CN106483526B - Non-blind area ultrasonic ranging probe and ranging method - Google Patents
Non-blind area ultrasonic ranging probe and ranging method Download PDFInfo
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- CN106483526B CN106483526B CN201611097865.XA CN201611097865A CN106483526B CN 106483526 B CN106483526 B CN 106483526B CN 201611097865 A CN201611097865 A CN 201611097865A CN 106483526 B CN106483526 B CN 106483526B
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- ultrasonic
- receiver
- ultrasonic receiver
- transmitter
- amplifier
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Classifications
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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
-
- 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
Abstract
The invention discloses a non-blind area ultrasonic ranging probe and a ranging method, wherein the probe comprises an ultrasonic transmitter T and a first ultrasonic receiver R which are positioned on the same plane 1 And a second ultrasonic receiver R 2 First ultrasonic receiver R 1 And a second ultrasonic receiver R 2 The distance from the ultrasonic transmitter T is the same and the ultrasonic transmitter T is positioned on the same side; second ultrasonic receiver R 2 The echoes can be isolated by covering with a sideways slotted container, which is slotted in the direction opposite to the ultrasonic transmitter T. First ultrasonic receiver R 1 And a second ultrasonic receiver R 2 Can be simultaneously and uniformly influenced by the crosstalk through wave of the ultrasonic transmitter T. The influence of crosstalk direct wave is eliminated by adopting the reverse superposition method, the non-blind area ultrasonic ranging is realized, the structure is simple, the realization is easy, and the effect is good.
Description
Technical Field
The invention belongs to the field of ultrasonic ranging, and particularly relates to a non-blind area ultrasonic ranging probe and a ranging method.
Background
The ultrasonic wave follows the propagation rule of common mechanical wave in the elastic medium, and is characterized by good bundling property, good directivity, reflection and refraction phenomena at the interface of the medium, and attenuation of vibration amplitude caused by absorption of the medium after entering the medium. The frequency of the ultrasonic waves can be very high, reaching the megahertz level.
The propagation speed of the ultrasonic wave in the same medium is substantially constant, so that non-contact ranging can be achieved by measuring the time taken for the ultrasonic wave to travel a distance in the medium. In order to improve the accuracy of the ranging, the time that elapses while the ultrasonic wave propagates in the medium (i.e., the pacing time) must be precisely measured.
In the reflective ultrasonic ranging scheme, an ultrasonic transmitter and an ultrasonic receiver are placed together, when the ultrasonic transmitter works, mechanical vibration is firstly transmitted to the receiver through a circuit board, ultrasonic waves propagated through air also reach the receiver, the waves are called crosstalk through waves (also called leakage waves), and after an electric signal for exciting the ultrasonic transmitter stops, an ultrasonic transmitter vibrator still vibrates for a plurality of periods due to the factors of mechanical inertia. In the period, the ultrasonic receiver is always influenced by the crosstalk through wave, the ultrasonic echo signals cannot be accurately distinguished, and the ultrasonic receiver can accurately distinguish the ultrasonic echo signals only after the influence of the crosstalk through wave disappears; the time of the influence of the crosstalk through wave is the dead zone of ultrasonic ranging, and is usually expressed by the distance of ultrasonic wave propagation in a medium during the time, and the conventional transceiver-integrated ultrasonic transducer has a ranging dead zone of about 30 cm.
