KR102216787B1 - Method of driving acoustic sensor for detecting objects using both reflected sound and sound field - Google Patents

Abstract

The present invention provides a method for driving an acoustic sensor, which comprises the steps of: emitting a sonar acoustic signal or a SOFIS acoustic signal in an acoustic generator; measuring a sound field with respect to the reflected sound or the SOFIS acoustic signal for the sonar acoustic signal in an acoustic receiver; and outputting a detection result of an object by signal processing the reflected sound or the sound field in a signal processor. According to the present invention, the object detection performance of the acoustic sensor can be maximized.

Description

Method of driving acoustic sensor for detecting objects using both reflected sound and sound field}

The present invention is a technology related to an acoustic sensor.

The acoustic sensor detects the shape or distance of an object by using sound, and a representative example is SOund Navigation And Ranging (SONAR).

The SONAR generates a pulse-type sound and then measures the sound (reflected sound or reflection or reflected wave) that is reflected back to the object and calculates the orientation and distance of objects. Representative examples of such a sonar (SONAR) include a submarine detector, a fish finder, an ultrasonic inspection device that observes the shape of an organ such as a fetus or liver.

Recently, an acoustic sensor that detects objects using a completely different principle from SONAR has been developed, such as the'SOund FIeld Sensor (SOFIS)'.

SOFIS does not measure dynamic reflected sound or reflection, but generates sound having a plurality of frequencies, and measures the static sound field of a standing wave formed in a specific space. SONAR) is different.

When an object's movement or temperature changes in a specific space, the static sound field also changes accordingly.The sound field sensor (SOFIS) measures the sound field of the changed standing wave through a measuring device (for example, a microphone, etc.), and changes the pattern of the sound field. To detect the situation in a specific space. The sound field consists of sound pressure and phase, and it is usually easier to measure sound pressure.

Sonar (SONAR) is advantageous in detecting an object in an open space by using reflected sound (reflected wave), it is advantageous in detecting the absolute position of the object, but it has a disadvantage that it is difficult to detect fire.

On the other hand, SOFIS is advantageous in detecting an object in a closed space using a standing wave, it is advantageous in detecting the relative position change of the object, and it has the advantage of easy fire detection, while it is difficult to detect the absolute position of an object. There are drawbacks. That is, the sound field sensor (SOFIS) can detect the motion or fire of an object in a specific space, but has a disadvantage in that it is difficult to detect the position and movement direction of the object in a specific space.

If one acoustic sensor has both the function of the sonar (SONAR) and the function of the sound field sensor (SOFIS), the disadvantages of each other are complemented, thereby maximizing the detection performance of objects. (Until now, the concept of an acoustic sensor having both the functions of a sonar and a sound field sensor (SOFIS) did not exist.)

The present invention has been invented to solve the above-described problems, and an object thereof is to provide an acoustic sensor having both the functions of a sonar (SONAR) and a sound field sensor (SOFIS), and a driving method thereof.

The above-described objects and other objects, advantages, and features of the present invention, and methods of achieving them will become apparent with reference to the embodiments described below in detail together with the accompanying drawings.

A method of driving an acoustic sensor according to an aspect of the present invention for achieving the above object includes, in a sound generator, radiating a sonar sound signal or a sophistication sound signal; Measuring, in an acoustic receiver, a reflection sound of the sonar sound signal or a sound field caused by the sophice sound signal; And outputting a detection result for an object by processing the reflected sound or the sound field in a signal processor.

A method of driving an acoustic sensor according to another aspect of the present invention includes, in a sound generator, radiating an integrated acoustic signal obtained by combining a sonar sound signal and a sophos sound signal; Measuring a reflected sound and a sound field for the integrated acoustic signal, in an acoustic receiver; And outputting a detection result for an object by processing the reflected sound and the sound field in a signal processor.

According to another aspect of the present invention, a method of driving an acoustic sensor may include, in a sound generator, emitting a sonar sound signal, a sophiste sound signal, or an integrated sound signal obtained by combining the sonar sound signal and the sophiste sound signal; Measuring a reflected sound for the sonar sound signal, a sound field based on the Sophice sound signal, or a reflected sound and a sound field for the integrated sound signal, in an acoustic receiver; And outputting a detection result for an object by signal processing, in a signal processor, a reflection sound of the sonar sound signal, a sound field generated by the Sophice sound signal, or a reflection sound and a sound field of the integrated sound signal.

According to the present invention, one acoustic sensor has both the function of a sonar (SONAR) and the function of a sound field sensor (SOFIS), and these functions are selectively or simultaneously activated, thereby providing the advantages of the conventional sonar and the acoustic sensor. By having both, it is possible to maximize the object detection performance of the acoustic sensor by supplementing the shortcomings between both sensors.

