Sound wave processor, sonar device, and vehicle

Abstract

To accurately calculate the distances from a plurality of sound wave transmission and reception units to an object to be detected.SOLUTION: A reflected wave identification unit (6), when not identifying individual reflected waves (RA1, RA2, RB1, RB2, RC1, RC2) corresponding to carrier waves (WA1, WA2, WB1, WB2, WC1, WC2), determines a receiving signal (RS) as an indefinite receiving signal (RN), and has a detection distance calculation unit (8) configured to, when the reflected wave identification unit (6) determines the receiving signal (RS) as the indefinite receiving signal (RN), calculates distances (L1, L2, L3) between sound wave receiving units (21, 22, 23) and an object to be detected (600), according to the identification order and the timing of identification of the indefinite receiving signal (RN) and the individual reflected waves (RA1, RA2, RB1, RB2, RC1, RC2).SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a sonic processing device, and to a sonar device and a vehicle that use the sonic processing device. [Background technology]

[0002] Conventionally, sonar devices have been known that measure the distance to an obstacle by generating sound waves and measuring the waves reflected by the obstacle. Such sonar devices are used, for example, in ultrasonic sonars that are installed in vehicles and measure the distance between vehicles (see Patent Document 1, etc.). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 004609

[0004] [overview] The ultrasonic sonar using this type of sonar device is configured to have multiple ultrasonic transmitting units that transmit sound waves and multiple ultrasonic receiving units corresponding to each ultrasonic transmitting unit. In such a configuration, depending on the distance between the multiple ultrasonic transmitting units and the ultrasonic receiving units and the obstacle, the reflected waves may overlap, making it difficult to measure the distance accurately.

[0005] An ultrasonic processing device according to one aspect of the present disclosure is configured to receive reflected waves from a detection target of carrier waves transmitted at different intervals and with different frequency change patterns, and to detect the distance to the detection target based on the reflected waves. Of the carrier waves with different frequency change patterns, the first or last carrier wave is transmitted synchronously. The device includes a received signal generation unit configured to generate a received signal based on the acoustic waves received by an acoustic wave receiving unit configured to receive the acoustic waves, a reference data storage unit configured to store reference data, and a reflected wave identification unit configured to identify individual reflected waves corresponding to the carrier waves based on the correlation between the received signal and the reference data. If the reflected wave identification unit does not identify the individual reflected waves corresponding to each carrier wave, it determines the received signal to be an indefinite received signal. When the reflected wave discrimination unit determines the indeterminate received wave signal, the device is configured to have a detection distance calculation unit that calculates the distance between the object to be detected and the ultrasonic wave receiving unit according to the order and timing of discrimination between the indeterminate received wave signal and the individual reflected waves. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a diagram showing the configuration of a sonar device using a sound wave processing device according to one embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing the configuration of the sonic processing device. [Figure 3] FIG. 3 is a schematic plan view showing the relative positions of the sonar device and the object to be detected. [Figure 4] FIG. 4 is a diagram illustrating the operation of the sonic processing device. [Figure 5] FIG. 5 is a diagram showing a state in which a reflected wave and an indeterminate received wave signal are identified in the first state. [Figure 6] FIG. 6 is a diagram showing the discrimination state of the reflected wave and the indeterminate received wave signal in the second state. [Figure 7] FIG. 7 is a diagram showing a state in which a reflected wave and an indeterminate received wave signal are identified in the third state. [Figure 8]FIG. 8 is a schematic diagram of a sonar device according to a first modified example. [Figure 9] FIG. 9 is a diagram showing a transmission state of a carrier wave in the first modified example. [Figure 10A] FIG. 10A is a diagram illustrating a sound wave signal generated by a sonar device. [Figure 10B] FIG. 10B is a diagram illustrating a sound wave signal generated by a sonar device. [Figure 10C] FIG. 10C illustrates a sound wave signal generated by a sonar device. [Figure 10D] FIG. 10D illustrates a sound wave signal generated by a sonar device. [Figure 10E] FIG. 10E illustrates a sound wave signal generated by a sonar device. [Figure 10F] FIG. 10F illustrates a sound wave signal generated by a sonar device. [Figure 10G] FIG. 10G illustrates a sound wave signal generated by a sonar device. [Figure 10H] FIG. 10H illustrates a sound wave signal generated by a sonar device. [Figure 11] FIG. 11 is a diagram showing an example of a carrier wave transmitted from a sonar device according to the second modified example. [Figure 12] FIG. 12 is a schematic diagram of a vehicle, which is an example of a device in which a sonar device is used.

[0007] [Detailed explanation] An embodiment of the present invention will be described below with reference to the drawings.

[0008] <Sonar Device> FIG. 1 is a diagram showing the configuration of a sonar device 100 that uses an acoustic wave processing device 1 according to one embodiment of the present invention. As shown in FIG. 1, the sonar device 100 transmits a carrier wave in the ultrasonic range (a frequency band beyond the human audible range, generally 20 kHz or higher) toward the outside and detects the wave reflected by a detection target 600. The sonar device 100 then measures the distance to the detection target 600 based on the time between the transmission of the carrier wave and the reception of the reflected wave. In other words, the sonar device 100 measures the distance using the so-called TOF (Time of Flight) method. The sonar device 100 includes an acoustic wave processing device 1, a first acoustic wave transmitting and receiving element 21, and a second acoustic wave transmitting and receiving element 22.

[0009] <First ultrasonic wave transmitting and receiving element 21 and second ultrasonic wave transmitting and receiving element 22> The first acoustic wave transmitting and receiving element 21 and the second acoustic wave transmitting and receiving element 22 are so-called piezoelectric elements. The first acoustic wave transmitting and receiving element 21 and the second acoustic wave transmitting and receiving element 22 have the property of generating mechanical displacement (vibration) in response to a voltage signal applied between their two ends, and can transmit and receive carrier waves. The first acoustic wave transmitting and receiving element 21 and the second acoustic wave transmitting and receiving element 22 also have the property of generating an electromotive force between their two ends in response to mechanical displacement (vibration) applied thereto. The first acoustic wave transmitting and receiving element 21 and the second acoustic wave transmitting and receiving element 22 can receive acoustic waves Sd, including reflected waves reflected by the detection target 600, by utilizing this property of generating an electromotive force.

[0010] The first ultrasonic wave transmitting and receiving element 21 and the second ultrasonic wave transmitting and receiving element 22 are not limited to piezoelectric elements, and a wide variety of elements capable of transmitting and receiving ultrasonic waves can be used. Furthermore, the first ultrasonic wave transmitting and receiving element 21 and the second ultrasonic wave transmitting and receiving element 22 may be configured such that a configuration for transmitting a carrier wave and a configuration for receiving a reflected wave are separated.

[0011] In the sonar device 100, the first acoustic wave transmitting and receiving element 21 and the second acoustic wave transmitting and receiving element 22 each transmit a carrier wave twice, with the timing shifted. Assume that carrier waves WA1 and WA2 are transmitted from the first acoustic wave transmitting and receiving element 21. In terms of time, carrier wave WA1 is transmitted at an earlier timing than carrier wave WA2. Similarly, assume that carrier waves WB1 and WB2 are transmitted from the second acoustic wave transmitting and receiving element 22. In terms of time, carrier wave WB1 is transmitted at an earlier timing than carrier wave WB2.