There are two main methods for reducing the ranging blind area. Firstly, starting from the structure of the transducer, through proper structural design, when the sensitivity of the transducer is considered to be improved, proper measures are taken to inhibit residual vibration and attached frequency vibration, so that the transducer has higher sensitivity and smaller emission wave trailing, but the method also faces the contradiction of improving the sensitivity and reducing the emission wave trailing and has limited effect. The other method starts from the signal amplifying circuit, adopts a time-varying gain amplifier, namely, according to the characteristic that the amplitude of the echo signal decays exponentially along with the propagation time, designs the receiving amplifier into a time-varying gain amplifier with the gain increasing exponentially along with the time, and can uniformly amplify echo signals with different distances to proper amplitude within a certain range, thereby avoiding the over amplification of the tail signal of the transmitting wave, and reducing the measurement blind area to a certain extent. However, analysis shows that this method relies on controlling the gain to achieve suppression of measurement dead zones. The precondition that the transmitted wave tailing signal affecting the size of the dead zone can be suppressed is that the amplitude of the echo signal must be larger than the amplitude of the tailing signal at the corresponding position, and the minimum limit of the dead zone which can be obtained is the corresponding measuring distance when the amplitude of the echo signal is equal to the amplitude of the transmitted tailing signal at the corresponding position, and obviously the actual dead zone is larger than the measuring distance. To further reduce the dead zone, the time-varying gain suppression method has failed.
Disclosure of Invention
The invention aims to provide a non-blind area ultrasonic ranging method based on an inverse superposition principle, aiming at the defects of the prior art.
The aim of the invention is realized by the following technical scheme: a non-blind area ultrasonic ranging probe comprises an ultrasonic transmitter T and a first ultrasonic receiver R which are positioned on the same plane 1 And a second ultrasonic receiver R 2 First ultrasonic receiver R 1 And a second ultrasonic receiver R 2 The distance from the ultrasonic transmitter T is the same and the ultrasonic transmitter T is positioned on the same side; second ultrasonic receiver R 2 The echoes can be isolated by covering with a sideways slotted container, which is slotted in the direction opposite to the ultrasonic transmitter T.
Further, the first ultrasonic receiver R 1 And a second ultrasonic receiver R 2 Can be simultaneously and uniformly influenced by the crosstalk through wave of the ultrasonic transmitter T.
Further, the influence of crosstalk through waves is eliminated by adopting an inverse superposition method.
Further, the first ultrasonic receiver R 1 And a second ultrasonic receiver R 2 The received signals are amplified by a first-stage amplifier respectively and then are input into a secondary amplifier together, and the output signals of the secondary amplifier are sequentially transmitted to a final-stage amplifier, a rectifying circuit and a filtering circuit to output electric signals carrying echo signals; the first-stage amplifier adopts an inverting amplifier, the secondary amplifier adopts a subtracter circuit with controllable gain, and the final-stage amplifier adopts a resonant frequency-selecting amplifier.
A non-blind area ultrasonic ranging method, this method adopts two ultrasonic receivers that are in the same level with ultrasonic emitter and distance the same with ultrasonic emitter, one of them is covered by the container that the side slotted, the direction of this container slotting is right against ultrasonic emitter; and signals output by the two ultrasonic receivers are overlapped in opposite phase, the influence of crosstalk through waves of the ultrasonic transmitters is eliminated, echo signals are obtained, and distance measurement is completed.
Further, the signals received by the two ultrasonic receivers are amplified by the first-stage amplifier respectively and then are input into the secondary amplifier together, the output signals of the secondary amplifier sequentially pass through the final-stage amplifier, the rectifying circuit and the filtering circuit and then output an electric signal carrying an echo signal, the electric signal is input into the voltage comparator, when the amplitude of the echo signal is larger than the set amplitude of the echo signal, the output of the voltage comparator is changed from low level to high level, and the controller measures the time delta t from outputting the ultrasonic carrier signal to changing the logic of the output pin of the voltage comparator from low level to high level 2 According to the formulaThe distance l between the ultrasonic emitter T and the obstacle is obtained.
The beneficial effects of the invention are as follows: according to the non-blind area ultrasonic ranging method provided by the invention, through the mounting structure with specific characteristics and the signal processing method, the influence of crosstalk through waves is completely eliminated, the non-blind area ultrasonic ranging is realized, the structure is simple, the implementation is easy, and the effect is good.
Drawings
FIG. 1 (a) shows an ultrasonic transmitter T and an ultrasonic receiver R 1 、R 2 Is a structural layout diagram of the above.
FIG. 1 (b) is R 2 A schematic structure covered by a container with a slot on one side.
