CN106483525A - Omnidirectional's ultrasonic signal receiving unit, omnidirectional's ranging system and method - Google Patents
Omnidirectional's ultrasonic signal receiving unit, omnidirectional's ranging system and method Download PDFInfo
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- CN106483525A CN106483525A CN201611043498.5A CN201611043498A CN106483525A CN 106483525 A CN106483525 A CN 106483525A CN 201611043498 A CN201611043498 A CN 201611043498A CN 106483525 A CN106483525 A CN 106483525A
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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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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/521—Constructional features
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
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- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention relates to ultrasonic measuring distance technology field, more particularly to a kind of omnidirectional ultrasonic signal receiving unit, omnidirectional's ranging system and method.The ultrasonic signal that this omnidirectional's ultrasonic signal receiving unit is sent by the omnibearing synchronous reception datum mark of radial ultrasonic signal receiving structure and axial ultrasonic signal receiving structure, to ensure that ultrasound signal receipt efficiency high, accuracy are strong, receive broad covered area；This system includes：Signal emission module, synchronous signal receiver module, omnidirectional as above ultrasonic signal receiving unit, signal amplification module, signal filtering module, threshold value comparison module and distance resolve module；This omnidirectional's ultrasonic distance-measuring method, including：Step of transmitting, receiving step and measuring process, this system and method utilizes omnidirectional's ultrasonic signal receiving unit to improve ultrasound signal receipt efficiency and receive coverage rate, and the distance that module resolving tracking object is with respect to datum mark is resolved by distance, with the accurate distance of quick obtaining direct wave.
Description
Technical field
The present invention relates to ultrasonic measuring distance technology field, more particularly to a kind of omnidirectional ultrasonic signal receiving unit, omnidirectional
Ranging system and method.
Background technology
Producing and much local measurements that all can be related to adjust the distance in life in people, and the mode measuring and handss
Section is also varied.Found range using various rulers from the most traditional, laser ranging up till now, supersonic sounding and long distance
From radar range finding, these measuring methods suffer from the pluses and minuses of oneself.Traditional distance measuring method is cheap, easy to use,
Then enhanced convenience is quick for laser ranging and supersonic sounding, and the distance that radar range finding then measures is farther, but due to its high cost
Hold high and be therefore used for military field.
For ultrasonic ranging, device on the market is many at present puts formula using transmitting-receiving is same, i.e. ultrasonic transmitter and reception
Device is located together, and obtains its distance with respect to measurement apparatus by detecting the ultrasound wave of measured target reflection.This measurement
Mode has certain requirement to the material of measured object, and because super sonic reflection leads to measurement distance relatively to ultrasonic energy attenuation
Short.Also there are some devices to put formula using transmitting-receiving is different, i.e. setting range finding datum mark, and sent out by the ultrasonic transmitter positioned at datum mark
Penetrate ultrasound wave, and ultrasound wave is received by the ultrasonic reception device on measured object, received by calculating to be issued to from ultrasound wave
To time obtain the distance that measured point is with respect to datum mark.This metering system precision is higher, and measurement distance farther out, can use
In the field such as Indoor Robot positioning and virtual reality interaction.But because the directivity of ultrasound wave is stronger, if measured object is in fortune
Dynamic state, then it is difficult to ensure that ultrasonic probe, ultrasonic receiver can receive the ultrasound wave that datum mark sends.
Content of the invention
(1) technical problem to be solved
It is an object of the invention to provide a kind of measurement accurately and efficiently omnidirectional's ultrasonic distance-measuring method and system.
(2) technical scheme
In order to solve above-mentioned technical problem, a kind of omnidirectional ultrasonic signal receiving unit that the present invention provides, including：Axially super
Acoustic signal receiver structure, for receiving from this omnidirectional's ultrasonic signal receiving unit at least ultrasonic signal of one end and being converted to
The signal of telecommunication；Radial ultrasonic signal receiving structure, at least one end are connected with described axial ultrasonic signal receiving structure, for receiving
Ultrasonic signal from this omnidirectional's ultrasonic signal receiving unit side is simultaneously converted to the signal of telecommunication.