[0012] In the sonar device 100 according to this embodiment, the carrier waves WA1 and WA2 transmitted from the first acoustic wave transmitting and receiving element 21 have the same frequency change pattern. The carrier waves WB1 and WB2 transmitted from the second acoustic wave transmitting and receiving element 22 have the same frequency change pattern. However, the carrier waves WA1 and WA2 and the carrier waves WB1 and WB2 have different frequency change patterns.

[0013] However, the carrier waves WA1 and WA2 transmitted from the first acoustic wave transmitting and receiving element 21 and the carrier waves WB1 and WB2 transmitted from the second acoustic wave transmitting and receiving element 22 may have the same frequency change pattern. Also, the carrier waves WA1, WA2, WB1, and WB2 may have different frequency change patterns. Furthermore, the frequency change pattern of carrier waves WA1 and WB1 may be the same, and the frequency change pattern of carrier waves WA2 and WB2 may be the same.

[0014] <Sonic Processing Device 1> Fig. 2 is a diagram showing the configuration of the ultrasonic processing device 1. As shown in Fig. 2, the ultrasonic processing device 1 includes a controller 3, an ultrasonic wave driving unit 4, a received wave signal generating unit 5, a reflected wave identifying unit 6, a reference data storage unit 7, a detection distance calculating unit 8, and a boost circuit 9.

[0015] The controller 3 generates a transmission signal. For example, an MPU (Micro Processor Unit) is used as the controller 3. The controller 3 outputs the transmission signal at a predetermined timing.

[0016] The wave transmission signals are pulse signals. The controller 3 outputs wave transmission signals PA1 and PA2 corresponding to the carrier waves WA1 and WA2 transmitted from the first ultrasonic wave transmitting and receiving element 21 to the ultrasonic wave driving unit 4. Similarly, the controller 3 outputs wave transmission signals PB1 and PB2 corresponding to the carrier waves WB1 and WB2 transmitted from the second ultrasonic wave transmitting and receiving element 22 to the ultrasonic wave driving unit 4.

[0017] A boost circuit 9 is connected to the acoustic wave driver 4. A voltage boosted by the boost circuit 9 is supplied to the acoustic wave driver 4. The acoustic wave driver 4 converts the transmission signals PA1, PA2, PB1, and PB2 output from the controller 3 into drive signals DA1, DA2, DB1, and DB2 using the voltage boosted by the boost circuit 9.

[0018] The ultrasonic wave driver 4 is connected to the first ultrasonic wave transmitting and receiving element 21 and the second ultrasonic wave transmitting and receiving element 22. The ultrasonic wave driver 4 supplies drive signals DA1 and DA2 to the first ultrasonic wave transmitting and receiving element 21. The ultrasonic wave driver 4 also supplies drive signals DB1 and DB2 to the second ultrasonic wave transmitting and receiving element 22. The first ultrasonic wave transmitting and receiving element 21 is driven by the drive signals DA1 and DA2 to transmit carrier waves WA1 and WA2. The second ultrasonic wave transmitting and receiving element 22 is driven by the drive signals DB1 and DB2 to transmit carrier waves WB1 and WB2. The controller 3 may be configured to form part of the ultrasonic wave driver 4.

[0019] As described above, the first acoustic wave transmitting and receiving element 21 and the second acoustic wave transmitting and receiving element 22 are configured to be able to receive acoustic waves. The received signal generating unit 5 converts the acoustic waves received by the first acoustic wave transmitting and receiving element 21 and the second acoustic wave transmitting and receiving element 22 into a received signal RS. The first acoustic wave transmitting and receiving element 21 and the second acoustic wave transmitting and receiving element 22 also receive acoustic waves other than the reflected waves RA1, RA2, RB1, and RB2 of the carrier waves WA1, WA2, WB1, and WB2 reflected by the detection target 600.

[0020] That is, the received wave signal RS includes reflected waves RA1, RA2 or reflected waves RB1, RB2. The received wave signal RS also includes an indeterminate received wave signal RN in which the reflected waves RA1, RA2 and the reflected waves RB1, RB2 cannot be distinguished. The indeterminate received wave signal RN includes, for example, a signal with a waveform in which the reflected waves RA1 and RB1 are combined (see FIG. 4, which will be described later).

[0021] The reflected wave discrimination unit 6 receives the received signal RS output from the received signal generation unit 5. The reflected wave discrimination unit 6 discriminates reflected waves RA1, RA2, RB1, and RB2 from the received signal RS, which are carrier waves WA1, WA2, WB1, and WB2 reflected by the detection object 600. The reflected wave discrimination unit 6 is connected to the reference data storage unit 7, and calls up reference data RF from the reference data storage unit 7 and compares the received signal RS with the reference data RF to discriminate the reflected waves RA1, RA2, RB1, and RB2.

[0022] The reference data storage unit 7 is configured to store reference data. The reference data RF is data of waveforms similar to the waveforms of reflected waves RA1, RA2, RB1, and RB2 reflected by the detection target 600 of carrier waves WA1, WA2, WB1, and WB2 transmitted from the first acoustic wave transmitting and receiving element 21 and the second acoustic wave transmitting and receiving element 22. The reference data RF may be data provided in advance. Alternatively, the sonar device 100 may be provided with a reference data acquisition mode, and while operating in the reference data acquisition mode, the reflected waves RA1, RA2, RB1, and RB2 actually reflected by the detection target 600 may be received. The received signal RS, which is obtained by converting the reflected waves RA1, RA2, RB1, and RB2 by the received signal generation unit 5, may be stored in the reference data storage unit 7 as reference data.

[0023] When the reflected wave discrimination unit 6 discriminates the reflected wave RA1 or RA2 from the received signal RS, it notifies the detection distance calculation unit 8 of first reflected wave discrimination information Rd1. Furthermore, when the reflected wave discrimination unit 6 discriminates the reflected wave RB1 or RB2 from the received signal RS, it notifies the detection distance calculation unit 8 of second reflected wave discrimination information Rd2. Furthermore, if the reflected wave discrimination unit 6 cannot discriminate the reflected waves RA1, RA2, RB1, or RB2 from the received signal RS, it determines that the received signal RS is an indeterminate received signal RN and notifies the detection distance calculation unit 8 of indeterminate sound wave information Rd3.

[0024] The detection distance calculation unit 8 is connected to the controller 3 and the reflected wave identification unit 6. The controller 3 notifies the detection distance calculation unit 8 of the transmitted wave information Pd each time it outputs the transmitted wave signals PA1, PA2, PB1, and PB2. The detection distance calculation unit 8 calculates a TOF value from the time when the transmitted wave information Pd was acquired and the time when the reflected wave identification information Rd was acquired. The detection distance calculation unit 8 calculates the distance from the first acoustic wave transmitting and receiving element 21 to the detection object 600 and the distance from the second acoustic wave transmitting and receiving element 22 to the detection object 600 based on the TOF value.

[0025] Fig. 3 is a schematic plan view showing the relative positions of the sonar device 100 and the detection target 600. In the sonar device 100 shown in Fig. 3, the distance L1 between the first acoustic wave transmitting and receiving element 21 and the detection target 600 is the same as the distance L2 between the second acoustic wave transmitting and receiving element 22 and the detection target 600.

