KR20220013805A - Ultrasonic generator, vechile and control method for controlling the same - Google Patents

Abstract

A method for controlling an ultrasonic generator according to an embodiment of the present invention can include the steps of: generating a first signal of a first waveform whose frequency is continuously changed within a predetermined frequency band; generating a second signal of a second waveform including at least one randomly selected frequency within the predetermined frequency band; and controlling an ultrasonic vibrator of the ultrasonic generator so that the ultrasonic vibrator of the ultrasonic generator can emit an ultrasonic signal by crossing and outputting the first signal and the second signal.

Description

Ultrasonic generator, vehicle and control method for controlling the same

The present invention relates to an ultrasonic wave generator, a vehicle for controlling the same, and a control method.

Mosquitoes live not only in tropical regions but also in temperate and boreal regions, and in particular, many mosquitoes live in hot and humid climates and unsanitary environments, often causing harm to people. Mosquitoes not only cause direct damage such as irritant dermatitis, but also play a role in mediating pathogens such as malaria, yellow fever, and filariasis. Accordingly, in the prior art, various techniques for repelling mosquitoes have been developed. For example, in the prior art, a device for repelling mosquitoes, such as an electronic mosquito coil device and an ultrasonic mosquito repelling system, has been developed and/or commercialized.

However, in the case of a device for repelling mosquitoes manufactured in the prior art, although it helps the psychological stability of the user, there has been a limit in the effective part of repelling mosquitoes. In addition, there is no mosquito repelling device for a vehicle developed to be applied to a vehicle in the prior art.

One aspect of the disclosed invention may provide an ultrasonic wave generating device capable of effectively repelling mosquitoes, a vehicle for controlling the same, and a control method.

According to an aspect, a method for controlling an ultrasonic wave generating apparatus includes generating a first signal of a first waveform whose frequency is continuously changed within a predetermined frequency band, and at least one frequency randomly selected within the predetermined frequency band. generating a second signal comprising: crossing the first signal and the second signal to output the ultrasonic vibrator of the ultrasonic generator to control the ultrasonic vibrator of the ultrasonic generator to emit an ultrasonic signal can do.

The first waveform may include a waveform whose magnitude is constant after the first frequency within the preset frequency band.

Crossing and outputting the first signal and the second signal may include outputting the first signal during a first time period and outputting the second signal during a second time period.

The control method of the ultrasonic generator may further include receiving a control signal including location information of a mosquito from a vehicle, and controlling the ultrasonic vibrator to emit the ultrasonic signal includes: corresponding to the location information of the mosquito. direction, it may include controlling the ultrasonic vibrator to emit the ultrasonic signal.

The control method of the ultrasonic generator may further include controlling light emission of at least one light emitting diode of the ultrasonic generator based on controlling to emit the ultrasonic signal.

The control method of the ultrasonic generator may further include receiving power from the ultrasonic generator based on coupling of a universal serial bus (USB) cable connected to a vehicle with a connection terminal of the ultrasonic generator.

An ultrasonic wave generating device according to an aspect includes: an ultrasonic vibrator; and generating a first signal of a first waveform whose frequency is continuously changed within a predetermined frequency band, and generating a second signal of a second waveform including at least one frequency randomly selected within the predetermined frequency band. and a controller configured to output the first signal and the second signal to be crossed and control the ultrasonic vibrator so that the ultrasonic vibrator emits an ultrasonic signal.

The first waveform may include a waveform whose magnitude is constant after the first frequency within the preset frequency band.

The controller may include outputting the first signal during a first time period and outputting the second signal during a second time period.

The ultrasonic generator may further include a communication module, wherein the control unit receives a control signal including the location information of the mosquito from the vehicle based on the control of the communication module, and in a direction corresponding to the location information of the mosquito. , the ultrasonic vibrator may be controlled to emit the ultrasonic signal.

The ultrasonic generator may further include at least one light emitting diode, and the controller may control light emission of the at least one light emitting diode based on controlling to emit the ultrasonic signal.

The ultrasonic generator may further include a connection terminal, and the control unit may receive power from the ultrasonic generator based on coupling with the connection terminal of a universal serial bus (USB) cable connected to the vehicle.

The ultrasonic generator may further include a cylindrical support for supporting a lower end of the ultrasonic vibrator, the ultrasonic vibrator may include a ring-type piezoelectric actuator, and an upper surface may have a horn shape.

A vehicle according to one aspect includes at least one ultrasonic sensor; display device; communication module; and a controller electrically connected to the at least one ultrasonic sensor, the display device, and the communication module, wherein the controller identifies a location of a mosquito based on an output of the at least one ultrasonic sensor, and In response to the identification of the location, controlling the display device to visually display the location information of the mosquito, and controlling the communication module to transmit the location information of the mosquito to the ultrasonic generator.

The at least one ultrasonic sensor may include a first ultrasonic sensor, a second ultrasonic sensor, and a third ultrasonic sensor, and the controller may include, wherein the first ultrasonic sensor, the second ultrasonic sensor, and the third ultrasonic sensor receive ultrasonic signals. is controlled to output, and in response to the output of the ultrasonic signal, a first waveform of a sound wave acquired by each of the first ultrasonic sensor, the second ultrasonic sensor, and the third ultrasonic sensor is identified, and the first ultrasonic wave The sensor, the second ultrasonic sensor, and the third ultrasonic sensor identify the time at which the first waveform arrives, and the first waveform is transmitted to each of the first ultrasonic sensor, the second ultrasonic sensor, and the third ultrasonic sensor. Calculate the time difference reached by the first waveform between the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor based on the reached time, and based on the time difference, the position of the mosquito can be identified.

