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    SURFACE TYPE DETECTION
    1.
    发明申请
    SURFACE TYPE DETECTION 审中-公开

    公开(公告)号：WO2022216968A1

    公开(公告)日：2022-10-13

    申请号：PCT/US2022/023888

    申请日：2022-04-07

    Applicant: CHIRP MICROSYSTEMS, INC.

    Inventor： KLINE, Mitchell H. ,  YOUSSEF, Joe

    IPC: A47L9/28

    Abstract: A robotic cleaning appliance includes a sonic transducer and a processor coupled with a housing. The sonic transducer transmits sonic signals toward a surface within its ringdown distance and receives corresponding returned signals. Following cessation of the sonic signals, the processor samples the ringdown signal generated by the sonic transducer during an early portion before the corresponding returned signals have reflected back to the sonic transducer, and during a later portion which includes the corresponding returned signals. The processor utilizes the sampled early portion to estimate a void ringdown signal of which represents performance of the sonic transducer in absence of returned signals being received. The processor compares the estimated void ringdown signal to the later portion of the ringdown signal and generates a metric based on the comparison. The processor utilizes the metric to determine a type of the surface, out of a plurality of surface types.

    MINIATURE ULTRASONIC TRANSDUCER PACKAGE
    4.
    发明申请
    MINIATURE ULTRASONIC TRANSDUCER PACKAGE 审中-公开
    微型超声波传感器套件

    公开(公告)号：WO2017095396A1

    公开(公告)日：2017-06-08

    申请号：PCT/US2015/063242

    申请日：2015-12-01

    Applicant: CHIRP MICROSYSTEMS, INC.

    Inventor： SHELTON, Stefon ,  GUEDES, Andre ,  HORSLEY, David

    IPC: B06B1/06

    CPC classification number: G10K9/22 ,  G10K9/122

    Abstract: A package design for a micromachined ultrasound transducer (MUT) utilizing curved geometry to control the presence and frequency of acoustic resonant modes is described. The approach consists of reducing in number and curving the reflecting surfaces present in the package cavity to adjust the acoustic resonant frequencies to locations outside the band of interest. The design includes a cavity characterized by a curved geometry and a MUT mounted to a side of a substrate facing the cavity with a sound emitting portion of the MUT facing an opening in the substrate. The substrate is disposed over an opening of the cavity with the substrate oriented such that the MUT located within the cavity.

    Abstract translation: 描述了用于利用弯曲几何形状来控制声学谐振模式的存在和频率的微机械超声换能器（MUT）的封装设计。 该方法包括减少数量并弯曲封装腔中存在的反射表面，以将声共振频率调节到感兴趣带外的位置。 该设计包括以弯曲几何形状为特征的腔体和安装到面对腔体的基板的一侧上的MUT，其中MUT的发声部分面向基板中的开口。 衬底布置在空腔的开口上方，衬底被定向为使得位于空腔内的MUT

    DETECTING PRESENCE OF A MOVING OBJECT WITH AN ULTRASONIC TRANSDUCER
    6.
    发明申请
    DETECTING PRESENCE OF A MOVING OBJECT WITH AN ULTRASONIC TRANSDUCER 有权

    公开(公告)号：US20220057498A1

    公开(公告)日：2022-02-24

    申请号：US16999179

    申请日：2020-08-21

    Applicant: Chirp Microsystems, Inc.

    Inventor： Agnes DUVAL ,  Joe YOUSSEF

    IPC: G01S7/527 ,  G01S15/42 ,  G01S7/539

    Abstract: A device comprises a processor coupled with an ultrasonic transducer which is configured to emit an ultrasonic pulse and receive corresponding returned signals associated with a distance range of interest in a field of view of the ultrasonic transducer. The processor is configured to: remove a low frequency component from the returned signals to achieve modified returned signals; calculate, from the modified returned signals, a variation in amplitude; determine a quantification of the variation in amplitude for a first subset of the modified returned signals associated with a first subrange of the distance range of interest; employ the quantification to correct for changes in the first subset to achieve first normalized sensor data for the first subrange, where the first normalized sensor data is sensitive to occurrence of change over time in the first subrange; and detect a moving object in the first subrange using the first normalized sensor data.