Fig. 2 is a block diagram of a system for performing ultrasonic ranging by means of the probe of the present invention.
Fig. 3 is a waveform diagram of the outputs of the functional modules.
Fig. 4 is a schematic circuit diagram of the non-blind area ultrasonic ranging method of the present invention.
Detailed Description
The objects and effects of the present invention will become more apparent from the following detailed description of the present invention with reference to the accompanying drawings.
The invention provides a blind-free method based on the reverse superposition principleZone ultrasonic ranging probe comprising an ultrasonic transmitter T and two ultrasonic receivers R 1 、R 2 Two ultrasonic receivers R 1 、R 2 The distance from the ultrasonic transmitter T is the same and on the same side of the ultrasonic transmitter, and the ultrasonic transmitter T and the ultrasonic receiver R 1 、R 2 On the same plane as shown in fig. 1 (a); second ultrasonic receiver R 2 And a first ultrasonic receiver R 1 Is different in that R 2 Covered by a side slotted container which is slotted in a direction opposite to the ultrasonic transmitter T, as shown in fig. 1 (b).
For the structural layout shown in fig. 1 (b), the ultrasonic receiver R 1 、R 2 Can be simultaneously and uniformly influenced by the T crosstalk through wave of the ultrasonic transmitter, but for the ultrasonic echo signal, due to R 2 Covered by a laterally slotted container, so that no echo signal is received, R 1 But can receive echo signals unimpeded. Thus only R is taken to be 1 、R 2 The influence of crosstalk through waves can be completely eliminated by reversely superposing the output electric signals, and for echo signals, R is used for 2 The echo is not received, and the result of the reverse superposition is that only R is output 1 The effect of the crosstalk through-wave is eliminated from the received electrical signal.
FIG. 2 depicts a block diagram of a system for performing ultrasonic ranging based on the probe described above, including an ultrasonic transmitter T, a first ultrasonic receiver R 1 A second ultrasonic receiver R 2 A power driving circuit for driving the ultrasonic transmitter T, an amplifier 1 for amplifying an ultrasonic receiver signal, an amplifier 2, a subtractor, an amplifier 3, a precision rectifying circuit, a filter circuit, a voltage comparator, a controller, and the like.
The controller outputs an ultrasonic carrier signal with the frequency corresponding to the working frequency of the ultrasonic transmitter T, usually 40kHz, and the signal is amplified by the power driving circuit and then is connected to the ultrasonic transmitter T, and the vibration amplitude of the ultrasonic transmitter T is exponentially increased from 0 to stable amplitude because the ultrasonic transmitter T is a mechanical vibratorThe pressure amplitude also increases exponentially as shown in fig. 3 (a). When the controller stops outputting the ultrasonic carrier signal, the vibration amplitude of the transmitting probe is exponentially attenuated to 0 due to mechanical inertia, and the sound pressure amplitude of the ultrasonic wave is also exponentially attenuated to 0, as shown in fig. 3 (a). When the ultrasonic transmitter T starts to vibrate, in addition to transmitting ultrasonic waves into the space, its mechanical vibration propagates in a fan shape along the surface of the solid housing, due to the ultrasonic receiver R 1 、R 2 The vibration is felt at the same time and with equal amplitude on the same propagation sector as the ultrasonic transmitter T, the ultrasonic receiver R being propagated in the solid housing at a faster speed than in the air 1 、R 2 Will receive the vibration transmitted by the solid shell first, then receive the vibration transmitted by the air, and finally R 1 、R 2 The superimposed waveforms of the two same-frequency waves are outputted, as shown in fig. 3 (b), 3 (c).
When the ultrasonic wave propagating in the air encounters an obstacle, reflection occurs, due to R 2 Covered by a sideways slotted container, so R 2 No echo is received, only R 1 An echo may be received as shown in fig. 3 (b).
