Ultrasonic distance sensor and object position measuring method using ultrasonic distance sensor

Abstract

To provide an ultrasonic distance sensor and an object position measuring method using the ultrasonic distance sensor.SOLUTION: An ultrasonic distance sensor is disclosed. The ultrasonic distance sensor in one embodiment may include: a signal generator that generates a frequency-modulated continuous ultrasonic signal array; a gating switch that passes some ultrasonic signals from the continuous ultrasonic signal array through time gating; a transmitter that emits the passed ultrasonic signals toward an object; a receiver that receives echo signals reflected from the object; and a signal processor that measures the position of the object using the echo signals.SELECTED DRAWING: Figure 1A

Description

[Technical field]

[0001] The present invention relates to an ultrasonic distance sensor and an object position measuring method using the same. [Background technology]

[0002] Distance measurement using an ultrasonic sensor can calculate the distance by generating ultrasonic waves, directing them at an object, and measuring the time it takes for the waves to reflect. Distance measurement using an ultrasonic sensor is simple and can be configured with relatively inexpensive equipment, and is often used indoors to measure the location and distance of obstacles. Although the distance measurement method is relatively simple and can be configured with low cost, the measurement distance and resolution are limited. The speed and energy of ultrasonic waves from a general ultrasonic sensor change depending on the sound propagation characteristics in air and other media, which can cause errors in distance measurement. Summary of the Invention [Problem to be solved by the invention]

[0003] SUMMARY OF THE PRESENT EMBODIMENT An object of the present invention is to provide an ultrasonic distance sensor and an object position measuring method using the same. [Means for solving the problem]

[0004] According to one aspect, the ultrasonic distance sensor may include a signal generator that generates a frequency-modulated continuous ultrasonic signal array; a gating switch that passes some ultrasonic signals from the frequency-modulated continuous ultrasonic signal array through time gating; a transmitter that emits some of the passed ultrasonic signals toward an object; a receiver that receives echo signals reflected from the object; and a signal processor that measures the position of the object using the echo signals.

[0005] The signal generator can generate each ultrasonic signal by modulating the frequency in units of a pulse width set by a target resolution.

[0006] The gating switch allows for synchronized time gating to pass one ultrasonic signal in increments of a set pulse width.

[0007] In this case, one ultrasound signal may include a first ultrasound signal in an array of consecutive ultrasound signals.

[0008] Also, the ultrasonic distance sensor may further include a first mixer that mixes the continuous ultrasonic signal array and the echo signal to output a first mixed signal.

[0009] The signal processor may perform a frequency analysis of the first mixed signal through a Fast Fourier Transform (FFT) to measure the position of an object.

[0010] Also, the ultrasonic distance sensor may further include a first analog to digital converter (ADC) that converts the first mixed signal into a digital signal and transmits the digital signal to the signal processor.

[0011] The ultrasonic distance sensor may further include a signal delayer that delays the continuous ultrasonic signal array generated by the signal generator by a certain time and outputs the delayed signal.

[0012] The signal delay may delay the continuous ultrasonic signal array by a time corresponding to half the pulse width of the ultrasonic signal.

[0013] The ultrasonic distance sensor further includes a second mixer that mixes the continuous ultrasonic signal array delayed by the signal delayer with the echo signal to output a second mixed signal, and a signal processor can measure a position of the object based on a first frequency analysis result of the first mixed signal and a second frequency analysis result of the second mixed signal.

[0014] The signal processor can determine a position where the first frequency analysis result and the second frequency analysis result are mutually satisfied as the position of the object.

[0015] The signal processor may multiply the amplitude of the first frequency analysis result by the amplitude of the second frequency analysis result to determine the position of the object.

[0016] The ultrasonic distance sensor may further include a first ADC that converts the first mixed signal into a first digital signal and transmits the first mixed signal to the signal processor; and a second ADC that converts the second mixed signal into a second digital signal and transmits the second mixed signal to the signal processor.

[0017] Furthermore, a plurality of pairs of transmitters and receivers are configured, and the signal processor can reconstruct a multi-dimensional space using the plurality of pairs of transmitters and receivers.

