CN100365432C - Method and device for measuring displacement/distance based on supersonic wave or sonic continuous sound-field phase-demodulating principle - Google Patents
Method and device for measuring displacement/distance based on supersonic wave or sonic continuous sound-field phase-demodulating principle Download PDFInfo
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Abstract
The present invention relates to a displacement/distance measuring method and a device thereof based on the principle of continuous sound field phase discrimination for ultrasonic waves or sound waves. A sound pressure wavelength received by a receiver in the period of ultrasonic or sonar sensor operating frequency is divided into at least 28 to 210 subdividing numbers according to phase position, etc. An increment count pulse of a coarse phase code is obtained through logical operation on the basis of the phase position; the rate of output data can reach about 40kHz (working frequency of an ultrasonic sensor). The present invention has the advantages of high signal-to-noise ratio, good reproducibility, small environmental influence on measurement result, correction avoidance of parameters of humidity, air pressure, humidity, etc., and 1 to 2 order of magnitude of measuring speed, resolution, reproducibility and accuracy higher than that of traditional echo methods. The present invention can be used for measuring and controlling high-speed displacement in real time, and can also be compatible with position measurement of static or slow motions, and thus, application filed of displacement /distance measurement by using ultrasonic waves and sound waves is widen; the present invention has extensive market perspectives.
Description
Affiliated technical field
The present invention relates in gas or liquid medium to be meant particularly with the dynamic displacement of ultrasound wave or acoustic measurement testee or the method and apparatus of distance: thus the ultrasound wave of measurand place physical location or a kind of method and the corresponding measurement mechanism thereof that the sound wave phase place is determined its dynamic displacement or range coding (digital quantity) in continuous ultrasound wave or sound wave sound field, detected.
Technical background
Ultrasound wave or sound wave (hereinafter to be referred as ultrasound wave) are surveyed length, range finding, location moves very long history, also is a kind of have development prospect, ripe, harmless, non-contact measurement method.Entered since the new century, the develop rapidly in high-tech, industry, defence equipment and civilian each field is calling ultrasound wave to survey the new breakthrough of technical indicator on existing basis that length, range finding and location move.If the key technical indexes such as output data rate, resolution, multiplicity, accuracy improve 1～2 order of magnitude again on original basis, just can widen the application of Ultrasonic Detection biglyyer, improve the scientific and technological level of China's Ultrasonic Detection and measurement.
In mid-August, 2005, the inventor obtained Germany, the famous Sensitive Object of the U.S., many technical information of system of the domestic Chinese Academy of Sciences, the relevant ultrasonic sensor with research institution of military project system and state-owned, private specialized company and measurement mechanism in internet and the international dynamo-electric fair in the 8th Wuhan September in 2005.Research by analysis, think: existing commercial ultrasonic range finder sensor and pick-up unit thereof design, make fineness really, and be perfect, existing standard, become series again, be widely used, its key technical indexes has almost reached the limit of this detection principle and detection method.This this product all is to adopt to be flushed to mistiming that the receiver position receives first echo from ultrasonic transmitter emission simple venation and to calculate distance between emission sensor and the measurand (receiver).Its principle of work is a time difference method, claims flying spot method (TOF) again, the just normal echo method that claims.This with radiotelegraphy in radar range finding and optical visual sensor radiowave or light wave send from sensor and after the measured object reflection, get back to original place elapsed time and the principle that obtains distance is the same back and forth:
The fundamental relation of its time and tested distance is
L＝(1/2)ct (1)
In the computing formula (1), L is tested distance, and 1/2 when working for the reflection mode, and distance is for measuring half distance of ripple process, c is the velocity of propagation of ultrasound wave in this medium, and t is that ultrasound wave comes and goes institute's elapsed time (it detects principle referring to seeing Fig. 1, Fig. 2, Fig. 3).
If radar range finding certainly, wherein c is the velocity of propagation of radiowave in medium, if laser or infrared distance measurement, then c is laser wave or the velocity of propagation of infrared waves in measuring media.Ultrasonic ranging is compared with them, removes on the obtaining and handle of Measuring Time than being easier to, and there are following three deficiencies (referring to Fig. 1, Fig. 2 and Fig. 3) in equipment cost outside hanging down:
(A) velocity of sound c, the velocity of sound the be far from light velocity and the aerial transmission speed of radiowave stable (light velocity generally can reach the 1ppm magnitude after temperature, humidity, air pressure are accurately revised) are subjected to the bulk modulus of medium (air or water, wet goods) and the square root restriction of the ratio of density.The composition of temperature, humidity, air pressure and medium and content can have a strong impact on the velocity of propagation of sound wave.If do not have suitable, science, real-time correction way, then measuring accuracy is difficult to increase.Existing product is accurately being revised under the condition of temperature error (in ± 1 ℃), full accuracy also can only reach 0.1%D (D is a measuring distance), and existing product is not all considered the influence to the velocity of sound such as air pressure, humidity, gas ingredients and content, the precision index that the event existing product is demarcated is to be worth querying, and need further verify.
(B) compressional wave that sends of sonac is a kind of mechanical wave, and what its produced is a kind of piston source sound field, can have inertia, and by the direct observation of emulation and sample, the low more inertia of frequency is big more, and therefore only launching monopulse is very disadvantageous to measurement.So the product that has is used higher frequency of operation (more than the 130kHz) instead reducing the influence of inertia, but sensor height of the loss ratio 40kHz that in gas, transmits.When sending a simple venation, operation circuit is flushed to emission sensor (transducer), it one receives signal, just begin to do corresponding mechanical oscillation, but because inertia, can not reach the maximum amplitude of specified mechanical compressional wave quickly, if there is not the driving of subsequent current, this transducer send mechanical compressional wave the not enough continuous sound-field of mechanical energy 10%.So the signal to noise ratio (S/N ratio) of monopulse working method is dissatisfactory.When the ultrasound wave frequency of operation was the ultrasonic low frequency end frequency of 40kHz or 60kHz, the sensor of the ultrasonic front end of loss ratio that transmits in gas was little.But because inertia, this moment receiver to obtain the amplitude of monopulse echo very little and unstable, be subject to the influence of various interference.So echo method must dispose higher driving voltage to improve signal to noise ratio (S/N ratio).In like manner, after the monopulse emission stopped, machinery inertial made emission sensor leave the remained shock (referring to Fig. 3) that decays with index curve, and this processing to follow-up signal also is disadvantageous.So sort signal transmits and receives mode and can not get higher multiplicity, even improved the resolution (paper that has claim can up to the high resolving power of ns level) of device, but because poor signal to noise, multiplicity is poor, and too high like this resolution comes down to insignificant.
