CN109471111A - It is a kind of can acoustic resistive wave interference ultrasonic sensor group and object localization method - Google Patents
It is a kind of can acoustic resistive wave interference ultrasonic sensor group and object localization method Download PDFInfo
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- CN109471111A CN109471111A CN201811179753.8A CN201811179753A CN109471111A CN 109471111 A CN109471111 A CN 109471111A CN 201811179753 A CN201811179753 A CN 201811179753A CN 109471111 A CN109471111 A CN 109471111A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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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
- 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
- G01S7/537—Counter-measures or counter-counter-measures, e.g. jamming, anti-jamming
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses it is a kind of can acoustic resistive wave interference ultrasonic sensor group and object localization method.In each sensor group, main ultrasonic sensor is at least matched there are two from ultrasonic sensor, and electronic control unit issues trigger signal to main ultrasonic sensor, is controlled main ultrasonic sensor and is issued ultrasonic pulse, measures to object；Main ultrasonic sensor and ultrasonic echo is received from ultrasonic sensor, receive ultrasonic echo and is sent to electronic control unit；Electronic control unit calculates target object location by the ultrasonic echo of sensor group, and cross-checks to the result for calculating target object location, to export object positioning.The present invention can realize efficient object positioning by single measurement, and can resist sound wave interference, realize highly reliable positioning result.
Description
Technical field
The invention belongs to sensor electronic technical fields, and in particular to it is a kind of can acoustic resistive wave interference ultrasonic sensor
Group.
Background technique
Ultrasonic sensor is commonly used for ranging, it utilizes echo ranging principle, by actively emitting ultrasonic pulse, with
Receive the ultrasonic echo by target surface reflection afterwards, with time difference measurements technology, measurement sensor and object it
Between distance, have many advantages, such as accurate, the non-contact, waterproof of measurement, at low cost, can be used for liquid level, level, material-level measure etc.,
The fields such as industrial stokehold, autonomous driving vehicle, unmanned plane, robot, home security, biomedicine, basic common structure
It is widely used.Some application fields, such as automatic Pilot need to measure the accurate location of object and are not only distance,
Therefore it needs to carry out object positioning using ultrasonic wave.
Existing method for ultrasonic locating mostly uses greatly multiple sensors independently to measure, and is handed in conjunction with multimetering distance
Pitch the mode of positioning.This mode needs all the sensors to measure respectively, needs the time more, and single sensor holds
It is easily interfered by other sound waves in environment, generates the measurement result of mistake, lead to positioning result wrong on the whole.Therefore, one
Kind can acoustic resistive wave interference ultrasonic sensor group for high efficient and reliable target positioning be of great significance.
Summary of the invention
In order to solve the above technical problems, the present invention provide it is a kind of can acoustic resistive wave interference ultrasonic sensor group and target it is fixed
Position method solves existing ultrasonic wave locating scheme low efficiency and is easy the technical issues of being interfered by sound wave.
The present invention adopts the following technical scheme:
One, can acoustic resistive wave interference ultrasonic sensor group
Including multiple sensor groups, every group of sensor includes main ultrasonic sensor, from ultrasonic sensor and electronics control
Unit processed.
Electronic control unit is connect with main ultrasonic sensor, issues trigger signal and right to main ultrasonic sensor S
Target object location carry out calculate and echo-signal credibility examine,
In each sensor group, main ultrasonic sensor at least matches that there are two from ultrasonic sensor, main supersonic sensing
Device and at least two slave ultrasonic sensor are located in a straight line；Main ultrasonic sensor is used to emit ultrasonic pulse,
Receive the ultrasonic echo that ultrasonic pulse returns；The ultrasonic wave for being used to receive main ultrasonic sensor from ultrasonic sensor returns
Wave.
Preferably, it is evenly arranged in each sensor group from ultrasonic sensor in the two sides of main ultrasonic sensor.
Preferably, multiple sensor groups are along same composition sensor array arranged in a straight line.
Two, a kind of ultrasonic wave object localization method, specifically includes the following steps:
1) electronic control unit issues trigger signal to main ultrasonic sensor, controls main ultrasonic sensor and issues ultrasound
Wave impulse measures object；
2) main ultrasonic sensor and ultrasonic echo is received from ultrasonic sensor, it is concurrent receives ultrasonic echo
Give electronic control unit；
3) electronic control unit calculates target object location by the ultrasonic echo of sensor group, and to calculating target level
The result set is cross-checked, thus the accurate believable object positioning of output.
The step 3) specifically:
3.1) object and main ultrasonic wave are calculated by the echo time that main ultrasonic sensor measures ultrasonic echo
The distance of sensor, object is on the circumference using main ultrasonic sensor as the center of circle；
3.2) pass through the echo time of main ultrasonic sensor and the ultrasonic echo obtained from ultrasonic sensor measurement
Difference calculate object to main ultrasonic sensor and object to the difference from main ultrasonic sensor distance, obtain mesh
Object is marked on the hyperbola using main ultrasonic sensor and from ultrasonic sensor as focus；
3.3) main ultrasonic sensor measurement is obtained into the curve of object and two measures from main ultrasonic sensor
The point intersected respectively to the curve of object calculates the distance between two anchor points as anchor point, with it is pre-set away from
It is compared from threshold value, if the distance between two anchor points are greater than distance threshold, it is fixed not to export accurate believable object
Position；If the distance of two anchor points is greater than distance threshold, the accurate believable object positioning of output.
