Ultrasonic distance sensor and method for measuring position of object using the same

Abstract

An ultrasonic distance sensor is provided. The ultrasonic distance sensor according to an embodiment includes: a signal generator configured to generate a frequency-modulated continuous ultrasonic signal array; a gate switch configured to perform time gating to allow part of the ultrasonic signals in the continuous ultrasonic signal array to pass through; a transmitter configured to transmit the ultrasonic signal that has passed through the gate switch to an object; a receiver configured to receive an echo signal reflected from the object; and a signal processor configured to measure the position of the object by using the echo signal.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority from Korean Patent Application No. 10-2023-0133103 filed on October 6, 2023 in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference in its entirety for all purposes. Technical Field

[0003] Example embodiments of the present disclosure relate to an ultrasonic distance sensor and a method of measuring a position of an object by using the ultrasonic distance sensor. Background Art

[0004] In the distance measurement method using an ultrasonic sensor, an ultrasonic wave is generated and incident on an object, and the distance to the object is measured by calculating the time taken for the ultrasonic wave to be reflected back from the object. The distance measurement method using an ultrasonic sensor is performed using simple and relatively inexpensive equipment and is mainly used indoors to measure the position of an obstacle and / or the distance to the obstacle. However, the distance measurement method has limited measurement distance and resolution. The speed and energy of the ultrasonic wave of a typical ultrasonic sensor vary according to the characteristics of sound propagation in air or other media, resulting in errors in distance measurement. Summary of the invention

[0005] According to an aspect of an example embodiment of the present disclosure, there is provided an ultrasonic distance sensor, comprising: a signal generator configured to generate a frequency-modulated continuous ultrasonic signal array; a gating switch configured to perform time gating to allow a portion of ultrasonic signals in the continuous ultrasonic signal array to pass through the gating switch; a transmitter configured to transmit the ultrasonic signal that has passed through to an object; a receiver configured to receive an echo signal reflected from the object; and a signal processor configured to measure a position of the object by using the echo signal.

[0006] The signal generator may be configured to generate each ultrasonic wave signal by performing frequency modulation in units of a pulse width, the pulse width being set based on a target resolution.

[0007] The gate switch can be configured to perform synchronous time gating in units of a set pulse width so that an ultrasonic signal passes through the gate switch.

[0008] In this case, one ultrasonic signal may include an ultrasonic signal sequentially arranged as the first in the continuous ultrasonic signal array.

[0009] In addition, the ultrasonic distance sensor may further include a first mixer configured to mix the continuous ultrasonic signal array with the echo signal to output a first mixed signal.

[0010] The signal processor may be configured to measure the position of the object by performing frequency analysis on the first mixed signal through a Fast Fourier Transform (FFT).

[0011] In addition, the ultrasonic distance sensor may further include a first analog-to-digital converter (ADC) configured to convert the first mixed signal into a digital signal and to transmit the digital signal to the signal processor.

[0012] In addition, the ultrasonic distance sensor may further include a signal delayer configured to delay the continuous ultrasonic signal array generated by the signal generator for a predetermined period of time and configured to output the delayed ultrasonic signal array.

[0013] The signal delayer can delay the continuous ultrasonic signal array by half the pulse width of the ultrasonic signal.

[0014] In addition, the ultrasonic distance sensor may also include a second mixer, which is configured to mix a continuous ultrasonic signal array delayed by a signal delayer with an echo signal to output a second mixed signal, wherein the signal processor may be configured to 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.

[0015] The signal processor may be configured to determine a position commonly indicated in the first frequency analysis result and the second frequency analysis result as the position of the object.

[0016] The signal processor may be configured to determine the position of the object based on a result of multiplying the magnitude of the first frequency analysis result by the magnitude of the second frequency analysis result.

[0017] In addition, the ultrasonic distance sensor may further include: a first ADC configured to convert the first mixed signal into a first digital signal and configured to send the first digital signal to the signal processor; and a second ADC configured to convert the second mixed signal into a second digital signal and configured to send the second digital signal to the signal processor.

[0018] Additionally, a plurality of pairs of transmitters and receivers may be provided, wherein the signal processor may be configured to reconstruct the multi-dimensional space by using the plurality of pairs of transmitters and receivers.

