五、發明說明（/ ) 本發明係關於一種倒車雷達縮小賴測死角之方法及裝 置，尤指一種利用改變感應器發射超音波角度配合通道切 換及時間差原理以縮小偵測死角之方法及裝置。 一般倒車雷達工作時，係將障礙物到車輛的距離依遠 近不同區分成幾段，障礙物落在不同的距離段時，倒車雷 達以不同的聲音提示駕歇人。並在障礙物進人最近段時， 倒車雷達即以非常急促的聲音提示駕駛人注意車輛到障礙 物的距離。 一有關倒車雷達的檢測範圍，理想上為矩形（如第四圖 :示)其中最接近車尾兩感應器Α、β的矩形範圍内為 ，近& al，距兩感應器Α、Β的矩形範圍次近、較遠及最 遠之矩形範圍則依序為次近段a2、較遠段a3,最遠段a4 然而，倒4雷達發出的超音波信號實際上沿曲面傳播 在第四圖中，感應器A發出的超音波呈扇 器B發出的超音波亦呈扇形傳播。在這種情況下，當^ :位於兩扇形發射區域交疊的以或bl及兩扇形區域相對 側區域b2内時，倒車雷達將誤判障礙物為位於次近段 a2 /而給予駕驶人錯誤的提示，·當障礙物位於第四圖中兩 2發射區域未涵蓋的區域b3日夺，則倒車雷達將檢測不 到任何物體而出現漏報的狀況。 ^心，上述問題將導致倒車雷達在檢測障礙物距 現嚴重錯誤，尤其當障礙物位於最近段ai時，任何^ 或漏報都可月b導致車輛撞上障礙物。解決這個問題的月 本紙張尺^ 規格（210 : A7 五 、發明說明（一 B7 鍵是縮小第四圖中的 圖所示，若能將汚 、b3等區域的面積。如第五 車雷達的誤扇形變為擴圓形，倒 波並由感應器A接收其; 據發出韶立、士 ’、 &射出的超音波，倒車雷達根 倒_^距^收到反射波的時間差，計算出障礙物到 :、=的：離(超音波的傳播速度為3杨 達仏測另-扇形區域時，由感應器β 2 器β接收其自身發出_立& & °曰波亚由感應 .,,ίΛ. f *出的超9波，倒車雷達根據發出超音波 訂 射波的時間差’計算障礙物到倒車雷達的距離 線 感鹿檢，域W時將由感應器A發射超音波而由 ::二收超音波’倒車雷達根據感應器A發出超音波 B接收到反射波的時間差’以判斷障礙物到倒車 ^達的距離，倒車雷達無法檢測位於死角區域b3内的障 礙物，故必須儘量縮小該死角區域M的大小。 口此本各明主要目的即在提供一種可有效縮小偵測 死角區域的倒車雷達。 ▲欲達成前述目的採取的主要技術手段係採用發射角度 較大的感應器代替發射角度較小的感應器，以有效縮小死 角區域的範圍。 如第七圖所示，第七圖B所示感應器的發射角度大於 第七圖A所示感應器的發射角度，因此第七圖B中的區域 b3小於第七圖A的區域b3。實際上，由於波具有反射、 A7 B7 五 、發明說明（ /亍射等特性存在，超音波並非嚴格地沿直線傳播，因此第 、，B中的區域b3實際上還會進一步縮小。換言之，透 ，遠擇合適的感應器，可以將死角區域b3縮小到可 雙的範圍。 ♦本I月-人目的在提供一種可有效避免誤動作之倒車 每達· ^第七圖中的區域b3縮小到一定程度後（第七圖β ，感應器Α發出超音波可能會直接傳播到感應器Β，而 在=感應器Α發射超音波，並由感應器Β接收反射波時導 致块報。假設感應器Α到感應器Β的距離為η cm ,超音波 的傳播速度為340m/s，因此超音波直接由感應器A傳播到 感應器β所佔用的時間t : η / 34。因為任何三角形的兩 、^ 匣大於第二邊。故無論障礙物位於車輛後方的任 " /、將感應器Α發出的信號反射到感應器β的時間均 大於時間t。 叩根據這㈣理，當倒車雷達工作在感應H A發射且感 應器B接受模式時，倒車雷達不處理t時間内的任何反射 波倒車雷達汁异從t時刻起到收到反射波的時間差，並 根據该％•間差計算障礙物到倒車雷達的距離。 假設障礙物A到感應器A的距離為X、到感應器B的 距離為y (如第八圖所示），根據橢圓的性質，區域Μ内 任何點到感應器Α和感應器Β的距離之和應小於等於x+y 。根據這個原理，假如倒車雷達處於感應器A發射、感應 器B接收的工作模式時，其檢測到的障礙物距離為m，假 (請先閱讀背面之注意事項再填寫本頁) ----^---------ΜV. Description of the invention (/) The present invention relates to a method and a device for reducing the dead angle of a reversing radar, especially a method and a device for reducing the detection of dead angle by changing the angle of the ultrasonic wave emitted by the sensor in cooperation with the principle of channel switching and time difference. Generally, when the reversing radar works, the distance from the obstacle to the vehicle is divided into several sections according to the distance. When the obstacle falls in different distances, the reversing radar reminds the driver to stop with different sounds. When the obstacle enters the nearest segment, the reversing radar prompts the driver to pay attention to the distance between the vehicle and the obstacle with a very rapid sound. The detection range of the reversing radar is ideally rectangular (as shown in the fourth picture: shown). The rectangular range closest to the two sensors A and β at the rear of the vehicle is near & al, the distance from the two sensors A and B. Rectangular ranges The next-to-nearest, farthest, and farthest rectangles are in the order of the next-to-nearest segment a2, the farthest segment a3, and the farthest segment a4. However, the ultrasonic signal from the inverted 4 radar actually travels along the curved surface in the fourth figure. In the middle, the ultrasonic wave from the sensor A is fan-shaped and the ultrasonic wave from the fan B is also propagating. In this case, when ^: is located in the area where the two fan-shaped emission areas overlap or b1 and the area b2 on the opposite side of the two fan-shaped areas, the reversing radar