The control unit may include, based on the time difference at which the first waveform arrives between the first ultrasonic sensor, the second ultrasonic sensor, and the third ultrasonic sensor, the first ultrasonic sensor, the second ultrasonic sensor, and the second ultrasonic sensor 3 Calculate the distance between the ultrasonic sensor and the location of the sound wave, based on the distance calculation, it is possible to identify the location of the mosquito.

The control unit, based on the distance between the first ultrasonic sensor, the second ultrasonic sensor, and the third ultrasonic sensor, and the position of the sound wave, the position of the first ultrasonic sensor and the position of the second ultrasonic sensor A first predicted trajectory is generated with a radius of the orthogonal distance between the connecting straight line and the generating position of the sound wave, and the straight line connecting the position of the second ultrasonic sensor and the third ultrasonic sensor and the generating position of the sound wave A second predicted trajectory is generated using an orthogonal distance between the two as a radius, and a third predicted trajectory is generated in which a radius is an orthogonal distance between a straight line connecting the position of the third ultrasonic sensor and the position of the first ultrasonic sensor and the generating position of the sound wave. It is possible to generate a trajectory, calculate a distance error between the first predicted trajectory, the second predicted trajectory, and the third predicted trajectory, and identify the generation position of the sound wave based on the calculation of the distance error.

The control unit identifies whether the sound wave acquired by the first ultrasonic sensor corresponds to the mosquito sound based on a spectrogram corresponding to the mosquito sound pre-stored in the memory, and a waveform of the sound wave Based on the waveform corresponding to the mosquito sound, the first waveform of the sound wave may be identified.

The controller may identify whether the sound wave acquired by the first ultrasonic sensor corresponds to the mosquito sound, based on a long short term memory (LSTM) algorithm.

The ultrasonic generator generates a first signal of a first waveform whose frequency continuously changes within a predetermined frequency band, and generates a second waveform including at least one randomly selected frequency within the predetermined frequency band. generating a second signal and outputting the first signal and the second signal to be crossed, and controlling the ultrasonic vibrator of the ultrasonic generator so that the ultrasonic vibrator of the ultrasonic generator emits an ultrasonic signal have.

An ultrasonic wave generating apparatus, a vehicle for controlling the same, and a control method according to an aspect of the disclosed invention may use a multi-sensory technology to enable mosquito repelling in a vehicle interior. For example, the disclosed invention may provide a technology for tracking the waveform of a mosquito sound (also referred to as a sound source) and repelling mosquitoes in the interior of a vehicle based on a spray-type ultrasonic spray technology. For example, the disclosed invention may allow a user to visually monitor the location of mosquito sounds.

An ultrasonic wave generating device, a vehicle for controlling the same, and a control method according to an aspect of the disclosed invention may be compatible with various devices such as an existing vehicle and a portable device to enable mosquito repellent. For example, the disclosed invention may provide a technology for repelling mosquitoes compatible with various devices based on a portable USB type coupling structure and/or wireless communication technology such as Bluetooth.

1 is a block diagram of a system including a vehicle and an ultrasonic wave generating apparatus according to an embodiment.
2 is a view for explaining an ultrasonic sensor according to an embodiment.
3 is a diagram illustrating a position of an ultrasonic sensor in a vehicle according to an exemplary embodiment.
4 is a diagram for describing a vehicle display device according to an exemplary embodiment.
5 is a view for explaining a structure of an ultrasonic wave generating apparatus according to an exemplary embodiment.
6 is a view for explaining an ultrasonic wave generating apparatus according to an exemplary embodiment.
7 is a flowchart of a control operation of a vehicle according to an exemplary embodiment.
8 is a diagram for explaining a display operation of an AVN device included in a vehicle according to an exemplary embodiment.
9A and 9B are flowcharts of a mosquito location identification operation of a vehicle according to an exemplary embodiment.
10 and 11 are diagrams for explaining an operation for identifying a location of a mosquito according to an embodiment.
12 is a flowchart of a tracking operation of a main sound waveform of a vehicle according to an exemplary embodiment.
13 is a diagram for describing a tracking operation of a main sound waveform of a vehicle according to an exemplary embodiment.
14 is a diagram for describing LSTM Networks according to an embodiment.
15 is a flowchart of a control operation of an ultrasonic wave generating apparatus according to an exemplary embodiment.
16 is a diagram illustrating an ultrasound signal according to an exemplary embodiment.

Like reference numerals refer to like elements throughout. This specification does not describe all elements of the embodiments, and general content in the technical field to which the present invention pertains or content that overlaps among the embodiments is omitted. The term 'unit, module, device' used in this specification may be implemented in software or hardware, and according to embodiments, a plurality of 'part, module, device' may be implemented as one component, or one 'unit, It is also possible for a module or device' to include a plurality of components.

Throughout the specification, when a part is "connected" to another part, it includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Also, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Terms such as first, second, etc. are used to distinguish one component from another, and the component is not limited by the above-mentioned terms.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not describe the order of each step, and each step may be performed differently from the specified order unless the specific order is clearly stated in the context. have.

Hereinafter, the working principle and embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a block diagram of a system including a vehicle and an ultrasonic wave generating apparatus according to an embodiment. 2 is a view for explaining an ultrasonic sensor according to an embodiment. 3 is a diagram illustrating a position of an ultrasonic sensor in a vehicle according to an exemplary embodiment. 4 is a diagram for describing a vehicle display device according to an exemplary embodiment.

Referring to FIG. 1 , a vehicle 100 may include an ultrasonic sensor module 102 , a display device 104 , a communication module 106 , a memory 108 , and/or a controller 110 .

The ultrasonic sensor module 102 may include at least one ultrasonic sensor 103 (also referred to as an ultrasonic sensor circuit) capable of transmitting and/or receiving ultrasonic signals. For example, an ultrasonic signal can travel about 340 m per second in air.

