CN108802739B - Underwater obstacle detection method and detection device - Google Patents
Underwater obstacle detection method and detection device Download PDFInfo
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- CN108802739B CN108802739B CN201810549893.3A CN201810549893A CN108802739B CN 108802739 B CN108802739 B CN 108802739B CN 201810549893 A CN201810549893 A CN 201810549893A CN 108802739 B CN108802739 B CN 108802739B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
Abstract
The invention discloses an underwater obstacle detection method, which comprises the following steps: installing an ultrasonic sensor on the aircraft; the ultrasonic sensor sequentially transmits a plurality of ultrasonic waves with different frequencies and detects whether an obstacle exists in the range of the pointing angle of the ultrasonic wave with each frequency according to the ultrasonic echo signal; driving an ultrasonic sensor to deflect a specific angle, sequentially emitting the ultrasonic waves with different frequencies by the ultrasonic sensor again, and detecting whether an obstacle exists in the pointing angle range of the ultrasonic waves with each frequency according to an ultrasonic echo signal; and determining the range of the obstacle according to the two obstacle detection results and the deflection angle of the ultrasonic sensor. The invention also provides an underwater obstacle detection device, which can determine the position of the underwater obstacle by only one ultrasonic sensor and has the advantages of low cost, simple installation and calibration and convenient use.
Description
Technical Field
The invention relates to the technical field of underwater positioning, in particular to an underwater obstacle detection method and an underwater obstacle detection device.
Background
With the rapid development of underwater unmanned vehicles in recent years, the demand for ultrasonic sensors capable of realizing underwater obstacle avoidance is greatly increased, and the ultrasonic sensors are generally used for automatic mobile equipment such as underwater vehicles, underwater robots and the like. The purpose of ultrasonic obstacle avoidance is to measure the distance to surrounding objects by transmitting ultrasonic signals through an ultrasonic sensor, and then to determine which direction to move and navigate by enabling an automatic moving device to collect surrounding distance data. In practical application, the vehicle is usually provided with 6 underwater obstacle avoidance ultrasonic sensors, and the obstacles are detected by measuring the distances from the vehicle to the obstacles in the front, back, left, right, up and down directions, so that the avoidance action is performed, the grounding or collision of the vehicle is avoided, the vehicle is not blocked and damaged by the obstacles, and the vehicle can know that the vehicle safely reaches a specified place.
As shown in fig. 1, in order to implement a dead zone without azimuth, a plurality of ultrasonic sensors need to be arranged on an aircraft, and each ultrasonic sensor covers a certain area to achieve detection in each direction. However, this method is costly and the mounting position calibration is complicated.
Therefore, it is desirable to provide a method and apparatus for detecting underwater obstacles with low cost and convenient use.
Disclosure of Invention
The invention mainly aims to overcome the defects of the prior art and provide an underwater obstacle detection method and an underwater obstacle detection device which are low in cost and convenient to use.
In order to achieve the purpose, the invention provides an underwater obstacle detection method, which comprises the following steps:
s1, mounting an ultrasonic sensor on the aircraft;
s2, the ultrasonic sensor sequentially emits a plurality of ultrasonic waves with different frequencies and detects whether an obstacle exists in the range of the pointing angle of the ultrasonic wave with each frequency according to the ultrasonic echo signal;
s3, driving the ultrasonic sensor to deflect a specific angle, sequentially emitting the ultrasonic waves with different frequencies by the ultrasonic sensor again, and detecting whether an obstacle exists in the pointing angle range of the ultrasonic waves with each frequency according to the ultrasonic echo signals;
and S4, determining the range of the obstacle according to the two obstacle detection results and the deflection angle of the ultrasonic sensor.
Preferably, step S2 further includes driving the aircraft to sail in a first direction; step S3 further includes driving the vehicle to sail in a second direction that is offset by the angle relative to the first direction.
Preferably, the ultrasonic waves of adjacent frequencies are equally spaced in angular range of pointing.
Preferably, the directional angular ranges of the ultrasonic waves of adjacent frequencies are spaced at the same angle as the specific angle at which the ultrasonic sensor is deflected.