The sensor that the present invention is made up of including main ultrasonic sensor and at least two from ultrasonic sensor setting
Group, and tested using the method for crosscheck to object position result, greatly improve the verification and measurement ratio of interference attack.
The beneficial effects of the present invention are:
The present invention realizes the positioning to object by single measurement, has higher time efficiency, while can resist
In environment or malice sound wave interference, exports the positioning result with high reliability.
Detailed description of the invention
Fig. 1 is ultrasonic sensor group schematic diagram.
Fig. 2 is method for ultrasonic locating schematic diagram.
Fig. 3 is acoustic resistive wave interference schematic illustration.
Fig. 4 is the Interference Detection rate contrast schematic diagram of principal and subordinate's ultrasonic sensor group Yu conventional sensors group.
Fig. 5 is influence schematic diagram of the sensor orientation angle for the Interference Detection rate of principal and subordinate's ultrasonic sensor group.
Specific embodiment
Below with reference to embodiment and Figure of description, the invention will be further described.
As shown in Figure 1, the present invention includes multiple sensor groups, every group of sensor includes main ultrasonic sensor S, from ultrasound
Wave sensor A and electronic control unit.
Electronic control unit is connect with main ultrasonic sensor S, issues trigger signal and right to main ultrasonic sensor S
Target object location carry out calculate and echo-signal credibility examine,
In each sensor group, main ultrasonic sensor S at least matches there are two from ultrasonic sensor A, and main ultrasonic wave passes
The slave ultrasonic sensor A of sensor S and at least two is located in a straight line；Main ultrasonic sensor S is for emitting ultrasonic wave
Pulse receives the ultrasonic echo that ultrasonic pulse returns；It is used to receive the super of main ultrasonic sensor from ultrasonic sensor A
Sound echo.
It is evenly arranged in each sensor group from ultrasonic sensor in the two sides of main ultrasonic sensor.Multiple sensors
Group is along same composition sensor array arranged in a straight line.
In Fig. 1, main ultrasonic sensor S2、S3Two dotted lines to form an angle issued are each main supersonic sensing
Device emits signal and receives the orientation angle range of signal.The sound interference source of gray scale overlay area can be by the biography in Fig. 1
The detection of sensor group pattern.
Two, a kind of ultrasonic wave object localization method, specifically includes the following steps:
1) electronic control unit issues trigger signal to main ultrasonic sensor, controls main ultrasonic sensor and issues ultrasound
Wave impulse measures object；
2) main ultrasonic sensor and ultrasonic echo is received from ultrasonic sensor, it is concurrent receives ultrasonic echo
Give electronic control unit；
3) electronic control unit calculates target object location by the ultrasonic echo of sensor group, and to calculating target level
The result set is cross-checked, thus the accurate believable object positioning of output.
Step 3) specifically:
3.1) object and main ultrasonic wave are calculated by the echo time that main ultrasonic sensor measures ultrasonic echo
The distance of sensor, object is on the circumference using main ultrasonic sensor as the center of circle；
3.2) pass through the echo time of main ultrasonic sensor and the ultrasonic echo obtained from ultrasonic sensor measurement
Difference calculate object to main ultrasonic sensor and object to the difference from main ultrasonic sensor distance, obtain mesh
Object is marked on the hyperbola using main ultrasonic sensor and from ultrasonic sensor as focus；
3.3) main ultrasonic sensor measurement is obtained into the curve of object and two measures from main ultrasonic sensor
The point intersected respectively to the curve of object calculates the distance between two anchor points as anchor point, with it is pre-set away from
It is compared from threshold value, if the distance between two anchor points are greater than distance threshold, it is fixed not to export accurate believable object
Position；If the distance of two anchor points is greater than distance threshold, the accurate believable object positioning of output.
As shown in Fig. 2, passing through main ultrasonic sensor SAThe echo time of measurement can calculate object O and main ultrasound
The distance between wave sensor d, object O is with SAFor on the circle in the center of circle；Pass through main ultrasonic sensor SAIt is passed with from ultrasonic wave
Sensor SBThe difference of the echo time of measurement can calculate object O to main ultrasonic sensor with from ultrasonic sensor away from
From difference, object is with SAAnd SBFor on the hyperbola of focus.Therefore, object O is in the intersection position of hyperbola and circle.
As shown in figure 3, sensor of the invention group when not being interfered, is calculated by main Ultrasonic Sensor Data
To circle and two meet at same point O from two hyperbolas of ultrasonic sensor, the point be object actual position.
When main ultrasonic sensor be interfered generate mistake apart from when (indicated in such as Fig. 3), main ultrasonic sensor is wrong
Accidentally measure obtained circular arc and two two hyperbolas obtained from ultrasonic sensor measurement meet at two o'clock, illustrate sensor by
To interference, therefore the positioning result is insincere.Then the distance between two anchor points are calculated by crosscheck, and set in advance
The distance threshold set is compared, but the distance of two anchor points be greater than distance threshold when refuse the positioning.