The at least one ultrasonic sensor 103 may include an ultrasonic transducer 202 , a transformer 204 , and an application specific integrated circuit (ASIC) 206 as shown in FIG. 2 . The ASIC 206 may include an amplifier & filter 206 , a micro controller (MCU) 208 , and a local interconnect network (LIN) TX/RX 212 .

The at least one ultrasonic sensor 103 transmits an ultrasonic signal based on the control of the controller 110 and receives a signal reflected from the object so that the controller 110 identifies the position of the object and/or the distance from the object. can do. For example, the object may be a mosquito 20 .

The at least one ultrasonic sensor 103 may be located (or embedded) in a portion of the interior of the vehicle 100 . For example, the at least one ultrasonic sensor 103 may be located at an upper portion of the interior of the vehicle 100 as shown in FIG. 3 , but is not limited thereto.

The display device 104 may include a display and, for example, may display various contents (eg, text, images, videos, icons, and/or symbols, etc.) to the user. The display device 104 may include a touch screen, and may receive, for example, a touch input using a part of the user's body, a gesture, a proximity, or a hovering input.

The display device 104 may visually display the location information of the mosquito 20 based on the control of the controller 110 .

The display device 104 may include an audio video navigation (AVN) device 410 as shown in FIG. 4 . The AVN device 410 may refer to a multimedia device in which audio, video, navigation, and/or telematics terminals are integrated into one. The AVN device 310 may be provided on the center fascia of the vehicle 100 as shown in FIG. 4 , but is not limited thereto.

The communication module 106 may support establishment of a wired and/or wireless communication channel between the vehicle 100 and an external device and perform communication through the established communication channel, and may include a communication circuit. For example, the communication module 106 includes a wireless communication module (eg, a cellular communication module, a Wi-Fi communication module, a short-range communication module, or a global navigation satellite system (GNSS) communication module) and/or a wired communication module, Among them, a corresponding communication module may be used to communicate with an external device. For example, the short-range wireless communication module may include a Bluetooth communication module.

The communication module 106 may perform wired and/or wireless communication with an external device, for example, the ultrasound generator 10 based on the control of the controller 110 .

Meanwhile, although not shown, the communication module 106 may further include a connection terminal (not shown). For example, the connection terminal may include a USB terminal (not shown) capable of being coupled to a universal serial bus (USB) cable (not shown).

The memory 108 may include various data used by at least one component of the vehicle 100 (ultrasonic sensor module 102 , display device 104 , communication module 106 and/or control unit 110 ), e.g. For example, it may store input data or output data for a software program and instructions related thereto. Memory 108 may include volatile memory and/or non-volatile memory.

The control unit 110 (also referred to as a control circuit or processor) may include at least one other component (eg, a hardware component (ultrasonic sensor module 102 , display device 104 , communication module 106 ) of the connected vehicle 100 . ) and/or memory 108) or software components (software programs)), and may perform various data processing and operations. The controller 110 may include a body control module (BCM) 214 of FIG. 2 . The controller 110 may include a processor and a memory.

When the mosquito 20 appears inside the vehicle, the controller 110 may control the at least one ultrasonic sensor 103 to identify the location of the mosquito 20 . The controller 110 may control the display device 104 to visually display the location information of the mosquito 20 . For example, the controller 110 may control the display device 104 to visually display the location information of the mosquito 20 in real time. The controller 110 may control the communication module 106 to transmit the location information of the mosquito 20 to an external device, for example, the ultrasonic generator 10 . For example, the controller 110 may control the communication module 106 so that the display device 104 transmits the location information of the mosquito 20 in real time.

The controller 110 may control the at least one ultrasonic sensor 103 to transmit an ultrasonic signal and receive a signal reflected from the mosquito 20 . The controller 110 may calculate the reflection time of the signal reflected from the mosquito 20 to calculate the distance between the at least one ultrasonic sensor 103 and the mosquito 20, and based on the calculated distance, the mosquito 20 location can be identified.

The ultrasonic generator 10 may include an ultrasonic vibrator 11 , a communication module 13 , at least one light emitted diode (LED) 15 , a connection terminal 17 and/or a control unit 19 . can

The ultrasonic vibrator 11 may radiate an ultrasonic signal.

The communication module 13 may support establishment of a wired and/or wireless communication channel between the ultrasound generator 10 and an external device and perform communication through the established communication channel, and may include a communication circuit. For example, the communication module 13 includes a wireless communication module (eg, a cellular communication module, a Wi-Fi communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) and/or a wired communication module, Among them, a corresponding communication module may be used to communicate with an external device. For example, the short-range wireless communication module may include a Bluetooth communication module.

At least one light emitting diode 15 may output a preset light.

The connection terminal 17 may include a USB terminal (not illustrated) capable of being coupled to a universal serial bus (USB) connection cable (not illustrated).

The control unit 19 (also referred to as a control circuit or processor) includes at least one other component (eg, a hardware component (a piezoelectric actuator 12 , a communication module 13 , a light emitting diode) of the connected ultrasonic wave generating device 10 . 15) or a software component (software program)), and may perform various data processing and operations The controller 110 may include a processor and a memory.

On the other hand, although not shown, the control unit 19 further includes a driving device for driving the ultrasonic vibrator 11 (also referred to as a piezoelectric actuator) and/or a driving device for driving the light emitting diode 15, or the ultrasonic vibrator ( 11) may include a driving device and the light emitting diode 15 may include a driving device.

5 is a view for explaining a structure of an ultrasonic wave generating apparatus according to an exemplary embodiment. 6 is a view for explaining an ultrasonic wave generating apparatus according to an exemplary embodiment.

Referring to FIG. 5 , an upper end of the ultrasonic generator 10 may include an ultrasonic vibrator 11 , and a lower end of the ultrasonic vibrator 11 may include a support 502 .

