CN107219530A - The automobile ultrasonic radar system continuously received and dispatched - Google Patents
The automobile ultrasonic radar system continuously received and dispatched Download PDFInfo
- Publication number
- CN107219530A CN107219530A CN201710650164.2A CN201710650164A CN107219530A CN 107219530 A CN107219530 A CN 107219530A CN 201710650164 A CN201710650164 A CN 201710650164A CN 107219530 A CN107219530 A CN 107219530A
- Authority
- CN
- China
- Prior art keywords
- signal
- frequency
- radar system
- continuously received
- ultrasonic wave
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000523 sample Substances 0.000 claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 238000013519 translation Methods 0.000 claims abstract description 5
- 230000004888 barrier function Effects 0.000 claims description 16
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 3
- 230000003321 amplification Effects 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 238000003032 molecular docking Methods 0.000 claims description 2
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 2
- 238000001228 spectrum Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 13
- 230000014616 translation Effects 0.000 abstract description 4
- 230000007547 defect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004444 near reflex Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (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 automobile ultrasonic radar system continuously received and dispatched, the system includes microprocessing unit, one or more ultrasonic wave transmitting probes continuously launched and one or more ultrasonic wave receiving transducers continuously received, the microprocessing unit connects the input port of power amplifier, the output port connection ultrasonic wave transmitting probe of power amplifier by signal generating circuit；Ultrasonic wave receiving transducer sends the reflected signal received to multiplier, multiplier receives the transmission signal that signal generating circuit is sent simultaneously, signal is filtered, amplifies and compensated by signal processing circuit after the multiplication of multiplier output, the signal output port of signal processing circuit connects the microprocessing unit by AD ports, and signal is handled through AD port translations into feeding microprocessing unit after data signal.Multiple ultrasonic probes of the present invention can work simultaneously and continuously, overcome the defect that existing timesharing is received and dispatched, and its detection range is farther, and speed of detection is faster.
Description
Technical field
The invention belongs to automobile electronic information field, and in particular to a kind of automobile ultrasonic radar system continuously received and dispatched.
Background technology
Automobile is installed above many Ultrasonic Range Finder for Parking, and its general principle is visited using multiple ultrasonic waves
Head, but simultaneously can only 1 probe work, work in pulse mode, its workflow be one probe send ultrasonic signal, one
As continue several to more than ten waveform time；By taking 40KHZ as an example, about 0.1ms to 1mS is then turned off radiating circuit, waits super
Sound echo signal.By calculating the time difference of transmission signal and echo-signal, the distance of barrier and automobile is calculated.
Generally there are the following problems for such method：
（1）Ultrasonic probe can not work simultaneously, can only taking turn work, the time of each probe needs work about a few tens of milliseconds
T, if multichannel probe quantity is N, its detection time is N*T, typically the about 0.2 second time of estimation.
（2）Detection range is near, and due to working in pulse mode, ultrasonic probe is defeated to ultrasonic wave from pumping signal is provided
Go out to reach maximum, it is necessary to longer time, and in order to take into account detection minimum distance, the excitation of some time can not be provided again,
So its detection range is greatly affected.
（3）Detection time is long, and ultrasonic wave receiving transducer is then the received ultrasonic signal after transmission signal, and it is detected
Time is：2*D/V；D is obstacle distance, and V is SVEL.
The content of the invention
It is an object of the invention to overcome above-mentioned defect, there is provided a kind of automobile ultrasonic radar system continuously received and dispatched
System, the system speed of detection is fast, precision it is high and can Multi probe continuously work.
To achieve the above object, the technical scheme taken of the present invention is：A kind of automobile ultrasonic radar system continuously received and dispatched
System, the system includes microprocessing unit, one or more ultrasonic wave transmitting probes continuously launched and one or more continuously connects
The ultrasonic wave receiving transducer of receipts, the microprocessing unit connects the signal input part of power amplifier by signal generating circuit
Mouthful, the signal output port connection ultrasonic wave transmitting probe of power amplifier；The ultrasonic wave receiving transducer is anti-by what is received
Penetrate signal to send to multiplier, the multiplier receives the transmission signal that signal generating circuit is sent simultaneously, multiplier output
Signal is filtered, amplifies and compensated by signal processing circuit after multiplication, and the signal output port of signal processing circuit passes through
AD ports connect the microprocessing unit, and signal is handled through AD port translations into feeding microprocessing unit after data signal.
As further scheme of the invention, the signal generating circuit is sent to the drive signal of ultrasonic wave transmitting probe
To use triangular wave or sawtooth waveforms or triangle staircase waveform or zigzag staircase waveform or sine wave according to LINEAR CONTINUOUS
The signal that mode of frequency regulation is modulated.
