CN107390203B - A kind of ultrasonic ranging method, apparatus and system - Google Patents

A kind of ultrasonic ranging method, apparatus and system Download PDF

Info

Publication number
CN107390203B
CN107390203B CN201610325256.9A CN201610325256A CN107390203B CN 107390203 B CN107390203 B CN 107390203B CN 201610325256 A CN201610325256 A CN 201610325256A CN 107390203 B CN107390203 B CN 107390203B
Authority
CN
China
Prior art keywords
signal
time
signal strength
echo
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.)
Active
Application number
CN201610325256.9A
Other languages
Chinese (zh)
Other versions
CN107390203A (en
Inventor
韩巨峰
魏志强
李琳骁
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Hikrobot Co Ltd
Original Assignee
Hangzhou Haikang Robot Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hangzhou Haikang Robot Technology Co Ltd filed Critical Hangzhou Haikang Robot Technology Co Ltd
Priority to CN201610325256.9A priority Critical patent/CN107390203B/en
Publication of CN107390203A publication Critical patent/CN107390203A/en
Application granted granted Critical
Publication of CN107390203B publication Critical patent/CN107390203B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Abstract

The embodiment of the invention provides a kind of ultrasonic ranging methods, device and system.This method comprises: emitting ultrasonic wave to determinand, and record the first current moment；Receives echo-signal；Prime amplification and sampling are carried out to received echo-signal within the preset blind area time；By the signal strength of the echo-signal sampled every time compared with the first signal strength threshold；First signal strength threshold is greater than amplitude of the signal strength of interference signal under prime amplification factor, and is less than amplitude of minimum signal strength of the blind area apart from interior useful signal under prime amplification factor；Within the preset blind area time, if the signal strength of the echo-signal of sampling is greater than the first signal strength threshold, the second current moment is recorded, the time interval at the second moment and the first moment is the total duration that ultrasonic wave is propagated；The distance value of determinand is obtained according to ultrasonic propagation velocity and total duration.As can be seen that the distance measuring method can detect the distance value of the determinand in existing blind area.