1 is a block diagram exemplarily showing an internal configuration of an acoustic sensor according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating the signal processor shown in FIG. 1.
3 is a flow chart illustrating a method of driving an acoustic sensor according to an embodiment of the present invention.
4 is a flowchart illustrating a method of driving an acoustic sensor according to another embodiment of the present invention.
5 is a flow chart illustrating a method of driving an acoustic sensor according to another embodiment of the present invention.

The aspect in which the present invention is implemented will be described with reference to each of the following preferred embodiments. It is obvious that the present invention is not limited to the embodiments disclosed below, but can be implemented in other various forms within the scope of the technical idea of the present invention. The terms used in the present specification are also intended to describe embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, "comprise" and/or "comprising" refers to the presence of one or more other components, steps, actions and/or elements in which the stated component, step, action and/or element is Or does not preclude addition.

1 is a block diagram illustrating an internal configuration of an acoustic sensor according to an embodiment of the present invention.

Referring to FIG. 1, according to an exemplary embodiment of the present invention, the acoustic sensor 100 has both a function of a sonar (SONAR) and a function of a sound field sensor (SOFIS), and is configured to enable selective operation thereof.

To this end, the acoustic sensor 100 includes a sound generator 130, an acoustic receiver 140, and a signal processor 150, and additionally, a user interface 110, a communicator 120, an alarm generator 160, and a memory. It may be configured to further include (170).

The user interface 110 serves as an interface between the user and the acoustic sensor.

The user may manipulate the user interface 110 to turn on the acoustic sensor 100. In this case, the user interface 110 may be a button or a toggle switch for turning on the acoustic sensor 100.

The user may manipulate the user interface 110 to determine an operation mode of the acoustic sensor 100. The operation mode is a sonar mode that makes the acoustic sensor 100 operate as a sonar (SONAR mode), a sound field sensor mode that makes the acoustic sensor 100 operate as a sound field sensor (SOFIS), and an acoustic sensor ( 100) includes an integrated acoustic sensor mode to operate as an integrated acoustic sensor.

In this case, the user interface 110, according to the user's input operation (user selection), a mode input value indicating a sonar mode, a mode input value indicating a sound field sensor mode (SOFIS mode) or integrated It may be a key input means for generating a mode input value indicating the acoustic sensor mode and transmitting it to the signal processor 150.

The signal processor 150 selectively or simultaneously performs a signal processing process in a sonar mode or a signal processing process in a sound field sensor mode (SOFIS mode) according to a mode input value transmitted from the user interface 100. .

The operation mode of the acoustic sensor 100 may be automatically determined by the signal processor 150 regardless of a user's selection, and a description thereof will be described in detail below.

The communicator 120 performs wired/wireless communication with the external system 200 under the control of the signal processor 150 and transmits the processing result of the signal processor 150 to the external system 200. In this case, wireless communication includes short-range wireless communication (eg, Bluetooth, Wi-Fi, etc.), mobile communication (3G, 4G, and 5G communication), wireless Internet communication, and the like.

In order to support wireless communication, the communicator 120 may be configured to have a signal modulation function, a demodulation function, an amplification function, a filter function, and a frequency conversion function, and descriptions of these functions are replaced by known techniques.

The processing result of the signal processor 150 transmitted to the external system 200 through the communication unit 120 is at least one of a signal processing result in a sonar mode and a signal processing result in a sound field sensor mode (SOFIS mode). Includes the signal processing result of.

The signal processing result in the SONAR mode may include a distance value to an object detected in an open space (underwater, outdoor, outdoor).

The signal processing result in the SOFIS mode may include a value indicating a change in a sound field or a change pattern in a sound field according to a change in a position of an object detected in a closed space (indoor) or a temperature change in the space. Here, the change amount of the sound field may mean a change amount of sound pressure for each frequency, and the change pattern of the sound field may mean a change pattern of sound pressure for each frequency.

In addition, the communicator 120 may receive a mode input value indicating a sonar mode, a sound field sensor mode, or an integrated acoustic sensor mode from the external system 200 and transmit the received mode input value to the signal processor 150. . This means that the user can remotely control the operation mode of the acoustic sensor 100 according to the present invention.

The external system 200 may be a computing device having a wired/wireless communication function, and the computing device may be, for example, a user terminal, a desktop, a notebook, a PDA, or a server. The user terminal may be, for example, a'smart phone'.

The sound generator 130 selectively or simultaneously emits (outputs) two types of sound signals classified for each operation mode according to the control of the signal processor 150. The sound generator may be configured to include, for example, a speaker or the like capable of emitting sound.

The acoustic signal emitted by the acoustic generator 130 is an acoustic signal emitted when the acoustic sensor 100 operates in a sonar mode (sound wave, hereinafter referred to as a'sonar acoustic signal') And acoustic signals (sound waves, hereinafter referred to as'SOFIS acoustic signals') emitted when the acoustic sensor 100 operates in the SOFIS mode, and the integrated acoustic sensor mode It is divided into an integrated sound signal that is radiated when.