[0026] As shown in Fig. 3, in the sonar device 100, the first ultrasonic wave transmitting and receiving element 21 and the second ultrasonic wave transmitting and receiving element 22 are arranged at a certain distance apart. By configuring the sonar device 100 to include the first ultrasonic wave transmitting and receiving element 21 and the second ultrasonic wave receiving element 22, the measurement accuracy of the sonar device 100 can be improved. Furthermore, by configuring the sonar device 100 to receive sound waves at two locations, it is possible to identify not only the distance to the detection target 600 but also its position (angle). The distance between the first ultrasonic wave transmitting and receiving element 21 and the second ultrasonic wave transmitting and receiving element 22 is an appropriate distance to prevent interference of ultrasonic waves.

[0027] The operation of the sonar device 100 will now be described with reference to the drawings. FIG. 4 is a diagram illustrating the operation of the sonar processing device 1. FIG. 4 shows signals and sound waves in the state shown in FIG. 3. In other words, the detection target 600 is assumed to be equidistant from the first sound wave transmitting and receiving element 21 and the second sound wave transmitting and receiving element 22. FIG. 4 shows transmitted signals PA1, PA2, PB1, PB2 and carrier waves WA1, WA2, WB1, WB2. FIG. 4 also shows the received signal RS generated by the received signal generating unit 5. The received signal RS includes reflected waves RA1, RA2, reflected waves RB1, RB2, and an indeterminate received signal RN.

[0028] 4, in the sonar device 100, the controller 3 transmits a wave transmission signal PA1 at time T1, and then transmits a wave transmission signal PA2 at time T2 after a wave transmission interval ΔT1 has elapsed. As a result, the first acoustic wave transmitting and receiving element 21 transmits a carrier wave WA1 at time T1, and then transmits a carrier wave WA2 at time T2. The controller 3 sends wave transmission information Pd to the detection distance calculation unit 8 at time T1.

[0029] The pattern of change in frequency of the reflected waves RA1 and RA2 reflected by the detection target 600 corresponds to the pattern of change in frequency of the carrier waves WA1 and WA2. The reference data RF is data corresponding to the pattern of change in frequency of the reflected waves RA1 and RA2. This allows the reflected wave identification unit 6 to identify the reflected waves RA1 and RA2 by comparing the reference data RF stored in the reference data storage unit 7 with the received signal RS.

[0030] 4, in the sonar device 100, the controller 3 transmits a transmission signal PB1 at time T1, and then transmits a transmission signal PB2 at time T3, after a transmission interval ΔT2 longer than the transmission interval ΔT1 has elapsed. As a result, the second acoustic wave transmitting and receiving element 22 transmits a carrier wave WB1 at time T2, and then transmits a carrier wave WB2 at time T3. Time T3 is set to occur after transmission of the carrier wave WA2 has been completed.

[0031] The pattern of change in frequency of the reflected waves RB1 and RB2 reflected by the detection target 600 corresponds to the pattern of change in frequency of the carrier waves WB1 and WB2. The reference data RF is data corresponding to the pattern of change in frequency of the reflected waves RB1 and RB2. This allows the reflected wave identification unit 6 to identify the reflected waves RB1 and RB2 by comparing the reference data RF stored in the reference data storage unit 7 with the received signal RS.

[0032] The first acoustic wave transmitting and receiving element 21 and the second acoustic wave transmitting and receiving element 22 also receive acoustic waves other than reflected waves. The received acoustic wave signal generator 5 converts all acoustic waves received by the first acoustic wave transmitting and receiving element 21 and the second acoustic wave transmitting and receiving element 22 into a received acoustic wave signal RS. Therefore, the received acoustic wave signal RS may include reflected waves RA1, RA2, reflected waves RB1, RB2, and an unsteady received acoustic wave signal RN. The unsteady received acoustic wave signal RN may include, for example, acoustic waves transmitted from an external sound source unrelated to the sonar device 100. The unsteady received acoustic wave signal RN may also include a composite wave of the reflected waves RA1, RA2 and the reflected waves RB1, RB2, and a composite wave of the reflected waves and acoustic waves from an external sound source.

[0033] The detection distance calculation unit 8 is able to determine, to a certain extent, what components are contained in the indefinite received wave signal RN. When the reflected wave identification unit 6 identifies the reflected wave RA1 or RA2, the detection distance calculation unit 8 is notified of the first reflected wave identification information Rd1. This allows the detection distance calculation unit 8 to recognize that the reflected wave RA1 or RA2 has been identified. The detection distance calculation unit 8 also stores the time when the first reflected wave identification information Rd1 is acquired.

[0034] When the detection distance calculation unit 8 acquires two pieces of first reflected wave identification information Rd1, it determines the time when the previous piece of first reflected wave identification information Rd1 was acquired as the time when the reflected wave RA1 was identified. The detection distance calculation unit 8 determines the time when the subsequent piece of first reflected wave identification information Rd1 is acquired as the time when the reflected wave RA2 was identified. The time when the detection distance calculation unit 8 determines that the reflected wave RA1 was identified and the time when it determines that the reflected wave RA2 was identified are separated by approximately a wave transmission interval ΔT1.

[0035] Similarly, when the detection distance calculation unit 8 acquires the second reflected wave identification information Rd2 twice, it determines the time when the previous second reflected wave identification information Rd2 was acquired as the time when the reflected wave RB1 was identified. The detection distance calculation unit 8 determines the time when the later second reflected wave identification information Rd2 is acquired as the time when the reflected wave RB2 was identified. The time when the detection distance calculation unit 8 determines that the reflected wave RB1 was identified and the time when it determines that the reflected wave RB2 was identified are separated by approximately the wave transmission interval ΔT2.

[0036] The detection distance calculation unit 8 uses this to determine whether the first reflected wave identification information Rd1 before and after acquiring the uncertain acoustic wave information Rd3 was acquired when the reflected wave RA1 was identified or when the reflected wave RA2 was identified. Similarly, the detection distance calculation unit 8 determines whether the second reflected wave identification information Rd2 before and after acquiring the uncertain acoustic wave information Rd3 was acquired when the reflected wave RB1 was identified or when the reflected wave RB2 was identified. The method of determination will be described below.

[0037] If the detection distance calculation unit 8 acquires the indeterminate acoustic wave information Rd3 at a time before the time the first reflected wave identification information Rd1 was acquired by the wave transmission interval ΔT1 or within a certain period of time before that, the detection distance calculation unit 8 determines that the indeterminate received wave signal RN is an acoustic signal of an acoustic wave that combines at least the reflected wave RA1 and other acoustic waves. Therefore, the detection distance calculation unit 8 stores the time when the first reflected wave identification information Rd1 was acquired as the time when the reflected wave identification unit 6 identified the reflected wave RA2. Note that the certain period may be a period shorter than the reflected waves RA1 and RA2.

[0038] Furthermore, if the detection distance calculation unit 8 acquires the indeterminate acoustic wave information Rd3 at a time after the wave transmission interval ΔT1 from the time when the first reflected wave identification information Rd1 was acquired or within a certain period of time before that, the detection distance calculation unit 8 determines that the indeterminate received wave signal RN is an acoustic signal of an acoustic wave that is a combination of at least the reflected wave RA2 and other acoustic waves. Therefore, the detection distance calculation unit 8 stores the time when the first reflected wave identification information Rd1 was acquired as the time when the reflected wave identification unit 6 identified the reflected wave RA1.