According to another aspect of the present invention, there is also provided an underwater obstacle detection apparatus, characterized by comprising:
an ultrasonic sensor for performing an ultrasonic emission action, said ultrasonic emission action comprising sequentially emitting ultrasonic waves of a plurality of different frequencies;
the driving unit is used for driving the ultrasonic sensor to execute the ultrasonic transmitting action twice and driving the ultrasonic sensor to deflect a specific angle between the two ultrasonic actions;
an obstacle detection unit configured to detect whether an obstacle exists within a range of a pointing angle of the ultrasonic wave of each frequency according to echo signals of the ultrasonic waves of the plurality of different frequencies that are transmitted each time the ultrasonic wave sensor performs the ultrasonic wave transmitting action;
and the obstacle azimuth determining unit is used for determining the range of the obstacle according to the two obstacle detection results of the obstacle detecting unit and the deflection angle of the ultrasonic sensor.
Preferably, the ultrasonic sensor is fixedly mounted on the aircraft; the drive unit drives the course of the vehicle to deflect such that the ultrasonic sensor deflects the particular angle between performing the ultrasonic action and performing the ultrasonic action.
Preferably, the ultrasonic waves of adjacent frequencies are equally spaced in angular range of pointing.
Preferably, the directional angular ranges of the ultrasonic waves of adjacent frequencies are spaced at the same angle as the specific angle at which the ultrasonic sensor is deflected.
Preferably, the ultrasonic sensor includes a plurality of piezoelectric materials, the resonant frequencies of the plurality of piezoelectric materials correspond to the plurality of different frequencies one to one, and the ultrasonic sensor switches the corresponding piezoelectric materials to operate according to the transmission frequency when transmitting the ultrasonic signal.
Preferably, the ultrasonic sensor comprises only one piezoelectric material.
Compared with the prior art, the invention can determine the position of the underwater obstacle by only one ultrasonic sensor, can further reduce the position range of the obstacle by increasing the transmitting frequency, and has the advantages of low cost, simple installation and calibration and convenient use.
Drawings
Fig. 1 is a schematic view of an underwater obstacle avoidance apparatus in the prior art;
fig. 2 is a block diagram of an underwater obstacle avoidance apparatus according to an embodiment of the present invention;
FIGS. 3a-3h are schematic diagrams illustrating ultrasonic directivity;
FIG. 4 is a schematic diagram illustrating a first ultrasonic emission operation performed according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a second ultrasonic emission operation according to an embodiment of the present invention;
fig. 6 is a flowchart of an underwater obstacle avoidance method according to an embodiment of the present invention.
Detailed Description
In order to make the contents of the present invention more comprehensible, the present invention is further described below with reference to the accompanying drawings. The invention is of course not limited to this particular embodiment, and general alternatives known to those skilled in the art are also covered by the scope of the invention.
Fig. 1 is a block diagram showing an underwater obstacle detecting device of the present invention. As shown in fig. 1, the underwater obstacle detecting apparatus includes an ultrasonic sensor 1, a driving unit 2, an obstacle detecting unit 3, and an obstacle orientation determining unit 4. In the present invention, the number of ultrasonic sensors 1 is only one, which can be mounted on the aircraft, for example for a forward-sailing aircraft, the ultrasonic sensors are preferably mounted directly in front of or laterally in front of the aircraft. Typically, the ultrasonic sensor includes a sonar transducer, which includes a circular piezoelectric material that vibrates at a particular frequency to generate ultrasonic waves. It is known that ultrasonic waves have good directivity and acoustic beams can be focused in a specific direction. The directivity of the ultrasonic wave is generally defined as a ratio of a sound pressure amplitude p (θ) in an arbitrary direction to a sound pressure amplitude p (0) on an axis where an angle θ is 0, and can be expressed by the following equation:
wherein J1 is a first order Bessel function, and theta is an off-axis angle; k is the wave number; a is the radius of the circular piezoelectric material.
Wherein, the definition of wave number k is the wave cycle number within a unit length in the wave propagation direction, and the theoretical physics is defined as: k 2 pi/λ, λ wavelength, λ sound velocity c*A period T. That is, the wavelength k satisfies the following equation:
k＝2πf/c。
because the frequency f and the wave number k are in one-to-one correspondence, the frequency f is determined, and the wave number k is determined in the same sound propagation medium, so that the directivity of the ultrasonic wave with the corresponding frequency can be obtained.
According to the above definition, the radiation directivity pattern of the sound source can be plotted in polar coordinates to visually reflect the directivity, which is an ultrasonic directivity diagram at different ka values as shown in fig. 3a to 3 h. As shown in the figure, in the case of a circular piezoelectric material with a constant radius a, the higher the frequency, the higher the k value, and the smaller the directivity opening angle.
