EP2223151A1 - Fonction de capteur pour commande avec fréquence d'émission variable afin de déceler l'encrassement - Google Patents

Fonction de capteur pour commande avec fréquence d'émission variable afin de déceler l'encrassement

Info

Publication number
EP2223151A1
EP2223151A1 EP08858479A EP08858479A EP2223151A1 EP 2223151 A1 EP2223151 A1 EP 2223151A1 EP 08858479 A EP08858479 A EP 08858479A EP 08858479 A EP08858479 A EP 08858479A EP 2223151 A1 EP2223151 A1 EP 2223151A1
Authority
EP
European Patent Office
Prior art keywords
vibration
sensor
measuring system
signal
frequency
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP08858479A
Other languages
German (de)
English (en)
Inventor
Michael Frank
Peter Preissler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2223151A1 publication Critical patent/EP2223151A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating

Definitions

  • the invention relates to a method for functional testing of a mechanical vibration sensor according to the preamble of claim 1 and to a measuring system for obstacle detection on a motor vehicle with functional test according to the preamble of claim 8 and a distance measuring system for obstacle detection according to the preamble of claim 16.
  • Sensor systems for distance measurement of obstacles are known, for example, from DE 10 2005 057 973 and from US Pat. No. 6,040,765.
  • a sound pulse is generated by the sensor, which is with the given in the medium (normally air) propagation speed away from the sensor, is reflected by an obstacle, and the reflection is then detected by the sensor, according to the resulting runtime and the known
  • Propagation speed the distance to the obstacle can be calculated.
  • This distance measurement according to the so-called pulse-echo method requires periodic excitation of a vibration component of a vibration sensor.
  • the excitation of a membrane is used, on which a piezo component is applied, wherein the excitation signal determines the frequency of the emitted signal pulse.
  • the reflected pulse is then detected by the same sensor or another sensor, so that the
  • Runtime determination can be determined from the period between the sending of the pulse and the detection of the reflected pulse.
  • Such measuring systems basically have the problem that no reflected signal is sent back to the sensor unit when there are no obstacles in the signal path.
  • a self-test routine for such systems is therefore of great relevance, so that the function of distance determination or obstacle detection can be ensured.
  • a vibration sensor represents with its oscillating component a harmonic oscillator, which is excited by means of a periodic excitation signal to a forced damped mechanical oscillation with the frequency of the excitation signal and preferably a defined amplitude.
  • a harmonic oscillator has, in accordance with its mechanical specifications, a resonance frequency at which, when it is used as the excitation frequency, the maximum amplitude is achieved in relation to the excitation amplitude.
  • the Resonant frequency of a mechanical harmonic oscillator scales reciprocally to the root of the mass of the vibrating component. To achieve a high signal strength, it is thus advantageous to excite a harmonic oscillator, in this case the vibration component of the vibration sensor, with a frequency in the region of the resonance frequency of the harmonic oscillator.
  • the harmonic oscillator oscillates freely, i. without excitation to a forced oscillation by an excitation signal, with the result that the harmonic oscillator with its oscillation frequency during the decaying process approaches the mechanically predetermined resonance frequency of the free harmonic oscillator.
  • This decay process is referred to as Nachschwinger and can be detected directly from the vibration sensor, so that control over the function of the vibration sensor, in particular on the function of the emitted vibration pulse can be obtained. This is due to the fact that the realization of such vibration sensors takes place primarily by means of piezoelectric ultrasonic sensors, so that a vibration component simultaneously as a transmitter as well as
  • Receiver can be used for a corresponding vibration pulse.
  • the sensor directly after switching off the excitation signal, the sensor can be switched to the detection mode, so that the ringing signal can be tapped directly as a measurement signal at the sensor.
  • vibration sensors provide a direct feedback on their function or on the effected emission of a sound pulse, but they provide no information about the quality of the harmonic oscillator or about a possible change in the operating state on the fundamental transmission of a pulse addition.
  • the object of the invention is now to provide a self-test routine or a measuring system for obstacle detection with a self-test routine, which provides detailed information about the state of the oscillating component or the vibration sensor as part of a self-test.
  • the inventive method for functional testing of a mechanical vibration sensor uses the evaluation of the Nachschwingvorgangs the vibration component of the vibration sensor in response to a variation of the excitation frequency, preferably at the same excitation amplitude, for generating a vibration signal. After switching off the excitation, the oscillating component still oscillates. Now, if the excitation frequency is varied, so it is closer to the range of the resonant frequency or more distant from the range of the resonant frequency selected as the usual work excitation frequency, a different behavior of the Nachschwingvorgangs is expected, which can be subjected to a more detailed analysis.
  • the resonant frequency of a harmonic oscillator behaves inversely proportional to the root of its mass, which means that through additional Mass components such as dirt or ice on the vibration sensor detuning of the harmonic oscillator (oscillating component) takes place and thus the resonance frequency deviates from the originally unaffected resonant frequency of the harmonic oscillator.