The upper surface of the ultrasonic vibrator 11 may be designed in a horn shape to amplify the displacement, and a piezoelectric actuator 510 for excitation at a high frequency may be located at a portion of the lower end of the ultrasonic vibrator 11 . For example, the ultrasonic vibrator 11 includes a concentrator horn 504, a front slab 506, a back slab 508, a front slab 506 and a back slab. a piezoelectric actuator 510 positioned between 508 .

The piezoelectric actuator 510 may be formed of a stainless block including two or more stacked ring-type piezoelectric ceramics 512 , and the piezoelectric actuator 510 may include an electrical terminal 514 .

In order to determine the resonance frequency and maximum amplitude of the ultrasonic vibrator 11 , the length of the ultrasonic vibrator 11 may be used as a design variable.

The support part 502 may be cylindrical, and may be designed in a form that can be positioned in the cup holder of the console box 602 of the vehicle 100 as shown in FIG. 6 . Referring to FIG. 6 , a USB connection terminal 604 may be included in the console box 602 of the vehicle 100 . By plugging the USB connection cable 606 into the connection terminal 17 of the ultrasonic generator 10 and the USB connection terminal 604 of the vehicle 100 , the ultrasonic generator 10 and the vehicle 100 are electrically connected to each other can make it happen

On the other hand, although not shown in FIG. 5 , the ultrasonic generator 10 additionally includes at least one light emitting diode 15 incidentally, so that when the ultrasonic vibrator 11 is operated, the at least one light emitting diode 15 is It is possible to enable the user to check the operation of the ultrasonic vibrator 11 through the distribution of light while operating.

In addition, the shape of the support part 502 may be various other than the cylindrical shape shown in FIG. 5 , and the position of the ultrasonic wave generating device 10 may also be variously changed.

In addition, in the above-described embodiment, the vehicle 100 may further include a mosquito tracking device (not shown) or may be communicatively connected to a mosquito tracking device inside the vehicle 100 , and the controller 110 of the vehicle 100 . ) may receive the location information of the mosquito 20 tracked by the mosquito tracking device to identify the location of the mosquito 20 . The mosquito tracking device may be one of various devices, such as a mosquito tracking laser, which has been developed in the prior art.

Also, although the vehicle 100 and the ultrasonic wave generating device 10 are illustrated as separate components in FIG. 1 , the ultrasonic wave generating device 10 may be included in a component of the vehicle 100 .

7 is a flowchart of a control operation of a vehicle according to an exemplary embodiment. 8 is a diagram for explaining a display operation of an AVN device included in a vehicle according to an exemplary embodiment.

The vehicle 100 (or the controller 110 of the vehicle 100 ) may identify the location of the mosquito based on the output of the at least one ultrasonic sensor 103 ( 701 ).

Referring to FIG. 8A , the AVN device 310 of the vehicle 100 may display an environment setting screen as shown in FIG. 8A based on a user input. The environment setting screen of FIG. 8 (a) may include a plurality of icons (or buttons or menus) such as navigation, sound, phone, blue link, mosquito repellent, clock and/or Wi-Fi. . When the mosquito repelling icon 802 is selected based on the user's input, an operation for identifying and monitoring a mosquito location of the vehicle 100 may be performed.

The at least one ultrasonic sensor 103 may include a first ultrasonic sensor, a second ultrasonic sensor, and/or a third ultrasonic sensor.

The vehicle 100 controls the first ultrasonic sensor, the second ultrasonic sensor, and/or the third ultrasonic sensor to output an ultrasonic signal, and in response to the output of the ultrasonic signal, the first ultrasonic sensor, the second ultrasonic sensor and/or Alternatively, the first waveform of the sound wave acquired by each of the third ultrasonic sensors may be identified. For example, the first waveform may be a waveform corresponding to a mosquito sound. The vehicle 100 uses a spectrogram corresponding to a mosquito sound pre-stored in the memory 108 to obtain a waveform of a sound wave obtained by the first ultrasonic sensor, the second ultrasonic sensor, and/or the third ultrasonic sensor. It can be identified whether it is the first waveform corresponding to the mosquito sound. For example, in the vehicle 100, a waveform of a sound wave acquired by the first ultrasonic sensor, the second ultrasonic sensor, and/or the third ultrasonic sensor corresponds to the mosquito sound by using a long short term memory (LSTM) algorithm. It can be identified whether

The vehicle 100 may identify a time at which the first waveform arrives at each of the first ultrasonic sensor, the second ultrasonic sensor, and/or the third ultrasonic sensor. The vehicle 100 is configured to perform a connection between the first ultrasonic sensor, the second ultrasonic sensor, and/or the third ultrasonic sensor based on the time at which the first waveform arrives at each of the first ultrasonic sensor, the second ultrasonic sensor, and/or the third ultrasonic sensor. The time difference reached by the first waveform is calculated, and the position of the mosquito may be identified based on the calculated time difference.

For example, the vehicle 100 may include a first ultrasonic sensor, a second ultrasonic sensor, and/or a first ultrasonic sensor based on a time difference at which a first waveform between the two sensors arrives in the third ultrasonic sensor. The distance between the second ultrasonic sensor and/or the third ultrasonic sensor and the location of the sound wave may be calculated.