(C) traditional monopulse gap modus operandi is flying spot method (TOF), it must be on receiving sensor is received just can carry out the measurement of second round behind the measurement echo of a monopulse, so measuring period, (T) increased with the increase of range, can not obtain the higher data output rating like this, thereby performance of dynamic tracking is relatively poor, and this has just seriously limited the application of this method in detection of dynamic.For example, for range is the long or displacement measuring device of ultrasound wave survey of 10m, its the speed of high output data can not surpass 17Hz, transmit and receive switching time and the D/A conversion that the system of unification need transmit and receive for single head, the blind area not only can occur measuring, and the speed of output data is just lower.
This shows that the key technical indexes that will improve sonac Displacement Measurement or measuring distance must break through the restriction of conventional echo method on measuring principle, looks for another way.The inventor is according to the work experience and the knowledge of controlling oneself in moire grating, inductosyn, appearance grid, CCD+ bar code and ball bar, magnetostatic grid, fine phase context of detection such as FBG, FOG, the technical scheme of " a kind of measuring displacement/distance method and device thereof based on ultrasound wave or sound wave continuous sound-field phase-demodulating principle " this novelty is proposed, developed concrete principle prototype simultaneously, made up in correlation, reflection, air, in the water, move in the oil, and test platforms such as single head and array working method, verify and optimized relevant solution.
Summary of the invention
The objective of the invention is on the basis that does not change the ultrasonic sensor hardware configuration, overcome the deficiency that existing ultrasonic echo telemetry and device thereof exist, a kind of measuring displacement/distance new method based on the ultrasonic continuous sound-field phase-demodulating principle is provided.This measurement scheme is compared with traditional echo method, the capacity usage ratio height, and signal to noise ratio (S/N ratio) is good, output data rate is fast, the resolution height, multiplicity is good, and measurement result is affected by environment little, the accuracy height, and can adopt the sonac of low frequency end, the wide material sources of required sensor, and price is lower, total manufacturing cost is not high, is easy to popularize and promote.
Technical solution of the present invention is as follows: a kind of measuring displacement/distance method based on ultrasound wave or sound wave continuous sound-field phase-demodulating principle may further comprise the steps:
1) in gas or liquid medium, launches continuous ultrasound wave by transmitter, correlation/reflection receiver (comprising reflecting object) reception continuous ultrasound ripple is set in its acoustic field scope promptly starts the later sound field (following abbreviation continuous sound-field) of first echo constantly;
2) adopt frequency divider that each wavelength of the continuous ultrasound ripple that received is divided into umber greater than 100 parts by phase place, and be that phase code is with corresponding binary coding value representation the Low Level Code (smart sign indicating number) of receiver position;
3) receiver (measurand) position being received the continuous ultrasound ripple represents as the decimal (phase code) of wave number with the umber of phase place five equilibrium at the waveform signal of fundamental frequency (ultrasound wave frequency of operation) the phase demodulation moment (specified signal is from the moment of the positive crossing time axle of negative sense (vice versa)) whole wavelength of less than, the increment of its wave number (thick sign indicating number) is by the phase code carry or give up the throne and obtain, and then the full dose position specific coding of measurand is thick yard (wave number) that phase code+coarse positioning incremental code+startups obtained constantly;
4) add that with thick sign indicating number phase code promptly forms full dose position specific coding value, multiply by the mode of transmitter wavelength (after revising environment parameter) again, obtain transmitter to the displacement/distance values between the receiver (measurand), perhaps;
5) earlier set by step 1)---the method in the step 3) is measured the full dose position specific coding value of an etalon length, with measured length coding value (here changing) with environmental factor as benchmark (denominator), in same measurement environment, measure the full dose position specific coding value of receiver again and with this as molecule, molecule and the denominator resulting ratio that is divided by is multiplied each other with the numerical value of etalon length again, be transmitter to the displacement/distance values between the receiver (measurand).
The step 2 of the inventive method) each wavelength that adopts phase encoder and coarse positioning scrambler will receive continuous ultrasound ripple or single echo in is divided into 256～1024 parts by phase place, and represents the specific coding of full dose position with the bigit and the decimal place of multidigit.
Launch the continuous ultrasound ripple as startup by transmitter earlier in the step 3) of the inventive method, obtaining one by receiver (measurand) is carved into when starting and receives first echo, and postponed to produce after the fixed cycle phase discriminating pulse that a signal to noise ratio (S/N ratio) has improved, the full dose position specific coding value that obtains is used as the zero point of this time measurement, and calculates transmitter to the absolute distance value between the receiver (measurand) (needing compensation corresponding time delay of value) with this.
Transmitter uses first frequency work, receiver to obtain one group of phase code B in one-period earlier in the step 3) of the inventive method
1, close first frequency then, transmitter second frequency work, receiver obtains another group phase code B in one-period
2, phase code B
1With phase code B
2Difference be transmitter to the thick sign indicating number function between the receiver (measurand), slightly the sign indicating number functional value makes up the phase code of first frequency, be the full dose position specific coding of receiver (measurand), all within the transmitter master shakes operating frequency range, still there are a fixing stable frequency difference in first frequency and second frequency.
A kind of measuring displacement/distance device based on the ultrasonic continuous sound-field phase-demodulating principle, comprise king oscillator, transmitter and emitter driver circuitry, receiver and received signal treatment circuit, corresponding logic digital circuits, parallel sign indicating number and serial code interface circuit, parts such as microprocessor and display, it is characterized in that: king oscillator is connected with the coarse positioning scrambler with binary phase encoder, constitute the position encoded baseline system of full dose, the fundamental frequency signal that this system produces enters emitter driver circuitry, through preliminary filtering, frequency-selecting amplification and electric current amplify the back by measuring the transmitter emission, the simulating signal that receiver in this systematic survey passage receives enters measures the receiver signal processing circuit, through prime amplifier, entering the full dose position coder after limiting amplifier and the phase discriminating pulse formation processing of circuit samples, obtain receiver (measurand) specific coding value in full dose position in continuous sound-field, obtain receiver (measurand) transmitter displacement/distance values relatively again after interface unit and microprocessor calculation process, its measurement result is sent into the display demonstration or is sent host computer.