[0039] If the detection distance calculation unit 8 acquires the indeterminate acoustic wave information Rd3 at a time before the time the second reflected wave identification information Rd2 was acquired by the wave transmission interval ΔT2 or within a certain period of time before that, the detection distance calculation unit 8 determines that the indeterminate received wave signal RN is an acoustic signal of an acoustic wave that combines at least the reflected wave RB1 and other acoustic waves. Therefore, the detection distance calculation unit 8 stores the time when the second reflected wave identification information Rd2 was acquired as the time when the reflected wave identification unit 6 identified the reflected wave RB2. Note that the certain period may be a period shorter than the reflected waves RB1 and RB2.

[0040] Furthermore, if the detection distance calculation unit 8 acquires the indeterminate acoustic wave information Rd3 at a time after the wave transmission interval ΔT2 from the time when the second reflected wave identification information Rd2 was acquired or within a certain period of time before that, the detection distance calculation unit 8 recognizes that the indeterminate received wave signal RN is an acoustic signal of an acoustic wave that is a combination of at least the reflected wave RB2 and other acoustic waves. Therefore, the detection distance calculation unit 8 stores the time when the second reflected wave identification information Rd2 was acquired as the time when the reflected wave identification unit 6 identified the reflected wave RB1.

[0041] To explain further, if the first reflected wave identification information Rd1 or the second reflected wave identification information Rd2 is not present within a certain range before and after acquiring the indeterminate acoustic wave information Rd3, the detection distance calculation unit 8 recognizes that the indeterminate received wave signal RN is not a signal formed by combining the reflected waves RA1 and RA2, and is not a signal formed by combining the reflected waves RB1 and RB2.

[0042] For example, in the state shown in Fig. 3, a received wave signal as shown in Fig. 4 is generated. That is, carrier wave WA1 and carrier wave WB1 are transmitted at the same time T1. Therefore, carrier wave WA1 and carrier wave WB1 reach the detection object 600 at the same timing. As a result, a reflected wave RA1 of carrier wave WA1 reflected by the detection object 600 and a reflected wave RB1 of carrier wave WB1 reflected by the detection object 600 are combined.

[0043] The reflected wave discrimination unit 6 does not discriminate between the reflected waves RA1 and RB1 from the received wave signal RS received at time T4. Therefore, at time T4, the reflected wave discrimination unit 6 notifies the detection distance calculation unit 8 of the uncertain acoustic wave information Rd3. The detection distance calculation unit 8 retains the time T4 at which the uncertain acoustic wave information Rd3 was acquired.

[0044] The time T2 at which carrier wave WA2 is transmitted is before the time T3 at which carrier wave WB2 is transmitted, so that carrier wave WA2 reaches the detection target 600 before carrier wave WB2.

[0045] At time T5, the reflected wave RA2, which is the carrier wave WA2 reflected by the detection object 600, is identified by the reflected wave identification unit 6. The reflected wave identification unit 6 notifies the detection distance calculation unit 8 of the first reflected wave identification information Rd1. The detection distance calculation unit 8 recognizes that the irregular received wave signal RN was received at time T4, which is the same time as the wave transmission interval ΔT1 before time T5. Therefore, the detection distance calculation unit 8 stores time T5 as the time when the reflected wave RA2, which is the carrier wave WA2 reflected by the detection object 600, was identified. At this time, the detection distance calculation unit 8 determines that the difference between time T2 and time T5 is the TOF value, and calculates the distance L1 between the first acoustic wave transmitting and receiving element 21 and the detection object 600 from the TOF value and the velocities of the carrier wave WA2 and the reflected wave RA2.

[0046] Furthermore, at time T6, which is later than time T5, the reflected wave RB2, which is the carrier wave WB2 reflected by the detection object 600, is identified by the reflected wave identification unit 6. The reflected wave identification unit 6 notifies the detection distance calculation unit 8 of the second reflected wave identification information Rd2. The detection distance calculation unit 8 recognizes that the irregular received wave signal RN was received at time T4, which is the same time as the wave transmission interval ΔT2 before time T6. Therefore, the detection distance calculation unit 8 stores time T6 as the time when the reflected wave RB2, which is the carrier wave WB2 reflected by the detection object 600, was identified. At this time, the detection distance calculation unit 8 determines that the difference between time T3 and time T6 is the TOF value, and calculates the distance L2 between the second acoustic wave transmitting and receiving element 22 and the detection object 600 from the TOF value and the velocities of the carrier wave WB2 and the reflected wave RB2.

[0047] Note that time T4 is earlier than time T5 by ΔT1 and earlier than time T6 by ΔT2. Therefore, the detection distance calculation unit 8 can determine that the indeterminate received wave signal RN is a composite wave obtained by combining the reflected wave RA1 and the reflected wave RB1.

[0048] <Example of operation of detection distance calculation unit 8> Next, a method for calculating the distance between the first ultrasonic wave transmitting and receiving element 21, the second ultrasonic wave transmitting and receiving element 22, and the detection target 600 by the detection distance calculation unit 8 will be described with reference to the drawings. It is assumed that the carrier waves WA1, WA2, WB1, and WB2 are transmitted at the same timing as in Fig. 4. That is, the carrier waves WA1 and WB2 are transmitted synchronously at time T1, the carrier wave WA2 is transmitted at time T2, and the carrier wave WA3 is transmitted at time T3, which is later than time T2.

[0049] Fig. 5 is a diagram showing the identification state of the reflected wave and the indeterminate received wave signal in the first state. In the first state shown in Fig. 5, the reflected wave identification unit 6 identifies the reflected wave RA1 at time T11, determines the indeterminate received wave signal RN at time T12 after time T11, and identifies the reflected wave RB2 at time T13 after time T12.

[0050] The detection distance calculation unit 8 recognizes that time T12 is ΔT1 ahead of time T11. As a result, the detection distance calculation unit 8 determines that the reflected wave RA1 was identified at time T11, and calculates the distance L1 between the first acoustic wave transmitting and receiving element 21 and the detection object 600 using the time from time T1 to time T11 as the TOF value.

[0051] Furthermore, the detection distance calculation unit 8 recognizes that time T12 is a time ΔT2 before time T13. As a result, the detection distance calculation unit 8 determines that the reflected wave RB2 was identified at time T13, and calculates the distance L2 between the second acoustic wave transmitting and receiving element 22 and the detection object 600 using the time from time T3 to time T13 as the TOF value.

[0052] That is, the detection distance calculation unit 8 determines that the indeterminate received wave signal RN is a signal generated from a sound wave that is a combination of the reflected wave RA2 and the reflected wave RB1.

[0053] Note that there may be a difference between the time when carrier wave WA2 reaches the detection object 600 and the time when carrier wave WB1 reaches the detection object 600. In this case, the indeterminate received wave signal RN is not a signal in which the reflected wave RA2 and the reflected wave RB1 completely overlap. To accommodate such a case, for example, if carrier wave WB1 reaches the detection object 600 before carrier wave WA1, time T12 will be earlier than the time ΔT1 advanced from time T11. Therefore, the detection distance calculation unit 8 determines that the reflected wave RA2 is included in the indeterminate received wave signal RN even if time T12 is within a period of time before the time ΔT1 advanced from time T11.

[0054] Furthermore, the detection distance calculation unit 8 determines that the reflected wave RA2 is included in the indeterminate received wave signal RN even when time T12 is a period that is a certain period earlier than the time ΔT2 before time T13. Hereinafter, when the indeterminate received wave signal RN is determined, the reflected wave is determined in the same manner.

