CN105699975B - A kind of ultrasonic ranging method and supersonic range finder - Google Patents
A kind of ultrasonic ranging method and supersonic range finder Download PDFInfo
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- CN105699975B CN105699975B CN201610109115.3A CN201610109115A CN105699975B CN 105699975 B CN105699975 B CN 105699975B CN 201610109115 A CN201610109115 A CN 201610109115A CN 105699975 B CN105699975 B CN 105699975B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- Radar, Positioning & Navigation (AREA)
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- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The application proposes a kind of ultrasonic ranging method and supersonic range finder.Method includes：Preserve the maximum hangover duration t when not entering measurement blind area of user setting0；Transmitting ultrasonic wave simultaneously starts timing；Hangover is waited for terminate, at the end of hangover, using present timing duration as hangover duration tHangover；Judge tHangover<t0It is whether true, if not, then when the first reflection wave after receiving hangover and terminating, present timing duration t is obtained, calculates the distance between testee s：S=vt/2q, q is integer, and q >=2, wherein, v is the spread speed of ultrasonic wave in the medium.The application reduces the measurement blind area of ultrasonic ranging.
Description
Technical field
This application involves a kind of ultrasonic ranging method and supersonic range finders.
Background technology
Ultrasonic wave is the mechanical wave that a kind of sound wave beyond human hearing limit i.e. vibration frequency is higher than 20kHz.Ultrasonic wave
The course of work of sensor is exactly the mutual transfer process between voltage and ultrasonic wave, when ultrasonic sensor emits ultrasonic wave
When, the probe for emitting ultrasonic wave launches the ultrasonic wave that voltage converts, and when ultrasonic sensor receives ultrasonic wave, receives
The voltage of Ultrasonic transformation is transmitted back to microcontroller chip by the probe of ultrasonic wave.Ultrasonic wave have vibration frequency is high, wavelength is short, around
The advantages that phenomenon is small and good directionality also is able to as reflected ray direction propagation is penetrated, and the energy expenditure of ultrasonic sensor is slow
Be conducive to ranging.When in, long range measurements, the precision and directionality of ultrasonic sensor will be significantly better than infrared ray sensing
Device.
Existing ultrasonic ranging scheme mainly uses two-way time detection method.Ultrasonic wave transmitting probe is sent out to a direction
Ultrasonic wave is penetrated, starts timing while emission time, ultrasonic wave is propagated in air, and barrier is encountered in way and is just returned immediately
Come, ultrasonic wave receiving transducer receives back wave and just stops timing immediately.It is assumed that s (rice) for testee between rangefinder away from
A length of t (second) during from, timing, ultrasonic propagation velocity are v (meter per second), then have relational expression s=vt/2.It is higher in required precision
In the case of, it needs to consider influence of the temperature to ultrasonic propagation velocity, by v=331.4+0.607T to ultrasonic propagation velocity
Corrected, to reduce error, wherein, T is actual temperature, unit for degree Celsius, v is the propagation speed of ultrasonic wave in the medium
Degree, unit is meter per second.
Due to physical characteristic of ultrasonic probe itself, when emitting ultrasonic wave, receiving transducer has aftershock, is commonly called as
Hangover.In addition, since the ultrasonic pulse of transmitting has certain width so that anti-in the segment region nearer apart from energy converter
Ejected wave overlaps with transmitted wave, None- identified, it is impossible to measure its distance value, this region is known as measurement blind area.Due to trailing phenomenon
In the presence of measurement blind area is bigger, and usually, blind area is in 30-50cm or so.
Invention content
The embodiment of the present application provides a kind of ultrasonic ranging method and supersonic range finder, blind to reduce ultrasonic ranging
Area.
What the technical solution of the application was realized in：
A kind of ultrasonic ranging method, this method include：
Preserve the maximum hangover duration t when not entering measurement blind area of user setting0；
Transmitting ultrasonic wave simultaneously starts timing；
Hangover is waited for terminate, at the end of hangover, using present timing duration as hangover duration tHangover；
Judge tHangover<t0It is whether true, if not, then when the first reflection wave after receiving hangover and terminating, obtain
Present timing duration t is taken, calculates the distance between testee s：S=vt/2q, q is integer, and q >=2,
Wherein, v is the spread speed of ultrasonic wave in the medium.