It is preferable that the sonar sound signal radiated in the sonar mode is composed of a signal having a single frequency and a short pulse length to facilitate measurement of the reflected sound.

The SOFIS sound signal emitted in the SOFIS mode is preferably composed of a signal having multiple frequencies and a long pulse length lasting in time to facilitate measurement of a sound field formed by a standing wave.

In order to easily form a standing wave, it is preferable that the sophie sound signal is a temporally sustained sound source different from the sonar sound signal. Here, the temporally sustained sound source means that the pulse length corresponding to the high period is very long when one pulse period of the Sopis sound signal is divided into a high period and a low period. If the power consumed by the acoustic sensor 100 is not taken into account, the acoustic generator 130 may continuously emit an acoustic signal in which the low section does not exist for 24 hours a day.

The present invention is characterized in that the sound generator 130 selectively or simultaneously emits a sonar sound signal and a sophiste sound signal according to an operation mode, so a sound generator for generating a sonar sound signal or a sophiste sound signal A description of the hardware configuration of 130 will be omitted. The hardware configuration of the sound generator for generating sound signals having different frequency components and/or pulse lengths can be simply implemented by a person skilled in the art.

In addition, the sound generator 130 may emit a sound signal (hereinafter referred to as “integrated sound signal”) in which a sonar sound signal and a Sophs sound signal are combined under the control of the signal processor 150.

As an example, in the integrated acoustic signal, when the Sophies sound signal is composed of, for example, 17 different multiple frequencies, a sonar sound signal having a single frequency component different from the 17 frequency components is synthesized into the Sophie sound signal. It may be one.

As another example, the integrated sound signal may be that the sound generator 130 alternately emits a sonar sound signal and a sophos sound signal at different times.

The acoustic receiver 140 senses (measures) a sound field formed by a reflected sound (reflected wave) returned by a sonar sound signal reflected from an object or a sound field formed by the emitted multiple-frequency sophie sound signals. Such an acoustic receiver 140 may be configured to include, for example, a microphone.

In addition, the acoustic receiver 140 detects (measures) a reflected sound (reflected wave) in which the integrated sound signal is reflected on the object and returned, or a sound field formed by integrated sound signals having multiple frequencies.

The signal processor 150 analyzes the reflected sound detected by the acoustic receiver 140 to calculate the absolute position of the object (or the distance from the acoustic sensor to the object), or analyzes the sound field detected by the acoustic receiver 140 Calculate the relative position change of. A description of the signal processor 150 will be described in detail below with reference to FIG. 2.

The alarm generator 160 need not necessarily be included in the acoustic sensor 100 of the present invention. However, when the signal processor 150 analyzes the reflected sound or sound field and detects an object or a specific situation (fire, etc.) in the space, the detection result is transmitted to the alarm generator 160, and the alarm generator 160 It is provided to the user with an alarm sound or digital voice notifying the appearance or occurrence of a specific situation.

The memory 170 may store various algorithms necessary for the signal processor 150 to analyze the reflected sound or sound field sensed by the acoustic receiver 140.

As an algorithm stored in the memory 170, a TOF (Time Of Flight) calculation algorithm required for analyzing an absolute position (or distance to an object) of an object, a Fourier transform algorithm required for sound field analysis, and the like may be exemplified.

In addition, the memory 170 may permanently or temporarily store intermediate data and/or result data generated during the processing of the signal processor 150. To this end, the memory 170 may include volatile and nonvolatile memories.

2 is a block diagram illustrating the signal processor shown in FIG. 1.

Referring to FIG. 2, the signal processor 150 controls and manages the operation of peripheral components 110, 120, 130, 140, 160, 170 in the acoustic sensor, and uses at least one processor having a data operation processing function. Can include.

The signal processor 150 includes an operation mode determination logic 151, a sonar logic 153, and a piece logic 155, and each logic may be a hardware module, a software module, or a module in which they are combined.

In a sense, the operation mode determination logic 151 may be interpreted as a component that determines the operation mode of the acoustic sensor 100 or the signal processor 150.

In other words, the operation mode determination logic 151 may be interpreted as a configuration that selectively or simultaneously activates the sonar logic 153 and the SOFIS logic 155.

In another sense, the operation mode determination logic 151 may be interpreted as a configuration that determines the operation timing, operation order, or execution order of each of the sonar logic 153 and SOFIS logic 155.

In another sense, the operation mode determination logic 151 is a'operation start time','operation start time','operation hold time', and'operation maintenance time' of each of the sonar logic 153 and SOFIS logic 155. It can be interpreted as a configuration that determines'end time','activation hold time','run start time', or'execute end time'.

As an example, the operation mode determination logic 151 generates an enable signal (EN) in response to a mode input value input from the user interface 110 and converts it to the sonar logic 153 and the sophistication logic 155. Enter.