[0018] According to one aspect, there is provided a method for measuring an object position using an ultrasonic distance sensor, the ultrasonic distance sensor including a signal generator, a gating switch, a transmitter, a receiver, and a signal processor, and the method may include: generating a frequency modulated continuous ultrasonic signal array using the signal generator; passing some ultrasonic signals from the continuous ultrasonic signal array through time gating using the gating switch; emitting the some of the passed ultrasonic signals toward an object using the transmitter; receiving echo signals reflected from the object using the receiver; and measuring the position of the object using the echo signals using the signal processor.

[0019] The object localization method may further include mixing a continuous ultrasonic signal array and the echo signal to output a first mixed signal.

[0020] The step of determining the position of the object may include performing a frequency analysis of the first mixed signal through a fast Fourier transform to determine the position of the object.

[0021] The method for measuring an object position may further include outputting the continuous ultrasonic signal array with a certain time delay.

[0022] In addition, the object position measuring method may further include a step of mixing the delayed continuous ultrasonic signal array and the echo signal to output a second mixed signal, and the step of measuring the position of the object may measure the position of the object based on a first frequency analysis result of the first mixed signal and a second frequency analysis result of the second mixed signal.

[0023] According to one aspect, a device includes an ultrasonic distance sensor that measures a position of an object; and a processor that uses the measured position of the object to operate the device. The ultrasonic distance sensor may include a signal generator that generates a frequency modulated continuous ultrasonic signal array; a gating switch that passes a portion of ultrasonic signals from the continuous ultrasonic signal array through time gating; a transmitter that emits one of the passed ultrasonic signals toward an object; a receiver that receives an echo signal reflected from the object; and a signal processor that measures the position of the object using the echo signal. [Brief description of the drawings]

[0024] [Figure 1A] FIG. 2 is a block diagram of an ultrasonic distance sensor according to one embodiment. [Figure 1B] FIG. 2 is a block diagram of an ultrasonic distance sensor according to one embodiment. [Figure 2A] 4 is a diagram illustrating an operation of an ultrasonic distance sensor according to an embodiment. [Figure 2B] 4 is a diagram illustrating an operation of an ultrasonic distance sensor according to an embodiment. [Diagram 3] FIG. 13 is a block diagram of an ultrasonic distance sensor according to another embodiment. [Figure 4] 11 is a diagram illustrating measuring the position of an object according to another embodiment. [Figure 5A] 1 is a diagram illustrating the reconstruction of a multi-dimensional space using multiple transmitter and receiver pairs. [Figure 5B] 1 is a diagram illustrating the reconstruction of a multi-dimensional space using multiple transmitter and receiver pairs. [Figure 6] 4 is a flow chart of an object localization method according to an embodiment; [Figure 7] 4 is a flowchart of an object localization method according to another embodiment. [Figure 8] FIG. 1 is a block diagram of a device including an ultrasonic distance sensor according to one embodiment. [Figure 9A] 1 is an example of a device that includes an ultrasonic distance sensor. [Figure 9B] 1 is an example of a device that includes an ultrasonic distance sensor. [Figure 9C] 1 is an example of a device that includes an ultrasonic distance sensor. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] Other specific details of the embodiments are included in the detailed description and drawings. The advantages and features of the described technology and the manner in which they are accomplished will become apparent from the following detailed description of the embodiments in conjunction with the drawings. The same reference numerals refer to the same components throughout the specification.

[0026] Although terms such as "first" and "second" are used to describe various components, the components are not limited by the terms. The terms are used only to distinguish one component from another. A singular expression includes a plural expression unless otherwise specified in the context. In addition, when a part "includes" a certain component, this does not exclude other components, but means that the part may further include other components, unless otherwise specified. In addition, the terms "part," "module," and the like used in the specification refer to a unit that processes at least one function or operation, which may be embodied as hardware or software, or a combination of hardware and software.

[0027] 1A and 1B are block diagrams of an ultrasonic distance sensor according to one embodiment.

[0028] Referring to Fig. 1A, the ultrasonic distance sensor 100a may include a signal generator 110, a gating switch 120, a transmitter 130, a receiver 140, a mixer 150, an ADC 160, and a signal processor 170. Referring to Fig. 1B, the ultrasonic distance sensor 100b may further include an AMP (Power Amplifier) ​​125, an LNA (Low Noise Amplifier) ​​145, and a filter 155. Each component may be realized as hardware or software, or a combination of hardware and software.

