WO2020213153A1 - Ultrasonic transmission/reception device - Google Patents

Abstract

An ultrasonic transmission/reception device (100) comprises: a holder (2) for an ultrasonic sensor (1); the ultrasonic sensor (1), which is accommodated in a recess part (21) of the holder (2); and a drive mechanism (7) for changing the relative position of the ultrasonic sensor (1) in relation to the holder (2). A region of the ultrasonic sensor (1) at least including a radiation surface part (13) is exposed to the outside of the holder (2) through an opening (22) in the recess part (21). Changing the relative position causes the amount (ΔP) by which the ultrasonic sensor (1) protrudes from the holder (2) to change.

Description

Ultrasonic transmitter / receiver

The present invention relates to an ultrasonic transmitter / receiver.

Conventionally, a device for transmitting, receiving or transmitting and receiving (hereinafter collectively referred to as "transmission / reception") ultrasonic waves using an ultrasonic sensor, that is, an ultrasonic transmission / reception device has been developed. Further, a device for detecting an object such as an obstacle (hereinafter, simply referred to as "obstacle") around the vehicle by using an ultrasonic transmission / reception device provided in the vehicle, that is, an obstacle detection device has been developed. .. Patent Document 1 discloses an ultrasonic transmission / reception device for an obstacle detection device.

Japanese Unexamined Patent Publication No. 2001-235539

In the ultrasonic transmitter / receiver for the obstacle detection device, it is required to realize the directivity suitable for the obstacle detection device. For example, a narrow directivity is required in the vertical direction and a wide directivity is required in the horizontal direction. This is to suppress the occurrence of false detection of obstacles based on the reflected waves from the road surface. This is also to reliably detect obstacles around the vehicle.

In the ultrasonic transmission / reception device described in Patent Document 1, the ultrasonic sensor has a rectangular vibrating portion (4). Of the four side portions (4a, 4b) of the vibrating portion (4), the two side portions (4a) facing each other are coupled to the vibration suppressing portion (5). As a result, the above-mentioned directivity is realized. Further, the dimensions (L1 and L2) of the vibrating portion (4) are set to values corresponding to the required directivity characteristics.

Here, the directivity required for the ultrasonic transmitter / receiver for the obstacle detection device (hereinafter referred to as "required directivity") can change while the vehicle is running. For example, the demand-oriented characteristics can change in response to changes in the surrounding environment while the vehicle is running. On the other hand, in the ultrasonic transmission / reception device described in Patent Document 1, the directivity is fixed. Therefore, the ultrasonic transmission / reception device described in Patent Document 1 has a problem that it cannot cope with a change in the required directivity while the vehicle is traveling.

The present invention has been made to solve the above problems, and an object of the present invention is to make the directivity of the ultrasonic transmitter / receiver variable.

The ultrasonic transmission / reception device of the present invention includes a holder for an ultrasonic sensor, an ultrasonic sensor housed in a recess of the holder, and a drive mechanism for changing the relative position of the ultrasonic sensor with respect to the holder. Of these, at least a portion including the radiation surface portion is exposed to the outside of the holder by the opening of the recess, and the amount of protrusion of the ultrasonic sensor with respect to the holder changes as the relative position changes.

According to the present invention, since it is configured as described above, the directivity of the ultrasonic transmitter / receiver can be made variable.

It is explanatory drawing which shows the ultrasonic sensor, the holder and the case for the ultrasonic wave transmission / reception device which concerns on Embodiment 1. FIG. It is explanatory drawing which shows the main part of the ultrasonic wave transmission / reception device which concerns on Embodiment 1, and is explanatory drawing which shows the state which the protrusion | protrusion amount of the ultrasonic wave sensor is smaller than the state shown in FIG. 2B. It is explanatory drawing which shows the main part of the ultrasonic wave transmission / reception device which concerns on Embodiment 1, and is explanatory drawing which shows the state which the protruding amount of the ultrasonic wave sensor is larger than the state shown in FIG. 2A. It is a block diagram which shows the main part of the control device in the ultrasonic wave transmission / reception device which concerns on Embodiment 1. FIG. It is a characteristic diagram which shows the directivity characteristic of the ultrasonic wave transmission / reception device which concerns on Embodiment 1. FIG. It is explanatory drawing which shows the hardware configuration of the control device in the ultrasonic wave transmission / reception device which concerns on Embodiment 1. FIG. It is explanatory drawing which shows the other hardware configuration of the control device in the ultrasonic wave transmission / reception device which concerns on Embodiment 1. FIG. It is explanatory drawing which shows the ultrasonic sensor, the holder and the case for the ultrasonic wave transmission / reception device which concerns on Embodiment 2. FIG. It is explanatory drawing which shows the main part of the ultrasonic wave transmission / reception device which concerns on Embodiment 2, and is explanatory drawing which shows the state which the protruding amount of the ultrasonic wave sensor is smaller than the state shown in FIG. 7B. It is explanatory drawing which shows the main part of the ultrasonic wave transmission / reception device which concerns on Embodiment 2, and is explanatory drawing which shows the state which the protruding amount of an ultrasonic wave sensor is larger than the state shown in FIG. 7A. It is a block diagram which shows the main part of the control device in the ultrasonic wave transmission / reception device which concerns on Embodiment 2. It is explanatory drawing which shows the ultrasonic sensor, the holder and the case for the ultrasonic wave transmission / reception device which concerns on Embodiment 3. FIG. It is explanatory drawing which shows the ultrasonic wave sensor for the ultrasonic wave transmitting and receiving device which concerns on Embodiment 3, and shows the state seen from the radiation surface part side of the ultrasonic wave sensor. It is explanatory drawing which shows the main part of the ultrasonic wave transmission / reception device which concerns on Embodiment 3, and is explanatory drawing which shows the state which the protruding amount of the ultrasonic wave sensor is smaller than the state shown in FIG. 10B. It is explanatory drawing which shows the main part of the ultrasonic wave transmission / reception device which concerns on Embodiment 3, and is explanatory drawing which shows the state which the protruding amount of an ultrasonic wave sensor is larger than the state shown in FIG. 10A. It is a block diagram which shows the main part of the control device in the ultrasonic wave transmission / reception device which concerns on Embodiment 3. It is explanatory drawing which shows the main part of another ultrasonic wave transmission / reception device which concerns on Embodiment 3, and is explanatory drawing which shows the state which the protrusion | protrusion amount of the ultrasonic wave sensor is smaller than the state shown in FIG. 12B. It is explanatory drawing which shows the main part of another ultrasonic wave transmission / reception device which concerns on Embodiment 3, and is explanatory drawing which shows the state which the protruding amount of the ultrasonic wave sensor is larger than the state shown in FIG. 12A. It is explanatory drawing which shows the ultrasonic sensor, the holder and the case for the ultrasonic wave transmission / reception device which concerns on Embodiment 4. FIG. It is explanatory drawing which shows the holder for the ultrasonic wave transmission / reception device which concerns on Embodiment 4, and is explanatory drawing which shows the state seen from the opening side of the holder. It is explanatory drawing which shows the main part of the ultrasonic wave transmission / reception device which concerns on Embodiment 4, and is explanatory drawing which shows the state which the protruding amount of the ultrasonic wave sensor is smaller than the state shown in FIG. 14B. It is explanatory drawing which shows the main part of the ultrasonic wave transmission / reception device which concerns on Embodiment 4, and is explanatory drawing which shows the state which the protruding amount of the ultrasonic wave sensor is larger than the state shown in FIG. 14A. It is a block diagram which shows the main part of the control device in the ultrasonic wave transmission / reception device which concerns on Embodiment 4. FIG. It is explanatory drawing which shows the main part of the other ultrasonic wave transmission / reception device which concerns on Embodiment 4, and is explanatory drawing which shows the state which the protrusion | protrusion amount of the ultrasonic wave sensor is smaller than the state shown in FIG. 16B. It is explanatory drawing which shows the main part of the other ultrasonic wave transmission / reception device which concerns on Embodiment 4, and is explanatory drawing which shows the state which the protrusion | protrusion amount of the ultrasonic wave sensor is larger than the state shown in FIG. 16A.