The invention determines the azimuth angle of the obstacle by switching the ultrasonic wave transmitting frequency by using the corresponding relation between the ultrasonic wave frequency and the directivity. The operation of the underwater obstacle detecting device of the present invention will be explained in detail below.
As shown in fig. 2, the ultrasonic sensor 1 can perform an ultrasonic wave emitting action. The ultrasonic transmission operation herein includes transmitting ultrasonic waves of a plurality of different frequencies in sequence. Specifically, the ultrasonic sensor generates signals with different frequencies through a control unit (such as a single chip microcomputer, and the like), and the signals are applied to a piezoelectric material of the sonar transducer after being processed by a digital-to-analog converter (DAC), a power amplifier and the like, and finally the ultrasonic waves are emitted by the sonar transducer. The ultrasonic sensor 1 emits ultrasonic waves having a plurality of frequencies corresponding to different ranges of the pointing angle. The obstacle detecting unit 3 is configured to detect whether an obstacle exists within a range of a pointing angle of an ultrasonic wave of each frequency from echo signals of the ultrasonic waves of a plurality of different frequencies transmitted each time the ultrasonic sensor performs an ultrasonic wave transmitting action. Specifically, after the sonar transducer emits a sound wave of a certain frequency, if an underwater obstacle exists in a corresponding directional angle range, the sonar transducer can receive an ultrasonic echo signal returned by the underwater obstacle. The obstacle detection unit can determine whether an obstacle exists in the range of the pointing angle based on the characteristics, such as intensity and peak value, of the ultrasonic echo signal. After judging whether the obstacle exists in each pointing angle range, the obstacle detection unit can determine the range of the obstacle corresponding to the current ultrasonic wave transmitting action.
However, since the ultrasonic emission has symmetry, the left and right directions of the obstacle relative to the ultrasonic axis within the range of the pointing angle cannot be determined by only one ultrasonic emission action, and therefore, the driving unit is used for driving the ultrasonic sensor to deflect a specific angle after one ultrasonic emission action is performed, and then another ultrasonic emission action is performed. Therefore, the obstacle position determining unit can determine the position of the obstacle finally according to the range of the obstacle and the deflection angle of the ultrasonic sensor, which are obtained by the obstacle detecting unit after the two transmitting actions.
Referring to fig. 4 and 5, schematic diagrams of the underwater obstacle detecting device for detecting obstacles according to an embodiment of the present invention are shown.
In the embodiment, the piezoelectric material of the ultrasonic transducer adopts PZT-4, the PZT-4 is made by replacing part of lead with calcium, strontium or barium and replacing zirconium with tin, and has the characteristics of low Curie point and large permittivity, and the piezoelectric effect is obvious when the material is used as a transducer material.
In this embodiment, the number of the piezoelectric ceramic wafer PZT-4 in the ultrasonic sensor is one, and the diameter is 1 cm. The ultrasonic waves are fixedly arranged right in front of the aircraft, obstacle avoidance needs to be achieved within a range of 120 degrees, the interval angle of the pointing angle range (namely the interval angle for distinguishing obstacles, which is equal to the difference value between the maximum values of the pointing angle range) is 30 degrees, and then 4 pointing angle ranges are needed, wherein the interval angle is within 30 degrees (namely, within plus or minus 15 degrees relative to the ultrasonic axis), within 60 degrees (namely, within plus or minus 30 degrees relative to the ultrasonic axis), within 90 degrees (namely, within plus or minus 45 degrees relative to the ultrasonic axis), and within 120 degrees (namely, within plus or minus 60 degrees relative to the ultrasonic axis). According to the aforementioned directivity formula, it can be obtained that the corresponding ultrasonic wave emission frequencies are 190kHz, 95kHz, 85kHz, and 48.5kHz in order to realize the above-mentioned directivity angle range. It should be noted that the number and specific values of the frequencies depend on the requirements of the actual device (the coverage and the separation angle of the pointing angle range). In this embodiment, 120 degrees is the coverage range, and the interval angles of the pointing angle range are all 30 degrees, so that 120/30-4 frequencies are required for calculation. In this embodiment, the number of frequencies is 4, and if the range of the obstacle needs to be further narrowed, the number of frequencies can be increased, so that a more accurate obstacle direction can be obtained. In addition, the embodiment adopts a piezoelectric material, and although the piezoelectric material does not work at the resonant frequency due to the fact that the ultrasonic wave sequentially emits four different frequencies, the requirement of the underwater obstacle avoidance on the action distance of the ultrasonic wave is not high (generally within 10 meters), so that the energy loss to this extent is also acceptable. Of course, in other embodiments, if it is necessary to operate the piezoelectric material at the resonant frequency, four piezoelectric materials with the same size may be provided in the ultrasonic sensor, and the resonant frequencies thereof respectively correspond to the set ultrasonic wave emission frequencies. The control unit of the ultrasonic sensor can switch the piezoelectric material with the corresponding resonant frequency to work according to the transmitting frequency, and the other piezoelectric materials do not work. Therefore, when ultrasonic waves of each frequency are emitted, the piezoelectric material of the sonar transducer works on the resonance frequency of the sonar transducer, so that the ultrasonic wave acting distance is optimized.