Further, also include base, described base is used for fixed radial ultrasonic signal receiving mechanism.
Further, described axial ultrasonic signal receiving structure includes piezoelectric patches and card interface, and described card interface is arranged at
The lower surface of piezoelectric patches, described radial ultrasonic signal receiving structure includes the piezoelectric membrane that head and the tail bend docking, radially super
One end of acoustic signal receiver structure is fixed on described base, and the other end is connected with piezoelectric patches by described card interface.
Further, the material of described piezoelectric patches is piezoelectric ceramics.
Present invention also offers a kind of omnidirectional ranging system, including：Signal emission module, for periodically launching
Ultrasonic signal and synchronizing signal；Synchronous signal receiver module, for receiving the synchronizing signal that described signal emission module sends；
Omnidirectional as above ultrasonic signal receiving unit, for receiving the ultrasonic signal that described signal emission module sends, and will
The ultrasonic signal receiving is converted to the signal of telecommunication；Signal amplification module, is derived from omnidirectional's ultrasonic signal receiving unit for receiving
The signal of telecommunication, the described signal of telecommunication is amplified；Signal filtering module, the signal for sending to described signal amplification module enters
Row filtering；Threshold value comparison module, for being compared with the threshold value specified to the signal of telecommunication, output low and high level signal sends into distance
Resolve module；Described distance resolves module, is used for completing distance resolving.
Further, also include acceleration transducer, for dynamically changing the reference value of described threshold value comparison module.
Present invention also offers a kind of omnidirectional ultrasonic distance-measuring method, including：Step of transmitting, receiving step, procedure of processing and
Measuring process, wherein, described step of transmitting includes：Periodically launch ultrasonic signal and synchronous letter using signal emission module
Number；Described receiving step includes：Received described super respectively using omnidirectional's ultrasonic signal receiving unit and synchronous signal receiver module
Acoustic signals and described synchronizing signal, and the described ultrasonic signal receiving is converted to the signal of telecommunication；Described procedure of processing bag
Include：Described signal of telecommunication difference receiving step being obtained using signal amplification module, signal filtering module and threshold value comparison module
It is amplified, Filtering Processing and threshold value compare, and export low and high level signal；Described measuring process includes：Resolved using distance
Module receives described low and high level signal and calculates the described ultrasonic signal described through distance accepting step of arrival.
Further, the described ultrasonic signal that described receiving step receives includes radial ultrasonic ripple signal and axially surpasses
Acoustic signals.
Further, the solution process of described measuring process is：
Obtain the time t of the described synchronizing signal that described receiving step receives1；
Obtain the time t of the described radial ultrasonic ripple signal that described receiving step receivesr11、tr12...tr1m；
Obtain the t of the described axial ultrasonic ripple signal that described receiving step receivesr21、tr22...tr2n；
By optimizing algorithm obtain described radial ultrasonic ripple signal and described synchronizing signal, described axial ultrasonic ripple signal with
Between described synchronizing signal, the shortest time differs from t2：
t2=φ (tr11,tr12,···,tr1m,tr21,tr22,···,tr2n)=min (tr11,tr12,···,
tr1m,tr21,tr22,···,tr2n) obtain the beeline l=(t of described ultrasonic signal receiving2-t1)*c.
Present invention also offers a kind of omnidirectional ultrasonic distance-measuring method, including：Step of transmitting, receiving step and measuring process,
Wherein, described step of transmitting includes：Periodically launch ultrasonic signal and synchronizing signal using signal emission module；Described connect
Receive step to include：Using omnidirectional's ultrasonic signal receiving unit and synchronous signal receiver module receive respectively described ultrasonic signal and
Described synchronizing signal, and the described ultrasonic signal receiving is converted to the signal of telecommunication；Described procedure of processing includes：Using signal
Amplification module, signal filtering module and threshold value comparison module are amplified respectively, filter to the described signal of telecommunication that receiving step obtains
Ripple is processed and threshold value compares, and exports low and high level signal；Described measuring process includes：Resolve module reception using distance described
Low and high level signal simultaneously calculates the described ultrasonic signal described through distance accepting step of arrival.
