CN108919273A - A kind of distance detection system and method - Google Patents
A kind of distance detection system and method Download PDFInfo
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- CN108919273A CN108919273A CN201810266430.6A CN201810266430A CN108919273A CN 108919273 A CN108919273 A CN 108919273A CN 201810266430 A CN201810266430 A CN 201810266430A CN 108919273 A CN108919273 A CN 108919273A
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- 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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- Radar, Positioning & Navigation (AREA)
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- Acoustics & Sound (AREA)
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- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention relates to a kind of distance detection system and methods, it is characterised in that：Including signal processing module, emission source, amplifier, circulator and antenna, the input terminal of the amplifier connects the emission source, the output end of the amplifier connects the signal processing module and the circulator, the circulator and antenna interconnection, the output end of the circulator are additionally coupled to the signal processing module；The emission source is used for the signal that tranmitting frequency can be changed.It is an advantage of the current invention that can solve in current range-measurement system, the cross-correlation function method measurement accuracy in flight time detection method is poor, and variable thresholding detection method signal-to-noise ratio requires height, is easy to be interfered, and phase difference rule will appear the problems such as measurement distance range is narrow.
Description
Technical field
The present invention relates to apart from detection field, especially a kind of distance detection system and method.
Background technique
In the latest 20 years, non-contact distance-measurement mode achieves great development along with the development of electronic technology, successively goes out
The distance measuring methods such as laser, microwave radar, infrared ray and ultrasonic wave are showed.Wherein, laser ranging operation is relatively easy, measurement
Precision is higher, but it is protected from environmental bigger, and cost is relatively high, and later maintenance is very inconvenient, answers so general more
For military field.Microwave radar range technology is chiefly used in the military and dedicated field of industry, and the circuits mould such as oscillator used
Block.The advantages of infrared distance measurement is at low cost, good directionality, can be accurately positioned, the disadvantage is that being influenced by light, anti-interference
Difference.As noncontact measurement reliable in a kind of short range, it is electromagnetic distance measurement technology for ultrasonic distance measurement
One kind, so other than the essential characteristic with electromagnetic wave, and have and have itself unique one side.And ultrasonic signal is several
Not by the interference of illumination, smog, electromagnetic interference, dust particles and toxic gas in external environment, ultrasonic distance measurement sensing
Device cost is relatively low honest and clean, easy to use, is easy to real-time control.Therefore, ultrasonic wave level gauging, building engineering survey,
Many industrial measurement and control fields such as mobile robot visual identification, automobile reversing radar system, all have been widely used.
There is flight time TOF in ultrasonic ranging method at this stage（time-of-flight）Method, flies at phase difference detection method
M- phase difference combined techniques, Multiple-Frequency Continuous Wave-phase difference method, multifrequency amplitude modulation ultrasonic system and Binary Frequency Shift Keying method when row.
Now widely used supersonic sounding principle is divided into three kinds：Flight time detection method, phase difference detection method, multiple frequency ranging method.
Flight time detection method is mainly dependent on formula l=c*t, and wherein c is the aerial spread speed of ultrasonic wave, and t is
Flight time needed for ultrasonic wave is emitted to receiving end.Flight time detection method is simple and practical, operates simple, this method
Key technology point is time delay estimation, and common delay time estimation method has cross-correlation function method, variable thresholding detection method.In cross-correlation
In function method, correlation function fluctuates near extreme value, and the extreme value for searching for its correlation function is caused to become difficult, and dry by noise
It disturbs and is affected, accuracy is significantly reduced with the reduction of signal-to-noise ratio.Variable thresholding detection method is with signal zero passage detection
Basis, be only applicable to signal-to-noise ratio it is higher under the conditions of.If ranging hypertelorism aggravates noise jamming or environment itself
Noise jamming just than more serious, then be difficult to measure accurate distance by threshold test.Signal is received to ultrasonic wave at this stage
Detection mostly uses the hardware demodulations method such as envelope detected circuit, demodulates directly passing through software algorithm to ultrasonic reception signal envelope
This respect need to be furtherd investigate.
