CN105699975A - Ultrasonic distance measurement method and device - Google Patents

Ultrasonic distance measurement method and device Download PDF

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Publication number
CN105699975A
CN105699975A CN201610109115.3A CN201610109115A CN105699975A CN 105699975 A CN105699975 A CN 105699975A CN 201610109115 A CN201610109115 A CN 201610109115A CN 105699975 A CN105699975 A CN 105699975A
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hangover
duration
blind area
ultrasound wave
testee
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CN201610109115.3A
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CN105699975B (en
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郑卫锋
其他发明人请求不公开姓名
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PowerVision Robot Inc
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PowerVision Robot Inc
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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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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The present invention provides an ultrasonic distance measurement method and device. The method comprises: storing the maximum trailing duration t0 set by users when the ultrasonic distance measurement device does not enter a measurement blind area; emitting ultrasonic wave and starting timing; waiting for the ending of the trailing, and taking the current timing duration as the trailing duration t trailing when the trailing is over; determining whether the t trailing is smaller than t0 or not, if the t trailing is not smaller than t0, obtaining the current timing duration t when receiving a first reflection after the trailing is over, and calculating the distance s between the ultrasonic distance measurement device and an object to be measured, wherein s=vt/2q, q is an integer and not less than 2, and v is the propagation velocity of the ultrasonic wave in a medium. According to the invention, the measurement blind area of ultrasonic distance measurement is reduced.

Description

A kind of ultrasonic ranging method and supersonic range finder
Technical field
The application relates to a kind of ultrasonic ranging method and supersonic range finder。
Background technology
Ultrasound wave is a kind of sound wave beyond human hearing limit and the frequency of vibration mechanical wave higher than 20kHz。The work process of ultrasonic sensor is exactly the mutual transformation process between voltage and ultrasound wave, when ultrasound wave launched by ultrasonic sensor, launch hyperacoustic probe the ultrasonic emitting of photovoltaic conversion to be gone out, when ultrasonic sensor receives ultrasound wave, receive hyperacoustic probe and the voltage of Ultrasonic transformation is transmitted back to microcontroller chip。Ultrasound wave has frequency of vibration height, wavelength is short, diffraction phenomenon is little and good directionality can also be the advantages such as reflected ray direction propagation, and the energy expenditure of ultrasonic sensor is slowly conducive to range finding。In, long range measurements time, the precision of ultrasonic sensor and directivity will be significantly better than infrared ray sensor。
Existing ultrasonic ranging scheme mainly adopts detection method two-way time。Ultrasonic emitting probe launches ultrasound wave to a direction, and in the timing that starts simultaneously at of x time, ultrasound wave is propagated in atmosphere, encounters barrier and just return immediately in way, and ultrasound wave receiving transducer receives echo and just stops timing immediately。Assuming that s (rice) is the distance between testee to diastimeter, timing duration is t (second), and ultrasonic propagation velocity is v (meter per second), then have relational expression s=vt/2。When required precision is higher, need to consider the temperature impact on ultrasonic propagation velocity, by v=331.4+0.607T, ultrasonic propagation velocity is revised, to reduce error, wherein, T is actual temperature, and unit is degree Celsius, v is ultrasound wave spread speed in media as well, and unit is meter per second。
Due to the physical characteristic of ultrasound probe own, when launching ultrasound wave, receiving transducer has aftershock and occurs, and is commonly called as hangover。Further, since the ultrasonic pulse launched has certain width so that the echo in the segment region that distance transducer is nearer overlaps with transmitted wave, it is impossible to identify, it is impossible to measure its distance value, this region is called measurement blind area。Owing to conditions of streaking exists, measuring blind area relatively larger, usually, blind area is at about 30-50cm。
Summary of the invention