Further, the described ultrasonic signal that described receiving step receives includes radial ultrasonic ripple signal and axially surpasses
Acoustic signals.
Further, the solution process of described measuring process is：
Obtain the time t of the described synchronizing signal that described receiving step receives1；
Obtain the described ultrasonic signal immediate moment obtaining with a upper cycle as t2；
Obtain the beeline l=(t of the described ultrasonic signal receiving2-t1)*c.
(3) beneficial effect
A kind of omnidirectional ultrasonic distance-measuring method and system that the present invention provides, it has advantages below：The omnidirectional of the present invention surpasses
Acoustical signal receiving unit passes through radial ultrasonic signal receiving structure and the omnibearing synchronous reception of axial ultrasonic signal receiving structure
The ultrasonic signal that datum mark sends, to ensure that ultrasound signal receipt efficiency high, accuracy are strong, receive broad covered area.
Omnidirectional's ranging system of the present invention and method effectively improve ultrasound wave letter using above-mentioned omnidirectional's ultrasonic signal receiving unit
Number receiving efficiency and signal receive coverage rate, and resolve module by distance and resolve the distance following the trail of object with respect to datum mark,
Therefore can quickly obtain the accurate distance of direct wave.
Brief description
Fig. 1 is the structural representation of the omnidirectional's ultrasonic signal receiving unit described in the embodiment of the present invention one；
Fig. 2 is the system framework figure described in the embodiment of the present invention two.
Wherein：1st, base；2nd, axial ultrasonic signal receiving structure；3rd, radial ultrasonic signal receiving structure.
Specific embodiment
With reference to the accompanying drawings and examples, the specific embodiment of the present invention is described in further detail.Following instance
For the present invention is described, but it is not limited to the scope of the present invention.
Embodiment one
As shown in figure 1, the present embodiment one provides a kind of omnidirectional ultrasonic signal receiving unit, connect including axial ultrasonic signal
Receive mechanism 2 and radial ultrasonic signal receiving structure 3, wherein, axial ultrasonic signal receiving structure 2 is used for reception and surpasses from this omnidirectional
The ultrasonic signal of acoustical signal receiving unit at least one end is simultaneously converted to the signal of telecommunication, is wherein derived from this omnidirectional's ultrasonic signal reception group
The ultrasonic signal of part at least one end is considered as axial ultrasonic signal；At least one end of radial ultrasonic signal receiving structure 3 surpasses with axially
Acoustic signal receiver structure 2 connects, for receiving the ultrasonic signal being derived from this omnidirectional's ultrasonic signal receiving unit side and being converted to
The signal of telecommunication, the ultrasonic signal being wherein derived from this omnidirectional's ultrasonic signal receiving unit side is considered as radial ultrasonic signal；By radially
The synchronization of ultrasonic signal receiving mechanism 3 and axial ultrasonic signal receiving structure 2 omnibearing stereo receives datum mark and sends
Ultrasonic signal, and be translated into the corresponding signal of telecommunication respectively, to ensure ultrasound signal receipt efficiency high, accuracy
By force, receive broad covered area.
For the ease of fixing and place this omnidirectional's ultrasonic signal receiving unit, preferably this omnidirectional's ultrasonic signal receiving unit is also
Including base 1, base 1 is preferably provided with the installing port for fixed radial ultrasonic signal receiving mechanism, for the ease of fixing and
Connection system modules, preferably other modules being used for signal processing are arranged in base 1.