For example, the vehicle 100 generates a straight line connecting the position of the first ultrasonic sensor and the position of the second ultrasonic sensor and a sound wave based on the distance between the first ultrasonic sensor and the second ultrasonic sensor and the sound wave generation position. A first predicted trajectory may be generated using an orthogonal distance between locations as a radius. The vehicle 100 is an orthogonal distance between a straight line connecting the position of the second ultrasonic sensor and the position of the third ultrasonic sensor and the position of the sound wave based on the distance between the second ultrasonic sensor and the third ultrasonic sensor and the sound wave generating position A second predicted trajectory may be generated with a radius of . The vehicle 100 is a straight line connecting the position of the third ultrasonic sensor and the position of the first ultrasonic sensor based on the distance between the first ultrasonic sensor and the third ultrasonic sensor and the position where the sound wave is generated, and the orthogonal distance between the position where the sound wave is generated A third predicted trajectory may be generated with a radius of . The vehicle may calculate a distance error between the first predicted trajectory, the second predicted trajectory, and the third predicted trajectory, and may identify a location where the sound wave is generated based on the calculation of the distance error.

In response to the identification of the location of the mosquito, the vehicle 100 may control the display device to visually display location information of the mosquito ( 703 ).

Referring to FIG. 8B , the AVN device 301 of the vehicle 100 visually displays information 804 indicating that a control operation for repelling mosquitoes is currently being performed, and at the same time information 806 on the location of the mosquitoes. can be displayed visually. The visual display of the mosquito location information 806 may be a visual effect displayed so that the location of the mosquito on the vehicle interior screen and the vehicle interior screen is distinguished, as shown in FIG. 8(b) .

The vehicle 100 may transmit location information of the mosquito to the ultrasonic generator ( 705 ).

The vehicle 100 may control the communication module 106 to transmit location information of the mosquito to the ultrasound generator 10 in real time.

9A and 9B are flowcharts of a mosquito location identification operation of a vehicle according to an exemplary embodiment. 10 and 11 are diagrams for explaining an operation for identifying a location of a mosquito according to an embodiment.

The vehicle 100 (or the vehicle controller 110 ) may acquire a sound wave through the first ultrasonic sensor ( 901 ).

The vehicle 100 may acquire a waveform of the sound wave based on the acquired signal processing of the sound wave ( S903 ).

The vehicle 100 may remove low-frequency noise of sound waves by applying a high-pass filter.

The signal processing may be preprocessing (eg, data normalization, spectrogram analysis, etc.) for sound wave analysis using an LSTM algorithm in operation 905, which will be described later.

The vehicle 100 may identify whether the acquired waveform corresponds to the mosquito sound ( 905 ).

The vehicle 100 may identify whether the acquired waveform corresponds to a mosquito sound by using an LSTM algorithm or the like. For example, the Charang 100 uses the spectrogram of a mosquito sound as input data and configures LSTM Networks that classify whether it is a mosquito sound, learns from a number of mosquito sounds, and determines whether the waveform obtained using this is a mosquito sound. can be identified. A detailed embodiment using the LSTM algorithm will be described later, so a detailed description thereof will be omitted.

If the acquired waveform corresponds to the mosquito sound, the vehicle 100 may perform operation 907, otherwise, operation 901 may be performed again.

The vehicle 100 may identify arrival times of the first waveform of the sound wave to the first, second, and third ultrasonic sensors ( 907 ).

The vehicle 100 identifies the first waveform in the form of the same sound wave from the sound waves acquired by the first ultrasonic sensor, the second ultrasonic sensor, and the third ultrasonic sensor, and determines the arrival time of the first waveform of the sound wave to each ultrasonic sensor. can be identified.

The vehicle 100 may identify the distances LA1, L(A2), L(A3)) between the positions of the first, second, and third ultrasonic sensors and the positions of the sound waves ( S909 ).

Based on the arrival time of the first waveform of the sound wave of each ultrasonic sensor, the vehicle 100 may calculate a difference between the arrival time of the first waveform of the sound wave and each of the other ultrasonic sensors for each ultrasonic sensor.

The vehicle 100 may identify a distance between each ultrasonic sensor and a location where the sound wave is generated based on a difference in the arrival time of the first waveform of the sound wave with respect to each ultrasonic sensor and the sound speed of the sound wave for each ultrasonic sensor.

Referring to FIG. 10 , the vehicle 100 shows the arrival time of the first waveform of the sound wave from the sound wave generating position A of the first ultrasonic sensor 1 and the sound wave generating position A of the second ultrasonic sensor 2 . The difference T12 between the arrival times of the first waveform of the sound wave from The vehicle 100 determines the arrival time of the first waveform of the sound wave from the sound wave generating position A of the second ultrasonic sensor 2 and the first of the sound wave from the sound wave generating position A of the third ultrasonic sensor 3 . The difference T23 between the arrival times of the waveforms can be calculated. The vehicle 100 determines the arrival time of the first waveform of the sound wave from the sound wave generating position A of the third ultrasonic sensor 3 and the first wave of the sound wave from the sound wave generating position A of the first ultrasonic sensor 1 . A difference T31 between arrival times of the waveforms can be calculated.

The sound speed of the sound wave may be stored in the memory 108 of the vehicle 100 .

For example, the vehicle 100 may identify a distance between each ultrasonic sensor and a location where the sound wave is generated based on Equation 1 below.

[Equation 1]

L(A1)-L(A2) = T12 x speed of sound

L(A2)-L(A3) = T23 x speed of sound

L(A1)-L(A3) = T13 x speed of sound

(A: sound wave generation position, 1: first ultrasonic sensor position, 2: second ultrasonic sensor position, 3: third ultrasonic sensor position, L(A1): distance between A and 1, L(A2) : distance between A and 2, L(A3): distance between A and 3, T12: difference in arrival time of the first waveform of the sound wave between the first ultrasonic sensor and the second ultrasonic sensor, T23: the second ultrasonic sensor and the third difference in arrival time of the first waveform of the sound wave between the ultrasonic sensors, T31: difference in the arrival time of the first waveform of the sound wave between the third ultrasonic sensor and the first ultrasonic sensor)

The vehicle 100 may calculate L(A1)-L(A2) ( 911 ).