The embodiment of the present application provides a kind of ultrasonic ranging method and supersonic range finder, to reduce ultrasonic range holes。
The technical scheme of the application is achieved in that
A kind of ultrasonic ranging method, the method includes:
Preserve the maximum hangover duration t when being introduced into measuring blind area of user setup0；
Launch ultrasound wave and start timing；
Wait hangover terminates, when hangover terminate time, using present timing duration as hangover duration tHangover；
Judge tHangover<t0Whether set up, if being false, then, during first reflection ripple after receiving hangover and terminating, obtain present timing duration t, calculate and distance s:s=vt/2 between testeeq, q is integer, and q >=2,
Wherein, v is ultrasound wave spread speed in media as well。
A kind of supersonic range finder, this device includes:
Emitter: be used for launching ultrasound wave；
Micro control unit: for preserving the maximum hangover duration t when being introduced into measuring blind area of user setup0；Ultrasound wave launched by instruction emitter, and starts timing when emitter sends ultrasound wave and waits that hangover terminates, when hangover terminates, using present timing duration as hangover duration tHangover, it is judged that tHangover<t0Whether set up, if being false, then, during first reflection ripple after receiving hangover and terminating, obtain present timing duration t, calculate and distance s:s=vt/2 between testeeq, q is integer, and q >=2, and wherein, v is ultrasound wave spread speed in media as well；
Receptor: be used for receiving hyperacoustic echo。
Visible, the embodiment of the present application judges whether to enter measurement blind area by the trailing length after launching ultrasound wave, after confirmation enters measurement blind area, distance computing formula between testee is adjusted, thus after entering measurement blind area, remain able to find range, decrease measurement blind area。
Accompanying drawing explanation
Fig. 1 is the first exemplary plot that ultrasonic range finder moves into the reflection wave after measuring blind area；
The ultrasonic ranging method flow chart that Fig. 2 provides for the application one embodiment；
Fig. 3 for another embodiment of the application provide for the ultrasonic ranging method flow chart of unmanned plane；
Fig. 4 is the second exemplary plot that ultrasonic range finder moves into the reflection wave after measuring blind area；
Fig. 5 be the another embodiment of the application provide for the ultrasonic ranging method flow chart of unmanned plane；
The composition schematic diagram of the supersonic range finder that Fig. 6 provides for the embodiment of the present application。
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is further described in more detail。
Ultrasonic ranging process is observed and analyzes discovery by inventor: when utilizing the distance between ultrasonic measurement ultrasonic range finder and testee, after ultrasonic range finder sends ultrasound wave, multiple reflections can be there is between this ultrasonic range finder and testee, thus returning multiple reflection, this phenomenon becomes apparent from after ultrasonic range finder moves into measurement blind area in some cases。Fig. 1 is the first exemplary plot that ultrasonic range finder moves into the reflection wave after measuring blind area, wherein, echo and hangover that first time returns combine, forming new hangover, the width of new hangover measures the width sum of the echo of the hangover width before blind area and first time return equal to ultrasonic range finder entrance。According to above-mentioned observation and analysis, inventor gives new ultrasonic ranging method, specific as follows:
The flow chart of the ultrasonic ranging method that Fig. 2 provides for the application one embodiment, it specifically comprises the following steps that
Step 201: preserve the maximum hangover duration t when being introduced into measuring blind area of user setup0。
Step 202: launch ultrasound wave and start timing。
Step 203: wait hangover terminate, when hangover terminate time, using present timing duration as hangover duration tHangover。
Step 204: judge tHangover<t0Whether set up, if being false, then, during first reflection ripple after receiving hangover and terminating, obtain present timing duration t, calculate and distance s:s=vt/2 between testeeq, q is integer, and q >=2, and wherein, v is ultrasound wave spread speed in media as well。
In one embodiment, limit q=2。
In one embodiment, in step 201, the new maximum duration t trailed that the echo returned for the 1～m time after simultaneously preserving the entrance measurement blind area of user setup is combined together to form with hangover when being introduced into measuring blind aream, m is positive integer, and 1≤m≤M；