Description

A kind of ultrasonic ranging method, apparatus and system
Technical field
The present invention relates to ultrasonic technology fields, more particularly to a kind of ultrasonic ranging method, apparatus and system.
Background technique
Existing ultrasonic ranging system is commonly divided into two classes, i.e., transmitting-receiving integrated system and the split type system of transmitting-receiving. For transmitting-receiving integrated system, which only has a ultrasonic sensor, which plays transmitting simultaneously and connect The effect of ultrasonic wave is received, when emitting ultrasonic wave, which can apply high-intensitive pulse signal on ultrasonic sensor, if hair The system is set to be transferred to reception state immediately to detect echo-signal after penetrating, then the remained shock that sensor can be retained on its own It is interfered, can not accurately detect the useful signal (ultrasonic wave issued by the ultrasonic sensor itself in echo-signal After the reflection by determinand, the final part signal received by the ultrasonic sensor, i.e. ultrasonic wave itself Echo, without including interference signal part), therefore generally need after a period of time, to just carry out echo after remained shock signal de-emphasis The detection of signal.For receiving and dispatching split type system, there are two ultrasonic sensor, one is used to emit ultrasound system tool The problem of wave, one is used to receive ultrasonic wave, which interferes there is no remained shock, but the ultrasonic wave emitted by emission sensor It might have a part to be directly received sensor and receive, in order to avoid receiving sensor directly receives ultrasonic signal, The detection of echo-signal is usually just carried out after ultrasonic wave issues a period of time.
Both the above system is likely to be received certain interference signal, and whether the remained shock in transmitting-receiving integrated system is made At interference signal, or the letter of the interference in receiving sensor is acted directly on by transmission sensor in the split type system of transmitting-receiving Number, therefore one section shorter of time (the i.e. blind area in order to avoid interference signal impacts measurement result, after ultrasonic wave sending Time, the value can be obtained by test of many times) in without the detection of echo-signal, correspondingly, if the distance of determinand Value is smaller, i.e., determinand is placed exactly within the distance range (blind area distance) that the blind area time is capable of measuring, then determinand is fed back Useful signal will be unable to be received by sensor, needless to say accordingly calculate determinand distance value.
As can be seen that the distance value of the determinand in the distance of blind area is unable to get detection for the prior art.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of ultrasonic ranging method, apparatus and system, for blind area away from It is detected with a distance from interior determinand.
On the one hand, the embodiment of the invention provides a kind of ultrasonic ranging method, this method comprises the following steps:
It controls ultrasonic sensor and emits ultrasonic wave to determinand, and record the first current moment；
Control ultrasonic sensor receives echo-signal；
Within the preset blind area time, prime amplification and sampling are carried out in real time to received echo-signal；
The signal strength of the echo-signal sampled every time is carried out with the first signal strength threshold for measuring and storing in advance Compare；First signal strength threshold is greater than width of the signal strength of the interference signal measured in advance under prime amplification factor Value, and amplitude of the minimum signal strength for the useful signal being less than in the blind area distance measured in advance under prime amplification factor；
Within the preset blind area time, if the signal strength of the echo-signal of sampling is greater than the first signal strength threshold, Useful signal is confirmly detected, and records the second current moment, the time between second moment and first moment Between be divided into ultrasonic wave propagation total duration；The speed and the total duration propagated according to ultrasonic wave obtain the distance of the determinand Value.
Further, the above method further include:
If useful signal is not detected within the preset blind area time, when reaching the preset blind area time, to reception Echo-signal carry out rear class amplification and sampling in real time；Wherein, rear class amplification factor is greater than prime amplification factor；It will adopt every time The signal strength of the echo-signal of sample is compared with the second signal intensity threshold for measuring and storing in advance；Described second Signal strength threshold is the minimum signal of the blind area useful signal in outer, ultrasonic sensor maximum range measured in advance Amplitude of the intensity under rear class amplification factor；
If the signal strength of the echo-signal of sampling is greater than second signal intensity threshold, it is determined that detect effective letter Number, and the current third moment is recorded, the time interval between the third moment and first moment is ultrasonic wave propagation Total duration；The speed and the total duration propagated according to ultrasonic wave obtain the distance value of the determinand；
Wherein, the detection time of the rear class amplification is equal to the maximum of the ultrasonic sensor plus the blind area time First time corresponding to range.
Further, the above method further include:
If useful signal is not detected in the first time corresponding to the maximum range of ultrasonic sensor, first Time reach when, be arranged the determinand distance value be maximum range value, and control the ultrasonic sensor again to It surveys object and emits ultrasonic wave, re-start detection.
Further, in the above method, presetting rear class number of stages of amplification is N, and N is the natural number not less than 2, and the above method is also Include:
If useful signal is not detected within the preset blind area time, then follow the steps:
A1, the preset blind area time reach when, received echo-signal is carried out in real time the first order rear class amplification and Sampling；
A2, by the signal strength of the echo-signal sampled every time and the third signal strength threshold that in advance measures and store Value is compared；The third signal strength threshold is to have outside the blind area distance measured in advance, in first order rear class detecting distance Imitate amplitude of the minimum signal strength of signal under first order rear class amplification factor；
A3, within the preset first order rear class amplification detection time, if sampling the echo-signal signal strength it is big In third signal strength threshold, it is determined that detect useful signal, and record the 4th current moment, the 4th moment and institute Stating the time interval between the first moment is the total duration that ultrasonic wave is propagated；The speed and the total duration propagated according to ultrasonic wave Obtain the distance value of the determinand；
If useful signal is not detected, then when reaching the preset first order rear class amplification detection time
B1, the amplification of next stage rear class and sampling are carried out in real time to received echo-signal；
B2, by the signal strength of the echo-signal sampled every time and the l+2 signal strength that in advance measures and store Threshold value is compared, wherein l is current rear class number of stages of amplification, and the l+2 signal strength threshold is the blind area measured in advance Distance is outer, in l grades of rear class detecting distances useful signal amplitude of the minimum signal strength under next stage amplification factor, In, l is the natural number not less than 2 and no more than N；
B3, within the preset next stage rear class amplification detection time, if sampling the echo-signal signal strength it is big In l+2 signal strength threshold, it is determined that detect useful signal, and record current l+3 moment, the l+3 moment Time interval between first moment is the total duration that ultrasonic wave is propagated；The speed propagated according to ultrasonic wave and described total Duration obtains the distance value of the determinand；
If B4, the preset next stage rear class amplification detection time reach when, useful signal is not detected, then executes step It is rapid:
C1, judge whether current rear class number of stages of amplification is N, if so, the distance value of the determinand is arranged as maximum Range value, and control the ultrasonic sensor and emit ultrasonic wave to determinand again, re-start detection；Otherwise, return is held The row step B1；
Wherein, it is super equal to described to add the blind area time for the summation of the preset N grades of rear classes amplification detection time First time corresponding to the maximum range of sonic sensor, also, in N grades of rear class amplification process, amplification factor at different levels is equal Greater than the amplification factor of previous stage.
Further, the above method further include:
It measures and is stored under different detection total times in advance, echo-signal arrival moment and echo-signal reach each letter Time interval between at the time of number intensity threshold, the time interval are the compensation time；
Obtain the duration difference of the total duration and the compensation time；
The distance value that determinand is obtained according to ultrasonic propagation velocity and total duration, are as follows: according to the propagation of ultrasonic wave Speed and the duration difference obtain the distance value of the determinand.
Further, the above method further include:
Obtain environment temperature locating for the ultrasonic wave；
The actual propagation speed of the ultrasonic wave is obtained according to the environment temperature；
The distance value that determinand is obtained according to ultrasonic propagation velocity and total duration, are as follows: according to the ultrasonic wave Actual propagation speed and the total duration obtain the distance value of the determinand.
On the other hand, the embodiment of the invention also provides a kind of supersonic range finder, which includes:
Transmitting module emits ultrasonic wave to determinand for controlling ultrasonic sensor, and records the first current moment；
Receiving module, for controlling ultrasonic sensor receives echo-signal；
First processing module, for carrying out prime in real time to received echo-signal and putting within the preset blind area time Big and sampling；
First comparison module, for by the signal strength of the echo-signal sampled every time in advance measure and store first Signal strength threshold is compared；First signal strength threshold is greater than the signal strength of the interference signal measured in advance preceding Amplitude under grade amplification factor, and the minimum signal strength for the useful signal being less than in the blind area distance measured in advance is put in prime Amplitude under big multiple；
First computing module, within the preset blind area time, if the signal strength of the echo-signal of sampling is greater than the One signal strength threshold, it is determined that it detects useful signal, and records the second current moment, second moment and described the Time interval between one moment is the total duration that ultrasonic wave is propagated；The speed and the total duration propagated according to ultrasonic wave obtain The distance value of the determinand.
Further, above-mentioned apparatus further include:
Second processing module, if for useful signal to be not detected within the preset blind area time, in preset blind area When time reaches, rear class amplification and sampling are carried out in real time to received echo-signal, wherein rear class amplification factor is greater than prime Amplification factor；
Second comparison module, for by the signal strength of the echo-signal sampled every time in advance measure and store Second signal intensity threshold is compared；The second signal intensity threshold is that the blind area measured in advance is passed apart from outer, ultrasonic wave Amplitude of the minimum signal strength of useful signal under rear class amplification factor in the maximum range of sensor；
Second computing module, if the signal strength of the echo-signal for sampling is greater than second signal intensity threshold, Then confirmly detect useful signal, and record the current third moment, between the third moment and first moment when Between between be divided into ultrasonic wave propagation total duration；According to ultrasonic wave propagate speed and the total duration obtain the determinand away from From value；
Wherein, the detection time of the rear class amplification is equal to the maximum of the ultrasonic sensor plus the blind area time First time corresponding to range.
Further, above-mentioned apparatus further include:
First judgment module, if for being not detected in the first time corresponding to the maximum range of ultrasonic sensor Useful signal, then when reaching first time, the distance value that the determinand is arranged is maximum range value, and controls the ultrasound Wave sensor emits ultrasonic wave to determinand again, re-starts detection.
Further, in above-mentioned apparatus, presetting rear class number of stages of amplification is N, and N is the natural number not less than 2, and above-mentioned apparatus is also Include:
Third processing module, if for useful signal to be not detected within the preset blind area time, in preset blind area When time reaches, the amplification of first order rear class and sampling are carried out in real time to received echo-signal；
Third comparison module, for by the signal strength of the echo-signal sampled every time in advance measure and store Third signal strength threshold is compared；The third signal strength threshold is outside the blind area distance measured in advance, after the first order Amplitude of the minimum signal strength of useful signal under first order rear class amplification factor in grade detecting distance；
Third computing module was used within the preset first order rear class amplification detection time, if the echo letter of sampling Number signal strength be greater than third signal strength threshold, it is determined that detect useful signal, and record the 4th current moment, institute Stating the time interval between the 4th moment and first moment is the total duration that ultrasonic wave is propagated；The speed propagated according to ultrasonic wave Degree and the total duration obtain the distance value of the determinand；