will misjudge the obstacle as being located in the next nearest segment a2 / and give the driver the wrong Tips: · When the obstacle is located in the area b3 that is not covered by the two 2 launch areas in the fourth picture, the reversing radar will not detect any objects and will miss the report. Please note that the above problems will cause the parking sensor to make a serious error in detecting obstacles, especially when the obstacles are located in the nearest section ai. Any missing or missed report may cause the vehicle to hit the obstacles. The paper rule for solving this problem ^ Specification (210: A7 V. Description of the invention (a B7 key is to reduce the area shown in the fourth picture, if the area of dirt, b3, etc. can be reduced. As in the fifth vehicle radar The erroneous fan becomes a rounded shape, and the reverse wave is received by the sensor A. According to the ultrasonic waves emitted by Shao Li, Shi ', & Obstacles reach :, =: away (the propagation speed of the ultrasonic wave is 3 when Yang Da guesses the other-sector shape, the sensor β 2 and the sensor β receive its own emission_ 立 & & ° . ,, ίΛ. The super 9 waves produced by f *, the reversing radar calculates the distance from the obstacle to the reversing radar based on the time difference of the ultrasonic ordering wave. :: Second-receiving ultrasonic wave 'reversing radar according to the time difference between ultrasonic wave B and reflected wave received by sensor A' to determine the distance from the obstacle to the reversing vehicle, the reversing radar cannot detect the obstacle located in the dead zone b3, so it must be Try to reduce the size of the dead-end area M as much as possible. The purpose is to provide a reversing radar that can effectively reduce the detection of dead angle areas. ▲ The main technical means to achieve the foregoing purpose is to use a sensor with a larger transmission angle instead of a sensor with a smaller transmission angle to effectively reduce the dead angle area. As shown in the seventh figure, the emitting angle of the sensor shown in the seventh figure B is larger than the emitting angle of the sensor shown in the seventh figure A, so the area b3 in the seventh figure B is smaller than the area b3 in the seventh figure A In fact, because the wave has reflections, A7, B7, and the invention description (/ radiation and other characteristics exist, the ultrasound does not strictly propagate along a straight line, so the area b3 in the first, and B will actually be further reduced. In other words, By choosing a suitable sensor, you can reduce the dead zone b3 to a range that can be doubled. ♦ This month-the purpose of the person is to provide a reverse that can effectively avoid misoperation. ^ The area b3 in the seventh figure is reduced to After a certain degree (the seventh picture β, the ultrasonic wave emitted by the sensor A may directly propagate to the sensor B, and when the sensor A emits the ultrasonic wave and the reflected wave is received by the sensor B, To the block report. Suppose that the distance from sensor A to sensor B is η cm and the propagation speed of the ultrasonic wave is 340 m / s, so the time taken by the ultrasonic wave to propagate directly from the sensor A to the sensor β t: η / 34 Because the box of any triangle is larger than the second side, no matter the obstacle is located at the rear of the vehicle, the time it takes to reflect the signal from the sensor A to the sensor β is greater than the time t. 