As further scheme of the invention, the multiplier is that can complete the circuit of signal frequency plus and minus calculation.
As further scheme of the invention, signal amplifier is provided between the ultrasonic wave receiving transducer and multiplier,
The output port connection signal amplifier input port of ultrasonic wave receiving transducer, signal amplifier input port sends out reflected signal
Deliver to multiplier.
As further scheme of the invention, the microprocessing unit includes microprocessor, and the microprocessor uses monolithic
Machine or DSP or FPGA.
As further scheme of the invention, the microprocessing unit is also including described signal generating circuit and with mould
The AD ports of number translation function；The signal generating circuit is the programmable timer of output signal frequency, wherein timer, AD
Port can be integrated in microprocessing unit, can also be independently arranged mutually.
As further scheme of the invention, signal processing circuit includes low pass filter, amplifier and high-pass filter.
As further scheme of the invention, the method that the microprocessing unit is handled includes a Fourier signal
Conversion, signal can obtain maximum reflection signal and big several times reflected signal after Fourier transform, and then basis is adopted
Sample frequency and sampling number draw the frequency of maximum reflection signal and the frequency of big several times reflected signal, and each of which is most
The frequency of reflected signal and the frequency of big each time reflected signal greatly is independent difference frequency signal frequency, finally according to multiple
The difference frequency signal frequency of channel receiving signal, calculates obstacle distance, and according to the installation site of ultrasonic wave receiving transducer, meter
Calculate angle of the barrier relative to vehicle；Simultaneously can also according to receive signal spectrum signal size and distance, calculate barrier
Hinder the size of thing, and judge that the quantity of barrier is one or more according to the calculating of the docking collection of letters number.
The beneficial effects of the invention are as follows：Multiple ultrasonic probes of the system can simultaneously and continuously work, overcome show
There is the defect that radar system timesharing is received and dispatched, and the system detection range is farther, and speed of detection is faster.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Fig. 1 is the theory diagram of the present invention.
Fig. 2 is drive signal when being sawtooth waveforms linear frequency modulation continuous wave, transmission signal, echo-signal and difference frequency signal when
M- frequency diagram.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
As shown in figure 1, a kind of automobile ultrasonic radar system continuously received and dispatched, the system includes microprocessing unit, one
Or multiple ultrasonic wave transmitting probes continuously launched and one or more ultrasonic wave receiving transducers continuously received, the microprocessor
Unit connects the signal input port of power amplifier, the signal output port connection of power amplifier by signal generating circuit
Ultrasonic wave transmitting probe；The ultrasonic wave receiving transducer sends the reflected signal received to multiplier, and the multiplier is same
When receive the transmission signal that sends of signal generating circuit, signal is filtered by signal processing circuit after the multiplication of multiplier output
Remove, amplify and compensate, the signal output port of signal processing circuit connects the microprocessing unit by AD ports, and signal is through AD
Port translation is handled into feeding microprocessing unit after data signal.
In the present embodiment, signal amplifier is provided between the ultrasonic wave receiving transducer and multiplier, ultrasonic wave is received
The output port connection signal amplifier input port of probe, signal amplifier input port sends reflected signal to multiplication
Device.The microprocessing unit includes microprocessor, and the microprocessor uses single-chip microcomputer or DSP or FPGA；Microprocessing unit
It may also include described signal generating circuit and the AD ports with analog-digital conversion function；The signal generating circuit is believed for output
The timer of number programmable frequency, wherein timer, AD ports can be integrated in microprocessing unit, can also independently set mutually
Put.The output port of the timer connects the signal input port of some power amplifiers, the signal of power amplifier respectively
Output port connects ultrasonic wave transmitting probe.
In the present embodiment, signal processing circuit includes low pass filter, amplifier and high-pass filter.LPF
Device, amplifier and high-pass filter are respectively used to filter, amplify and compensate, and its three mutually cascades but waterfall sequence is without especially
Limit.
The operation principle of the system is：The software module control timer of microprocessing unit, produces one close to triangular wave
Modulation or the linear FM signal of saw wave modulator, its waveform are the modulated signal of square wave or square wave or sine wave,
After power amplifier amplifies, ultrasonic wave transmitting probe is driven, outwards launches ultrasonic signal.
After barrier reflects ultrasonic signal, the ultrasonic signal reflected is received possibly into multiple ultrasonic waves and visited
Head.The signal that ultrasonic wave receiving transducer is received is multiplied after advance signal amplifies by multiplier with ultrasonic wave drive signal.