A kind of supersonic range finder, the device include：
Transmitter：For emitting ultrasonic wave；
Micro control unit：For preserving the maximum hangover duration t when not entering measurement blind area of user setting0；Instruction hair
Emitter emits ultrasonic wave, and starts timing when transmitter sends out ultrasonic wave and hangover is waited for terminate, ought at the end of hangover
Preceding timing duration is as hangover duration tHangover, judge tHangover<t0It is whether true, if not, then after receiving hangover and terminating
First reflection wave when, obtain present timing duration t, calculate and the distance between testee s：S=vt/2q, q is whole
Number, and q >=2, wherein, v is the spread speed of ultrasonic wave in the medium；
Receiver：For receiving the back wave of ultrasonic wave.
As it can be seen that the embodiment of the present application by the trailing length after ultrasonic wave is emitted to determine whether enter measure it is blind
Area after confirmation enters measurement blind area, pair is adjusted with the distance between testee calculation formula, so as to survey entering
After measuring blind area, remain able to carry out ranging, reduce measurement blind area.
Description of the drawings
Fig. 1 is the first exemplary plot that ultrasonic range finder moves into the reflection wave behind measurement blind area；
Fig. 2 is the ultrasonic ranging method flow chart that one embodiment of the application provides；
Fig. 3 is the ultrasonic ranging method flow chart by taking unmanned plane as an example that another embodiment of the application provides；
Fig. 4 is the second exemplary plot that ultrasonic range finder moves into the reflection wave behind measurement blind area；
Fig. 5 is the ultrasonic ranging method flow chart by taking unmanned plane as an example that the another embodiment of the application provides；
Fig. 6 is the composition schematic diagram of supersonic range finder provided by the embodiments of the present application.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further described in more detail.
Inventor is observed by ultrasonic ranging process and analysis is found：Utilizing ultrasonic measurement ultrasonic range finder
During the distance between testee, after ultrasonic range finder sends out ultrasonic wave, between the ultrasonic range finder and testee
Multiple reflections can occur, so as to return to multiple reflection, which moves into survey in some cases in ultrasonic range finder
It is more obvious behind amount blind area.Fig. 1 is the first exemplary plot that ultrasonic range finder moves into the reflection wave behind measurement blind area,
Wherein, the back wave and hangover returned for the first time is combined together, and forms new hangover, and the width newly to trail is equal to ultrasound
Distance meter enters the hangover width and the sum of width of back wave of return for the first time before measurement blind area.According to above-mentioned observation and divide
Analysis, inventor gives new ultrasonic ranging method, specific as follows：
Fig. 2 is the flow chart of ultrasonic ranging method that one embodiment of the application provides, and is as follows：
Step 201：Preserve the maximum hangover duration t when not entering measurement blind area of user setting0。
Step 202：Transmitting ultrasonic wave simultaneously starts timing.
Step 203：Hangover is waited for terminate, at the end of hangover, using present timing duration as hangover duration tHangover。
Step 204：Judge tHangover<t0It is whether true, if not, the first time then after receiving hangover and terminating is anti-
During ejected wave, present timing duration t is obtained, calculates the distance between testee s：S=vt/2q, q is integer, and q >=2,
In, v is the spread speed of ultrasonic wave in the medium.
In one embodiment, q=2 is limited.
In one embodiment, in step 201, while it is anti-to preserve being returned into the 1~m times behind measurement blind area for user setting
The maximum duration t newly to trail that ejected wave is combined together to form with hangover when not entering measurement blind aream, m is positive integer, and 1
≤m≤M；
In step 204, when judging tHangover<t0When invalid, when the first reflection wave after receiving hangover and terminating,
Further comprise before obtaining present timing duration t：
From t1Start, successively by tHangoverWith tmCompare, select value and tHangoverClosest to and no more than tHangoverTp, 0≤p≤M,
And q=p+2.
