CN110221305A - Continuous modulation ultrasonic ranging method, apparatus and system - Google Patents
Continuous modulation ultrasonic ranging method, apparatus and system Download PDFInfo
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- CN110221305A CN110221305A CN201910638211.0A CN201910638211A CN110221305A CN 110221305 A CN110221305 A CN 110221305A CN 201910638211 A CN201910638211 A CN 201910638211A CN 110221305 A CN110221305 A CN 110221305A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- 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
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/527—Extracting wanted echo signals
-
- 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
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- 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 a kind of continuous modulation ultrasonic ranging methods, apparatus and system, wherein includes: to form primary sinusoid signal, and vibrate using primary sinusoid signal excitation transmitting ultrasonic transducer in continuous modulation ultrasonic ranging method；Amplitude modulation is carried out to primary sinusoid signal using the second sine wave signal in a particular moment, and using the moment as initial time point when range-viewfinder；The echo-signal reflected via measured target is received by receiving ultrasonic transducer；Amplitude demodulation is carried out to echo-signal and obtains the second sine wave signal, and determines the arrival time point of echo-signal according to the second sine wave signal that demodulation obtains；The distance between measured target is calculated according to initial time point and arrival time point, completes ranging.The transmitting-receiving time point of ultrasonic signal is obtained to be different from the measurement method of conventional vibration amplitude discrimination method, and then is accurately obtained at a distance between measured target.
Description
Technical field
The present invention relates to engineering measuring technology field more particularly to a kind of ultrasonic ranging methods, apparatus and system.
Background technique
In engineering construction field, it usually needs monitoring is implemented to the sedimentation of building, and the essence of settlement monitoring is pair
The monitoring of building sinking displacement.The accurate monitoring to displacement can be realized there are many method at present, for example, by using LVDT
((Linear Variable Differential Transformer, linear variable difference transformer) sensor is realized high-precision
The displacement monitoring of degree.But it is higher using the monitoring system cost that LVDT mode is constituted, especially in wide range settlement monitoring field
It closes, cost will steeply rise.Compared with existing most of level Monitoring method of the subsidence, is realized and be displaced using supersonic sounding principle
Monitoring has the advantages that non-contact, wide range, cheap.However, in view of the physical property of ultrasonic wave, it is real using supersonic sounding principle
The precision of existing displacement monitoring is not able to satisfy usually in 1mm (millimeter) left and right and certain needs to obtain high precision level sedimentation information
Occasion.
The precision of ultrasonic distance measurement is improved, need to be started with from the Physical Mechanism of ultrasonic wave, finding influences the interior of measurement accuracy
In reason, to propose a solution.Ultrasonic wave is substantially the elasticity that a kind of vibration frequency is greater than or equal to 20KHz (kHz)
Mechanical wave is currently generated using piezoelectric type ultrasonic transducer mostly.When ultrasonic transducer is subjected to the friendship in its Hz-KHz
When varying electrical signals motivate, mechanical oscillation occurs for ultrasonic transducer, and the gas molecule of spatial neighborhood locating for ultrasonic transducer is caused to shake
It is dynamic, so that the acoustic pressure (gas molecule vibrates in air) for changing locating spatial neighborhood is produced by the transmitting of energy between gas molecule
Raw a series of ultrasonic wave.Transmission rate can change when being incident on another medium from a kind of propagation medium according to ultrasonic wave
Physical characteristic, ultrasonic wave will reflect on the interface of both media.It is assumed that biography of the ultrasonic wave in certain medium
Broadcast rate be it is known, calculate from ultrasonic transducer issue ultrasonic wave received to ultrasonic transducer be reflected back it is super
Time needed for sound echo, can be obtained ultrasonic transducer between reflecting interface at a distance from.