叩 According to this ㈣ The reason is that when the reversing radar works in the inductive HA emission and the sensor B accepts the mode, the reversing radar does not process any reflected waves in the time t. The reversing radar differs from the time t to the time when the reflected wave is received, and according to the% • The difference calculates the distance from the obstacle to the reversing radar. Assume that the distance from obstacle A to sensor A is X, and the distance to sensor B is y (as shown in Figure 8). According to the nature of the ellipse, the distance from any point in area M to sensor A and sensor B The sum should be less than or equal to x + y. According to this principle, if the reversing radar is in the working mode of sensor A transmitting and sensor B receiving, the distance of obstacles detected by it is m, false (please read the precautions on the back before filling this page) ---- ^ --------- Μ
580466 t紙張尺制財目_鮮（cns)A4 A7 B7580466 t Paper Rule System_Fresh (cns) A4 A7 B7
五、發明說明（Y 設感應器Α到感應器Β的直線距離為k，則當 m <x +y時，可認為障礙物位於第一段，择& 以提南偵測之準確性，降低誤報之機率。 稭此 的倒車雷处制電路，其包括有： 以角&域 二央處理器，係由單晶片及其週邊電路 ^特U率脈波 '計算㈣、㈣警報《擇通道2 -告警電路’主要由蜂鳴^構成， 控制下，以不同的聲立;^加Μ 的 離越近，蜂鳴器上=一障礙物的距離，距 升壓處中央處理器輸出的脈波信號進行升壓 立係與超音波感應11連接，以驅動超 音波感應器發射超音波； Κ :通道選擇電路，係在中央處理器的控制下，選擇來 超音波感應器的微弱電信號（反射波信號）； 放大電路，係通道選擇電路選擇所輸出特定超音波 感應㈣微弱電信號（反射波信號）進行放大處理。 δ玄放大電路將來自超音波感應器的 並將放大後的電信號送人中央處理器進行處理 二中：=之工作流程係如下列:其令超音波感應 :二：：Γ音波’等待感應器的餘震消失後 有部分波被反射回感應器，故只須計算發出超音丨=V. Description of the invention (Y Set the linear distance from sensor A to sensor B as k, then when m < x + y, the obstacle can be considered to be in the first stage, select & to improve the accuracy of south detection In order to reduce the probability of false alarms, this reversing mine control circuit includes: Angular & domain two central processor, which is based on a single chip and its peripheral circuits ^ special U-rate pulses to calculate ㈣, ㈣ alarm " Channel 2-Alarm circuit 'is mainly composed of a buzzer ^, under control, stands with different sounds; ^ The closer the M is, the closer the buzzer is = the distance of an obstacle, and the output from the central processing unit at the booster The pulse signal is boosted and connected to the ultrasonic sensor 11 to drive the ultrasonic sensor to emit ultrasonic waves; κ: channel selection circuit, under the control of the central processing unit, selects the weak current from the ultrasonic sensor Signal (reflected wave signal); Amplification circuit, the channel selection circuit selects the specific ultrasonic induction ㈣ weak electrical signal (reflected wave signal) for amplification processing. Δ Xuan amplifier circuit will be from the ultrasonic sensor and will be amplified Electric signal sent to central processing The second step of the processing is: The workflow of = is as follows: It makes the ultrasonic induction: Second: The Γ sound wave waits for the aftershock of the sensor to disappear, and some of the waves are reflected back to the sensor. =
