CN107193008A - A kind of supersonic range finder and method - Google Patents
A kind of supersonic range finder and method Download PDFInfo
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- CN107193008A CN107193008A CN201710609485.8A CN201710609485A CN107193008A CN 107193008 A CN107193008 A CN 107193008A CN 201710609485 A CN201710609485 A CN 201710609485A CN 107193008 A CN107193008 A CN 107193008A
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- microcontroller
- ultrasonic
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- timer
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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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of supersonic range finder, including ultrasonic sensor, amplifier, rectifier, wave filter, voltage comparator, microcontroller, clock circuit, display module and power module, for first timer and second timer of timing, wherein, clock circuit, display module and power module are connected to microcontroller, one output end of microcontroller is connected to the transmitting terminal of ultrasonic sensor by drive circuit, the receiving terminal of ultrasonic sensor passes sequentially through amplifier, rectifier, wave filter, voltage comparator is connected to an input of microcontroller.The invention also discloses a kind of method that ranging is carried out using above-mentioned supersonic range finder.The present invention has advantages below compared with prior art：Efficiently reduce timing error, so as to reduce range measurement error, further, it is also possible to by display module, observe cheer and brightly institute's ranging from value.
Description
Technical field
The invention belongs to technical field of ultrasonic measurement, more particularly to a kind of ultrasonic ranging method and device.
Background technology
Ultrasonic wave refers to that vibration frequency is higher than 20kHz sound wave, and it has vibration frequency high, good directionality, penetration capacity
The features such as strong, be widely used in ranging, test the speed, weld, rubble, cleaning, in terms of sterilization.Ultrasonic wave follows common mechanical ripple
, there is the propagation law such as reflection, refraction, diffraction, scattering in propagation law in media as well, it is along straight-line transmitting in transmission medium
Broadcast, with stronger bunchy.Ultrasonic wave can have effect spread in many media such as gas, liquid, solid, solid solution, and not
Influenceed by other factors such as light, dust, electromagnetism, humidities, the spread speed in same communication media is held essentially constant.It is super
Sound ranging can be safeguarded, do not pollute, grow with few than being completed under relatively rugged environment as a kind of non-contact detecting technology
The features such as life-span, the measurement of liquid level, the well depth of reversing automobile, construction and industry spot etc. can be widely applied to.Therefore
Design a supersonic range finder to be necessary, from range measurement principle, passed as long as measuring ultrasonic wave in medium
Broadcast the required time, it is possible to calculate testing distance.In order to improve ultrasonic ranging accuracy, it is necessary to accurately measure ultrasound
Ripple propagates the required time in medium.
Prior art one related to the present invention -- (patent is public for a kind of ultrasonic range finder based on STC89C52 single-chip microcomputers
Cloth number：The U of CN 205539462), the patent is not write out apart from calculation formula, and only one ultrasonic propagation time of measurement,
With larger contingency, accuracy is not very high.
Prior art two related to the present invention -- a kind of ultrasonic ranging system and method based on ZigBee communication are (specially
Sharp publication No.：The A of CN 106646443), the distance-finding method only measures a ultrasonic propagation time, and this has very big accidental
Property, so as to there is the hidden danger for causing unnecessary error.In addition, the range-measurement system of the patent needs to be fixed on main frame and slave, no
It is easy to movement, with very big restricted, and two systems is needed, so as to add the cost of the range-measurement system.
The content of the invention
When the technical problems to be solved by the invention are the provision of one kind can measure ultrasonic propagation high accurancy and precision
Between, reduce the supersonic range finder and method of measurement error.