The vehicle 100 may calculate L(A2)-L(A3) ( 913 ).

The vehicle 100 may calculate L(A1)-L(A3) ( 915 ).

The vehicle 100 may estimate the first generation position of the sound wave on the first virtual plane including the positions of the first and second ultrasonic sensors based on the calculation result of L(A1)-L(A2) ( 917 ). ).

The vehicle 100 may estimate the second generation position of the sound wave on the second virtual plane including the positions of the second and third ultrasonic sensors based on the calculation result of L(A2)-L(A3) ( 919 ). ).

The vehicle 100 may estimate a third generation position of the sound wave in a third virtual plane including the positions of the first and third ultrasonic sensors based on the calculation result of L(A1)-L(A3) ( 921 ). ).

The vehicle 100 may generate a first predicted trajectory of the first occurrence location in the first virtual plane ( 923 ).

Referring to FIG. 11A , the first expected trajectory is first generated as a rotation axis using a straight line connecting the position of the first ultrasonic sensor 1 and the position of the second ultrasonic sensor 2 in the first virtual plane. Rotating position A may include a circular trajectory 1102 having a radius M.

The vehicle 100 may generate a second predicted trajectory of the second occurrence location in the second virtual plane ( 925 ).

Referring to FIG. 11B , the second expected trajectory is first generated as a rotation axis using a straight line connecting the position of the second ultrasonic sensor 2 and the position of the third ultrasonic sensor 3 in the second virtual plane. may include a circular trajectory 1104 having a radius N when rotated at position A.

The vehicle 100 may generate a third predicted trajectory of the third occurrence location in the third virtual plane ( 927 ).

Referring to FIG. 11C , the third expected trajectory is first generated as a rotation axis using a straight line connecting the position of the first ultrasonic sensor 1 and the position of the third ultrasonic sensor 3 in the third virtual plane. Rotating position A may include a circular trajectory 1106 with radius O.

The vehicle 100 may calculate a distance error between the first, second, and third expected trajectories ( 929 ).

The vehicle 100 may calculate a distance error between the first, second, and third expected trajectories by using the least-squares method ( 929 ). For example, the vehicle 100 may set the remaining two predicted trajectories of the estimated occurrence positions (the first occurrence position, the second occurrence position, and the third occurrence position) of the sound wave in each of the first, second, and third predicted trajectories. An occurrence position having the closest orthogonal distance of the image may be calculated by the least-squares method.

The vehicle 100 may identify the location of the sound wave based on the calculated distance error (31).

The vehicle 100 may identify a generated location having the smallest distance error from the calculated nearest generation location as a location of the sound wave.

12 is a flowchart of a tracking operation of a main sound waveform of a vehicle according to an exemplary embodiment. 13 is a diagram for describing a tracking operation of a main sound waveform of a vehicle according to an exemplary embodiment. 14 is a diagram for describing LSTM Networks according to an embodiment.

The vehicle 100 (or the controller 110 of the vehicle 100 ) may set the window length of the waveform of the sound wave ( 1201 ).

The vehicle 100 may acquire a waveform of a sound wave as shown in (a) of FIG. 13 . The vehicle 100 determines the window length of the sound wave waveform, that is, the cutting length of the sound wave waveform, based on the number of fast Fourier transforms (FFTs) of the sound wave waveform and a preset target frequency band as shown in Equation 2 below. can be set.

[Equation 2]

Window length = number of FFTs / target frequency band (eg 4096/44100Hz = 0.093 sec)

The vehicle 100 may set an overlapping section of the waveform of the sound wave ( 1203 ).

The setting of the overlapping section may determine how much overlapping state of the sound wave waveform is to be cut.

The vehicle 100 may set the overlapping section based on the set window length and frame stride (frame_stride). The frame stride means the time it takes to analyze the next window, which is the next column for a short-time Fourier transform. For example, if the window length is 0.093 seconds and frame_stride is 0.02 seconds, the overlapping period may be 0.073 seconds.

The vehicle 100 may calculate the number of frames of the sound wave waveform ( 1205 ).

The vehicle 100 may calculate the number of frames based on the sample total time (total time of the waveform of the sound wave) and the frame strike as shown in Equation 3 below ( 1207 ).

[Equation 3]

Number of frames = total sample time / frame stride (e.g. 12 seconds/0.02=600)

The vehicle 100 may extract a Mel spectrogram of a waveform of a sound wave ( 1207 ).

The vehicle 100 may perform a short-time Fourier transform on each frame of the sound wave waveform in response to the calculation of the number of frames, and then extract a Mel spectrogram as shown in FIG. 13B . The extraction technique of Mel spectrogram is a prior art and a detailed description thereof will be omitted.

The vehicle 100 may identify whether the waveform of the sound wave is the main sound wave based on the Mel spectrogram ( 1209 ).

The vehicle 100 may perform a prediction operation of the main sound waveform by using a network previously learned with many main sound waveforms. For example, the pre-trained network may include long short-term memory (LSTM) networks.

LSTMs are a special kind of recurrent neural networks (RNNs) that have the ability to perform long-dependent learning. RNN has a structure like a chain that repeats neural network modules. Although LSTM is a chain structure, each repeating module has a different structure. That is, in LSTM, instead of one layer of a simple neural network layer, four layers exchange information with each other in a special way. In other words, the repeat module of the LSTM contains four interactive layers. When the principle of the LSTM is described with reference to FIG. 14, each line 1402 represents the flow of sending the entire vector from the output of one node to the input of another node, 1404, The identification numbers 1406, 1408, 1410, and 1412 indicate pointwise operations, and identification numbers 1414, 1416, 1418, and 1420 are the learned neural network layers. A line that merges means concatenation, and a line that splits means a fork that copies information and sends it to the other side. The first step in LSTM is to decide what information to discard from the cell state, which is determined by the sigmoid layer. The next step is to decide which of the new information to be stored in the cell state. Finally, what to output as an output is determined, and this output is filtered based on the cell state.