In step 204, when judging tHangover<t0When being false, during first reflection ripple after receiving hangover and terminating, obtain before present timing duration t and farther include:
From t1Start, successively by tHangoverWith tmRelatively, value and t are selectedHangoverClosest to and be not more than tHangoverTp, 0≤p≤M, and q=p+2。
In one embodiment, in step 204, it is judged that tHangover<t0Whether set up and farther include afterwards:
If setting up, then, during first reflection ripple after receiving hangover and terminating, obtain present timing duration t, calculate and distance s:s=vt/2 between testee。
Fig. 3 for another embodiment of the application provide for the ultrasonic ranging method flow chart of unmanned plane, it specifically comprises the following steps that
Step 300: the ultrasonic range finder on unmanned plane preserves the unmanned plane of the user setup maximum hangover duration t when being introduced into measuring blind area0。
Wherein, t0Can obtain previously according to test of many times。
Step 301: the ultrasonic range finder on unmanned plane is launched ultrasound wave and starts timing。
Step 302: ultrasonic range finder on unmanned plane waits that hangover terminates, when hangover terminates, using present timing duration as hangover duration tHangover。
Step 303: the ultrasonic range finder on unmanned plane judges tHangover<t0Whether set up, if so, perform step 304；Otherwise, step 305 is performed。
Step 304: the ultrasonic range finder on unmanned plane confirms that unmanned plane is introduced into measuring blind area, then when receive hangover terminate after first reflection ripple time, obtaining present timing duration t, calculate the distance s:s=vt/2 between unmanned plane and testee, this flow process terminates。
Wherein, v is ultrasound wave spread speed in media as well。
Step 305: ultrasonic range finder on unmanned plane confirms that unmanned plane enters and measures blind area, then, during first reflection ripple after receiving hangover and terminating, obtain present timing duration t, calculate the distance s:s=vt/4 between unmanned plane and testee。
Here, t is worked asHangover>t0Time, then confirming that real first reflection ripple (echo 1 in Fig. 1) is combined with hangover, " hangover terminate after first reflection ripple " mentioned in this step 305 is " launching the real second time echo after ultrasound wave " (echo 2 in Fig. 1) in fact。
The said method that the application provides is applicable not only to unmanned plane, more can be widely used in other kinds of robot, need vehicles carrying out ultrasonic ranging etc.。
Ultrasonic ranging process is further looked at and analyzes discovery by inventor: after ultrasonic range finder enters and measures blind area, echo meeting and hangover that not only first time returns combine, the echo of follow-up return is likely to can and currently trail and combines, thus constantly forming new hangover。Fig. 4 is the second exemplary plot that ultrasonic range finder moves into the reflection wave after measuring blind area, in this example, echo and hangover that first time returns combine, after forming new hangover, the echo that second time returns combines with new hangover again, again define new hangover, the width sum of the echo that the width of the echo that the width of the new hangover that second time is formed enters the hangover width before measuring blind area equal to ultrasonic range finder and first time returns and second time return。Further observing according to this and analyze, ultrasonic ranging method has been carried out further optimization by inventor, specific as follows:
Fig. 5 be the another embodiment of the application provide for the ultrasonic ranging method flow chart of unmanned plane, it specifically comprises the following steps that
Step 500: the ultrasonic range finder on unmanned plane preserves the unmanned plane of the user setup maximum hangover duration t when being introduced into measuring blind area0, preserve the unmanned plane of user setup simultaneously and enter and measure the maximum duration t newly trailed that the hangover when echo that the 1～m time returns behind blind area is introduced into measuring blind area with unmanned plane is combined together to formm。