--------------I (請先閱讀背面之注意事項再填寫本頁) .線丨·! ，466 A7 B7 五、發明說明（ =波：：間^ ’即可根據聲波在空氣中的傳播速度 m S °十异出障礙物到感應器的距離。 於射感應為在中央控制器的控制下以循環的方式 毛射和接收超音波，並令各一 哭私射扣立4 柃間内只有一個超音波感應 =、σ9; ’也只有-個感應ϋ接收超音波，再透過通 這選擇電路切換來自妒立士π广抑 兴水自超g波感應器的反射波信號並將其送 到放大電路進行放大。 : 貝審查委員進一步瞭解前述目的及本發明之技 術特徵，茲附以圖式詳細說明如后： (一）圖式部分： 第一圖，係本發明之電路方塊圖。 第圖A B、C ·係本發明之詳細電路圖。 第三圖 第四圖 第五圖 係本發明之工作流程圖 係一般倒車雷達之超音波發射區域示意圖。 係經修正的倒車雷達超音波發射區域示意圖 f六圖：係一般倒車雷達之偵測死角區域示意圖 第七圖A、B ·係不同發射角度感應器之發射區域示意圖 〇 第八圖·係倒車雷達之偵測區域示意圖。 (二）圖號部分： (1 〇) +央處理器 （2 0 )告警電路(30)升壓電路 （31) (32)升壓單元 (33) (34)超音波發射電路 (40)通道選擇電路 （50)放大電路-------------- I (Please read the notes on the back before filling in this page). Line 丨 ·!, 466 A7 B7 V. Description of the invention (= wave :: between ^ 'namely According to the speed of sound waves in the air m S °, the distance from the obstacle to the sensor can be different. Yu-ray induction is to emit and receive ultrasonic waves in a cyclic manner under the control of the central controller, and make each cry. There is only one ultrasonic sensor = σ9; there is only one sensor ϋ to receive ultrasonic waves, and then switch through this selection circuit. The reflected wave signal is sent to the amplifier circuit for amplification.: The review committee has further understood the foregoing purpose and the technical features of the present invention. The detailed description is attached as follows: (1) Schematic part: The first diagram, It is a block diagram of the circuit of the present invention. Figures AB and C are detailed circuit diagrams of the present invention. The third, fourth, and fifth diagrams are flowcharts of the present invention, which are schematic diagrams of the ultrasonic transmitting area of a general parking radar. Modified schematic diagram of the ultrasonic transmitting area of the parking sensor f6: Schematic diagram of dead zone detection by general reversing radar. 7th diagram A, B. Schematic diagram of the transmission area of sensors with different transmission angles. 8th diagram. Schematic diagram of the detection area of the reversing radar. (2) Figure number section: (1 〇 ) + Central processor (20) Alarm circuit (30) Booster circuit (31) (32) Booster unit (33) (34) Ultrasonic transmitting circuit (40) Channel selection circuit (50) Amplifying circuit
7 (210 x 297 公釐） 訂 線 580466 A7 B7 乂一/' 五、發明說明（ (6 0 )穩屢電路 括:關本發明之倒車雷達控制電路係如第-圖所 -♦央處理器（1 0) ’主要由一 ㈣定頻率脈波、計算距離、控制警報及選擇:道等: 月b ， 一告警電路（2〇） 處理器（1 0 )的控制下 障礙物的距離，距離越近 一升壓電路（3 0 ) 主要由蜂鳴杰構成，其在中央 ，以不同的聲音提醒駕駛人距離 蜂鳴為的聲音趟緊凑； 訂 其係將中央處理器（1 0 )輸 出㈣波信號進行升壓升壓處理後，其輸出端係、與超音波 感應器連接，以驅動超音波感應器發射超音波； 一通逗選擇電路（4Q)，係在中央處理器㈠0) 的控制下’選擇來自特定超音波感應器的微弱電信號（反 射波信號）； 線 一放大電路（50)，係對通道選擇電路（4〇)選 擇所輸出特定超音波感應器的微弱電信號（反射波信號） 進行放大處理’並送入中央處理器（丄〇 )進行運算處理 ;其中： ★有關刖述電路進一步的詳細構造與工作原理，請參閱 第二圖A所示，該中央處理器（1 0 )係Microchip公司 生產的PIC16C54晶片構成，採用3·798ΜΗζ的時序頻率（ 該頻率的時序可產生4〇ΚΗζ±〇·5%的方波）。又中央處理 态（1 0 )係與其週邊電路IC4、電容C13、C14、C15、 本纸張尺度適用中關家標準（CNS)A4 x 297公爱 580466 A7 五、發明說明（7) 電阻咖、二極體D4及缝子CY1等組成中央控制器電路 ’其中電容C13、CH及振盈子CY1係組成—外部振 路；電壓檢出器IC4、電容C15、電阻R32及二極體D4組 成一上電復位電路，該上電復位電路係透過電壓檢出器 I—C4檢測電源電壓變化，進而控制中央處理器（丄〇 )的 復位接腳，以解決電源快速開關⑽/〇FF)時所造成的復位 不良（即初始化不良）問題。 又請配合參閱第二圖A、B、C所示，該中央處理器 (1 〇 )的第1G、U、12、13接腳用於產生侧z的方 波，這些方波信號被送到升壓電路（3 〇 )進行放大；中 央處理器（1 0 ) @ 17腳用於控制通道選擇電路（4 〇 )(由編號74HC4052 (IC1)的電子開關構成），在古亥接 腳的控制下，通道選擇電路（4 〇 )有選擇地將來^音 波感應器的反射波電信號送到放大電路（5 〇 )進行放大 中央處理器（1 〇)的第18接腳可控制放大電路（ 5 0 )的放大倍數，透過該接腳以抑制超音波感應器的餘 震信號； 中央處理器（1 〇 )的第i接腳係用以接收來自放大 電路（5 0 )的放大信號； 中央處理器（1 〇 )的第8接腳控制告警電路（2 〇 )的開關，具體而言，該接腳係透過電阻R24、電晶體卯 、電阻R35、可變電阻VR2控制告警電路（2〇 器的工作與否。 … ^一 ， 本紙張G適用中國國家標準（CNS)A4規格（21G X 297公爱 -------IT--------- (請先閱讀背面之注意事項再填寫本頁) 5804667 (210 x 297 mm) Ordering line 580466 A7 B7 乂 一 / 'V. Description of the invention ((60) Stable and repeated circuits include: The parking radar control circuit related to the present invention is as shown in the figure-the central processor (1 0) 'It mainly consists of a fixed frequency pulse wave, calculating the distance, controlling the alarm and selection: track, etc .: month b, an alarm circuit (20), the distance of the obstacle under the control of the processor (1 0), the distance The closer the booster circuit (30) is mainly composed of the buzzer, it is in the center and reminds the driver with different sounds. The sound of the buzzer is compact; it is designed to output the central processing unit (1 0). After the wave signal is boosted and boosted, its output is connected to the ultrasonic sensor to drive the ultrasonic sensor to emit the ultrasonic wave; a funny selection circuit (4Q) is controlled by the central processing unit (0) Next 'select the weak electrical signal (reflected wave signal) from the specific ultrasonic sensor; the line-amplifying circuit (50) selects the weak electrical signal (reflection of the specific ultrasonic sensor) output from the channel selection circuit (40). Wave signal) to be amplified and sent The central processing unit (丄 〇) performs arithmetic processing; of which: ★ For further detailed structure and working principle of the described circuit, please refer to the second figure A, the central processing unit (1 0) is a PIC16C54 chip manufactured by Microchip. The structure uses a timing frequency of 3.798MΗζ (the timing of this frequency can generate a square wave of 40KΗζ ± 0.5%). The central processing state (1 0) is related to its peripheral circuit IC4, capacitors C13, C14, C15, and this paper standard is applicable to Zhongguanjia Standard (CNS) A4 x 297 public love 580466 A7. 5. Description of the invention (7) Resistor coffee, The diode D4 and the slit CY1 form the central controller circuit. 'The capacitors C13, CH and the oscillator CY1 are composed of an external oscillation circuit; the voltage detector IC4, the capacitor C15, the resistor R32, and the diode D4 form one. Power-on reset circuit. The power-on reset circuit detects the change of the power supply voltage through the voltage detector I-C4, and then controls the reset pin of the central processing unit (丄 〇) to solve the problem of fast power switching (⑽ / 〇FF). The problem caused by poor reset (ie poor initialization). Please also refer to the second figure A, B, and C. The 1G, U, 12, and 13 pins of the central processing unit (10) are used to generate a square wave on the side z. These square wave signals are sent to Boost circuit (3 0) for amplification; central processing unit (1 0) @ 17-pin is used to control channel selection circuit (4 0) (composed of the electronic switch with the number 74HC4052 (IC1)). Next, the channel selection circuit (4 〇) selectively sends the reflected wave electric signal of the sonic sensor to the amplifier circuit (50) for amplification. The 18th pin of the central processing unit (10) can control the amplifier circuit (5). 0) through the pin to suppress the aftershock signal of the ultrasonic sensor; the i-th pin of the central processing unit (10) is used to receive the amplified signal from the amplifying circuit (50); The eighth pin of (10) controls the switch of the alarm circuit (20). Specifically, this pin controls the alarm circuit (resistor of the 20th device through the resistor R24, the transistor R, the resistor R35, and the variable resistor VR2). Work or not. ^ ^ First, this paper G applies the Chinese National Standard (CNS) A4 specification (21 G X 297 Public Love ------- IT --------- (Please read the precautions on the back before filling this page) 580466