The sonar logic 153 and the SOFIS logic 155 are selectively or simultaneously activated in response to the enable signal EN.

In addition, the sonar logic 153 and the SOFIS logic 155 may start, maintain, and end operations and execution according to the pulse period of an enable signal (EN).

As another example, the operation mode determination logic 151 receives feedback of the processing result (distance from the sound sensor to the object) calculated while the sonar logic 153 is activated, and changes the sonar operation mode (SONAR mode) to the sound field sensor operation mode (SOFIS). mode). This will be described in detail with reference to FIG. 5.

The sonar logic 153 processes the reflected sound of the sonar sound signal measured (detected) by the sound receiver 140 and outputs the processing result as a detection result for the object.

To this end, the sonar logic 153 may include, for example, a TOF calculation logic 153_1 and a distance calculation logic 153_3.

The TOF calculation logic 153_1 analyzes the sonar sound signal measured (detected) by the sound receiver 140 or the reflected sound of the integrated sound signal to calculate a time of flight (TOF).

For TOF calculation, the TOF calculation logic 153_1 calculates the TOF of the reflected sound for the sonar sound signal or the integrated sound signal by executing a TOF calculation algorithm loaded from the memory 170. Since the present invention is not characterized in the TOF calculation method, a description thereof will be replaced by a known technique.

The distance calculation logic 153_3 calculates the distance to the object by using the TOF value input from the TOF calculation logic 153_1. Since the present invention is not characterized in a method of calculating a distance from an acoustic sensor to an object using a TOF value, a description thereof is also replaced by a known technique.

The Sophies logic 155 measures and processes the sound field of the standing wave formed by the Sophies sound signal or the integrated sound signal measured (detected) by the sound receiver 140, and converts the processing result into a detection result for the object. Print.

To this end, the sophistication logic 155 may include, for example, a Fourier transform logic 155_1 and a cross correlation coefficient calculation logic 155_3.

Fourier transform (FT) logic 155_1 calculates the sound pressure or sound pressure spectrum for each frequency by Fourier transforming the sound field measured (detected) by the sound receiver 140 from the time domain to the frequency domain. do. Here, since the Fourier transform is a widely known physics/math theory, a description thereof will be omitted.

The cross-correlation coefficient logic 155_3 compares the sound pressure (sound pressure spectrum) for each frequency input from the FT logic 155_1 with the sound pressure for each frequency as a reference (reference sound pressure spectrum) stored in the memory 170 Calculate Here, the'reference sound pressure spectrum' may be, for example, a'measurement sound pressure spectrum' measured before a specific time. In this case, the cross-correlation coefficient may mean a difference value between the sound pressure spectrum of the previous time and the sound pressure spectrum of the current time.

Hereinafter, a method of driving an acoustic sensor implemented in hardware and/or software configurations illustrated in FIGS. 1 and 2 will be described in detail.

3 is a flowchart illustrating a method of driving an acoustic sensor according to an embodiment of the present invention.

Referring to FIG. 3, a method of driving an acoustic sensor according to an embodiment of the present invention is a driving method when a user directly selects an operation mode of the acoustic sensor.

First, in step 310, the acoustic sensor 100 is turned on. For example, the user may turn on the acoustic sensor 100 by pressing a power button included in the user interface 110.

Subsequently, in step 312, the signal processor 150 determines an operation mode of the acoustic sensor 100 according to a user's selection. For example, the operation mode determination logic 151 in the signal processor 150 analyzes the mode input value input from the user interface 110, and the operation mode selected by the user is a sonar mode or a sound field sensor mode ( SOFIS mode) or integrated acoustic sensor mode.

When the user selects the sonar mode, the sonar logic 153 is activated according to the enable signal EN of the operation mode determination logic 151. When the user selects the SOFIS mode, the SOFIS logic 155 is activated according to the enable signal EN of the operation mode determination logic 151. When the user selects the integrated acoustic sensor mode, the sonar logic and the sopece logic 155 are simultaneously activated according to the enable signal EN of the operation mode determination logic 151.

It is preferable that the user selects an operation mode appropriately according to the installation location of the acoustic sensor 100 of the present invention. For example, when the installation location of the acoustic sensor 100 is an open space (outdoor), a sonar mode that is advantageous for object detection in the open space (outdoor) is selected, and the installation location of the acoustic sensor 100 is In the case of a closed space (indoor), it is desirable to select a sound field sensor mode (SOFIS mode) which is advantageous for object detection in the closed space. If the size of the indoor space is very large, such as an indoor stadium, inside a factory, or an oil tanker, the integrated acoustic sensor mode can be selected.

Steps 314 to 320 described below are steps performed in a sonar mode, and steps 324 to 332 are steps performed in a sound field sensor mode (SOFIS mode). And steps 336 to 350 are steps performed in the integrated acoustic sensor mode.

When the user selects the sonar mode, first, in step 314, the sonar mode is activated. That is, the sonar logic 153 in the signal processor 150 is activated (enabled).