[0029] The signal generator 110 can generate a frequency-modulated continuous ultrasonic signal array. The frequency bandwidth is set in advance in consideration of a target resolution, etc., and an ultrasonic signal having a constant period (pulse width) can be generated according to the set frequency bandwidth. The frequency bandwidth can be set relatively low compared to a general FMCW (Frequency-Modulated Continuous Wave) distance measurement system in consideration of the characteristics of the ultrasonic distance sensor 100a.

[0030] The gating switch 120 can pass only some of the ultrasonic signals from the array of ultrasonic signals generated by the signal generator 110 by performing synchronized time gating. For example, the gating switch 120 can pass only one ultrasonic signal (e.g., the first ultrasonic signal in the sequence) from the array of ultrasonic signals by performing time gating in units of pulse width. However, the gating switch 120 can be embodied to pass two or more chirp signals continuously or discontinuously.

[0031] The ultrasonic signal that passes through the gating switch 120 may be amplified by the AMP 125 and transmitted to the transmitter 130, as shown in FIG. 1B.

[0032] The transmitter 130 emits the ultrasonic signal passed by the gating switch 120 toward the object, and the receiver 140 can receive the echo signal reflected from the object. The transmitter 130 and the receiver 140 are also piezoelectric transducers. The transmitter 130 and the receiver 140 can be formed by combining independent elements / components. They can be formed as one channel consisting of a pair of one transmitter 130 and one receiver 140, or as multi-channels consisting of a pair of one or more transmitters 130 and a plurality of receivers 140, or a pair of a plurality of transmitters 130 and one or more receivers 140. In this case, the transmitter 130 and the receiver 140 of each channel can be formed separately or integrated in one package.

[0033] The array of ultrasonic signals generated by the signal generator 110 are sequentially input to the mixer 150 and mixed with the echo signals received from the receiver 140. At this time, the received echo signals are amplified by the LNA 145 and input to the mixer 150 as shown in FIG. 1B.

[0034] The mixed signal output from the mixer 150 is converted into a digital signal by the ADC 160 and input to the signal processor 170. At this time, as shown in Fig. 1B, the mixed signal is filtered through the filter 155 to remove a frequency component of the sum of the ultrasound signal array and the echo signal, and a beat frequency signal having a frequency component of the difference between the ultrasound signal array and the echo signal may be transmitted to the ADC 160. At this time, the filter 155 may include a low pass filter, a band pass filter, etc.

[0035] The signal processor 170 can measure the position of an object using the beat frequency. For example, the signal processor 170 can calculate the distance to the object, detect a newly generated object, and / or obtain information such as the moving speed of the object. The signal processor 170 can perform a fast Fourier transform (FFT) on the beat frequency and measure the position of the object based on the frequency analysis result.

[0036] 2A and 2B are diagrams illustrating the operation of an ultrasonic distance sensor according to an embodiment.

[0037] FIG. 2A (1) illustrates a general TOF (Time Of Flight) distance measurement method (1), and FIG. 2A (2) illustrates a TOF distance measurement method according to an embodiment. In the TOF distance measurement method, the signal-to-noise ratio is poor or the distance resolution is degraded depending on the size of the pulse width. FIG. 2B (1) illustrates a general FMCW distance measurement method, and FIG. 2B (2) illustrates an FMCW distance measurement method according to an embodiment. Referring to FIG. 2A (2) and FIG. 2B (2), in this embodiment, a frequency-modulated continuous ultrasonic signal array is generated, and only one ultrasonic signal (TX) is irradiated to an object in a unit of pulse width (T) through time gating, and is mixed with an echo signal (RX) reflected from the object to perform frequency analysis based on a tone frequency. The mixing pattern (MX) is divided into a section (TOF1) where no echo signal is detected and a section (TOF2) where an echo signal is detected, and it is only necessary to measure the tone frequency due to the frequency difference between the ultrasonic signal and the echo signal in the section (TOF2) where the echo signal is detected, which reduces the computing resource requirements of the analysis algorithm and provides a gain in frequency bandwidth (BW) compared to the general FMCW distance measurement method.