Signal after multiplication passes through low pass filter, filters out the ultrasonic wave drive signal of two frequencys multiplication, ultrasonic wave drive signal, by amplification
Device amplifies, then by high-pass filter, compensation distal end barrier reflected signal is small, and near-end barrier reflected signal is big.Then believe
Number enter the AD conversion of single-chip microcomputer, be converted into data signal, handled, sample rate is more than 2 times of maximum modulation bandwidth.
Signal transacting includes a lowpass digital filter, high-pass digital filter and a Fourier signal conversion.
After the FFT of signal has been calculated, maximum reflection signal and big several times reflected signal can be obtained, according to sampling
Cycle and sampling number can draw the frequency of maximum reflection signal and the frequency of big several times reflected signal.
Such as Fig. 2, illustrate that its range measurement principle is as follows by taking sawtooth waveforms linear frequency modulation continuous wave as an example：
Ultrasonic wave transmitting probe launches ultrasonic signal according to Ft signal, after signal runs into barrier, can reflect one and surpass
Acoustic signals, frequency is FR, by amplifier and multiplier, and a difference frequency signal frequency can be only obtained after LPF.Obstacle
Thing distance is nearer, and difference frequency signal frequency is lower, and obstacle distance is more remote, and difference frequency signal is higher.And obstacle distance gets near reflex
Signal is bigger, and obstacle distance is more remote, and reflected signal is smaller.Description more than, sets a suitable high-pass filter,
It can make it that the size of reflected signal is unrelated with the distance of barrier or is unlikely to exponent function relation.
Then obstacle distance is：
D = V*T*fD/2B
D is obstacle distance；
V is the velocity of sound in air under condition of work, relevant with temperature；
T is the modulated signal cycle；
B is modulation bandwidth；
fDFor the frequency of difference frequency signal frequency, that is, emission maximum signal and big several times reflected signal.
Other modulation systems are similar, do not remake and excessively repeat in the present embodiment.
The distance of multiple barriers can so be calculated.And according to the size of reflected signal, barrier can be calculated
Size.
As a result of continuous wave modulation system, its transmission signal is much longer than pulse mode, can obtain than pulse side
Formula has more more than one times of detection range, also detectable multiple detection targets.
Two or more ultrasonic wave receiving transducers, can obtain two different distances, so as to be hindered
Hinder thing relative to the orientation of vehicle.
Because ultrasonic radar transmitting probe is operationally always in transmission signal, if its echo-signal from barrier to
The ultrasonic wave receiving transducer propagation time just can be found that barrier, and it is continuous work each to pop one's head in, it is not necessary to each to visit
Head switching, transmitting-receiving switching, than the speed of detection that pulse radar improves more than 3 times.
The basic principles, principal features and advantages of the present invention have been shown and described above.One of ordinary skill in the art
It should be appreciated that above-described embodiment protection domain that the invention is not limited in any way, the mode such as all use equivalent substitutions is obtained
The technical scheme obtained, falls within protection scope of the present invention.
Part that the present invention does not relate to is same as the prior art or can be realized using prior art.
Claims (10)
1. a kind of automobile ultrasonic radar system continuously received and dispatched, it is characterised in that the system includes microprocessing unit, one or
Multiple ultrasonic wave transmitting probes continuously launched and one or more ultrasonic wave receiving transducers continuously received, the microprocessor list
Member connects the signal input port of power amplifier by signal generating circuit, and the signal output port connection of power amplifier is super
Acoustic emission is popped one's head in；The ultrasonic wave receiving transducer sends the reflected signal received to multiplier, and the multiplier is simultaneously
The transmission signal that signal generating circuit is sent is received, signal is filtered by signal processing circuit after the multiplication of multiplier output
Ripple, amplification and compensation, the signal output port of signal processing circuit connect the microprocessing unit by AD ports, and signal is through AD
Port translation is handled into feeding microprocessing unit after data signal.
2. a kind of automobile ultrasonic radar system continuously received and dispatched according to claim 1, it is characterised in that the signal
Occur circuit to be sent to the drive signal of ultrasonic wave transmitting probe to use triangular wave or sawtooth waveforms or triangle staircase waveform
Or the signal that zigzag staircase waveform or sine wave are modulated according to LINEAR CONTINUOUS mode of frequency regulation.
3. a kind of automobile ultrasonic radar system continuously received and dispatched according to claim 1, it is characterised in that the multiplication
Device is that can complete the circuit of signal frequency plus and minus calculation.