Such LSTM Networks, that is, the LSTM algorithm may be stored in the memory 108 of the vehicle 100, and accordingly, the vehicle 100 uses the frequency-time sequence data of the Mel spectrogram as an input of the LSTM Networks, As an output, LSTM Networks can output whether the input data corresponds to the main sound, that is, whether the waveform of the sound wave is the main sound or not.

15 is a flowchart of a control operation of an ultrasonic wave generating apparatus according to an exemplary embodiment. 16 is a diagram illustrating an ultrasound signal according to an exemplary embodiment.

The ultrasonic generator 10 (or the controller 19 of the ultrasonic generator 10 ) may generate a first signal of a first waveform whose frequency continuously changes within a predetermined frequency band ( 1501 ).

The ultrasound generator 10 may receive a control signal from the vehicle through the communication module 13 , and may generate a first signal of the first waveform in response to the reception of the control signal. For example, the ultrasound generator 10 may receive a control signal from the vehicle based on Bluetooth communication.

The first waveform may include a waveform whose frequency is continuously changed as shown in FIG. 16A , but whose magnitude is constant after the first frequency within a predetermined frequency band. The predetermined frequency band may be 20 kHz to 70 kHz. For example, the first signal of the first waveform may be a Sine Sweep signal of 20 kHz to 70 kHz, and since the frequency of this first signal increases with a certain period, when the first signal is radiated in the direction of the mosquito, mosquitoes do not like it It can pass through a frequency band. Accordingly, it is possible to effectively exterminate mosquitoes regardless of the type of mosquito.

The ultrasound generator 10 may generate a second signal of a second waveform including at least one frequency randomly selected within a predetermined frequency band ( 1503 ).

The second waveform may be a signal of a waveform including at least one frequency among the first signals as shown in FIG. 16B . For example, the second signal of the second waveform may be for maximizing the mosquito repelling effect by changing the ultrasonic frequency in a random manner. The selected at least one frequency may include, for example, 28 kHz, 50 kHz, and/or 68 kHz, and may be set to select a clinically effective frequency. This can be said to be the application of the variable frequency method, and it can be said that the first signal of the first waveform corresponding to the sound wave of the male mosquitoes disliked by the female mosquitoes during the spawning season is generated, and the mosquito distribution in the global region is taken into account.

The ultrasonic generator 10 may control the ultrasonic vibrator 11 so that the ultrasonic vibrator 11 emits an ultrasonic signal by crossing the first signal and the second signal ( 1505 ).

The ultrasonic generator 10 may control the ultrasonic vibrator 11 to radiate the ultrasonic signal by outputting the first signal during the first time period and outputting the second signal during the second time period.

The ultrasonic generator 10 may output the first signal as shown in (a) of FIG. 16 and the second signal as shown in (b) of FIG. 16 crosswise.

The ultrasonic generator 10 may radiate ultrasonic signals in a spray type. For example, the ultrasonic generator 10 may receive the location information of the mosquito from the vehicle 100 through the communication module 13 , so that the second signal is radiated in a direction corresponding to the location information of the mosquito can do.

In addition to the above-described embodiment, the ultrasonic wave generating device 10 emits light of at least one light emitting diode 15 of the ultrasonic wave generating device 10 on the basis of controlling the ultrasonic vibrator 11 to emit an ultrasonic signal. can be controlled. Accordingly, when the ultrasonic signal is emitted by the ultrasonic wave generating device 10 , the light emitting diode operates together and the user can visually confirm the operation of the ultrasonic wave generating device 10 through the distribution of light of the light emitting diode.

Also, the ultrasonic generator 10 may receive power based on coupling of a universal serial bus (USB) cable connected to the vehicle 100 with the connection terminal 17 of the ultrasonic generator 10 . Also, the ultrasonic generator 10 may include a detachable or built-in battery, and may receive power from the battery.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, a program module may be created to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

The computer-readable recording medium includes any type of recording medium in which instructions readable by the computer are stored. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like.

As described above, the disclosed embodiments have been described with reference to the accompanying drawings. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced in other forms than the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

100: vehicle 102: ultrasonic sensor module
103: ultrasonic sensor 104: display device
106: communication module 108: memory
110: control unit 10: ultrasonic generator device
11: ultrasonic vibrator 13: communication module
15: light emitting diode 17: connection terminal

Claims (20)