Currently, carrying out range measurement using ultrasonic wave mostly uses greatly ultrasonic wave time difference method.In the method, with several pulses
Signal motivates ultrasonic transducer to emit ultrasonic wave, and ultrasonic wave receives ultrasonic echo after measured object reflects；And then calculate ultrasonic wave
The time difference that moment point is received moment point to back wave is issued, by the product of the time difference and ultrasonic velocity by 2 except just
Obtain ultrasound emission point between measured object at a distance from, this mode be also referred to as " radar measurements ".It is well known that ultrasonic waves
Energy device vibrates by static state under the excitation of electric impulse signal and emits ultrasonic wave, and the foundation of ultrasonic wave stable oscillation stationary vibration needs
One transient process, as illustrated in figs. 1A and ib, wherein Fig. 1 a is that (horizontal axis is time t to ultrasonic vibrator starting of oscillation figure, and the longitudinal axis is vibration
Width A), Fig. 1 b is ultrasonic vibrator failure of oscillation figure, i.e. ultrasonic transducer is needed to undergo by the amplitude that static state starts to output ultrasonic wave
One section of transient process vibrated by zero to fixed ampllitude.In this process, the amplitude of ultrasonic wave is changed according to normal state amplification rule,
Although that is, the ultrasonic action moment be it is known, receiving point obtain be cluster its amplitude with ultrasonic transducer by quiet
Only arrive the transient process of stable state and the echo-signal of measuring range variation and variation.With this, returned using what amplitude discrimination method measured
Wave arrival time is fuzzy and unstable, it is difficult to determine the precise moments that echo reaches, becoming normal radar mensuration can not
The key factor of high measurement accuracy is obtained, and there is transition spectral characteristic using pulse signal excitation ultrasound emission energy converter, is produced
Raw ultrasonic amplitude has further uncertain.
Summary of the invention
In view of the above shortcomings of the prior art, the present invention provides a kind of continuous modulation ultrasonic ranging method, device and
System efficiently solves the technical problem that measurement accuracy is inadequate in existing ultrasonic distance measurement.
To achieve the goals above, the invention is realized by the following technical scheme:
A kind of continuous modulation ultrasonic ranging method, comprising:
Primary sinusoid signal is formed, and is vibrated using primary sinusoid signal excitation transmitting ultrasonic transducer；
Amplitude modulation is carried out to primary sinusoid signal using the second sine wave signal in a particular moment, and by the moment
Initial time point when as range-viewfinder；
The echo-signal reflected via measured target is received by receiving ultrasonic transducer；
Amplitude demodulation is carried out to the echo-signal and obtains the second sine wave signal, and the second sine obtained according to demodulation
Wave signal determines the arrival time point of echo-signal；
The distance between measured target is calculated according to the initial time point and arrival time point, completes ranging.
In the technical scheme, it is vibrated, that is, adopted using the primary sinusoid signal driving transmitting ultrasonic transducer of formation
With the continuous signal excitation transmitting ultrasonic transducer that amplitude-frequency characteristic is constant, effectively prevent discontinuously ultrasonic transmission/reception being motivated to change
It can device (including transmitting ultrasonic transducer and reception ultrasonic transducer) bring unstability；In addition, by the second sine wave
As initial time point at the time of signal modulates primary sinusoid signal amplitude, and according to the second sine wave in echo-signal
Signal determines that the arrival time point of echo-signal has been accurately obtained ultrasound to be different from the measurement method of conventional vibration amplitude discrimination method
The transmitting-receiving time point of wave signal；Later, the time difference between arrival time point and initial time point is calculated, in conjunction with ultrasonic wave wave
Speed, be calculated accurate ultrasonic wave launch point between measured target reflection point at a distance from, complete ranging.
It is further preferred that in forming primary sinusoid signal, comprising: generate the first square wave letter according to predeterminated frequency
Number, and then primary sinusoid signal is formed according to first square-wave signal；
It further include forming second just before carrying out amplitude modulation to primary sinusoid signal using the second sine wave signal
The step of string wave:
Second square-wave signal obtained to the first square wave signal frequency split, and then forms the according to second square-wave signal
Two sine wave signals.
In the technical scheme, primary sinusoid signal and the second sine wave signal are formed according to same square-wave signal,
In, primary sinusoid signal is directly formed by the first square-wave signal, and the second sine wave signal is by shape after the first square wave signal frequency split
At reaching laggard in particular moment to ensure that the phase difference between primary sinusoid signal and the second sine wave signal remains unchanged
Row amplitude modulation.
It is further preferred that also being wrapped before carrying out amplitude modulation to primary sinusoid signal using the second sine wave signal
The step of including according to primary sinusoid signal or the second sine wave signal timing:
Zero-cross comparator is carried out to primary sinusoid signal or the second sine wave signal and forms digital pulse signal；
The digital pulse signal is counted；
When counting reaches preset value, judgement reaches particular moment.
In the technical scheme, by determining particular moment to digit pulse signal-count mode, to accurately control vibration
At the time of width is modulated.Here particular moment is preset by related personnel, is typically set at the vibration of transmitting ultrasonic transducer
The a certain moment that width tends towards stability avoids transmitting ultrasonic transducer and is reached the mistake between stable state by initializing mechanical oscillation and tided over
Journey, and then effectively solve the technical issues of echo-signal arrival time cannot be accurately determined in existing ultrasonic distance measurement.
