CN102636780A - Ultrasonic ranging method - Google Patents

Ultrasonic ranging method Download PDF

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Publication number
CN102636780A
CN102636780A CN2012101265848A CN201210126584A CN102636780A CN 102636780 A CN102636780 A CN 102636780A CN 2012101265848 A CN2012101265848 A CN 2012101265848A CN 201210126584 A CN201210126584 A CN 201210126584A CN 102636780 A CN102636780 A CN 102636780A
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CN
China
Prior art keywords
ultrasonic
ultrasound wave
receiver
ranging
transmitter
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Pending
Application number
CN2012101265848A
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Chinese (zh)
Inventor
邾继贵
吴军
任永杰
杨凌辉
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Tianjin University
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Tianjin University
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Application filed by Tianjin University filed Critical Tianjin University
Priority to CN2012101265848A priority Critical patent/CN102636780A/en
Publication of CN102636780A publication Critical patent/CN102636780A/en
Pending legal-status Critical Current

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Abstract

The invention discloses an ultrasonic ranging method, belonging to the technical field of electronic measurements. The ultrasonic ranging method comprises the following steps that: an ultrasonic transmitter and a pulse laser are located at a transmitting end, the transmitting end receives a measuring command, subsequently, the pulse laser triggers a beam of pulse laser and the ultrasonic transmitter triggers an ultrasonic wave at the same time, and phase locking is carried out on the triggered ultrasonic wave and an external clock source; an ultrasonic receiver and a photodiode are located at a receiving end, after the photodiode receives the pulse laser, a timer is started, after the ultrasonic receiver acquires the received ultrasonic wave, the timer is stopped to acquire transition time; the transition time multiplies by a revised sound velocity to acquire a rough measurement value of a measured distance; and a phase difference is obtained, a fine measurement part is lambda delta omega/2phi, and an actually measured distance d' is acquired, wherein d'=Nlambda+lambda delta omega/2phi. The ultrasonic ranging method has the advantages that the receiver is easily interfered by the transmitter, a measurement blind zone is greatly reduced, the ultrasonic distance measuring directivity is improved, the distance measuring precision is improved within one ultrasonic wavelength; and the ultrasonic ranging method is particularly suitable for distance measurement in a single station type space orientation and measurement system.