generating a first signal of a first waveform whose frequency is continuously changed within a predetermined frequency band;
generating a second signal of a second waveform including at least one randomly selected frequency within the predetermined frequency band;
and outputting the first signal and the second signal crossing to control the ultrasonic vibrator of the ultrasonic generator so that the ultrasonic vibrator of the ultrasonic generator emits an ultrasonic signal,
Control method of ultrasonic generator. The method of claim 1,
The first waveform is
including a waveform having a constant magnitude from the first frequency within the preset frequency band,
Control method of ultrasonic generator. The method of claim 1,
Crossing and outputting the first signal and the second signal,
outputting the first signal during a first time period and outputting the second signal during a second time period,
Control method of ultrasonic generator. The method of claim 1,
Further comprising receiving a control signal comprising the location information of the mosquito from the vehicle,
Controlling the ultrasonic vibrator to emit the ultrasonic signal,
In a direction corresponding to the position information of the mosquito, comprising controlling the ultrasonic vibrator to emit the ultrasonic signal,
Control method of ultrasonic generator. The method of claim 1,
Based on controlling to emit the ultrasonic signal, further comprising controlling light emission of at least one light emitting diode of the ultrasonic generating device,
Control method of ultrasonic generator. The method of claim 1,
Based on the coupling of a universal serial bus (USB) cable connected to a vehicle with a connection terminal of the ultrasonic generator, the method further comprising receiving power from the ultrasonic generator,
Control method of ultrasonic generator. ultrasonic vibrator; and
generating a first signal of a first waveform whose frequency is continuously changed within a predetermined frequency band, and generating a second signal of a second waveform including at least one randomly selected frequency within the predetermined frequency band; and a controller configured to output the first signal and the second signal to be crossed and control the ultrasonic vibrator so that the ultrasonic vibrator emits an ultrasonic signal,
ultrasonic generator. 8. The method of claim 7,
The first waveform is
including a waveform having a constant magnitude from the first frequency within the preset frequency band,
ultrasonic generator. 8. The method of claim 7,
The control unit is
outputting the first signal during a first time period and outputting the second signal during a second time period,
ultrasonic generator. 8. The method of claim 7,
The ultrasonic generator further comprises a communication module,
The control unit is
Receives a control signal including location information of a mosquito from a vehicle based on the control of the communication module, and controls the ultrasonic vibrator to emit the ultrasonic signal in a direction corresponding to the location information of the mosquito,
ultrasonic generator 8. The method of claim 7,
The ultrasonic generator further comprises at least one light emitting diode,
The control unit is
Controlling light emission of the at least one light emitting diode based on controlling to emit the ultrasonic signal,
ultrasonic generator. 8. The method of claim 7,
The ultrasonic generator further comprises a connection terminal,
The control unit is
Based on the coupling with the connection terminal of the USB (universal serial bus) cable connected to the vehicle, receiving the power of the ultrasonic generator,
ultrasonic generator. 8. The method of claim 7,
The ultrasonic generator further comprises a cylindrical support for supporting the lower end of the ultrasonic vibrator,
The ultrasonic vibrator,
It includes a ring-type piezoelectric actuator and has a horn-shaped upper surface,
ultrasonic generator. at least one ultrasonic sensor;
display device;
communication module; and
a control unit electrically connected to the at least one ultrasonic sensor, the display device, and the communication module;
The control unit is
identifying the location of the mosquito based on the output of the at least one ultrasonic sensor,
in response to the identification of the location of the mosquito, control the display device to visually display the location information of the mosquito;
Controlling the communication module and transmitting the location information of the mosquito to the ultrasonic generator,
vehicle. 15. The method of claim 14,
The vehicle further comprises a memory,
The at least one ultrasonic sensor,
It includes a first ultrasonic sensor, a second ultrasonic sensor and a third ultrasonic sensor,
The control unit is
controlling the first ultrasonic sensor, the second ultrasonic sensor, and the third ultrasonic sensor to output ultrasonic signals,
In response to the output of the ultrasonic signal, the first ultrasonic sensor, the second ultrasonic sensor, and identify a first waveform of the sound wave acquired by each of the third ultrasonic sensor,
Identifies a time at which the first waveform arrives at each of the first ultrasonic sensor, the second ultrasonic sensor, and the third ultrasonic sensor,
The first ultrasonic sensor, the second ultrasonic sensor, and the third ultrasonic sensor between the first ultrasonic sensor, the second ultrasonic sensor and the third ultrasonic sensor based on the time when the first waveform arrives at each of the ultrasonic sensor Calculate the time difference reached by the first waveform,
identifying the location of the mosquito based on the time difference;
vehicle. 16. The method of claim 15,
The control unit is
Based on the time difference at which the first waveform arrives between the first ultrasonic sensor, the second ultrasonic sensor, and the third ultrasonic sensor, the first ultrasonic sensor, the second ultrasonic sensor, and the third ultrasonic sensor are Calculate the distance between the locations of the sound waves,
identifying the location of the mosquito based on the distance calculation;
vehicle. 17. The method of claim 16,
The control unit is
A straight line connecting the position of the first ultrasonic sensor and the position of the second ultrasonic sensor based on the distance between the first ultrasonic sensor, the second ultrasonic sensor, and the third ultrasonic sensor and the position of the sound wave, and generating a first expected trajectory having a radius of an orthogonal distance between the generating positions of the sound wave as a radius;
generating a second predicted trajectory having, as a radius, an orthogonal distance between a straight line connecting the position of the second ultrasonic sensor and the position of the third ultrasonic sensor and the generating position of the sound wave,
generating a third predicted trajectory with a radius of a straight line connecting the position of the third ultrasonic sensor and the position of the first ultrasonic sensor and the orthogonal distance between the generating position of the sound wave,
calculating a distance error between the first predicted trajectory, the second predicted trajectory, and the third predicted trajectory,
Based on the calculation of the distance error, to identify the location of the sound wave,
vehicle. 16. The method of claim 15,
The control unit is
Based on a spectrogram corresponding to the mosquito sound pre-stored in the memory, it is identified whether the sound wave acquired by the first ultrasonic sensor corresponds to the mosquito sound,
Based on that the waveform of the sound wave is a waveform corresponding to the mosquito sound, identifying the first waveform of the sound wave,
vehicle. 19. The method of claim 18,
The control unit is
Based on a long short term memory (LSTM) algorithm, identifying whether the sound wave acquired by the first ultrasonic sensor corresponds to the mosquito sound,
vehicle. 15. The method of claim 14,
The ultrasonic generator,
generating a first signal of a first waveform whose frequency is continuously changed within a predetermined frequency band;
generating a second signal of a second waveform including at least one randomly selected frequency within the predetermined frequency band;
and outputting the first signal and the second signal crossing to control the ultrasonic vibrator of the ultrasonic generator so that the ultrasonic vibrator of the ultrasonic generator emits an ultrasonic signal,
vehicle.

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