[0038] 3 is a block diagram of an ultrasonic distance sensor according to another embodiment, and FIG 4 is a diagram illustrating measuring the position of an object according to an embodiment.

[0039] 3, the ultrasonic distance sensor 300 may include a signal generator 310, a signal delayer 315, a gating switch 320, a transmitter 330, a receiver 340, a first mixer 351, a second mixer 352, a first ADC 361, a second ADC 362, and a signal processor 370. Also, the ultrasonic distance sensor 300 may further include an AMP, an LNA, and a filter as shown in FIG. 1B.

[0040] The signal generator 310 generates a frequency-modulated ultrasonic signal array. Each ultrasonic signal of the ultrasonic signal array may be frequency-modulated by a predetermined frequency bandwidth in consideration of a target resolution and the like, and generated in units of a constant pulse width.

[0041] The signal delay unit 315 may delay the ultrasonic signal array generated by the signal generator 310 for a certain time and output the delayed signal. In this case, the delay time is a time corresponding to half the pulse width, but is not limited thereto.

[0042] The gating switch 320 can pass only some of the ultrasonic signals from the array of ultrasonic signals output with a certain time delay from the signal delay unit 315 through synchronized time gating. In this case, some of the chirp signals are also the first ultrasonic signals in the array of ultrasonic signals output with a delay.

[0043] The transmitter 330 can radiate the ultrasonic signal passed by the gating switch 320 toward the object, and the receiver 340 can receive the echo signal reflected from the object. The pair of the transmitter 330 and the receiver 340 can be one or more, and the transmitter and the receiver can be formed separately or integrated in one package.

[0044] The first mixer 351 may output a first mixed signal by mixing the ultrasonic array signal output from the signal generator 310 and the echo signal output from the receiver 340. The first mixed signal is converted into a digital signal by the first ADC 361 and input to the signal processor 370.

[0045] The second mixer 352 may output a second mixed signal by mixing the ultrasonic array signal and the echo signal delayed by a certain time from the signal delay unit 315. The second mixed signal is converted into a digital signal by the second ADC 362 and input to the signal processor 370.

[0046] The signal processor 370 can use the first mixed signal and the second mixed signal to determine the position of the object.

[0047] 4(1), the ultrasonic signal array (TX11, TX12, TX13, ...) generated by the signal generator 310 and the ultrasonic signal array (TX21, TX22, ...) delayed by the signal delay unit 315 are input to a first mixer 351 and a second mixer 352, respectively, and when an echo signal (RX) reflected from an object is measured by a receiver 340, the ultrasonic signal array is mixed with the echo signal (RX). The first mixed signal of the first mixer 351 and the second mixed signal of the second mixer 352 are subjected to a fast Fourier transform in a frequency analysis section (FR) to perform frequency analysis, and a position where each frequency analysis result is commonly satisfied is determined as the final position of the object.

[0048] FIG. 4 (2) illustrates an example of an FFT spectrum for a first mixed signal of an ultrasonic signal array (TX11, TX12, TX13, ...) and an echo signal (RX), through which an object position (L11, L12) is measured. FIG. 4 (3) illustrates an example of an FFT spectrum for a second mixed signal of a delayed ultrasonic signal array (TX21, TX22, ...) and an echo signal (RX), through which an object position (L21, L22) is measured. FIG. 4 (4) illustrates an object position (L12, L21) commonly indicated by an object position (L11, L12) measured using the first mixed signal and an object position (L21, L22) measured using the second mixed signal, which can be determined as a final object position (OL). In this case, the amplitudes of the frequency analysis result of the first mixed signal and the frequency analysis result of the second mixed signal are directly multiplied, and the position with the largest value can be determined as the final object position. However, the present invention is not limited to this.

[0049] Meanwhile, when the ultrasonic distance sensor 100a, 100b, 300 is composed of a plurality of pairs of transmitters 130, 330 and receivers 140, 340, the signal processor 170, 370 can measure the position of an object using the plurality of pairs of transmitters 130, 330 and receivers 140, 340 and reconstruct a multidimensional space. FIG. 5A and FIG. 5B show an example of a two-dimensional space reconstructed using a transmitter (TX) arranged at the X-axis coordinate 0 position and a plurality of receivers (RX) arranged at the X-axis coordinate [-10 to 10] positions for an object 52 located in a 20 cm x 20 cm space 51. The signal processor 170, 370 can also measure the speed, angle, etc. of an object in the Doppler FFT domain using the plurality of pairs of transmitters 130, 330 and receivers 140, 340.