[0019] According to an aspect of an exemplary embodiment of the present disclosure, there is provided a method for measuring a position of an object by using an ultrasonic distance sensor, the ultrasonic distance sensor including a signal generator, a gate switch, a transmitter, a receiver, and a signal processor, the method including: generating a frequency-modulated continuous ultrasonic signal array by using the signal generator; performing time gating by using the gate switch to allow a portion of ultrasonic signals in the continuous ultrasonic signal array to pass through the gate switch; transmitting the ultrasonic signal allowed to pass through the gate switch to the object by using the transmitter; receiving an echo signal reflected from the object by using the receiver; and measuring the position of the object by using the echo signal by using the signal processor.

[0020] In addition, the method may further include: mixing the continuous ultrasonic signal array with the echo signal to output a first mixed signal.

[0021] Measuring the position of the object may include measuring the position of the object by performing frequency analysis on the first mixed signal through Fast Fourier Transform (FFT).

[0022] In addition, the method may further include: delaying the continuous ultrasonic signal array for a predetermined period of time and outputting the delayed ultrasonic signal array.

[0023] In addition, the method may further include: mixing the continuous ultrasonic signal array with the echo signal to output a second mixed signal, wherein measuring the position of the object may include: measuring 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.

[0024] According to an aspect of an example embodiment of the present disclosure, there is provided a device, including: an ultrasonic distance sensor configured to measure a position of an object; and a processor configured to perform an operation of the device by using the measured position of the object, wherein the ultrasonic distance sensor may include: a signal generator configured to generate a frequency-modulated continuous ultrasonic signal array; a gating switch configured to perform time gating to allow part of the ultrasonic signals in the continuous ultrasonic signal array to pass through the gating switch; a transmitter configured to transmit the ultrasonic signal that has passed through the gating switch to the object; a receiver configured to receive an echo signal reflected from the object; and a signal processor configured to measure the position of the object by using the echo signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and other aspects, features and advantages of certain example embodiments of the present disclosure will become more apparent from the following description in conjunction with the accompanying drawings.

[0026] Figure 1A and Figure 1Bis a block diagram illustrating an ultrasonic distance sensor according to an example embodiment of the present disclosure.

[0027] Figure 2A and Figure 2B is a diagram illustrating an example of driving an ultrasonic distance sensor according to an example embodiment of the present disclosure.

[0028] Figure 3 is a block diagram illustrating an ultrasonic distance sensor according to an example embodiment of the present disclosure.

[0029] Figure 4 is a diagram illustrating an example of measuring a position of an object according to an exemplary embodiment of the present disclosure.

[0030] Figure 5A and Figure 5B is a diagram illustrating an example of reconstructing a multi-dimensional space by using multiple pairs of transmitters and receivers.

[0031] Figure 6 is a flowchart illustrating a method of measuring a position of an object according to an example embodiment of the present disclosure.

[0032] Figure 7 is a flowchart illustrating a method of measuring a position of an object according to an example embodiment of the present disclosure.

[0033] Figure 8 is a block diagram illustrating a device including an ultrasonic distance sensor according to an example embodiment of the present disclosure.

[0034] 9A to 9C is a diagram showing an example of a device including an ultrasonic distance sensor. DETAILED DESCRIPTION

[0035] Details of the example embodiments are included in the following detailed description and drawings. Advantages and features of the present disclosure and methods for achieving these advantages and features will be more clearly understood according to the example embodiments described in detail below with reference to the drawings. Throughout the drawings and detailed description, unless otherwise described, the same reference numerals will be understood to refer to the same elements, features and structures.

[0036] It should be understood that although terms such as "first", "second", etc. can be used to describe various elements in this article, these elements should not be limited by these terms. These terms are only used to distinguish elements from each other. Unless otherwise explicitly stated, any reference to the singular may include the plural. In addition, unless explicitly described to the contrary, expressions such as "including" or "comprising" will be understood to mean including the elements described, but not excluding any other elements. In addition, terms such as "unit" or "module" should be understood as units that perform at least one function or operation and can be embodied as hardware, software or a combination thereof.

[0037] Figure 1A and Figure 1B is a block diagram illustrating an ultrasonic distance sensor according to an example embodiment of the present disclosure.

[0038] Reference Figure 1A The ultrasonic distance sensor 100a includes a signal generator 110, a gate switch 120, a transmitter 130, a receiver 140, a mixer 150, an analog-to-digital converter (ADC) 160, and a signal processor 170. Figure 1B , the ultrasonic distance sensor 100b may further include a power amplifier (AMP) 125, a low noise amplifier (LNA) 145, and a filter 155. Each component may be implemented as hardware or software or a combination thereof.