Description

A kind of ultrasonic ranging method
Technical field
The invention belongs to electronic measuring technology field, particularly a kind of ultrasonic ranging method.
Background technology
Ultrasonic ranging has at present obtained using widely; Traditional ultrasonic ranging method is reflective measuring method; Be that ultrasonic transmitter and receiver are in same module; Ultrasonic transmitter sends a branch of ultrasound wave, and this ultrasound wave is received by ultrasonic receiver through testee reflection back, and the time through the measurement transonic can calculate tested distance.
The inventor finds to exist at least in the prior art following shortcoming and defect in realizing process of the present invention:
Because the testee surface smoothness can't be confirmed, causes tested distance itself to have certain error; Ultrasound wave directive property is poor, can't confirm whether the echo that receives is the reflection wave of specifying testee; Consubstantiality receiving type distance measuring method receiver is prone to transmitting-receiving love dart resonance to be disturbed, and forms one and measures the blind area.
Summary of the invention
The invention provides a kind of ultrasonic ranging method, the present invention has realized allosome receiving type supersonic sounding, has reduced measuring error, avoids measuring the blind area, sees hereinafter for details and describes:
A kind of ultrasonic ranging method said method comprising the steps of:
(1) ultrasonic transmitter and pulsed laser are in transmitting terminal; After said transmitting terminal receives measuring command; Said pulsed laser triggers a bundle of pulsed laser, and simultaneously said ultrasonic transmitter triggers ultrasound wave, and the ultrasound wave and the external clock reference that trigger are advanced horizontal lock;
(2) ultrasonic receiver and photodiode are in receiving end, after said photodiode receives pulse laser, start timer, and after said ultrasonic receiver obtained the ultrasound wave of reception, said timer stopped, and obtained transit time t;
(3) said transit time t multiply by according to the revised velocity of sound v of environment temperature and obtains tested coarse range measuring value d "=vt;
(4) ultrasound wave of the said triggering that provides of the ultrasound wave of said reception and said external clock reference carries out than mutually; Obtain phase differential then accurate measurement partly for wherein λ be hyperacoustic wavelength; And λ=v/f, f are frequency of ultrasonic;
(5) obtain measured distance wherein; N=[vt/ λ], [] expression rounds the merchant of vt/ λ.
Said external clock reference is specially: rubidium atomic clock.
The beneficial effect of technical scheme provided by the invention is:
The invention provides a kind of ultrasonic ranging method; The present invention carries out the allosome design with ultrasonic transmitter and ultrasonic receiver; Ultrasonic receiver is positioned on the testee, makes receiver not be subject to transmitter and disturbs, and measures the blind area and reduces greatly; And tested distance is exactly the distance between ultrasonic transmitter and the receiver, has improved the directive property of supersonic sounding.On traditional transit time method basis, improved measuring accuracy through phase-comparison method, distance accuracy to be brought up in the ultrasonic wavelength, this method is particularly useful for the range observation in the single step form space orientation measuring system.
Description of drawings
Fig. 1 is the process flow diagram of a kind of ultrasonic ranging method provided by the invention;
Fig. 2 is the synoptic diagram of allosome receiving type supersonic sounding model provided by the invention.
The components listed tabulation is as follows in the accompanying drawing:
1: transmitting terminal; 2: receiving end;
11: ultrasonic transmitter; 12: pulsed laser;
21: ultrasonic receiver; 22: photodiode;
3: external clock reference.
Embodiment
For making the object of the invention, technical scheme and advantage clearer, will combine accompanying drawing that embodiment of the present invention is done to describe in detail further below.
In order to realize allosome receiving type supersonic sounding, reduce measuring error, avoid measuring the blind area, referring to Fig. 1 and Fig. 2, the embodiment of the invention provides a kind of ultrasonic ranging method, and this method may further comprise the steps:
Allosome receives and is meant that ultrasonic receiver 21 is not on ultrasonic transmitter 11; And be positioned on the testee; The design of separate type makes ultrasonic receiver 21 not be subject to ultrasonic transmitter 11 interference like this; Measure the blind area and reduce greatly, and tested distance is exactly the distance between ultrasonic transmitter 11 and the ultrasonic receiver 21, improved the directive property of supersonic sounding.
On traditional transit time method basis; Can improve measuring accuracy through phase-comparison method; The ultrasound wave that is about to receive carries out bit comparison mutually with the ultrasound wave of triggering; Because during ultrasonic propagation, hyperacoustic phase place can change in time, so the phase differential between ultrasound wave that can be through measurement triggering and the ultrasound wave that receives is brought up to distance accuracy in the ultrasonic wavelength.
101: ultrasonic transmitter 11 is in transmitting terminal 1 with pulsed laser 12; After transmitting terminal 1 receives measuring command; Pulsed laser 12 triggers a bundle of pulsed laser, and ultrasonic transmitter 11 triggers ultrasound wave simultaneously, and the ultrasound wave and the external clock reference 3 that trigger are advanced horizontal lock;
Wherein, measuring command is sent by host computer or other-end equipment usually, and when specifically realizing, the embodiment of the invention does not limit this.
Through being locked mutually with external clock reference 3, the ultrasound wave that triggers handles the strict homophase of ultrasound wave that makes external clock reference 3 and triggering.
102: ultrasonic receiver 21 is in receiving end 2 with photodiode 22, after photodiode 22 receives pulse laser, starts timer, and after ultrasonic receiver 21 obtained the ultrasound wave of reception, timer stopped, and obtained transit time t;
Because the light velocity is far longer than the velocity of sound,, started timer when can think ultrasonic emitting so the time that pulse laser is propagated can ignore.When ultrasonic receiver 21 receives ultrasound wave, stop timing, then this section transit time t is exactly the time of the ultrasonic propagation of triggering, multiply by according to the revised velocity of sound v of environment temperature through transit time t and can draw tested coarse range measuring value.
103: transit time t multiply by according to the revised velocity of sound v of environment temperature and obtains tested coarse range measuring value d "=vt;
In order to improve measuring accuracy, can adopt the tested coarse range measuring value of phase-comparison method correction d ".Because ultrasonic transmitter 11 and ultrasonic receiver 21 be not at same end, ultrasonic receiver 21 is difficult for obtaining the reference signals of phase bit comparisons.
The method that the embodiment of the invention takes to be provided with a high-precision external clock reference is that receiving end 2 provides reference signal, and external clock reference is specially: rubidium atomic clock.
104: the ultrasound wave of the triggering that the ultrasound wave of reception and external clock reference 3 provide carries out than mutually; Obtain phase differential then accurate measurement partly for wherein λ be hyperacoustic wavelength; And λ=v/f, f are frequency of ultrasonic;
Wherein, can tested distance be accurate in the ultrasonic wavelength through the ultrasound wave of reception and hyperacoustic phase differential of triggering, distance accuracy is by determining than phase precision.
105: obtain measured distance wherein; N=[vt/ λ], [] expression rounds the merchant of vt/ λ.
In sum; The embodiment of the invention provides a kind of ultrasonic ranging method, and the embodiment of the invention is carried out the allosome design with ultrasonic transmitter and ultrasonic receiver, and ultrasonic receiver is positioned on the testee; Making receiver not be subject to transmitter disturbs; Measure the blind area and reduce greatly, and tested distance is exactly the distance between ultrasonic transmitter and the receiver, improved the directive property of supersonic sounding.On traditional transit time method basis, improved measuring accuracy through phase-comparison method, distance accuracy to be brought up in the ultrasonic wavelength, this method is particularly useful for the range observation in the single step form space orientation measuring system.
It will be appreciated by those skilled in the art that accompanying drawing is the synoptic diagram of a preferred embodiment, the invention described above embodiment sequence number is not represented the quality of embodiment just to description.
The above is merely preferred embodiment of the present invention, and is in order to restriction the present invention, not all within spirit of the present invention and principle, any modification of being done, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (2)