In the first obstacle avoidance period, the ultrasonic sensor sequentially transmits single-frequency signals of 190kHz, 95kHz, 85kHz and 48.5kHz and receives echo signals. The obstacle detection unit detects whether an obstacle exists in the range of the pointing angle of the ultrasonic wave with the frequency according to the received echo signal every time, and a detection result is generated corresponding to each frequency. As shown in table 1 below, at the specified distance, 0 indicates no obstacle and 1 indicates an obstacle.
| |
30 |
60 |
90 |
120 degrees |
| Whether or not there is an |
0 | 0 | 1 | 1 |
TABLE 1
As can be derived from table 1, obstacles exist in the 60-90 degree pointing angle range. However, at this time, it is still impossible to confirm whether the obstacle is located on the right or left side of the ultrasonic axis.
Next, the driving unit drives the ultrasonic sensor to rotate by a certain angle. In this embodiment, the ultrasonic sensor is fixedly mounted right in front of the aircraft, so that the driving unit drives the aircraft to rotate clockwise by 30 degrees, and then drives the ultrasonic sensor again to sequentially transmit single-frequency signals of 190kHz, 95kHz, 85kHz and 48.5kHz in the second obstacle avoidance period, and receive the echo signal. Of course, in other embodiments, the ultrasonic sensor may be directly steered to the specific angle without changing the direction of travel of the aircraft. The obstacle detection unit detects whether an obstacle exists in the range of the pointing angle of the frequency ultrasonic wave based on the echo signal received each time, and obtains the results of table 2.
| |
30 |
60 |
90 |
120 degrees |
| Whether or not there is an |
0 | 1 | 1 | 1 |
TABLE 2
As can be seen from table 2, when the ultrasonic sensor is rotated clockwise by 30 degrees, the obstacle exists in the range of the pointing angle of 30 degrees to 60 degrees.
The obstacle position determination unit can finally determine the position of the obstacle according to the two obstacle detection results and the deflection angle of the ultrasonic sensor. The obstacle is now located to the right of the ultrasonic axis in the range of 30-60 degrees pointing angle with respect to the ultrasonic sensor. In the present embodiment, the interval angle of each pointing angle range is designed to be equal to or less than the deflection angle of the ultrasonic sensor, so as to ensure that the obstacle can be accurately determined to be located on the left side or the right side of the ultrasonic axis after the ultrasonic sensor deflects once. Preferably, the interval angle of each pointing angle range is equal to the deflection angle of the ultrasonic sensor, so that the angle range of the pointing angle obstacle determined by the first ultrasonic transmission action is converted by the deflection angle and is consistent with the angle range of the pointing angle obstacle determined by the second ultrasonic transmission action, and the position of the obstacle can be judged more conveniently.
Fig. 6 shows an underwater obstacle detection method of the present invention, which includes the steps of:
s1, mounting an ultrasonic sensor on the aircraft;
s2, the ultrasonic sensor emits ultrasonic waves with different frequencies in turn and detects whether an obstacle exists in the range of the pointing angle of the ultrasonic wave with each frequency according to the ultrasonic echo signal;
s3, driving the ultrasonic sensor to deflect a specific angle, sequentially emitting multiple ultrasonic waves with different frequencies by the ultrasonic sensor again, and detecting whether an obstacle exists in the range of the pointing angle of the ultrasonic wave with each frequency according to the ultrasonic echo signal;
and S4, determining the range of the obstacle according to the two obstacle detection results and the deflection angle of the ultrasonic sensor.