In one embodiment, in step 204, t is judgedHangover<t0Whether it is true after further comprise：
If so, then when the first reflection wave after receiving hangover and terminating, present timing duration t is obtained, is calculated
The distance between testee s：S=vt/2.
Fig. 3 is the ultrasonic ranging method flow chart by taking unmanned plane as an example that another embodiment of the application provides, specific
Step is as follows：
Step 300：Ultrasonic range finder on unmanned plane preserves the unmanned plane of user setting when not entering measurement blind area
Maximum hangover duration t0。
Wherein, t0It can be obtained previously according to test of many times.
Step 301：Ultrasonic range finder on unmanned plane emits ultrasonic wave and starts timing.
Step 302：Ultrasonic range finder on unmanned plane waits for hangover to terminate, at the end of hangover, during by present timing
It is long to be used as hangover duration tHangover。
Step 303：Ultrasonic range finder on unmanned plane judges tHangover<t0It is whether true, if so, performing step 304；It is no
Then, step 305 is performed.
Step 304：Ultrasonic range finder on unmanned plane confirms that unmanned plane does not enter measurement blind area, then when receiving hangover
During first reflection wave after end, present timing duration t is obtained, calculates the distance between unmanned plane and testee s：s
=vt/2, this flow terminate.
Wherein, v is the spread speed of ultrasonic wave in the medium.
Step 305：Ultrasonic range finder on unmanned plane confirms that unmanned plane enters measurement blind area, then when receiving hangover knot
During first reflection wave after beam, present timing duration t is obtained, calculates the distance between unmanned plane and testee s：S=
vt/4。
Here, work as tHangover>t0When, then confirm real first reflection wave (back wave 1 in such as Fig. 1) with hangover
It is combined, " hangover terminate after first reflection wave " mentioned in this step 305 is " after transmitting ultrasonic wave in fact
Real second of back wave " (back wave 2 in such as Fig. 1).
The above method that the application provides is applicable not only to unmanned plane, can more be widely used in other kinds of machine
People needs to carry out vehicles of ultrasonic ranging etc..
Ultrasonic ranging process is further looked at inventor and analysis is found：When ultrasonic range finder enters measurement blind area
Afterwards, not only for the first time return back wave meeting and hangover be combined together, the back wave subsequently returned may also can with currently drag
Caudal knot is combined, so as to constantly form new hangover.Fig. 4 moves into the back wave behind measurement blind area for ultrasonic range finder
Second exemplary plot of waveform, in this example, the back wave and hangover returned for the first time are combined together, and form new hangover
Afterwards, the back wave of second of return is combined together again with new hangover, forms new hangover again, and what is formed for the second time newly drags
The width of tail be equal to ultrasonic range finder enter the width of the hangover width before measurement blind area and the back wave returned for the first time with
And the sum of width of back wave of second of return.According to the further observation and analysis, inventor is to ultrasonic ranging side
Method has carried out further optimization, specific as follows：
Fig. 5 is the ultrasonic ranging method flow chart by taking unmanned plane as an example that the another embodiment of the application provides, specific
Step is as follows：
Step 500：Ultrasonic range finder on unmanned plane preserves the unmanned plane of user setting when not entering measurement blind area
Maximum hangover duration t0, while the unmanned plane for preserving user setting enter behind measurement blind area the back wave of the 1~m times return with
The maximum duration t newly to trail that hangover when unmanned plane does not enter measurement blind area is combined together to formm。
M is positive integer, and 1≤m≤M.It, can after M enters measurement blind area for user according to the unmanned plane that test situation determines
The maximum serial number of back wave that can be combined with hangover.Such as：As M=3, user setting is t1、t2、t3, wherein, t1For nothing
Man-machine hangover when not entering measurement blind area with enter the 1st back wave returned behind measurement blind area be combined together to form it is new
The maximum duration of hangover, t2Hangover when measurement blind area is not entered for unmanned plane into the 1st and the 2nd time behind measurement blind area with returning
The maximum duration newly to trail that is combined together to form of back wave, t3Hangover when not entering measurement blind area for unmanned plane with into
Enter the maximum duration newly to trail that the back wave of the 1st time, the 2nd time and the 3rd time return behind measurement blind area is combined together to form.
t0、tmIt can be obtained previously according to test of many times.