Ultrasonic receiver R 1 、R 2 The output electric signal is very weak and can be utilized after being amplified, so the amplifiers 1 and 2 in fig. 2 firstly take R 1 、R 2 The output electric signal is amplified by a certain multiple and then subtracted by a subtracter, the signal output by the subtracter is further amplified by an amplifier 3 to improve the receiving sensitivity as much as possible, the alternating current signal is converted into the direct current pulse signal by a rectifying and filtering circuit for a voltage comparator, and when the amplitude of the echo signal is larger than the reference voltage V T When the output of the voltage comparator changes from low to high, as shown in fig. 3 (f). The logic from the controller to the output pin of the voltage comparator changes from low level to high level, and the time delta t elapses 2 This time is the time that it takes for the ultrasonic wave to travel from the ultrasonic transmitter T to the obstacle and back to the ultrasonic transmitter T, and thereforeDistance between ultrasonic transmitter T and obstacleWherein: c is the propagation velocity of the ultrasonic wave in the air,the unit is m/s and T is the ambient temperature.
Ultrasonic receiver R 1 、R 2 The vibration condition and the space condition are kept the same as much as possible on the straight-line propagation path between the ultrasonic transmitters T, and more clearly explained is that the ultrasonic receiver R is fixed 1 、R 2 And the circuit board of the ultrasonic transmitter T are designed to avoid R as much as possible 1 Between T and R 2 A device and a slot are arranged between the T and the circuit board so as not to influence the mechanical wave edge from T to R 1 、R 2 Is effective in affecting R 1 、R 2 Receiving consistency of crosstalk through waves propagated by the circuit board; spatially, R 1 Between T and R 2 No obstacle is placed between the T and the T as much as possible so as not to influence R 1 、R 2 The consistency of the crosstalk through wave propagated by the space is received, and the influence of the crosstalk through wave is completely eliminated after the reverse superposition is ensured as much as possible.
In terms of circuit design, an ultrasonic receiver R 1 、R 2 The signal processing of (a) adopts a three-stage amplifying circuit structure as shown in fig. 4. In terms of element selection of the amplifier, the low noise amplifier LF356 is preferred, and in order to reduce the noise influence of the resistive element in the first stage amplifier, the first stage amplifier adopts inverting amplification, so that the resistors r1_2 and r1_5 can select smaller resistance values, thereby being beneficial to reducing the noise of the amplifier. In the selection of the resistance values of R1_2 and R1_5, the values of R1_2 and R1_5 are preferably as close to the ultrasonic receiver R as possible 1 、R 2 The output resistance of the power converter can be matched as much as possible, and the sound-electricity conversion efficiency is improved. The resistance values of the balance resistors R1_1 and R1_4 are the parallel resistance values of R1_2 and R1_3 and the parallel resistance values of R1_5 and R1_6, so as to reduce the influence of input offset current on the gain of the amplifier as much as possible; the voltage gain of the first-stage amplifier is calculated byAnd (5) determining.
The secondary amplifier is realized by IC3 and is a subtracter circuit with controllable gain, the signal output by the amplifier is the signal input by the non-inverting terminal minus the signal of the inverting terminal and then multiplied by the resistance ratioThe final-stage amplifier is a resonant frequency-selecting amplifier, and the purpose of the final-stage amplifier is to reduce the working bandwidth of the amplifier and improve the signal-to-noise ratio; the resistor R1_11 is used for adjusting the Q values of the resonant circuits T1_1 and C1_4 and adjusting the working bandwidth and the voltage gain of the current-stage amplifier. C1_5, D1 and D2 form a voltage doubling rectifying circuit, R1_13, C1_6, R1_14 and C1_7 form a two-stage low-pass filter circuit, the amplitude of echo signals is output after filtering, the signals are connected to the non-inverting input end of a voltage comparator IC6, the inverting input end of the voltage comparator IC6 is connected to a voltage reference formed by R1_15, C1_8 and R1_16, and the reference voltage is%>When the amplitude of the echo signal exceeds this voltage reference, the output of the voltage comparator IC6 changes from logic 0 to logic 1.