[0055] In the first state shown in FIG. 5, the detection distance calculation unit 8 determines that the distance L1 between the first ultrasonic wave transmitting and receiving element 21 and the detection object 600 is shorter than the distance L2 between the second ultrasonic wave transmitting and receiving element 22 and the detection object 600. This determination result is executed before the calculation of the distances L1 and L2. The detection distance calculation unit 8 may transmit the determination result to an external device, for example, a control device, and then transmit the distances L1 and L2. Alternatively, the detection distance calculation unit 8 may transmit only the determination result or only the distances L1 and L2.

[0056] Fig. 6 is a diagram showing the discrimination state of the reflected wave and the indeterminate received wave signal in the second state. In the second state shown in Fig. 6, the reflected wave discrimination unit 6 discriminates the reflected wave RB1 at time T21, discriminates the reflected wave RA1 at time T22 after time T21, and discriminates the indeterminate received wave signal RN at time T23 after time T22.

[0057] The detection distance calculation unit 8 recognizes that time T23 is ΔT2 ahead of time T21. As a result, the detection distance calculation unit 8 determines that the reflected wave RB1 was identified at time T21, and calculates the distance L2 between the second acoustic wave transmitting and receiving element 22 and the detection target 600 using the time from time T1 to time T21 as the TOF value.

[0058] Furthermore, the detection distance calculation unit 8 recognizes that time T23 is ΔT1 ahead of time T22. As a result, the detection distance calculation unit 8 determines that the reflected wave RA1 was identified at time T22, and calculates the distance L1 between the first acoustic wave transmitting and receiving element 21 and the detection target 600 using the time from time T1 to time T22 as the TOF value.

[0059] The detection distance calculation unit 8 determines that the indeterminate received wave signal RN is a signal generated from a sound wave that is a combination of the reflected wave RA2 and the reflected wave RB2.

[0060] Fig. 7 is a diagram showing the discrimination state of the reflected wave and the indeterminate received wave signal in the third state. In the third state shown in Fig. 7, the reflected wave discrimination unit 6 discriminates the reflected wave RB1 at time T31, discriminates the indeterminate received wave signal RN at time T32 after time T31, and discriminates the reflected wave RA1 at time T33 after time T32.

[0061] The detection distance calculation unit 8 recognizes that time T32 is ΔT2 ahead of time T31. As a result, the detection distance calculation unit 8 determines that the reflected wave RB1 was identified at time T31, and calculates the distance L2 between the second acoustic wave transmitting and receiving element 22 and the detection target 600 using the time from time T1 to time T31 as the TOF value.

[0062] Furthermore, the detection distance calculation unit 8 recognizes that time T32 is ΔT1 before time T33. As a result, the detection distance calculation unit 8 determines that the reflected wave RA2 was identified at time T33, and calculates the distance L1 between the first acoustic wave transmitting and receiving element 21 and the detection target 600 using the time from time T2 to time T33 as the TOF value.

[0063] The detection distance calculation unit 8 determines that the indeterminate received wave signal RN is a signal generated from a sound wave that is a combination of the reflected wave RA1 and the reflected wave RB2.

[0064] <First Modification> By using the ultrasonic processing device 1 having the above-described configuration, even in a configuration using three or more ultrasonic wave transmitting and receiving elements, it is possible to accurately calculate the distance between each ultrasonic wave transmitting and receiving element and the detection target 600. FIG. 8 is a schematic diagram of a sonar device 100A of a first modified example. FIG. 9 is a diagram showing the transmission state of a carrier wave in the first modified example. The sonar device 100A shown in FIG. 8 differs from the sonar device 100 in that it includes a third ultrasonic wave transmitting and receiving element 23, which is a third ultrasonic wave transmitting and receiving element. In other respects, the sonar device 100A has the same configuration as the sonar device 100. Therefore, parts of the sonar device 100A that are substantially the same as those of the sonar device 100 are given the same reference numerals, and detailed descriptions of the same parts will be omitted.

[0065] 8, the sonar device 100A includes an acoustic wave processing device 1, a first acoustic wave transmitting and receiving element 21, a second acoustic wave transmitting and receiving element 22, and a third acoustic wave transmitting and receiving element 23. The third acoustic wave transmitting and receiving element 23 has the same configuration as the first acoustic wave transmitting and receiving element 21 and the second acoustic wave transmitting and receiving element 22. The first acoustic wave transmitting and receiving element 21, the second acoustic wave transmitting and receiving element 22, and the third acoustic wave transmitting and receiving element 23 are arranged side by side. The first acoustic wave transmitting and receiving element 21, the second acoustic wave transmitting and receiving element 22, and the third acoustic wave transmitting and receiving element 23 are connected to an acoustic wave driving unit 4 and a received wave signal generating unit 5 of the acoustic wave processing device 1.

[0066] Then, the acoustic wave driver 4 sends drive signals DC1 and DC2 to the third acoustic wave transmitting and receiving element 23 based on the transmission signals PC1 and PC2. The third acoustic wave transmitting and receiving element 23 transmits carrier waves WC1 and WC2 based on the drive signals DC1 and DC2 and receives the reflected waves RC1 and RC2. The reflected wave discriminator 6 discriminates the reflected waves RC1 and RC2 from the received signal RS. As shown in Figure 9, in the acoustic processing device 1, the controller 3 outputs transmission signals PA1, PA2, PB1, PB2, PC1, and PC2. The first ultrasonic wave transmitting / receiving element 21, the second ultrasonic wave transmitting / receiving element 22 and the third ultrasonic wave transmitting / receiving element 23 transmit carrier waves WA1, WA2 and WA3 in synchronization with time T1, carrier wave WA2 is transmitted at time T2 which is ΔT1 ahead of time T1, carrier wave WB2 is transmitted at time T3 which is ΔT2 ahead of time T1, and carrier wave WC2 is transmitted at time T7 which is ΔT3 ahead of time T1.

[0067] 10A to 10H are diagrams showing sonic signals generated by the sonar device 100A. In the case of a configuration with three sonic wave transmitting and receiving elements, there are four patterns depending on the position and distance of the detection target 600: no determination of an indeterminate received wave signal RN, one determination of an indeterminate received wave signal RN, two determinations of an indeterminate received wave signal RN, or three determinations of an indeterminate received wave signal RN. Of these, when no determination of an indeterminate received wave signal RN is made, distance can be calculated without any particular problems, so detailed explanation will be omitted.

[0068] A case where one indeterminate received wave signal RN is determined will be described with reference to Figures 10A to 10E. Figures 10A to 10E are examples of received wave signals when one indeterminate received wave signal RN is determined, and received wave signals of patterns other than these may also be acquired.

[0069] The detection distance calculation unit 8 then identifies the reflected waves from the interval between the measurement time of each reflected wave and the measurement time of the irregular received wave signal RN, and the carrier interval of each carrier wave.Then, the detection distance calculation unit 8 calculates a TOF value from the transmission time of the carrier wave and the identification time of the reflected wave, and calculates the distance between the first ultrasonic wave transmitting and receiving element 21, the second ultrasonic wave transmitting and receiving element 22, and the third ultrasonic wave transmitting and receiving element 23 and the detection target 600.

[0070] For example, in the received wave signal shown in FIG. 10A, the reflected wave identification unit 6 identifies the reflected wave RA1 at time Ta1, determines the indefinite received wave signal RN at time Ta2, identifies the reflected wave RB2 at time Ta3, and identifies the reflected wave RC2 at time Ta4. The detection distance calculation unit 8 recognizes that the reflected wave RA1 was identified at time Ta1 because time Ta2 is ΔT1 ahead of time Ta1. Furthermore, because time Ta2 is ΔT2 back from time Ta3, it recognizes that the reflected wave RB2 was identified at time Ta3. Furthermore, because time Ta2 is ΔT3 back from time Ta4, it recognizes that the reflected wave RC2 was identified at time Ta4.