再者’升壓電路（3〇)係由兩升壓單元（31)( 32)組成，每一升壓單元（31) (32)分別由兩組 電曰曰肢及包阻組成，其中電晶體⑽、、電阻KM、R26 組成感應器1的升壓單元（3 1 )，對相位相反的兩路 40KHz方波^唬進行升壓，升壓後的方波信號經變壓器 電合CIO、感應為1 (透過接頭⑶μ連接）組成的超音 波务射電路（3 3 )發射超音波。又感應$ i ;妾收的反射 波信號則透過電容C5、電阻R12送至通道選擇電路（4〇 )，s通迢選擇電路（4 〇)選定該通道信號時，即送入 放大電路（5 0 )進行放大。 同理’由電晶體Q4、q5、電阻R29、R3〇組成感應器 2的升壓單元（3 2 )，係分別連接變壓器T2、電容C7 組成的超音波發射電路（3 4 )及電容C4、電阻R3組成 反射波檢測電路。以透過接頭c〇N2、感應器2發射信號， 或經接頭COM2接收感應器2接收的信號。 而該通道選擇電路（4 〇 )係將來自感應器1、2的 反射波信號在中央處理器（1 〇 )的控制下，選擇連結到 放大電路（50)。其中通道選擇電路（4〇)的真值表 係如下列： 輸入A 輸入B 輸入/輸出連接情況 0 0 X和X0相連、Y和Y0相連 0 1 X和XI相連、Y和Y1相連 1 0 X和X2相連、Y和Y2相連 1 1 X和X3相連、Y和Y3相連 10 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） 卜------------·-------訂---------線A (請先閱讀背面之注意事項再填寫本頁) 466 A7 --------— R7 五、發明說明（Ϋ ) °亥放大電路（5〇)係由運算放大器IC2A、IC2B、 、IC2D及其週邊電路構成的四級放大電路，以放大來 自感應的U弱反射波信號，經過四級放大器放大後的反 射波信號送到中央處理器（10)計算距離。 一又，來自中央處理器（丄〇)第18腳的信號透過控 制★體D3及弘晶體Qi來消除餘震，當接腳為低電位時 電曰曰體Q1截止，運算放大器IC2D的放大量減小，從而 抑制，應器的餘震；該接腳為高電位時，電晶體以導通 、’運异放大H IC2D有較大的放大量，可以對反射波信號 進行有效地放大。 ^再者，二極體D10、穩壓ic IC6/IC5及其週邊電阻、 電容係構成一穩麼電路（60)，該穩壓電路將來自汽車 倒車檔的+12V電源電壓穩壓到+5V以供前述電路使用。 由上述5兒明可看出本發明具體的電路構造及各主要電 路的工作原理，至於中央處理器（1 〇 ) 請參閱第三圖所示，倒車雷達通電後，即由中央處理 器（1 0 )進行初始化，並令蜂鳴器發出“滴”、“滴，， 兩聲，表不倒車雷達開始工作，中央處理器（丄〇 )隨即 對感應器進行自我檢測（檢測每個感應器的餘震情況）。 感應器自我檢測完成後，感應器丨發射超音波並由感 應器1檢測反射波，倒車雷達根據發出超音波到檢測到反 射波所用時間計算障礙物到感應器i的距離；然後感應器 2發射超音波並由感應器2檢測反射波，倒車雷達再根據 發出超音波到檢測到反射波所用時間計算障礙物到感應器 ______ji_ 本紙張尺㈣用中國國家標準（CNS)A4規格（210 X 297公爱)"— -- -------訂--------- (請先閱讀背面之注意事項再填寫本頁} 湖466 發明說明（ 2的距離 —如果障礙物到感應器1或感應H 2的距離小於預先設 疋取近#又的k界值，倒車雷達即判定障礙物位於最近段並 驅動蜂鳴器告警。 如果障礙物到感應器1和感應器2的距離均大於最近 段的臨界值，感應器1發送超音波並由感應器2接收超音 波’倒車雷達根據發出超音波至檢測到反射波所用時間計 算距離’若該距離大於從感應器1到感應器2的直線距離 且小於預先設定的值x+y(參看第八圖之相關描述）， 倒車雷達判定障礙物位於最近段並驅動蜂鳴器告警；否則 ’倒車雷達比較兩個距離的最小值’並將最小值作為實際 距離，然後比較實際距離和預先設定的各個分段的臨界值 ，以確定障礙物所在的分段區域’再根據分段情況驅動蜂 鳴器告警。 線 倒車雷達不斷重覆上述過程直到雷達斷電。 經上述說明可看出本發明之電路構造、電路工作原理 及以中央處理器（1 〇 )為控制中樞的工作流程，以該等 設計係採用發射角度較大的超音波感應器取代發射角度較 小的超音波感應器，如第七圖B所示，當採用發射角度較 大的超音波感應時，兩感應器A、β之扇形發射區域與 車尾間呈現較小的夾角’換言之，兩扇形發射區域互不涵 蓋的死角區域b3遠較第七圖Α中採用較小發射角度超音 波感應器的死角區域b3已大幅縮小。 又為配合兩感應器發射角度的改變，本發明令同一時 |____ 12 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐 580466 A7 五、發明說明（ 間内只有一感應器發射信號，亦只有一感應器接收信號， 並對特定時間内偵測到的反射信號予以忽略，如此一來， 除可有效縮小倒車雷達的偵測死角，更可排除可能發生的 漏報、誤報情事，而有效確保倒車雷達之_準確性。 故由前述可知，本發明確已具備顯著的新顆性 性，並符合發明專利要件，爰依法提起申請。 少 13 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） --------------------訂---------^ (請先閱讀背面之注意事項再填寫本頁)Furthermore, the step-up circuit (30) is composed of two step-up units (31) (32), and each step-up unit (31) (32) is respectively composed of two groups of electrical components and encapsulation, wherein The crystal ⑽, resistor KM, and R26 form the boosting unit (3 1) of inductor 1, which boosts the two 40KHz square waves with opposite phases, and the boosted square wave signal passes the transformer CIO, induction The ultrasonic transmission circuit (3 3) composed of 1 (connected through the connector ⑶μ) emits an ultrasonic wave. It also senses $ i; the reflected wave signal received is sent to the channel selection circuit (40) through capacitor C5 and resistor R12. When the