The present invention is to solve above-mentioned technical problem by the following technical programs：A kind of supersonic range finder, including it is super
Sonic sensor, amplifier, rectifier, wave filter, voltage comparator, microcontroller, clock circuit, display module and power supply mould
Block, for first timer and second timer of timing, wherein, clock circuit, display module and power module connect
Microcontroller is connected to, an output end of microcontroller is connected to the transmitting terminal of ultrasonic sensor by drive circuit, ultrasound
The receiving terminal of wave sensor pass sequentially through amplifier, rectifier, wave filter, voltage comparator be connected to one of microcontroller it is defeated
Enter end；
When microcontroller gives ultrasonic sensor transmitter one trigger signal, ultrasonic transmitter receives effective touch
Launch one section of ultrasonic wave after signalling, now first timer starts timing, and ultrasonic wave, along straightline propagation, runs into medium
Barrier is reflected back, and when ultrasonic receiver receives the ultrasonic wave for returning and, first timer stops timing, together
When second timer start timing, the signal received be respectively transmitted to amplifier, rectifier, wave filter be amplified, it is whole
Stream, filtering process obtain one section of complete electric signal, are high level signals and complete when microcontroller detects the signal sent
When receiving the continuous high level signal of this section entirely, second timer stops timing, thus obtains 2 records time T1, T2,
The two times are carried out calculating of averaging in the microcontroller, then testing distance are calculated according to apart from calculation formula,
Shown in display module institute's ranging from.
Optimization, the ultrasonic sensor includes the ultrasonic transmitter and ultrasonic receiver that pairing is set.
Optimization, the ultrasonic transmitter is made up of delivery header and transducer, and transducer is used to electric oscillation being converted into
The ultrasonic wave of ultrasonic energy, and launch through delivery header, ultrasonic receiver is made up of reception head and transducer, and transducer will connect
The ultrasonic wave that receipts head is received is transformed into electric signal.
Optimization, described first timer and second timer is single timer, is all connected to microcontroller
Device.
Optimization, described first timer and second timer is the timer that microcontroller is carried.
Optimization, the display module includes drive circuit and is connected to the display device of drive circuit.
Optimization, the display device is the LED charactrons being made up of light emitting diode.
Or, the display device is LCD display.
It is apart from calculation formula：
T=(T1+T2)/2
S=CT/2
Wherein, C is sound wave spread speed in medium；T1, T2 are the record time, and T is T1 and T2 average value, are
Ultrasonic wave the time required to roundtrip propagation, also referred to as measures the time in medium；S is measured distance.
The present invention also provides a kind of method that supersonic range finder using described in any of the above-described scheme carries out ranging, bag
Include following steps：
Step 1：Microcontroller gives ultrasonic transmitter one trigger signal by drive circuit, control transmitter；
Step 2：Ultrasonic transmitter is launched to the direction of the testing distance with non-reflective reference and launch one section of ultrasound
Ripple, meanwhile, first timer starts timing, is designated as record time T1；
Step 3：When ultrasonic receiver receives the ultrasonic wave for returning and, the signal received is sent to amplifier
In；
Step 4：After amplifier amplifies signal, it is sent in rectifier；
Step 5：Signal is carried out after rectification, then the signal after rectification is sent to wave filter by rectifier；
Step 6：Wave filter obtains signal, and voltage comparator is sent to after being filtered；
Step 7：The signal of acquisition and preset signals are compared by voltage comparator, send comparative result to microcontroller
Device；
Step 8：When microcontroller receives the signal after above-mentioned processing, first timer stops timing, now obtains
Obtain ultrasonic wave roundtrip propagation in medium and record time T1, meanwhile, second timer starts timing, is designated as record time T2；
Step 9：When microcontroller is received entirely the signal after above-mentioned processing, second timer stops timing, this
When obtain ultrasonic wave in medium roundtrip propagation record time T2；
Step 10：Microcontroller records time, i.e. T1, T2 by two obtained above, averages, obtains ultrasonic wave and exist
T the time required to roundtrip propagation, as measures the time in medium；
Step 11：Microcontroller calculates testing distance according to the time that measures and calculating range formula；
Step 12：Display module shows measured distance value.
The present invention has advantages below compared with prior art：Efficiently reduce timing error, thus reduce away from
From measurement error.Further, it is also possible to by display module, observe cheer and brightly institute's ranging from value.