It is further preferred that being obtained in the second sine wave signal carrying out amplitude demodulation to the echo-signal, comprising:
Accurate halfwave rectifier is carried out to the echo-signal and obtains half-wave signa；
The half-wave signa is filtered to obtain second with the bandpass filter that centre frequency is the second sine wave freuqency
Sine wave signal completes the demodulation to the echo-signal.
By Fourier transform principle it is found that any continuous timing or signal, may be expressed as the sine of different frequency
The unlimited superposition of wave signal.In the technical scheme, the half-wave signa after accurate halfwave rectifier is by different frequency, amplitude and phase
Sine wave signal be formed by stacking, be to obtain half-wave signa after, pure second can be demodulated by the method for filtering
Sine wave signal substantially increases the precision of arrival time point measurement.
It is further preferred that determining the arrival time point of echo-signal in the second sine wave signal obtained according to demodulation
In: zero cross fired is carried out to the second sine wave signal that demodulation obtains, obtains the arrival time point of echo-signal.
In the technical scheme, echo-signal is accurately determined by way of carrying out zero cross fired to the second sine wave signal
Arrival time point.
The present invention also provides a kind of continuous modulation supersonic range finders, comprising:
Microprocessor unit, for forming the initial time point of unit formation according to initial time and at echo arrival time
The arrival time point that reason unit obtains calculates the distance between measured target；
The primary sinusoid forms unit, connect with microprocessor unit, is used to form primary sinusoid signal；
Second sinusoidal waveform is connect at unit with microprocessor unit, is used to form the second sine wave signal；
Amplitude modulation and driving unit, for using the primary sinusoid to form the primary sinusoid signal excitation that unit is formed
Emit ultrasonic transducer vibration, and the second sine wave for using the second sinusoidal waveform to be formed at unit in a particular moment
Signal carries out amplitude modulation to primary sinusoid signal；
Initial time forms unit, the particular moment of initial time point when for being determined as range-viewfinder；
Preamble reception unit, for receiving the echo-signal reflected via measured target；
Amplitude demodulation unit obtains the second sine for carrying out amplitude demodulation to the received echo-signal of preamble reception unit
Wave signal；
Echo arrival time processing unit, the second sine wave signal for being demodulated according to amplitude demodulation unit determine
The arrival time point of echo-signal.
In the technical scheme, it is vibrated, that is, adopted using the primary sinusoid signal driving transmitting ultrasonic transducer of formation
With the continuous signal excitation transmitting ultrasonic transducer that amplitude-frequency characteristic is constant, effectively prevent discontinuously ultrasonic transmission/reception being motivated to change
It can device (including transmitting ultrasonic transducer and reception ultrasonic transducer) bring unstability；In addition, by the second sine wave
As initial time point at the time of signal modulates primary sinusoid signal amplitude, and according to the second sine wave in echo-signal
Signal determines that the arrival time point of echo-signal has been accurately obtained ultrasound to be different from the measurement method of conventional vibration amplitude discrimination method
The transmitting-receiving time point of wave signal；Later, the time difference between arrival time point and initial time point is calculated, in conjunction with ultrasonic wave wave
Speed, be calculated accurate ultrasonic wave launch point between measured target reflection point at a distance from, complete ranging.
It is further preferred that the microprocessor unit is also used to generate the first square-wave signal according to predeterminated frequency；
The primary sinusoid forms unit and forms primary sinusoid signal according to first square-wave signal；
After second sinusoidal waveform obtains the second square-wave signal to the first square wave signal frequency split at unit, and according to
Second square-wave signal forms the second sine wave signal.
In the technical scheme, primary sinusoid signal and the second sine wave signal are formed according to same square-wave signal,
In, primary sinusoid signal is directly formed by the first square-wave signal, and the second sine wave signal is by shape after the first square wave signal frequency split
At reaching laggard in particular moment to ensure that the phase difference between primary sinusoid signal and the second sine wave signal remains unchanged
Row amplitude modulation.
It is further preferred that being formed in unit in the initial time, primary sinusoid signal or the second sine wave are believed
Number carry out Zero-cross comparator formed digital pulse signal after, it is counted；When counting reaches preset value, when determining to reach specific
It carves；
Microprocessor unit controls amplitude modulation and driving unit using the moment as initial time point when range-viewfinder
Amplitude modulation is carried out to primary sinusoid signal using the second sine wave signal.
