30, and the operation unit 40 are provided Although described as an example, the present invention is not limited thereto.

The control unit 20 is connected to other components of the sound wave communication unit 10 to apply a control signal, and the storage unit 30 stores preset data for sound wave communication, and transmitted or received data during the sound wave communication process. Is stored, and the operation unit 40 executes an operation process for processing a predetermined signal according to the operation control signal of the control unit 20. The control unit, the operation unit, and the storage unit may be used for the control process of the entire sound wave communication device, and in some cases, such signal processing or integrated control functions may be built into modules such as each sound wave transmitter or sound wave receiver, or coexist. Various modifications are possible according to design specifications, such as being able to take configuration.

The input unit 50 includes a microphone sensor 51, and may include a signal input unit 53 and an input display unit 55. The signal input unit 53 may be formed as a wired/wireless input port for inputting various signals, and the input display unit 55 may be implemented in the form of an LED that displays the input state of the signal input unit 53 or separately. Various configurations are possible, such as being implemented in the form of a display.

The output unit 60 includes a speaker 61, and includes a signal output unit 63 and an output display unit 65. The speaker 61 outputs a sound wave to the microphone sensor 51 of another sound wave communication unit disposed at a distance apart from the input data through a sound wave communication method. The signal output unit 63 may be formed as a wired/wireless signal output port for outputting a digital data signal or an analog signal when an A/D converter is provided, and the output display unit 65 is a signal output unit. Various configurations are possible, such as being implemented in the form of an LED that displays the output state of (63) or a separate display form.

In addition, the input unit 50 and the output unit 60 may be formed in individual modules, but in some cases, the microphone sensor 51 of the input unit 50 and the speaker 61 of the output unit 60 are an acoustic communication module. (Sound communication module; SCM) may be integrated in combination, and the signal input unit 53, the input display unit 55, the signal output unit 63, and the output display unit 65 are interface modules (Interface Modul, IFM). ), it can be combined in an individual integral form, and various modifications are possible according to design specifications. The connection or communication of signal input/output may be RS-485, CAN, or Ethernet.

In some cases, if necessary, a separate communication unit 70 may be further provided. The communication unit 70 is a component for communication with an external device by the sound wave communication unit 10, and includes a wired communication unit 71 and a wireless communication unit ( 73), but in some cases, a separate short-range wireless communication unit may be included.

The communication, communication network or communication network used by the communication unit is, for example, a cellular communication protocol, and may include at least one of, for example, LTE, LTE-A, 5G, WCDMA, CDMA, UMTS, Wibro, GSM, and communication The network can be configured regardless of the type of communication such as wired and wireless, and a short-range communication network (PAN), a local area network (LAN), a metropolitan area network (MAN), a wide area communication network (WAN). ;Wide Area Network) can be implemented in a variety of communication networks, communication, communication network, communication network may be a known World Wide Web (WWW), infrared (Infrared Data Association (IrDA)) or Bluetooth (Bluetooth) To Bluetooth Lowenergy and RF wireless communication may include various communication methods, and appropriate selection adjustment may be made according to design specifications.

The sensing unit 80 is a component for detecting changes in the surrounding environment, surrounding conditions, or the sound wave communication unit itself, and various selections are available according to various design specifications required for the environment in which the sound wave communication unit is placed, such as a proximity sensor and a distance sensor. It is possible.

The sound wave communication unit 10 performing the transmission function, that is, the first sound wave communication unit 10T, includes a sound wave transmission unit 140, and the sound wave transmission unit 140 transmits input data to sound waves in the inaudible high frequency band. Then, the sound wave communication unit 10 performing a reception function, that is, the second sound wave communication unit 10R, is transmitted through the speaker 61.

The sound wave transmitting unit 140 includes a digital signal generating unit 141, a digital signal encoding unit 142, a high frequency generating unit 143 and a high frequency filtering unit 144.

The digital signal generator 141 digitally converts the data to be transmitted so as to be suitable for transmission of inaudible sound waves. That is, in the process of converting input data, which is data to be transmitted, into a digital signal form, the digital signal generator 141 adds a checksum for checking an error in data transmission and performs a base code change.

In more detail, the digital signal generator 141 adds a checksum to check data consistency, and changes the data to which the checksum is added to a required base.

The embodiment of the present invention transmits 4 bytes of data in the form of a 7 number, but the bytes of the data to be transmitted or the base to be used are not limited to the converted base format of the 7 and octal numbers in this embodiment. Various modifications are possible according to the.

Typically, as shown in FIG. 5, the inaudible sound communication performs communication using an inaudible band of 18 kHz or more.

At this time, the high-frequency sound source produced at a sampling rate of 44100 Hz can be used up to a frequency of 22 kHz in Nyquist theory, but in general, the speaker 61 or the microphone sensor 51 is designed to have a low gain ratio above 18 kHz. .

Therefore, if the frequency used in the inaudible sound communication is too high, the transmission signal strength is weakened according to the frequency response curve of the speaker 61 or the microphone sensor 51, so that the transmission success rate decreases.

Accordingly, according to an embodiment of the present invention, the present invention allows digital data to have a frequency of 18-20 kHz so as to be suitable for transmission of inaudible sound waves.

In addition, the digital signal generator 141 digitally converts the input data into a preset radix. The digital signal generator 141 of the present invention transforms 5 bytes of digital data into 15 hex numbers in order to effectively transmit data in a narrow frequency band. However, the actual number to be modified or bytes to be transmitted at a time can be changed according to the application or performance of the speaker 61 and microphone sensor 51 used.

The digital signal encoding unit 142 encodes the digital data converted by the digital signal generating unit 141. In the digital signal encoding unit 142 of the present invention, the data transformed into a seven number by the digital signal generating unit 141 is changed back to an octal number in order to strongly change the reverberation sound.

When the sound wave containing data is output through the sound wave communication unit 10, that is, the speaker 61 of the first sound wave communication unit 10T, another sound wave communication unit that is directly spaced apart, that is, the second sound wave communication unit 10R In addition to the direct sound that reaches the microphone sensor 51 of, the reflected sound generated by hitting a wall or the like also reaches the microphone sensor 61 (see FIG. 6). In addition, in addition to the reflected sound, it is affected by the slow response speed of the speaker 61.

7 is a change in frequency over time by transmitting high-frequency sound waves through the speaker 61 of the first sound wave communication unit 10T, and receiving data received by the microphone sensor 51 of the second sound wave communication unit 10R It is a graph transformed into a spectrogram representing.

In the graph, a blue part indicates that no signal was detected at a corresponding time and frequency, and a yellow part indicates that a signal was strongly detected.

In the graph, the direct sound is actually a waveform of the portion transmitted to the speaker 61 of the first sound wave communication unit 10T (or is expected to be transmitted), and it can be seen that the direct sound is longer than the desired section. , This phenomenon occurs due to the reflected sound.

The data transformed into 7 digits in the digital signal generator 141 is changed back to octal digits in order to be robustly changed to the reverberation sound in the digital signal encoding unit 142.

At this time, the data changed to octal is designed not to have the same value as the previous value. This is to avoid being affected by the reverberation sound of the old data.

(Equation 1)

Equation 1 is a formula used for base conversion of the input data inputi for removing the reverberation sound, and the input data inputi is base converted through the formula to calculate the data (encodedi). 7-digit data is changed to octal data.

In order to prevent the same octal value from appearing consecutively, the output octal data (endcodedi) is the value obtained by adding the first converted octal data (endcodedi-1) to the octal data (inputi) to be converted to octal number. It is obtained by a modular operation of 8, which is the value of adding 1 to the original base. If there is no first converted octal data (endcodedi-1) value, the corresponding 7 number is changed to octal as it is.

For example, when the digital signal generator 141 calculates the checksum to transmit 4 bytes of 0xFC, 0x12, 0x04, and 0xAD, the corresponding data is changed into 5 bytes of, for example, 0xFC, 0x12, 0x04, 0xAD, and 0x41.

And, if the digital signal generator 141 converts 5 bytes of data into 7-digit data, the result is [1,4,1,1,3,4,4,5,2,4,2, 6, 1, 3, 5].

Thereafter, in order not to be affected by the reverberation sound, the data of the octal number according to Equation 1 [1,6,0,2,6, 3,0,6,1,6,1,0,2,6,4].

The high frequency generator 143 processes the data encoded by the digital signal encoding unit 142 and converts it into sound wave data to form a high frequency frequency signal. The input data digitally encoded by the high frequency generator 143 is converted into a form capable of being output through a speaker to enable sound wave communication through a frequency domain operation and a time domain operation.

The high frequency generator 143 adds data indicating the start of the high frequency sound wave (sound source) including the signal-processed input data and the end of the sound wave, which is later separated from another sound wave communication unit 10, that is, the second sound wave communication It is importantly used in signal processing at the sound wave receiving unit side of the unit 10R, that is, when operating components such as the sound wave receiving unit implemented in the terminal SDK Core configuration described below in this embodiment.

This addition of data indicating the start and end is performed by the high frequency generator, but in some cases, it may be performed by the digital encoding unit, and various modifications are possible according to design specifications.

The digital signal decoding unit 142 adds data indicating that the high frequency sound source starts and the sound source ends. In this embodiment, the data indicating the start has the same size as the two decimal data, and the data indicating the end of the high-frequency sound wave signal has the same size as the one decimal data, and the present invention provides various types of start and end points. Various configurations are possible.

9 is a graph showing a result of analyzing the final signals of 0xFC, 0x12, 0x04, and 0xAD to which the start and end signals are added by the digital signal encoding unit 142. In the middle, the input data and the sound wave-converted data of the checksum and start data and end data indicating the start, that is, start data, are disposed at both ends thereof.

The high frequency generator 143 according to an embodiment of the present invention converts octal data calculated by the digital signal encoding unit 142 into a high frequency frequency.