channel signal is selected by the s selection circuit (40), it is sent to the amplification circuit (5 0) to zoom in. In the same way, the booster unit (3 2) of inductor 2 is composed of transistors Q4, q5, resistors R29, and R30. It is an ultrasonic transmitting circuit (3 4) and capacitors C4, composed of transformer T2 and capacitor C7, respectively. The resistor R3 constitutes a reflected wave detection circuit. The signal is transmitted through the connector cON2 and the sensor 2 or the signal received by the sensor 2 is received through the connector COM2. The channel selection circuit (40) selects and connects the reflected wave signals from the sensors 1 and 2 to the amplifier circuit (50) under the control of the central processing unit (10). The truth table of the channel selection circuit (4〇) is as follows: Input A Input B Input / output connection 0 0 X and X0 are connected, Y and Y0 are connected 0 1 X and XI are connected, Y and Y1 are connected 1 0 X Connected to X2, Y and Y2 1 1 X to X3, Y to Y3 10 This paper size is applicable to China National Standard (CNS) A4 (210 X 297 mm) Bu ---------- ---------- Order --------- Line A (Please read the notes on the back before filling this page) 466 A7 --------- R7 V. Invention Explanation (Ϋ) ° The amplifying circuit (50) is a four-stage amplifier circuit composed of operational amplifiers IC2A, IC2B, IC2D and its peripheral circuits to amplify the U weak reflected wave signal from the induction. After the four-stage amplifier is amplified, The reflected wave signal is sent to the central processing unit (10) to calculate the distance. Once again, the signal from the 18th pin of the central processing unit (丄 〇) is controlled by the body D3 and the Hong crystal Qi to eliminate aftershocks. When the pin is at a low potential, the body Q1 is turned off, and the amplification of the operational amplifier IC2D is reduced. When the pin is at a high potential, the transistor is turned on and the amplifier IC HIC2D has a large amount of amplification, which can effectively amplify the reflected wave signal. ^ Furthermore, the diode D10, voltage stabilization IC6 / IC5 and its surrounding resistors and capacitors form a stable circuit (60), which stabilizes the + 12V power supply voltage from the car's reverse gear to + 5V. For the aforementioned circuits. The specific circuit structure and the working principle of the main circuits of the present invention can be seen from the above 5 children. As for the central processing unit (10), please refer to the third figure. After the reversing radar is powered, the central processing unit (1 0) Initialize and make the buzzer emit "drop", "drop," two times, indicating that the reversing radar starts to work, and the central processing unit (丄 〇) then performs a self-detection on the sensors (detecting each sensor's Aftershock conditions). After the sensor self-detection is completed, the sensor 丨 emits an ultrasonic wave and the reflected wave is detected by the sensor 1. The reversing radar calculates the distance from the obstacle to the sensor i based on the time it takes for the ultrasonic wave to be detected by the reflected wave; then The sensor 2 emits an ultrasonic wave and the reflected wave is detected by the sensor 2. The reversing radar calculates the obstacle to the sensor based on the time it takes for