Be parallel with the correction channel of forming by correct transmission device and correction receiver on the emitter driver circuitry of apparatus of the present invention, its signal of proofreading and correct the receiver reception enters proofreaies and correct the receiver signal processing circuit, through prime amplifier, after limiting amplifier and phase discriminating pulse form processing of circuit, resulting correction phase discriminating pulse acts on the phase calibration register, from phase encoder, collect the phase calibration sign indicating number by the phase calibration register, and obtain the real-time phase code of this fixed length (distance), be latched in the phase calibration register, simultaneously give CPU with the phase encoding of measuring passage by interface with the phase encoding in the correction channel then and carry out computing.
Apparatus of the present invention also have access to zero position numerical control system circuit on the full dose position coder and thick sign indicating number delta pulse forms circuit, when the signal of receiver enters the full dose position coder, putting of up-down counter shut with high level after number is held the zero-bit wave number sign indicating number that obtains coarse positioning scrambler (second frequency divider) immediately in its coarse positioning sign indicating number register, and obtained phase code formed in the circuit at thick sign indicating number delta pulse carrying out logic and differential or integral operation, with the increment count pulse of timely acquisition this moment (phase demodulation is constantly) coarse positioning sign indicating number.
Apparatus of the present invention are respectively arranged with the fixed delay device at the signal input port end of measuring receiver signal processing circuit and correction receiver signal processing circuit.
The front end of current amplifier is provided with booster amplifier and frequency-selecting amplifier employing double T low noise operational amplifier in emitter driver circuitry, and the prime amplifier of measuring in receiver signal processing circuit and the correction receiver signal processing circuit adopts the double T low noise operational amplifier.
The beneficial effect of the inventive method and device is:
1) measuring principle of the present invention can overcome and remedy the deficiency of conventional ultrasonic wave echo-ranging: promptly be not timesharing control and the intermittently measurement that transmits and receives with a sonac when detecting, but when correlation and reflecting operating mode, all be to measure continuous sound field, solved the root problem of measuring rate.Output phase coded data rate height, can reach the output speed of the transmission wavelength of ultrasound wave frequency of operation ± speed of related movement/in this medium, for example be the 40kHz sonac of 1m/s speed for relative motion in gas, the output speed of one frame position coding (16～22 bit parallel sign indicating number) reaches about 40kHz ± 120Hz; The response speed that makes measurement was from 1 second or put several seconds in addition, bring up to about 25 microseconds, thereby obtain the full dose specific coding value of this instantaneous position, and needn't carry out the A/D conversion, just can directly send CPU to by interface unit (as 8255 integrated circuit) and handle in the mode of the parallel sign indicating number of a frame scale-of-two.Wave number of the present invention (coarse positioning) incremental code (reversible counting pulse) is produced through the high speed logic computing by phase code, by delta pulse adding up in up-down counter, thereby in the full dose absolute position encoder value that just can obtain about 25 microseconds under the tracking mode.
2) by phase place and wave number measuring basis in the technical solution of the present invention, position coordinates and sequential coordinate are mapped fully.In a wavelength, be easy to accomplish five equilibrium 2
8Or 2
10This device can be sub-divided into 1/2 with the ultrasound waves appearance position in gas or liquid transfer medium
8～1/2
10, for example for correlation, in air, measure dynamic displacement, resolution can reach about 0.039～0.0083mm; For reflective, resolution can reach about 0.02～0.0042mm; The resonance characteristic that the present invention that main is makes full use of the sonac emission and receives, capacity usage ratio height, thereby signal to noise ratio (S/N ratio) height have with resolution is complementary and read multiplicity.
3) the inventive method is when carrying out predetermined linear measure longimetry program, can suitably be inserted in the equal environment detection and calibration (obtaining the higher branch total value such as etalon phase place of resolution) to the wave number and the phase place of etalon such as gauge equal length, and as benchmark numerical value, (with the branch total value such as phase place of detected distance or length) is converted to the metering numerical value of detected distance or length in proportion.Certainly, under the situation of time permission, should select the most rational cycle to carry out adjustment earlier.This method can be removed the correction of parameters such as temperature, air pressure, humidity and gas componant from, because artificial parameter correction will be accomplished to idealize in current conditions, almost is impossible.The present invention adopts self-adaptation and the comprehensive method of revising, and its dynamic measurement results is affected by environment little, and algorithm is simple, reliable, thereby measuring accuracy is more much higher than traditional echo method.This intellectual relatively real-time correcting method is adaptive, and is full automatic.Error can be reduced to minimum level.According to preliminary test, the improvement of above-mentioned main performance index has all obtained checking in practice.
The technology of the present invention method is simple, use, installation, easy to maintenance, and reliable operation can adopt the sonac that is adapted at the low frequency end of work in gas and the liquid, and production cost is low, has wide range of applications.
Description of drawings
Fig. 1 is traditional correlation ultrasonic ranging block diagram
Fig. 2 is a conventional reflective ultrasonic ranging block diagram
Fig. 3 is traditional type ultrasonic ranging (echo method) oscillogram
Fig. 4 is that correlation detects displacement/apart from schematic diagram in the continuous ultrasound field
Fig. 5 is reflective detection displacement in the continuous ultrasound field/apart from schematic diagram
Fig. 6 be certain moment receiver phase code and its position in sound field concern synoptic diagram
Fig. 7 is that the phase differential that received signal transmits is relatively represented receiver position in (emission sound field zero phase moment) wavelength in sound field
Fig. 8 is based on the fundamental diagram of the measuring displacement/distance device of ultrasonic continuous sound-field phase-demodulating principle
Fig. 9 is phase discriminator type full dose position coder structure and functional diagram
Embodiment
Below in conjunction with the description of drawings embodiment, and the present invention made further theoretical derivation and detailed description;
The displacement or layout, structure and the job step of principle, method and the measurement mechanism measured apart from phase demodulation based on the ultrasonic continuous sound field of the present invention is as follows:
1) correlation is arranged: referring to Fig. 4, arrange ultrasonic transmitter 5 in measuring the main channel, arrange a receiver 6 at the other end, one of them is fixed, and another can do relative motion with measuring object; For self-adaptation, comprehensively revise the error that environmental factor produces, can arrange the correction channel of specific error synthesis correction, wherein the signal of transmitter 12 available transmission devices 5 encourages simultaneously, receiver 13 and transmitter 12 relative fixed, and the distance between them is the fixed standard length (cooperating demarcation by measurement unit) of design.Transmitter 5 and transmitter 12 are launched a continuous ultrasound wave (or sound wave) sequence from starting constantly, and two receivers receive this acoustic field signal respectively and make corresponding signal process.