[0039] The signal generator 110 may generate a frequency modulated continuous ultrasonic signal array. The frequency bandwidth may be preset in consideration of target resolution, etc., and an ultrasonic signal having a predetermined period (or pulse width) may be generated according to the preset frequency bandwidth. Considering the characteristics of the ultrasonic distance sensor 100a, the frequency bandwidth may be set to a relatively low frequency bandwidth compared to a typical frequency modulated continuous wave (FMCW) distance measurement system.

[0040] The gate switch 120 may perform synchronous time gating to allow only a portion of the ultrasonic signal in the ultrasonic signal array generated by the signal generator 110 to pass. For example, by performing time gating in units of pulse width, the gate switch 120 may allow only one ultrasonic signal (e.g., the first ultrasonic signal in sequence) in the ultrasonic signal array to pass. However, the gate switch 120 is not limited thereto, and may be configured to allow two or more chirp signals to pass continuously or discontinuously.

[0041] In an embodiment, the ultrasonic signal that has passed through the gate switch 120 may be amplified by the AMP 125 and sent to the transmitter 130, such as Figure 1B shown.

[0042] The transmitter 130 may transmit an ultrasonic wave signal that has passed through the gate switch 120 to an object, and the receiver 140 may receive an echo signal reflected from the object. The transmitter 130 and the receiver 140 may include a piezoelectric transducer. Each of the transmitter 130 and the receiver 140 may be formed by combining independent elements and / or components. A channel including a pair of one transmitter 130 and one receiver 140 may be formed, or a multi-channel including one or more transmitters 130 and a plurality of receivers 140 in pairs or including a plurality of transmitters 130 and one or more receivers 140 in pairs may be formed. The transmitter 130 and the receiver 140 of each channel may be formed separately, or may be integrated into one package.

[0043] The ultrasonic signal array generated by the signal generator 110 may be sequentially input to the mixer 150 to be mixed with the echo signal received by the receiver 140. In an embodiment, the received echo signal may be amplified by the LNA 145 to be input to the mixer 150.

[0044] The mixed signal output from the mixer 150 may be converted into a digital signal by the ADC 160 to be input to the signal processor 170. In an embodiment, as shown in FIG. Figure 1B As shown, the mixed signal can be filtered by the filter 155 so that the sum frequency component between the ultrasonic signal array and the echo signal can be removed, and the beat frequency signal with the difference frequency component between the ultrasonic signal array and the echo signal can be sent to the ADC 150. The filter 155 can include a low-pass filter, a band-pass filter, etc.

[0045] The signal processor 170 may measure the position of the object by using the beat frequency. For example, the signal processor 170 may calculate the distance to the object by using the beat frequency, may detect a new object, and / or obtain information such as the moving speed of the object. The signal processor 170 may perform a fast Fourier transform (FFT) on the beat frequency to measure the position of the object based on the frequency analysis result.

[0046] Figure 2A and Figure 2B is a diagram illustrating an example of driving an ultrasonic distance sensor according to an example embodiment of the present disclosure.

[0047] exist Figure 2A In the embodiment of the present invention, (1) shows a typical time-of-flight (TOF) distance measurement method, and (2) shows a TOF distance measurement method according to an exemplary embodiment of the present disclosure. In the TOF distance measurement method, the signal-to-noise ratio deteriorates and the distance resolution decreases depending on the size of the pulse width. Figure 2BIn FIG. 1 , (1) shows a typical FMCW distance measurement method, and (2) shows an FMCW distance measurement method according to an exemplary embodiment of the present disclosure. Figure 2A (2) and Figure 2B (2), according to an exemplary embodiment, a frequency-modulated continuous ultrasonic signal array is generated, but only one ultrasonic signal TX is transmitted to the object by performing time gating in units of pulse width (T), and the ultrasonic signal TX is mixed with the echo signal RX reflected from the object, thereby performing frequency analysis based on the tone frequency. The mixed pattern MX is divided into an interval TOF1 in which the echo signal is not detected and an interval TOF2 in which the echo signal is detected. By measuring the tone frequency based on the frequency difference between the echo signal and the ultrasonic signal in the interval TOF2 in which the echo signal is detected, the computing resources required for the analysis algorithm can be reduced, and a gain in the frequency bandwidth BW can be achieved compared to the typical FMCW distance measurement method.