  • Certain contaminants in spite of an increase in mass, can cause a change in the property of the membrane in such a way that the resonant frequency increases, if, for example, the elastic properties of the oscillating component are influenced by the contamination.
  • this pollution is to be distinguished from a pure mass increase.
  • Such a change may occur, for example, at a certain degree of icing.
  • An aging of the oscillating component for example the aging of the vibration diaphragm of a piezo-oscillating component, has similar effects on the resonant frequency and the formation of the ringing process.
  • the core of the invention is the realization of a sensor self-test function, which enables the
  • the variation of the periodic excitation signal in the region of the natural frequency, ie the resonant frequency of the oscillating component carried out.
  • the self-test routine of the vibration sensor can be performed at varying excitation frequency both during normal operation, either between the distance measuring routines or as part of a distance measurement routine, as well as outside of normal operation, especially in a special test mode for the vibration sensor.
  • the analysis data which can result from the analysis of the ringing process, are in particular the duration of the ringing process and the analysis of the amplitude characteristic of the ringing process. Furthermore, it is possible to determine from the Nachschwingvorgang the current, possibly changed natural frequency of the vibrating component. From the analysis of the natural frequency, ie the resonant frequency of the free damped oscillation, information about a possible increase in mass due to contamination etc.
  • the duration of the Nachschwingvorgangs provides information about the inertia of the vibrating component, which in turn also allow conclusions about changes to the vibrating component.
  • a measuring system for obstacle detection on a motor vehicle is also provided, which utilizes the effects used in the previously described method for functional testing of the measuring system.
  • FIG. 1 shows the amplitude time profile of a vibration pulse of a vibration component of the vibration sensor, wherein the deflection Y of the vibration component from its rest position (1) over the time axis (2) has been plotted as a waveform (3).
  • the amplitude time characteristic is divided into the regions of the excitation (4) and the region of the Nachschwingvorgangs (5).
  • the oscillating component is excited by means of a periodic excitation signal of the period duration (6) for the forced oscillation with a given constant amplitude. This oscillates the harmonic oscillator, so that
  • Oscillating component with the frequency of the excitation signal (reciprocal of the period of the excitation) and thus performs a damped mechanical vibration.
  • the harmonic oscillator oscillates freely.
  • the oscillation amplitude decreases along the range (8) until at the end of the range (8) the oscillation amplitude has dropped to zero.
  • the envelope of the Nachschwingvorgangs (9) reflects the amplitude curve of the Nachschwingvorgangs again, which in turn allows conclusions about the existing damping of the oscillator. From the period (10) of the free oscillation of the Nachschwingvorgangs can be determined by analysis, for example by means of Fourier transformation, the frequency of Nachschwingvorgangs, which corresponds to the natural frequency of the free harmonic oscillator.
  • FIG. 2 shows two resonance curves in which the obtained oscillation amplitude of the oscillating component (20) was plotted as a function of the used excitation frequency (21). Representing the possible excitation frequencies are shown in Figure 2 five excitation frequencies (22) - (26) which have different vibration amplitudes result.
  • FIG. 2a shows the resonance curve of the harmonic oscillator without additional mass (27) whose resonant frequency is given at the excitation frequency (25), here shown in a brushed outline. If this oscillator were excited with the frequencies (24) or (26), then in Nachschwingvorgang no difference between the excitation (24) and the excitation (26), but a difference to the excitation (25) to recognize. However, if excited by the frequencies (22) or (23), there would be a significant decrease in the amplitude of vibration produced, which corresponds to a distance from the resonant frequency set by the system.
  • Resonant frequency of the oscillating component has now moved to a frequency (24) out.
  • this oscillator is excited with the frequencies (23) or (25), the given resonant frequency is therebetween.
  • the frequencies (22) or (26) information about the state of the harmonic oscillator can also be obtained in the case of FIG. 2b.
  • Oscillator can be detected, and compared to the scheme for generating and evaluating the measurement signal can be considered.
  • messages or warnings can also be issued to the user of the system in the event of a malfunction.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention concerne : un procédé de contrôle du fonctionnement d'un capteur de vibration mécanique; un système de mesure pour la reconnaissance d'obstacles sur un véhicule automobile, avec contrôle du fonctionnement; et un système de mesure de distance pour la reconnaissance d'obstacles. Selon l'invention, on peut faire varier la fréquence d'excitation d'un élément vibrant pour la production d'une impulsion de vibration.
EP08858479A 2007-12-12 2008-10-14 Fonction de capteur pour commande avec fréquence d'émission variable afin de déceler l'encrassement Withdrawn EP2223151A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007059908A DE102007059908A1 (de) 2007-12-12 2007-12-12 Sensorfunktion zur Ansteuerung mit variabler Sendefrequenz zum Zwecke der Verschmutzungserkennung
PCT/EP2008/063751 WO2009074369A1 (fr) 2007-12-12 2008-10-14 Fonction de capteur pour commande avec fréquence d'émission variable afin de déceler l'encrassement