Fourth processing module, if being not detected effectively for when reaching the preset first order rear class amplification detection time Signal then carries out the amplification of next stage rear class and sampling to received echo-signal in real time；
4th comparison module, for by the signal strength of the echo-signal sampled every time in advance measure and store L+2 signal strength threshold is compared, wherein l is current rear class number of stages of amplification, and the l+2 signal strength threshold is The blind area measured in advance is apart from outer, useful signal in l grades of rear class detecting distances minimum signal strength in next stage times magnification Amplitude under several, wherein l is the natural number not less than 2 and no more than N；
4th computing module was used within the preset next stage rear class amplification detection time, if the echo letter of sampling Number signal strength be greater than l+2 signal strength threshold, it is determined that detect useful signal, and record the current l+3 moment, Time interval between the l+3 moment and first moment is the total duration that ultrasonic wave is propagated；It is propagated according to ultrasonic wave Speed and the total duration obtain the distance value of the determinand；
Second judgment module, if being not detected effectively for when reaching the preset next stage rear class amplification detection time Signal then judges whether current rear class number of stages of amplification is N, if so, the distance value of setting determinand is maximum range value, and It controls ultrasonic sensor and emits ultrasonic wave to determinand again, re-start detection；Otherwise, real-time to received echo-signal Ground carries out the amplification of more next stage rear class and sampling；
Wherein, it is super equal to described to add the blind area time for the summation of the preset N grades of rear classes amplification detection time First time corresponding to the maximum range of sonic sensor, also, in N grades of rear class amplification process, amplification factor at different levels is equal Greater than the amplification factor of previous stage.
Further, above-mentioned apparatus further include:
Measurement module, for measuring and being stored in advance under different detection total times, echo-signal arrive the moment with return Time interval between at the time of wave signal reaches each signal strength threshold, the time interval are the compensation time；
First obtains module, for obtaining the duration difference of the total duration and the compensation time；
5th computing module, for the spread speed and the duration difference according to ultrasonic wave obtain the determinand away from From value.
Further, above-mentioned apparatus further include:
Second obtains module, for obtaining environment temperature locating for the ultrasonic wave；
Second obtains module, for obtaining the actual propagation speed of the ultrasonic wave according to the environment temperature；
6th computing module, it is described to be measured for being obtained according to the actual propagation speed of the ultrasonic wave and the total duration The distance value of object.
In another aspect, the system includes: supersonic sensing the embodiment of the invention also provides a kind of ultrasonic ranging system Device and the controller for being connected to the ultrasonic sensor；Wherein,
The ultrasonic sensor is for emitting ultrasonic wave and receives echo-signal；
The controller was used within the preset blind area time, carried out prime amplification in real time to the echo-signal received And sampling, and the signal strength of the echo-signal sampled every time is carried out with the first signal strength threshold for measuring and storing in advance Compare；First signal strength threshold is greater than the signal strength of the interference signal measured in advance under prime amplification factor Amplitude, and be less than amplitude of the minimum signal strength of useful signal measured in advance under prime amplification factor；Preset In the time of blind area, if the signal strength of the echo-signal of sampling is greater than the first signal strength threshold, it is determined that detect effective letter Number, according to detect at the time of useful signal and at the time of ultrasonic wave emits between time interval obtain the total of ultrasonic wave propagation Duration, and the speed and total duration propagated according to ultrasonic wave obtain the distance value of the determinand.
Further, in above system, the ultrasonic sensor is transmitting-receiving integrated sensor or the split type biography of transmitting-receiving Sensor.
As seen from the above technical solutions, for this ultrasonic ranging method provided in an embodiment of the present invention, device and For system, ultrasonic sensor can be first controlled to determinand and emits ultrasonic wave, and records the first current moment, is then controlled Ultrasonic sensor receives echo-signal processed；Then within the preset blind area time, by the signal of the echo-signal sampled every time Intensity with measure in advance and the first signal strength threshold stored is compared；First signal strength threshold is greater than to be measured in advance Amplitude of the signal strength of interference signal under prime amplification factor, and the useful signal being less than in the blind area distance measured in advance Amplitude of the minimum signal strength under prime amplification factor；Within the preset blind area time, if the letter of the echo-signal of sampling Number intensity is greater than the first signal strength threshold, it is determined that detects useful signal, and records the second current moment, the second moment Time interval with the first moment is the total duration that ultrasonic wave is propagated；The speed and total duration finally propagated according to ultrasonic wave obtain Obtain the distance value of determinand.As can be seen that the embodiment of the present invention can immediately begin to receive echo after ultrasonic wave sending Signal simultaneously detects echo-signal, without waiting the blind area time just to start the detection of echo-signal after in the past, therefore originally Inventive embodiments can receive the useful signal returned into the blind area time, so to the determinand that is located in the distance of blind area away from It is detected from value.In addition, judging whether to have the method for useful signal compared with prior art, in the embodiment of the present invention more Simply, directly whether occur to interrupt according to the ADC under the AWD operating mode whether may know that the arrival of useful signal, no It needs successively to be rectified, envelope detected, differential, zero passage detection and peak detection, to significantly simplify effectively The judgment step of signal, and then keep the ultrasonic ranging method more simple.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings.
Fig. 1 is the flow chart of ultrasonic ranging method provided in an embodiment of the present invention；
Fig. 2 is the another flow chart of ultrasonic ranging method provided in an embodiment of the present invention；
Fig. 3 is the another flow chart of ultrasonic ranging method provided in an embodiment of the present invention；
Fig. 4 is the another flow chart of ultrasonic ranging method provided in an embodiment of the present invention；
Fig. 5 is the another flow chart of ultrasonic ranging method provided in an embodiment of the present invention；
Fig. 6 is the structural block diagram of supersonic range finder provided in an embodiment of the present invention；
Fig. 7 is the another structural block diagram of supersonic range finder provided in an embodiment of the present invention；
Fig. 8 is the another structural block diagram of supersonic range finder provided in an embodiment of the present invention；
Fig. 9 is the another structural block diagram of supersonic range finder provided in an embodiment of the present invention；
Figure 10 is the structural schematic diagram of ultrasonic ranging system provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
Ultrasonic ranging method embodiment:
Referring to Fig. 1, Fig. 1 is the flow chart of ultrasonic ranging method provided in an embodiment of the present invention.As shown in Figure 1, the party Method includes the following steps:
Step S101, control ultrasonic sensor emits ultrasonic wave to determinand, and records the first current moment.
Wherein, ultrasonic sensor can be transmitting-receiving integrated sensor or the split type sensor of transmitting-receiving.In the present embodiment, Ultrasonic sensor can be connected with a controller, which may include: single-chip microcontroller and timer.When it is implemented, The port of single-chip microcontroller can generate simultaneously it is multiple, such as 8 polarity on the contrary, frequency be 40KHz square-wave signal, it is super to act on Sonic sensor makes the ultrasonic sensor emit ultrasonic wave to determinand, while timer automatically turns on, and records timer The first current moment down.
Step S102 controls ultrasonic sensor receives echo-signal.
Step S103 carries out prime amplification and sampling to received echo-signal within the preset blind area time in real time.
In the present embodiment, controller can also include amplifying circuit and ADC (Analog Digital Converter, mould Number converter), wherein amplifying circuit is used to carry out echo-signal prime amplification, and ADC is used to sample through prime amplified time Wave signal is to obtain sampled value.Due to being sampled within the preset blind area time, therefore echo-signal may there are two types of different Composition: when sampling time very in short-term, may only have interference signal in echo-signal；When lengthening the time of sampling, return May only have useful signal in wave signal.Once echo-signal is amplified by prime, then useful signal or interference signal can be by Amplification, prime amplification factor can determine according to the actual situation, need to only guarantee undistorted through the amplified interference signal of prime , the present embodiment do not do any restriction to the specific amplification factor that prime is amplified.
Step S104, by the signal strength of the echo-signal sampled every time and the first signal strength in advance measuring and store Threshold value is compared, and the first signal strength threshold is greater than the signal strength of the interference signal measured in advance under prime amplification factor Amplitude, and be less than amplitude of the minimum signal strength of useful signal measured in advance under prime amplification factor.
According to test of many times it is found that the amplitude of interference signal and duration (i.e. blind area time) they are fixed value, this Two values can be obtained by testing.Specifically, the blind area time can be 1.8ms.And for the useful signal in the distance of blind area For, minimum signal strength may be considered the signal strength of the echo-signal returned from the boundary of blind area distance, the value It can also be obtained by testing, eventually by amplitude of the signal strength of interference signal under prime amplification factor and effective letter Number amplitude of the minimum signal strength under prime amplification factor, the first signal strength threshold can be obtained.When it is implemented, can The first sampling threshold is calculated previously according to the first signal strength threshold, then the first sampled intensity threshold value is pre-stored in In ADC, it is in ADC under AWD (Analog Watchdog simulates house dog) operating mode, such ADC can be constantly Sampled value is compared with the first sampling threshold.
Step S105, within the preset blind area time, if the signal strength of the echo-signal after sampling is greater than the first signal Intensity threshold, it is determined that detect useful signal, and record the second current moment, between the second moment and the first moment when Between between be divided into ultrasonic wave propagation total duration；The speed and total duration propagated according to ultrasonic wave obtain the distance value of determinand.
Through test of many times it is found that within the time of blind area, the amplitude of useful signal can be much larger than the amplitude of interference signal, phase Ying Di, the amplitude of the useful signal under same amplification factor can also be much larger than the amplitude of interference signal.Again since the first signal is strong The minimum signal strength that degree threshold value is in amplitude and useful signal of the signal strength of interference signal under prime amplification factor exists Between amplitude under prime amplification factor, if therefore the signal strength of echo-signal be greater than the first signal strength threshold, sample The signal strength of echo-signal is naturally larger than the amplitude of the interference signal under prime amplification factor, therefore necessarily has in echo-signal Useful signal, the second moment at this moment recorded are at the time of receiving useful signal.When it is implemented, being placed in AWD work ADC under mode is sampled through the amplified echo-signal of prime with being continued for, and automatically by sampled value and the first sampling threshold Value is compared, if sampled value is greater than the first sampling threshold, illustrates that the signal strength of echo-signal is greater than the first signal strength Threshold value has useful signal in the echo-signal sampled, and ADC can generate interruption at this time, and ADC will not continue to sampled echo Signal, timer will record the lower specific moment for generating and interrupting, i.e. the second moment.In this way, recorded according to timer second The total duration t of ultrasonic wave propagation can be obtained in difference between moment and the first moment, and the speed v that ultrasonic wave is propagated can be direct With reference to its theoretical value, then the distance value L of determinand can be calculated by formula L=v*t/2.
As can be seen that ultrasonic sensor can be issued in ultrasonic wave in ultrasonic ranging method provided in this embodiment After get started receives echo-signal and echo-signal detected, without waiting the blind area time just to start to examine after in the past Survey, therefore the present invention can receive the useful signal returned into the blind area time, and the total duration finally propagated according to ultrasonic wave and Speed obtains the distance value for the determinand being located in the distance of blind area.In addition, compared with prior art, judging in the embodiment of the present invention Whether the method with useful signal is relatively simple, directly can according to whether the ADC under AWD operating mode generates interruption It whether arrival to know useful signal, does not need successively to be rectified, envelope detected, differential, zero passage detection and peak detection And etc., to significantly simplify the judgment step of useful signal, and then keep the ultrasonic ranging method more simple.