[0048] Figure 3 is a block diagram illustrating an ultrasonic distance sensor according to an example embodiment of the present disclosure. Figure 4 is a diagram illustrating an example of measuring a position of an object according to an exemplary embodiment of the present disclosure.

[0049] Reference Figure 3 , the ultrasonic distance sensor 300 includes a signal generator 310, a signal delay 315, a gate 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. In addition, although Figure 3 Although not shown in the figure, the ultrasonic distance sensor 300 may further include an AMP, an LNA, and a filter.

[0050] The signal generator 310 may generate a frequency modulated ultrasonic signal array. Each ultrasonic signal of the ultrasonic signal array may be frequency modulated according to a preset frequency bandwidth in consideration of target resolution, etc., and may be generated in a predetermined pulse width unit.

[0051] The signal delayer 315 may delay the ultrasonic signal array generated by the signal generator 310 for a predetermined period of time and may output the delayed ultrasonic signal array. In this case, the delay time may be a time corresponding to half a pulse width, but is not limited thereto.

[0052] The gating switch 320 may perform synchronous time gating to allow only a portion of the ultrasonic signal in the ultrasonic signal array output by the signal delayer 315 to pass through in a delayed manner for a predetermined period of time. In this case, the chirp signal allowed to pass may be the first ultrasonic signal, which is sequentially arranged at the first position in the ultrasonic signal array.

[0053] The transmitter 330 may transmit an ultrasonic wave signal having passed through the gate switch 320 to the object, and the receiver 340 may receive an echo signal reflected from the object. One or more transmitters 330 and one or more receivers 340 may form a pair, and the transmitter 330 and the receiver 340 may be formed separately or may be integrated into one package.

[0054] The first mixer 351 may output a first mixed signal by mixing the ultrasonic signal array output from the signal generator 310 with the echo signal output from the receiver 340. The first mixed signal may be converted into a digital signal by the first ADC 361 and may be input to the signal processor 370.

[0055] The second mixer 352 may output a second mixed signal by mixing the echo signal with the ultrasonic signal array output by the signal delayer 315 in a manner delayed for a predetermined period of time. The second mixed signal may be converted into a digital signal by the second ADC 362 and may be input to the signal processor 370.

[0056] The signal processor 370 may measure the position of the object by using the first mixed signal and the second mixed signal.

[0057] Reference Figure 4 (1), the ultrasonic signal arrays TX11, TX12, TX13, ... generated by the signal generator 310 and the ultrasonic signal arrays TX21, TX22, ... delayed by the signal delayer 315 are respectively input to the first mixer 351 and the second mixer 352, and are mixed with the echo signal RX reflected from the object and received by the receiver 340. By fast Fourier transform (FFT), frequency analysis is performed on the first mixed signal from the first mixer 351 and the second mixed signal from the second mixer 352 in the frequency analysis interval FR, and the position commonly indicated in the frequency analysis results of the first mixed signal and the second mixed signal can be determined as the final position of the object.

[0058] exist Figure 4 In FIG. 1 , (2) shows the FFT spectrum of the first mixed signal obtained by mixing the ultrasonic signal arrays TX11, TX12, TX13, ... with the echo signal RX, and the positions L11 and L12 can be measured based on the FFT spectrum. Figure 4 , (3) shows the FFT spectrum of the second mixed signal obtained by mixing the delayed ultrasonic signal arrays TX21, TX22, ... with the echo signal RX, and the positions L21 and L22 can be measured based on the FFT spectrum. Figure 4As shown in (4), among the positions L11 and L12 measured using the first mixed signal and the positions L21 and L22 measured using the second mixed signal, the position OL indicated by the positions L12 and L21 can be determined as the final object position. In an embodiment, by directly multiplying the amplitude of the frequency analysis result of the first mixed signal by the amplitude of the frequency analysis result of the second mixed signal, the position with the maximum value can be determined as the final object position. However, determining the object position is not limited to this.

[0059] If the ultrasonic distance sensors 100a, 100b, and 300 according to example embodiments include pairs of transmitters 130 and 330 and receivers 330 and 340, the signal processors 170 and 370 may measure the position of an object by using the pairs of transmitters 130 and 330 and receivers 330 and 340 and may reconstruct a multi-dimensional space. Figure 5A and Figure 5B is a diagram showing a two-dimensional space reconstructed for an object 52 located in a 20 cm×20 cm space 51 by using a transmitter TX located at an x-coordinate 0 and a plurality of receivers RX located at x-coordinates ranging from −10 to 10. The signal processors 170 and 370 may also measure the velocity and angle of an object in a Doppler FFT domain, etc., by using a pair of transmitters 130 and 330 and receivers 330 and 340.