[0071] Furthermore, the detection distance calculation unit 8 can obtain a rough position of the detection object 600 from the time of identification of the reflected wave and the time of judgment of the indefinite received wave signal. Note that even when the identification of the reflected wave and the judgment of the indefinite received wave signal are performed using other patterns, the detection distance calculation unit 8 calculates the distance from each ultrasonic wave transmitting and receiving element to the detection object 600 in a similar manner.

[0072] When the distances between the object of detection 600 and two other acoustic wave transmitting and receiving elements other than the acoustic wave transmitting and receiving element that transmitted the identified reflected wave are equal, one reflected wave is identified at a time before the time when the indeterminate received wave signal RN was determined (see FIGS. 10A to 10C). For example, when the sonar device 100A acquires the acoustic signal shown in FIG. 10A, the distance L2 between the second acoustic wave transmitting and receiving element 22 and the object of detection 600 is equal to the distance L3 between the third acoustic wave transmitting and receiving element 23 and the object of detection 600. Similarly, when the sonar device 100A acquires the acoustic signal shown in FIG. 10B, the distance L1 between the first acoustic wave transmitting and receiving element 21 and the object of detection 600 is equal to the distance L3 between the third acoustic wave transmitting and receiving element 23 and the object of detection 600. When the sonar device 100A acquires the sound wave signal shown in Figure 10C, the distance L1 between the first sound wave transmitting and receiving element 21 and the object to be detected 600 and the distance L2 between the second sound wave transmitting and receiving element 22 and the object to be detected 600 are equal.

[0073] Furthermore, when the distance L1 between the first ultrasonic wave transmitting and receiving element 21 and the object to be detected 600, the distance L2 between the second ultrasonic wave transmitting and receiving element 22 and the object to be detected 600, and the distance L3 between the third ultrasonic wave transmitting and receiving element 23 and the object to be detected 600 are different from each other, multiple reflected waves are detected before the time when the indefinite receiving signal RN is determined, as shown in Figures 10D and 10E.

[0074] Next, a case where the sonar device 100A judges two indeterminate received wave signals RN will be described. As shown in Figures 10F and 10G, when two indeterminate received wave signals are judged, two reflected waves are identified. Based on the time at which the two reflected waves were identified and the time at which the two indeterminate wave signals were judged, the distance L1 between the first acoustic wave transmitting and receiving element 21 and the detection object 600, the distance L2 between the second acoustic wave transmitting and receiving element 22 and the detection object 600, and the distance L3 between the third acoustic wave transmitting and receiving element 23 and the detection object 600 are calculated.

[0075] The detection distance calculation unit 8 identifies the reflected waves from the interval between the measurement time of each reflected wave and the measurement times of the first and second irregular reception wave signals RN1 and RN2, and the carrier interval of each carrier wave. Then, it calculates a TOF value from the transmission time of the carrier wave and the identification time of the reflected wave, and calculates the distance between the first, second, and third ultrasonic wave transmitting and receiving elements 21, 22, and 23 and the object to be detected 600.

[0076] For example, when the received wave signal shown in Figure 10F is acquired, the reflected wave RC1 is identified at time Tf1, the first unsteady received wave signal RN1 is determined at time Tf2, the reflected wave RA1 is identified at time Tf3, and the second unsteady received wave signal RN2 is determined at time Tf4.

[0077] In this case, time Tf4 is the time that is ΔT3 ahead of time Tf1. Therefore, the detection distance calculation unit 8 determines that the reflected wave RC1 was identified at time Tf1. The detection distance calculation unit 8 then calculates a TOF value based on time Tf1 and the time when the carrier wave WC1 was transmitted, and calculates the distance L3 between the third acoustic wave transmitting and receiving element 23 and the detection target 600 based on the TOF value.

[0078] Furthermore, the time earlier than time Tf3 by ΔT1 is time Tf2. Therefore, the detection distance calculation unit 8 determines that the reflected wave RA2 was identified at time Tf3. The detection distance calculation unit 8 then calculates a TOF value based on time Tf3 and the time when the carrier wave WA2 was transmitted, and calculates the distance L1 between the first acoustic wave transmitting and receiving element 21 and the detection target object 600 based on the TOF value.

[0079] Furthermore, based on the above-mentioned determination results, the detection distance calculation unit 8 determines that the first unsteady received wave signal RN1 determined at time Tf2 is a signal obtained by combining the reflected waves RA1 and RB1. The detection distance calculation unit 8 also determines that the second unsteady received wave signal RN2 is a signal obtained by combining the reflected waves RB2 and RC2. From this, the TOF value is calculated based on time Tf2 and the time when the carrier wave WB1 was transmitted, and the distance L2 between the second acoustic wave transmitting and receiving element 22 and the detection target 600 is calculated based on the TOF value.

[0080] The same applies when the received wave signal shown in Fig. 10G is acquired. In addition to this, there are patterns in which two indefinite received wave signals are determined, but in either case, the detection distance calculation unit 8 can calculate the distances L1, L2, and L3 from the time when the reflected wave was detected and the time when the indefinite received wave signal was determined.

[0081] Furthermore, as shown in FIG. 10H, three unsteady wave receiving signals RN may be determined. Furthermore, in the pattern shown in FIG. 10H, reflected waves are not identified. When such unsteady wave receiving signals are acquired, there is only one pattern, and the detection distance calculation unit 8 determines that the first unsteady wave receiving signal RN1 determined at time Th1 is a combination of reflected waves RA1 and RC1. Furthermore, the detection distance calculation unit 8 determines that the second unsteady wave receiving signal RN2 determined at time Th2 is a combination of reflected waves RA2 and RB1. Furthermore, the detection distance calculation unit 8 determines that the third unsteady wave receiving signal RN3 determined at time Th3 is a combination of reflected waves RB2 and RC2.

[0082] Therefore, when three indeterminate wave reception signals RN are detected, the detection distance calculation unit 8 calculates the distance L1 between the first acoustic wave transmitting and receiving element 21 and the detection object 600 from the time Th1 and the time when the carrier wave WA1 was transmitted. The detection distance calculation unit 8 also calculates the distance L3 between the third acoustic wave transmitting and receiving element 23 and the detection object 600 from the time Th1 and the time when the carrier wave WC1 was transmitted. The detection distance calculation unit 8 also calculates the distance L2 between the second acoustic wave transmitting and receiving element 22 and the detection object 600 from the time Th2 and the time when the carrier wave WB1 was transmitted.

[0083] As described above, in a sonar device 100A equipped with three ultrasonic wave transmitting and receiving elements, even when reflected waves based on carrier waves transmitted from the ultrasonic wave transmitting and receiving elements are synthesized, it is possible to accurately calculate the distance between each ultrasonic wave transmitting and receiving element and the object 600 to be detected.

[0084] Furthermore, even if the number of ultrasonic transmitting and receiving elements is four or more, it is possible to calculate the TOF value based on the time when the reflected wave was identified, the time when the indefinite received signal was determined, and the time when the carrier wave was transmitted, and then calculate the distance from the TOF value.