In practical application, if useful signal is not detected within the time of blind area, illustrate that determinand is located at blind area distance Outside, therefore rear class amplification and sampling can be carried out in real time to the echo-signal received when reaching the preset blind area time, with The distance value of determinand outside the distance of blind area is detected.According to the difference of rear class number of stages of amplification, the ultrasonic ranging method It can be there are two types of different embodiments.
In the first embodiment, the series of rear class amplification can be only level-one, at this time the stream of the ultrasonic ranging method Journey figure is referred to Fig. 2.As shown in Fig. 2, the present invention may include steps of:
Step S201, control ultrasonic sensor emits ultrasonic wave to determinand, and records the first current moment.
Step S202 controls ultrasonic sensor receives echo-signal.
Step S203 carries out prime amplification and sampling to received echo-signal within the preset blind area time in real time.
Step S204, by the signal strength of the echo-signal sampled every time and the first signal strength in advance measuring and store Threshold value is compared, and the first signal strength threshold is greater than the signal strength of the interference signal measured in advance under prime amplification factor Amplitude, and be less than amplitude of the minimum signal strength of useful signal measured in advance under prime amplification factor.
Step S205, within the preset blind area time, if the signal strength of the echo-signal after sampling is greater than the first signal Intensity threshold, it is determined that detect useful signal, and record the second current moment, between the second moment and the first moment when Between between be divided into ultrasonic wave propagation total duration；The speed and total duration propagated according to ultrasonic wave obtain the distance value of determinand.
Wherein, the specific implementation process of step S201 to step S205 is referring to above description, and details are not described herein.
Step S206 is reached if useful signal is not detected within the preset blind area time in the preset blind area time When, rear class amplification and sampling are carried out in real time to received echo-signal.
Wherein, rear class amplification factor can be greater than prime amplification factor, and the specific value of rear class amplification factor can basis Actual conditions determine that the present embodiment do not do any restriction to this.Since the determinand of rear class amplification is respectively positioned on blind area apart from it Outside, compared with the determinand in the distance of blind area, distance value is larger, therefore needs to carry out echo-signal with bigger amplification factor Amplification, can guarantee that the signal strength of amplified echo-signal is larger, to guarantee that useful signal can be clear in this way Ground identification.
Step S207, by the signal strength of the echo-signal sampled every time and the second signal intensity that in advance measures and store Threshold value is compared；Second signal intensity threshold is outside the blind area distance measured in advance, in the maximum range of ultrasonic sensor Amplitude of the minimum signal strength of useful signal under rear class amplification factor.
Wherein, the minimum signal strength of useful signal can be outside the distance of blind area, in the maximum range of ultrasonic sensor By the intensity for the echo-signal that the maximum range of ultrasonic sensor returns, value can also be obtained by test of many times, this Second signal intensity threshold can be obtained according to the value in sample.When it is implemented, can be previously according to second signal intensity threshold meter Calculation obtains the second sampling threshold, and then the second sampling threshold is pre-stored in ADC, is in ADC under AWD operating mode, Sampled value can be constantly compared by ADC in this way with the second sampling threshold.
Step S208, if the signal strength of the echo-signal of sampling is greater than second signal intensity threshold, it is determined that detect Useful signal, and the current third moment is recorded, the time interval between third moment and the first moment is what ultrasonic wave was propagated Total duration；The speed and total duration propagated according to ultrasonic wave obtain the distance value of determinand.
Wherein, the detection time of rear class amplification is equal to corresponding to the maximum range of ultrasonic sensor plus the blind area time At the first time.In this way, this method can detect the distance value of all determinands in the maximum range for being located at ultrasonic wave.
When it is implemented, if being placed under AWD operating mode when useful signal is not detected within the preset blind area time ADC can be sampled constantly through the amplified echo-signal of rear class, and be automatically compared sampled value with the second sampling threshold, If sampled value is greater than the second sampling threshold, illustrates that the signal strength of echo-signal is greater than second signal intensity threshold, that is, sample To echo-signal in there is useful signal, ADC generates interruption at this time, and ADC will not continue to sampled echo signals, timer meeting At the time of recording generation interruption, i.e. third moment.In this way, between the third moment and the first moment recorded according to timer Difference and the speed propagated of ultrasonic wave the distance value of determinand can be obtained.
As can be seen that the present embodiment can also to be located at blind area distance is outer, in maximum range of ultrasonic sensor to The distance value for surveying object measures, also, it judges whether that the operation for receiving useful signal is also relatively simple, directly according to place Whether whether the ADC under AWD operating mode, which generates interruption, can know that useful signal arrives, to make the ultrasonic distance measurement Method is more simple.
In the first embodiment, the flow chart of ultrasonic ranging method can also be referring to Fig. 3.As shown in figure 3, of the invention It may include steps of:
Step 3201, control ultrasonic sensor emits ultrasonic wave to determinand, and records the first current moment.
Step S302 controls ultrasonic sensor receives echo-signal.
Step S303 carries out prime amplification and sampling to received echo-signal within the preset blind area time in real time.
Step S304, by the signal strength of the echo-signal sampled every time and the first signal strength in advance measuring and store Threshold value is compared, and the first signal strength threshold is greater than the signal strength of the interference signal measured in advance under prime amplification factor Amplitude, and be less than amplitude of the minimum signal strength of useful signal measured in advance under prime amplification factor.
Step S305, within the preset blind area time, if the signal strength of the echo-signal after sampling is greater than the first signal Intensity threshold, it is determined that detect useful signal, and record the second current moment, between the second moment and the first moment when Between between be divided into ultrasonic wave propagation total duration；The speed and total duration propagated according to ultrasonic wave obtain the distance value of determinand.
Step S306 is reached if useful signal is not detected within the preset blind area time in the preset blind area time When, rear class amplification and sampling are carried out in real time to received echo-signal.
Step S307, by the signal strength of the echo-signal sampled every time and the second signal intensity that in advance measures and store Threshold value is compared；Second signal intensity threshold is outside the blind area distance measured in advance, in the maximum range of ultrasonic sensor Amplitude of the minimum signal strength of useful signal under rear class amplification factor.
Step S308, if the signal strength of the echo-signal of sampling is greater than second signal intensity threshold, it is determined that detect Useful signal, and the current third moment is recorded, the time interval between third moment and the first moment is what ultrasonic wave was propagated Total duration；The speed and total duration propagated according to ultrasonic wave obtain the distance value of determinand.
Wherein, the specific embodiment of step S301 to step S308 is referring to above description, and the present embodiment is herein not It repeats again.
Step S309, if effective letter is not detected in the first time corresponding to the maximum range of ultrasonic sensor Number, then first time reach when, be arranged determinand distance value be maximum range value, and control ultrasonic sensor again to Determinand emits ultrasonic wave, re-starts detection.
In the present embodiment, the process of rear class amplification can not go on without end, if being not detected in first time Useful signal then illustrates that determinand is located at except the measuring range of ultrasonic sensor, can make ultrasonic sensor again at this time It is secondary to emit ultrasonic wave to determinand, to carry out next round detection process.
In second of embodiment, the series of rear class amplification can be N grades, and N is the natural number not less than 2, this is super at this time The flow chart of sound ranging method is referred to Fig. 4.As shown in figure 4, the present invention may include steps of:
Step S401, control ultrasonic sensor emits ultrasonic wave to determinand, and records the first current moment.
Step S402 controls ultrasonic sensor receives echo-signal.
Step S403 carries out prime amplification and sampling to received echo-signal within the preset blind area time in real time.
Step S404, by the signal strength of the echo-signal sampled every time and the first signal strength in advance measuring and store Threshold value is compared, and the first signal strength threshold is greater than the signal strength of the interference signal measured in advance under prime amplification factor Amplitude, and be less than amplitude of the minimum signal strength of useful signal measured in advance under prime amplification factor.
Step S405, within the preset blind area time, if the signal strength of the echo-signal after sampling is greater than the first signal Intensity threshold, it is determined that detect useful signal, and record the second current moment, between the second moment and the first moment when Between between be divided into ultrasonic wave propagation total duration；The speed and total duration propagated according to ultrasonic wave obtain the distance value of determinand.
Wherein, the specific implementation process of step S401 to S405 is referring to above description, and details are not described herein.
Step S406 is reached if useful signal is not detected within the preset blind area time in the preset blind area time When, the amplification of first order rear class and sampling are carried out in real time to received echo-signal.
Wherein, first order rear class amplification factor can be greater than prime amplification factor, first order rear class amplification factor it is specific Value can determine that the present embodiment does not do any restriction to this according to the actual situation, through the amplified echo of first order rear class The sampling process of signal can also be completed by ADC.
Step S407, by the signal strength of the echo-signal sampled every time and the third signal strength that in advance measures and store Threshold value is compared；Third signal strength threshold is outside the blind area distance measured in advance, in first order rear class detecting distance effectively Amplitude of the minimum signal strength of signal under first order rear class amplification factor.
Wherein, third signal strength threshold can also be obtained by test of many times.
Step S408, within the preset first order rear class amplification detection time, if the signal strength of the echo-signal of sampling Greater than third signal strength threshold, it is determined that detect useful signal, and record the 4th current moment, the 4th moment and first Time interval between moment is the total duration that ultrasonic wave is propagated；The speed and total duration propagated according to ultrasonic wave obtain determinand Distance value.
Step S409 is if useful signal is not detected when reaching the preset first order rear class amplification detection time, then right Received echo-signal carries out the amplification of next stage rear class and sampling in real time.
Step S410, by the signal strength of the echo-signal sampled every time with measure in advance and the l+2 signal stored is strong Degree threshold value is compared, wherein l is current rear class number of stages of amplification；L+2 signal strength threshold be the blind area that measures in advance away from From amplitude of outer, useful signal in l grades of rear class detecting distances the minimum signal strength under next stage amplification factor, wherein l For the natural number not less than 2 and no more than N.
Wherein, l+2 signal strength threshold can also be obtained by test of many times.
Step S411, within the preset next stage rear class amplification detection time, if the signal strength of the echo-signal of sampling Greater than l+2 signal strength threshold, it is determined that detect useful signal, and record the current l+3 moment, the l+3 moment with Time interval between first moment is the total duration that ultrasonic wave is propagated；According to ultrasonic wave propagate speed and total duration obtain to Survey the distance value of object.
Step S412, if useful signal is not detected, then sentences when reaching the preset next stage rear class amplification detection time Whether the rear class number of stages of amplification for breaking current is N, if so, the distance value of setting determinand is maximum range value, and controls ultrasound Wave sensor emits ultrasonic wave to determinand again, re-starts detection；Otherwise, S409 is returned to step.