M is positive integer, and 1≤m≤M。M is after user enters measurement blind area according to the unmanned plane that test situation is determined, it is possible to the maximum sequence number of the echo that hangover combines。Such as: as M=3, that user setup is t1、t2、t3, wherein, t1The maximum duration of the new hangover that the echo that hangover when being introduced into measuring blind area for unmanned plane returns for the 1st time after measuring blind area with entrance is combined together to form, t2The maximum duration of the new hangover that the echo that hangover when being introduced into measuring blind area for unmanned plane returns for the 1st and the 2nd time after measuring blind area with entrance is combined together to form, t3The maximum duration of the new hangover that the echo that hangover when being introduced into measuring blind area for unmanned plane returns for the 1st time, the 2nd time and the 3rd time after measuring blind area with entrance is combined together to form。T0、tmCan obtain previously according to test of many times。
Step 501: the ultrasonic range finder on unmanned plane is launched ultrasound wave and starts timing。
Step 502: the ultrasonic range finder on unmanned plane waits that hangover terminates, when hangover terminates, by present timing duration tHangoverAs hangover duration。
Step 503: the ultrasonic range finder on unmanned plane judges tHangover<t0Whether set up, if so, perform step 504；Otherwise, step 505 is performed。
Step 504: the ultrasonic range finder on unmanned plane confirms that unmanned plane is introduced into measuring blind area, then when receive hangover terminate after first reflection ripple time, obtaining present timing duration t, calculate the distance s:s=vt/2 between unmanned plane and testee, this flow process terminates。
Wherein, v is ultrasound wave spread speed in media as well。
Step 505: the ultrasonic range finder on unmanned plane confirms that unmanned plane enters and measures blind area, then from t1Start, successively by tHangoverWith tm(1≤m≤M) compares, and selects value and tHangoverClosest to and be not more than tDrag TailTp(0≤p≤M) is (namely at tp≤tHangover<tp+1Time (0≤p≤M-1), or tHangover≥tP=MTime, stop comparing), then confirm that the hangover when unmanned plane echo of 1～p+1 (0≤p≤M-1) secondary return and unmanned plane after blind area is measured in entrance are introduced into measurement blind area together form new hangover, then when receive hangover terminate after first reflection ripple time, obtain present timing duration t, calculate the distance s:s=vt/2 between unmanned plane and testeep+2。
" hangover terminate after first reflection ripple " mentioned in this step 505 is " launching real pth+1 secondary reflection ripple after ultrasound wave " in fact。
The said method that the application provides is applicable not only to unmanned plane, more can be widely used in other kinds of robot, need vehicles carrying out ultrasonic ranging etc.。
The Advantageous Effects of the embodiment of the present application is as follows:
The embodiment of the present application detects whether to enter measurement blind area by the trailing length after launching ultrasound wave, after confirmation enters measurement blind area, the distance computing formula between testee is adjusted, thus after entering measurement blind area, remain able to find range, decrease measurement blind area。
Through it is demonstrated experimentally that application the embodiment of the present application after, within the measurement blind area of ultrasonic ranging can be compressed to 15cm。
The composition schematic diagram of the supersonic range finder that Fig. 6 provides for the embodiment of the present application, this device specifically includes that emitter, micro control unit (MCU, MicroControlUnit) and receptor, wherein:
Emitter: be used for launching ultrasound wave。
MCU: for preserving the maximum hangover duration t when being introduced into measuring blind area of user setup0；Ultrasound wave launched by instruction emitter, and starts timing when emitter sends ultrasound wave and waits that hangover terminates, when hangover terminates, using present timing duration as hangover duration tHangover, it is judged that tHangover<t0Whether set up, if being false, then, during first reflection ripple after receiving hangover and terminating, obtain present timing duration t, calculate and distance s:s=vt/2 between testeeq, q is integer, and q >=2, and wherein, v is ultrasound wave spread speed in media as well。
Receptor: be used for receiving hyperacoustic echo。
In one embodiment, MCU calculates the distance s:s=vt/2 between testeeqFor: calculating and the distance s=vt/4 between testee。
In one embodiment, MCU is further used for, the new maximum duration t trailed that the echo returned for the 1～m time after preserving the entrance measurement blind area of user setup is combined together to form with hangover when being introduced into measuring blind aream, m is positive integer, and 1≤m≤M, and,
When judging tHangover<t0When being false, during first reflection ripple after receiving hangover and terminating, obtain before present timing duration t and be further used for,