The controller selects AVR singlechip ATMEGA8-16AU, two pins PD6 and PD7 of the PD port output a series of differential square waves, and the ultrasonic transmitter T is driven by 4 paths of parallel connection of the logic driving chip 74HC573 to transmit ultrasonic waves. Since the differential driving method is adopted, the amplitude of the driving voltage applied to the ultrasonic transmitter T is twice the power supply voltage.
The invention provides a non-blind area ultrasonic ranging probe and a ranging method, which completely eliminate the influence of crosstalk through waves through a mounting structure with specific characteristics and a signal processing method, realize non-blind area ultrasonic ranging, and have the advantages of simple structure, easy realization and good effect.
The invention is described in detail by the preferred embodiments, but not limited to, the above embodiments, and any other changes, modifications, combinations, and simplifications based on the principles of the invention are considered as equivalent substitutions, which are included in the scope of the invention.
Claims (6)
1. A non-blind area ultrasonic ranging probe is characterized in that the probe comprises an ultrasonic transmitter T and a first ultrasonic receiver R which are positioned on the same plane 1 And a second ultrasonic receiver R 2 First ultrasonic receiver R 1 And a second ultrasonic receiver R 2 The distance from the ultrasonic transmitter T is the same and the ultrasonic transmitter T is positioned on the same side; second ultrasonic receiver R 2 The echoes can be isolated by covering with a sideways slotted container, which is slotted in the direction opposite to the ultrasonic transmitter T.
2. The non-blind area ultrasonic ranging probe of claim 1, wherein the first ultrasonic receiver R 1 And a second ultrasonic receiver R 2 Can be simultaneously and uniformly influenced by the crosstalk through wave of the ultrasonic transmitter T.
3. The non-blind area ultrasonic ranging probe of claim 1 wherein the influence of crosstalk through waves is eliminated by an inverse superposition method.
4. The non-blind area ultrasonic ranging probe of claim 1, wherein the first ultrasonic receiver R 1 And a second ultrasonic receiver R 2 The received signals are amplified by a first-stage amplifier respectively and then are input into a secondary amplifier together, and the output signals of the secondary amplifier are sequentially transmitted to a final-stage amplifier, a rectifying circuit and a filtering circuit to output electric signals carrying echo signals; the first-stage amplifier adopts an inverting amplifier, the secondary amplifier adopts a subtracter circuit with controllable gain, and the final-stage amplifier adopts a resonant frequency-selecting amplifier.
5. The non-blind area ultrasonic ranging method is characterized in that two ultrasonic receivers which are in the same plane with the ultrasonic transmitter and have the same distance with the ultrasonic transmitter are adopted, one ultrasonic receiver is covered by a container with a grooved side, and the grooved direction of the container is opposite to the ultrasonic transmitter; and signals output by the two ultrasonic receivers are overlapped in opposite phase, the influence of crosstalk through waves of the ultrasonic transmitters is eliminated, echo signals are obtained, and distance measurement is completed.
6. The method of claim 5, wherein the signals received by the two ultrasonic receivers are amplified by the first-stage amplifier respectively, and then are input to the second-stage amplifier together, the output signals of the second-stage amplifier are sequentially passed through the final-stage amplifier, the rectifying circuit and the filtering circuit to output an electric signal carrying an echo signal, the electric signal is input to the voltage comparator, when the amplitude of the echo signal is larger than the set amplitude of the echo signal, the output of the voltage comparator is changed from low level to high level, the controller measures the time Δt from outputting the ultrasonic carrier signal to changing the logic of the output pin of the voltage comparator from low level to high level 2 According to the formulaThe distance l between the ultrasonic emitter T and the obstacle is obtained.
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| CN107193008A (en) * | 2017-07-25 | 2017-09-22 | 安徽大学 | A kind of supersonic range finder and method |
| CN110749888A (en) * | 2019-12-20 | 2020-02-04 | 广州赛特智能科技有限公司 | Distance measurement method based on ultrasonic distance measurement system |
| CN116458925B (en) * | 2023-06-15 | 2023-09-01 | 山东百多安医疗器械股份有限公司 | Portable non-blind area multi-mode ultrasonic electrocardio system |
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