[0060] Figure 6 is a flowchart illustrating a method of measuring a position of an object by using an ultrasonic distance sensor according to an example embodiment of the present disclosure. Figure 6 The method is Figure 1A and Figure 1B An example of a method of measuring a position of an object performed by the ultrasonic distance sensors 100a and 100b will therefore be briefly described below.

[0061] In 610, the ultrasonic distance sensors 100a and 100b may generate a frequency modulated continuous ultrasonic signal array. The frequency bandwidth of the chirp signal may be determined in a predetermined pulse width unit by considering the characteristics of the ultrasonic distance sensor, the target resolution, etc. In this case, the predetermined frequency band may be set to a relatively lower frequency band compared to a typical frequency modulated continuous wave (FMCW) distance measurement system.

[0062] Then, in 620, the ultrasonic distance sensors 100a and 100b may perform synchronous time gating to allow only a portion of the ultrasonic signal in the ultrasonic signal array generated in operation 610 to pass through. By performing time gating in units of pulse width, the ultrasonic distance sensors 100a and 100b may pass, for example, a first-order ultrasonic signal in the ultrasonic signal array.

[0063] Subsequently, the ultrasonic distance sensors 100a and 100b may transmit an ultrasonic signal that has passed through the object to the object in 630. In this case, the ultrasonic distance sensors 100a and 100b may amplify the ultrasonic signal in 630.

[0064] Next, in 640 , the ultrasonic distance sensors 100 a and 100 b may receive an echo signal reflected from the object.

[0065] Then, in operation 650, the ultrasonic distance sensors 100a and 100b may mix the ultrasonic signal array generated in operation 610 with the received echo signal. The mixed signal is filtered by a low-pass filter, a band-pass filter, etc., so that the sum frequency component between the chirp signal array and the echo signal may be removed, and a beat frequency signal having a difference frequency component between the chirp signal array and the echo signal may be output.

[0066] Subsequently, in 660 , the ultrasonic distance sensors 100 a and 100 b may convert the mixed signal into a digital signal, and in 670 , may perform frequency analysis on the mixed signal through a fast Fourier transform to measure the position of the object.

[0067] Figure 7 is a flowchart illustrating a method of measuring a position of an object by using an ultrasonic distance sensor according to an example embodiment of the present disclosure. Figure 7 The method is Figure 3 An example of a method of measuring a position of an object performed by the ultrasonic distance sensor 300 will therefore be briefly described below.

[0068] In 710, the ultrasonic distance sensor 300 may generate a frequency modulated continuous ultrasonic signal array. In 720, the generated ultrasonic signal array may be output in a manner of delaying a predetermined period of time. The delay time may be a time corresponding to half a pulse width, but is not limited thereto.

[0069] Then, in 730 , the ultrasonic distance sensor 300 may perform synchronous time gating to allow only a portion of ultrasonic signals in the ultrasonic signal array output in a delayed manner to pass through.

[0070] Subsequently, in 740 , the ultrasonic distance sensor 300 may transmit an ultrasonic signal having passed through the object, and in 750 , may receive an echo signal reflected from the object.

[0071] Next, the ultrasonic distance sensor 300 may mix the ultrasonic signal array generated in operation 710 and the ultrasonic signal array delayed in operation 720 with the received echo signal in 760 and 770 , respectively.

[0072] Then, in 780, the ultrasonic distance sensor 300 may measure the position of the object by using the signals mixed in operations 760 and 770. The ultrasonic distance sensor 300 may measure the position of the object by performing frequency analysis on each mixed signal, and may determine a position commonly indicated by the frequency analysis results as a final object position.

[0073] Figure 8 is a block diagram illustrating a device including an ultrasonic distance sensor according to an example embodiment of the present disclosure. 9A to 9C is a diagram showing an example of a device including an ultrasonic distance sensor.