In the technical scheme, by determining particular moment to digit pulse signal-count mode, to accurately control vibration
At the time of width is modulated.Here particular moment is preset by related personnel, is typically set at the vibration of transmitting ultrasonic transducer
The a certain moment that width tends towards stability avoids transmitting ultrasonic transducer and is reached the mistake between stable state by initializing mechanical oscillation and tided over
Journey, and then effectively solve the technical issues of echo-signal arrival time cannot be accurately determined in existing ultrasonic distance measurement.
It is further preferred that carrying out accurate halfwave rectifier in amplitude demodulation unit to the echo-signal received and obtaining
Half-wave signa, and it is filtered to obtain the to the half-wave signa with bandpass filter that centre frequency is the second sine wave freuqency
Two sine wave signals complete the demodulation to the echo-signal.
In the technical scheme, accurate halfwave rectifier is carried out to echo-signal, efficiently solves existing accurate halfwave rectifier
The problem of pressure drop as caused by diode in method；After obtaining half-wave signa, demodulated in echo-signal by the method for filtering
The second pure sine wave signal out improves the precision for reaching moment point.
It is further preferred that in echo arrival time processing unit: being carried out to the second sine wave signal that demodulation obtains
Zero cross fired obtains the arrival time point of echo-signal.
In the technical scheme, echo-signal is accurately determined by way of carrying out zero cross fired to the second sine wave signal
Arrival time point.
The present invention also provides a kind of continuous modulation ultrasonic ranging systems, including above-mentioned continuous modulation ultrasonic distance measurement to fill
It sets, further includes:
Stainless steel tube cylinder barrel filled with transformer insulation oil, and be placed in the transformer insulated pasta surface plate it is floating
Piece, the continuous modulation supersonic range finder are placed in stainless steel tube cylinder barrel certain distance above transformer insulation oil, measurement
The distance between piece is floated with plate.
In the technical scheme, using novel technological treatment, provide it is a kind of it is low in cost, measuring range is big
The system for realizing precision distance measurement using continuous modulation ultrasonic wave time difference method of (monitoring height is up to 1 meter or more), can be suitable for
Need compared with high measurement accuracy and need the occasion of wide range measurement distance, engineering level sedimentation such as more demanding to measurement accuracy
Monitoring, the bright precision ranging and positioning for being particularly suitable for submarine target, compared to using LVDT or condenser type settlement monitoring to sense
The method that device carries out ranging has splendid cost performance.
Detailed description of the invention
In conjunction with attached drawing, and by reference to following detailed description, it will more easily have more complete understanding to the present invention
And its adjoint advantage and feature is more easily to understand, in which:
Fig. 1 a is ultrasonic vibrator starting of oscillation figure, and Fig. 1 b is ultrasonic vibrator failure of oscillation figure；
Fig. 2 is a kind of embodiment flow diagram of continuous modulation ultrasonic ranging method in the present invention；
Fig. 3 is the amplitude-modulated wave schematic diagram in the present invention after amplitude modulation；
Fig. 4 is continuous modulation supersonic range finder block diagram in the present invention.
Appended drawing reference:
1- microprocessor unit, the 2- primary sinusoid form unit, the second sinusoidal waveform of 3- at unit, 4- amplitude modulation and
Driving unit, 5- initial time formation unit, 6- preamble reception unit, 7- amplitude demodulation unit, 8- echo arrival time are handled
Unit, 9- power supply converter unit.
Specific embodiment
To keep the contents of the present invention more clear and easy to understand, below in conjunction with Figure of description, the contents of the present invention are made into one
Walk explanation.Certainly the invention is not limited to the specific embodiment, general replacement known to those skilled in the art
It is included within the scope of protection of the present invention.
It is illustrated in figure 2 a kind of embodiment flow diagram of continuous modulation ultrasonic ranging method, it can from figure
Out, include: in the ultrasonic ranging method
S10 forms primary sinusoid signal, and is vibrated using primary sinusoid signal excitation transmitting ultrasonic transducer；
S20 carries out amplitude modulation to primary sinusoid signal using the second sine wave signal in a particular moment, and should
Initial time point when moment is as range-viewfinder；
S30 receives the echo-signal reflected via measured target by receiving ultrasonic transducer；
S40 carries out amplitude demodulation to echo-signal and obtains the second sine wave signal, and the second sine obtained according to demodulation
Wave signal determines the arrival time point of echo-signal；
S50 calculates the distance between measured target according to initial time point and arrival time point, completes ranging.