[0050] 6 is a flowchart of an object position measuring method using an ultrasonic distance sensor according to an embodiment of the present invention, which will be described briefly below since the method is performed by the ultrasonic distance sensors 100a and 100b of FIG. 1A and FIG. 1B.

[0051] The ultrasonic distance sensors 100a and 100b may generate an array of frequency modulated continuous ultrasonic signals (610). The frequency bandwidth of the chirp signal is determined in units of a predetermined pulse width in consideration of the characteristics of the ultrasonic distance sensor, a target resolution, etc. In this case, the constant frequency band may be generated to have a relatively low frequency band compared to a general FMCW system.

[0052] Then, synchronized time gating can be performed to pass only some of the ultrasound signals from the ultrasound signal array generated in step 610 (620). Time gating in units of pulse widths can be performed, and through this, for example, the first ultrasound signal can be passed from the ultrasound signal array.

[0053] The passed ultrasonic signal may then be emitted toward the object (620), where the passed ultrasonic signal may be amplified (630).

[0054] Echo signals reflected from the object may then be received (640).

[0055] The received echo signal is then mixed (650) with the ultrasound signal array generated from step (610). The mixed signal is filtered by a low-pass filter, a band-pass filter, etc. to remove the frequency component of the sum of the chirp signal array and the echo signal, and a beat frequency signal is output, which is a signal having a frequency component of the difference between the chirp signal array and the echo signal.

[0056] The mixed signal is then converted to a digital signal (660) and a Fast Fourier Transform can be performed to determine the object's position through frequency analysis (670).

[0057] 7 is a flowchart of a method for measuring the position of an object using an ultrasonic distance sensor according to another embodiment of the present invention, which will be described briefly below since the method is performed by the ultrasonic distance sensor 300 of FIG.

[0058] The ultrasonic distance sensor 300 generates an array of continuous ultrasonic signals that are frequency modulated (710), and outputs the array of ultrasonic signals with a fixed time delay (720). The delay time is a time corresponding to half the pulse width, but is not limited thereto.

[0059] The delayed output ultrasound signal array is then passed through synchronized time gating to pass only a portion of the ultrasound signals (730).

[0060] The passed ultrasonic signal is then emitted (740) towards an object and an echo signal reflected from the object is received (750).

[0061] The received echo signals are then mixed (760, 770) with the array of ultrasound signals generated from step (710) and the array of delayed ultrasound signals from step (720).

[0062] The position of the object can then be measured (780) using the mixed signals from steps 760 and 770. The position of the object can be measured through frequency analysis of each mixed signal, and the common position can be determined as the final object position.

[0063] Figure 8 is a block diagram of a device including an ultrasonic distance sensor according to one embodiment. Figures 9A-9C are examples of devices including an ultrasonic distance sensor.

[0064] The device 800 can perform the operations and functions of the ultrasonic distance sensors 100a, 100b, and 300 described above. The device 800 can be used in an autonomous driving system, an airborne radar system, a driver assistance system, an object recognition system, or a surveillance / security system. The device 800 can be mounted and operated in, for example, an image processing device, a radar device, a smartphone, a wearable device, a tablet PC, a netbook, a laptop, a desktop, a head mounted display (HMD), an autonomous driving vehicle and a smart vehicle, a virtual reality (VR), an augmented reality (AR), an eXtended Reality (XR) device, an automobile, a mobile robot, and the like.

[0065] The device 800 may include a processor 810, a storage device 820, a sensor 830, an input device 840, an output device 850, and a network device 860. The processor 810, the storage device 820, the sensor 830, the input device 840, the output device 850, and the network device 860 may communicate with each other via a communication bus 870.

[0066] The processor 810 executes functions and instructions for execution within the device 800. For example, the processor 810 may process instructions stored in the storage device 820. The processor 810 may perform one or more of the operations described above.