At this time, in the case of the embodiment of the present invention, it is designed to have a resolution of 512 with respect to the basic sampling rate of 44100Hz, and the frequency interval between each bit is configured to be about 86.13Hz, but this is an example and the present invention is not limited thereto. All bits are composed of multiples of frequency intervals, and frequencies for each bit in the embodiment of the present invention are shown in Table 1 below.

Bit frequency Remark 0 18174.0234375Hz 44100/512x211 One 18260.1562500Hz 44100/512x212 2 18346.2890625Hz 44100/512x213 3 18432.4218750 Hz 44100/512x214 4 18518.5546875Hz 44100/512x215 5 18604.6875000 Hz 44100/512x216 6 18690.8203125HZ 44100/512x217 7 18776.9531 250 Hz 44100/512x218 start bit 18863.0859375Hz 44100/512x219

Next, the high frequency generation unit 143 converts the result of the calculation in the form of a frequency domain into a form capable of outputting a sound source. In this case, the formula for converting the frequency domain to the time domain is as follows.

(Equation 2)

On the other hand, in the sound wave communication unit of the sound wave communication device of the present invention, the first sound wave communication unit 10T as the sound wave communication unit 10 of different to different groups that is disposed in a device that is spaced apart from each other and capable of changing a relative position to change the relative position. ) And the second sound wave communication unit 10R, but there is input data from a plurality of input sensors, frequencies can be assigned to a preset frequency range for each input data, and each input data is a high frequency generator 143 In which each sound wave data is converted, the sound wave transmission unit 140 may further include a high frequency and sound source synthesizer such as a sound wave mixer integrating the respective sound wave data.

That is, the sound wave communication unit of the sound wave communication device of the present invention may include a plurality of transmission/reception units implemented as an input unit/output unit/sensing unit, and a frequency band suitable for each transmission/reception unit included in the sound wave communication unit is set. There are cases where necessity is required, and each frequency band should be defined for transmission or reception. The frequency band used in the sound wave communication unit may be sequentially allocated to sensors or ports connected to an interface unit implemented as an input unit/output unit/sensing unit.

Whether the frequency band is for transmission or reception can be set through a switch or firmware update provided in an interface unit implemented as an input unit/output unit/sensing unit.For example, a sound wave communication unit is used in industries such as automobile production lines. When used in an installation process, all settings within the industrial installation process must be the same.

When a method for controlling a sound wave communication device as a sound wave transmission and reception algorithm of a sound wave communication device including the sound wave communication unit of the present invention is used, one frequency band is used. It is also possible to increase the data transmission rate by performing simultaneous transmission/reception in a single sound wave communication unit, or by using transmission or reception of multiple channels.

In a process in which the equipment using the sound wave communication device including the sound wave communication unit of the present invention moves so that the relative position change between the sound wave communication units is possible, the equipment on which the sound wave communication unit is mounted is a moving device and a fixed device. It can be divided into types, for example, a truck as a moving equipment, and a facility as a fixed equipment, that is, a facility station.

At this time, devices inserted into the fixed device can be classified into Device T and Device R.

As the frequency band of sound waves is narrow, it is difficult to secure an idle frequency band. Therefore, it is essential to utilize a limited frequency band. For example, when using a frequency band of three channels, the transmission and reception sound wave channels applied to sound waves are used according to the needs of the process. For example, it may be configured as shown in FIG. 11. Through this configuration, if the operator sets the frequency channel according to the process, both Device T and Device R can simultaneously perform transmission/reception.

When frequency allocation is performed, the high frequency and sound source synthesis unit 145 combines a plurality of sound waves into one sound wave data. That is, when input/output sensors/ports of a plurality of input/output/sensing units are connected to an interface unit implemented as an input unit and an output unit, the received input data is transferred to the speaker of the output unit 60 of the sound wave communication unit 10 ( 61). At this time, the sound wave yi(t) generated through a time domain operation in the high frequency generator with a frequency assigned at the time of frequency assignment must be integrated into one data. In this case, in the case of an embodiment of the present invention, in order to prevent the signal sum of the sound waves from exceeding the output range of the speaker (Clipping), each of the generated sound waves is output through the high frequency and sound source synthesis unit 145 (speaker outpu). (t)).

(Equation 3)

Here, the weight is a weight. In the high frequency band, since the frequency response curve of the speaker or microphone sensor may vary depending on the frequency band, a weight to compensate for this may be added.

The high frequency filtering unit 144 fades the converted high frequency. For example, when a signal is suddenly applied to a speaker, popping noise may be generated. The high frequency filtering unit 144 is a part that fades high frequencies so that the intensity of the sound source is smoothly increased and decreased smoothly to prevent this phenomenon.

In the embodiment of the present invention, a window in the form of a sine function is used for fading processing, but other types of windows may be used, and FIG. 11A shows a frequency at which a window for fading processing is used.

The sound wave communication unit 10T for transmitting and outputting the previously described sound waves to the sound wave communication unit 10 of the sound wave communication device of the present invention and the sound wave communication unit 10R capable of changing a relative position are provided with a sound wave reception unit 210. In some cases, the first sound wave communication unit (10T) may have a sound wave transmission unit without a sound wave reception unit, and the second sound wave communication unit (10R) may take a configuration including only a sound wave reception unit without a sound wave transmission unit. This is possible, but as described above, in the case of the present embodiment, the first sound wave communication unit 10T and the second sound wave communication unit 10R will be described with a focus on the case of substantially the same configuration.

The sound wave communication unit of the sound wave communication device includes an input unit 50 including the microphone sensor 51 described above, and the sound wave communication unit 10 on the side of the sound wave communication transmitter through the microphone sensor 510, that is, the first sound wave A high-frequency sound wave transmitted from the sound wave transmitting unit 140 of the communication unit 10T may be received. The sound wave receiving unit 210 interprets the input data included in the sound wave of the high-frequency band thus received and decodes it into digital data.

The sound wave receiving unit 210 of the present embodiment has a sound wave band of 18 to 20 kHz, and the transmission signal strength is weakened according to the frequency response curve of the microphone sensor or speaker, so that the transmission success rate decreases, and the analog-to-digital conversion provided by the actual MCU Since there is a limitation in signal analysis due to the limitation of the bit resolution of (ADC), in order to overcome this limitation, in some cases, as shown in FIG. 12, the sound wave receiving unit 210 of the present invention is a microphone sensor. It is also possible to take a configuration in which the data received from is amplified through a band frequency amplification filter having a high gain of a single/plural number. An embodiment of the present invention employs an analog type OPAMP amplifier circuit as the band frequency amplification filter.

At this time, the receiving-side sound wave communication unit 10, that is, the microphone sensor 51 of the second sound wave communication unit 10R and the transmitting-side sound wave communication unit 10, that is, the speaker 61 of the first sound wave communication unit 10T If the distance of is close, the sound pressure is large, and clipping may occur in the final signal that has undergone several stages of amplification.

Therefore, the sound wave receiver 210 of the present invention performs a separate analog-to-digital conversion (ADC) for each amplification filter step, and sequentially searches from the last step to the previous step, and the highest level in which clipping does not occur for a certain period of time. Various variations are possible, such as being able to be configured to look for a signal of a step of magnitude.

Meanwhile, the sound wave receiving unit 210 is used to receive the transmitted sound wave signal. 13 shows a terminal SDK Core signal analysis flow related to the signal flow of the sound wave receiving unit 210. The sound wave receiving unit 210 pushes the data received from the microphone sensor 51 to the ring buffer. The ring buffer may be included in the storage unit 30, and in some cases, various modifications may be made according to design specifications, such as being separately provided in the sound wave receiving unit.

The data stored in the ring buffer is popped as much as necessary for the operation, and the input data as sound wave data included in the collected sound wave is converted into a signal in the frequency domain by performing Fourier operation (FFT). Spectrogram). Such an operation process may be executed by the operation unit 40 according to an operation control signal of the control unit 20, and various modifications are possible, such as that a separate operation unit may be individually mounted on the sound wave receiving unit 210 according to design specifications.

The Fourier operation (FFT), which is a frequency domain transform operation, is for obtaining a frequency from time data. In the embodiment of the present invention, 1024 samples are acquired at a time and converted into the frequency domain. The data converted into the frequency domain has 512 samples, and each sample means the signal strength of the corresponding frequency by the following equation.

(Equation 4)

Here, it is preferable to take only the frequency band samples corresponding to the high frequency sound source and discard the rest, and the index of the sample corresponding to the high frequency sound source (i in Equation 4) among the samples in the frequency domain of the embodiment of the present invention is used from 421 to 442. However, this is an example, and the present invention is not limited thereto, and various modifications are possible according to specifications.

When the sound wave receiver 210 performs a Fourier operation, which is a frequency domain transformation operation, and stores the result in the form of a spectrogram in the ring buffer, the frequency analysis result of the high-frequency sound source obtained by the Fourier operation can know the change in frequency over time. It is transformed into the form of a spectrogram.

At this time, the spectrogram of the present invention is manufactured in the form of a ring buffer, and through this, the calculation speed can be increased.

18 shows an example of performing spectrogram analysis, and shows a result of outputting and receiving a high-frequency sound source having 4 bytes of data of 0xAB, 0xCD, 0xEF, and 0x01.

On the other hand, the sound wave receiving unit 210 checks whether the sound wave includes the actual transmitted input data, and if it is not the corresponding sound wave data, it stops the calculation process, which is the first sound wave communication unit 10 on the transmitting side, that is, the first sound wave. The high frequency generator 143 of the communication unit 10T takes the configuration of adding start data before and after the transmission data of input data and checksum data digitally generated and digitally encoded, and this start data is checked by the sound wave receiving unit 210 do. That is, the high-frequency sound source transmits a start signal before transmitting the corresponding data, and the sound wave receiver 210 checks whether there is a start signal, and if there is no start signal, the operation is stopped.

When the received sound wave data includes start signal data, that is, when the start signal data is detected, the sound wave receiver 210 extracts accurate data by removing reverberation sound from spectrogram-type data. And, if the final processed frequency signal is evaluated and determined as a correct signal, the corresponding signal is analyzed.