2) reflective layout: referring to Fig. 5, in measuring the main channel, with ultrasonic transmitter 5, be arranged on one side with receiver 6, and relative fixed, another can be a reflecting object (as mirror or a bright and clean sheet metal) do relative motion with measuring object, and its measuring basis can be regarded the equivalent wave front of reflecting body as; Same for self-adaptation, comprehensively revise the error that environmental factor produces, need to arrange correction channel, wherein the signal of transmitter 12 available transmission devices 5 encourages simultaneously, receiver 13 and transmitter 12 relative fixed, the compensation reflecting plate is a fixed length relatively, distance wherein is the fixed standard length of design, and its layout (reflection, correlation all can) position is only required and measured the main channel and place same environment, and avoids paroxysmal disturbance.Transmitter 5 and transmitter 12 are launched same continuous ultrasound wave or acoustic wave sequences from starting constantly, and receiver 6 and receiver 13 receive the ultrasonic field sound intensity signal that respective channel comes down to same sound field respectively.
At this moment, the continuous sound-field of the compressional wave pattern that transmitter sends, certain is a bit at certain (during emission sound field zero phase) pressure p of being had in a flash in the ultrasonic field
1, the static pressure p of same point when not having ultrasonic field to exist
0Difference be called the acoustic pressure of this point, p commonly used represents.P=p
1-p
0, unit is handkerchief [Pascal], note is made p
a(1p
a=1N/m
2).
For the plane cosine wave (CW) be:
p＝ρcAωcos[ω(t-x/2)+π/2] (2)
In the formula, ρ---density of medium, the velocity of wave in the c----medium, the amplitude of A----medium particle, the circular frequency of ω----particle vibration in the medium (ω=2 π f), the velocity amplitude of A ω---particle vibration (V=A ω), the t---time, x---is to the distance of wave source.
And have: | p
m|=| ρ cA ω | (3)
In the formula, p
m--the maximum value of-acoustic pressure.
As seen the absolute value of acoustic pressure is directly proportional with the velocity amplitude (or angular frequency) of velocity of wave, particle vibration.Because of the frequency of ultrasonic height, so ultrasound wave is more much bigger than the acoustic pressure of sound wave.
From formula (2) as seen, the sound pressure signal that receiver 6 obtains in continuous sound-field is the function of above-mentioned each parameter, wherein at Media density ρ, velocity of sound c, frequency f, under the known situation of the amplitude A of medium particle, be time t and receiver to transmitter or receiver and between the transmitter of homonymy and reflectance target the cosine function of distance.Launch cos[ω (t-x/2)+pi/2] function, can obtain acoustic pressure p and time t and apart from the phase relation formula between the x.
I
r＝I
0/r
n×e
-2αr (4)
The decay expression formula that following formula (4) is propagated in medium for ultrasound wave.I in the formula
r-initial the sound intensity, the r-measuring point leaves the distance of sound source, α-absorption coefficient, the character of reflection absorption and scattering, relevant with frequency of sound wave.In general, frequency is high more, and α is big more, and acoustic attenuation is also fast more.Therefore, the sound wave of same power, high frequency acoustic ratio all-bottom sound propagation distance in air and liquid medium is wanted much shorter, so the ultrasonic interference of short of same frequency, the ultrasound wave of 40kHz low side is adopted in the measurement of displacement or distance as far as possible in gas or liquid.
Because what the technical program adopted is the phase demodulation method, not harsh to the requirement of strength of acoustic pressure, the decay of amplitude and measuring accuracy are not to concern one to one, and only influence 1 or several resolution.But the signal to noise ratio (S/N ratio) requirement on the measurement passage still than higher, is particularly worn overtime countershaft (zero phase constantly) constantly, otherwise can not reach the multiplicity and the accuracy requirement of expection.Therefore in the technical program, adopt the double T frequency-selecting amplifier to carry out filtering effectively.If the design objective of precision will remain within 1 resolution certainly, design has gain automatic control function (AGC) in then must the prime amplifier after receiver, remaining on the sound intensity amplitude consistance of exporting in the whole range, thereby guarantee the consistance of multiplicity and accuracy.
Formula (2) p=ρ cA ω cos[ω (t-x/2)+pi/2] can be reduced to:
p＝Kcos[ω(t-x/2)+π/2] (5)
In the formula (5), K is the coefficient of colligation of the receiver sound intensity.
p＝Kcos[(ω(t-x/2)]cos[π/2]-Ksin[(ω(t-x/2)]sin[π/2]
p＝-Ksin[(ω(t-x/2)) (6)
Work as t=0,2 π, during the sound field same-phase of 4 π etc. and transmitter then
p＝Ksin(ωx/2)＝Ksin(πfx) (7)
f＝c/λ (8)
(8) substitution (7) is got:
p＝Ksin(πcx/λ) (9)
(9) physical significance of formula is: the acoustic pressure that receiver receives is the periodicity sine function with velocity of sound c, wavelength X and position x product when the transmitter zero phase, when c was certain determined value, the sound intensity was the phase relation of position quantity x and wavelength X ratio and is distribution cycle (referring to Fig. 6) with the wavelength X.When the phase differential between launcher signal and the receiver is 0 °, 90 °, 180 °, 360 °, be equivalent to starting point, 1/4 wavelength, 1/2 wavelength, 3/4 wavelength place (referring to Fig. 7) that receiver is positioned at emission sound field medium wavelength.
In the continuous sound-field measuring process, when between receiver and the sound source relative displacement taking place, the oscillation frequency that then receives will change.When between them near the time, the frequency of received signal just increases, otherwise then reduces.Frequency displacement quantity is:
Δ f=V/ λ (10)
In the formula, the movement velocity of the relative ultrasonic propagation direction of V---, λ---ultrasound wave wavelength, Δ f are the frequency difference in the Doppler effect.
Introduction according to above-mentioned principle of work, corresponding inspection amount device total arrangement, function and circuit structure are seen Fig. 8, because of drawing limited, but in order more clearly to express of the present invention opening one's minds, special is that the structure and the functional diagram of phase discriminator type full dose position coder is illustrated among Fig. 9 separately with core component-logic digital circuits of the present invention.
Below Fig. 8, Fig. 9 are combined to remake once and illustrate that simply comprehensively it is as follows therefrom can to obtain concrete job step:
1) when device energising and startup, in the system by king oscillator 1, the core circuit that phase encoder 2 and coarse positioning scrambler 3 are formed is called " the position encoded reference component of full dose " and starts working, king oscillator 1 is exported incessantly as heart and main is shaken that (frequency of operation is the sensor of 40kHz in pulse, can adopt the 10.24MHz/40.96MHz crystal oscillator), entering scale-of-two N level synchronous counter is phase encoder 2 frequency divisions, and main frequency of shaking should be 1/2 of a ultrasound wave frequency of operation
nN is the segmentation number of a wavelength X in the technical program, wavelength X and segmentation several 2
nRatio be ε, ε is the highest readout resolution of this programme.