[0085] <Second Modification> 11 is a diagram showing an example of a carrier wave transmitted from a sonar device of the second modified example. The sonar device of the second modified example has a different pattern for transmitting the carrier wave, but has the same equipment configuration as sonar device 100. Therefore, in this modified example, the same reference numerals as sonar device 100 will be used in the description, and a detailed description of sonar device 100 will be omitted.

[0086] 11, the controller 3 of the sonar device 100 transmits transmission signals so that the last carrier wave WA2 and the last carrier wave WB2 are synchronized. That is, the controller 3 transmits transmission signal PB1 at time T101, and transmits transmission signal PA1 at time T102, which is earlier than time T101. Note that time T103, which is earlier than time T101 by ΔT2, is also earlier than time T102 by ΔT1. Then, at time T103, the controller 3 transmits transmission signal PA2 and transmission signal PB2.

[0087] Even if the last transmitted carrier wave is synchronized in this way, there are cases where a reflected wave is identified and an indefinite received wave signal is determined, as described above. The detection distance calculation unit 8 can measure the distance between the ultrasonic wave transmitting and receiving element and the detection target 600 based on the time when the reflected wave is identified and the time when the indefinite received wave signal is determined.

[0088] <Third Modification> In the sonar devices 100 and 100A of the above-described embodiments, two carrier waves are transmitted from each acoustic wave transmitting and receiving element at a distance from each other, but this is not limiting. Three or more carrier waves may be transmitted. In either case, the first carrier wave or the last carrier wave is transmitted synchronously. It is also preferable that the carrier waves are transmitted so as not to overlap each other.

[0089] In the above-described configuration, the timing of transmitting the first or last carrier wave among the carrier waves transmitted from each ultrasonic wave transmitting and receiving element is synchronized. However, even if the carrier waves transmitted from each ultrasonic wave transmitting and receiving element are not synchronized, the reflected waves of the carrier waves may overlap and receive an ultrasonic wave that is determined to be an indeterminate received wave signal. In such a case, the detection distance calculation unit 8 may be able to measure the distance between the ultrasonic wave transmitting and receiving element and the detection target 600 based on the time when the indeterminate received wave signal was determined and the time when each reflected wave was identified, as described above.

[0090] Transmitting one of the multiple carrier waves in synchronization makes it easier to measure the distance between the acoustic wave transmitting and receiving element and the object to be detected 600. Furthermore, in a configuration in which more than two carrier waves are transmitted from each acoustic wave transmitting and receiving element, the synchronized carrier waves may be a carrier wave other than the first or last carrier wave. For example, if three carrier waves are transmitted from each of two acoustic wave transmitting and receiving elements, the second carrier wave may be transmitted in synchronization. Furthermore, the carrier waves may be transmitted so that the last carrier wave of one acoustic wave transmitting and receiving element is synchronized with the first carrier wave of another acoustic wave transmitting and receiving element.

[0091] <Application> Fig. 12 is a schematic diagram of a vehicle 200, which is an example of a device in which the sonar device 100 is used. As shown in Fig. 12, a first ultrasonic sonar sensor 301 equipped with a first ultrasonic wave transmitting and receiving element 21 and a second ultrasonic sonar sensor 302 equipped with a second ultrasonic wave transmitting and receiving element 22 are attached to the front of the vehicle 200.

[0092] The computer 400 mounted on the vehicle 200 is connected to the ultrasonic processing device 1, and acquires the distance L1 between the first ultrasonic wave transmitting and receiving element 21 and the detection object 600 and the distance L2 between the second ultrasonic wave transmitting and receiving element 22 and the detection object 600, which are calculated by the detection distance calculation unit 8 of the ultrasonic processing device 1. The computer 400 acquires the position and distance of the detection object 600 relative to the vehicle 200 based on the distances L1 and L2. Then, the computer 400 controls the vehicle 200 so that the vehicle 200 does not come into contact with the detection object 600.

[0093] <Other> The above-described embodiments should be considered to be illustrative in all respects and not restrictive. The technical scope of the present disclosure is defined by the claims, not by the description of the above-described embodiments. Furthermore, it should be understood that all modifications within the meaning and scope of the claims are included.

[0094] <Additional Notes> The sonic processing device (1) described above is configured to receive reflected waves (RA1, RA2, RB1, RB2, RC1, RC2) reflected by a detection object (600) of carrier waves (WA1, WA2, WB1, WB2, WC1, WC2) having different waveforms and transmitted at different intervals, and to detect distances (L1, L2, L3) to the detection object (600) according to the reflected waves (RA1, RA2, RB1, RB2, RC1, RC2), a receiving signal generating unit (5) configured to generate a receiving signal (RS) based on a sound wave received by a sound wave receiving unit (21, 22, 23) configured to be able to receive a sound wave; a reference data store (7) configured to store reference data (RF); a reflected wave identification unit (6) configured to identify individual reflected waves (RA1, RA2, RB1, RB2, RC1, RC2) corresponding to carrier waves (WA1, WA2, WB1, WB2, WC1, WC2) based on a correlation between the received signal (RS) and reference data (RF); The reflected wave identification unit (6) determines the received wave signal (RS) to be an indeterminate received wave signal (RN) when it does not identify the individual reflected waves (RA1, RA2, RB1, RB2, RC1, RC2) corresponding to each carrier wave (WA1, WA2, WB1, WB2, WC1, WC2), This configuration (first configuration) includes a detection distance calculation unit (8) configured to calculate the distance (L1, L2, L3) between each acoustic wave receiving unit (21, 22, 23) and the object to be detected (600) when the reflected wave discrimination unit (6) determines the indefinite received wave signal (RN) and the individual reflected waves (RA1, RA2, RB1, RB2, RC1, RC2) in accordance with the discrimination order and timing of discrimination.

[0095] In the ultrasonic processing device (1) of the first configuration described above, a configuration (second configuration) is provided which includes ultrasonic driving units (3, 4) configured to be capable of generating driving signals (DA1, DA2, DB1, DB2, DC1, DC2) that cause carrier waves (WA1, WA2, WB1, WB2, WC1, WC2) to be transmitted with different waveforms and different transmission intervals from a plurality of ultrasonic transmitting units (21, 22, 23) configured to be capable of transmitting carrier waves (WA1, WA2, WB1, WB2, WC1, WC2).

[0096] In the ultrasonic processing device (1) of the second configuration described above, the first carrier wave (WA1, WB1, WC1) or the last carrier wave (WA2, WB2, WC2) among the carrier waves (WA1, WA2, WB1, WB2, WC1, WC2) having different waveforms is transmitted synchronously (third configuration).

[0097] In the ultrasonic processing device (1) of any of the first to third configurations described above, when the reflected wave identification unit (6) identifies an individual reflected wave and then determines an indefinite received wave signal (RN), the detection distance calculation unit (8) calculates the distance from each ultrasonic wave transmitting unit (21, 22, 23) to the object to be detected (600) based on the transmission time of each carrier wave (WA1, WA2, WB1, WB2, WC1, WC2) and the identification time of each individual reflected wave (RA1, RA2, RB1, RB2, RC1, RC2) (fourth configuration).