Hereinafter, in order to explain the present invention in more detail, a mode for carrying out the present invention will be described with reference to the accompanying drawings.

Embodiment 1.
FIG. 1 is an explanatory diagram showing an ultrasonic sensor, a holder, and a case for the ultrasonic transmitter / receiver according to the first embodiment. FIG. 2A is an explanatory view showing a main part of the ultrasonic wave transmitting / receiving device according to the first embodiment, and is an explanatory view showing a state in which the amount of protrusion of the ultrasonic sensor is smaller than the state shown in FIG. 2B. FIG. 2B is an explanatory view showing a main part of the ultrasonic wave transmitting / receiving device according to the first embodiment, and is an explanatory view showing a state in which the amount of protrusion of the ultrasonic sensor is larger than that in the state shown in FIG. 2A. FIG. 3 is a block diagram showing a main part of the control device in the ultrasonic wave transmission / reception device according to the first embodiment. The ultrasonic wave transmission / reception device according to the first embodiment will be described with reference to FIGS. 1 to 3.

In the figure, 1 is an ultrasonic sensor. The ultrasonic sensor 1 has a piezoelectric element 11. The piezoelectric element 11 is provided in the case (hereinafter referred to as “main body case”) 12 of the main body of the ultrasonic sensor 1. The main body case 12 has a substantially columnar outer shape. That is, the main body case 12 has a front surface portion (hereinafter referred to as “radiating surface portion”) 13, a side surface portion 14, and a back surface portion 15.

The ultrasonic sensor 1 is held by a resin holder 2. The holder 2 is made of, for example, a silicone resin. The holder 2 has a substantially columnar recess 21. The recess 21 is bottomed and has an opening 22 and a bottom surface 23. More specifically, the ultrasonic sensor 1 is housed in the recess 21 of the holder 2. A portion of the main body case 12 including at least the radial surface portion 13 is exposed to the outside of the holder 2 by the opening 22.

The holder 2 is housed in a resin or metal case 3. The outer shape of the case 3 is, for example, substantially cylindrical or substantially polygonal columnar. The case 3 defines the outer shape of the ultrasonic wave transmission / reception device 100. Therefore, the outer shape of the ultrasonic transmission / reception device 100 is also, for example, substantially cylindrical or substantially polygonal. In the figure, A shows the central axis of the ultrasonic transmission / reception device 100. More specifically, A indicates the central axis of the ultrasonic sensor 1, the holder 2, and the case 3.

Case 3 has a first recess 31 and a second recess 32. More specifically, the holder 2 is housed in the first recess 31 of the case 3. The motor 4 and the control device 5 are housed in the second recess 32 of the case 3.

The motor 4 is composed of a linear motor, a so-called "linear motor". The motor 4 linearly moves the shaft member 6 in the direction D along the central axis A (hereinafter referred to as "axial direction") D under the control of the control device 5. The shaft member 6 is provided along the central axis A. More specifically, the shaft member 6 is provided so that its axis coincides with the central axis A.

Here, the ultrasonic sensor 1 is fixed to the end of the shaft member 6. Therefore, when the shaft member 6 moves linearly in the axial direction D, the ultrasonic sensor 1 also moves in the axial direction D. As the ultrasonic sensor 1 moves, the relative position of the ultrasonic sensor 1 with respect to the holder 2 (hereinafter, may be simply referred to as “relative position”) changes. As the relative position changes, the protrusion amount ΔP of the ultrasonic sensor 1 with respect to the holder 2 changes. That is, when the shaft member 6 moves linearly, the ultrasonic sensor 1 has a direction in which the protrusion amount ΔP increases (hereinafter referred to as “first direction”) D_1 or a direction in which the protrusion amount ΔP decreases (hereinafter referred to as “second direction”). ”) Move to D_2.

As the protrusion amount ΔP changes, the area (hereinafter referred to as “exposed area”) of the portion (hereinafter referred to as “exposed portion”) exposed to the outside of the holder 2 in the side surface portion 14 of the main body case 12 changes. To do. As the exposed area changes, the directivity of the ultrasonic transmitter / receiver 100 (hereinafter, may be simply referred to as “directivity”) changes.