Step 501：Ultrasonic range finder on unmanned plane emits ultrasonic wave and starts timing.
Step 502：Ultrasonic range finder on unmanned plane waits for hangover to terminate, at the end of hangover, during by present timing
Long tHangoverAs hangover duration.
Step 503：Ultrasonic range finder on unmanned plane judges tHangover<t0It is whether true, if so, performing step 504；It is no
Then, step 505 is performed.
Step 504：Ultrasonic range finder on unmanned plane confirms that unmanned plane does not enter measurement blind area, then when receiving hangover
During first reflection wave after end, present timing duration t is obtained, calculates the distance between unmanned plane and testee s：s
=vt/2, this flow terminate.
Wherein, v is the spread speed of ultrasonic wave in the medium.
Step 505：Ultrasonic range finder on unmanned plane confirms that unmanned plane enters measurement blind area, then from t1Start, successively
By tHangoverWith tm(1≤m≤M) compares, and selects value and tHangoverClosest to and no more than tHangoverTp(0≤p≤M) is (i.e. in tp≤tHangover
<tp+1When (0≤p≤M-1) or tHangover≥tP=MWhen, stopping is compared), then confirm unmanned plane 1~p after measurement blind area is entered
The hangover when back wave of+1 (0≤p≤M-1) secondary return does not enter measurement blind area with unmanned plane is together formed new
Hangover then when the first reflection wave after receiving hangover and terminating, obtains present timing duration t, calculates unmanned plane and quilt
Survey the distance between object s：S=vt/2p+2。
" hangover terminate after first reflection wave " mentioned in this step 505 is " true after transmitting ultrasonic wave in fact
Positive+1 secondary reflection wave of pth ".
The above method that the application provides is applicable not only to unmanned plane, can more be widely used in other kinds of machine
People needs to carry out vehicles of ultrasonic ranging etc..
The advantageous effects of the embodiment of the present application are as follows：
The embodiment of the present application detects whether to enter measurement blind area by the trailing length after emitting ultrasonic wave, when confirm into
It after having entered measurement blind area, pair is adjusted with the distance between testee calculation formula, so as to after measurement blind area is entered, still
Ranging can be so carried out, reduces measurement blind area.
It was proved that after using the embodiment of the present application, the measurement blind area of ultrasonic ranging can be compressed to 15cm with
It is interior.
Fig. 6 is the composition schematic diagram of supersonic range finder provided by the embodiments of the present application, which mainly includes：Transmitting
Device, micro control unit (MCU, Micro Control Unit) and receiver, wherein：
Transmitter：For emitting ultrasonic wave.
MCU：For preserving the maximum hangover duration t when not entering measurement blind area of user setting0；Indicate transmitter hair
Ultrasonic wave is penetrated, and starts timing when transmitter sends out ultrasonic wave and hangover is waited for terminate, at the end of hangover, by present timing
Duration is as hangover duration tHangover, judge tHangover<t0It is whether true, if not, then first after receiving hangover and terminating
During secondary reflection wave, present timing duration t is obtained, calculates the distance between testee s：S=vt/2q, q is integer, and q >=
2, wherein, v is the spread speed of ultrasonic wave in the medium.
Receiver：For receiving the back wave of ultrasonic wave.
In one embodiment, MCU calculates the distance between testee s：S=vt/2qFor：It calculates between testee
Distance s=vt/4.
In one embodiment, MCU is further used for, and it is anti-to preserve being returned into the 1~m times behind measurement blind area for user setting
The maximum duration t newly to trail that ejected wave is combined together to form with hangover when not entering measurement blind aream, m is positive integer, and 1
≤ m≤M, and,
When judging tHangover<t0When invalid, in the first reflection wave after receiving hangover and terminating, current meter is obtained
It is further used for before Shi Shichang t,
From t1Start, successively by tHangoverWith tmCompare, select value and tHangoverClosest to and no more than tHangoverTp, 0≤p≤M,
And q=p+2.
In one embodiment, MCU judges tHangover<t0Whether it is true after be further used for,
If so, then when the first reflection wave after receiving hangover and terminating, present timing duration t is obtained, is calculated
The distance between testee s：S=vt/2.