That is, the sound wave receiving unit 210 detects the index with the highest signal in the spectrogram in order to detect the start of the high-frequency signal, and in order to perform the detection robustly, the signal strength in the corresponding frequency band of the start signal ( index, freq)) and the signal strength of a frequency band other than the start signal are measured at the same time, and the sum is derived to obtain the ratio between the two values (see Equation 5).

(Equation 5)

If the ratio of the two signal strength-related factors is greater than or equal to the specified value, the sound wave receiving unit 210 to the control unit 20 determine whether the state above the specified value is maintained for a specified time or longer, To determine whether or not to start.

Here, the description has been made mainly on the case of confirming the start data, but the determination method for detecting the start of the high-frequency signal may be used in the same manner even when the signal end data is detected.

In addition, the sound wave receiving unit 210 interprets input data included in the received high-frequency sound wave and decodes it into digital data. In order to perform a series of analysis processes, the sound wave receiver 210 aligns the detected signals with data.

For example, in a spectrogram, one bit is implemented as a spectrogram of several rows, and processing to accurately divide these rows by data bit is required.

Of the sound wave communication unit 10 of the sound wave communication device according to an embodiment of the present invention, the sound wave communication unit on the receiving side, that is, the sound wave reception unit 210 of the second sound wave communication unit 10R is the remaining area after a certain time (x). The sum of the maximum values of the same number of indexes with the largest signal for the data fragment (BLF) in the same time period among the spectrograms in unit data length (BL) is calculated as a data fragment ( When calculated by incrementing by BLF), a certain time (x) that forms the largest value is set as the starting point.

More specifically, the sound wave receiving unit 210 checks the start data and confirms that the sound wave data including the input data, that is, a high-frequency signal, and the operation of the signal processing process is continued. In order to extract the correct input data in the signal processing process, the data The sound wave receiving unit 210 performs data alignment, which is a process of accurately segmenting data for a row on a spectrogram, which will be described later as a fragment BLF, by a predetermined unit data length BL.

The sound wave receiving unit 210 checks the start data among data from beginning to end, acquires data for a certain period of time when the signal start detection is made, and examines which index the acquired data has the greatest energy when it is sorted to determine the alignment index. Seek.

19 illustrates a method of obtaining energy for each index on a spectrogram in order for the sound wave receiving unit 210 to perform data alignment.

That is, in FIG. 19, the data on the spectrogram is referred to as a two-dimensional array SpectArray, the length of one data, that is, the unit data length formed by each data bit, is referred to as BL, and when sound wave communication between sound wave communication units is performed once, Data having a unit data length (BL) is collected and transmitted in NS, which is a preset number of data.

At this time, suppose that the max index (MaxIndex(array1dim)) is the index value of the element having the largest value among the values of the one-dimensional array (array1dim), the max index (MaxIndex(array1dim)) is expressed as follows ( Equation 6).

(Equation 6)

When this is expressed on a two-dimensional array of spectrograms, that is, on a two-dimensional plane, MaxEnergyIndex(x) is the y-axis data array corresponding to the x-th point (x) on the x-axis in the two-dimensional array of the spectrogram. It is an equation (Equation 7) to obtain the maximum index of (see Fig. 20).

(Equation 7)

SameCount() is a calculation of the number of things equal to the val value for a predetermined period from a point (x) among the MaxEnergyIndex, that is, for a preset unit data length (BL). Is expressed (see Figs. 21 and 22).

(Equation 8)

MaxRepeatCounter(x) is the maximum value of SameCount() for a certain section, that is, unit data length (BL) at a certain point (x) for a range of frequency bands that consider the base of preset data. The sum obtained by moving by the unit data length BL to the area after a certain point x is represented (Equation 9).

(Equation 9)

Here, if the x value at which the MaxRepeatCounter(x) is the maximum is calculated, that is, the MaxRepeatCounter(x) obtained by incrementing by data fragment (BLF) for the area after a certain point (x). Is the maximum value of x, and the value is the start index (Equation 10).

(Equation 10)

FIG. 23 is an example of analyzing a signal obtained in the data alignment process performed by the sound wave receiver 210 using a spectrogram. Compared to FIG. 18, a state in which a region with a high frequency signal is accurately detected is shown in contrast. . In other words, the data fragments formed by each row on the spectrogram are divided by unit data length (BL) by finding the exact location for dividing the data bits of the input data, based on this, in the aligned spectrogram (see FIG. 23). The display of data in the high-frequency region of is collected by the microphone sensor and calculated in the frequency domain, so that it is displayed much more clearly than the data in the high-frequency region in the spectrogram (see FIG. 18).

The sound wave receiving unit 210 of the present invention performs data analysis as well as signal processing for data alignment. That is, the sound wave receiving unit 210 removes data constituting the reverberation sound from the signal-processed alignment data to prevent data errors due to the reverberation sound. That is, the sound wave receiving unit 210 of the present invention removes the reverberation sound by attenuating the aligned data with a preset attenuation rate (echoGain) with respect to subsequent data following the unit data length BL of the aligned data.

The sound wave receiving unit 210 of the present invention receives the high-frequency sound transmitted from the speaker 61 through the microphone sensor 51, at this time, the first sound wave communication unit 10T, which is the sound wave communication unit 10 on the transmitting side during the reception process. In addition to the direct sound output from the speaker 61 of, the reflected sound or the like is simultaneously received by other objects in the space. Therefore, in order to prevent confusion about the reverberation sound when generating high-frequency sound, even if the reverberation sound generated after the direct sound in the spectrogram is attenuated by designing so that the data value for each bit does not appear continuously and equally. It is preferable not to affect the recognition rate for the direct sound, and the present invention is configured to attenuate or eliminate reverberation sound while preventing such data loss from occurring.

As shown in FIG. 23, which is a diagram of the data-aligned spectrogram, it can be confirmed that the effect on the reverberation sound is detected in some data. The present invention prevents confusion about the reverberation sound when generating high-frequency sound. For this purpose, since the data value for each bit is designed so that it does not appear continuously and equally, the reverberation sound can be removed through Equation 11 below.

(Equation 11)

That is, the sound wave receiving unit 210 of the present invention applies to the sorted data (Spectrogram(x-BL,y)) with respect to the subsequent data (Spectrogram(x,y)) following the unit data length BL of the sorted data. Attenuation with a preset attenuation rate (echoGain) eliminates reverberation. Subsequent data (Spectrogram(x,y)) is replaced with echo-removed data (EchoRemoved(x,y)). Here, if the echo removed data (EchoRemoved(x,y)) has a negative value, it is replaced with 0.

Therefore, even if the reverberation sound generated after the direct sound corresponding to the data bit of the input data in the spectrogram is attenuated, the recognition rate for the direct sound is not affected.

In addition, the sound wave receiving unit 210 of the present invention performs a spectrogram normalization process. That is, when it is necessary to more accurately analyze the sound source signal, the sound wave receiver 210 may restore the spectrogram data as much as possible.

It is difficult to check the data of the second bit or the last bit in FIG. 23 of the data-aligned spectrogram, which may be due to instantaneous impulse noise or characteristics of a speaker or microphone sensor used for communication, etc., and sound wave data In order to more accurately analyze the spectrogram of the high-frequency signal received and converted in the frequency domain, it is necessary to restore the spectrogram data as much as possible.

Therefore, considering that all signal information exists in the spectrogram and that one bit in the spectrogram is implemented as a spectrogram of multiple rows, the data fragment unit of the spectrogram is You can perform the normalization algorithm for each row.

This normalization algorithm is performed by the following equation (12).

(Equation 12)

24 is a result of performing a normalization algorithm for a spectrogram, it can be seen that the second bit and the last bit, which were difficult to observe, are visible. However, relative noise is observed in the row with the corresponding bit compared to other bits.

Meanwhile, the sound wave receiving unit 210 performs digital data decoding along with alignment, reverberation removal, and normalization for clarity of input data. The sound wave receiving unit 310 obtains energy corresponding to each value of each data bit based on data restored through a normalization process.

In FIG. 25, values having the maximum energy per bit are shown in red, and the values for each bit are shown in octal.

As a result, 15 values of [1, 2, 7, 2, 4, 6, 3, 2, 0, 7, 2, 1, 2, 3, 7] are obtained, and these [1, 2, 7, 2 , 4, 6, 3, 2, 0, 7, 2, 1, 2, 3, 7] are specially encoded data to remove reverberation in the sound source encoding step. In order to convert such data back into a preset base system and decode it into a 7 base system, the following equation (13) is used.

(Equation 13)

Equation 13 is a formula used to change octal data to seven digit data, and is a formula for restoring a value obtained by changing the seven digit values to non-contiguous octal digits through Equation 1 back to the original seven digit values. .

If the pre-selected radix is a 7 number, the 7 number data (outputi) can be obtained by substituting the octal number (encodedi) to be changed to the 7 number and the previous octal number data (encodei-1). If there is no data (encoded0), the corresponding octal data (encoded1) is changed to the 7 number (output0) as it is.

Exemplarily, octal numbers [1,6,0,2,6,3,0,6,1,6,1,0,2,6,4] as an exemplified case during digital encoding in the sound wave transmitter In the case of, the seven number [1,4,1,1,3,4,4,5,2,4,2,6,1,3,5] is decoded from the above equation to perform base conversion Changes are made.

Again, 15 values of [1, 2, 7, 2, 4, 6, 3, 2, 0, 7, 2, 1, 2, 3, 7] in FIG. 25 are 7 base data through Equation 6 It is changed to the value of [1, 0, 4, 2, 1, 1, 4, 6, 5, 6, 2, 6, 0, 0, 3], and if it is changed to Hex value, 0xAB, 0xCD, 0xEF, 0x01 , It becomes 0x97.

The sound wave receiving unit 210 obtains a checksum value of the first 4 bytes among the obtained 5 bytes of data, determines whether this value is the same as the last byte, and informs the SDK (refer to FIG. 13) of the received 4 bytes if the checksum result is appropriate. .