Subsequently, in step 316, after the sonar logic 153 is activated, the sound generator 130 emits a sonar sound signal. In this case, the SONAR sound signal may be an sound signal composed of a single frequency component to facilitate measurement (sensing) of the reflected sound, and may be an sound signal having a short pulse length.

Subsequently, in step S318, the sound receiver 140 measures (sens) the reflected sound of the sonar sound signal radiated from the sound generator 130.

Next, in step 320, the signal processor 150 receives the measurement result of the reflected sound from the acoustic receiver 140, analyzes the measurement result, calculates the TOF, and uses the calculated TOF from the acoustic sensor 100 Compute the distance to the object.

Subsequently, in step 352, the signal processor 150 generates detection result data of the object to include the calculated distance, and provides the detection result data to the user.

The method of providing the detection result data to the user may be a method of displaying the detection result data through a display device. In this case, although not shown in FIG. 1, the acoustic sensor according to the present invention may be configured to further include a display device.

As another example, in the method of providing the detection result data to the user, the detection result data is transmitted to the user terminal of the user through the communicator 120 according to a wired/wireless communication method, and then the detection result through the display screen of the user terminal. It can be a way of displaying data.

Next, in step 354, after confirming whether another command is inputted by the user or the power button of the acoustic sensor 100 is turned off by the user, if the acoustic sensor 100 is turned off, all procedures are performed. When it is finished and the acoustic sensor 100 is kept on, it returns to step 312 and repeats steps 312 to 352.

Meanwhile, when the user selects the SOFIS mode in step 312 described above, in step 324, the SOFIS mode is activated. That is, the piece logic 155 in the signal processor 150 is activated.

Then, in step 326, after the sophistication logic 155 is activated, the sound generator 130 emits a sophistication sound signal. In this case, the sophiste sound signal may be longer than the pulse length of the sonar sound signal so as to easily form a standing wave in a space, and further may be an sound signal composed of multiple frequency components.

Next, in step S328, the sound receiver 140 measures (sens) the sound field or the pressure of the standing wave formed by the sopis sound signal radiated from the sound generator 130.

Subsequently, in step 330, the signal processor 150 receives the measurement result of the sound field or sound pressure from the sound receiver 140, and converts the data of the measurement result into a sound field or sound pressure spectrum for each frequency.

Then, in step 332, the converted current sound pressure spectrum is compared with a reference sound pressure spectrum stored in the memory 170 (eg, a sound pressure spectrum measured before a specific time). At this time, a cross-correlation function may be used as a means of comparison. The result of the comparison may be a degree of change and a direction (or change pattern) of the sound pressure spectrum.

Subsequently, in step 352, a comparison result of comparing the measured current sound pressure spectrum and the reference sound pressure spectrum (a degree of change (amount of change) and a direction of change) is provided as a detection result to the user or the degree of change and By analyzing the direction of change, it is possible to provide a user with whether it is determined as, for example, a movement of an object (object) or/and a temperature change in a space. Since the present invention is not characterized in a method of analyzing a change in a measured sound pressure spectrum, a description thereof is replaced by a known technique (for example, Patent Registration No. 10-1765053).

Subsequently, in step 354, steps S312 to 352 are repeatedly performed until another command is input by the user or the operation of the acoustic sensor 100 is terminated (sound sensor OFF).

Meanwhile, when the user selects the integrated acoustic sensor mode in step 312 described above, in step 336, the integrated acoustic sensor mode is activated. That is, both the sonar logic 153 and the small piece logic 155 are activated.

In order to determine whether to select the integrated acoustic sensor mode, the user interface 110 may be configured to include a button for selecting the integrated acoustic sensor mode, and when the button for selecting the integrated acoustic sensor mode is pushed by the user, A mode input value indicating the integrated mode is transmitted to the signal processor 150, and the signal processor 150 operates in the integrated acoustic sensor mode according to the mode input value indicating the integrated mode.

Subsequently, in step 338, after both the SONAR and SOFIS logics 153 and 155 are activated, the sound generator 130 emits an integrated sound signal under the control of the signal processor 150.

Subsequently, in step 340, the reflected sound of the integrated acoustic signal is measured, and at the same time, in step 346, the sound field or sound pressure of the integrated acoustic signal is measured.

Subsequently, in step 342, after calculating the TOF and the distance in the same manner as in the process performed in step 320, the detection result including the distance calculated in step 352 is provided to the user.

Meanwhile, after step 346, in step 348, similarly to step 330, the sound field or sound pressure measured for the integrated sound signal is converted into a sound field or sound pressure spectrum for each frequency.

Subsequently, in step 350, similarly to step 332, the converted current sound field or sound pressure spectrum is compared with the reference sound field or sound pressure spectrum.