Phase difference when phase difference method is the phase and transmitting when receiving by comparing ultrasonic wave, then pass through phase difference and sound
The relationship of wave wavelength calculates distance value, commonly uses fast Fourier at present（FFT）Change detection phase difference, Fourier
Transformation calculations are complicated, and operate inconvenience, and can only measure the phase difference within the scope of 0 to 2 π, and institute's ranging is from also only limiting one
Wave-length coverage, measurement range are obviously narrow.Therefore, it is necessary to study how to obtain phase difference in real time, and obtain the exhausted of global section
To phase difference, thus a series of problems, such as avoiding ranging range from being limited only to a wave length of sound.
Summary of the invention
The purpose of the present invention is to overcome the shortcomings of the existing technology, provides a kind of novel distance detection method, solves mesh
In preceding range-measurement system, the cross-correlation function method measurement accuracy in flight time detection method is poor, and variable thresholding detection method signal-to-noise ratio is wanted
It asks high, be easy to be interfered, phase difference rule will appear the problems such as measurement distance range is narrow.
The purpose of the present invention is achieved through the following technical solutions：
Distance detection system of the present invention, including signal processing module, emission source, amplifier, circulator and antenna, it is described
The input terminal of amplifier connects the emission source, and the output end of the amplifier connects the signal processing module and the loop
Device, the circulator and antenna interconnection, the output end of the circulator are additionally coupled to the signal processing module；The hair
Penetrate the source signal variable for tranmitting frequency.Further, the signal processing module is used to carry out A/D to received signal to turn
It changes, Fourier transformation and apart from calculating.
Distance detection method of the invention includes the following steps：
S1. emission source sends signal, the signal f (t)=f according to certain stepping △ f0+ △ f*t, wherein f (t) indicates t moment
Frequency, f0Indicate original frequency；
S2. the signal that the emission source is sent successively passes through amplifier, circulator, antenna, is sent；
S3. the antenna receives the data RD by testee reflection；
S4. the data RD is synchronized, the signal processing module will also receive this via circulator entering signal processing module
When the data SD that sends of emission source, and store；
S5. the signal processing module does Fourier transformation to data SD, data RD respectively, and obtains frequency spectrum peak-peak respectively
The corresponding frequency values f of pointsig、frec, calculate time difference △ T=abs ((frec-fsig)/△ f), according to △ T, calculate emission source with
Distance L=0.5*V* △ T of testee, wherein V indicates spread speed of the signal in the medium of corresponding ranging environment.
Preferably, the medium can be gas or liquid environment, and the signal of the emission source transmitting can be believed for sound or light
Number.
The present invention has the following advantages that：The creative signal emitting-source using changeable frequency, is calculated by frequency difference
Time, so that system structure is simple, measurement accuracy is high, and detection is not limited by distance, low to signal-to-noise ratio requirement, therefore is more held
Easily realize.
Detailed description of the invention
Fig. 1 is system structure diagram of the invention.
Fig. 2 is the frequency curve of a certain changeable frequency the emission source signal emitted and received signal of one embodiment
Figure.
In figure：1- emission source, 2- amplifier, 3- circulator, 4- antenna.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing, but protection scope of the present invention is not limited to following institute
It states.
As shown in Figure 1, the distance detection system includes signal processing module, emission source（1）, amplifier（2）, circulator
（3）And antenna（4）, the input terminal connection emission source of the amplifier（1）, the amplifier（2）Output end connect institute
State signal processing module and the circulator（3）, the circulator（3）With the antenna（4）Interconnection, the circulator（3）'s
Output end is additionally coupled to the signal processing module.The emission source is used for the signal that tranmitting frequency can be changed.The signal processing
Module is used to carry out received signal A/D conversion, Fourier transformation and apart from calculating.