Brief description of the drawings
The method that Fig. 1 calculates ultrasonic wave two-way time for the present invention；
Fig. 2 is the entire block diagram of supersonic range finder of the present invention；
Fig. 3 is the procedure chart of ultrasonic ranging of the present invention.
Embodiment
Embodiments of the invention are elaborated below, the present embodiment is carried out lower premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following implementations
Example.
Refer to Fig. 1 to Fig. 3, the present invention provides a kind of supersonic range finder, including ultrasonic sensor, amplifier,
Rectifier, wave filter, voltage comparator, microcontroller, clock circuit, display module and power module, for the first of timing
Individual timer and second timer.Wherein, clock circuit, display module and power module are connected to microcontroller, micro-control
One output end of device processed is connected to the transmitting terminal of ultrasonic sensor by drive circuit, the receiving terminal of ultrasonic sensor according to
The secondary input that microcontroller is connected to by amplifier, rectifier, wave filter, voltage comparator.
When microcontroller gives ultrasonic sensor transmitter one trigger signal, ultrasonic transmitter receives effective touch
Launch one section of ultrasonic wave after signalling, now first timer starts timing, and ultrasonic wave, along straightline propagation, runs into medium
Barrier is reflected back, and when ultrasonic receiver receives the ultrasonic wave for returning and, first timer stops timing, together
When second timer start timing.The signal received is respectively transmitted to amplifier, rectifier, wave filter and is amplified place
Reason, rectification processing is carried out, processing is filtered and obtains one section of complete electric signal.And microcontroller is connected with wave filter, when micro-
When controller detects the signal sent and is high level signal and is received entirely this section continuous high level signal, second
Timer stops timing.Thus 2 records time T1, T2 are obtained, the two times are averaged in the microcontroller
Calculate, then calculate testing distance according to apart from calculation formula.Then, shown in display module institute's ranging from.
Above-mentioned ultrasonic sensor includes the ultrasonic transmitter and ultrasonic receiver that pairing is set, and above-mentioned the
One timer and second timer can be that the timer or microcontroller for being individually connected to microcontroller are carried
Timer.
It is above-mentioned to be apart from calculation formula：
T=(T1+T2)/2
S=CT/2
Wherein, C is sound wave spread speed in medium；T1, T2 are the record time, and T is T1 and T2 average value, are
Ultrasonic wave the time required to roundtrip propagation, also referred to as measures the time in medium；S is measured distance.
The embodiment of the present invention additionally provide it is a kind of using above-mentioned supersonic range finder carry out ranging method, it include with
Lower step：
Step 1：Microcontroller gives ultrasonic transmitter one trigger signal by drive circuit, control transmitter；
Step 2：Ultrasonic transmitter is launched to the direction of the testing distance with non-reflective reference and launch one section of ultrasound
Ripple, meanwhile, first timer starts timing, is designated as record time T1；
Step 3：When ultrasonic receiver receives the ultrasonic wave for returning and, the signal received is sent to amplifier
In；
Step 4：After amplifier amplifies signal, it is sent in rectifier；
Step 5：Signal is carried out after rectification, then the signal after rectification is sent to wave filter by rectifier；
Step 6：Wave filter obtains signal, and voltage comparator is sent to after being filtered；
Step 7：The signal of acquisition and preset signals are compared by voltage comparator, send comparative result to microcontroller
Device；
Step 8：When microcontroller receives the signal after above-mentioned processing, first timer stops timing, now obtains
Obtain ultrasonic wave roundtrip propagation in medium and record time T1, meanwhile, second timer starts timing, is designated as record time T2；
Step 9：When microcontroller is received entirely the signal after above-mentioned processing, second timer stops timing, this
When obtain ultrasonic wave in medium roundtrip propagation record time T2；
Step 10：Microcontroller records time, i.e. T1, T2 by two obtained above, averages, obtains ultrasonic wave and exist
T the time required to roundtrip propagation, as measures the time in medium；
Step 11：Microcontroller calculates testing distance according to the time that measures and calculating range formula；
Step 12：Display module shows measured distance value.
