CN107064941A - A kind of ultrasonic distance-measuring method of three-stage pulse excitation and feature extraction - Google Patents
A kind of ultrasonic distance-measuring method of three-stage pulse excitation and feature extraction Download PDFInfo
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- CN107064941A CN107064941A CN201710296991.6A CN201710296991A CN107064941A CN 107064941 A CN107064941 A CN 107064941A CN 201710296991 A CN201710296991 A CN 201710296991A CN 107064941 A CN107064941 A CN 107064941A
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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
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
-
- 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
- G01S7/523—Details of pulse systems
- G01S7/524—Transmitters
-
- 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
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/53—Means for transforming coordinates or for evaluating data, e.g. using computers
Abstract
The present invention relates to the ultrasonic distance-measuring method of a kind of three-stage pulse excitation and feature extraction, first, while three-stage pulse alternative excitation is carried out to ultrasonic transmitter, the ultrasonic reception signal in certain time is gathered using 12 A/D synchronous high-speeds；Then, envelope extraction is carried out to ultrasonic reception collection signal, the envelope curve of the signal is extracted by Sine-Fitting；Secondly on the basis of smooth to envelope curve, the envelope peak of maximum is found by global search, i.e., middle envelope peak position；Using largest enveloping peak as starting point, in local interval, the method by searching for minimum value forward searches out transition valley point；Finally by the demarcation relation between transition valley point position and measurement distance, calculate institute's ranging from.Instant invention overcomes the oscillatory extinction under one direction pulse excitation it is slow the problem of, using the forward and reverse alternative excitation mode of three-stage, i.e., first positive reverse and then positive energisation mode again, it is ensured that be in dead-beat state before ultrasonic receiver measurement next time.
Description
Technical field
The invention belongs to ultrasonic measuring distance technology field, the ultrasound of specifically a kind of three-stage pulse excitation and feature extraction
Distance-finding method.
Background technology
Supersonic sounding as a kind of active contactless e measurement technology, with direction set, penetration power is strong, energy attenuation is slow
Etc. a series of features, be widely used in modern industry measurement and control area, such as range measurement, level gauging, ultrasonic examination, from
In dynamic parking system and reverse radar system.At this stage, the method on supersonic sounding is broadly divided into multiple frequency ranging both at home and abroad
Method, phase difference detection method, flight time detection method etc..In these three measuring methods, flight time detection method is due to operation letter
Single, realization is easy, so most widely used.When flight time detection method is the distance and flight propagated in media as well by sound wave
Between the relational implementation ranging that is directly proportional, for split correlation ranging system, current environment is represented apart from l=c*t, c
Under the velocity of sound, t be ultrasonic wave from transmitting terminal to receiving terminal in the middle of transition time, namely flight time.
In traditional flight time detection method, ultrasonic transmitter sends a certain number of pulse excitation ripple every time, due to
The superposition of energy, the ultrasonic wave that ultrasonic transducer is received is the sinusoidal modulation signal of a slow fluctuating envelope, by detecting ultrasound
The Induction Peried point or envelope peak point of received wave realize time-of-flight method ranging, and the major technique of time-of-flight method detection is difficult
Point is that the starting of oscillation of sonac has the rise time so that received wave has inertial delay, and ultrasonic signal plays amplitude change
Small, starting of oscillation feature is not obvious, there is larger error to the detection of Induction Peried point.And what traditional ultrasonic action mode was obtained
Only there is first enveloped crest value in ultrasonic wave envelope curve, changes gently or tend to saturation at the crest of ultrasonic reception signal
When, the peak point of envelope curve does not have uniquely determining property, it may appear that larger error, influences final measurement accuracy.
The content of the invention
In order to solve the above-mentioned technical problem, there is provided one kind on the basis of traditional flight time detection method by the present invention
The forward and reverse alternate ultrasound emission probe energisation mode of three-stage and the extraction side of ultrasonic reception signal envelope feature valley point position
Method, this method can realize the accurate measurement of distance in supersonic sounding.
The present invention is mainly adopted the following technical scheme that：
A kind of ranging system of three-stage pulse excitation and feature extraction, it is characterised in that including：Centre frequency is
40kHz TCT40-16R/T type Split ultrasonic sensors；Ultrasonic transmitter and receiver are arranged on split correlation
On line slideway, transmitter bottom is fixed on line slideway bottom, and receiver is moved in the range of 0~500mm.