[0067] The storage device 820 stores information or data necessary for the processing operations of the processor 810. The storage device 820 can store instructions for execution by the processor 810. The storage device 820 can include a computer-readable recording medium, such as random access memories (RAM), dynamic random access memories (DRAM), static random access memories (SRAM), a magnetic hard disk, an optical disk, a flash memory, an electrically programmable read-only memory (EPROM), or another form of computer-readable recording medium known in the art.

[0068] The sensor 830 may include one or more sensors. For example, the sensor 830 may include an ultrasonic distance sensor, a radar sensor, a video sensor, etc., as previously described.

[0069] Input device 840 can receive input from a user through tactile, video, audio, or touch input. Input device 840 can include a keyboard, mouse, touch screen, microphone, or any other device capable of detecting input from a user and communicating the detected input.

[0070] The output device 850 may provide the output of the computing device 800 to the user through a visual, auditory, or tactile manner. For example, the output device 850 may include a liquid crystal display, a light emitting diode (LED) display, a touch screen, a speaker, a vibration generator, or any other device capable of providing an output to the user. The output device 850 may provide a result reflecting the object position information estimated by the ultrasonic distance sensor 830 using one or more of visual information, auditory information, and haptic information.

[0071] The network device 860 may communicate with an external device through a wired or wireless network. For example, the network device 860 may communicate with an external device using various wired or wireless communication technologies, including a wired communication method, Bluetooth communication, Bluetooth Low Energy (BLE) communication, Near Field Communication (NFC), WLAN communication, Zigbee communication, Infrared Data Association (IrDA) communication, Wi-Fi Direct (WFD) communication, ultra-wideband (UWB) communication, Ant+ communication, Wi-Fi communication, Radio Frequency Identification (RFID) communication, 3G communication, 4G communication, 5G communication, and direct connection through an internal bus.

[0072] 9A to 9C, examples of devices 700 including the ultrasonic distance sensor include a portable device 91 for VR, AR, XR, etc., a car 92, and a mobile robot 93. As shown, the devices 91, 92, and 93 use the ultrasonic distance sensor to recognize a forward object (MT) and / or measure the distance, and perform a required operation using the recognized / measured information, thereby providing a VR, AR, or XR user experience, or providing a function such as autonomous driving.

[0073] Meanwhile, the present invention may be embodied as computer readable codes on a computer readable recording medium, which may include any type of recording device in which data that can be read by a computer system is stored.

[0074] Examples of computer readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc., and also include those embodied in the form of carrier waves (e.g., transmission via the Internet). Also, the computer readable recording media can be distributed in computer systems connected via a network and stored and executed as computer readable code in a distributed manner. And, functional programs, codes, and code segments for embodying the present embodiment can be easily construed by a programmer skilled in the art.

[0075] It will be understood by those skilled in the art that other specific embodiments can be implemented without changing the technical ideas and essential features disclosed herein. Therefore, it should be understood that the above-described embodiments are illustrative in all respects and are not limiting. [Explanation of symbols]

[0076] 51 Space 52 Object 100a, 100b, 300 Ultrasonic Distance Sensor 110 Signal generator 120 Gating Switch 130, 330 Transmitter 140, 340 receiver 150 Mixer 155 Filters 160 ADC 170, 370 Signal processor 310 signal generator 315 Signal Delay Device 320 Gating Switch 351 Mixer No. 1 352 Second Mixer 800 Computing Devices 810 Processor 820 Storage device 830 Sensor 840 Input Device 850 Output Device 860 Network Equipment 870 Communication Bus

Claims

1. a signal generator for generating an array of frequency modulated continuous ultrasonic signals; a gating switch for passing a portion of the ultrasonic signals from the continuous ultrasonic signal array through time gating; a transmitter that emits the ultrasonic signal that has passed through the time gating process toward an object; a receiver for receiving an echo signal reflected from the object; a signal processor for measuring the position of the object using the echo signals; an ultrasonic distance sensor.

2. The signal generator includes: The ultrasonic distance sensor according to claim 1 , wherein each ultrasonic signal is generated by frequency modulation in units of a pulse width set by a target resolution.