4. a kind of automobile ultrasonic radar system continuously received and dispatched according to claim 1 or 3, it is characterised in that described super
Acoustic receiver is popped one's head in and signal amplifier is provided between multiplier, the output port connection signal amplifier of ultrasonic wave receiving transducer
Input port, signal amplifier input port sends reflected signal to multiplier.
5. a kind of automobile ultrasonic radar system continuously received and dispatched according to claim 1, it is characterised in that micro- place
Managing unit includes microprocessor, and the microprocessor uses single-chip microcomputer or DSP or FPGA.
6. a kind of automobile ultrasonic radar system continuously received and dispatched according to claim 1 or 5, it is characterised in that described micro-
Processing unit also includes described signal generating circuit.
7. a kind of automobile ultrasonic radar system continuously received and dispatched according to claim 6, it is characterised in that the signal
It is the timer being integrated in microprocessing unit to occur circuit.
8. a kind of automobile ultrasonic radar system continuously received and dispatched according to claim 1 or 5, it is characterised in that described micro-
Processing unit also includes the described AD ports with analog-digital conversion function.
9. a kind of automobile ultrasonic radar system continuously received and dispatched according to claim 1, it is characterised in that signal transacting
Circuit includes low pass filter, amplifier and high-pass filter.
10. a kind of automobile ultrasonic radar system continuously received and dispatched according to claim 1, it is characterised in that micro- place
The method that reason unit is handled includes a Fourier signal conversion, and signal can obtain maximum after Fourier transform
Reflected signal and big several times reflected signal, then draw the frequency of maximum reflection signal according to sample frequency and sampling number
With the frequency of big several times reflected signal, the frequency of each of which maximum reflection signal and big each time reflected signal
Frequency is independent difference frequency signal frequency, finally according to the difference frequency signal frequency of multiple channel receiving signals, calculates obstacle
Thing distance, and according to the installation site of ultrasonic wave receiving transducer, calculate angle of the barrier relative to vehicle；Simultaneously can also basis
The size and distance of the spectrum signal of signal are received, the size of barrier is calculated, and sentence according to the calculating of the docking collection of letters number
Break and the quantity of barrier for one or more.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710650164.2A CN107219530A (en) | 2017-08-02 | 2017-08-02 | The automobile ultrasonic radar system continuously received and dispatched |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710650164.2A CN107219530A (en) | 2017-08-02 | 2017-08-02 | The automobile ultrasonic radar system continuously received and dispatched |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107219530A true CN107219530A (en) | 2017-09-29 |
Family
ID=59954611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710650164.2A Pending CN107219530A (en) | 2017-08-02 | 2017-08-02 | The automobile ultrasonic radar system continuously received and dispatched |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107219530A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109001693A (en) * | 2018-07-27 | 2018-12-14 | 中科宇达（北京）科技有限公司 | The method and system that frequency modulated continuous wave radar direct wave inhibits |
| CN110275171A (en) * | 2018-03-15 | 2019-09-24 | 郑州宇通客车股份有限公司 | A kind of Radar for vehicle detecting and control method and vehicle |
| CN114578363A (en) * | 2022-03-04 | 2022-06-03 | 苏州优达斯汽车科技有限公司 | Ultrasonic detection system and method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010012238A1 (en) * | 2000-02-04 | 2001-08-09 | Nobuyuki Iwasaki | Ultrasonic sonar and method using transmission frequency different from reverberation frequency |
| CN2786641Y (en) * | 2005-01-18 | 2006-06-07 | 广东铁将军防盗设备有限公司 | Power supply wire carrier wave automobile anti-collision radar |
| US20080094193A1 (en) * | 2006-10-24 | 2008-04-24 | Shih-Hsiung Li | Car reversal radar that automatically modifies the sensor scanning range and method of the same |
| CN101782645A (en) * | 2010-02-12 | 2010-07-21 | 深圳市元征软件开发有限公司 | Method and device for detecting backing distance |
| CN202003029U (en) * | 2010-12-30 | 2011-10-05 | 上海无线电设备研究所 | W-wave band front-car anti-collision radar detection system |