That is, when the ultrasonic sensor 1 transmits ultrasonic waves, the piezoelectric element 11 vibrates, so that the radiating surface portion 13 of the main body case 12 bends and vibrates, and the side surface portion 14 of the main body case 12 bends and vibrates. More specifically, the radial surface portion 13 is bent in a convex shape and the side surface portion 14 is bent in a concave shape, and the radial surface portion 13 is bent in a concave shape and the side surface portion 14 is bent in a concave shape. The state of being bent in a convex shape is repeated alternately.

At this time, in addition to the ultrasonic waves being radiated by the bending vibration of the radiating surface portion 13, when a part (that is, the exposed portion) of the side surface portion 14 is exposed to the outside of the holder 2, the bending vibration of the exposed portion causes the ultrasonic waves. Ultrasound is emitted. Therefore, the directivity changes as the exposed area changes. The same applies when the ultrasonic sensor 1 receives ultrasonic waves.

The main part of the drive mechanism 7 is composed of the motor 4 and the shaft member 6. That is, the drive mechanism 7 is a mechanism that changes the relative position of the ultrasonic sensor 1 with respect to the holder 2.

A bezel portion 33 is formed at the end of the case 3 on the side of the first recess 31. That is, when the ultrasonic transmission / reception device 100 is for an obstacle detection device, the case 3 is attached to, for example, a bumper portion of a vehicle having the obstacle detection device.

The control device 5 will be described below. The control device 5 is electrically connected to the ultrasonic sensor 1 by lead wires 8 and 9. More specifically, the control device 5 is electrically connected to the piezoelectric element 11 by lead wires 8 and 9.

The transmission control unit 51 vibrates the piezoelectric element 11 by supplying an electric signal to the ultrasonic sensor 1 using the lead wire 8. The electric signal output by the transmission control unit 51 is, for example, a pulse burst electric signal. As described above, when the piezoelectric element 11 vibrates, the radial surface portion 13 of the main body case 12 bends and vibrates, and the side surface portion 14 of the main body case 12 bends and vibrates. As a result, ultrasonic waves are transmitted.

When the transmitted ultrasonic wave is reflected by an obstacle and a part of the reflected ultrasonic wave reaches the ultrasonic wave transmission / reception device 100, the radiation surface portion 13 of the main body case 12 bends and vibrates, and the main body case 12 The side surface portion 14 of the above bends and vibrates. As a result, the piezoelectric element 11 vibrates. The piezoelectric element 11 outputs an electric signal corresponding to the vibration.

The reception control unit 52 acquires the electric signal output by the piezoelectric element 11 by using the lead wire 9. In addition, the reception control unit 52 executes a process of detecting an obstacle by using the acquired electric signal. Various known processes can be used for the process of detecting an obstacle. Therefore, detailed description of these processes will be omitted.

Note that the process of detecting an obstacle may be executed by a control device different from the control device 5. For example, the process of detecting an obstacle may be executed by a dedicated ECU (Electronic Control Unit).

The relative position detection unit 53 detects the relative position of the ultrasonic sensor 1 with respect to the holder 2. Specifically, for example, the relative position detection unit 53 detects the linear motion position of the shaft member 6 by using an output signal from a sensor (not shown) provided on the motor 4 or the shaft member 6. Detect relative position.

The directivity characteristic setting unit 54 sets the directivity characteristic of the ultrasonic wave transmission / reception device 100 by setting the relative position of the ultrasonic sensor 1 with respect to the holder 2 based on the detection result by the relative position detection unit 53.

That is, as described above, the protrusion amount ΔP of the ultrasonic sensor 1 with respect to the holder 2 changes as the relative position changes. As the protrusion amount ΔP changes, the exposed area of the side surface portion 14 of the main body case 12 changes. The directivity changes as the exposed area changes.

Therefore, for example, the directivity characteristic setting unit 54 stores in advance information indicating the correspondence between the plurality of relative positions and the plurality of directivity characteristics (hereinafter referred to as "correspondence relationship information"). The directivity characteristic setting unit 54 acquires information indicating which of the plurality of directivity characteristics is the required directivity characteristic (hereinafter referred to as “requested directivity characteristic information”). The directivity characteristic setting unit 54 selects one relative position corresponding to the required directivity characteristic from the plurality of relative positions included in the correspondence information. The directivity characteristic setting unit 54 linearly moves the shaft member 6 so that the relative position detected by the relative position detection unit 53 corresponds to the selected relative position, so that the ultrasonic sensor 1 Performs control to move. A motor 4 is used for the linear motion of the shaft member 6. In this way, the demand-oriented characteristics are realized.

Here, an example of the correspondence between the relative position and the directivity will be described with reference to FIG.

FIG. 4 is a characteristic diagram showing the experimental results of directivity. In the figure, the characteristic line I shows the directivity in the state shown in FIG. 2A. That is, it shows the directivity in a state where only the radial surface portion 13 of the main body case 12 is exposed to the outside of the holder 2. On the other hand, the characteristic line II shows the directivity in the state shown in FIG. 2B. That is, in addition to the radial surface portion 13 being exposed to the outside of the holder 2, a directional characteristic is shown in a state where a part of the side surface portion 14 (that is, the exposed portion) is exposed to the outside of the holder 2.

In the figure, the horizontal axis corresponds to the value of the azimuth angle with respect to the front direction of the radial surface portion 13 (that is, 0 degree). Further, the vertical axis corresponds to a value obtained by normalizing the reception voltage at each angle by the reception voltage at the reference angle (that is, 0 degrees), that is, the value of the standardized sound pressure. Therefore, the unit on the vertical axis is a so-called "arbitrary unit" ("au" in the figure).

As shown in FIG. 4, the characteristic line II shows a wider directivity than the characteristic line I. This is because the ultrasonic wave is radiated by the exposed portion of the side surface portion 14 in addition to the ultrasonic wave being radiated by the radiating surface portion 13. That is, the ultrasonic wave transmitted by the ultrasonic transmission / reception device 100 is an ultrasonic wave obtained by adding the ultrasonic wave radiated by the radiation surface portion 13 and the ultrasonic wave radiated by the exposed portion of the side surface portion 14. ..