    SURFACE TYPE DETECTION
    7.
    发明申请
    SURFACE TYPE DETECTION 有权

    公开(公告)号：US20210156993A1

    公开(公告)日：2021-05-27

    申请号：US16836669

    申请日：2020-03-31

    Applicant: Chirp Microsystems, Inc.

    Inventor： James Alexander GORDON ,  David HORSLEY ,  Sebastien RICCARDI

    IPC: G01S15/50 ,  A47L11/30 ,  A47L11/40 ,  G01S7/52

    Abstract: A robotic cleaning appliance includes a housing, surface treatment item, surface type detection sensor, and processor. The sensor emits sonic signals toward a surface being traversed and receives corresponding returned signals from the surface. The returned signals are used for surface type detection and include directly reflected primary returned signals and multi-path reflected secondary returned signals which return at a later time than the primary returned signals. The processor selects a window of time after transmission of a sonic signal such that the returned signals in the window comprise at least a portion of the secondary returned signals, wherein the window is related to round trip time-of-flight of the returned signals; processes the returned signals falling in the window to achieve a reflectivity metric; compares the reflectivity metric to a stored value; and based on the comparison, determines which surface type of a plurality of surface types has been detected.

    Three dimensional object-localization and tracking using ultrasonic pulses
    8.
    发明授权
    Three dimensional object-localization and tracking using ultrasonic pulses 有权

    公开(公告)号：US11016167B2

    公开(公告)日：2021-05-25

    申请号：US16463321

    申请日：2017-11-20

    Applicant: Chirp Microsystems, Inc.

    Inventor： Richard J. Przybyla ,  Mitchell H. Kline ,  David A. Horsley

    IPC: G01S5/26 ,  G01S5/02 ,  G01S5/00 ,  G01S5/30 ,  G01S5/18 ,  G01S11/16 ,  H04W56/00 ,  G06F3/00 ,  G06K9/00

    Abstract: A tracking method includes displaying visual content on a screen of a head mounted display (HMD). One or more base stations may be stationary with respect to the screen while the visual content is being displayed. In contrast, one or more objects may move with respect to the screen while the visual content is being displayed. Time-difference-of-arrival (TDoA) and/or time-of-flight (ToF) may be measured for one or more ultrasonic pulses transmitted from the base station, one or more objects, or HMD. Position and orientation of the objects and HMD may be calculated based on the TDoA and ToF. Different frequencies of pulses may be used to locate the HMD and the objects. An electromagnetic synchronization signal from the HMD and/or base station may be used to measure TDoA. Position and orientation measurements may be fused with outputs from IMUS (inertial measurement units) to reduce jitter.

    Programmable ultrasonic transceiver
    10.
    发明授权
    Programmable ultrasonic transceiver 有权

    公开(公告)号：US10700792B2

    公开(公告)日：2020-06-30

    申请号：US15920300

    申请日：2018-03-13

    Applicant: Chirp Microsystems, Inc.

    Inventor： Richard Przybyla ,  Mitchell Kline ,  David Horsley

    IPC: H04L29/00 ,  H04B11/00 ,  B06B1/02 ,  G01S7/523 ,  G06F8/65 ,  H04L9/08 ,  H04L9/30 ,  H04L29/08 ,  H04W12/02 ,  H04L27/34 ,  H04W88/02

    Abstract: An ultrasonic transceiver system includes a transmitter block, a receiver block, a state machine, a computer unit. The transmitter block contains circuitry configured to drive an ultrasound transducer. The receiver block contains circuitry configured to receive signals from the ultrasound transducer and convert the signals into digital data. The state machine is coupled to the transmitter and receiver blocks and contains circuitry configured to act as a controller for those blocks. The computing unit is coupled to the transmitter block, the receiver block, and the state machine and is configured to drive the transmitter block and process data received from the receiver block by executing instructions of a program. The program memory is coupled to the computing unit and is configured to store the program. The computing unit is configured to be reprogrammed with one or more additional programs stored in the program memory.

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