A kind of ultrasonic distance-measuring method of three-stage pulse excitation and feature extraction, it is characterised in that including：
Step 1：In the measurement range of ranging system, optional one group of testing distance group L={ l1,l2,…,ln,
Under each distance, n is first sent using the PWM module of STM32 single-chip microcomputers1The individual cycle is T pulse, and be delayed T/2, retransmits n2
The individual cycle is T pulse, then the T/2 that is delayed finally sends n3The individual cycle is T pulse, and these pulses are through overdriving drive circuit
After amplification, the transmitting terminal of ultrasonic transmitter is loaded into successively by the order of transmission, and ultrasonic transmitter launches ultrasonic wave letter therewith
Number, the ultrasonic receiver under same rectilinear direction, which is received, is converted into electric signal after ultrasonic signal；Wherein for the third time
Send n3The purpose of individual driving pulse is in order to previous oscillation energy is balanced out so that ultrasonic transmitter swashs next
Dead-beat state is in when encouraging cycle arriving, so as to avoid the influence to next Energizing cycle；Here selected arteries and veins
Rush number n1、n2、n3It ensure that envelope peak-peak is appeared on second peak value, most basic pass should be met between them
It is n2>n1、n2>n3；
Step 2：While pumping signal is sent, excitation is believed by sampling time interval of Δ t using STM32 single-chip microcomputers
Number and ultrasonic reception signal synchronize the collection of 12 high-speed a/ds, each sampling number is N, to the ultrasonic signal sampled every time
Envelope curve extraction is carried out, envelope sequence point is obtained；
Step 3：By length of every n point to envelope sequence point smoothing processing, what the envelope curve after search is smooth occurred
Maximal peak point, and mark the corresponding sample sequence position x of maximal peak point0, with x0For starting point, w is that siding-to-siding block length is searched for forward
Envelope curve minimum point after smooth, namely transition valley point, and the corresponding sample sequence position x in mark transitions valley pointp；
Step 4：In testing distance group L={ l1,l2,…,lnUnder the conditions of, calculate corresponding xp={ xp1,xp2,…,
xpn,
Because sampling time interval is certain, so being that direct ratio is closed between the flight time of ultrasonic wave and sample sequence position
System, understands that institute's ranging is from l and the sample sequence position x of transition valley point in conjunction with distance and the linear relationship of flight timepBetween
There is also linear relationship；Therefore, with xpFor independent variable, l is dependent variable, and l and x are fitted using principle of least square methodpMathematics
Relational expression l=axp+b；
Step 5：For any testing distance l, the sample sequence position x of its transition valley point is obtained with step 1,2,3p,
Then by xpSubstitute into the mathematic(al) representation that step 4 is fitted, that is, obtain testing distance l.
In a kind of ultrasonic distance-measuring method of above-mentioned three-stage pulse excitation and feature extraction, the step 3, n is equal to
Sampling number in one signal period.
The present invention utilizes positive and negative pulse alternative excitation, ultrasonic transmitter is generated enhanced vibration after a first decay
Signal, forms a transition valley point for representing orientation of oscillation change.Transition valley point position is understood based on flight time Cleaning Principle
With detection range linear correlation.In view of the valley point feature substantially, the detection error to this position is small.While in order to overcome list
The problem of oscillatory extinction under the pulse excitation of direction is slow, it is using the forward and reverse alternative excitation mode of three-stage, i.e., first positive reverse again
Then positive energisation mode, it is ensured that be in dead-beat state before ultrasonic receiver measurement next time.
Brief description of the drawings
Ranging system schematic diagram in Fig. 1 present examples.
System block diagram in Fig. 2 present examples.
Improvement driving pulse sampled signal figure in Fig. 3 present examples.
Fig. 4 present examples improve ultrasonic reception signal sampling figure, envelope curve figure and the independent variable x under energisation modep
Schematic diagram.
Fig. 5 present examples acceptance of the bid set a distance group l and independent variable xpLeast square linear fit result.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing and exemplary reality
Example is applied, the processing of energisation mode and ultrasonic reception signal after improving the present invention is further described, described herein
Exemplary embodiment is only to explain the present invention, the scope of application being not intended to limit the present invention.