As shown in figure 4, principal and subordinate's ultrasonic sensor group is compared to conventional sensors group (each sensor autonomous working),
The verification and measurement ratio of interference attack can be greatlyd improve, especially when interference source and sensor are closer.
As shown in figure 5, the orientation angle of each sensor of increase can be passed through in the case where sensor group quantity determines
Range improves the Interference Detection rate under same distance.
Claims (5)
1. one kind can acoustic resistive wave interference ultrasonic sensor group, it is characterised in that:
Including multiple sensor groups, every group of sensor include main ultrasonic sensor, single from ultrasonic sensor and electronic control
Member,
Electronic control unit is connect with main ultrasonic sensor, issues trigger signal to main ultrasonic sensor S and to target
Object location calculate and echo-signal credibility is examined；
In each sensor group, main ultrasonic sensor is at least matched there are two from ultrasonic sensor, main ultrasonic sensor and
At least two slave ultrasonic sensor is located in a straight line；Main ultrasonic sensor is received for emitting ultrasonic pulse
The ultrasonic echo that ultrasonic pulse returns；It is used to receive the ultrasonic echo of main ultrasonic sensor from ultrasonic sensor.
2. one kind according to claim 1 can acoustic resistive wave interference ultrasonic sensor group, it is characterised in that: each sensing
It is evenly arranged in device group from ultrasonic sensor in the two sides of main ultrasonic sensor.
3. one kind according to claim 1 can acoustic resistive wave interference ultrasonic sensor group, it is characterised in that: multiple sensings
Device group is along same composition sensor array arranged in a straight line.
4. being applied to a kind of ultrasonic wave object localization method of claim 1-3, it is characterised in that the following steps are included:
1) electronic control unit issues trigger signal to main ultrasonic sensor, controls main ultrasonic sensor and issues ultrasonic wave arteries and veins
Punching, measures object；
2) main ultrasonic sensor and ultrasonic echo is received from ultrasonic sensor, receive ultrasonic echo and is sent to
Electronic control unit；
3) electronic control unit calculates target object location by the ultrasonic echo of sensor group, and to calculating target object location
As a result it is cross-checked, to export object positioning.
5. ultrasonic wave object localization method according to claim 4, it is characterised in that:
The step 3) specifically:
3.1) object and main supersonic sensing are calculated by the echo time that main ultrasonic sensor measures ultrasonic echo
The distance of device, object is on the circumference using main ultrasonic sensor as the center of circle；
3.2) pass through the difference of main ultrasonic sensor and the echo time of the ultrasonic echo obtained from ultrasonic sensor measurement
Value calculates object to main ultrasonic sensor and object to the difference from main ultrasonic sensor distance, obtains object
On the hyperbola using main ultrasonic sensor and from ultrasonic sensor as focus；
3.3) main ultrasonic sensor measurement is obtained into the curve of object and two obtains mesh from main ultrasonic sensor measurement
The point that the curve of mark object intersects respectively calculates the distance between two anchor points, with pre-set apart from threshold as anchor point
Value is compared, if the distance between two anchor points are greater than distance threshold, does not export object positioning；If two positioning
When the distance of point is greater than distance threshold, output object positioning.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811179753.8A CN109471111A (en) | 2018-10-10 | 2018-10-10 | It is a kind of can acoustic resistive wave interference ultrasonic sensor group and object localization method |
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| CN201811179753.8A CN109471111A (en) | 2018-10-10 | 2018-10-10 | It is a kind of can acoustic resistive wave interference ultrasonic sensor group and object localization method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112462205A (en) * | 2020-10-23 | 2021-03-09 | 深圳供电局有限公司 | Partial discharge detection apparatus and method |
| CN112505704A (en) * | 2020-11-10 | 2021-03-16 | 北京埃福瑞科技有限公司 | Method for improving safety of train autonomous intelligent sensing system and train |
| CN113012325A (en) * | 2021-03-22 | 2021-06-22 | 江门职业技术学院 | Control method, system, terminal and storage medium of ultrasonic access control |
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| CN102314751A (en) * | 2010-06-29 | 2012-01-11 | 上海工程技术大学 | Automatic positioning and emergency processing method of automobile safety accident and device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112462205A (en) * | 2020-10-23 | 2021-03-09 | 深圳供电局有限公司 | Partial discharge detection apparatus and method |
| CN112505704A (en) * | 2020-11-10 | 2021-03-16 | 北京埃福瑞科技有限公司 | Method for improving safety of train autonomous intelligent sensing system and train |
| CN112505704B (en) * | 2020-11-10 | 2024-06-07 | 北京埃福瑞科技有限公司 | Method for improving safety of autonomous intelligent perception system of train and train |
| CN113012325A (en) * | 2021-03-22 | 2021-06-22 | 江门职业技术学院 | Control method, system, terminal and storage medium of ultrasonic access control |
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Application publication date: 20190315 |