Therefore, in the ultrasonic transmission / reception device 100, the directivity gradually widens as the protrusion amount ΔP increases (that is, as the exposed area of the side surface portion 14 increases). In other words, as the protrusion amount ΔP becomes smaller (that is, as the exposed area of the side surface portion 14 becomes smaller), the directivity becomes gradually narrower.

As described above, in the ultrasonic wave transmission / reception device 100, the directivity is variable. As a result, when the ultrasonic transmission / reception device 100 is for an obstacle detection device and the required directivity changes while the vehicle having the obstacle detection device is running, it is possible to respond to the change in the required directivity. ..

The main part of the control device 5 is composed of the transmission control unit 51, the reception control unit 52, the relative position detection unit 53, and the directivity characteristic setting unit 54.

In this way, the main part of the ultrasonic transmission / reception device 100 is configured.

Next, the hardware configuration of the main part of the control device 5 will be described with reference to FIG.

As shown in FIG. 5A, the control device 5 has a processor 55 and a memory 56. The memory 56 stores a program for realizing the functions of the transmission control unit 51, the reception control unit 52, the relative position detection unit 53, and the directivity characteristic setting unit 54. When the processor 55 reads out and executes the stored program, the functions of the transmission control unit 51, the reception control unit 52, the relative position detection unit 53, and the directivity characteristic setting unit 54 are realized.

Alternatively, as shown in FIG. 5B, the control device 5 has a processing circuit 57. In this case, the functions of the transmission control unit 51, the reception control unit 52, the relative position detection unit 53, and the directivity characteristic setting unit 54 are realized by the dedicated processing circuit 57.

Alternatively, the control device 5 has a processor 55, a memory 56, and a processing circuit 57 (not shown). In this case, some of the functions of the transmission control unit 51, the reception control unit 52, the relative position detection unit 53, and the directivity characteristic setting unit 54 are realized by the processor 55 and the memory 56, and the remaining functions are dedicated. It is realized by the processing circuit 57 of.

The processor 55 is composed of one or a plurality of processors. As the individual processor, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microcontroller, or a DSP (Digital Signal Processor) is used.

The memory 56 is composed of one or a plurality of non-volatile memories. Alternatively, the memory 56 is composed of one or more non-volatile memories and one or more volatile memories. Each volatile memory uses, for example, a RAM (Random Access Memory). The individual non-volatile memories include, for example, a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Advanced Storage), a Small DriveSlide (Erasable Digital Disk) Drive) is used.

The processing circuit 57 is composed of one or a plurality of digital circuits. Alternatively, the processing circuit 57 is composed of one or more digital circuits and one or more analog circuits. That is, the processing circuit 57 is composed of one or a plurality of processing circuits. The individual processing circuits include, for example, an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), an FPGA (Field-Programmable Gate Array), an FPGA (Field-Programmable Gate Array), and a System-System (System) System. ) Is used.

Note that the control device 5 may have only one of the transmission control unit 51 and the reception control unit 52. In this case, the obstacle detection device is realized by providing the vehicle with an ultrasonic transmission / reception device 100 having a transmission control unit 51 and another ultrasonic wave transmission / reception device 100 having a reception control unit 52 in the vehicle. It may be one.

Further, the application of the ultrasonic wave transmission / reception device 100 is not limited to the obstacle detection device. The ultrasonic wave transmission / reception device 100 can be used in any device as long as it requires transmission / reception of ultrasonic waves. For example, the ultrasonic transmission / reception device 100 may be used as a device for detecting an object different from an obstacle.

Further, the structure of the drive mechanism 7 is not limited to the above specific example. The drive mechanism 7 may have any structure as long as the ultrasonic sensor 1 can be moved in at least one direction of the first direction D_1 or the second direction D_2. However, when the ultrasonic transmission / reception device 100 is for an obstacle detection device, the ultrasonic sensor 1 may be moved in both the first direction D_1 and the second direction D_2 from the viewpoint of responding to a change in the required orientation acquisition characteristic. It is preferable to use a structure that can be used. In the second to fourth embodiments described later, the ultrasonic transmitter / receiver 100a, 100b, 100c having other drive mechanisms 7a, 7b, 7c will be described, respectively.

As described above, the ultrasonic transmission / reception device 100 of the first embodiment includes the holder 2 for the ultrasonic sensor 1, the ultrasonic sensor 1 housed in the recess 21 of the holder 2, and the ultrasonic sensor 1 for the holder 2. A drive mechanism 7 for changing the relative position is provided, and at least a portion of the ultrasonic sensor 1 including the radiation surface portion 13 is exposed to the outside of the holder 2 by the opening 22 of the recess 21, and the relative position changes. As a result, the protrusion amount ΔP of the ultrasonic sensor 1 with respect to the holder 2 changes. As a result, the directivity can be made variable.

Further, the ultrasonic transmission / reception device 100 uses information (correspondence relationship information) indicating a correspondence relationship between the relative position and the directivity characteristic of the ultrasonic transmission / reception device 100, and sets the directivity characteristic by setting the relative position. A setting unit 54 is provided. As a result, when the ultrasonic transmission / reception device 100 is for an obstacle detection device and the required directivity changes while the vehicle having the obstacle detection device is running, it is possible to respond to the change in the required directivity. ..

Embodiment 2.
FIG. 6 is an explanatory diagram showing an ultrasonic sensor, a holder, and a case for the ultrasonic transmitter / receiver according to the second embodiment. FIG. 7A is an explanatory view showing a main part of the ultrasonic wave transmission / reception device according to the second embodiment, and is an explanatory view showing a state in which the protrusion amount of the ultrasonic wave sensor is smaller than the state shown in FIG. 7B. FIG. 7B is an explanatory view showing a main part of the ultrasonic wave transmitting / receiving device according to the second embodiment, and is an explanatory view showing a state in which the amount of protrusion of the ultrasonic sensor is larger than that in the state shown in FIG. 7A. FIG. 8 is an explanatory diagram showing a main part of the control device in the ultrasonic wave transmission / reception device according to the second embodiment. The ultrasonic wave transmission / reception device according to the second embodiment will be described with reference to FIGS. 6 to 8.

