模式切換操作於空氣超音波陣列之物體懸浮

Abstract

傳統超音波懸浮系統多依賴固定架構與單一聲場配置，為維持穩定性，常需將物體限制於特定高度或空間內操作，降低整體靈活性，亦難以因應大範圍的操控需求。特別是在單面陣列系統中，儘管具備開放式操作優勢，懸浮穩定性卻易隨距離變化而顯著下降。為突破此限制，本研究提出一套動態模式切換系統，結合單面與雙面懸浮配置之優勢，透過反射板開孔設計與空間分區策略，依據物體位置與移動方向自動切換懸浮模式。於陣列中心保留單面操作靈活性，邊緣區域則轉換為駐波懸浮模式，顯著提升三維可操控範圍。系統採用 10×10 超音波相位陣列，並預先建立空間座標與相位配置之查找表，支援即時聚焦更新與快速控制切換。移動控制方面，採用步進式三維導引演算法，結合誤差補償與模式判斷機制，實現穩定且連續之懸浮移動。實驗結果顯示，物體於本系統中可達單面陣列懸浮模式約三倍之移動範圍，且能穩定地於超出原始陣列與反射板結構範圍之外之空間中移動。展現高度靈活性與擴展潛力，具備應用於非接觸搬運、人機互動等場域之實用性。

Conventional ultrasonic levitation systems typically rely on fixed configurations and a single acoustic field pattern. To maintain stability, objects are often constrained to specific heights or spatial regions, which reduces overall flexibility and limits their ability to support large-scale manipulation tasks. In particular, although single-sided array systems offer open operational advantages, their levitation stability degrades significantly with increasing distance from the array. To overcome these limitations, this study proposes a dynamic mode-switching system that combines the strengths of both single-sided and dualsided levitation configurations. By implementing a perforated reflector and spatial partitioning strategy, the system dynamically switches levitation modes based on the object’s position and movement direction. Single-sided levitation is retained at the array center to preserve operational flexibility, while the peripheral region transitions to a standing-wave mode, significantly expanding the controllable three-dimensional workspace. The system employs a 10×10 ultrasonic phased array and precomputes a lookup table mapping spatial coordinates to corresponding phase configurations, enabling real-time focus updates and rapid control switching. For motion control, a step-based 3D guidance algorithm is adopted, incorporating error compensation and mode transition logic to achieve stable and continuous levitation movement. The object achieves approximately three times the movement range compared to the single-sided levitation mode, demonstrating high flexibility and scalability for practical applications such as contactless transport and human–machine interaction.