On the other hand, the sound wave communication apparatus of the present invention includes a transmission/reception side sound wave communication unit, but may further include a component for detecting and determining a situation requiring determination of whether or not each sound wave communication is connected.

That is, a relative position change occurs between the transmission/reception-side sound wave communication unit of the sound wave communication device 10 of the present invention, that is, the first sound wave communication unit 10T and the second sound wave communication unit 10R.

26A to 26C, the first sound wave communication unit 10T may be fixed in position and the second sound wave communication unit 10R may be moved, and FIGS. 27A to 27C ), the first sound wave communication unit 10T is fixed in position and the second sound wave communication unit 10R is moved, but a plurality of second sound wave communication units 10R are provided to form a second sound wave communication group. As a result, it is possible to achieve a configuration in which a relative position change occurs.

26A to 26C show that the second sound wave communication unit 10R approaches the first sound wave communication unit 10T from outside the effective range of the reliable sound wave communication range and enters the area inside the area. The relative position fluctuation relationship for each case deviating back to is shown, and Figs.27(a) to (c) show that the first sound wave communication unit 10T and the second sound wave communication unit 10R are in a 1: multi structure. , Respectively, the second sound wave communication unit 10R approaches from outside the area of the reliable sound wave communication effective range with the first sound wave communication unit 10T and enters the area inside the area and leaves the area again, and another second sound wave communication unit ( A relative position variation relationship for each case entering into the reliable sound wave communication effective range with the first sound wave communication unit 10T until 10R) is shown.

Here, in contrast to the state of FIG. 27, a plurality of first sound wave communication units 10T may be provided to form a first sound wave communication unit group. In addition, although the 1:1 to 1:multi structure of the transmitting side versus the receiving side was previously mentioned, a plurality of the first sound wave communication unit 10T and the second sound wave communication unit 10R of the present invention are each provided. The sound wave communication unit group and the second sound wave communication unit group are formed: It may take multiple configurations. In some cases, the transmitting and receiving acoustic wave communication units of the present invention may have multiple communication structures, but in this embodiment, any one of the transmitting acoustic wave communication units communicates only with any one of the receiving acoustic wave communication units. Take it.

28 and 29 show a case in which a first sound wave communication unit 10T and a second sound wave communication unit 10R of a sound wave communication device are provided to form a first sound wave communication unit group and a second sound wave communication unit group. In an exemplary form of, an exemplary perspective view and a plan view of a production equipment line of an industrial site are shown. In this embodiment, the first sound wave communication unit group of the first sound wave communication unit 10T is fixedly mounted on the station (S1, S2) side where the process robots R1 and R2 are disposed, and the second sound wave communication unit ( The second acoustic communication unit group of 10R) is fixedly mounted on the moving bogies M1 and M2 on which the process targets T1 and T2 are placed on the position-moving conveyor line CV.

The necessity of checking the connection through sound wave communication between sound wave communication units on such a factory facility is required, and the present invention takes a configuration in which distance factors including a direct distance or signal strength are reflected.

First, a distance sensor (not shown) for sensing a distance may be further provided in the sensing unit 80 of the sound wave communication unit 10 of the present invention.

That is, the distance sensor of the sensing unit 80 may detect a relative distance with another sound wave communication unit separated from each other, compare the measured distance with a preset distance, and determine whether or not communication is within the range.

In the previous embodiment, a configuration including a separate distance sensor has been mentioned, but the present invention is not limited thereto. That is, a distance index (DI) is formed as distance information between the sound wave communication units through the sound wave data received through the sound wave receiving unit of the sound wave communication unit, and compared with a preset distance index (DIs). May be.

Previously, the present invention arranges data corresponding to the data bits of the input data among the data of the spectrogram (see FIG. 23) after the data is sorted and then restored through a normalization process, in order of intensity size, and then is less than a preset range. The distance index DI is calculated through a value having an intensity smaller than the selected data. In the case shown in FIG. 25, before normalizing the signal strength for the part determined to be data (red square), it is obtained from the data from the spectrogram of FIG. 23, and the signal with the lowest signal strength among the corresponding signal strengths can be converted into distance. However, some data may be lost due to rapid fluctuations in sound waves, so in some cases, rather than using the lowest signal strength immediately, the Nth lowest signal is used, or the Nth lowest signal is several samples. The data can be stabilized by averaging (Equation 14).

(Equation 14)

Here, the array (array = strength of data signal) is an array of signal strength of data bits, and the array sort (sorted_array = sort(array,descend)) is the order of the array, and in this embodiment, it is high order (falling sort). .

As shown in FIG. 36, when data is descended in order of intensity, N of the lowest to the lowest level may be selected instead of the upper level. In the present embodiment, N is a value (in order) greater than half of the total number of arrays (L), and a value of less than 50% may be selected as an intensity value. As described above, the present invention adopts a certain value, particularly the lower 50% or less, to the lowest value among data, not in the case of the maximum strength of the data signal, so as to solve the problem that some data may be lost due to rapid fluctuation of sound waves, etc. Rather than using the signal strength directly, the data can be stabilized by using the Nth smallest signal in descending order of intensity, or by averaging several samples from the Nth smallest signal.

In addition, in the previous embodiment, a configuration for calculating and comparing a distance index based on an intensity value of a region in which a separate distance sensor is provided or the intensity of a sound wave is selected was mentioned, but the present invention is not limited thereto. That is, when at least a plurality of second sound wave communication units 10R are provided, and both the first sound wave communication unit 10T and the second sound wave communication unit 10R are capable of transmitting and receiving sound waves, the second sound wave communication unit 10R Transmits the distance measurement sound wave at a preset measurement period (T), and the first sound wave communication unit 10T receives the distance measurement sound wave from the second sound wave communication unit 10R. ) After transmitting the carrier distance measurement sound wave, the second sound wave communication unit 10R receives the first sound wave communication unit 10T and the first sound wave communication unit 10T and the second sound wave communication unit. Measure the distance between (10R).

That is, since sound waves are transmitted very slowly compared to radio signals, it is relatively easy to measure a distance using a time delay (Time of Flight). Since ultrasonic waves transmit strong sound waves in a very high frequency range, distances are measured by measuring the reflected sound that reaches the wall and is reflected. However, since the inaudible band used in the present invention utilizes a frequency region relatively close to the audible band, strong transmission may be dangerous to human safety. In addition, in the case of an ultrasonic sensor, an expensive cost is required, and the microphone or speaker mounted in the present invention does not allow it.

Therefore, in the case of the present invention, a TOF function may be provided for precise distance measurement. The sound wave for distance measurement is transmitted from the speaker 61 from the sound wave transmitting unit 140 on the receiving side second sound wave communication unit 10R side, and the microphone sensor 51 on the original transmitting side first sound wave communication unit 10T side When the sound wave receiving unit 210 receives the sound wave for measuring distance through the sound wave receiving unit 210, the sound wave transmitting unit 140 of the first sound wave communication unit 10T side of the transmitting side transmits a virtual reflected sound through the speaker 61. At this time, the data transmission unit implements TOF because it is not possible to immediately transmit a virtual reflected sound due to a delay generated by signal processing or the like. That is, the second sound wave communication unit 10R on the receiving side transmits sound waves in a preset period T. And, when the distance measurement sound wave transmitted from the second sound wave communication unit 10R on the receiving side is received by the first sound wave communication unit 10T on the sending side, the first sound wave communication unit 10T is received and then a preset period ( T) Afterwards, the reflected sound is transmitted

The second sound wave communication unit 10R on the receiving side receives the reflected sound in the next period, and at this time, the distance between devices can be measured by measuring the reception signal time versus the transmission signal time, which is expressed by Equation 15 as follows. .

(Equation 15)

At this time, the distance measurement signal may be implemented in the form of a chirp signal, and the reception time may be sensed through correlation.

Hereinafter, a method for controlling the sound wave communication device of the present invention described above will be described with reference to the drawings.

First, as shown in FIG. 3, the method for controlling a sound wave communication device of the present invention according to another embodiment of the present invention includes a providing step (S1), a sound wave transmitting step (S10), and a sound wave receiving step (S20). In the providing step S1, a sound wave communication device including at least one first sound wave communication unit and at least one second sound wave communication unit is provided, and the description thereof is replaced with the above.

Then, the sound wave transmission step (S10) is executed. In the sound wave transmission step (S10), the sound wave transmission unit 140 of the first sound wave communication unit 10T loads the input data onto the sound wave of the inaudible high frequency band, and transmits the input data to the second sound wave communication unit 10R through the speaker 61. Send out. That is, the input data is sensed through the microphone sensor 51 mounted in another sound wave communication unit 10 (10R) that is spaced apart through the speaker 61 and output to be transmitted to the sound wave receiving unit 210.

The sound wave transmission step (S10) includes a digital data generation step (S11), a digital data encoding step (S13), a sound wave conversion step (S16), and a sound wave output step (S19), as shown in FIG. .

In the digital data generation step S11, input data to be transmitted from the digital signal generation unit 141 of the sound wave transmission unit 140 of the first sound wave communication unit 10T is prepared and formed in a digital data format suitable for transmission of inaudible sound waves. . The input data may be analog data or digital data, and if the analog data is converted into digital form.

In addition, in the digital data generation step S11, a checksum is added to the input data, which can be used to evaluate the consistency of the data received by the sound wave receiving unit of the second sound wave communication unit later. The input data to which the checksum has been added is digitally converted to a preset radix in the digital data generation step (S11). In the digital data generation step (S11) according to the present embodiment, 4 bytes of data is converted into a 7-base format, but the size or base of the data before and after the conversion can be variously selected according to design specifications.

In the digital data encoding step (S13), digital data prepared by the digital signal encoding unit 142 of the sound wave transmitting unit 140 is encoded.

In the digital data encoding step (S13), the digitized input data is base-converted to remove the reverberant sound.

In the digital data encoding step (S13), base system-converted data (encodedi) is calculated through base system conversion of digitized input data (inputi) for reverberation removal, and base system conversion is calculated through Equation 1 described above.