Note that, in FIGS. 6 to 7, the same components as those shown in FIGS. 1 to 2 are designated by the same reference numerals, and the description thereof will be omitted. Further, in FIG. 8, the same blocks as those shown in FIG. 3 are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIGS. 6 to 7, a male screw portion 16 is formed on the outer peripheral portion of the ultrasonic sensor 1. More specifically, the male screw portion 16 is formed on a substantially half portion of the side surface portion 14 of the main body case 12 on the back surface portion 15 side. Further, a female screw portion 24 is formed on the inner peripheral portion of the recess 21. More specifically, the female screw portion 24 is formed in a substantially half portion of the inner peripheral portion of the recess 21 on the bottom surface portion 23 side. The male screw portion 16 is freely screwable with the female screw portion 24.

The motor 4a is composed of a rotary motor. The motor 4a rotates the shaft member 6a around the axis of the shaft member 6a as a rotation axis under the control of the control device 5a. The shaft member 6a is provided along the central axis A. Specifically, for example, the shaft member 6a is provided so that its axis coincides with the central axis A.

Here, the ultrasonic sensor 1 is fixed to the end of the shaft member 6a. Therefore, as the shaft member 6a rotates, the ultrasonic sensor 1 rotates about the axis (that is, the central axis A) of the shaft member 6a as a rotation axis. When the ultrasonic sensor 1 rotates while the male screw portion 16 is screwed with the female screw portion 24, the ultrasonic sensor 1 moves in the axial direction D. That is, the shaft member 6a is configured to be rotatable or expandable according to the movement of the ultrasonic sensor 1 in addition to being rotatable by the output of the motor 4a.

As the ultrasonic sensor 1 moves, the relative position of the ultrasonic sensor 1 with respect to the holder 2 changes. As the relative position changes, the protrusion amount ΔP of the ultrasonic sensor 1 with respect to the holder 2 changes. As the protrusion amount ΔP changes, the exposed area of the side surface portion 14 changes. As the exposed area changes, the directivity of the ultrasonic transmission / reception device 100a changes.

The main part of the drive mechanism 7a is composed of the male screw portion 16, the female screw portion 24, the motor 4a, and the shaft member 6a. That is, the drive mechanism 7a is a mechanism that changes the relative position of the ultrasonic sensor 1 with respect to the holder 2.

The relative position detection unit 53a detects the relative position of the ultrasonic sensor 1 with respect to the holder 2. Specifically, for example, the relative position detection unit 53a detects the amount of rotation of the shaft member 6a by using an output signal from a sensor (not shown) provided on the motor 4a or the shaft member 6a. Detect the position. The relative position detection unit 53a may detect a position relative to the axial direction D. That is, it is not necessary to detect the position relative to the rotation direction.

The directivity characteristic setting unit 54a sets the directivity characteristic of the ultrasonic wave transmission / reception device 100a by setting the relative position of the ultrasonic sensor 1 with respect to the holder 2 based on the detection result by the relative position detection unit 53a.

For example, the directivity characteristic setting unit 54a stores correspondence information in advance. The directivity characteristic setting unit 54a acquires the required directivity characteristic information. The directivity characteristic setting unit 54a selects one relative position corresponding to the required directivity characteristic from the plurality of relative positions included in the correspondence information. The directivity characteristic setting unit 54a rotates the shaft member 6a so that the relative position detected by the relative position detection unit 53a is a position corresponding to the selected relative position, thereby causing the ultrasonic sensor 1 to operate. Perform control to move. A motor 4a is used to rotate the shaft member 6a. In this way, the demand-oriented characteristics are realized.

The main part of the control device 5a is composed of the transmission control unit 51, the reception control unit 52, the relative position detection unit 53a, and the directivity characteristic setting unit 54a.

In this way, the main part of the ultrasonic transmission / reception device 100a is configured.

Since the hardware configuration of the main part of the control device 5a is the same as that described with reference to FIG. 5 in the first embodiment, the illustration and description will be omitted. That is, the functions of the transmission control unit 51, the reception control unit 52, the relative position detection unit 53a, and the directivity characteristic setting unit 54a may be realized by, for example, the processor 55 and the memory 56, or a dedicated processing circuit. It may be realized by 57.

The application of the ultrasonic transmission / reception device 100a is not limited to the obstacle detection device. The ultrasonic transmission / reception device 100a can be used for various purposes similar to the ultrasonic wave transmission / reception device 100.

As described above, in the ultrasonic transmission / reception device 100a of the second embodiment, the drive mechanism 7a has a male screw portion 16 provided on the outer peripheral portion of the ultrasonic sensor 1 and a female screw portion 16 provided on the inner peripheral portion of the recess 21. The relative position is changed by rotating the ultrasonic sensor 1 in a state where the male screw portion 16 is screwed with the female screw portion 24, including the screw portion 24 and the motor 4a for rotating the ultrasonic sensor 1. It is something that changes. In this way, the drive mechanism 7a can be realized.

Embodiment 3.
FIG. 9A is an explanatory view showing an ultrasonic sensor, a holder, and a case for the ultrasonic transmitter / receiver according to the third embodiment. FIG. 9B is an explanatory view showing an ultrasonic sensor for the ultrasonic wave transmitting / receiving device according to the third embodiment, and is an explanatory view showing a state seen from the radiation surface portion side of the ultrasonic sensor. FIG. 10A is an explanatory view showing a main part of the ultrasonic wave transmitting / receiving device according to the third embodiment, and is an explanatory view showing a state in which the amount of protrusion of the ultrasonic sensor is smaller than the state shown in FIG. 10B. FIG. 10B is an explanatory view showing a main part of the ultrasonic wave transmitting / receiving device according to the third embodiment, and is an explanatory view showing a state in which the amount of protrusion of the ultrasonic sensor is larger than that in the state shown in FIG. 10A. FIG. 11 is a block diagram showing a main part of the control device in the ultrasonic wave transmission / reception device according to the third embodiment. The ultrasonic transmission / reception device according to the third embodiment will be described with reference to FIGS. 9 to 11.