Publications (1)

Publication Number Publication Date
EP2223151A1 true EP2223151A1 (fr) 2010-09-01

Family

ID=40340579

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08858479A Withdrawn EP2223151A1 (fr) 2007-12-12 2008-10-14 Fonction de capteur pour commande avec fréquence d'émission variable afin de déceler l'encrassement

Country Status (4)

Country Link
US (1) US8750071B2 (fr)
EP (1) EP2223151A1 (fr)
DE (1) DE102007059908A1 (fr)
WO (1) WO2009074369A1 (fr)

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DE102007059908A1 (de) * 2007-12-12 2009-06-18 Robert Bosch Gmbh Sensorfunktion zur Ansteuerung mit variabler Sendefrequenz zum Zwecke der Verschmutzungserkennung
DE102009003049A1 (de) * 2009-05-13 2010-11-18 Robert Bosch Gmbh Verfahren zur Funktionsprüfung eines Ultraschallsensors an einem Kraftfahrzeug, Verfahren zum Betrieb eines Ultraschallsensors an einem Kraftfahrzeug und Abstandsmessvorrichtung mit mindestens einem Ultraschallsensor zur Verwendung in einem Kraftfahrzeug
CN102428717B (zh) * 2009-08-11 2016-04-27 贺尔知识产权公司 估计声音波达方向的系统和方法
DE102009040992B4 (de) * 2009-09-10 2015-11-26 Valeo Schalter Und Sensoren Gmbh Verfahren zur Vereisungs- und Verschmutzungserkennung von Ultraschallsensoren
DE102009042968B4 (de) * 2009-09-24 2011-07-07 ATLAS ELEKTRONIK GmbH, 28309 Verfahren und Vorrichtung zum Vermessen eines Bodenprofils
DE102010003624B4 (de) * 2010-04-01 2021-04-01 Robert Bosch Gmbh Verfahren zum Erfassen einer Störung eines Ultraschallwandlers und Störungserfassungsvorrichtung für einen Ultraschallwandler
US8746035B2 (en) * 2010-05-24 2014-06-10 Honeywell International Inc. Self-calibrating vibration sensor
EP2394749A1 (fr) * 2010-06-07 2011-12-14 ELMOS Semiconductor AG Procédé de reconnaissance d'une impureté ou d'une autre perturbation de fonctionnement d'un capteur à ultrasons d'une aide au stationnement pour un véhicule automobile
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DE102012220311B4 (de) * 2012-11-08 2023-03-30 Robert Bosch Gmbh Verfahren zur Detektion der Sensordegradation bei Abstandssensoren
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DE102013015410A1 (de) * 2013-09-17 2015-03-19 Valeo Schalter Und Sensoren Gmbh Verfahren zum Erkennen eines blockierten Zustands eines Ultraschallsensors Ultraschallsensorvorrichtung und Kraftfahrzeug
CN103529491B (zh) * 2013-10-30 2015-10-14 南京南车浦镇城轨车辆有限责任公司 一种地铁车辆障碍物检测仪
DE102013021327B4 (de) * 2013-12-17 2024-07-25 Valeo Schalter Und Sensoren Gmbh Verfahren zum Betreiben einer Mehrzahl von Ultraschallsensoren eines Kraftfahrzeugs, Ultraschallsensoreinrichtung und Kraftfahrzeug
DE102014113601B4 (de) 2014-09-19 2016-06-30 Valeo Schalter Und Sensoren Gmbh Verfahren zum Erkennen eines blockierten Zustands eines Ultraschallsensors, Ultraschallsensorvorrichtung sowie Kraftfahrzeug
DE102016110364A1 (de) * 2016-06-06 2017-12-07 Amazonen-Werke H. Dreyer Gmbh & Co. Kg Regel- und/oder Steuersystem, landwirtschaftliche Maschine und Verfahren zur Steuerung und/oder Regelung einer landwirtschaftlichen Maschine
CN109459742B (zh) * 2018-10-31 2020-09-11 广州小鹏汽车科技有限公司 基于超声波雷达的异物覆盖处理方法及装置
DE102018129044A1 (de) 2018-11-19 2020-05-20 Valeo Schalter Und Sensoren Gmbh Verfahren und Analysesystem zum Bestimmen eines Zustands einer Membran eines Ultraschallsensors
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Also Published As

Publication number Publication date
DE102007059908A1 (de) 2009-06-18
US20100329080A1 (en) 2010-12-30
US8750071B2 (en) 2014-06-10
WO2009074369A1 (fr) 2009-06-18

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