In the sound wave conversion step S16, data encoded by the high frequency generator 143 of the sound wave transmission unit 140 is signal-processed and converted into sound wave data.

That is, as shown in Fig. 8, the sound wave conversion step (S16) according to the embodiment of the present invention includes the beginning data addition step (S161), the frequency domain conversion step (S163), and the time domain conversion step (S165). Includes.

In the beginning data addition step (S161), notification data indicating the start and end of the encoded input data is added.

The input data encoded in the frequency domain conversion step S163 is converted into the frequency domain.

In the time domain conversion step (S165), the frequency domain converted input data is converted into an output sound wave form.

Such signal processing may be performed by the operation unit 40 or may be performed in various configurations according to design specifications, such as a separate operation unit separately embedded in the sound wave transmission unit 140.

Meanwhile, in some cases, a sound wave filtering step (S17) may be further provided. In the sound wave filtering step (S17), the high frequency changed in the sound wave conversion step (S16) in the high frequency filtering unit 144 of the sound wave transmitting unit 140 is faded.

In addition, a frequency allocation step (S15) and a sound wave mixing step (S18) may be further provided. In the frequency allocation step (S15), input data from a plurality of input sensors exist between the first sound wave communication unit 10T and the second sound wave communication unit 10R, but the frequency is allocated to a preset frequency range for each input data. do.

In the sound wave mixing step (S18), the high frequency and sound source synthesizer 145 of the sound wave transmitting unit 140 combines the sound wave data assigned frequencies to each preset frequency range before the sound wave output step (S19).

The input data, which is signal-processed through such a predetermined process and formed as high-frequency sound wave data, is transmitted through the speaker 61 in the sound wave output step (S19), in a sound wave communication method, to the receiving side sound wave communication unit 10, that is, the second sound wave communication unit ( Sound waves are output to the 10R) side.

Then, the sound wave receiving step (S20) is executed, and in the sound wave receiving step (S20), the sound wave receiving unit 210 of the second sound wave communication unit 10R, which is the receiving-side sound wave communication unit 10, is a sound wave transmitting step (S10). Input data, which is a high-frequency sound wave in a high-frequency band in a non-audible band transmitted through the microphone sensor, is received by a microphone sensor, and the digital data is decoded by analyzing the input data included in the received sound wave in the high-frequency band.

First, as shown in Fig. 14, the sound wave receiving step (S20) includes a sound wave signal receiving step (S21), a frequency-separated signal processing step (S23), a digital data decoding step (S24), and a digital data consistency check step. (S25) and a digital data output step (S26).

In the sound wave signal receiving step (S21), a sound wave signal including input data of a high frequency band in the form of sound wave data is detected through the microphone sensor 51.

The sound wave data is signal-processed by separating the frequency including the corresponding sound wave data from the sound wave signal received in the frequency separation signal processing step S23. As shown in FIG. 15, the frequency separation signal processing step S23 includes a frequency signal data conversion step S231 and a frequency signal data processing step S233.

From the sound wave signal received in the frequency signal data conversion step (S231), input data in the form of corresponding sound wave data is converted into frequency signal data, and data in the form of a spectrogram is generated and stored.

In the frequency signal data processing step (S233), it is checked whether the input data converted in the frequency signal data conversion step (S231) starts, and the input data is subjected to alignment signal processing.

As shown in FIG. 16, the frequency signal data conversion step S231 includes a frequency domain conversion step S2311 and a frequency signal spectrogram conversion step S2313.

In the frequency domain conversion step (S2311), frequency signal data is formed by frequency domain conversion of input data in the corresponding sound wave data format from the sound wave signal.

The frequency signal data converted in the frequency signal spectrogram conversion step (S2313) is converted into a spectrogram.

As shown in FIG. 17, the frequency signal data processing step (S233) includes a frequency signal data start confirmation step (S2331), a frequency signal data alignment step (S2333), a reverberation sound removal step (S2335), and a data restoration step. (S2337) and a data evaluation step (S2339).

In the frequency signal data start checking step (S2331), it is checked whether the input data converted in the frequency signal data conversion step (S231) starts.

In the frequency signal data alignment step (S2333), when the frequency signal data start checking step (S2331) is determined to be started, the data bits are classified in a spectrogram.

Thereafter, in the reverberation sound removal step (S2335), the reverberant sound is attenuated by a preset attenuation rate (echoGain) to the aligned data for subsequent data following the unit data length BL of the aligned data.

In the data restoration step S2337, the data from which the reverberation sound has been removed is normalized in a preset manner.

In the data evaluation step S2339, the data bit value is calculated by obtaining the energy intensity for each data bit from the normalized data.

As shown in FIG. 17A, the frequency signal data start checking step S2331 includes a start signal intensity ratio and a sustain duration calculation step S23311, and a start signal determination step S23313.

In the step (S23311) of calculating the start signal strength ratio and the sustain duration time, the index with the highest signal strength is detected in the spectrogram, and the signal strength (spectrum (index, start_freq)) in the corresponding frequency band of the start signal, and By measuring the signal strength of the frequency band other than the start signal, the start signal strength ratio (start signal ration (index)) is calculated from the two signal strengths, and the start signal strength ratio (start signal ratio (index)) is preset and stored. Calculate the maintenance duration of a state that is equal to or greater than the signal intensity ratio (ssrs).

In step S23313 of determining whether a start signal is present, the start signal ration (index) and the preset signal strength ratio (ssrs) stored in advance are drawn, and the maintenance duration and the preset maintenance duration are compared. , It is determined whether to start.

Meanwhile, the unit data of the input data on the spectrogram has a unit data length BL composed of a preset number of data fragments BLF. In the frequency signal data alignment step (S2333), the start of the input data signal is detected. In the case of, when sorting from a certain time (x) in the unit data length (BL) unit of the input data, the rest area after a certain time (x) is the same among the spectrograms in unit data length (BL) units. The largest value is calculated by incrementing a certain time (x) by a preset size (the data fragment (BLF)) by incrementing the sum of the maximum values of the same number of indexes with the largest signal for the data fragment (BLF) in the time zone. The forming time (x) is set as the starting point.

The frequency signal data alignment step (S2333) includes a max energy index calculation step (S23331), a new im count calculation step (S23333), a max repeat counter calculation step (S23335), and a start index calculation as shown in FIG. It includes step S23337.

First, in the max energy index calculation step S23331, a max energy index (MaxEnergyIndex(x)), which is the index of the data fragment BLF having the largest signal among the same data fragments BLF, is calculated from a certain time (x).

In the new im count calculation step S23333, a new im count (SameCount(val,x)), which is the number of the same index in units of the unit data length BL, is calculated among the max energy indexes MaxEnergyIndex(x).

In the max repeat counter calculation step (S23335), the max repeat counter (MaxRepeatCounter) is the sum of the maximum values of the new im count (SameCount(val,x)) for the rest area after a certain time (x) of the spectrogram in unit data length (BL) (x)) is calculated.

Among the plurality of MaxRepeatCounters (MaxRepeatCounter(x)) derived by calculating the Max Repeat counter calculation step by incrementing a certain time (x) by a preset size (the data fragment (BLF)) in the start index calculation step S23337 A certain point (x) forming the maximum MaxRepeatCounter(x) is set as a starting point, and the index of that certain point (x) is set as a start index (StartIndex).

The sound wave data of the sound wave signals separated in the digital data decoding step S24 is converted into digital data.

That is, in the digital data decoding step (S24),

Base conversion of the data (encodedi) from which the reverberation sound has been removed after alignment is performed through a relational expression such as the reverberation sound removal base-conversion data (outputi) is calculated.

In the digital data consistency check step (S25), the consistency of the signal decoded as digital data is checked, and the consistency is determined by checking and calculating the checksum added in the digital data generation process when the signal is transmitted to the sound wave communication unit of the transmitting side. do. The type of checksum can be selected in various ways.

In the data output step S26, the digital data whose consistency has been confirmed is output.

Meanwhile, in the previous embodiment, only a configuration for checking only the consistency of digital data, such as a method for checking a checksum, is provided, but the method of controlling the sound wave communication device of the present invention is not limited thereto. As shown in Fig. 30, the sound wave reception step (S20) of the sound wave communication device control method of the present invention includes a sound wave signal reception step (S21), a frequency separation signal processing step (S23), and a digital data decoding step (S24). And, including the digital data consistency and precision check step (S25a), and digital data output step (S26), the sound wave signal reception step (S21), the frequency separation signal processing step (S23), and the digital data decoding step (S24) ), and the digital data output step (S26). Their configurations are the same as those described above. In the digital data consistency and precision checking step (S25a), the consistency of the signal decoded as digital data is checked, and the precision is determined from the distance index reflecting the distance between the first sound wave communication unit 10T and the second sound wave communication unit 10R. Check the communication connection.

More specifically, as shown in FIG. 31, the digital data consistency and precision verification step (S25a) includes a checksum verification step (S251a), a distance calculation step (S252), a checksum suitability determination step (S253), and a distance fit. A determination step (S254) is included. The checksum verification step (S251a) and the checksum suitability determination step (S253) are the same as those described above.

In the distance calculation step S252, the distance between the first sound wave communication unit 10T and the second sound wave communication unit 10R is calculated. As described above, a separate distance sensor (not shown) in the sensing unit 80 Is provided to measure the relative distance between the sound wave transmission side and the reception side sound wave communication unit, and a distance index that is the distance between the first sound wave communication unit 10T and the second sound wave communication unit 10R in the distance suitability determination step S254 And a preset distance ds are compared to perform a more precise determination process as to whether the first sound wave unit and the second sound wave communication unit should perform sound wave communication with each other.

On the other hand, the distance index including the distance factor to the microphone sensor and speaker of the input unit/output unit mounted without a separate distance sensor for measuring a separate distance in the transmitting/receiving sound wave communication unit 10 of the sound wave communication device of the present invention It is as described above that it may take a method of measuring the actual distance.