Embodiment 1
Distance test is carried out in air, and air themperature is 25 DEG C, and the signal of emission source transmitting is sound wave, the variation of emission source frequency point
Rate △ f=2*105Hz/s, original frequency f0=1*106Hz。
The transmission signal passes through amplifier（2）And circulator（3）Into antenna（4）It sends, signal is after object reflects
By antenna（4）It receives, through circulator（3）Entering signal processing module.Signal processing module real-time reception is via amplifier（2）It puts
The signal of emission source transmitting after big and storage.
As shown in Fig. 2, signal processing module receives the data RD of testee reflection, and extracts emission source at this time and send
Data SD can search out the maximum value of two frequency spectrums after carrying out FFT processing respectively to two column data, be respectively reflection
Data frequency frec=1*107Hz and emission source send frequency fsig=2*107Hz has found that the frequency difference of the two is 1*107Hz,
It can thus be appreciated that this signal transmission time △ T=frequency difference/frequency point change rate=1*107/2*105 =50s。
Because the aerial spread speed of known acoustic signals meets following relationship：V=V0*[(273.15+T)/273.15
]1/2, wherein T is the Celsius temperature of air, V0=331.45m/s（The velocity of sound in 0 DEG C of air medium）.Therefore can obtain V=
346.4m/s, so measuring distance is L=0.5*V*t=8660m.
It should be noted that for simple description, therefore, it is stated as a systems for each embodiment of the method above-mentioned
The combination of actions of column, but those skilled in the art should understand that, the application is not limited by the described action sequence, because
For according to the application, certain some step be can be performed in other orders or simultaneously.Secondly, those skilled in the art also should
Know, the embodiments described in the specification are all preferred embodiments, related movement and unit not necessarily this Shen
It please be necessary.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in some embodiment
Part, reference can be made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, ROM, RAM etc..
The above disclosure is only the preferred embodiments of the present invention, cannot limit the right model of the present invention with this certainly
It encloses, therefore equivalent changes made in accordance with the claims of the present invention, is still within the scope of the present invention.
Claims (3)
1. a kind of distance detection system, it is characterised in that：Including signal processing module, emission source, amplifier, circulator and day
Line, the input terminal of the amplifier connect the emission source, the output end of the amplifier connect the signal processing module and
The circulator, the circulator and antenna interconnection, the output end of the circulator are additionally coupled to the signal processing mould
Block；The emission source is used for the signal that tranmitting frequency can be changed.
2. a kind of distance detection system according to claim 1, it is characterised in that：The signal processing module is for docking
The signal of receipts carries out A/D conversion, Fourier transformation and apart from calculating.
3. a kind of distance detection method, which is characterized in that the distance detection method includes the following steps：
S1. emission source sends signal, the signal f (t)=f according to certain stepping △ f0+ △ f*t, wherein f (t) indicates t moment
Frequency, f0Indicate original frequency；
S2. the signal that the emission source is sent successively passes through amplifier, circulator, antenna, is sent；
S3. the antenna receives the data RD by testee reflection；
S4. the data RD is synchronized, the signal processing module will also receive this via circulator entering signal processing module
When the data SD that sends of emission source, and store；
S5. the signal processing module does Fourier transformation to data SD, data RD respectively, and obtains frequency spectrum peak-peak respectively
The corresponding frequency values f of pointsig、frec, calculate time difference △ T=abs ((frec-fsig)/△ f), according to △ T, calculate emission source with
Distance L=0.5*V* △ T of testee, wherein V indicates spread speed of the signal in the medium of corresponding ranging environment.
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Cited By (2)
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| CN109613517A (en) * | 2018-12-12 | 2019-04-12 | 北醒（北京）光子科技有限公司 | A kind of anti-interference working method of TOF Lidar multimachine |
| WO2021129165A1 (en) * | 2019-12-23 | 2021-07-01 | 佛山市顺德区美的饮水机制造有限公司 | Method and apparatus for marking ultrasonic wave peaks, storage medium, and detection method |
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