Subsequently, in step 352, a comparison result of comparing the measured current sound pressure spectrum and the reference sound pressure spectrum (a degree of change (amount of change) and a direction of change) is provided as a detection result to the user or the degree of change and By analyzing the direction of change, it is possible to provide a user with whether it is determined as, for example, a movement of an object (object) or/and a temperature change in a space.

4 is a flowchart illustrating a method of driving an acoustic sensor according to another embodiment of the present invention.

In describing each step below, the same steps as those of FIG. 3 will be omitted.

Referring to FIG. 4, in the method of driving an acoustic sensor according to another embodiment of the present invention, the acoustic sensor of FIG. 3 is automatically selected rather than selected by a user (manual selection). There is a difference from the driving method of the sensor.

First, in step 410, the acoustic sensor 100 is turned on (410).

Subsequently, in step 412, the signal processor 150 determines whether the user has selected the operation mode of the acoustic sensor 100 as an automatic switching mode or a manual switching mode.

For example, the user interface 110 may further include a mode switching selection button for selecting an automatic switching mode or a manual switching mode.

When the user pushes the mode switching selection button to select the automatic switching mode, the acoustic sensor 100 is configured from the SOFIS operation mode to the SOFIS operation mode according to a preset mode switching rule or vice versa. The (SOFIS) operation mode is automatically switched to the SONAR operation mode.

If the user selects the manual switching mode, the user directly selects the current operation mode (one of the sonar mode, sound field sensor mode, or integrated acoustic sensor mode) of the acoustic sensor 100 using the user interface 110. The selection is performed and the driving method according to the direct selection method is described in the flowchart of FIG. 3.

When the user selects the manual switching mode, the process proceeds to step 414 and steps 312 to 354 of FIG. 3 are performed. If the user selects the automatic switching mode, step 416 is performed.

In step 416, when the user selects the operation mode of the acoustic sensor 100 as the automatic switching mode, the sonar mode (SONAR mdoe) is first activated (enabled). 4 illustrates an example in which the sonar mode is first activated, but depending on the design, the SOFIS mode may be activated (enabled) first. Here, activation of the SONAR mode means that the sonar logic 153 in the signal processor 150 is first activated (enabled).

Subsequently, in step 418, when the sonar mode is activated (enabled), steps 316, 318, 320, 352 and 354 of FIG. 3 are repeated.

Subsequently, in step 420, it is determined whether the sonar mode retention time has reached a preset sonar mode retention time, and it is determined whether to end the sonar mode.

For example, when the sonar mode retention time reaches a preset sonar mode retention time (e.g., 3 seconds), the sonar mode is terminated, and step 422 proceeds to activate the SOFIS mode. . Accordingly, the sonar logic 153 is deactivated, and the sonar logic 155 is activated. The preset sonar mode retention time may be variously set according to the user.

If the sonar mode retention time does not reach the preset sonar mode retention time, the process returns to step 418 and continuously repeats 316, 318, 320, 352 and 354 of FIG. 3.

On the other hand, to determine whether the sonar mode retention time has reached a preset sonar mode retention time (eg, 3 seconds), although not shown, a counter for calculating the sonar mode retention time inside the signal processor 150 is provided. It may be further provided.

When the sonar mode retention time reaches the preset sonar mode retention time and the sound field sensor mode (SOFIS) is activated, 326, 328, 330, 332, 352, and 354 of FIG. 3 are repeatedly performed in step 424.

Subsequently, in step 426, when the SOFIS mode retention time reaches a preset SOFIS mode retention time (e.g., 3 seconds), the SOFIS mode is terminated, and the process returns to step 416 to return to the SOFIS mode. Activate again. That is, the acoustic sensor 100 is switched from a sound field sensor mode (SOFIS mode) to a sonar mode (SONAR mode).

If the small piece mode holding time does not reach a preset small piece mode holding time (eg, 3 seconds), the process returns to step 424 and continuously repeats 326, 328, 330, 332, 352 and 354 of FIG. 3.

As described above, in the method of driving the acoustic sensor according to another embodiment of the present invention, when the operation mode of the acoustic sensor 100 is selected as the automatic switching mode, the sonar mode and the sound field sensor mode (SOFIS mode) are set at a constant time unit. The sonar function and the sound field sensor function are fused in a manner that is automatically switched to, thereby maximizing the object detection performance of the acoustic sensor of the present invention.

5 is a flowchart illustrating a method of driving an acoustic sensor according to another embodiment of the present invention.

Referring to FIG. 5, in a method of driving an acoustic sensor according to another embodiment of the present invention, a user selects an operation mode of the acoustic sensor of the present invention as an automatic switching mode, but the sonar mode and the sound field sensor mode (SOFIS mode) are The driving method of the acoustic sensor of FIG. 4 in that the sound sensor mode is automatically switched from the sonar mode to the sound field sensor mode (SOFIS mode) using the signal processing result (distance to the object) processed in the sonar mode instead of automatically changing in a certain time unit. And there is a difference.