[0098] In the ultrasonic processing device (1) of the third configuration, when the ultrasonic driving unit (3, 4) operates each ultrasonic transmitting unit (21, 22, 23) so that the first carrier wave (WA1, WB1, WC1) is synchronized, and the reflected wave identification unit (6) determines the indefinite received wave signal (RN) and then identifies individual reflected waves (RA1, RA2, RB1, RB2, RC1, RC2), when the times going back by the transmission intervals of each carrier wave (WA1, WA2, WB1, WB2, WC1, WC2) corresponding to the individual reflected waves (RA1, RA2, RB1, RB2, RC1, RC2) from the reception times of the individual reflected waves (RA1, RA2, RB1, RB2, RC1, RC2) match, the detection distance calculation unit (8) determines that each ultrasonic transmitting unit (21, 22, 23) and the object to be detected (600) are equidistant (fifth configuration).

[0099] In the ultrasonic processing device (1) of any of the first to fifth configurations described above, when the reflected wave identification unit (6) detects individual reflected waves (RA1, RA2, RB1, RB2, RC1, RC2) after determining the indefinite received wave signal (RN), the detection distance calculation unit (8) calculates the distance from each ultrasonic wave transmitting unit (21, 22, 23) to the object to be detected (600) based on the transmission time of each carrier wave (WA1, WA2, WB1, WB2, WC1, WC2) and the identification time of the individual reflected waves (RA1, RA2, RB1, RB2, RC1, RC2) (sixth configuration).

[0100] In the ultrasonic processing device (1) of the third configuration, when the ultrasonic driving unit (3, 4) operates each ultrasonic transmitting unit (21, 22, 23) so that the last carrier wave (WA2, WB2, WC2) is synchronized, and when the reflected wave identification unit (6) determines an indefinite received wave signal (RN) after identifying the individual reflected waves (RA1, RA2, RB1, RB2, RC1, RC2), when the times advanced by the transmission interval of each carrier wave (WA1, WA2, WB1, WB2, WC1, WC2) corresponding to the individual reflected waves (RA1, RA2, RB1, RB2, RC1, RC2) from the reception time of the individual reflected waves (RA1, RA2, RB1, RB2, RC1, RC2) match, the detection distance calculation unit (8) determines that each ultrasonic transmitting unit (21, 22, 23) and the object to be detected (600) are equidistant (seventh configuration).

[0101] Items 1 to 5 above 7 In the sound wave processing device (1) having any of the above configurations, the frequency of the carrier waves (WA1, WA2, WB1, WB2, WC1, WC2) is higher than the upper limit of the human audible frequency range (the first configuration). 8 (The composition of the above).

[0102] The sonar device (100, 100A) described above includes a sonar processing device (1) having any one of the first to seventh configurations described above, a plurality of acoustic wave transmitting units (21, 22, 23) configured to be able to transmit carrier waves (WA1, WA2, WB1, WB2, WC1, WC2); A configuration (the first one) including a plurality of sound wave receiving units (21, 22, 23) configured to be able to receive sound waves. 9 (The composition of the above).

[0103] The vehicle (200) described above has a configuration (tenth configuration) in which the sonar device (100, 100A) of the eighth configuration is shaken. [Explanation of symbols]

[0104] 1. Sonication device 21 First ultrasonic wave transmitting and receiving element 22 Second ultrasonic wave transmitting and receiving element 23 Third ultrasonic wave transmitting and receiving element 3 Controller 4 Sonic drive unit 5 Received signal generation section 6 Reflected wave identification unit 7 Reference Data Storage 8. Detection distance calculation unit 9. Boost circuit 100, 100A Sonar Equipment 200 vehicles 301 First ultrasonic sonar sensor 302 Second ultrasonic sonar sensor 400 computers 600 Detection target DA1, DA2, DB1, DB2 drive signals L1, L2, L3 distance PA1, PA2, PB1, PB2 transmission signal Pd Transmission information RA1, RA2, RB1, RB2, RB1, RB2 Reflected wave RF Reference Data RN undefined received signal RN1 1st undefined received signal RN2 2nd undefined received signal RN3 3rd undefined received signal RS received signal Rd Reflected wave identification information Rd1 First reflected wave identification information Rd2 Second reflected wave identification information Rd3 Undefined sound wave information WA1 carrier wave WA1, WA2, WB1, WB2, WC1, WC2 carrier waves ΔT1, ΔT2 transmission interval

Claims

1. An ultrasonic processing device configured to receive reflected waves of carrier waves having different waveforms and transmitted from an ultrasonic transmitting unit at different intervals, reflected by an object to be identified, and to detect the distance from the ultrasonic transmitting unit to the object to be detected according to the reflected waves, a received wave signal generating unit configured to generate a received wave signal based on a sound wave received by a sound wave receiving unit configured to be able to receive sound waves; a reference data store configured to store reference data; a reflected wave identifying unit configured to identify an individual reflected wave corresponding to the carrier wave based on a correlation between the received wave signal and the reference data; the reflected wave identifying unit determines the received wave signal to be an indeterminate received wave signal when it does not identify the individual reflected waves corresponding to each of the carrier waves; An ultrasonic processing device configured to include a detection distance calculation unit that, when the reflected wave identification unit determines the indefinite received wave signal, calculates the distance between the object to be detected and the ultrasonic receiving unit according to the order and timing of identification between the indefinite received wave signal and the individual reflected waves.

2. 2. The ultrasonic processing device according to claim 1, further comprising an ultrasonic driving unit configured to generate driving signals that cause a plurality of ultrasonic transmitting units configured to transmit the carrier waves with different waveforms and different transmission intervals.

3. The sonic processing device according to claim 2 , wherein the sonic wave driving unit is configured to generate the driving signal such that, of the carrier waves having different waveforms, each of the carrier waves is transmitted in synchronization.

4. The ultrasonic processing device described in claim 1, wherein when the reflected wave identification unit judges the indefinite received wave signal after identifying an individual reflected wave, the detection distance calculation unit is configured to calculate the distance from each ultrasonic wave transmitting unit to the object to be detected based on the transmission time of each carrier wave and the identification time of each individual reflected wave.

5. The ultrasonic processing device described in claim 3, wherein when the ultrasonic driving unit operates each of the ultrasonic transmitting units so that the first carrier wave is synchronized, and when the reflected wave identification unit identifies an individual reflected wave after determining the indefinite received wave signal, the detection distance calculation unit determines that each of the ultrasonic transmitting units and the object to be detected are equidistant when the time preceding the reception time of the individual reflected wave by the transmission interval of each of the carrier waves corresponding to the individual reflected wave matches.

6. The ultrasonic processing device described in claim 1, wherein when the reflected wave identification unit detects an individual reflected wave after judging the indefinite received wave signal, the detection distance calculation unit is configured to calculate the distance from each ultrasonic wave transmitting unit to the object to be detected based on the transmission time of each carrier wave and the identification time of each individual reflected wave.

7. The ultrasonic processing device described in claim 3, wherein when the ultrasonic driving unit operates each ultrasonic transmitting unit so that the last carrier wave is synchronized, and when the reflected wave identification unit judges the indefinite received wave signal after identifying an individual reflected wave, the detection distance calculation unit is configured to determine that each ultrasonic transmitting unit and the object to be detected are equidistant when the times advanced by the transmission interval of each carrier wave corresponding to each individual reflected wave from the reception time of the individual reflected wave coincide.

8. 2. The sonic processing device according to claim 1, wherein the frequency of the carrier wave is higher than the upper limit of the human audible frequency range.

9. The sonication device according to any one of claims 1 to 8; a plurality of acoustic wave transmitting units configured to be able to transmit the carrier wave; A plurality of the sound wave receiving units configured to be able to receive sound waves; 1. A sonar device configured to include:

10. A vehicle configured with the sonar device of claim 9.

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