| CN104155655A (en) * | 2014-08-22 | 2014-11-19 | 江苏德易普传感科技有限公司 | Phase comparison type supersonic wave distance measuring apparatus |
| CN104554343A (en) * | 2015-01-07 | 2015-04-29 | 北京泰瑞博创科技有限公司 | Track breaking monitoring system of high-speed railway |
| CN204925384U (en) * | 2015-07-21 | 2015-12-30 | 南京信息工程大学 | Millimeter wave radar ranging system |
-
2017
- 2017-08-02 CN CN201710650164.2A patent/CN107219530A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20010012238A1 (en) * | 2000-02-04 | 2001-08-09 | Nobuyuki Iwasaki | Ultrasonic sonar and method using transmission frequency different from reverberation frequency |
| CN2786641Y (en) * | 2005-01-18 | 2006-06-07 | 广东铁将军防盗设备有限公司 | Power supply wire carrier wave automobile anti-collision radar |
| US20080094193A1 (en) * | 2006-10-24 | 2008-04-24 | Shih-Hsiung Li | Car reversal radar that automatically modifies the sensor scanning range and method of the same |
| CN101782645A (en) * | 2010-02-12 | 2010-07-21 | 深圳市元征软件开发有限公司 | Method and device for detecting backing distance |
| CN202003029U (en) * | 2010-12-30 | 2011-10-05 | 上海无线电设备研究所 | W-wave band front-car anti-collision radar detection system |
| CN104155655A (en) * | 2014-08-22 | 2014-11-19 | 江苏德易普传感科技有限公司 | Phase comparison type supersonic wave distance measuring apparatus |
| CN104554343A (en) * | 2015-01-07 | 2015-04-29 | 北京泰瑞博创科技有限公司 | Track breaking monitoring system of high-speed railway |
| CN204925384U (en) * | 2015-07-21 | 2015-12-30 | 南京信息工程大学 | Millimeter wave radar ranging system |
Non-Patent Citations (1)
| Title |
|---|
| 宋伟刚等: "《机器人技术基础》", 冶金工业出版社 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110275171A (en) * | 2018-03-15 | 2019-09-24 | 郑州宇通客车股份有限公司 | A kind of Radar for vehicle detecting and control method and vehicle |
| CN109001693A (en) * | 2018-07-27 | 2018-12-14 | 中科宇达（北京）科技有限公司 | The method and system that frequency modulated continuous wave radar direct wave inhibits |
| CN109001693B (en) * | 2018-07-27 | 2021-11-05 | 中科宇达（北京）科技有限公司 | Method and system for suppressing direct wave of frequency modulation continuous wave radar |
| CN114578363A (en) * | 2022-03-04 | 2022-06-03 | 苏州优达斯汽车科技有限公司 | Ultrasonic detection system and method |
| CN114578363B (en) * | 2022-03-04 | 2023-10-13 | 苏州优达斯汽车科技有限公司 | Ultrasonic detection system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203385854U (en) | A semiconductor device and a sound distance measurement system | |
| US11733377B2 (en) | Time of flight and code signature detection for coded ultrasonic transmission | |
| CN209894972U (en) | Acoustic distance measuring circuit | |
| US7728719B2 (en) | Signal-transmitting and multi-receiving method of detecting obstacle and parking sensor apparatus using the same | |
| CN107219530A (en) | The automobile ultrasonic radar system continuously received and dispatched | |
| CN201177666Y (en) | Ultrasonic distance measuring apparatus based on phase difference comparison | |
| CN101642405A (en) | Ultrasonic blind guide method and portable ultrasonic blind guide device thereof | |
| US11175402B2 (en) | Time-varying template for improved short-distance performance in coded ultrasonic ranging | |
| CN101334472B (en) | Ultrasonic ranging system suitable for special type robot | |
| CN101292880B (en) | Ultrasound diagnostic apparatus | |
| EP3336581A1 (en) | A method of detecting objects and corresponding apparatus | |
| CN101799545A (en) | Ultrasonic based dynamic distance measurement method and system | |
| CN103995483B (en) | A kind of control method, device and system of ultrasonic transducer | |
| CN111413699A (en) | Acoustic distance measurement circuit and method for low frequency modulated (L FM) chirp signals | |
| CN206960652U (en) | The automobile ultrasonic radar system continuously received and dispatched | |
| NZ531326A (en) | Measurement of air characteristics in the lower atmosphere | |
| CN103645478A (en) | Ultrasonic distance measuring device | |
| US6704247B1 (en) | High efficiency parametric sonar | |
| CN109073752A (en) | Multitask and multiple spectra sonar | |
| US20030052795A1 (en) | Method for measuring distance | |
| CN105116371B (en) | A kind of object localization method and device based on Continuous Transmission Frequency Modulation signal | |
| CN107884774A (en) | A kind of supersonic range finder of the anti-interference transless driving of multi-frequency | |
| CN209927773U (en) | Urea concentration detection device based on CAN communication | |
| CN109188441A (en) | A kind of four-dimension continuous wave ultrasound radar and four-dimensional information measurement method | |
| CN202869605U (en) | FM pulse echo method based ultrasonic liquid level measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170929 |