Note that, in FIGS. 9 to 10, the same components as those shown in FIGS. 1 to 2 are designated by the same reference numerals, and the description thereof will be omitted. Further, in FIG. 11, the same blocks as those shown in FIG. 3 are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIGS. 9 to 10, a plurality of protrusions 17 are provided on the outer peripheral portion (that is, the side surface portion 14 of the main body case 12) of the ultrasonic sensor 1. The plurality of protrusions 17 are arranged in a direction along the axial direction D. Further, each protrusion 17 has an inclination with respect to a certain direction. More specifically, the individual protrusions 17 have an inclination with respect to the second direction D_2. Further, the tip of each protrusion 17 can be brought into contact with the inner peripheral portion of the recess 21.

Specifically, for example, each protrusion 17 is made of silicon resin or the like. The individual protrusions 17 are formed as separate members from the main body case 12, and are adhered to the main body case 12. The individual protrusions 17 are radially provided on the outer peripheral portion of the ultrasonic sensor 1 (see FIG. 9B). When the individual protrusions 17 are pressed against the inner peripheral portion of the recess 21 by the bending vibration of the side surface portion 14, the individual protrusions 17 are elastically deformable by such pressing. The inclination angle θ of the protrusion 17 with respect to the outer peripheral portion of the ultrasonic sensor 1 is set to an acute angle (0 ° <θ <90 °). In addition, in FIG. 9A, FIG. 10A and FIG. 10B, some protrusions 17 are not shown.

Under the control of the control device 5b, the piezoelectric element 11 vibrates, so that the radial surface portion 13 of the main body case 12 bends and vibrates, and the side surface portion 14 of the main body case 12 bends and vibrates. At this time, the individual protrusions 17 have an inclination with respect to a certain direction (more specifically, the second direction D_2), and the tip of at least a part of the protrusions 17 is recessed. By abutting on the inner peripheral portion of 21, the bending vibration of the side surface portion 14 is converted into the propulsive force of the ultrasonic sensor 1. As a result, the ultrasonic sensor 1 moves in the direction opposite to the tilt direction of the protrusion 17 (that is, the second direction D_2) (that is, the first direction D_1).

The motor 4b is composed of a linear motor. The motor 4b directly moves the shaft member 6b in the second direction D_2 under the control of the control device 5b. The shaft member 6b is provided along the central axis A. Specifically, for example, the shaft member 6b is provided so that its axis coincides with the central axis A.

Here, the ultrasonic sensor 1 is fixed to the end of the shaft member 6b. Therefore, when the shaft member 6b moves linearly in the second direction D_2, the ultrasonic sensor 1 moves in the second direction D_2. That is, in addition to being able to move linearly in the second direction D_2 by the output of the motor 4b, the shaft member 6b moves the ultrasonic sensor 1 due to the vibration of the piezoelectric element 11 (that is, the ultrasonic sensor 1 with respect to the first direction D_1). It is configured to be linearly movable in the first direction D_1 according to (movement of).

The main part of the drive mechanism 7b is composed of the protrusion 17, the motor 4b, and the shaft member 6b. That is, the drive mechanism 7b is a mechanism that changes the relative position of the ultrasonic sensor 1 with respect to the holder 2.

The relative position detection unit 53b detects the relative position of the ultrasonic sensor 1 with respect to the holder 2. Specifically, for example, the relative position detection unit 53b detects the linear motion position of the shaft member 6b by using an output signal from a sensor (not shown) provided on the motor 4b or the shaft member 6b. Detect relative position.

The directivity characteristic setting unit 54b sets the directivity characteristic of the ultrasonic wave transmission / reception device 100b by setting the relative position of the ultrasonic sensor 1 with respect to the holder 2 based on the detection result by the relative position detection unit 53b.

For example, the directivity characteristic setting unit 54b stores correspondence information in advance. The directivity characteristic setting unit 54b acquires the required directivity characteristic information. The directivity characteristic setting unit 54b selects one relative position corresponding to the required directivity characteristic from the plurality of relative positions included in the correspondence information. The directional characteristic setting unit 54b vibrates the piezoelectric element 11 so that the relative position detected by the relative position detection unit 53b is a position corresponding to the selected relative position, thereby causing the ultrasonic sensor 1 to operate. The control of moving the ultrasonic sensor 1 in the first direction D_1 or the control of moving the ultrasonic sensor 1 in the second direction D_1 by directly moving the shaft member 6b is selectively executed. An electric signal output by the transmission control unit 51 is used for the vibration of the piezoelectric element 11. A motor 4b is used for the linear motion of the shaft member 6b. In this way, the demand-oriented characteristics are realized.

The main part of the control device 5b is composed of the transmission control unit 51, the reception control unit 52, the relative position detection unit 53b, and the directivity characteristic setting unit 54b.

In this way, the main part of the ultrasonic transmission / reception device 100b is configured.

Since the hardware configuration of the main part of the control device 5b is the same as that described with reference to FIG. 5 in the first embodiment, the illustration and description will be omitted. That is, the functions of the transmission control unit 51, the reception control unit 52, the relative position detection unit 53b, and the directivity characteristic setting unit 54b may be realized by, for example, the processor 55 and the memory 56, or a dedicated processing circuit. It may be realized by 57.

Note that the individual protrusions 17 may have an inclination with respect to the first direction D_1 instead of the inclination with respect to the second direction D_1. In this case, the directional characteristic setting unit 54b controls the movement of the ultrasonic sensor 1 in the first direction D_1 by directly moving the shaft member 6b using the motor 4b, or the ultrasonic sensor by vibrating the piezoelectric element 11. The control for moving 1 in the second direction D_2 may be selectively executed.

Further, as shown in FIG. 12, the drive mechanism 7b may not have the motor 4b. In this case, the drive mechanism 7b may move the ultrasonic sensor 1 in only one direction. For example, the drive mechanism 7b may move the ultrasonic sensor 1 only in the first direction D_1. The movement of the ultrasonic sensor 1 with respect to the other direction (for example, the second direction D_2) may be, for example, due to the urging force of a spring (not shown) or manually. The relative position detection unit 53b may detect the linear motion position of the shaft member 6b by using an output signal from a sensor (not shown) provided on the shaft member 6b. In addition, in FIG. 12A and FIG. 12B, some protrusions 17 are not shown.