In one embodiment, which is located on unmanned plane.
The foregoing is merely the preferred embodiment of the application, not limiting the application, all essences in the application
God and any modification, equivalent substitution, improvement and etc. within principle, done, should be included within the scope of the application protection.
Claims (9)
1. a kind of ultrasonic ranging method, which is characterized in that this method includes：
Preserve the maximum hangover duration t when not entering measurement blind area of user setting0；
Transmitting ultrasonic wave simultaneously starts timing；
Hangover is waited for terminate, at the end of hangover, using present timing duration as hangover duration tHangover；
Judge tHangover<t0It is whether true, if not, then when the first reflection wave after receiving hangover and terminating, obtain and work as
Preceding timing duration t calculates the distance between testee s：S=vt/2q, q is integer, and q >=2,
Wherein, v is the spread speed of ultrasonic wave in the medium.
2. the according to the method described in claim 1, it is characterized in that, q=2.
3. according to the method described in claim 1, it is characterized in that, the method further includes：Preserve user setting into
What hangover when entering the back wave of the 1~m times return behind measurement blind area with not entering measurement blind area was combined together to form newly drags
The maximum duration t of tailm, m is positive integer, and 1≤m≤M, wherein, M enters survey for user according to the unmanned plane that test situation determines
It, may be with the maximum serial number of the back wave of hangover combination after measuring blind area；
When judging tHangover<t0It is described when the first reflection wave after receiving hangover and terminating when invalid, obtain present timing
Further comprise before duration t：
From t1Start, successively by tHangoverWith tmCompare, select value and tHangoverClosest to and no more than tHangoverTp, 0≤p≤M, and q
=p+2.
4. the according to the method described in claim 1, it is characterized in that, judgement tHangover<t0Whether it is true after further comprise：
If so, then when the first reflection wave after receiving hangover and terminating, obtain present timing duration t, calculating and quilt
Survey the distance between object s：S=vt/2.
5. a kind of supersonic range finder, which is characterized in that the device includes：
Transmitter：For emitting ultrasonic wave；
Micro control unit MCU：For preserving the maximum hangover duration t when not entering measurement blind area of user setting0；Instruction transmitting
Device emits ultrasonic wave, and starts timing when transmitter sends out ultrasonic wave and hangover is waited for terminate, will be current at the end of hangover
Timing duration is as hangover duration tHangover, judge tHangover<t0It is whether true, if not, then after receiving hangover and terminating
During first reflection wave, present timing duration t is obtained, calculates the distance between testee s：S=vt/2q, q is integer,
And q >=2, wherein, v is the spread speed of ultrasonic wave in the medium；
Receiver：For receiving the back wave of ultrasonic wave.
6. device according to claim 5, which is characterized in that the MCU calculates the distance between testee s：S=
vt/2qFor：Calculate the distance between testee s=vt/4.
7. device according to claim 5, which is characterized in that the MCU is further used for, and preserves the entrance of user setting
The new hangover that the back wave of the 1~m times return is combined together to form with hangover when not entering measurement blind area behind measurement blind area
Maximum duration tm, m is positive integer, and 1≤m≤M, wherein, M enters measurement for user according to the unmanned plane that test situation determines
Behind blind area, may with hangover combine back wave maximum serial number, and,
When judging tHangover<t0When invalid, in the first reflection wave after receiving hangover and terminating, present timing duration is obtained
It is further used for before t,
From t1Start, successively by tHangoverWith tmCompare, select value and tHangoverClosest to and no more than tHangoverTp, 0≤p≤M, and q
=p+2.
8. device according to claim 5, which is characterized in that the MCU judges tHangover<t0Whether it is true after further use
In,
If so, then when the first reflection wave after receiving hangover and terminating, obtain present timing duration t, calculating and quilt
Survey the distance between object s：S=vt/2.
9. device according to claim 5, which is characterized in that described device is located on unmanned plane.
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| CN201610109115.3A CN105699975B (en) | 2016-02-26 | 2016-02-26 | A kind of ultrasonic ranging method and supersonic range finder |
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