In the present embodiment, any level rear class amplification detection time and the detecting distance of this grade of rear class amplification are corresponded.Tool For body, the level-one rear class amplification detection time can be examined the distance value for the determinand being located in level-one rear class detecting distance It surveys, the second level rear class amplification detection time can examine the distance value for the determinand being located in second level rear class amplification detection distance It surveys, and so on.When it is implemented, the rear class amplification detection times at different levels can determine according to the actual situation, only need to guarantee The summation of preset N grades of rear class amplification detection time was equal to corresponding to the maximum range of ultrasonic sensor along with the blind area time First time.Wherein, it can also be obtained at the first time by test of many times.In this way, this method can be passed to ultrasonic wave is located at The distance value of all determinands in the maximum range of sensor is detected.
In the present embodiment, in N grades of rear class amplification process, amplification factor at different levels is all larger than the amplification factor of previous stage.Tool For body, first order rear class amplification factor is greater than prime amplification factor, and second level rear class amplification factor is greater than first order rear class and puts Big multiple, third level rear class amplification factor are greater than second level rear class amplification factor, and so on.When it is implemented, in controller The detection time of every level-one rear class amplification process is stored in advance, i.e. the corresponding maximum duration of rear class amplification process.Amplification electricity Road can amplify echo-signal with different amplification factors.The detailed process of the N grades of rear class amplification are as follows: first to echo Signal carry out the amplification of first order rear class, the signal that ADC is sampled at this time be through the amplified echo-signal of first order rear class, if In the maximum duration of first order rear class amplification, ADC generates interruption, the i.e. signal strength of the amplified echo-signal of first order rear class Greater than third signal strength threshold, then represent in the echo-signal that ADC is sampled have useful signal, ADC generate interrupt when Carving was the 4th moment, then according to the spread speed of the difference at the 4th moment and the first moment and ultrasonic wave can calculate to Survey the distance value of object.If ADC does not generate interruption in the maximum duration that first order rear class is amplified, that is, represents ADC and be not detected Useful signal carries out the amplification of second level rear class to echo-signal at this time, therefore the signal that ADC is sampled is to amplify through second level rear class Echo-signal afterwards.It is similar with the process of first order rear class amplification, it is interrupted when ADC is generated, then represents ADC and detect effective letter Number, if ADC does not generate interruption in the maximum duration that second level rear class is amplified yet, that is, represent second level rear class amplification process also not It detects useful signal, may determine that whether current rear class number of stages of amplification is N at this time, that is, whether judge the amplification of second level rear class For the amplification of preset afterbody rear class, if so, illustrating that determinand is in outside the maximum range of ultrasonic sensor, at this time may be used Emit ultrasonic wave to determinand again to control ultrasonic sensor, to carry out next round detection process；If second level rear class is put Big process is not preset afterbody rear class amplification, then the amplification of third level rear class can be carried out to echo-signal, that is, It says, as long as useful signal is not detected in the amplification of certain level-one rear class in the maximum duration that this grade amplifies, and this grade amplification is not Preset afterbody amplification process, can be transferred to the detection process of next stage, be believed with another bigger amplification factor echo It number amplifies, the detection process class that subsequent each rear class detection process and the amplification of first order rear class and second level rear class are amplified Seemingly, specific testing principle is referring to above description, and details are not described herein.
In the present embodiment, the process of N grades of rear classes amplification is particularly suitable for the larger situation of distance value of determinand.Specifically Ground, echo-signal may be due to determinand if useful signal is not detected in echo-signal after the amplification of certain level-one rear class Distance value it is larger, and the rear class amplification factor of this grade is smaller, therefore the signal strength of echo-signal is weaker, so as to cause sensor Apparent useful signal can not be collected, at this moment collected echo-signal can be subjected to the amplification of next stage rear class, due under The rear class amplification factor of level-one is greater than the amplification factor of previous stage rear class, therefore echo-signal is under next stage rear class amplification factor The signal strength that signal strength will be greater than under previous stage amplification factor can be with if can not still detect useful signal at this time Echo-signal is amplified with bigger amplification factor, the signal of such echo-signal will be bigger, and useful signal will more have It may be clearly identified.
Above-described embodiment by ADC generate interruption at the time of, i.e., the signal strength of echo-signal be more than a certain threshold value when At the time of quarter conduct receives useful signal, and since the waveform diagram of echo-signal is wavy, also, echo-signal is receiving Amplify and sample to also needing later, thus at the time of ADC generates interruption and at the time of being an actually-received useful signal between May have certain deviation, thus need to original ultrasonic wave propagate total duration compensate, such determinand away from It can be corrected from value.
Specifically, include: to the method that compensates of total duration that ultrasonic wave is propagated
It measures and is stored under different detection total times in advance, echo-signal arrival moment and echo-signal reach each letter Time interval between at the time of number intensity threshold, the time interval are the compensation time；
The measuring process of time is repaid with visible subsidy for a specific example below.
Assuming that the range of ultrasonic sensor is 5m, range 5m is equally divided into 100 parts, then the actual distance value of every portion A difference at the time of ADC generates interruption with the first moment is detected every 5cm then since distance is at 5cm for 5cm T, and according to the distance value L of difference t calculating determinand, the distance value L obtained through the calculating process is theoretical value, and distance The actual value L of value1For what is predefined, value be it is known, can be obtained by L and L in this way1Difference L2, finally according to public affairs Formula t2=L2Compensation time t corresponding to different detection total times t can be obtained in/v2。
It obtains total duration and compensates the duration difference of time.
The distance value of determinand is obtained according to ultrasonic propagation velocity and total duration, are as follows: according to ultrasonic propagation velocity and The distance value of duration difference acquisition determinand.
As can be seen that the total duration that the present embodiment can propagate ultrasonic wave compensates, distance finally obtained in this way Value will be more accurate.
In above-described embodiment, the spread speed of ultrasonic wave can be the theoretical spread speed of ultrasonic wave, still, due to environment The influence of temperature may and have a degree of deviation between the actual propagation speed of ultrasonic wave and its theoretical spread speed, There is certain deviations for distance value and actual distance value to cause the determinand measured, therefore also need the biography to ultrasonic wave It broadcasts speed to be corrected, the distance value of such determinand can also be corrected.
Specifically, to the corrected method of the spread speed of ultrasonic wave the following steps are included:
Obtain environment temperature locating for ultrasonic wave.
Wherein, environment temperature can be by temperature sensor real-time measurement.
The actual propagation speed of ultrasonic wave is obtained according to environment temperature.Wherein, environment temperature can be indicated with T, ultrasound The actual propagation speed of wave can use v1It indicates, v1With the conversion relation of T are as follows: V1(m/s)=331.5+0.607T.
The distance value of determinand is obtained according to ultrasonic propagation velocity and total duration, are as follows: according to the actual propagation of ultrasonic wave Speed and total duration obtain the distance value of determinand.
As can be seen that the present embodiment considers influence of the environment temperature to ultrasonic propagation velocity, and do not select directly The theoretical spread speed of well known ultrasonic wave is the spread speed of ultrasonic wave, thus avoid variation due to environment temperature and to survey Amount result impacts, to keep finally obtained distance value more accurate.
Below with reference to Fig. 5, the case where being enlarged into level-one with rear class, is illustrated the specific implementation process of the present embodiment.
As shown in figure 5, when it is implemented, progress step S501 first, completes ultrasonic wave transmitting.Then step is executed S502, i.e. TIMER1 counter resets.Specifically, calculator, which resets, is denoted as zero moment at the time of ultrasonic wave is emitted and completed. Then step S503 is carried out, ADC sampling channel 1 is opened.Specifically, ADC opens sampling channel 1, and at this moment amplifying circuit is to acquisition The echo-signal arrived carries out prime amplification, and the amplification factor of prime amplification can be 23 times, while ADC believes amplified echo It number is sampled.Then step S504 is executed, judges whether that the AWD that ADC occurs is interrupted, if ADC occurs under AWD operating mode It interrupts, that is, the signal strength for representing echo-signal is greater than the first signal strength threshold preset, therefore ADC detects effective letter Number, at this time by step S510, interrupted in the TIMER1 count value that records, TIMER1 count value is what ultrasonic wave was propagated Total duration.Accurate transmission time is obtained using time bias then according to step S511.Wherein, the method for time bias Referring to above description, details are not described herein.Step S512 obtains Current Temperatures, and calculates the velocity of sound, which can be to super The spread speed of sound wave is corrected, and specific bearing calibration is referring to above description, and details are not described herein.Then step is executed S513 calculates distance value according to the half for the product that distance value is TIMER1 count value and the velocity of sound.Step S515 is finally executed, After being calculated to distance value, ultrasonic wave transmitting is opened, re-emits ultrasonic wave to carry out next round detection.
If ADC is not interrupted under AWD operating mode in step S504: step S505 is first carried out, judges TIMER1 Whether value, which is greater than prime, is detected time-out time, i.e., the blind area time measured in advance, is not detected in the time of blind area if so, representing Useful signal executes step S506 at this time.Step S506 is to open ADC sampling channel 2.Specifically, ADC opens sampling channel 2 When, amplifying circuit carries out rear class amplification to collected echo-signal, and rear class amplification factor can be 34 times, while ADC is to putting Echo-signal after big is sampled.Then step S507 is carried out, judges whether that ADC, which occurs, to interrupt.If so, representing ADC inspection Measured useful signal, executed step S514 at this time, is interrupted in the TIMER1 count value that records, the count value as reception At the time of to useful signal, step S511, step S512, step S513 and step S515 are finally successively carried out.
If judging that ADC is not interrupted in step S507, S508 is thened follow the steps, judges whether TIMER1 current value is greater than Rear class detects time-out time, i.e. first time corresponding to the maximum range of ultrasonic sensor.If so, representing determinand Distance value has exceeded the measurement range of ultrasonic sensor, and the distance value that the ultrasonic sensor can be made to show at this time is maximum Range then executes step S515, to open ultrasonic wave transmitting, re-starts next round detection.
To sum up, ultrasonic ranging method provided in this embodiment can be to the distance value for the determinand being located in the distance of blind area It is detected, also, this method judges whether that the operation for receiving useful signal is also relatively simple.
Supersonic range finder embodiment:
Referring to Fig. 6, the structural block diagram of supersonic range finder provided in an embodiment of the present invention is shown in figure.Such as Fig. 6 institute Show, which includes:
Transmitting module 11 emits ultrasonic wave to determinand for controlling ultrasonic sensor, and when recording current first It carves；
Receiving module 12, for controlling ultrasonic sensor receives echo-signal；
First processing module 13, for carrying out prime in real time to received echo-signal within the preset blind area time Amplification and sampling；
First comparison module 14, for by the signal strength of the echo-signal sampled every time in advance measure and store the One signal strength threshold is compared；First signal strength threshold is greater than the signal strength of the interference signal measured in advance in prime Amplitude under amplification factor, and the minimum signal strength for the useful signal being less than in the blind area distance measured in advance is amplified in prime Amplitude under multiple；
First computing module 15 was used within the preset blind area time, if the signal strength of the echo-signal of sampling is greater than First signal strength threshold, it is determined that detect useful signal, and record the second current moment, the second moment and the first moment Between time interval be ultrasonic wave propagate total duration；According to ultrasonic wave propagate speed and total duration obtain determinand away from From value.
Since ultrasonic ranging method has above-mentioned technique effect, therefore the supersonic range finder based on this method also has Corresponding technical effect, details are not described herein.