Preferably, believed using axial ultrasonic signal receiving structure 2 and radial ultrasonic signal receiving structure 3 as axial ultrasonic ripple
Number and radial ultrasonic ripple signal reception sensor, synchronous receive omnibearing ultrasonic signal, then utilize axial ultrasonic signal
Axial ultrasonic ripple signal and radial ultrasonic ripple signal are each converted to telecommunications by receiving mechanism and radial ultrasonic signal receiving structure
Number such that it is able to the signal of telecommunication changed outwards being sent, thus realizing fast and accurately collection and the biography of the signal of telecommunication of synchronization
Defeated.
In order to quickly realize the conversion of omnibearing ultrasonic signal collection and the signal of telecommunication, the preferably axial direction of the present embodiment one surpasses
Acoustic signal receiver structure 2 includes piezoelectric patches and card interface, and the piezoelectric material of piezoelectric patches is preferably piezoelectric ceramics, and card interface sets
It is placed in the lower surface of piezoelectric patches, in radial ultrasonic signal receiving structure 3, be packaged with the piezoelectric membrane of head and the tail bending docking, edge
The excircle distribution of radial ultrasonic signal receiving structure, one end of radial ultrasonic signal receiving structure is fixed on base 1, another
End is connected with piezoelectric patches by card interface.
Specifically, piezoelectric membrane and piezoelectric patches all can carry out received ultrasonic signal as strain transducer, and by ultrasound wave
Signal is converted into voltage signal, and wherein, piezoelectric membrane is a kind of type of dynamic strain sensor, with piezoelectric polyvinylidene fluoride polymeric membrane
As a example (abbreviation PVDF) is as piezoelectric membrane, when stretching or bend a piece of piezoelectric membrane, between thin film upper/lower electrode surface just
A signal of telecommunication (electric charge or voltage) can be produced, and proportional with the deformation stretching or bend.General piezoelectric is all right
Presser sensor, but for piezoelectric membrane, when being longitudinally applied to the power of a very little, transversely can produce very big stress,
And if when applying same power to thin film large area, the stress of generation can be much smaller, and therefore, piezoelectric membrane is non-to dynamic stress
Often sensitive, the sensitivity representative value of the thick PVDF of 28um is 10～15mV/ microstrain (the PPM change of length), works as piezoelectricity
Thin film receives and corresponding deformation will occur during ultrasonic signal, so will produce between the upper/lower electrode surface of thin film
One signal of telecommunication.And the piezoelectric material of piezoelectric patches is preferably piezoelectric ceramics, piezoelectric ceramic piece is a kind of data-collection device,
Ultrasonic signal can be converted directly into voltage signal by it.One end using radial ultrasonic signal receiving structure 3 is fixedly connected footpath
To ultrasonic signal receiving mechanism 2, the other end is fixed on base 1, and the piezoelectric membrane that bending is connected is vertically arranged, and makes radially
Vertically upward, such structure ensures no matter be derived from which direction to the upper surface of the piezoelectric ceramic piece of ultrasonic signal receiving mechanism 2
Ultrasound wave can receive, therefore, synchronous after piezoelectric membrane or piezoelectric ceramic piece receive the ultrasound wave of multiple directions
Export small voltage signal, transferred after voltage signal reception is superimposed by mechanism by signal and outwards transmit, consequently facilitating subsequently
Signal amplify, filtering etc. process.
Embodiment two
The present embodiment two provides a kind of omnidirectional ranging system, including signal emission module, synchronous signal receiver mould
Block, the omnidirectional's ultrasonic signal receiving unit as described in embodiment one, signal amplification module, signal filtering module, threshold value compare mould
Block and distance resolve module.