Specifically, in step 510, the acoustic sensor 100 is turned on.

Next, in step 512, it is determined whether the user has selected the operation mode of the acoustic sensor 100 as the automatic switching mode. When the manual switching mode is selected instead of the automatic switching mode, in step 514, 312 to 354 of FIG. 3 are repeatedly performed, and if the user selects the automatic switching mode, the process proceeds to step 516.

In step 516, the sonar mode is first activated. Accordingly, the sonar logic 153 is first activated.

Subsequently, in step 518, steps 316, 318, 320, 352 and 354 of FIG. 3 are repeatedly performed.

Subsequently, in step 520, among the processes of performing steps 316, 318, 320, 352, and 354, the distance value to the object measured according to the result of performing step 320 is compared with the reference distance value, and the sound field sensor mode is performed according to the comparison result. It decides whether to switch to (SOFIS mode) or to keep the sonar mode (SONAR mode).

For example, if the distance calculated according to the result of performing step 320 of FIG. 3 is greater than or equal to the reference distance, the activated sonar mode is maintained, and in the opposite case, the sonar mode is terminated, and the sound field sensor mode is activated. Accordingly, the sonar logic 153 is deactivated, and the sonar logic 155 is activated.

SONAR is advantageous for object detection in open spaces, and SOFIS is advantageous for object detection in closed spaces. However, the user may optionally fix the same acoustic sensor outdoors, or indoors, or may change its position from time to time. Alternatively, the acoustic sensor 100 according to the present invention may be mounted on a moving object such as a mobile robot or a car, or a user may carry and move the acoustic sensor.

The case of mounting on a moving object such as a robot or a car will be described as an example.If the moving object moves from outdoor (open space) to indoor (closed space), the acoustic sensor 100 mounted on the moving object functions as a sonar outdoors. In the room, it may be advantageous to automatically switch the operation mode to function as a sound field sensor.

As such, when the acoustic sensor 100 mounted on the moving object enters the indoor from the outdoor, in order to automatically switch from the sonar mode to the sound field sensor mode (SOFIS), the acoustic sensor 100 enters the indoor from the outdoor situation. Should be recognized.

In order to recognize this situation, the distance calculated according to the result of performing step 320 of FIG. 3, that is, the result of processing while the acoustic sensor 100 is operating in the sonar mode, that is, the distance value to the object. Is utilized.

In an open space such as outdoors, the acoustic sensor 100 operating in the sonar mode (SONAR mode) calculates the distance to an object (or moving object) existing at a distance, and in a closed space such as indoors, the sonar mode (SONAR) mode), the acoustic sensor 100 will calculate a distance to an object (eg, an indoor wall) existing in a short distance.

Using these points, when the acoustic sensor 100 operating in the sonar mode calculates a distance greater than the reference distance, the acoustic sensor 100 is located outdoors and operates in a sonar mode. When the sensor 100 calculates a distance less than the reference distance, it may be determined to be located indoors.

At this time, in order to more accurately recognize that the acoustic sensor 100 enters the room, it may be further determined whether the distance less than the reference distance is continuously calculated for a preset time.

Meanwhile, although not shown in FIG. 2, the signal processor 150 compares and determines the distance value calculated according to the result of performing step 320 (the distance calculated by the activated sonar logic 153) and the reference distance value. It may be configured to further include.

This determination logic may be designed inside or outside the sonar logic 153, and serves to switch the operation mode of the acoustic sensor 100 of the present invention from the sonar mode to the sound field sensor mode (SOFIS mode). In terms of that, it may be designed to be included in the operation mode determination logic 151 shown in FIG. 2.

Subsequently, if the distance value calculated according to the result of performing step 320 is less than the reference distance value, the process proceeds to step 522, and a sound field sensor mode (SOFIS mode) is activated.

Subsequently, in step 524, steps 324 to 332 of FIG. 3 are repeatedly performed.

Subsequently, in step 526, it is determined whether the SOFIS mode is switched back to the SOFIS mode or continues to be maintained by comparing the sound field sensor mode retention time and the preset retention time.

For example, if the sound field sensor mode retention time does not reach a preset retention time (e.g., 3 seconds), returning to step 524 and continuously repeating steps 326, 328, 330, 332, 352 and 354 of FIG. 3, When the sound field sensor mode retention time reaches the preset retention time, the SOFIS mode is terminated (disabled) and the sonar mode is activated again.

The reason for reactivating the sonar mode as described above is to check whether the acoustic sensor 100 has moved from indoor to outdoor.

That is, after moving from step 526 to step 516 to activate the sonar mode, step 518 (steps 326 to step 354) is performed, and the calculated distance value according to the result of performing step 320 is used as the reference distance value. In comparison, if the calculated distance value is less than the reference distance value, the acoustic sensor 100 determines that it is staying indoors, switches back to the sound field sensor mode, and continues to perform a signal processing process performed in the sound field sensor mode.