Referring to Fig. 7, the another structural block diagram of supersonic range finder provided in an embodiment of the present invention is shown in figure.Such as figure Shown in 7, which includes:
Transmitting module 21 emits ultrasonic wave to determinand for controlling ultrasonic sensor, and when recording current first It carves；
Receiving module 22, for controlling ultrasonic sensor receives echo-signal；
First processing module 23, for carrying out prime in real time to received echo-signal within the preset blind area time Amplification and sampling；
First comparison module 24, for by the signal strength of the echo-signal sampled every time in advance measure and store the One signal strength threshold is compared；First signal strength threshold is greater than the signal strength of the interference signal measured in advance in prime Amplitude under amplification factor, and the minimum signal strength for the useful signal being less than in the blind area distance measured in advance is amplified in prime Amplitude under multiple；
First computing module 25 was used within the preset blind area time, if the signal strength of the echo-signal of sampling is greater than First signal strength threshold, it is determined that detect useful signal, and record the second current moment, the second moment and the first moment Between time interval be ultrasonic wave propagate total duration；The speed and the total duration propagated according to ultrasonic wave obtain determinand Distance value；
Second processing module 26, if for useful signal to be not detected within the preset blind area time, preset blind When area's time reaches, rear class amplification and sampling are carried out in real time to received echo-signal, wherein before rear class amplification factor is greater than Grade amplification factor；
Second comparison module 27, for by the signal strength of the echo-signal sampled every time in advance measure and store the Binary signal intensity threshold is compared；Second signal intensity threshold is that the blind area distance that measures in advance is outer, ultrasonic sensor Amplitude of the minimum signal strength of useful signal under rear class amplification factor in maximum range；
Second computing module 28, if the signal strength of the echo-signal for sampling is greater than second signal intensity threshold, Useful signal is confirmly detected, and records the current third moment, the time interval between third moment and the first moment is super The total duration of Acoustic Wave Propagation；The speed and total duration propagated according to ultrasonic wave obtain the distance value of the determinand.
Wherein, the detection time of rear class amplification is equal to corresponding to the maximum range of ultrasonic sensor plus the blind area time At the first time.
Referring to Fig. 8, the another structural block diagram of supersonic range finder provided in an embodiment of the present invention is shown in figure.Such as figure Shown in 8, which includes:
Transmitting module 801 emits ultrasonic wave to determinand for controlling ultrasonic sensor, and when recording current first It carves；
Receiving module 802, for controlling ultrasonic sensor receives echo-signal；
First processing module 803, for carrying out prime in real time to received echo-signal within the preset blind area time Amplification and sampling；
First comparison module 804, for by the signal strength of the echo-signal sampled every time in advance measure and store First signal strength threshold is compared；First signal strength threshold is greater than the signal strength of the interference signal measured in advance preceding Amplitude under grade amplification factor, and the minimum signal strength for the useful signal being less than in the blind area distance measured in advance is put in prime Amplitude under big multiple；
First computing module 805 was used within the preset blind area time, if the signal strength of the echo-signal of sampling is greater than First signal strength threshold, it is determined that detect useful signal, and record the second current moment, the second moment and the first moment Between time interval be ultrasonic wave propagate total duration；The speed and the total duration propagated according to ultrasonic wave obtain determinand Distance value.
Second processing module 806, if for useful signal to be not detected within the preset blind area time, preset blind When area's time reaches, rear class amplification and sampling are carried out in real time to received echo-signal, wherein before rear class amplification factor is greater than Grade amplification factor；
Second comparison module 807, for by the signal strength of the echo-signal sampled every time in advance measure and store Second signal intensity threshold is compared；Second signal intensity threshold is that the blind area distance that measures in advance is outer, ultrasonic sensor Maximum range in useful signal amplitude of the minimum signal strength under rear class amplification factor；
Second computing module 808, if the signal strength of the echo-signal for sampling is greater than second signal intensity threshold, Useful signal is confirmly detected, and records the current third moment, the time interval between third moment and the first moment is super The total duration of Acoustic Wave Propagation；The speed and total duration propagated according to ultrasonic wave obtain the distance value of the determinand；
First judgment module 809, if for not examined in the first time corresponding to the maximum range of ultrasonic sensor Useful signal is measured, then when reaching first time, the distance value that determinand is arranged is maximum range value, and controls ultrasonic wave biography Sensor emits ultrasonic wave to determinand again, re-starts detection.
Referring to Fig. 9, the another structural block diagram of supersonic range finder provided in an embodiment of the present invention is shown in figure.Such as figure Shown in 9, which includes:
Transmitting module 501 emits ultrasonic wave to determinand for controlling ultrasonic sensor, and when recording current first It carves；
Receiving module 502, for controlling ultrasonic sensor receives echo-signal；
First processing module 503, for carrying out prime in real time to received echo-signal within the preset blind area time Amplification and sampling；
First comparison module 504, for by the signal strength of the echo-signal sampled every time in advance measure and store First signal strength threshold is compared；First signal strength threshold is greater than the signal strength of the interference signal measured in advance preceding Amplitude under grade amplification factor, and the minimum signal strength for the useful signal being less than in the blind area distance measured in advance is put in prime Amplitude under big multiple；
First computing module 505 was used within the preset blind area time, if the signal strength of the echo-signal of sampling is greater than First signal strength threshold, it is determined that detect useful signal, and record the second current moment, the second moment and the first moment Between time interval be ultrasonic wave propagate total duration；The speed and the total duration propagated according to ultrasonic wave obtain determinand Distance value；
Third processing module 506, if for useful signal to be not detected within the preset blind area time, preset blind When area's time reaches, the amplification of first order rear class and sampling are carried out in real time to received echo-signal；
Third comparison module 507, for by the signal strength of the echo-signal sampled every time in advance measure and store Third signal strength threshold is compared；Third signal strength threshold is first order rear class inspection outside the blind area distance measured in advance Amplitude of minimum signal strength of the ranging from interior useful signal under first order rear class amplification factor；
Third computing module 508 was used within the preset first order rear class amplification detection time, if the echo-signal of sampling Signal strength be greater than third signal strength threshold, it is determined that detect useful signal, and record the 4th current moment, the 4th Time interval between moment and the first moment is the total duration that ultrasonic wave is propagated；The speed and total duration propagated according to ultrasonic wave Obtain the distance value of determinand；
Fourth processing module 509, if being not detected for when reaching the preset first order rear class amplification detection time Signal is imitated, then the amplification of next stage rear class and sampling are carried out in real time to received echo-signal；
4th comparison module 510, for by the signal strength of the echo-signal sampled every time in advance measure and store L+2 signal strength threshold is compared, wherein l is current rear class number of stages of amplification；L+2 signal strength threshold is preparatory The blind area of measurement is apart from outer, useful signal in l grades of rear class detecting distances minimum signal strength under next stage amplification factor Amplitude, wherein l be not less than 2 and be not more than N natural number；
4th computing module 511 was used within the preset next stage rear class amplification detection time, if the echo of sampling The signal strength of signal is greater than l+2 signal strength threshold, it is determined that when detecting useful signal, and recording current l+3 It carves, the time interval between l+3 moment and the first moment is the total duration that ultrasonic wave is propagated；The speed propagated according to ultrasonic wave The distance value of determinand is obtained with total duration；
Second judgment module 512, if being not detected for when reaching the preset next stage rear class amplification detection time Signal is imitated, then judges whether current rear class number of stages of amplification is N, if so, the distance value of setting determinand is maximum range value, And control ultrasonic sensor and emit ultrasonic wave in determinand again, re-start detection；Otherwise, real to received echo-signal When carry out more next stage rear class amplification and sampling；
Wherein, the summation of preset N grades of rear class amplification detection time is along with the blind area time is equal to ultrasonic sensor First time corresponding to maximum range, also, in N grades of rear class amplification process, amplification factor at different levels is all larger than previous stage Amplification factor.
In above-described embodiment, which can also include:
Second transmitting module, if for being not detected in the first time corresponding to the maximum range of ultrasonic sensor Useful signal, then when reaching first time, the distance value that determinand is arranged is maximum range value, and controls ultrasonic sensor Emit ultrasonic wave to determinand again, re-starts detection.
In above-described embodiment, which can also include:
Measurement module, for measuring and being stored in advance under different detection total times, echo-signal arrive the moment with return Time interval between at the time of wave signal reaches each signal strength threshold, the time interval are the compensation time；
First obtains module, for obtaining total duration and compensating the duration difference of time；
5th computing module, for obtaining the distance value of determinand according to the spread speed and duration difference of ultrasonic wave.
In above-described embodiment, which can also include:
Second obtains module, for obtaining environment temperature locating for ultrasonic wave；
Second obtains module, for obtaining the actual propagation speed of ultrasonic wave according to environment temperature；
6th computing module, for obtaining the distance value of determinand according to the actual propagation speed and total duration of ultrasonic wave.
To sum up, which can detect the distance value for the determinand being located in the distance of blind area, and And judge whether that the operation for receiving useful signal is also relatively simple.
Ultrasonic ranging system embodiment:
Referring to Figure 10, the structural schematic diagram of ultrasonic ranging system provided in an embodiment of the present invention is shown in figure.Such as figure Shown in 10, the present embodiment includes: ultrasonic sensor (only showing its transmitting terminal 2 and receiving end 3 in figure) and is connected to ultrasonic wave The controller 1 of sensor.Wherein, ultrasonic sensor is for emitting ultrasonic wave and receives echo-signal.Controller 1 is used for pre- If the blind area time in, prime amplification and sampling, and the echo that will be sampled every time are carried out in real time to the echo-signal received The signal strength of signal with measure in advance and the first signal strength threshold stored is compared；First signal strength threshold is greater than Amplitude of the signal strength of the interference signal measured in advance under prime amplification factor, and it is less than the useful signal measured in advance Amplitude of the minimum signal strength under prime amplification factor；Within the preset blind area time, if the signal of the echo-signal of sampling Intensity is greater than the first signal strength threshold, it is determined that detect useful signal, and record the second current moment, the second moment with Time interval between first moment is the total duration that ultrasonic wave is propagated；According to ultrasonic wave propagate speed and total duration obtain to Survey the distance value of object.
As shown in Figure 10, which can be MCU control unit, and MCU control unit can have ADC, two IO (Input/Outerput, input/output) mouth and I2C (Intel-Integrated Circuit).Wherein, an I/O port It is connected with ultrasonic sensor, through supersonic sensing after making the square wave excitation of the 40KHz of I/O port generation pass through level conversion The transmitting terminal 2 of device issues, another I/O port is connected with temperature measurement module 4, to detect environment temperature in real time.ADC successively with put Big circuit is connected with the receiving end 3 of ultrasonic sensor, the echo-signal in ultrasonic wave for receiving ultrasonic sensor It is sampled after amplifying circuit amplifies by ADC, then judges to be according to whether the ADC under AWD operating mode interrupts It is no to have received useful signal.I2C is used to be communicated with host computer.
Specifically, ultrasonic sensor can be transmitting-receiving integrated sensor or the split type sensor of transmitting-receiving.
Since the ultrasonic ranging method has above-mentioned technique effect, therefore the ultrasonic ranging system based on this method also has There is corresponding technical effect.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method Part explanation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention It is interior.