That is: ε=λ/2
n(11)
2) the sonac frequency of operation F that obtains being scheduled to by N level frequency division this moment
0(fundamental frequency), also will proceed M level frequency division is coarse positioning code coder 3, binary N+M level frequency divider has become this circuit reference phase system, it is that resolution is (for correlation with the length coordinate master oscillator frequenc of ultrasonic ranging, if it is reflective, then resolution can double) time-base shine upon mutually, possessed the position encoded benchmark function of full dose.
At this moment, it is that second frequency divider of M is a coarse positioning code coder 3 that the first via of fundamental frequency (frequency of operation of sonac) enters divide ratio, and the numerical value of its divide ratio M depends on the size that designs range.Maximum range is L
0, then:
L
0＝λ×2
m (12)
If reflective, then:
ε＝λ/2
n+1 (13)
L
0＝λ×2
m-1 (14)
3) from 1) phase encoder 2 (first frequency divider) carries out 2
nObtain the frequency of operation F of this sonac behind the frequency division
0(fundamental frequency), (the second tunnel) enters emitter driver circuitry 4 simultaneously, carries out (4-1～4-4) the processing of four steps.
4) measuring receiver 6 also is a transducer, and it changes the sound intensity signal inversion that receives into small voltage.In measuring sound channel, from starting constantly, receive first ultrasonic echo after, this signal enters the simulation and the digital hybrid circuit of receiving sensor immediately and promptly measures in the receiver signal processing circuit 7.This circuit forms circuit 7-3 by prime amplifier 7-1, accurate limiting amplifier 7-2, phase discriminating pulse and fixed delay device 7-4 forms.Wherein prime amplifier 7-1 also is that centre frequency is the frequency-selecting amplifier of ultrasonic sensor frequency of operation, is made up of RC double T and low noise operational amplifier, and it is appropriate that the Q value of double T is wanted, and too high meeting causes self-sustained oscillation, and is unstable on the contrary, crosses that low then filtering performance is relatively poor.For the loss of the compensation medium increase with distance increases, also should have the Gain Automatic control function of AGC, can obtain the stable signal amplitude in the gamut scope, with the precision of phase discrimination in the further raising gamut scope.Accurate limiting amplifier 7-2 further amplifies the receiver signal, and its enlargement factor is calculated according to noise gate, and should keep the stability of duration of work, to guarantee the demand of resolution and multiplicity.Phase discriminating pulse device 7-3 is the circuit that forms accurate phase discriminating pulse, and its effect is the sound pressure signal that receives to be carried out the RC differential handle, and detects phase discriminating pulse from amplitude limit phase place ripple, constitutes phase demodulation and door with the main pulse of shaking.The effect of phase discriminating pulse is an instantaneous taking-up full dose absolute position encoder value from coarse positioning scrambler 2 and phase encoder 3.In order to improve signal to noise ratio (S/N ratio), to obtain thick sign indicating number of stable wave number and the smart sign indicating number of phase place, it is the absolute/accurate absolute position encoder of full dose, we postpone fixing (as W) phase discriminating pulse according to the truth of measuring sound channel, and fixed delay device 7-4 is arranged on the signal input port rapids of measuring receiver signal processing circuit 7.This fixed delay device 7-4 constitutes with the IC integrated package.For frequency of operation is the sonac of 40kHz, and be T fixing time delay
Y:
T
Y＝25μs×W (15)
The low signal-to-noise ratio of first echo is deferred to W fundamental frequency cycles, measure sound channel and set up stable ultrasonic field this moment, for the 40kHz sonac, postpone 16 ripples and promptly reached the sonac resonant condition, the acoustic field signal that receiver 6 obtains is compared with individual pulse has good signal-to-noise.With the phase discriminating pulse of this moment trigger phase encoder 2 (first frequency divider) and coarse positioning scrambler 3 (second frequency divider) just can obtain well, stablizes, accurately full dose definitely/accurate absolute position encoder value (zero-bit is position encoded).
The prime amplifier 7-1, the 14-1 that measure receiver signal processing circuit 7 and proofread and correct in the receiver signal processing circuit 14 all are double T low noise operational amplifiers.
Have the good antijamming capability and the signal to noise ratio (S/N ratio) of high-quality.
5) full dose position coder 8 is made up of two partial circuits: phase latch 8-1 can be 8 of basic model, also can be high-resolution 10 bit codes.Coarse positioning up-down counter 8-2, basic model is 8, extended pattern is 12.As seen measure of the effect of the phase discriminating pulse of receiver signal processing circuit 7 final outputs, can obtain in real time to start zero-bit absolute position encoder constantly, and the phase code of the phase weekly under the tracking mode is temporary in 8-1 phase encoder 2 and coarse positioning scrambler 3.
6) after startup constantly obtains phase discriminating pulse, must finish two instantaneity work immediately: the firstth, thus act on the zero-bit wave number sign indicating numbers that the number end obtains coarse positioning scrambler 3 (second frequency divider) of putting of up-down counter among the coarse positioning sign indicating number register 8-2, must shut with high level immediately subsequently, so that change the high speed tracking mode over to.Only in this way, just can obtain the position encoded value (16～22 the parallel sign indicating numbers of scale-of-two) of a frame every about 25 μ s (for the 40kHz sonac).This function is finished by zero position numerical control system circuit 10.Zero position numerical control system circuit 10 is actually a rest-set flip-flop, and an end is counted signal by zero position artificial or that little processing is sent and controlled, and the other end dashes do delay back self-locking slightly by putting rapid pulse.Remove and arrange to restart in non-artificial or the program to get zero value, or carry out the verification of thick sign indicating number accuracy and open again.