[0074] The device 800 may include any one of the ultrasonic distance sensors 100a, 100b, and 300 described above, and may perform the operations and functions of any one of the ultrasonic distance sensors 100a, 100b, and 300. The device 800 may be used in an automatic driving system, a flight radar system, a driver assistance system, an object recognition system, or a monitoring and / or safety system, etc. The device 800 may be installed in, for example, an image processing device, a radar device, a smart phone, a wearable device, a tablet computer, a netbook, a laptop computer, a desktop computer, a head mounted display (HMD), an autonomous intelligent vehicle, a virtual reality (VR) device, an augmented reality (AR) device, an extended reality (XR) device, a vehicle, a mobile robot, etc.

[0075] Device 800 may include processor 810, storage device 820, sensor 830, input device 840, output device 850, and network device 860. Processor 810, storage device 820, sensor 830, input device 840, output device 850, and network device 860 may communicate with each other through communication bus 870.

[0076] The processor 810 may execute functions and instructions to be executed in 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 operations described above.

[0077] The storage device 820 may store information or data to be used in the processing operations of the processor 810. The storage device 820 may store instructions to be executed by the processor 810. The storage device 820 may include a computer-readable storage medium, such as a random access memory (RAM), a dynamic random access memory (DRAM), a static random access memory (SRAM), a magnetic hard disk, an optical disk, a flash memory, an electrically programmable read-only memory (EPROM), or other types of computer-readable storage media.

[0078] The sensor 830 may include one or more sensors. For example, the sensor 830 may include any one of the aforementioned ultrasonic distance sensors 100a, 100b, and 300, a radar sensor, an image sensor, and the like.

[0079] The input device 840 may receive one or more types of user input, such as tactile or haptic input, video, audio, or touch input. The input device 840 may include any other device capable of detecting input from an input interface such as a keyboard, mouse, touch screen, microphone, or user and sending the detected input.

[0080] The output device 850 may provide the user with the output of the computing device 800, for example, by visual, auditory, or tactile methods. 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 output to the user. The output device 850 may provide the user with a result reflecting the object position information estimated by the ultrasonic distance sensor 810 in one of various formats, for example, by using one or more of visual information, auditory information, and tactile information.

[0081] The network device 860 can communicate with external devices through wired and / or wireless networks. For example, the network device 860 can communicate with external devices by using various wired and / or wireless communication technologies, such as Bluetooth communication, Bluetooth low energy (BLE) communication, near field communication (NFC), wireless local area network (WLAN) communication, Zigbee communication, infrared data association (IrDA) communication, wireless fidelity (Wi-Fi) direct (WFD) communication, ultra-wideband (UWB) communication, Ant+ communication, Wi-Fi communication, radio frequency identification (RFID) communication, 3G, 4G and 5G communication, direct connection via internal bus, etc.

[0082] Reference 9A to 9C Examples of the device 800 including the ultrasonic distance sensor may include a portable device 91 (such as a virtual reality (VR) device, an augmented reality (AR) device, an extended reality (XR) device, etc.), a vehicle 92, a mobile robot 93, etc. As shown herein, the devices 91, 92, and 93 may identify a front object MT and / or measure a distance to the object, and may perform operations by using the identified and / or measured information, thereby providing corresponding services (e.g., AR, VR, and / or XR user experience) or functions such as autonomous driving.

[0083] The present disclosure may be implemented as computer-readable codes written on a computer-readable recording medium. The computer-readable recording medium may be any type of recording device that stores data in a computer-readable manner.

[0084] Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and carrier wave (e.g., data transmission via the Internet). Computer-readable recording media can be distributed on multiple computer systems connected to the network so that computer-readable codes are written therein and executed therefrom in a decentralized manner. A person of ordinary skill in the art to which the present disclosure belongs can easily infer the functional programs, codes, and code segments required to implement the present disclosure.

[0085] The present disclosure has been described herein with reference to example embodiments. However, it is apparent to those skilled in the art that various changes and modifications may be made without changing the technical concept and basic features of the present disclosure. Therefore, it is clear that the above embodiments are illustrative in all aspects and are not intended to limit the present disclosure.

Claims

1. An ultrasonic distance sensor, comprising: a signal generator configured to generate a frequency modulated continuous array of ultrasonic signals; a gating switch configured to perform time gating to allow a portion of the ultrasonic signals in the continuous ultrasonic signal array to pass through the gating switch; a transmitter configured to transmit the ultrasonic signal that has passed through the gate switch to the object; a receiver configured to receive an echo signal reflected from the object; as well as A signal processor is configured to measure the position of the object by using the echo signal.