Further, the application of the ultrasonic transmission / reception device 100b is not limited to the obstacle detection device. The ultrasonic transmission / reception device 100b can be used for various purposes similar to the ultrasonic wave transmission / reception device 100.

As described above, in the ultrasonic transmission / reception device 100b of the third embodiment, the drive mechanism 7b includes a plurality of protrusions 17 provided on the outer peripheral portion of the ultrasonic sensor 1, and the individual protrusions 17 are directed in a certain direction. It has an inclination and can come into contact with the inner peripheral portion of the recess 21, and the relative position changes as the ultrasonic sensor 1 moves according to the inclination direction of the protrusion 17 when the ultrasonic sensor 1 vibrates. It is a thing. In this way, the drive mechanism 7b can be realized.

Embodiment 4.
FIG. 13A is an explanatory diagram showing an ultrasonic sensor, a holder, and a case for the ultrasonic transmitter / receiver according to the fourth embodiment. FIG. 13B is an explanatory view showing a holder for the ultrasonic wave transmission / reception device according to the fourth embodiment, and is an explanatory view showing a state seen from the opening side of the holder. FIG. 14A is an explanatory view showing a main part of the ultrasonic wave transmitting / receiving device according to the fourth embodiment, and is an explanatory view showing a state in which the amount of protrusion of the ultrasonic sensor is smaller than the state shown in FIG. 14B. FIG. 14B is an explanatory view showing a main part of the ultrasonic wave transmitting / receiving device according to the fourth embodiment, and is an explanatory view showing a state in which the amount of protrusion of the ultrasonic sensor is larger than that in the state shown in FIG. 14A. FIG. 15 is a block diagram showing a main part of the control device in the ultrasonic wave transmission / reception device according to the fourth embodiment. The ultrasonic transmission / reception device according to the fourth embodiment will be described with reference to FIGS. 13 to 15.

Note that, in FIGS. 13 to 14, the same components as those shown in FIGS. 1 to 2 are designated by the same reference numerals, and the description thereof will be omitted. Further, in FIG. 15, the same blocks as those shown in FIG. 3 are designated by the same reference numerals, and the description thereof will be omitted.

As shown in FIGS. 13 to 14, a plurality of protrusions 25 are provided on the inner peripheral portion of the recess 21. The plurality of protrusions 25 are arranged in a direction along the axial direction D. Further, each protrusion 25 has an inclination with respect to a certain direction. More specifically, the individual protrusions 25 have an inclination with respect to the first direction D_1. Further, the tip of each protrusion 25 can be brought into contact with the outer peripheral portion of the ultrasonic sensor 1. That is, the tip portions of the individual protrusions 25 can be brought into contact with the side surface portions 14 of the main body case 12.

Specifically, for example, the individual protrusions 25 are made of the same material as the material of the holder 2. The individual protrusions 25 are formed as separate members from the holder 2 and are adhered to the holder 2. Alternatively, the individual protrusions 25 are integrally molded with the holder 2. The individual protrusions 25 are provided on the inner peripheral portion of the holder 2 in a reverse radial pattern (see FIG. 13B). When the individual protrusions 25 are pressed against the side surface portion 14 by the bending vibration of the side surface portion 14, the individual protrusions 25 are elastically deformable by the pressing force. The inclination angle φ of each protrusion 25 with respect to the inner peripheral portion of the holder 2 is set to an acute angle (0 ° <φ <90 °). In addition, in FIG. 13A and FIG. 14B, some protrusions 25 are not shown.

Under the control of the control device 5c, the piezoelectric element 11 vibrates, so that the radiating surface portion 13 of the main body case 12 bends and vibrates, and the side surface portion 14 of the main body case 12 bends and vibrates. At this time, each of the protrusions 25 has an inclination with respect to a certain direction (more specifically, the first direction D_1), and the tip of at least a part of the protrusions 25 is a side surface. By being in contact with the portion 14, the bending vibration of the side surface portion 14 is converted into the propulsive force of the ultrasonic sensor 1. As a result, the ultrasonic sensor 1 moves in the direction (that is, the first direction D_1) corresponding to the inclination direction of the protrusion 25 (that is, the first direction D_1).

The motor 4c is composed of a linear motor. The motor 4c directly moves the shaft member 6c in the second direction D_2 under the control of the control device 5c. The shaft member 6c is provided along the central axis A. Specifically, for example, the shaft member 6c is provided so that its axis coincides with the central axis A.

Here, the ultrasonic sensor 1 is fixed to the end of the shaft member 6c. Therefore, when the shaft member 6c moves linearly in the second direction D_2, the ultrasonic sensor 1 moves in the second direction D_2. That is, the shaft member 6c can move linearly in the second direction D_2 by the output of the motor 4c, and the ultrasonic sensor 1 moves due to the vibration of the piezoelectric element 11 (that is, the ultrasonic sensor 1 with respect to the first direction D_1). It is configured to be linearly movable in the first direction D_1 according to (movement of).

The main part of the drive mechanism 7c is composed of the protrusion 25, the motor 4c and the shaft member 6c. That is, the drive mechanism 7c is a mechanism that changes the relative position of the ultrasonic sensor 1 with respect to the holder 2.

The relative position detection unit 53c detects the relative position of the ultrasonic sensor 1 with respect to the holder 2. Specifically, for example, the relative position detection unit 53c detects the linear motion position of the shaft member 6c by using an output signal from a sensor (not shown) provided on the motor 4c or the shaft member 6c. Detect relative position.

The directivity characteristic setting unit 54c sets the directivity characteristic of the ultrasonic wave transmission / reception device 100c by setting the relative position of the ultrasonic sensor 1 with respect to the holder 2 based on the detection result by the relative position detection unit 53c.

For example, the directivity characteristic setting unit 54c stores correspondence information in advance. The directivity characteristic setting unit 54c acquires the required directivity characteristic information. The directivity characteristic setting unit 54c selects one relative position corresponding to the required directivity characteristic from the plurality of relative positions included in the correspondence information. The directional characteristic setting unit 54c vibrates the piezoelectric element 11 so that the relative position detected by the relative position detection unit 53c becomes a position corresponding to the selected relative position, thereby causing the ultrasonic sensor 1 to operate. The control of moving the ultrasonic sensor 1 in the first direction D_1 or the control of moving the ultrasonic sensor 1 in the second direction D_1 by directly moving the shaft member 6c is selectively executed. An electric signal output by the transmission control unit 51 is used for the vibration of the piezoelectric element 11. A motor 4c is used for the linear motion of the shaft member 6c. In this way, the demand-oriented characteristics are realized.