1. a ultrasonic ranging method is characterized in that, said method comprising the steps of:
(1) ultrasonic transmitter and pulsed laser are in transmitting terminal; After said transmitting terminal receives measuring command; Said pulsed laser triggers a bundle of pulsed laser, and simultaneously said ultrasonic transmitter triggers ultrasound wave, and the ultrasound wave and the external clock reference that trigger are advanced horizontal lock;
(2) ultrasonic receiver and photodiode are in receiving end, after said photodiode receives pulse laser, start timer, and after said ultrasonic receiver obtained the ultrasound wave of reception, said timer stopped, and obtained transit time t;
(3) said transit time t multiply by according to the revised velocity of sound v of environment temperature and obtains tested coarse range measuring value d "=vt:
(4) ultrasound wave of the said triggering that provides of the ultrasound wave of said reception and said external clock reference carries out than mutually; Obtain phase differential then accurate measurement partly for wherein λ be hyperacoustic wavelength; And λ=v/f, f are frequency of ultrasonic;
(5) obtain measured distance wherein; N=[vt/ λ], [] expression rounds the merchant of vt/ λ.
2. a kind of ultrasonic ranging method according to claim 1 is characterized in that said external clock reference is specially: rubidium atomic clock.
CN2012101265848A 2012-04-26 2012-04-26 Ultrasonic ranging method Pending CN102636780A (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103777202A (en) * 2013-12-16 2014-05-07 浙江工商大学 Ultrasonic distance measuring method based on damping free vibration
CN104459703A (en) * 2014-11-12 2015-03-25 惠州Tcl移动通信有限公司 Sonar ranging method and mobile device
CN104459705A (en) * 2014-12-05 2015-03-25 苏州市欧博锐自动化科技有限公司 Ultrasonic ranging system with temperature compensation function
CN104914439A (en) * 2015-05-19 2015-09-16 合肥工业大学 Ultrasonic ranging-based double-phase measuring method
CN104990621A (en) * 2015-06-15 2015-10-21 合肥工业大学 Differential ultrasonic low frequency vibration measuring device and method
CN105158764A (en) * 2015-08-31 2015-12-16 苏州市新瑞奇节电科技有限公司 Ultrasonic vehicle overweight monitoring system with temperature compensation
CN105158765A (en) * 2015-08-31 2015-12-16 苏州市新瑞奇节电科技有限公司 Vehicle overweight detection method based on ultrasonic sensor
CN106313056A (en) * 2016-10-26 2017-01-11 重庆大学 Obstacle detection method for snow sweeping robot
CN106405569A (en) * 2016-10-12 2017-02-15 重庆师范大学 Laser distance measurement method based on mode-locked pulse sequence, and system thereof
CN108474843A (en) * 2016-01-29 2018-08-31 松下知识产权经营株式会社 Distance-measuring device
CN109696680A (en) * 2018-12-27 2019-04-30 北京哈工科教机器人科技有限公司 High-precision ultrasonic ranging device and method based on phase-detection

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103777202A (en) * 2013-12-16 2014-05-07 浙江工商大学 Ultrasonic distance measuring method based on damping free vibration
CN104459703A (en) * 2014-11-12 2015-03-25 惠州Tcl移动通信有限公司 Sonar ranging method and mobile device
CN104459705A (en) * 2014-12-05 2015-03-25 苏州市欧博锐自动化科技有限公司 Ultrasonic ranging system with temperature compensation function
CN104914439A (en) * 2015-05-19 2015-09-16 合肥工业大学 Ultrasonic ranging-based double-phase measuring method
CN104990621A (en) * 2015-06-15 2015-10-21 合肥工业大学 Differential ultrasonic low frequency vibration measuring device and method
CN105158764A (en) * 2015-08-31 2015-12-16 苏州市新瑞奇节电科技有限公司 Ultrasonic vehicle overweight monitoring system with temperature compensation
CN105158765A (en) * 2015-08-31 2015-12-16 苏州市新瑞奇节电科技有限公司 Vehicle overweight detection method based on ultrasonic sensor
CN108474843A (en) * 2016-01-29 2018-08-31 松下知识产权经营株式会社 Distance-measuring device
CN106405569A (en) * 2016-10-12 2017-02-15 重庆师范大学 Laser distance measurement method based on mode-locked pulse sequence, and system thereof
CN106313056A (en) * 2016-10-26 2017-01-11 重庆大学 Obstacle detection method for snow sweeping robot
CN106313056B (en) * 2016-10-26 2019-04-30 重庆大学 Snow grooming machines people's obstacle detection method
CN109696680A (en) * 2018-12-27 2019-04-30 北京哈工科教机器人科技有限公司 High-precision ultrasonic ranging device and method based on phase-detection

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