7) in first work carrying out step 6), second work is obtained phase code to be formed in the circuit 9 at thick sign indicating number delta pulse carry out logical operation.This circuit is actual to be one and to be made up of high speed logic circuit and two RC differential or integrating circuit, and one of them can produce under certain conditions and add pulse, and another can produce subtract pulse under another kind of condition.Its principle of work is very simple, and we know, when having only receiver 6 relative transmitters 5 to produce relative motions, thick sign indicating number just might take place add 1 or subtract 1 wave number operation.Its logical operation rule is: when all can obtain a frame (8 or 10) phase code every about 25 μ s (for the 40kHz sonac), if a present frame phase code is compared with previous frame, move to the four-quadrant of another wavelength location from first quartile, then the thick sign indicating number of explanation should subtract 1, means that the receiver position returns within the last wavelength coverage from a wavelength; If enter first quartile from four-quadrant, then thick sign indicating number should add 1, and explanation is that the receiver position advances to previous wavelength coverage from this wavelength coverage; The then thick sign indicating number of all the other states does not add and does not subtract, and means that the receiver position moves in same wavelength coverage or be in relative static conditions.The generation of this coarse positioning incremental code is if correlation can adapt to following highest movement speed V
0:
V
0＝(1/4)λ×40kHz (16)
If with the air is medium, the sonac of 40kHz can adapt to the highest movement speed of 80m/s in theory.
For reflective:
V
0＝(1/4)λ×40kHz/2 (17)
Still be example, can adapt to the highest movement speed of 40m/s for the sonac of reflective 40kHz in theory with the air dielectric.
Handle from logical circuit merely in fact, we can expand to (3 * λ/8) * F
0Or (7 * λ/16) * F
0Movement velocity, but this moment, measurable top speed was not subjected to the restriction of this factor, but was subjected to the restriction of wave sound working sensor frequency band, for example for this sonac of R/T-40, it-3dB frequency band Δ f=± 1kHz, then:
V
0＝λ×Δf (18)
For reflective:
V
0＝λ×Δf/2 (19)
The highest movement speed that then can survey is V when the correlation mode
0=8.5m/s is V when the reflection mode
0About=4.25m/s.Can obtain from calculating, dynamic resolution still can remain about 0.1mm when reflection this moment mode was worked, and this dynamic response is that general displacement transducer is unapproachable.
In the dynamic measuring control system of precision, the harshest requirement is to guarantee under the situation of highest resolution the highest movement speed V that can reach
*, be 1024 for the segmentation number of accurate wavelength, the highest movement speed V that can reach
*:
V
*＝(λ/2
10)×F
0 (20)
Can get V by formula (20) calculating
*Be 160mm/s.This index also is that general displacement transducer is unapproachable, and can easyly reach under this principle of work.
8) the technical program is operated here, has obtained the full dose position specific coding value of receiver 6 in continuous sound-field, and it is the parallel sign indicating numbers of 16～22 scale-of-two, and refresh rate is about 40kHz.In order to guarantee the present invention program's design accuracy, still need and carry out integrated calibration, get rid of Effect of Environmental.Concrete method and operation are: in set correction channel (second measures passage), arranged another correct transmission device 12, with same circuit is that emitter driver circuitry 4 drives, and is provided with one in its corresponding position and fixes with its relative position and the correction receiver 13 of known physical distance.Receiver 13 has the analog-and digital-hybrid circuit same with measuring receiver 6, promptly proofreaies and correct receiver signal processing circuit 14, and its processing capacity is with to measure receiver signal processing circuit 7 identical.The phase encoder 2 of resulting correction phase discriminating pulse same purpose in the full dose position reference system, and obtain the phase code of this fixed length (distance), be latched in the phase calibration register 11.Because the error that environmental factor causes has scope, in general, for 1m with interior fixed length A, generally can not surpass ± 1/2 wavelength promptly ± 4.25mm.So the generation of the thick sign indicating number of this correction channel and real-time input CPU15 are unnecessary.As long as we give CPU microprocessor 15 simultaneously with the measurement coding of this 8～10 bit correction phase code and first passage.
9) parallel interface and CPU microprocessor 15 follow procedures resolve by following algorithm after receiving the phase code B of fixed length A that the measurement result of first passage is full dose position specific coding value C, D and correction usefulness:
The first step: CPU microprocessor 15 is chosen adjustment period T (rejecting the number of non-compliances certificate automatically according to movement velocity during sampling) according to the speed and the customer requirements of motion, wherein A is a fixed length, unit is mm, B is 8 or 10 binary phase sign indicating numbers (deciding according to model), L is the position encoded value of measurand, L=C+D (note radix point will aim at) is wherein: C is that 8 or 12 of measurand measure thick sign indicating number (wave number value), and D is the phase place code value of 8 or 10 measurands.
[L]＝∑(C
i.+D
i)/N+W(F) (21)
In the formula (21), [L] is N mean value in the T cycle, and+W (F) expression compensation up-down counter at zero point has been put when several fixed delay W cycle starting thick constantly yard, in error correction and when resolving it filled.W (F) expression is the W value of showing with hexadecimal number system.
The specific coding value of standard length should be in real time
[A]＝A
0+∑B
i/N (22)
In the formula (22), A is the decimal number fixed length, and unit is a millimeter, A
0Be the scale-of-two coarse positioning code value of this fixed length A, can not changing B under the environment usually
iBe the phase code (can just can bear) of standard fixed length under this environment of actual measurement, i.e. mantissa in wavelength, its can the change to some extent with the variation of actual measurement environment.[A] is the encoded radio that the fixed length A in this environment expresses with binary number.It contains the Effect of Environmental degree.
Second step: resolve, algorithm is:
L＝{[L]/[A]}×A (23)
[L] digital coding and the measured value of standard fixed length A in real time environment that formula (23) expression is measured are divided by, and just can eliminate the environmental turbulence error, become the ratio value of a relative measurement, and be multiplied by standard length this moment again, just can obtain real measured value.Certainly in order to obtain best correction effect, should carry out certain the effectively shielding or processing of eliminating the noise simultaneously with the correction sound channel with measuring sound channel, prevent the interference of accidentalia, above-mentioned calibration result has obtained checking on test unit.
10) these position encoded CPU that arrive of CPU microprocessor and parallel interface 15 parallel transmissions, the net result of handling after resolving is sent into LCD or light-emitting diode display and is outputed to host computer by RS422 or RS232 interface, uses for system.(can form the multiple spot synchronized measurement system).
The technical program is in actual applications:
1. can be according to different technical measures in the different local employing of the requirement the technical program of user.For example, in machine work, all kinds of lathes that need High-speed Control just simply start constantly up-down counter in the step 6) and put number (the thick code value of zero-bit) operation.Specified point is set on lathe manually puts several methods and reach and use instead, is that to put number be to realize very easily because the range of wavelengths of 8.5mm carries out the people.And for example, in the process that various oil cylinder strokes are measured, do not need several millimeters measuring accuracy at several or zero point zero at zero point, and only need higher dynamic response, this kind application can be omitted temperature and the air pressure revised law that second correction channel take to simplify and be got final product.