In this embodiment, the ultrasonic sensor is fixedly installed right in front of the vehicle, and therefore, in step S2, the vehicle can be driven to travel in the first direction and simultaneously perform underwater obstacle detection, and in step S3, the vehicle can be driven to travel in the second direction and perform underwater obstacle detection again. Wherein the second direction is offset by the specific angle with respect to the first direction. In other embodiments, the ultrasonic sensor may be directly steered to the particular angle without changing the direction of travel of the aircraft. In addition, as described above, when the ultrasonic frequency and the deflection angle are set, it is preferable that the interval angle of the range of the pointing angle of the ultrasonic waves of the adjacent frequencies is the same as the specific angle at which the ultrasonic sensor deflects, so as to facilitate the determination of the axial position of the obstacle with respect to the ultrasonic wave.
In conclusion, the ultrasonic sensor can transmit ultrasonic waves with different frequencies to determine the position of the underwater obstacle, and the underwater obstacle locating device has the advantages of being low in cost, simple in installation and calibration and convenient to use.
Although the present invention has been described with reference to preferred embodiments, it is to be understood that the foregoing is illustrative and not restrictive, and that various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. An underwater obstacle detection method, characterized by comprising the steps of:
s1, mounting an ultrasonic sensor on the aircraft;
s2, the ultrasonic sensor sequentially emits a plurality of ultrasonic waves with different frequencies and detects whether an obstacle exists in the range of the pointing angle of the ultrasonic wave with each frequency according to the ultrasonic echo signal;
s3, driving the ultrasonic sensor to deflect a specific angle, sequentially emitting the ultrasonic waves with different frequencies by the ultrasonic sensor again, and detecting whether an obstacle exists in the pointing angle range of the ultrasonic waves with each frequency according to the ultrasonic echo signals;
and S4, determining the range of the obstacle according to the two obstacle detection results and the deflection angle of the ultrasonic sensor.
2. The underwater obstacle detection method of claim 1, wherein step S2 further includes driving the vehicle in a first direction; step S3 further includes driving the vehicle to sail in a second direction that is offset by the angle relative to the first direction.
3. The underwater obstacle detection method according to claim 1, wherein the directional angle ranges of the ultrasonic waves of adjacent frequencies are equally spaced.
4. The underwater obstacle detection method according to claim 3, wherein the directional angle range of the ultrasonic waves of adjacent frequencies is spaced by the same angle as the specific angle by which the ultrasonic sensor is deflected.
5. An underwater obstacle detection device, comprising:
an ultrasonic sensor for performing an ultrasonic emission action, said ultrasonic emission action comprising sequentially emitting ultrasonic waves of a plurality of different frequencies;
the driving unit is used for driving the ultrasonic sensor to execute the ultrasonic transmitting action twice and driving the ultrasonic sensor to deflect a specific angle between the two ultrasonic actions;
an obstacle detection unit configured to detect whether an obstacle exists within a range of a pointing angle of the ultrasonic wave of each frequency according to echo signals of the ultrasonic waves of the plurality of different frequencies that are transmitted each time the ultrasonic wave sensor performs the ultrasonic wave transmitting action;
and the obstacle azimuth determining unit is used for determining the range of the obstacle according to the two obstacle detection results of the obstacle detecting unit and the deflection angle of the ultrasonic sensor.
6. The underwater obstacle detection device of claim 5, wherein the ultrasonic sensor is fixedly mounted on a vehicle; the drive unit drives the course of the vehicle to deflect such that the ultrasonic sensor deflects the particular angle between performing the ultrasonic action and performing the ultrasonic action.
7. The underwater obstacle detecting apparatus according to claim 5, wherein the directional angle ranges of the ultrasonic waves of adjacent frequencies are equally spaced.
8. The underwater obstacle detecting apparatus according to claim 7, wherein the directional angle range of the ultrasonic waves of adjacent frequencies is spaced by the same angle as the specific angle by which the ultrasonic sensor is deflected.
9. The underwater obstacle detection device according to claim 5, wherein the ultrasonic sensor includes a plurality of piezoelectric materials, resonance frequencies of the plurality of piezoelectric materials correspond to the plurality of different frequencies one to one, and the ultrasonic sensor switches the respective piezoelectric materials to operate according to a transmission frequency when transmitting an ultrasonic signal.
10. The underwater obstacle detection device of claim 5, wherein the ultrasonic sensor includes only one piezoelectric material.
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