The main part of the control device 5c is composed of the transmission control unit 51, the reception control unit 52, the relative position detection unit 53c, and the directivity characteristic setting unit 54c.

In this way, the main part of the ultrasonic transmission / reception device 100c is configured.

Since the hardware configuration of the main part of the control device 5c is the same as that described with reference to FIG. 5 in the first embodiment, the illustration and description will be omitted. That is, the functions of the transmission control unit 51, the reception control unit 52, the relative position detection unit 53c, and the directivity characteristic setting unit 54c may be realized by, for example, the processor 55 and the memory 56, or a dedicated processing circuit. It may be realized by 57.

Note that the individual protrusions 25 may have an inclination with respect to the second direction D_1 instead of the inclination with respect to the first direction D_1. In this case, the directional characteristic setting unit 54c controls the movement of the ultrasonic sensor 1 in the first direction D_1 by directly moving the shaft member 6c using the motor 4c, or the ultrasonic sensor by vibrating the piezoelectric element 11. The control for moving 1 in the second direction D_2 may be selectively executed.

Further, as shown in FIG. 16, the drive mechanism 7c may not have the motor 4c. In this case, the drive mechanism 7c may move the ultrasonic sensor 1 in only one direction. For example, the drive mechanism 7c may move the ultrasonic sensor 1 only in the first direction D_1. The movement of the ultrasonic sensor 1 with respect to the other direction (for example, the second direction D_2) may be, for example, due to the urging force of a spring (not shown) or manually. The relative position detection unit 53c may detect the linear motion position of the shaft member 6c by using an output signal from a sensor (not shown) provided on the shaft member 6c. In FIG. 16B, some protrusions 25 are not shown.

Further, the application of the ultrasonic transmission / reception device 100c is not limited to the obstacle detection device. The ultrasonic transmission / reception device 100c can be used for various purposes similar to the ultrasonic wave transmission / reception device 100.

As described above, in the ultrasonic transmission / reception device 100c of the fourth embodiment, the drive mechanism 7c includes a plurality of protrusions 25 provided on the inner peripheral portion of the recess 21, and the individual protrusions 25 are tilted with respect to a certain direction. The ultrasonic sensor 1 is free to come into contact with the outer peripheral portion of the ultrasonic sensor 1, and the ultrasonic sensor 1 moves according to the tilting direction of the plurality of protrusions 25 when the ultrasonic sensor 1 vibrates. Is what changes. In this way, the drive mechanism 7c can be realized.

In the present invention, within the scope of the invention, it is possible to freely combine each embodiment, modify any component of each embodiment, or omit any component in each embodiment. ..

The ultrasonic transmission / reception device of the present invention can be used, for example, as an obstacle detection device.

1 Ultrasonic sensor, 2 holder, 3 case, 4,4a, 4b, 4c motor, 5,5a, 5b, 5c control device, 6,6a, 6b, 6c shaft member, 7,7a, 7b, 7c drive mechanism, 8 lead wire, 9 lead wire, 11 piezoelectric element, 12 case (main body case), 13 front surface (radiating surface), 14 side surface, 15 back surface, 16 male screw part, 17 protrusion, 21 recess, 22 opening, 23 bottom part, 24 female screw part, 25 protrusions, 31 first recess, 32 second recess, 33 bezel part, 51 transmission control unit, 52 reception control unit, 53, 53a, 53b, 53c relative position detection unit, 54, 54a, 54b, 54c directional characteristic setting unit, 55 processor, 56 memory, 57 processing circuit, 100, 100a, 100b, 100c ultrasonic transmitter / receiver.

Claims (7)

A holder for an ultrasonic sensor, the ultrasonic sensor housed in a recess of the holder, and a drive mechanism for changing the relative position of the ultrasonic sensor with respect to the holder are provided.
A portion of the ultrasonic sensor including at least the radiation surface portion is exposed to the outside of the holder by the opening of the recess.
An ultrasonic transmission / reception device characterized in that the amount of protrusion of the ultrasonic sensor with respect to the holder changes as the relative position changes. The claim is characterized in that it includes a directivity characteristic setting unit that sets the directivity by setting the relative position using information indicating a correspondence relationship between the relative position and the directivity of the ultrasonic transmitter / receiver. 1. The ultrasonic transmission / reception device according to 1. The drive mechanism includes a male screw portion provided on the outer peripheral portion of the ultrasonic sensor, a female screw portion provided on the inner peripheral portion of the recess, and a motor for rotating the ultrasonic sensor.
The first or second aspect, wherein the relative position is changed by rotating the ultrasonic sensor in a state where the male screw portion is screwed with the female screw portion. Ultrasonic transmitter / receiver. The drive mechanism includes a plurality of protrusions provided on the outer peripheral portion of the ultrasonic sensor.
The individual protrusions have an inclination with respect to a certain direction and can be brought into contact with the inner peripheral portion of the recess.
The ultrasonic wave according to claim 1 or 2, wherein the relative position changes when the ultrasonic sensor moves according to the inclination direction of the protrusion when the ultrasonic sensor vibrates. Transmitter / receiver. The drive mechanism includes a plurality of protrusions provided on the inner peripheral portion of the recess.
The individual protrusions have an inclination with respect to a certain direction and can be brought into contact with the outer peripheral portion of the ultrasonic sensor.
The ultrasonic wave according to claim 1 or 2, wherein the relative position changes when the ultrasonic sensor moves according to the inclination direction of the protrusion when the ultrasonic sensor vibrates. Transmitter / receiver. The ultrasonic transmission / reception device is used for an obstacle detection device.
The ultrasonic wave transmission / reception device according to claim 2, wherein the directivity setting unit sets the relative position at a position corresponding to the required directivity in the obstacle detection device. The ultrasonic transmission / reception device according to claim 6, wherein the obstacle detection device is for in-vehicle use.

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