2. on basis of the present invention, we can also extend and calculate the coarse positioning coding with frequency-difference method from two groups of phase code.Under the not too high occasion of dynamic requirements, we can obtain one group of phase code B earlier with the first frequency work of sonac in a big measuring period
1Utilize simulant electronic switch to close first frequency then, insert second frequency, first frequency and second is frequently all within the sonac operating frequency range, but there is a fixing and highly stable frequency difference, hardware that can shared measurement passage except that increasing an electronic switch.
Δf＝F
1-F
2 (24)
If measurand does not move during this period, but the phase code of the second frequency that obtains this moment has not been original encoded radio B
1, but another phase encoding B
2, their difference mainly is that the position and the environment measurement error at measurand place causes.If the environment measurement error can be ignored or in time revise, so:
ΔB＝B
1-B
2 (25)
Here, the generation of Δ B causes because of the position that is the measurand place fully, and we can calculate the coarse positioning encoded radio of measurand position in view of the above.With of phase code (smart sign indicating number) the thick smart combination of this coarse positioning coding, also can obtain the specific coding of full dose position with first frequency.
If exigent dynamic response then can carry out, can reach the equally high phase demodulation speed of first frequency fully, with B in second channel
1, B
2Resolve and and B
1Combination can obtain the identical absolute position encoder value of answer, has avoided first frequency like this and must obtain the coarse positioning count pulse and must obtain the operation that this moment, zero point, coarse positioning was encoded when starting in tracking mode.
If the position encoded value of this moment is L
i, at F
1And F
2Frequency of operation under:
L
i＝λ
1[M
1+N
1] (26)
L
i＝λ
2[M
2+N
2] (27)
In the formula (26), λ
1Be the wavelength value of first frequency, M
1Be λ
1The wavelength round values, N
1Be λ
1The wavelength fractional value; Identifier definition in the formula (27) is analogized.If in of short duration measurement moment, apart from no change, L then
iConstant.Because λ
1, λ
2Known, N
1, N
2Can measure, then M
1, M
2Between funtcional relationship can through type (26), (27) resolve out.If range is located within the common multiple of two wavelength, then M
1, M
2Needn't just measure and can resolve out, if range is bigger, exceed outside the common multiple, then be multivalued function, and available other householder methods are differentiated out with it.
This kind principle of work and detection method are called the frequency-difference method absolute position encoder.
For example, establish: the first frequency F of ultrasonic sensor
1=40kHz; Second frequency F
2=40.256kHz.Then have according to formula (22)
Δf＝F
1-F
2＝-256Hz
According to formula (25)
Δ B=B
1-B
2Can prove very briefly that Δ B coarse positioning encoded radio with measurand after CPU handles is relevant.
Therefore, at this in particular cases, the full dose position specific coding value of measurand
L＝(B
1-B
2)×2
8+B
2 (26)
Formula (26) is if mean in measuring process, and the equivalent wave front of reverberation is discontinuous promptly sharply to be changed, when not advancing " tracking mode " and need measure at a high speed the time, and available this solution.The cost of being paid is to increase by second to measure passage, but can only gather the phase encoding of these two passages, calculate the coarse positioning sign indicating number of measurand by CPU, need in addition two stable in the sonac operating frequency range and the crystal oscillator of certain frequency difference arranged.
3. through theory and evidence, dynamically stroke detection can utilize stable liquid medium, can obtain stable kinetic measurement value in measuring process.As long as after rationally demarcating, error is easily revised and controlled, but simplified measurement passage also is adapted to use than rugged surroundings.Corresponding resolution that not enough is lower (as in the water than in air low about 4 times), this can remedy with the circuit of higher frequency certainly, thus more Gao Su IC circuit to use under this occasion be useful.
Measurement scheme of the present invention and device traditional relatively echo method on measuring principle have been done the change of essence, refer to lay a good foundation for improving major techniques such as its precision, multiplicity, resolution, measurement range.But in project implementing process, reach predetermined effect, also must use suitable, the reliable components and parts of technology, skill and selection and the quality management system of association area and specialty.Influence uses the factor of final measuring accuracy a lot: as the calibration value of crystal oscillator and the matching of sonac frequency of operation, the degree of stability of quartz crystal, measure sound channel and the shielding that compensates sound channel, the rationality of sensor placement, the careful property of proving operation, the high speed performance index of selected electronic devices and components, be worthy of careful study with stability, particularly R, the choosing very of C of temperature and change in voltage.The selection of code system in the time of aspect system design, also will considering distribution, the logical operation of distribution, the signal to noise ratio (S/N ratio) of amplification coefficient, the selection in sampling time, the reasonable use of serial paralled interface and configuration or the like of software when forming measuring system.But these all are to belong to routine techniques and skill, have not belonged to the scope of the present invention's argumentation.But " details decision success or failure " cannot adopt a casual attitude in force often.
In a word, enforcement of the present invention can be on the basis of former technology improves 1～2 order of magnitude with the key technical indexes such as the dynamic perfromance of product, resolution, multiplicity, accuracy, to a certain extent cost decrease on the contrary (as can widely apply lower price as the sonac of 40kHz frequency and in, large-scale digital integration module).So opened up the application market of ultrasonic measurement greatly:
1) can be applicable to the real-time measurement of fault diagnosis, mechanical vibration medium frequency and the amplitude of rotating machinery shaft system; The stroke kinetic measurement of various ranges (as lathe, oil cylinder, gate);
2) a large amount of liquid level, the depth of water, materials detect the non-contacting position/displacement detecting that should not contact with personnel; Explosion-proof environment down in, the monitoring of journey level of fuel in a small amount;
3) can detect the bad composition of hazardous area gases such as colliery, underground mine; Confined space environmental monitorings such as submarine; Various fuel oils and the accurately measurement of evaluation fluid density;
4) but constitute the health monitoring data such as geology sedimentation, inclination of long-term forecasting after the communicating pipe system, forecast landslide, automatic recording heavy construction;
5) position, length, displacement etc. detect in real time in a large amount of industry, the business automation;
6) be used for military, civilian near sensor-based system; Automatic driving instrument, mobile robot's sensory perceptual system and environment detection; Safe protection engineering or the like.