Wherein, signal emission module is used for periodically transmitting ultrasonic signal and synchronizing signal, may be disposed to be measured
Datum mark, it includes ultrasonic emitting module and synchronizing signal transmitter module；Synchronous signal receiver module is used for receiving letter
Number synchronizing signal that transmitter module sends, to be that distance resolves the data providing contrast in measuring process；Omnidirectional is ultrasonic
The ultrasonic signal that signal receiving assembly sends for receipt signal transmitter module, and the ultrasonic signal receiving is converted to
The signal of telecommunication；Signal amplification module be used for the signal of telecommunication is amplified it is preferred that signal amplification module respectively with described in embodiment one
Axial ultrasonic signal receiving structure and radial ultrasonic signal receiving structure connect, so that by axial ultrasonic ripple signal and radially super
The ultra-weak electronic signal that acoustic signals are formed is amplified processing respectively；Signal filtering module is used for signal amplification module sent
Signal is filtered；Threshold value comparison module is used for the signal of telecommunication is compared with the threshold value specified, and output low and high level signal send
Enter distance and resolve module；Distance resolves module and is used for completing distance resolving, in distance resolves, preferably with synchronous signal receiver mould
The synchronizing signal that block receives and sends parameter as a comparison, determines, using optimizing algorithm, the moment that direct wave reaches, thus entering one
The time comparing calculation of step and synchronizing signal goes out the beeline of ultrasonic signal, and then accurately calculates measuring basiss to be measured
Point is the distance between to signal receiving point.
Wherein, the structure of omnidirectional's ultrasonic signal receiving unit is identical with embodiment one, and something in common repeats no more.
It should be noted that in omnidirectional's ultrasonic signal receiving unit of the present embodiment two, it is right that piezoelectric membrane is bent from beginning to end
It is connected into the shape of a cylinder, the radial ultrasonic ripple letter sending with signal emission module at datum mark for the capture setting
Number, piezoelectric ceramic piece is fixed on the top of cylindrical piezoelectric membrane, to gather the axial ultrasonic ripple of signal emission module transmission
Signal, especially from the ultrasonic signal of top.Characteristic due to make use of piezoelectric membrane can bend makes receiver module
Cylindrical column, receive the ultrasound wave of radial direction, received using piezoelectric ceramic piece slice process characteristic ripe, with low cost
The ultrasound wave of side, is connect by the omnidirectional's ultrasonic signal made as described in embodiment one that piezoelectric membrane and piezoelectric ceramic piece match
Receive assembly, piezoelectric membrane and the respective advantage of piezoelectric ceramic piece not only can have been given play to and received it is also possible to be applicable to omnidirectional
Spatial environmentss under using needing, and the measurement error of this omnidirectional ultrasonic signal receiving unit is very low, usual measurement error
For grade.
The system of the present embodiment two also includes acceleration transducer, for dynamically changing the reference of threshold value comparison module
Value, preferably acceleration transducer resolve module with distance and are connected, when distance resolving module is when entering row distance and settling accounts, the seeking of employing
Excellent algorithm follows seriality principle, using the speed of acceleration transducer detection motion, thus dynamically changing judgment threshold.
In order to optimize system structure, so that structure is easily facilitated and carry and safeguard, the synchronization letter preferably described in the present embodiment two
Number receiver module, signal amplification module, signal filtering module, threshold value comparison module and distance resolve module section and are arranged on enforcement
In base described in example one, wherein, signal amplification module is directly connect with axial ultrasonic signal receiving structure and radial ultrasonic signal
Receive mechanism to connect respectively, thus obtaining respectively by the signal of telecommunication of axial ultrasonic signal and the conversion of radial ultrasonic signal.
Embodiment three
As shown in Fig. 2 the present embodiment three provides a kind of omnidirectional ultrasonic distance-measuring method, it is mainly used in receiving and dispatching different formula of putting and surpasses
In sound ranging, receive and dispatch different put in formula supersonic sounding, positioned at range finding datum mark ultrasonic transmitter periodically launch ultrasonic
Ripple and synchronizing signal, the reception device positioned at tracked object receives synchronizing signal, and the method specifically includes：Step of transmitting, connect
Receive step, procedure of processing and measuring process, wherein,
Step of transmitting includes：Periodically launch ultrasonic signal and synchronizing signal using signal emission module；
Receiving step includes：Receive ultrasound wave using omnidirectional's ultrasonic signal receiving unit and synchronous signal receiver module respectively
Signal and synchronizing signal, and the ultrasonic signal receiving is converted to the signal of telecommunication；
Procedure of processing includes：Using signal amplification module, signal filtering module and threshold value comparison module, receiving step is obtained
The signal of telecommunication taking is amplified respectively, Filtering Processing and threshold value compare, and exports low and high level signal；
Measuring process includes：Using distance resolve module receive low and high level signal and calculate ultrasonic signal reach connect
Through distance by step.