Claims (14)

1. a kind of ultrasonic ranging method, which comprises the steps of:
It controls ultrasonic sensor and emits ultrasonic wave to determinand, and record the first current moment；
Control ultrasonic sensor receives echo-signal；
Within the preset blind area time, prime amplification and sampling are carried out in real time to received echo-signal；
By the signal strength of the echo-signal sampled every time with measure in advance and the first signal strength threshold stored is compared； First signal strength threshold is greater than amplitude of the signal strength of the interference signal measured in advance under prime amplification factor, and Less than amplitude of the minimum signal strength under prime amplification factor of the useful signal in the blind area distance measured in advance；
Within the preset blind area time, if the signal strength of the echo-signal of sampling is greater than the first signal strength threshold, it is determined that It detects useful signal, and records the second current moment, the time interval between second moment and first moment The total duration propagated for ultrasonic wave；The speed and the total duration propagated according to ultrasonic wave obtain the distance value of the determinand.
2. the method according to claim 1, wherein further include:
If useful signal is not detected within the preset blind area time, when reaching the preset blind area time, to received time Wave signal carries out rear class amplification and sampling in real time；Wherein, rear class amplification factor is greater than prime amplification factor；By what is sampled every time The signal strength of the echo-signal is compared with the second signal intensity threshold for measuring and storing in advance；The second signal Intensity threshold is the minimum signal strength of the blind area useful signal in outer, ultrasonic sensor maximum range measured in advance Amplitude under rear class amplification factor；
If the signal strength of the echo-signal of sampling is greater than second signal intensity threshold, it is determined that detect useful signal, And the current third moment is recorded, the time interval between the third moment and first moment is the total of ultrasonic wave propagation Duration；The speed and the total duration propagated according to ultrasonic wave obtain the distance value of the determinand；
Wherein, the detection time of the rear class amplification is equal to the maximum range of the ultrasonic sensor plus the blind area time Corresponding first time.
3. according to the method described in claim 2, it is characterized by further comprising:
If useful signal is not detected in the first time corresponding to the maximum range of ultrasonic sensor, at the first time When arrival, the distance value that the determinand is arranged is maximum range value, and controls the ultrasonic sensor again to determinand Emit ultrasonic wave, re-starts detection.
4. N is the nature not less than 2 the method according to claim 1, wherein default rear class number of stages of amplification is N Number, this method further include:
If useful signal is not detected within the preset blind area time, then follow the steps:
A1, the preset blind area time reach when, the amplification of first order rear class and sampling are carried out in real time to received echo-signal；
A2, by the signal strength of the echo-signal sampled every time and the third signal strength threshold that in advance measures and store into Row compares；The third signal strength threshold is effectively to believe outside the blind area distance measured in advance, in first order rear class detecting distance Number amplitude of the minimum signal strength under first order rear class amplification factor；
A3, within the preset first order rear class amplification detection time, if the signal strength of the echo-signal of sampling is greater than the Three signal strength thresholds, it is determined that it detects useful signal, and records the 4th current moment, the 4th moment and described the Time interval between one moment is the total duration that ultrasonic wave is propagated；The speed and the total duration propagated according to ultrasonic wave obtain The distance value of the determinand；
If useful signal is not detected, then when reaching the preset first order rear class amplification detection time
B1, the amplification of next stage rear class and sampling are carried out in real time to received echo-signal；
B2, by the signal strength of the echo-signal sampled every time and the l+2 signal strength threshold that in advance measures and store It is compared, wherein l is current rear class number of stages of amplification, and the l+2 signal strength threshold is the blind area distance measured in advance Outside, amplitude of the minimum signal strength of useful signal under next stage amplification factor in l grades of rear class detecting distances, wherein l is Natural number not less than 2 and no more than N；
B3, within the preset next stage rear class amplification detection time, if sampling the echo-signal signal strength be greater than l + 2 signal strength thresholds, it is determined that detect useful signal, and record the current l+3 moment, the l+3 moment with it is described Time interval between first moment is the total duration that ultrasonic wave is propagated；The speed and the total duration propagated according to ultrasonic wave obtain Obtain the distance value of the determinand；
If B4, the preset next stage rear class amplification detection time reach when, useful signal is not detected, thens follow the steps:
C1, judge whether current rear class number of stages of amplification is N, if so, the distance value that the determinand is arranged is maximum range Value, and control the ultrasonic sensor and emit ultrasonic wave to determinand again, re-start detection；Otherwise, it returns and executes institute State step B1；
Wherein, the summation of the preset N grades of rear classes amplification detection time is along with the blind area time is equal to the ultrasonic wave First time corresponding to the maximum range of sensor, also, in N grades of rear class amplification process, amplification factor at different levels is all larger than The amplification factor of previous stage.
5. method according to any of claims 1-4, which is characterized in that further include:
It measures and is stored under different detection total times in advance, echo-signal arrives, and the moment, with echo-signal to reach each signal strong Time interval between at the time of degree threshold value, the time interval are the compensation time；
Obtain the duration difference of the total duration and the compensation time；
The distance value that determinand is obtained according to ultrasonic propagation velocity and total duration, are as follows: according to the spread speed of ultrasonic wave The distance value of the determinand is obtained with the duration difference.
6. method according to any of claims 1-4, which is characterized in that further include:
Obtain environment temperature locating for the ultrasonic wave；
The actual propagation speed of the ultrasonic wave is obtained according to the environment temperature；
The distance value that determinand is obtained according to ultrasonic propagation velocity and total duration, are as follows: according to the reality of the ultrasonic wave Spread speed and the total duration obtain the distance value of the determinand.
7. a kind of supersonic range finder characterized by comprising
Transmitting module emits ultrasonic wave to determinand for controlling ultrasonic sensor, and records the first current moment；
Receiving module, for controlling ultrasonic sensor receives echo-signal；
First processing module, within the preset blind area time, received echo-signal is carried out in real time prime amplification and Sampling；
First comparison module, for by the signal strength of the echo-signal sampled every time and the first signal in advance measuring and store Intensity threshold is compared；The signal strength that first signal strength threshold is greater than the interference signal measured in advance is put in prime Amplitude under big multiple, and the minimum signal strength for the useful signal being less than in the blind area distance measured in advance is in prime times magnification Amplitude under several；
First computing module, for being believed within the preset blind area time if the signal strength of the echo-signal of sampling is greater than first Number intensity threshold, it is determined that detect useful signal, and record the second current moment, when second moment is with described first Time interval between quarter is the total duration that ultrasonic wave is propagated；Described in the speed and the total duration propagated according to ultrasonic wave obtain The distance value of determinand.
8. device according to claim 7, which is characterized in that further include:
Second processing module, if for useful signal to be not detected within the preset blind area time, in the preset blind area time When arrival, rear class amplification and sampling are carried out in real time to received echo-signal, wherein rear class amplification factor amplifies greater than prime Multiple；
Second comparison module, for by the signal strength of the echo-signal sampled every time in advance measure and store second Signal strength threshold is compared；The second signal intensity threshold is that the blind area distance that measures in advance is outer, ultrasonic sensor Maximum range in useful signal amplitude of the minimum signal strength under rear class amplification factor；
Second computing module, if the signal strength of the echo-signal for sampling is greater than second signal intensity threshold, really Regular inspection measures useful signal, and records the current third moment, between the time between the third moment and first moment It is divided into the total duration of ultrasonic wave propagation；The speed and the total duration propagated according to ultrasonic wave obtain the distance of the determinand Value；
Wherein, the detection time of the rear class amplification is equal to the maximum range of the ultrasonic sensor plus the blind area time Corresponding first time.
9. device according to claim 8, which is characterized in that further include:
First judgment module, if for being not detected in the first time corresponding to the maximum range of ultrasonic sensor effectively Signal, then when reaching first time, the distance value that the determinand is arranged is maximum range value, and controls the ultrasonic wave and pass Sensor emits ultrasonic wave to determinand again, re-starts detection.
10. device according to claim 7, which is characterized in that default rear class number of stages of amplification is N, and N is oneself not less than 2 So number, the device further include:
Third processing module, if for useful signal to be not detected within the preset blind area time, in the preset blind area time When arrival, the amplification of first order rear class and sampling are carried out in real time to received echo-signal；
Third comparison module, for by the signal strength of the echo-signal sampled every time and the third that in advance measures and store Signal strength threshold is compared；The third signal strength threshold is that the blind area measured in advance is examined apart from outer, first order rear class Amplitude of minimum signal strength of the ranging from interior useful signal under first order rear class amplification factor；
Third computing module was used within the preset first order rear class amplification detection time, if the echo-signal of sampling Signal strength is greater than third signal strength threshold, it is determined that and it detects useful signal, and records the 4th current moment, described the Time interval between four moment and first moment is the total duration that ultrasonic wave is propagated；According to ultrasonic wave propagate speed and The total duration obtains the distance value of the determinand；
Fourth processing module, if useful signal is not detected for when reaching the preset first order rear class amplification detection time, The amplification of next stage rear class and sampling are then carried out in real time to received echo-signal；
4th comparison module, for by the signal strength of the echo-signal sampled every time and the l+ that in advance measures and store 2 signal strength thresholds are compared, wherein l is current rear class number of stages of amplification, and the l+2 signal strength threshold is preparatory The blind area of measurement is apart from outer, useful signal in l grades of rear class detecting distances minimum signal strength under next stage amplification factor Amplitude, wherein l be not less than 2 and be not more than N natural number；
4th computing module was used within the preset next stage rear class amplification detection time, if the echo-signal of sampling Signal strength is greater than l+2 signal strength threshold, it is determined that and it detects useful signal, and records the current l+3 moment, it is described Time interval between l+3 moment and first moment is the total duration that ultrasonic wave is propagated；The speed propagated according to ultrasonic wave Degree and the total duration obtain the distance value of the determinand；
Second judgment module, if useful signal is not detected for when reaching the preset next stage rear class amplification detection time, Then judge whether current rear class number of stages of amplification is N, if so, the distance value of setting determinand is maximum range value, and controls Ultrasonic sensor emits ultrasonic wave to determinand again, re-starts detection；Otherwise, to received echo-signal in real time into The amplification of row more next stage rear class and sampling；
Wherein, the summation of the preset N grades of rear classes amplification detection time is along with the blind area time is equal to the ultrasonic wave First time corresponding to the maximum range of sensor, also, in N grades of rear class amplification process, amplification factor at different levels is all larger than The amplification factor of previous stage.
11. the device according to any one of claim 7-10, which is characterized in that further include:
Measurement module, for measuring and being stored in advance under different detection total times, echo-signal arrival moment and echo are believed Time interval between at the time of number reaching each signal strength threshold, which is the compensation time；
First obtains module, for obtaining the duration difference of the total duration and the compensation time；
5th computing module obtains the distance of the determinand for the spread speed and the duration difference according to ultrasonic wave Value.
12. the device according to any one of claim 7-10, which is characterized in that further include:
Second obtains module, for obtaining environment temperature locating for the ultrasonic wave；
Second obtains module, for obtaining the actual propagation speed of the ultrasonic wave according to the environment temperature；
6th computing module, for obtaining the determinand according to the actual propagation speed and the total duration of the ultrasonic wave Distance value.
13. a kind of ultrasonic ranging system characterized by comprising ultrasonic sensor and be connected to the supersonic sensing The controller of device；Wherein,
The ultrasonic sensor is used to emit ultrasonic wave and receives echo-signal to determinand；
The controller was used within the preset blind area time, is carried out prime amplification in real time to the echo-signal received and is adopted Sample, and by the signal strength of the echo-signal sampled every time with measure in advance and the first signal strength threshold stored compares Compared with；First signal strength threshold is greater than width of the signal strength of the interference signal measured in advance under prime amplification factor Value, and it is less than amplitude of the minimum signal strength of the useful signal measured in advance under prime amplification factor；In preset blind area In time, if the signal strength of the echo-signal of sampling is greater than the first signal strength threshold, it is determined that detect useful signal, root According to detect at the time of useful signal and at the time of ultrasonic wave emits between time interval obtain the total duration of ultrasonic wave propagation, And the speed and total duration propagated according to ultrasonic wave obtain the distance value of the determinand.
14. system according to claim 13, which is characterized in that the ultrasonic sensor is transmitting-receiving integrated sensor Or the split type sensor of transmitting-receiving.
CN201610325256.9A 2016-05-16 2016-05-16 A kind of ultrasonic ranging method, apparatus and system Active CN107390203B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610325256.9A CN107390203B (en) 2016-05-16 2016-05-16 A kind of ultrasonic ranging method, apparatus and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610325256.9A CN107390203B (en) 2016-05-16 2016-05-16 A kind of ultrasonic ranging method, apparatus and system