Claims (9)
1. measuring displacement/distance method based on ultrasound wave or sound wave continuous sound-field phase-demodulating principle is characterized in that may further comprise the steps:
1) in gas or liquid medium, launches continuous ultrasound wave by transmitter, correlation/reflection receiver reception continuous ultrasound ripple is set in its acoustic field scope promptly starts the later sound field of first echo constantly;
2) adopt frequency divider that each wavelength of the continuous ultrasound ripple that received is divided into umber greater than 100 parts by phase place, and be that phase code is with corresponding binary coding value representation the Low Level Code of receiver position;
3) the receiver position being received the continuous ultrasound ripple is the moment of specified signal from the positive crossing time axle of negative sense at the fundamental frequency phase demodulation constantly, the waveform signal of a whole wavelength of less than is that phase code is represented with the umber of phase place five equilibrium as the decimal of wave number, promptly the increment of thick sign indicating number is by the phase code carry or give up the throne and obtain for its wave number, and then the full dose position specific coding of receiver is thick yard that phase code+coarse positioning incremental code+startups obtained constantly;
4) add that with thick sign indicating number phase code promptly forms full dose position specific coding value, multiply by the mode of transmitter wavelength again, obtain transmitter (5) to the displacement/distance values between the receiver (6), perhaps;
5) earlier set by step 1)---the method in the step 3) is measured the full dose position specific coding value of an etalon length, with measured length coding value as denominator, in same measurement environment, measure the full dose position specific coding value of receiver again and with this as molecule, molecule and the denominator resulting ratio that is divided by is multiplied each other with the numerical value of etalon length again, be transmitter to the displacement/distance values between the receiver.
2. a kind of measuring displacement/distance method according to claim 1 based on ultrasound wave or sound wave continuous sound-field phase-demodulating principle, it is characterized in that: step 2) in adopt phase encoder (2) and coarse positioning scrambler (3) will receive continuous ultrasound ripple or single echo each wavelength be divided into 256～1024 parts by phase place, and represent the specific coding of full dose position with the bigit and the decimal place of multidigit.
3. a kind of measuring displacement/distance method according to claim 1 based on ultrasound wave or sound wave continuous sound-field phase-demodulating principle, it is characterized in that: launch the continuous ultrasound ripple as startup by transmitter (5) earlier in the step 3), obtaining one by receiver (6) is carved into when starting and receives first echo, and postponed to produce after the fixed cycle phase discriminating pulse that a signal to noise ratio (S/N ratio) has improved, the full dose position specific coding value that obtains is used as the zero point of this time measurement, and calculates transmitter (5) to the absolute distance value between the receiver (6) with this.
4. according to the described a kind of measuring displacement/distance method based on ultrasound wave or sound wave continuous sound-field phase-demodulating principle of claim 1, it is characterized in that: transmitter in the step 3) (5) is used first frequency work earlier, and receiver (6) obtains one group of phase code B in one-period
1, close first frequency then, transmitter (5) is used second frequency work, and receiver (6) obtains another group phase code B in one-period
2, phase code B
1With phase code B
2Difference be transmitter (5) to the thick sign indicating number function between the receiver (6), slightly the sign indicating number functional value makes up the phase code of first frequency, be the full dose position specific coding of receiver (6), all within the transmitter master shakes operating frequency range, still there are a fixing stable frequency difference in first frequency and second frequency.
5. measuring displacement/distance device based on the ultrasonic continuous sound-field phase-demodulating principle, comprise king oscillator, transmitter and emitter driver circuitry, receiver and received signal treatment circuit, corresponding logic digital circuits, parallel sign indicating number and serial code interface circuit, parts such as microprocessor and display, it is characterized in that: king oscillator (1) is connected with coarse positioning scrambler (3) with binary phase encoder (2), constitute the position encoded baseline system of full dose, the fundamental frequency signal that this system produces enters emitter driver circuitry (4), through preliminary filtering (4-1), (4-2) amplified in frequency-selecting and electric current amplifies (4-3) back by measuring transmitter (5) emission, the simulating signal that receiver (6) in this systematic survey passage receives enters measures receiver signal processing circuit (7), through prime amplifier (7-1), entering full dose position coder (8) after limiting amplifier (7-2) and phase discriminating pulse formation circuit (7-3) are handled samples, obtain receiver (6) specific coding value in full dose position in continuous sound-field, obtain relatively transmitter displacement/distance values of receiver (6) again after interface unit and microprocessor (15) calculation process, its measurement result is sent into display (16) and is shown or send host computer.
6. a kind of measuring displacement/distance device according to claim 5 based on the ultrasonic continuous sound-field phase-demodulating principle, it is characterized in that: be parallel with the correction channel of forming by correct transmission device (12) and correction receiver (13) on the emitter driver circuitry (4), its signal of proofreading and correct receiver (13) reception enters proofreaies and correct receiver signal processing circuit (14), through prime amplifier (14-1), after limiting amplifier (14-2) and phase discriminating pulse form circuit (14-3) processing, resulting correction phase discriminating pulse acts on phase calibration register (11), from phase encoder (2), collect the phase calibration sign indicating number by phase calibration register (11), and obtain the real-time phase code of this fixed length, be latched in the phase calibration register (11), simultaneously give CPU (15) with the phase encoding of measuring passage by interface with the phase encoding in the correction channel then and carry out computing.
7. a kind of measuring displacement/distance device according to claim 5 based on the ultrasonic continuous sound-field phase-demodulating principle, it is characterized in that: on full dose position coder (8), also have access to zero position numerical control system circuit (10) and thick sign indicating number delta pulse formation circuit (9), when the signal of receiver (6) enters full dose position coder (8), putting of up-down counter shut with high level after number is held the zero-bit wave number sign indicating number that obtains coarse positioning scrambler (3) immediately in its coarse positioning sign indicating number register (8-2), and obtained phase code formed in the circuit (9) at thick sign indicating number delta pulse carrying out logic and differential or integral operation, with the increment count pulse of timely acquisition this coarse positioning sign indicating number moment.
8. a kind of measuring displacement/distance device based on the ultrasonic continuous sound-field phase-demodulating principle according to claim 5 is characterized in that: be respectively arranged with fixed delay device (7-4,14-4) at the signal input port end of measuring receiver signal processing circuit (7) and correction receiver signal processing circuit (14).
9. according to claim 5 or 6 described a kind of measuring displacement/distance devices based on the ultrasonic continuous sound-field phase-demodulating principle, it is characterized in that: the front end of current amplifier (4-3) is provided with booster amplifier (4-4) and frequency-selecting amplifier (4-2) employing double T low noise operational amplifier in emitter driver circuitry (4), and the prime amplifier of measuring in receiver signal processing circuit (7) and the correction receiver signal processing circuit (14) (7-1,14-1) adopts the double T low noise operational amplifier.
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