The present invention provides improved supersonic sounding energisation mode and its data processing method, comprises the following steps：
Step 1：Ranging system in this example is as shown in figure 1, measuring system uses centre frequency for 40kHz's
TCT40-16R/T type Split ultrasonic sensors.Ultrasonic transmitter and transducer are led with split correlation installed in straight line
On rail, transmitter bottom is fixed on line slideway bottom, and receiver can be moved in the range of 0~500mm, and measuring system is placed in
In the constant air ambient of temperature, the measuring system frame diagram of this example is as shown in Figure 2.This example chosen by spacing of 50mm away from
Demarcated from a group L={ 0,50,100 ..., 450,500 } mm, it is first using STM32 single-chip microcomputers under each distance condition
To the pulse that 3 cycles are 25 μ s is sent, be delayed 12.5 μ s, retransmits the pulse that 10 cycles are 25 μ s, then the 12.5 μ s that are delayed,
The pulse that 6 cycles are 25 μ s is finally sent, as shown in figure 3, these pulses are after encouraging drive circuit amplification, by the suitable of transmission
Sequence is loaded into the transmitting terminal of ultrasonic transmitter successively, and ultrasonic transmitter is launched under ultrasonic signal, same rectilinear direction therewith
Ultrasonic receiver receive electric signal be converted into after ultrasonic signal；
Step 2：Using STM32 single-chip microcomputers by the sampling interval of 1.17 μ s to pumping signal and the progress of ultrasonic reception signal
Synchronous 12 A/D collections, every time 2000 points of sampling.Envelope curve extraction is carried out to the ultrasonic signal sampled every time, envelope is obtained
Sequence of points, as shown in Figure 4.What is selected in this example is based on the envelope curve extracting method for moving Sine-Fitting, but this hair
It is bright to be not limited to the method；
Step 3：By length of every 21 points to envelope sequence point smoothing processing, the largest enveloping peak value after search is smooth
Point, and mark the sample sequence set of locations of largest enveloping peak point
X0={ 445,573,687,820,960,1091,1345,1460,1582,1695 }.With x0It is area for starting point, 220
Between length (220 be this example measuring system in the experience siding-to-siding block length obtained by test of many times), in correspondence interval [x0-220,x0]
Inside forward search can smoothly after envelope curve transition valley point, and the corresponding sample sequence set of locations in mark transitions valley point
Xp={ 284,414,532,666,791,919,1045,1177,1301,1424,1543 }；
Step 4：With above-mentioned demarcation distance group L sample sequence set of locations Xs corresponding with transition valley pointpFor sample data,
L and x are gone out using least square fittingpMathematical relationship expression formula be
L=0.395xp- 112.664 (units：Mm), the fitting a straight line result of two groups of data is as shown in Figure 5；
Step 5：Ultrasonic receiver is placed in behind an optional position in this example, using the method for above-mentioned steps 1,2,3,
Envelope sequence point is extracted, and calculates the corresponding sequence x of minimum value of above-mentioned interval interior envelope curvep=853, substituted into step
5 l and x being fittedpMathematic(al) representation in, current institute's ranging can be calculated from for l=224.271mm.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (3)
1. a kind of three-stage pulse excitation and the ranging system of feature extraction, it is characterised in that including：Centre frequency is
40kHz TCT40-16R/T type Split ultrasonic sensors；Ultrasonic transmitter and receiver are arranged on split correlation
On line slideway, transmitter bottom is fixed on line slideway bottom, and receiver is moved in the range of 0~500mm.
2. a kind of three-stage pulse excitation and the ultrasonic distance-measuring method of feature extraction, it is characterised in that including：
Step 1：In the measurement range of ranging system, optional one group of testing distance group L={ l1,l2,…,ln, each
Under individual distance, n is first sent using the PWM module of STM32 single-chip microcomputers1The individual cycle is T pulse, and be delayed T/2, retransmits n2Individual week
Phase is T pulse, then the T/2 that is delayed finally sends n3The individual cycle is T pulse, and these pulses are amplified through overdriving drive circuit
Afterwards, the transmitting terminal of ultrasonic transmitter is loaded into successively by the order of transmission, ultrasonic transmitter launches ultrasonic signal therewith, together
Ultrasonic receiver under one rectilinear direction, which is received, is converted into electric signal after ultrasonic signal；Wherein third time sends n3
The purpose of individual driving pulse is in order to previous oscillation energy is balanced out so that ultrasonic transmitter is in next Energizing cycle
Dead-beat state is in when arriving, so as to avoid the influence to next Energizing cycle；Here selected pulse number
n1、n2、n3It ensure that envelope peak-peak is appeared on second peak value, most basic relation n should be met between them2>n1、
n2>n3；
Step 2：While pumping signal is sent, using STM32 single-chip microcomputers by sampling time interval of Δ t to pumping signal and
Ultrasonic reception signal synchronizes 12 high-speed a/d collections, and each sampling number is N, and the ultrasonic signal sampled every time is carried out
Envelope curve is extracted, and obtains envelope sequence point；
Step 3：By length of every n point to envelope sequence point smoothing processing, the maximum that the envelope curve after search is smooth occurs
Peak point, and mark the corresponding sample sequence position x of maximal peak point0, with x0For starting point, w is that siding-to-siding block length is searched for forward smoothly
Envelope curve minimum point afterwards, namely transition valley point, and the corresponding sample sequence position x in mark transitions valley pointp；
Step 4：In testing distance group L={ l1,l2,…,lnUnder the conditions of, calculate corresponding xp={ xp1,xp2,…,xpn,
Because sampling time interval is certain, so be proportional relation between the flight time of ultrasonic wave and sample sequence position, then
Understand that institute's ranging is from l and the sample sequence position x of transition valley point with reference to distance and the linear relationship of flight timepBetween also deposit
In linear relationship；Therefore, with xpFor independent variable, l is dependent variable, and l and x are fitted using principle of least square methodpMathematical relationship
Expression formula l=axp+b；
Step 5：For any testing distance l, the sample sequence position x of its transition valley point is obtained with step 1,2,3p, then will
xpSubstitute into the mathematic(al) representation that step 4 is fitted, that is, obtain testing distance l.