Wherein, the ultrasonic signal that receiving step receives includes radial ultrasonic ripple signal and axial ultrasonic ripple signal, excellent
Choosing receives radial ultrasonic ripple using the radial ultrasonic signal receiving structure of the omnidirectional's ultrasonic signal receiving unit described in embodiment one
Signal, receives axial ultrasonic signal using axial ultrasonic signal receiving structure, thus the reception realizing omni-directional stereo surpasses
Acoustic signals, improve signal receiving efficiency and coverage rate.
Wherein, the solution process of measuring process is：The radial ultrasonic ripple signal and axial ultrasonic ripple signal of input is carried out
Analysis, obtains the time t of the synchronizing signal that receiving step receives respectively1, the radial ultrasonic ripple signal that receives of receiving step
Time tr11、tr12...tr1m, and the t obtaining the axial ultrasonic ripple signal that receiving step receivesr21、tr22...tr2n；
It should be noted that the sound wave of the radial ultrasonic ripple signal that respectively receives of m and n and axial ultrasonic ripple signal
Number.
Shortest time difference principle is followed by optimizing algorithm, because straight line is the shortest between 2 points, you can think tr11、
tr12...tr1mAnd tr21、tr22...tr2nIn with t1The moment t that the time difference minimum moment reaches for direct wave2, with by connecing
Receive synchronizing signal t that step gets1For contrast signal, that is,：
t2=φ (tr11,tr12,···,tr1m,tr21,tr22,···,tr2n)=min (tr11,tr12,···,
tr1m,tr21,tr22,···,tr2n)
The less situation of this principle reflection sources be applied to environment, the echo otherwise going up a cycle can produce to this cycle
Raw impact.
The beeline obtaining the described ultrasonic signal receiving is l=(t2-t1) * c, wherein, c is ultrasound wave in sky
Spread speed in gas.
Example IV
The present embodiment four provides another kind of omnidirectional ultrasonic distance-measuring method, the step of the method basic phase with embodiment three
With something in common repeats no more, and difference is：The optimizing algorithm of the present embodiment four follows seriality principle, that is, due to fortune
, there is not the situation of saltus step in the distance between animal body and datum mark consecutive variations, then can calculate tr11,tr12,···,
tr1m,tr21,tr22,···,tr2nThe t obtaining with a upper cycle2The difference in moment, this difference and the reference pre-setting
Value tthMake comparisons, difference and reference value immediate moment are designated as the t in this cycle2Moment.tthSetting with move speed have
Close, so when need to add in systems acceleration transducer, in order to detect the speed of motion thus dynamically changing this reference
Value.
When following seriality principle, the solution process of the measuring process of the method is optimizing algorithm：
Obtain the time t of the synchronizing signal that receiving step receives1；
Obtain the ultrasonic signal immediate moment obtaining with a upper cycle as t2；
Obtain the beeline l=(t of the ultrasonic signal receiving2-t1)*c.
In sum, the ultrasonic survey of omnidirectional with omnidirectional's ultrasonic signal receiving unit involved by four embodiments of the present invention
Away from system operationally, the signal emission module of range finding datum mark periodically launches ultrasonic signal and synchronizing signal, is located at
Omnidirectional's ultrasonic signal receiving unit of tracked object receives synchronizing signal, because wall, tables and chairs etc. all can reflect in space
Ultrasound wave, therefore the ultrasound wave that omnidirectional's ultrasonic signal receiving unit receives is made up of direct wave and echo, the number of echo with
Place environment is relevant.