2. The ultrasonic distance sensor according to claim 1, wherein: The signal generator is configured to generate each ultrasonic wave signal by performing frequency modulation in units of a pulse width, the pulse width being set based on a target resolution.

3. The ultrasonic distance sensor according to claim 2, wherein: The gate switch is configured to perform synchronous time gating in units of a set pulse width so that an ultrasonic signal passes through the gate switch.

4. The ultrasonic distance sensor according to claim 3, wherein: The one ultrasonic signal includes an ultrasonic signal that is sequentially arranged as the first in the continuous ultrasonic signal array. 5 . The ultrasonic distance sensor according to claim 1 , further comprising a first mixer configured to mix the continuous ultrasonic signal array with the echo signal to output a first mixed signal.

6. The ultrasonic distance sensor according to claim 5, wherein: The signal processor is configured to measure the position of the object by performing frequency analysis on the first mixed signal through Fast Fourier Transform (FFT). 7 . The ultrasonic distance sensor according to claim 4 , further comprising a first analog-to-digital converter (ADC) configured to convert the first mixed signal into a digital signal and to send the digital signal to the signal processor. 8 . The ultrasonic distance sensor according to claim 4 , further comprising a signal delayer configured to delay the continuous ultrasonic signal array generated by the signal generator for a predetermined period of time and configured to output the delayed ultrasonic signal array.

9. The ultrasonic distance sensor according to claim 8, wherein: The signal delayer is configured to delay the continuous ultrasonic signal array by a time corresponding to half a pulse width of the ultrasonic signal.

10. The ultrasonic distance sensor according to claim 8, further comprising a second mixer configured to mix the continuous ultrasonic signal array delayed by the signal delayer with the echo signal to output a second mixed signal, in, The signal processor is configured to 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.

11. The ultrasonic distance sensor according to claim 10, wherein: The signal processor is configured to determine a position commonly indicated in the first frequency analysis result and the second frequency analysis result as a position of the object.

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

13. The ultrasonic distance sensor according to claim 10, further comprising: a first ADC configured to convert the first mixed signal into a first digital signal and configured to send the first digital signal to the signal processor; as well as A second ADC is configured to convert the second mixed signal into a second digital signal and to send the second digital signal to the signal processor.

14. The ultrasonic distance sensor according to claim 1, wherein: Multiple transmitter and receiver pairs are available, and Wherein, the signal processor is configured to reconstruct a multi-dimensional space by using the multiple pairs of transmitters and receivers.

15. A method for measuring a position of an object by using an ultrasonic distance sensor, the ultrasonic distance sensor comprising a signal generator, a gate switch, a transmitter, a receiver and a signal processor, the method comprising: generating a frequency modulated continuous ultrasonic signal array by using the signal generator; performing time gating by using the gating switch to allow a portion of the ultrasonic signals in the continuous ultrasonic signal array to pass through the gating switch; transmitting an ultrasonic signal allowed to pass through the gate switch to the object by using the transmitter; receiving an echo signal reflected from the object by using the receiver; as well as By using the signal processor, the position of the object is measured by using the echo signal. 16 . The method of claim 15 , further comprising mixing the continuous ultrasonic signal array with the echo signal to output a first mixed signal.

17. The method according to claim 16, wherein: Measuring the position of the object includes: performing frequency analysis on the first mixed signal by fast Fourier transform (FFT) to measure the position of the object.

18. The method of claim 16, further comprising delaying the continuous ultrasonic signal array for a predetermined period of time and outputting a delayed ultrasonic signal array.

19. The method according to claim 18, further comprising mixing the continuous ultrasonic signal array with the echo signal to output a second mixed signal, in, Measuring the position of the object includes measuring 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.

20. An apparatus for measuring a position of an object by using an ultrasonic distance sensor, comprising: The ultrasonic distance sensor is configured to measure the position of the object; as well as a processor configured to perform operations of the device by using the measured position of the object, Wherein, the ultrasonic distance sensor comprises: a signal generator configured to generate a frequency modulated continuous array of ultrasonic signals; a gating switch configured to perform time gating to allow a portion of the ultrasonic signals in the continuous ultrasonic signal array to pass through the gating switch; a transmitter configured to transmit the ultrasonic signal that has passed through the gate switch to the object; a receiver configured to receive an echo signal reflected from the object; and A signal processor is configured to measure the position of the object by using the echo signal.

Images