Publications (2)

Publication Number Publication Date
CN107390203A CN107390203A (en) 2017-11-24
CN107390203B true CN107390203B (en) 2019-10-22

Family

ID=60338665

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610325256.9A Active CN107390203B (en) 2016-05-16 2016-05-16 A kind of ultrasonic ranging method, apparatus and system

Country Status (1)

Country Link
CN (1) CN107390203B (en)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108562906B (en) * 2018-01-16 2022-02-15 辽宁石油化工大学 Acoustic ranging method and device
CN108508885B (en) * 2018-02-09 2021-03-23 意诺科技有限公司 Navigation map construction method and device
CN108725452B (en) * 2018-06-01 2019-12-31 湖南工业大学 Unmanned vehicle control system and control method based on full-audio perception
CN110850416B (en) * 2019-11-27 2021-12-21 广东美的厨房电器制造有限公司 Distance measuring method, ultrasonic distance measuring device, electric appliance and computer readable storage medium
CN113075292B (en) * 2020-01-03 2023-12-22 广州汽车集团股份有限公司 Method and device for measuring quality of engine oil of automobile and storage medium
CN111624608B (en) * 2020-05-25 2023-02-28 南京英锐创电子科技有限公司 Ultrasonic ranging method and device
CN112129379A (en) * 2020-08-07 2020-12-25 厦门万宾科技有限公司 Anti-interference dynamic distance measurement method and accumulated water dynamic monitoring method
CN112114298B (en) * 2020-09-22 2022-08-30 苏州易德龙科技股份有限公司 Ultrasonic sensor signal detection method capable of avoiding residual vibration interference
CN112630781A (en) * 2020-11-27 2021-04-09 深圳数联天下智能科技有限公司 Ultrasonic distance measuring device and ultrasonic distance measuring method
CN113552569B (en) * 2021-06-17 2024-02-06 广东蓝水花智能电子有限公司 Automatic door control method and system based on ultrasonic waves
CN115166708B (en) * 2022-09-06 2022-12-30 比业电子（北京）有限公司 Judgment method, device and equipment for target recognition in sensor blind area

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2784945Y (en) * 2004-04-27 2006-05-31 山东省远大网络多媒体有限责任公司 Ultrasonic distance-measuring sensor
JP2006242619A (en) * 2005-03-01 2006-09-14 Proassist:Kk Ultrasonic sensor signal processing system
CN101458332A (en) * 2009-01-09 2009-06-17 华南师范大学 Ultrasonic ranging method and system thereof
CN104180860A (en) * 2014-08-07 2014-12-03 湖南三一智能控制设备有限公司 Control system and method for ultrasonic transducer blind zone

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7209221B2 (en) * 1994-05-23 2007-04-24 Automotive Technologies International, Inc. Method for obtaining and displaying information about objects in a vehicular blind spot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2784945Y (en) * 2004-04-27 2006-05-31 山东省远大网络多媒体有限责任公司 Ultrasonic distance-measuring sensor
JP2006242619A (en) * 2005-03-01 2006-09-14 Proassist:Kk Ultrasonic sensor signal processing system
CN101458332A (en) * 2009-01-09 2009-06-17 华南师范大学 Ultrasonic ranging method and system thereof
CN104180860A (en) * 2014-08-07 2014-12-03 湖南三一智能控制设备有限公司 Control system and method for ultrasonic transducer blind zone

Also Published As

Publication number Publication date
CN107390203A (en) 2017-11-24

Similar Documents

Publication Publication Date Title
CN107390203B (en) A kind of ultrasonic ranging method, apparatus and system
CN105102924B (en) The ultrasound examination of change to wall surface
EP1793225B1 (en) Internal tree nondestructive inspection method and apparatus using acoustic tomography
CN201177664Y (en) Distance measurement system
CN102053254B (en) Laser ultrasonic detection system and detection method thereof
CN105066918A (en) Ultrasonic underwater target thickness measuring system and thickness measuring method
KR102044041B1 (en) Apparatus for measuring earthquake intensity and method for the same
CN104199036B (en) distance measuring device and robot system
CN109471112A (en) It is a kind of can acoustic resistive wave interference ultrasonic distance-measuring sensor and its distance measuring method
CN110045017A (en) The underwater ultrasound phased array fault detection system of wireless data transmission and method of detection
US20180074019A1 (en) Structure evaluation system, structure evaluation apparatus, and structure evaluation method
CN110954033A (en) Concrete crack depth detection method and system
CN109633655A (en) Ultrasonic ranging method and supersonic range finder
CN110702150A (en) Optimized sweep frequency excitation method for vibrating wire collector
CN107064941A (en) A kind of ultrasonic distance-measuring method of three-stage pulse excitation and feature extraction
CN105074127A (en) Removing ring down effects from sonic waveforms
CN105735971A (en) Drilling hole depth detection system based on elastic waves and detection method thereof
CN201508350U (en) Ultrasonic automatic defect detection device for petroleum pipes
JPS60253888A (en) Echo signal processor
CN204758542U (en) Detection apparatus for metallic structure's crackle
CN201884023U (en) Drill deposit thickness ultrasonic measurement system
CN104181237B (en) Structural member flaw detection monitoring temperature compensating method and system thereof
CN205352653U (en) Accurate ranging system of supersound in low speed wind tunnel
US10458954B2 (en) Structure evaluation system, structure evaluation apparatus, and structure evaluation method
CN106770668A (en) A kind of pile quality sound wave transmission method detection method for single hole

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
GR01 Patent grant
GR01 Patent grant
CP03 Change of name, title or address

Address after: 310051 room 304, B / F, building 2, 399 Danfeng Road, Binjiang District, Hangzhou City, Zhejiang Province

Patentee after: Hangzhou Hikvision Robot Co.,Ltd.

Address before: 310052 5 / F, building 1, building 2, no.700 Dongliu Road, Binjiang District, Hangzhou City, Zhejiang Province

Patentee before: HANGZHOU HIKROBOT TECHNOLOGY Co.,Ltd.

CP03 Change of name, title or address