First, a control method using the intensity of sound wave data received through sound wave communication is taken, but using the lowest value or the lower value of the intensity. That is, as shown in FIG. 34, the impact sound is frequently generated in an actual industrial site. However, when distance estimation is performed through sound wave communication based on the maximum value of the intensity, the possibility of malfunction is quite rich.

As shown in Fig. 32, in the case of the digital data consistency and precision check step (S25a), the checksum check step (S251a), the distance index (DI) calculation step (S252a), the checksum suitability determination step (S253), and the distance It includes a suitability determination step (S254a).

The checksum checking step S251a and the checksum suitability determination step S253 are the same as those described above.

In the distance index DI calculating step S252a, a distance index DI between the first sound wave communication unit 10T and the second sound wave communication unit 10R is calculated, and the distance index DI is the above-described equation. It is calculated through 14. The calculation process is replaced by the above.

In the distance suitability determination step S254a, the distance index DI between the first sound wave communication unit 10T and the second sound wave communication unit 10R and the preset distance index DIs are compared. In the present embodiment, the preset distance index (DIs) is set to 6.0, but this is an example and the value can be changed in the applied industrial site environment.

As shown in Fig. 37, transmission of sound wave data is performed from the first sound wave communication unit 10T,A, and a plurality of second sound wave communication units 10R, B1, B2, B3 are provided, and a preset distance A recognition section that can be recognized if it is larger than the preset distance index (DIs) based on the index (DIs), and if it is less than the preset distance index (DIs) based on the preset distance index (DIs). It is divided into unrecognized sections.

Of course, when a plurality of second sound wave communication units are in the recognition section, it may be supplemented through separate communication, but in the case of an actual industrial site as shown in FIGS. 28 and 29, each of the moving trucks M1 and M2 It is also possible to take a design configuration that prevents complicated situations by adjusting the distance between the preset distance index and the moving cart because the distance exists.

In FIG. 37, each distance index DI exists in the area of the accessible recognition section in the case of B1 based on the preset distance index DIs, but in the case of B2, B3, it is indicated as B1 because it exists in the area of the unrecognized section. The second sound wave communication unit to be connected is connected to the first sound wave communication unit A1, and the second sound wave communication unit indicated by the other B1 and B2 is not connected.

In the present embodiment, the determination criterion is whether the area of the recognition section is approached, and in some cases, a method of determining whether to connect according to a preset criterion by aligning the distance index values at the side of a plurality of sound wave receivers through addition of transmission and reception data. Various variations are possible, such as this may be implemented.

On the other hand, a method of measuring the distance between the first sound wave communication unit and the second sound wave communication unit is taken using a time of flight (TOF) or a time of arrival (TOA) of sound waves.

Digital data consistency and precision verification step (S25a) using TOF includes a checksum verification step (S251a), a TOF distance index calculation step (S252b), a checksum suitability determination step (S253), and a distance fit determination step (S254b). do.

The checksum checking step S251a and the checksum suitability determination step S253 are the same as those described above.

In the TOF distance index calculation step S252b, the TOF distance DTOF, which is a distance index between the first sound wave communication unit 10T and the second sound wave communication unit 10R, is calculated, and the first in the distance fit determination step S254b. The distance index DTOF between the sound wave communication unit 10T and the second sound wave communication unit 10R is compared with a preset distance index Ds.

In this case, a plurality of second sound wave communication units on the receiving side are provided, and both the first sound wave communication unit 10T and the second sound wave communication unit 10R can transmit and receive sound waves.

39, the distance index calculation step (S252b) includes a distance measurement master sound wave signal transmission step (S2512b), a distance measurement master sound wave signal reception step (S2522b), and a distance measurement slave sound wave signal transmission step (S2523b). And, a distance measurement slave sound wave signal receiving step (S2524b).

In the distance measurement master sound wave signal transmission step (S2512b), the second sound wave communication unit 10R transmits the distance measurement sound wave in a preset measurement period (T).

In the distance measurement master sound wave signal reception step (S2522b), the first sound wave communication unit 10T receives the distance measurement sound wave.

In the distance measurement slave sound wave signal transmission step (S2523b), when the first sound wave communication unit 10T receives the distance measurement sound wave from the second sound wave communication unit 10R, the transport distance after a preset measurement period T after reception The measurement sound wave is transmitted.

In the distance measurement slave sound wave signal reception step (S2524b), the distance measurement sound wave carried by the second sound wave communication unit 10R is received.

In the distance index calculation step (S2526b), the second sound wave communication unit 10R uses a transmission time (trans) and a reception time (trecv) and a preset period of the carrier distance measurement sound wave and the first sound wave communication unit 10T. The distance between the second sound wave communication units 10R is calculated.

In the previous embodiment, the sound wave communication device and the control method thereof of the present invention are shown in Figs. 28 and 29 with respect to the case where the sound wave communication device and the control method thereof are applied on a batch production line among industrial sites. It does not become.

That is, as shown in FIG. 42, the acoustic wave communication apparatus and control method thereof of the present invention may be used to establish a communication structure between an AGV vehicle and a work station in which the AGV vehicle performs a predetermined task.

In addition, it may be used not only for a case where a relative position change occurs between the transmitting side and the receiving side by moving on the ground, but also for a ceiling-type mobile distribution equipment such as OHT (Overhead Transport).

That is, in addition to the automobile production line, it can be used in various industrial fields such as a production line of a semiconductor process, a distribution work site, or a document delivery to a hospital public institution.

In addition, in the present invention, the type of input data forming sound wave communication may be data related to a complex operation command, but may be data in a simple form, and the type of data is not particularly limited.

Also, the shape of the sound wave communication unit on the transmission/reception side of the sound wave communication device for making sound wave communication is not limited to a specific type. Although the unit may be implemented as an individual module type, the sound wave communication unit may be implemented in the form of a smartphone, notebook, tablet, computer, or smart watch, and various modifications are possible within the range of the configuration of the sound wave transmitting unit or the sound wave receiving unit. .

That is, as shown in FIG. 44, in addition to a specific manufacturing industry site, a mart, etc., where a B2C type consumer purchases a product, outputs sound waves in an inaudible band to each store, and enables sound wave communication with a smartphone provided by the consumer. It can be applied to various industries or daily life, such as being able to carry out online/offline integrated shopping that enables purchase and delivery without directly transporting the product through the purchase through the product.

10...sound wave communication unit 20...control
30... storage section 40... computation section
50...Input 51...Microphone sensor
60...output 61...speaker
140...sound wave transmitter 210...sound wave receiver

Claims (50)

At least one first sound wave communication unit (10T) for outputting input data through a speaker (61) in a sound wave communication method, and the speaker (61) is arranged to be able to change a relative position with the first sound wave communication unit (10T) And a second sound wave communication unit 10R for receiving and outputting the data from the sound wave output from the microphone sensor 51,
The first sound wave communication unit 10T includes a sound wave transmission unit 140 that loads input data on sound waves of an inaudible high frequency band and transmits the input data to the second sound wave communication unit 10R through the speaker 61. and,
The sound wave transmission unit 140 may include a digital signal generation unit 141 for digitally forming (converting) data to be transmitted to be suitable for transmission of inaudible sound waves; A digital signal encoding unit 142 for encoding the digital data converted by the digital signal generating unit 141; A high frequency generator 143 for converting the data encoded by the digital signal encoding unit 142 into sound wave data by signal processing; And a high frequency filtering unit 144 for fading the converted high frequency,
In the digital signal generation unit 141, the input data is digitally converted to a preset radix,
The digital signal encoding unit 142 is configured to change the base of input data to remove reverberation sound,
Base conversion of the input data (inputi) for reverberation removal is:

A sound wave communication device, characterized in that the base code-converted data (encodedi) is calculated through a relational expression such as. delete The method of claim 1,
The sound wave transmission unit (140) is a sound wave communication device, characterized in that to change the base method of the data to remove the reverberation sound of the sound wave transmitted through the speaker (61). delete delete delete delete The method of claim 1,
The high frequency generator 143 adds data indicating that a high frequency sound source starts and an end of the sound source. At least one first sound wave communication unit (10T) for outputting input data through a speaker (61) in a sound wave communication method, and the speaker (61) is arranged to be able to change a relative position with the first sound wave communication unit (10T) And a second sound wave communication unit 10R for receiving and outputting the data from the sound wave output from the microphone sensor 51,
The first sound wave communication unit 10T includes a sound wave transmission unit 140 that loads input data on sound waves of an inaudible high frequency band and transmits the input data to the second sound wave communication unit 10R through the speaker 61. and,
The sound wave transmission unit 140 may include a digital signal generation unit 141 for digitally forming (converting) data to be transmitted to be suitable for transmission of inaudible sound waves; A digital signal encoding unit 142 for encoding the digital data converted by the digital signal generating unit 141; A high frequency generator 143 for converting the data encoded by the digital signal encoding unit 142 into sound wave data by signal processing; And a high frequency filtering unit 144 for fading the converted high frequency,
Input data from a plurality of input sensors exists between the first sound wave communication unit 10T and the second sound wave communication unit 10R, but a frequency can be assigned to a preset frequency range for each input data,
Each input data is converted into respective sound wave data by the high frequency generator 143, wherein the sound wave transmission unit 140 further comprises a high frequency and sound source synthesizer for integrating the respective sound wave data. Communication device. The method of claim 1,
The second sound wave communication unit 10R,
The first sound wave communication unit 10T includes an input unit 50 including a microphone sensor 51 for receiving a high frequency band sound wave transmitted from the sound wave transmission unit 140, and included in the received high frequency band sound wave A sound wave communication apparatus comprising a sound wave receiving unit 210 that interprets the input data and decodes it into digital data. The method of claim 10,
The sound wave receiving unit 210,
A sound wave communication device, characterized in that the data received from the microphone sensor is amplified through a band frequency amplification filter having a high gain of a single/plural number. The method of claim 11,
The sound wave receiving unit 210,
The sound wave communication device, characterized in that the band frequency amplification filter is an OPAMP amplifier circuit. The method of claim 10,
The sound wave receiving unit 210, a sound wave communication device, characterized in that the signal processing of the received input data and storing the data in the form of a spectrogram (Spectrogram). At least one first sound wave communication unit (10T) for outputting input data through a speaker (61) in a sound wave communication method, and the speaker (61) is arranged to be able to change a relative position with the first sound wave communication unit (10T) And a second sound wave communication unit 10R for receiving and outputting the data from the sound wave output from the microphone sensor 51,
The first sound wave communication unit 10T includes a sound wave transmission unit 140 that loads input data on sound waves of an inaudible high frequency band and transmits the input data to the second sound wave communication unit 10R through the speaker 61. and,
The second sound wave communication unit 10R includes an input unit 50 including a microphone sensor 51 for receiving a high frequency band sound wave transmitted from the sound wave transmission unit 140 of the first sound wave communication unit 10T. And a sound wave receiving unit 210 that interprets input data included in the received high-frequency sound wave and decodes it into digital data,
The sound wave receiving unit 210 processes the received input data and stores it as data in a spectrogram form,
The sound wave receiver 210 checks whether there is a start signal in the data, stops the operation if there is no start signal, and when a start signal is detected, removes the reverberation sound from the input data in the form of a spectrogram and performs final processing. A sound wave communication device, characterized in that for analyzing the generated frequency signal. The method of claim 14,
The sound wave receiving unit 210,
In order to detect the start of the signal, the index with the strongest signal is detected in the spectrogram,
To perform index detection, measure the signal strength in the corresponding frequency band of the start signal and the signal strength in the frequency band other than the start signal at the same time to obtain the ratio between the two values,
A sound wave communication device, comprising: determining that an input data signal has started when a ratio of two signal strengths is greater than or equal to a specified value and a state equal to or greater than the specified value is maintained for a specified time or longer. The method of claim 15,
The unit data of the input data on the spectrogram has a unit data length BL composed of a preset number of data fragments BLF,
When the sound wave receiving unit 210 is aligned in the unit data length BL of the input data from a certain time (x) when the start of the input data signal is detected,
For the remaining area after a certain time (x), in unit data length (BL)
Among the spectrograms, the sum of the maximum values of the same number of indexes with the largest signal for the data fragment (BLF) in the same time period
When calculated by incrementing a certain time (x) by a preset size (the data fragment (BLF))
A sound wave communication device, characterized in that a certain time (x) forming the largest value is set as a starting point The method of claim 16,
And attenuating the aligned data with a preset attenuation rate (echoGain) for subsequent data following the unit data length BL of the aligned data to remove reverberation. The method of claim 17,
After the reverberation is removed, the base conversion of the sorted data (encodedi) is:

A sound wave communication device, characterized in that the data (outputi) converted from the reverberant sound removal base method is calculated through a relational expression such as. The method of claim 17,
The first sound wave communication unit (10T) and the second sound wave communication unit (10R) is a sound wave communication device, characterized in that the communication connection is made in consideration of a distance index reflecting the mutual distance. A first sound wave communication group having at least one first sound wave communication unit 10T that outputs input data through a speaker 61 in a sound wave communication method, and a relative position with the first sound wave communication unit 10T can be changed. And a second sound wave communication group including at least one second sound wave communication unit 10R configured to receive and output the data from sound waves output from the speaker 61 through the microphone sensor 51, and
The first sound wave communication unit 10T and the second sound wave communication unit 10R are connected to each other in consideration of a distance index reflecting the mutual distance,
A plurality of the second sound wave communication units are provided, and the distance index is calculated based on a preset value excluding a maximum intensity value and aligned based on the strength of the signal received by the second sound wave communication unit 10R, A second sound wave communication unit having a maximum distance index among the plurality of second sound wave communication units, wherein the calculated distance index is greater than or equal to a preset distance index, and the first sound wave communication unit are connected to each other for communication. delete delete A first sound wave communication group having at least one first sound wave communication unit 10T that outputs input data through a speaker 61 in a sound wave communication method, and a relative position with the first sound wave communication unit 10T can be changed. And a second sound wave communication group including at least one second sound wave communication unit 10R configured to receive and output the data from sound waves output from the speaker 61 through the microphone sensor 51, and
The first sound wave communication unit 10T and the second sound wave communication unit 10R are connected to each other in consideration of a distance index reflecting the mutual distance,
A plurality of the second sound wave communication units are provided, and the distance index is calculated based on a preset value excluding a maximum intensity value and aligned based on the strength of the signal received by the second sound wave communication unit 10R, A second sound wave communication unit having a maximum distance index among the plurality of second sound wave communication units, wherein the calculated distance index is equal to or greater than a preset distance index, and the first sound wave communication unit are communication-connected,
The preset value is a sound wave communication device, characterized in that selected from among the values of the lower 50% or less among the signals sorted based on the intensity. The method of claim 20,
A plurality of second sound wave communication units are provided, and both the first sound wave communication unit (10T) and the second sound wave communication unit (10R) are capable of transmitting and receiving sound waves. A first sound wave communication group having at least one first sound wave communication unit 10T that outputs input data through a speaker 61 in a sound wave communication method, and a relative position with the first sound wave communication unit 10T can be changed. And a second sound wave communication group including at least one second sound wave communication unit 10R configured to receive and output the data from sound waves output from the speaker 61 through the microphone sensor 51, and
A plurality of second sound wave communication units are provided, and both the first sound wave communication unit 10T and the second sound wave communication unit 10R are capable of transmitting and receiving sound waves,
The second sound wave communication unit 10R transmits a distance measurement sound wave at a preset measurement period T, and the first sound wave communication unit 10T receives the distance measurement sound wave from the second sound wave communication unit 10R. In the case of receiving, a carrier distance measurement sound wave is transmitted after a preset measurement period (T) after reception, and the second sound wave communication unit 10R receives the carrier distance measurement sound wave of the first sound wave communication unit 10T, and the A sound wave communication device, characterized in that measuring a distance between the first sound wave communication unit (10T) and the second sound wave communication unit (10R). At least one first sound wave communication unit (10T) for outputting input data through a speaker (61) in a sound wave communication method, and the speaker (61) is arranged to be able to change a relative position with the first sound wave communication unit (10T) Providing step (S1) of providing a sound wave communication device including at least one second sound wave communication unit 10R receiving and outputting the data from the sound wave output from the microphone sensor 51, and the first sound wave A sound wave transmission step in which the sound wave transmission unit 140 of the communication unit 10T loads the input data onto sound waves of an inaudible high frequency band and transmits the input data to the second sound wave communication unit 10R through the speaker 61 (S10). ), and the sound wave receiving unit 210 of the second sound wave communication unit 10R receives the input data of the high frequency band transmitted through the sound wave transmission step as described above by a microphone sensor, and is included in the received sound wave of the high frequency band. Including a sound wave receiving step (S20) of decoding the digital data by analyzing the input data,
In the sound wave transmission step (S10), the input data to be transmitted from the digital signal generation unit 141 of the sound wave transmission unit 140 of the first sound wave communication unit 10T is converted into a digital data format suitable for transmission of inaudible sound waves. A digital data generation step (S11) that is formed in preparation, a digital data encoding step (S13) of encoding digital data prepared by the digital signal encoding unit 142 of the sound wave transmission unit 140 (S13), and the sound wave transmission unit 140 Including a sound wave conversion step (S16) of converting the data encoded by the high frequency generator 143 of the signal into sound wave data, and a sound wave output step (S19) of outputting sound waves in a sound wave communication method through the speaker 61 and,
In the digital data generation step (S11), the input data is digitally converted to a preset radix,
In the digital data encoding step (S13), in order to remove the reverberation sound, the digitally converted input data is base-converted to remove the reverberation sound,
In the digital data encoding step (S13), base system-converted data (encodedi) is calculated through base system conversion of the digitally converted input data (inputi) for removing the reverberation sound, and the base system conversion is:

A method for controlling a sound wave communication device, characterized in that calculated through a relational expression such as. delete delete delete delete The method of claim 26,
The sound wave conversion step (S16) is:
Starting data adding step (S161) of adding notification data indicating the start and end of the encoded input data,
A frequency domain conversion step (S163) of converting the encoded input data into a frequency domain,
And a time domain conversion step (S165) of converting the frequency domain converted input data into an output sound wave form. The method of claim 31,
And a sound wave filtering step (S17) of fading the high frequency changed in the sound wave conversion step (S16) by the high frequency filtering unit (144) of the sound wave transmission unit (140). The method of claim 31,
A frequency allocation step in which input data from a plurality of input sensors exist between the first sound wave communication unit 10T and the second sound wave communication unit 10R, and a frequency is allocated to a preset frequency range for each input data ( S15) and,
A sound wave mixing step (S18) in which the sound wave data frequency allocated to each of the preset frequency ranges is integrated before the sound wave output step (S19) in the high frequency and sound source synthesizer 145 of the sound wave transmission unit 140 is further provided. Sound wave communication device control method, characterized in that. At least one first sound wave communication unit (10T) for outputting input data through a speaker (61) in a sound wave communication method, and the speaker (61) is arranged to be able to change a relative position with the first sound wave communication unit (10T) Providing step (S1) of providing a sound wave communication device including at least one second sound wave communication unit 10R receiving and outputting the data from the sound wave output from the microphone sensor 51, and the first sound wave A sound wave transmission step in which the sound wave transmission unit 140 of the communication unit 10T loads the input data onto sound waves of an inaudible high frequency band and transmits the input data to the second sound wave communication unit 10R through the speaker 61 (S10). ), and the sound wave receiving unit 210 of the second sound wave communication unit 10R receives the input data of the high frequency band transmitted through the sound wave transmission step as described above by a microphone sensor, and is included in the received sound wave of the high frequency band. Including a sound wave receiving step (S20) of decoding the digital data by analyzing the input data,
The sound wave receiving step (S20) includes: a sound wave signal receiving step (S21) of detecting a sound wave signal including input data of a high frequency band in the form of sound wave data through the microphone sensor 51, and corresponding to the received sound wave signal. A frequency separation signal processing step (S23) of processing sound wave data by separating a frequency including sound wave data, a digital data decoding step (S24) of converting sound wave data from the separated sound wave signals into digital data, and the digital And a digital data consistency check step (S25) of confirming the consistency of a signal decoded as data, and a digital data output step (S26) of outputting the digital data whose consistency is confirmed. The method of claim 34,
The frequency separation signal processing step (S23) is:
A frequency signal data conversion step (S231) of converting input data in the form of corresponding sound wave data from the received sound wave signal into frequency signal data and generating and storing data in a spectrogram form;
And a frequency signal data processing step (S233) of processing an alignment signal to check whether the input data converted in the frequency signal data conversion step (S231) starts. The method of claim 35,
The frequency signal data conversion step (S231) is:
A frequency domain conversion step (S2311) of forming frequency signal data by frequency domain conversion of input data in the form of corresponding sound wave data from the received sound wave signal;
And a frequency signal spectrogram conversion step (S2313) of converting the converted frequency signal data into a spectrogram form (S2313). The method of claim 35,
The frequency signal data processing step (S233) is:
A frequency signal data start checking step (S2331) of checking whether the input data converted in the frequency signal data conversion step (S231) starts,
When the frequency signal data start checking step (S23331) determines whether or not it starts, the frequency signal data sorting step (S2333) of dividing each data bit in the spectrogram,
A reverberation sound removal step (S2335) of removing reverberation by attenuating the aligned data at a preset attenuation rate (echoGain) with respect to subsequent data following the unit data length BL of the aligned data;
A data restoration step (S2337) of normalizing the data from which the reverberation sound has been removed in a preset manner,
And a data evaluation step (S2339) of calculating a data bit value by obtaining an energy intensity for each data bit from the normalized data. The method of claim 37,
The frequency signal data start checking step (S2331) is:
The index with the highest signal strength is detected in the spectrogram, and the signal strength in the corresponding frequency band of the start signal (spectrum (index, start_freq)) and the signal strength in the frequency band other than the start signal are measured. A start signal intensity ratio (start signal ration (index)) is calculated from the signal intensity, and the maintenance duration of the state in which the start signal intensity ratio (start signal ration (index)) is equal to or greater than a preset stored signal intensity ratio (ssrs) A start signal intensity ratio and a maintenance duration calculation step (S23311) of calculating
A start signal for determining whether to start by comparing the start signal ration (index) and the preset signal strength ratio (ssrs) stored in advance, and the maintenance duration time and the preset maintenance duration time stored in advance. A method for controlling a sound wave communication device, comprising: determining whether or not (S23313). The method of claim 37,
The unit data of the input data on the spectrogram has a unit data length BL composed of a preset number of data fragments BLF,
In the frequency signal data alignment step (S2333), when the start of the input data signal is detected, when the input data is aligned in the unit data length (BL) unit from a certain time (x),
For the remaining area after a certain time (x), in unit data length (BL)
Among the spectrograms, the sum of the maximum values of the same number of indexes with the largest signal for the data fragment (BLF) in the same time period
When calculated by incrementing a certain time (x) by a preset size (the data fragment (BLF))
A method for controlling a sound wave communication device, characterized in that a certain time (x) forming the largest value is set as a starting point. The method of claim 39,
The frequency signal data alignment step (S2333) is:
A max energy index calculation step (S23331) of calculating a max energy index (MaxEnergyIndex(x)) which is an index of the data fragment BLF having the largest signal among the same data fragments BLF from a certain time (x);
A new im count calculation step (S23333) of calculating a new im count (SameCount(val,x)), which is the number of the same index in the unit data length BL unit among the MaxEnergyIndex(x),
A MaxRepeatCounter(x), which is the sum of the maximum values of the new im count (SameCount(val,x)) for the remaining area after a certain time (x) of the spectrogram in the unit data length (BL) unit Max repeat counter calculation step (S23335) to be calculated,
The maximum MaxRepeatCounter (MaxRepeatCounter(x)) among a plurality of MaxRepeatCounter(x) derived by calculating the Max Repeat Counter calculation step by incrementing a certain time (x) by a preset size (the data fragment (BLF)) Sound wave communication, characterized in that it comprises a start index calculation step (S23337) of setting a point (x) forming x)) as a starting point and setting the index of the point (x) as a start index (StartIndex) Device control method. The method of claim 34,
In the digital data decoding step (S24),

Through a relational expression such as
A method for controlling a sound wave communication device, characterized in that base conversion of the data (encodedi) from which the reverberation sound has been removed after alignment is performed to calculate the inversely-transformed data (outputi) of the reverberation sound removal base. At least one first sound wave communication unit (10T) for outputting input data through a speaker (61) in a sound wave communication method, and the speaker (61) is arranged to be able to change a relative position with the first sound wave communication unit (10T) Providing step (S1) of providing a sound wave communication device including at least one second sound wave communication unit 10R receiving and outputting the data from the sound wave output from the microphone sensor 51, and the first sound wave A sound wave transmission step in which the sound wave transmission unit 140 of the communication unit 10T loads the input data onto sound waves of an inaudible high frequency band and transmits the input data to the second sound wave communication unit 10R through the speaker 61 (S10). ), and the sound wave receiving unit 210 of the second sound wave communication unit 10R receives the input data of the high frequency band transmitted through the sound wave transmission step as described above by a microphone sensor, and is included in the received sound wave of the high frequency band. Including a sound wave receiving step (S20) of decoding the digital data by analyzing the input data,
The sound wave receiving step (S20) is:
A sound wave signal receiving step (S21) of detecting a sound wave signal including input data of a high frequency band in the form of sound wave data through the microphone sensor 51,
A frequency separation signal processing step (S23) of signal-processing the sound wave data by separating a frequency including the corresponding sound wave data from the received sound wave signal;
Digital data decoding step (S24) of converting sound wave data of the separated sound wave signals into digital data,
Digital data that checks the consistency of the signal decoded as the digital data and determines whether or not communication is connected by determining precision from a distance index reflecting the distance between the first sound wave communication unit 10T and the second sound wave communication unit 10R The consistency and precision check step (S25a),
And a digital data output step (S26) of outputting the digital data whose consistency has been confirmed. The method of claim 42,
The digital data consistency and precision checking step (S25a) is:
A checksum checking step (S251a) of checking the checksum of the decoded digital data,
A distance calculation step (S252) of calculating a distance between the first sound wave communication unit 10T and the second sound wave communication unit 10R,
A checksum suitability determination step (S253) of determining whether the checksum checked in the checksum confirmation step (S251a) is appropriate, and
And a distance fit determination step (S254) comparing a distance index, which is a distance between the first sound wave communication unit 10T and the second sound wave communication unit 10R, with a preset distance ds. Communication device control method. The method of claim 42,
The digital data consistency and precision checking step (S25a) is:
A checksum checking step (S251a) of checking the checksum of the decoded digital data,
A distance index (DI) calculation step (S252a) of calculating a distance index (DI) between the first sound wave communication unit 10T and the second sound wave communication unit 10R;
A checksum suitability determination step (S253) of determining whether the checksum checked in the checksum confirmation step (S251a) is appropriate, and
And a distance fit determination step (S254a) comparing a distance index DI and a preset distance index DIs between the first sound wave communication unit 10T and the second sound wave communication unit 10R. Sound wave communication device control method. The method of claim 44,
A plurality of the second sound wave communication units are provided,
The distance index is arranged based on the strength of the signal received by the second sound wave communication unit 10R and is calculated based on a preset value excluding a maximum strength value,
In the distance suitability determination step (S254a), it is determined that a second sound wave communication unit having a calculated distance index equal to or greater than a preset distance index and the first sound wave communication unit are communication-connected. The method of claim 45,
The distance index is a method for controlling a sound wave communication device, characterized in that calculated through the following equation.
(Equation)

Here, the array (array = strength of data signal) is an array of signal strengths of the data bits of the input data, and the array sort (sorted_array = sort(array,descend)) is the order of the array. The method of claim 46,
The preset value is a sound wave communication device control method, characterized in that selected from a value of less than the lower 50% of the signals sorted based on the intensity. The method of claim 42,
The digital data consistency and precision checking step (S25a) is:
A checksum checking step (S251a) of checking the checksum of the decoded digital data,
A TOF distance index calculation step (S252b) of calculating a TOF distance DTOF, which is a distance index between the first sound wave communication unit 10T and the second sound wave communication unit 10R,
The checksum confirmation step (S251a) a checksum suitability determination step (S253) of determining whether the checked checksum is appropriate, and
And a distance fit determination step (S254b) of comparing a distance index DTOF between the first sound wave communication unit 10T and the second sound wave communication unit 10R and a preset distance index Ds. Sound wave communication device control method. The method of claim 48,
A plurality of the second sound wave communication units are provided,
The first sound wave communication unit (10T) and the second sound wave communication unit (10R) are both capable of transmitting and receiving sound waves. The method of claim 49,
A distance measurement master sound wave signal transmission step (S2521b) of transmitting a distance measurement sound wave in a preset measurement period (T) in the second sound wave communication unit 10R;
A distance measurement master sound wave signal receiving step (S2522b) in which the first sound wave communication unit 10T receives the distance measurement sound wave,
When the first sound wave communication unit 10T receives the distance measurement sound wave from the second sound wave communication unit 10R, a distance measurement slave sound wave signal that transmits a carrier distance measurement sound wave after a preset measurement period T after reception A transmission step (S2523b),
A distance measurement slave sound wave signal reception step (S2524b) in which the second sound wave communication unit 10R receives the carrier distance measurement sound wave,
The first sound wave communication unit 10T and the second sound wave communication unit using the transmission time (trans) and reception time (trecv) of the carrier distance measurement sound wave in the second sound wave communication unit 10R, and a preset period. And a distance index calculating step (S2526b) of calculating the distance between (10R).

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