3. The gating switch is The ultrasonic distance sensor according to claim 2 , wherein a single ultrasonic signal is passed by performing synchronized time gating in units of the set pulse width.

4. The one ultrasonic signal is The ultrasonic distance sensor of claim 3 including a first ultrasonic signal in the array of continuous ultrasonic signals.

5. The ultrasonic distance sensor of claim 1 , further comprising a first mixer for mixing the frequency modulated continuous ultrasonic signal array and the echo signal to output a first mixed signal.

6. The signal processor includes: The ultrasonic distance sensor according to claim 5 , further comprising: a frequency analysis of the first mixed signal through a fast Fourier transform to measure the position of the object.

7. The ultrasonic distance sensor according to claim 5 , further comprising a first ADC that converts the first mixed signal into a digital signal and transmits the digital signal to the signal processor.

8. The ultrasonic distance sensor according to claim 5 , further comprising a signal delayer for delaying the continuous ultrasonic signal array generated by the signal generator by a certain time and outputting the delayed signal.

9. The signal delay device includes:

9. The ultrasonic distance sensor of claim 8, wherein the continuous ultrasonic signal array is delayed by a time corresponding to half an ultrasonic signal pulse width.

10. a second mixer for mixing the continuous ultrasonic signal array delayed by the signal delay unit and the echo signal to output a second mixed signal; The signal processor includes: The ultrasonic distance sensor according to claim 8 , wherein the position of the object is determined based on a first frequency analysis result for the first mixed signal and a second frequency analysis result for the second mixed signal.

11. The signal processor includes: The ultrasonic distance sensor according to claim 10 , wherein a position where the first frequency analysis result and the second frequency analysis result are mutually satisfied is determined as the position of the object.

12. The signal processor includes: The ultrasonic distance sensor according to claim 11 , wherein the position of the object is determined based on a result of multiplying the amplitude of the first frequency analysis result by the amplitude of the second frequency analysis result.

13. a first ADC for converting the first mixed signal into a first digital signal and transmitting the first digital signal to the signal processor; a second ADC for converting the second mixed signal into a second digital signal and transmitting the second digital signal to the signal processor; The ultrasonic distance sensor of claim 10 further comprising:

14. The transmitter and receiver pair is configured in a plurality of pairs, The signal processor includes: The ultrasonic distance sensor of claim 1 , wherein a multi-dimensional space is reconstructed using a plurality of said transmitter and receiver pairs.

15. A method for measuring a position of a subject using an ultrasonic distance sensor, comprising: The ultrasonic distance sensor includes a signal generator, a gating switch, a transmitter, a receiver, and a signal processor; The method comprises: generating an array of frequency modulated continuous ultrasonic signals using the signal generator; passing a portion of the ultrasonic signals from the continuous ultrasonic signal array through time gating using the gating switch; using the transmitter to emit the passed ultrasonic signal towards an object; receiving, with the receiver, echo signals reflected from the object; determining a position of the object using the echo signals in the signal processor; The object position measuring method using an ultrasonic distance sensor includes:

16. The method of claim 15, further comprising: mixing the continuous ultrasonic signal array and the echo signal to output a first mixed signal.

17. The step of measuring the position of the object comprises: The method of claim 16, further comprising: measuring the position of the object by frequency-analyzing the first mixed signal through a fast Fourier transform.

18. The method of claim 16, further comprising outputting the continuous ultrasonic signal array with a certain time delay.

19. The method further includes mixing the delayed continuous ultrasonic signal array and the echo signal to output a second mixed signal, The step of measuring the position of the object comprises: The method of claim 18, further comprising: determining a position of the object based on a first frequency analysis result of the first mixed signal and a second frequency analysis result of the second mixed signal.

20. an ultrasonic distance sensor for measuring the position of an object; a processor for performing an operation of an equipment using the measured object position; The ultrasonic distance sensor includes: a signal generator for generating an array of frequency modulated continuous ultrasonic signals; a gating switch for passing a portion of the ultrasonic signals from the continuous ultrasonic signal array through time gating; a transmitter that emits the passed ultrasonic signal toward an object; a receiver for receiving an echo signal reflected from the object; a signal processor for measuring the position of the object using the echo signals; Including, equipment.

Images