The ultrasonic signal receiving is converted into two path signal by omnidirectional's ultrasonic signal receiving unit, and a road is by footpath
To the radial ultrasonic ripple signal of the piezoelectric membrane output of ultrasonic signal receiving mechanism, another road is to be received by axial ultrasonic signal
The axial ultrasonic ripple signal of the piezoelectric patches output of mechanism；Two paths of signals is respectively through the amplifying circuit of signal amplification module, signal
After the filter circuit of filtration module, the threshold value comparison circuit of threshold value comparison module are processed, export low and high level signal, distance resolves
It is preferably provided with signal in module and accesses processor, two external interrupt pins that this signal accesses processor are used for receiving threshold value
The low and high level signal of comparison module output, will trigger processor and interrupt, processor will record two respectively when signal occurs saltus step
In the moment that road signal triggering is interrupted, this moment is the moment that two paths of signals reaches, uses t respectivelyr11、tr12...tr1mAnd tr21、
tr22...tr2nThe number of the sound wave that expression, wherein m and n respectively piezoelectric membrane and piezoelectric patches 2 receive, according to synchronizing signal
t1The moment reaching with two paths of signals obtains, by optimizing algorithm, the time t that direct wave reaches2.
Wherein, signal filtering module is preferably band filter, the ultrasonic signal that its mid frequency and transmitting terminal send
Mid frequency consistent；Signal access processor be preferably single-chip microcomputer or DSP (abbreviation of Digital Signal Processing chip) or
Other common processors that can be used for Digital Signal Processing.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement made etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of omnidirectional ultrasonic signal receiving unit is it is characterised in that include：
Axial ultrasonic signal receiving structure, for receiving the ultrasonic letter from this omnidirectional's ultrasonic signal receiving unit at least one end
Number and be converted to the signal of telecommunication；
Radial ultrasonic signal receiving structure, at least one end are connected with described axial ultrasonic signal receiving structure, are derived from for receiving
The ultrasonic signal of this omnidirectional's ultrasonic signal receiving unit side is simultaneously converted to the signal of telecommunication.
2. omnidirectional as claimed in claim 1 ultrasonic signal receiving unit it is characterised in that also including base, use by described base
In fixed radial ultrasonic signal receiving mechanism.
3. omnidirectional as claimed in claim 2 ultrasonic signal receiving unit is it is characterised in that described axial ultrasonic signal receiver
Structure includes piezoelectric patches and card interface, and described card interface is arranged at the lower surface of piezoelectric patches, described radial ultrasonic signal receiving structure
Including the piezoelectric membrane of head and the tail bending docking, one end of radial ultrasonic signal receiving structure is fixed on described base, separately
One end is connected with piezoelectric patches by described card interface.
4. omnidirectional as claimed in claim 3 ultrasonic signal receiving unit is it is characterised in that the piezoelectric material of described piezoelectric patches
Matter is piezoelectric ceramics.
5. a kind of omnidirectional ranging system is it is characterised in that include：
Signal emission module, for periodically launching ultrasonic signal and synchronizing signal；
Synchronous signal receiver module, for receiving the synchronizing signal that described signal emission module sends；
Omnidirectional's ultrasonic signal receiving unit as described in any one of claim 1-4, sends out for receiving described signal emission module
The ultrasonic signal going out, and the ultrasonic signal receiving is converted to the signal of telecommunication；
Signal amplification module, for being amplified to the described signal of telecommunication；
Signal filtering module, the signal for sending to described signal amplification module is filtered；
Threshold value comparison module, for being compared with the threshold value specified to the signal of telecommunication, output low and high level signal sends into distance solution
Calculate module；
Described distance resolves module, is used for completing distance resolving.
6. omnidirectional as claimed in claim 5 ranging system is it is characterised in that also include acceleration transducer, for moving
State ground changes the reference value of described threshold value comparison module.