3. a kind of three-stage pulse excitation according to claim 2 and the ultrasonic distance-measuring method of feature extraction, its feature exist
In in the step 3, n is equal to the sampling number in a signal period.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108519592A (en) * | 2018-04-24 | 2018-09-11 | 湖北工业大学 | The supersonic sounding pumping signal for reducing blind area adjusts system and method |
| CN110045379A (en) * | 2019-04-11 | 2019-07-23 | 华为技术有限公司 | Distance measurement method, related equipment and system |
| CN110108797A (en) * | 2019-04-30 | 2019-08-09 | 天津大学 | Utilize the dielectric interface supersonic detection method of acoustic impedance change information |
| CN111442747A (en) * | 2020-03-13 | 2020-07-24 | 中核武汉核电运行技术股份有限公司 | Ultrasonic signal processing method |
| CN112444800A (en) * | 2020-10-19 | 2021-03-05 | 中科传启（苏州）科技有限公司 | Correction method of ultrasonic distance measuring device |
| CN116170087A (en) * | 2022-12-29 | 2023-05-26 | 深圳大学 | Microsecond ultra-short pulse underwater sound signal detection method |
| CN116878599A (en) * | 2023-09-06 | 2023-10-13 | 青岛鼎信通讯科技有限公司 | Flow metering method of ultrasonic water meter |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108519592A (en) * | 2018-04-24 | 2018-09-11 | 湖北工业大学 | The supersonic sounding pumping signal for reducing blind area adjusts system and method |
| CN108519592B (en) * | 2018-04-24 | 2021-09-03 | 湖北工业大学 | Ultrasonic ranging excitation signal adjusting system and method for reducing blind area |
| CN110045379A (en) * | 2019-04-11 | 2019-07-23 | 华为技术有限公司 | Distance measurement method, related equipment and system |
| CN110108797A (en) * | 2019-04-30 | 2019-08-09 | 天津大学 | Utilize the dielectric interface supersonic detection method of acoustic impedance change information |
| CN110108797B (en) * | 2019-04-30 | 2021-07-30 | 天津大学 | Medium interface ultrasonic detection method utilizing acoustic impedance change information |
| CN111442747A (en) * | 2020-03-13 | 2020-07-24 | 中核武汉核电运行技术股份有限公司 | Ultrasonic signal processing method |
| CN111442747B (en) * | 2020-03-13 | 2021-11-30 | 中核武汉核电运行技术股份有限公司 | Ultrasonic signal processing method |
| CN112444800A (en) * | 2020-10-19 | 2021-03-05 | 中科传启（苏州）科技有限公司 | Correction method of ultrasonic distance measuring device |
| CN116170087A (en) * | 2022-12-29 | 2023-05-26 | 深圳大学 | Microsecond ultra-short pulse underwater sound signal detection method |
| CN116170087B (en) * | 2022-12-29 | 2023-11-10 | 深圳大学 | Microsecond ultra-short pulse underwater sound signal detection method |
| CN116878599A (en) * | 2023-09-06 | 2023-10-13 | 青岛鼎信通讯科技有限公司 | Flow metering method of ultrasonic water meter |
| CN116878599B (en) * | 2023-09-06 | 2024-01-09 | 青岛鼎信通讯科技有限公司 | Flow metering method of ultrasonic water meter |
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