Above-mentioned microcontroller needs to include two timers or counter, for recording from transmitting ultrasonic wave to reception
High level signal duration T2 is received to time T1 and microcontroller used in ultrasonic wave, this is apparent that by Fig. 1
Two time is defined；Microcontroller, which can be also used for driving ultrasonic transmitter, triggers it, so as to launch ultrasonic wave, now
First timer starts timing.
Above-mentioned ultrasonic transmitter is made up of delivery header and transducer, and transducer is used to electric oscillation being converted into ultrasonic energy
Ultrasonic wave, and launch through delivery header.And ultrasonic receiver is made up of reception head and transducer, transducer will receive head
The ultrasonic wave received is transformed into electric signal.
In above-mentioned steps 3, ultrasonic wave is running into barrier along along straightline propagation, is reflected back, by ultrasonic receiver
Detect.
Next below step processing is done, respectively through step 4, step 5, the enhanced processing of step 6, rectification processing, filter
Ripple processing, so as to obtain one section of complete electric signal.Then handle by step 7, make the pre- of this electric signal and voltage comparator
If value is compared, if this signal is the amplitude that amplitude is more than preset signals, the output of voltage comparator is become by low level
For high level.When ultrasonic wave has received the electric signal that ultrasonic wave is converted into, the width of ensuing voltage comparator input end signal
Value is not more than the amplitude of preset signals, so that voltage comparator output end is changed into low level from high level.And voltage device output end
It has been connected in microcontroller, so that microcontroller can detect the change of voltage comparator output end level signal, can have caused
The change of this signal of timer record, that is, obtained the time required to ultrasonic wave propagates in medium.
In step 8, when microcontroller, which detects voltage comparator output end, is changed into high level from low level, first
Timer stops timing, record time T1 is obtained, while second timer starts timing.
And in step 9, when microcontroller detection voltage comparator output end is changed into low level from high level, second
Timer stops timing, obtains record time T2, now T2 is also the time required to ultrasonic wave is propagated in medium.
Microcontroller can be completed to calculate in above-mentioned steps 10, then two time T1 and T2 recorded above are asked into flat
Average, obtains ultrasonic wave T the time required to roundtrip propagation in medium, as measures the time.Then in a step 11, microcontroller
According to apart from calculation formula, calculate institute's ranging from.
Display module includes drive circuit and display device in above-mentioned steps 12, and display device can be by light emitting diode
LED (the Light Emitting Diode) charactrons or LCD (Liquid Crystal Display) display screen of composition.Pass through
Position code selection, section code selection can show measured distance in display module.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modifications, equivalent substitutions and improvements made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of supersonic range finder, it is characterised in that including ultrasonic sensor, amplifier, rectifier, wave filter, electricity
Comparator, microcontroller, clock circuit, display module and power module are pressed, for first timer of timing and second
Individual timer, wherein, clock circuit, display module and power module are connected to microcontroller, an output end of microcontroller
It is connected to the transmitting terminal of ultrasonic sensor by drive circuit, the receiving terminal of ultrasonic sensor passes sequentially through amplifier, whole
Stream device, wave filter, voltage comparator are connected to an input of microcontroller；
When microcontroller gives ultrasonic sensor transmitter one trigger signal, ultrasonic transmitter receives effective triggering letter
Launch one section of ultrasonic wave after number, now first timer starts timing, and ultrasonic wave, along straightline propagation, runs into obstacle in medium
Thing is reflected back, and when ultrasonic receiver receives the ultrasonic wave for returning and, first timer stops timing, while the
Two timers start timing, the signal received be respectively transmitted to amplifier, rectifier, wave filter be amplified, rectification, filter
Ripple processing obtains one section of complete electric signal, is high level signal when microcontroller detects the signal sent and receives completely
During high level signal continuous to this section, second timer stops timing, 2 records time T1, T2 is thus obtained, in micro-control
The two times are carried out calculating of averaging in device processed, then testing distance are calculated according to apart from calculation formula, in display
Shown in module institute's ranging from.