the ultrasonic wave to be detected by the reflected wave ______ji_ This paper uses the Chinese National Standard (CNS) A4 specification (210 X 297 public love) "--------- order --------- (Please read the notes on the back before filling out this page} Lake 466 Description of the invention (2 distance —If obstacles The distance from the object to the sensor 1 or the sensor H 2 is less than the pre-set threshold of k, and the reversing radar judges that the obstacle is at the nearest stage and drives the buzzer to alarm. If the obstacle is to the sensor 1 and the sensor The distance of 2 is greater than the critical value of the nearest segment. Sensor 1 sends an ultrasonic wave and sensor 2 receives the ultrasonic wave. 'Reversing radar calculates the distance based on the time it takes for the ultrasonic wave to detect the reflected wave.' If the distance is greater than from sensor 1 The linear distance to the sensor 2 is less than the preset value x + y (see the relevant description in Figure 8). The reversing radar determines that the obstacle is at the nearest segment and drives the buzzer to alert; otherwise, the 'reversing radar compares the two distances. Minimum value 'and use the minimum value as the actual distance, and then compare the actual distance and the preset threshold value of each segment to determine the segment area where the obstacle is located' and then drive the buzzer alarm according to the segment condition. Line reversing radar Repeat the above process until the radar is powered off. According to the above description, it can be seen that the circuit structure, circuit working principle and the central processing unit (10) of the present invention are used for control. In the work process of these pivots, these designs are based on the use of ultrasonic sensors with larger transmission angles instead of ultrasonic sensors with smaller transmission angles. As shown in Figure 7B, when ultrasonic sensors with larger transmission angles are used, There is a small angle between the fan-shaped emission area of the two sensors A and β and the rear of the car '. In other words, the dead-angle area b3, which is not covered by the two fan-shaped emission areas, is much smaller than the ultrasonic sensor with a smaller emission angle in Figure 7A. The dead angle area b3 has been greatly reduced. In order to cope with the change in the emission angle of the two sensors, the present invention makes the same time | ____ 12 This paper size applies the Chinese National Standard (CNS) A4 specification (210 X 297 mm 580466 A7) V. Invention Explanation (There is only one sensor to transmit the signal, and only one sensor to receive the signal, and the reflected signal detected in a certain time is ignored. In this way, in addition to effectively reducing the dead angle detected by the reversing radar, Eliminate possible false positives and false positives, and effectively ensure the accuracy of the parking sensor. Therefore, it can be known from the foregoing that the present invention does have significant new characteristics and meets the requirements for invention patents, so the application is filed according to law. Less 13 This paper size applies to China National Standard (CNS) A4 (210 X 297 mm) -------------------- Order -------- -^ (Please read the notes on the back before filling this page)