If the distance value calculated according to the result of performing step 320 of FIG. 3 is greater than or equal to the reference distance value, the acoustic sensor 100 determines that it has moved from indoor to outdoor, and converts the operation to a sonar mode.

In this way, by periodically switching from the SOFIS mode to the sonar mode, it is periodically checked whether the acoustic sensor 100 is continuously located indoors or has moved outdoors.

In FIG. 5, the acoustic sensor mode is switched based on the'distance to an object such as a wall' measured by the acoustic sensor of the present name, but different values measured by the acoustic sensor are used in addition to the'distance to an object'. Thus, various standards can be set, and mode switching can be configured according to the standards. In addition, it can be configured to receive a signal provided by a third sensor other than the acoustic sensor, such as RADAR, LIDAR, infrared sensor, video recording device, flame detection sensor, temperature sensor, smoke detection sensor, etc., and to switch modes. Such a configuration can be simply implemented by a person skilled in the art of the present invention.

According to the driving method according to FIGS. 3 to 5 described above, the sonar function and the sound field sensor (SOFIS) function are integrated into one acoustic sensor, and the sonar function and the sound field sensor function are selected by the user or automatically in the sonar mode. Conversely from (SONAR mode) to sound field sensor mode, by freely switching from sound field sensor mode to sonar mode (SONAR mode), it has all the advantages of the existing sonar and sound field sensors, while compensating for the disadvantages of both sensors. It can maximize the detection performance of objects.

The method in which the SONAR mode and the SOFIS mode are automatically switched under certain conditions is compared to the integrated acoustic sensor mode, (1) the measurement accuracy is increased by using the settings optimized for each mode. , (2) reducing the noise generated, or (3) saving resources such as power can be obtained.

In the above embodiment, the case where the sonar mode (SONAR mode) and the sound field sensor mode (SOFIS mode) are automatically switched under certain conditions, but the three modes including the integrated acoustic sensor mode will be configured to be automatically switched under certain conditions. Can be, and it can be simply implemented by a person skilled in the art of the present invention.

As described above, in the present invention, the sonar logic 153 and the SOFIS logic 155 are provided to have both a function of a sonar (SONAR) and a function of a sound field sensor (SOFIS) in the signal processor 150 of one acoustic sensor. ) Is integrated.

In addition, by selectively or simultaneously driving the sonar logic and the SOFIS logic by the operation mode determination logic 151, both the advantages of the sonar and the sound field sensors are obtained, and the disadvantages between the two sensors are compensated for each other. Thus, the detection performance for objects can be maximized.

The acoustic sensor 100 according to the present invention can be applied to security cameras such as CCTV or car black box, and smart home appliances including internet phones, smart phones, smart TVs, smart cars, interphones, AI speakers, and intelligent safes, etc. It can be applied to various devices such as fishing boat equipment such as fish finders and autonomous vehicles or robots.

Meanwhile, although specific embodiments have been described in the detailed description of the present invention, various modifications may be made without departing from the scope of the present invention. Therefore, it should be determined not only by the claims but also by the claims and equivalents of this invention.

Claims (3)

In a method of driving an acoustic sensor in which a sound navigation and ranging (SONAR) function and a sound field sensor (SOFIS) function are integrated,
Selectively or simultaneously radiating a sonar sound signal or a soothing sound signal in the sound generator;
Measuring, in an acoustic receiver, a reflection sound of the sonar sound signal or a sound field caused by the sophice sound signal; And
In a signal processor, processing the reflected sound or the sound field to output a detection result for an object; including,
The spinning step,
In accordance with any one of an operation timing, an operation order, and an execution order determined by the signal processor, a sonar sound signal and a sophis sound signal are selectively or simultaneously radiated, which detects an object using both a reflected sound and a sound field. How to drive the acoustic sensor.
delete In a method of driving an acoustic sensor in which a sound navigation and ranging (SONAR) function and a sound field sensor (SOFIS) function are integrated,
In a sound generator, emitting any one of a sonar sound signal, a sophiste sound signal, or an integrated sound signal in which the sonar sound signal and the sophiste sound signal are combined;
Measuring a reflected sound for the sonar sound signal, a sound field based on the Sopis sound signal, or a reflected sound and a sound field for the integrated sound signal, in an acoustic receiver; And
Including, in a signal processor, signal-processing the reflected sound of the sonar sound signal, the sound field based on the Sophice sound signal, or the reflected sound and sound field of the integrated sound signal, and outputting a detection result for an object;
The spinning step,
In accordance with any one of an operation timing, an operation order, and an execution order determined by the signal processor, any one of a sonar sound signal, a sophiste sound signal, or an integrated sound signal in which the sonar sound signal and the sophiste sound signal are combined A method of driving an acoustic sensor that detects an object using both a reflected sound and a sound field, which is the step of radiating.

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