2. a kind of supersonic range finder according to claim 1, it is characterised in that the ultrasonic sensor includes matching somebody with somebody
To the ultrasonic transmitter and ultrasonic receiver of setting.
3. a kind of supersonic range finder according to claim 2, it is characterised in that the ultrasonic transmitter is by sending
Head and transducer composition, transducer are used for the ultrasonic wave that electric oscillation is converted into ultrasonic energy, and launch through delivery header, ultrasound
Ripple receiver is made up of reception head and transducer, and the ultrasonic wave that reception head is received is transformed into electric signal by transducer.
4. a kind of supersonic range finder according to claim 1, it is characterised in that first described timer and
Two timers are single timers, are all connected to microcontroller.
5. a kind of supersonic range finder according to claim 1, it is characterised in that first described timer and
Two timers are the timers that microcontroller is carried.
6. a kind of supersonic range finder according to claim 1, it is characterised in that the display module includes driving electricity
Road and the display device for being connected to drive circuit.
7. a kind of supersonic range finder according to claim 6, it is characterised in that the display device is by luminous two
The LED charactrons of pole pipe composition.
8. a kind of supersonic range finder according to claim 6, it is characterised in that the display device is that LCD is shown
Screen.
9. a kind of supersonic range finder according to claim 1, it is characterised in that be apart from calculation formula：
T=(T1+T2)/2
S=CT/2
Wherein, C is sound wave spread speed in medium；T1, T2 are the record time, and T is T1 and T2 average value, are ultrasound
Ripple the time required to roundtrip propagation, also referred to as measures the time in medium；S is measured distance.
10. the method that the supersonic range finder described in a kind of any one of use claim 1 to 9 carries out ranging, its feature exists
In comprising the following steps：
Step 1：Microcontroller gives ultrasonic transmitter one trigger signal by drive circuit, control transmitter；
Step 2：Ultrasonic transmitter is launched to the direction of the testing distance with non-reflective reference and launch one section of ultrasonic wave, together
When, first timer starts timing, is designated as record time T1；
Step 3：When ultrasonic receiver receives the ultrasonic wave for returning and, the signal received is sent in amplifier；
Step 4：After amplifier amplifies signal, it is sent in rectifier；
Step 5：Signal is carried out after rectification, then the signal after rectification is sent to wave filter by rectifier；
Step 6：Wave filter obtains signal, and voltage comparator is sent to after being filtered；
Step 7：The signal of acquisition and preset signals are compared by voltage comparator, send comparative result to microcontroller；
Step 8：When microcontroller receives the signal after above-mentioned processing, first timer stops timing, is now surpassed
Sound wave roundtrip propagation in medium records time T1, meanwhile, second timer starts timing, is designated as record time T2；
Step 9：When microcontroller is received entirely the signal after above-mentioned processing, second timer stops timing, now obtains
Obtain ultrasonic wave roundtrip propagation in medium and record time T2；
Step 10：Microcontroller records time, i.e. T1, T2 by two obtained above, averages, obtains ultrasonic wave in medium
T the time required to middle roundtrip propagation, as measures the time；
Step 11：Microcontroller calculates testing distance according to the time that measures and calculating range formula；
Step 12：Display module shows measured distance value.
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| CN201710609485.8A CN107193008A (en) | 2017-07-25 | 2017-07-25 | A kind of supersonic range finder and method |
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| CN201710609485.8A CN107193008A (en) | 2017-07-25 | 2017-07-25 | A kind of supersonic range finder and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108196539A (en) * | 2017-12-29 | 2018-06-22 | 深圳市艾特智能科技有限公司 | Obstacle Avoidance, system, readable storage medium storing program for executing and robot |
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