7. a kind of omnidirectional ultrasonic distance-measuring method is it is characterised in that include：
Step of transmitting, receiving step, procedure of processing and measuring process, wherein,
Described step of transmitting includes：Periodically launch ultrasonic signal and synchronizing signal using signal emission module；
Described receiving step includes：Received described super respectively using omnidirectional's ultrasonic signal receiving unit and synchronous signal receiver module
Acoustic signals and described synchronizing signal, and the described ultrasonic signal receiving is converted to the signal of telecommunication；
Described procedure of processing includes：Using signal amplification module, signal filtering module and threshold value comparison module, receiving step is obtained
The described signal of telecommunication taking is amplified respectively, Filtering Processing and threshold value compare, and exports low and high level signal；
Described measuring process includes：Resolve module using distance to receive described low and high level signal and calculate described ultrasound wave letter
Number reach the described through distance accepting step.
8. omnidirectional as claimed in claim 7 ultrasonic distance-measuring method it is characterised in that described receiving step receive described super
Acoustic signals include radial ultrasonic ripple signal and axial ultrasonic ripple signal.
9. omnidirectional as claimed in claim 8 ultrasonic distance-measuring method is it is characterised in that the solution process of described measuring process is：
Obtain the time t of the described synchronizing signal that described receiving step receives1；
Obtain the time t of the described radial ultrasonic ripple signal that described receiving step receivesr11、tr12...tr1m；
Obtain the t of the described axial ultrasonic ripple signal that described receiving step receivesr21、tr22...tr2n；
By optimizing algorithm obtain described radial ultrasonic ripple signal and described synchronizing signal, described axial ultrasonic ripple signal with described
Between synchronizing signal, the shortest time differs from t2：
t2=φ (tr11,tr12,…,tr1m,tr21,tr22,…,tr2n)=min (tr11,tr12,…,tr1m,tr21,tr22,…,tr2n)
Obtain the beeline l=(t of the described ultrasonic signal receiving2-t1)*c.
10. omnidirectional as claimed in claim 8 ultrasonic distance-measuring method is it is characterised in that the solution process of described measuring process is：
Obtain the time t of the described synchronizing signal that described receiving step receives1；
Obtain the described ultrasonic signal immediate moment obtaining with a upper cycle as t2；
Obtain the beeline l=(t of the described ultrasonic signal receiving2-t1)*c.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108287339A (en) * | 2017-12-22 | 2018-07-17 | 北京凌宇智控科技有限公司 | Antidote and device, ultrasonic probe, ultrasonic receiver for ultrasonic ranging |
| CN110031831A (en) * | 2019-04-24 | 2019-07-19 | 吉林大学 | A kind of small-sized three-dimensional ultrasonic transmitter having ultrasonic wave and infrared emission function |
| WO2022082711A1 (en) * | 2020-10-23 | 2022-04-28 | 中科传启（苏州）科技有限公司 | Myopia prevention method applicable to electronic device, myopia prevention electronic device, and myopia prevention tablet |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108287339A (en) * | 2017-12-22 | 2018-07-17 | 北京凌宇智控科技有限公司 | Antidote and device, ultrasonic probe, ultrasonic receiver for ultrasonic ranging |
| CN108287339B (en) * | 2017-12-22 | 2020-07-24 | 北京凌宇智控科技有限公司 | Correction method and device for ultrasonic ranging and ultrasonic receiving device |
| US11500089B2 (en) | 2017-12-22 | 2022-11-15 | Nolo Co., Ltd. | Control method and device for ultrasonic receiving device |
| CN110031831A (en) * | 2019-04-24 | 2019-07-19 | 吉林大学 | A kind of small-sized three-dimensional ultrasonic transmitter having ultrasonic wave and infrared emission function |
| CN110031831B (en) * | 2019-04-24 | 2022-11-18 | 吉林大学 | Small three-dimensional ultrasonic transmitter with ultrasonic and infrared transmitting functions |
| WO2022082711A1 (en) * | 2020-10-23 | 2022-04-28 | 中科传启（苏州）科技有限公司 | Myopia prevention method applicable to electronic device, myopia prevention electronic device, and myopia prevention tablet |
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