From t1Start, successively by tHangoverWith tmRelatively, value and t are selectedHangoverClosest to and be not more than tHangoverTp, 0≤p≤M, and q=p+2。
In one embodiment, MCU judges tHangover<t0Whether set up and be further used for afterwards,
If setting up, then, during first reflection ripple after receiving hangover and terminating, obtain present timing duration t, calculate and distance s:s=vt/2 between testee。
In one embodiment, this device is positioned on unmanned plane。
The foregoing is only the preferred embodiment of the application, not in order to limit the application, all within spirit herein and principle, any amendment of making, equivalent replacements, improvement etc., should be included within the scope that the application protects。

Claims (9)

1. a ultrasonic ranging method, it is characterised in that the method includes:
Preserve the maximum hangover duration t when being introduced into measuring blind area of user setup0；
Launch ultrasound wave and start timing；
Wait hangover terminates, when hangover terminate time, using present timing duration as hangover duration tHangover；
Judge tHangover<t0Whether set up, if being false, then, during first reflection ripple after receiving hangover and terminating, obtain present timing duration t, calculate and distance s:s=vt/2 between testeeq, q is integer, and q >=2,
Wherein, v is ultrasound wave spread speed in media as well。
2. method according to claim 1, it is characterised in that described q=2。
3. method according to claim 1, it is characterized in that, described method farther includes: the new maximum duration t trailed that the echo returned for the 1～m time after preserving the entrance measurement blind area of user setup is combined together to form with hangover when being introduced into measuring blind aream, m is positive integer, and 1≤m≤M；
When judging tHangover<t0When being false, during described first reflection ripple after receiving hangover and terminating, obtain before present timing duration t and farther include:
From t1Start, successively by tHangoverWith tmRelatively, value and t are selectedHangoverClosest to and be not more than tHangoverTp, 0≤p≤M, and q=p+2。
4. method according to claim 1, it is characterised in that described judgement tHangover<t0Whether set up and farther include afterwards:
If setting up, then, during first reflection ripple after receiving hangover and terminating, obtain present timing duration t, calculate and distance s:s=vt/2 between testee。
5. a supersonic range finder, it is characterised in that this device includes:
Emitter: be used for launching ultrasound wave；
Micro control unit MCU: for preserving the maximum hangover duration t when being introduced into measuring blind area of user setup0；Ultrasound wave launched by instruction emitter, and starts timing when emitter sends ultrasound wave and waits that hangover terminates, when hangover terminates, using present timing duration as hangover duration tHangover, it is judged that tHangover<t0Whether set up, if being false, then, during first reflection ripple after receiving hangover and terminating, obtain present timing duration t, calculate and distance s:s=vt/2 between testeeq, q is integer, and q >=2, and wherein, v is ultrasound wave spread speed in media as well；
Receptor: be used for receiving hyperacoustic echo。
6. device according to claim 5, it is characterised in that described MCU calculates the distance s:s=vt/2 between testeeqFor: calculating and the distance s=vt/4 between testee。
7. device according to claim 5, it is characterized in that, described MCU is further used for, the new maximum duration t trailed that the echo returned for the 1～m time after preserving the entrance measurement blind area of user setup is combined together to form with hangover when being introduced into measuring blind aream, m is positive integer, and 1≤m≤M, and,
When judging tHangover<t0When being false, during first reflection ripple after receiving hangover and terminating, obtain before present timing duration t and be further used for,
From t1Start, successively by tHangoverWith tmRelatively, value and t are selectedHangoverClosest to and be not more than tHangoverTp, 0≤p≤M, and q=p+2。
8. device according to claim 5, it is characterised in that described MCU judges tHangover<t0Whether set up and be further used for afterwards,
If setting up, then, during first reflection ripple after receiving hangover and terminating, obtain present timing duration t, calculate and distance s:s=vt/2 between testee。
9. device according to claim 5, it is characterised in that described device is positioned on unmanned plane。
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