In the present embodiment, range-measurement system is in t0After moment is powered, start the primary sinusoid vibrated with predeterminated frequency
Signal (carrier signal) excitation transmitting ultrasonic transducer SPS1, the transmitting ultrasonic transducer SPS1 to remain static is at this
Start to vibrate under the driving of primary sinusoid signal, and be gradually transitioned into stable state within a certain period of time, as shown in Figure 1a.Later,
In a preset particular moment t1(initial time point), using the second sine wave signal (beacon signal) to the primary sinusoid
Signal carries out amplitude modulation, and emits ultrasonic transducer SPS1, vibration using the amplitude-modulated wave signal Persistent Excitation after amplitude modulation
The amplitude-modulated wave signal I obtained after width modulation is as shown in Figure 3 (abscissa is time t, and ordinate is amplitude A).Emit ultrasonic waves
The ultrasonic signal of energy device SPS1 transmitting carries out reflecting to form echo-signal and is received ultrasonic wave transducer after reaching measured target
Device SPS2 is received.After reception ultrasonic transducer SPS2 receives echo-signal, immediately it is demodulated to obtain therein
Second sine wave signal determines the arrival time point t of echo-signal according to the second sine wave signal that demodulation obtains laterx.Most
Afterwards, according to arrival time point txWith initial time point t1Between time difference be calculated accurate super in conjunction with ultrasonic velocity
Sound wave launch point distance L between measured target reflection point.
Specifically, ultrasonic wave is related with environment temperature T in the speed C of free-space propagation, such as formula (1):
C=331.4* (1+T/273)1/2 (1)
When transmitting ultrasonic transducer SPS1 and reception ultrasonic transducer SPS2 are set to the same horizontal position, ultrasonic wave
The distance between launch point and measured target L such as formula (2):
L=(C* Δ tx)/2 (2)
Wherein, Δ tx=(tx-t1)/2 actually reach the time for echo-signal.
The forming process of primary sinusoid signal and the second sine wave signal are as follows: range-measurement system is in t0It is micro- after moment is powered
Processor generates continuous first square-wave signal that predeterminated frequency and duty ratio are 50%, and forms the according to first square-wave signal
One sine wave signal.At the same time, the first square-wave signal is divided to obtain the second square-wave signal, and is believed according to the second square wave
Number formed the second sine wave signal.The frequency for generating the first square-wave signal is specially that (including transmitting is super for ultrasonic transmission/reception energy converter
The centre frequency of acoustic wave transducer SPS1 and reception ultrasonic transducer SPS2) work.It is assumed that ultrasonic transmission/reception energy converter works
Centre frequency be 40KHz (kHz), then microprocessor formed continuous first square-wave signal of 40KHz constant frequency perseverance width, in turn
The primary sinusoid signal of 40KHz is formed according to first square-wave signal, i.e. the frequency of primary sinusoid signal is also ultrasonic wave
Receive and dispatch the centre frequency of energy converter work.First square-wave signal is being divided to obtain in the second square-wave signal, frequency dividing ratio root
It is set according to actual conditions, e.g., can be set as 64 frequency dividings, also can be set as 32 frequency dividings, 24 frequency dividings, even two divided-frequency
Deng being not specifically limited here.
In one example, the centre frequency of ultrasonic transmission/reception energy converter work is 40KHz.System is in t0After moment is powered,
Microprocessor generate immediately 40KHz frequency stabilization, duty ratio be 50% the first square-wave signal and send out, first square-wave signal
After a second-order bandpass filter, the pure 40KHz constant frequency perseverance width primary sinusoid signal as carrier signal is obtained.With
This simultaneously, the first square-wave signal of 40KHz is sent into frequency divider by microprocessor, obtains the second of 625Hz (hertz) through 64 frequency dividings
(purpose for the second square-wave signal for obtaining 625Hz using same the first square wave of 40KHz signal frequency split is to ensure that frequency dividing to square-wave signal
Phase difference between resulting second square-wave signal and the first square-wave signal remains unchanged), which passes through another two
After rank bandpass filter, that is, obtain pure permanent the second sine wave signal of the 625Hz constant frequency as beacon signal.Particular moment
t1After arrival, amplitude modulation is carried out to the primary sinusoid signal of 40KHz using the second sine wave signal of 625Hz, and control
Amplitude-modulated wave signal continues excitation transmitting ultrasonic transducer SPS1 in a manner of balance drive.
Carry out the particular moment t of amplitude modulation1(initial time point) is according to emitting ultrasonic transducer in practical application
The vibrational state of SPS1 is preset, here without limitation to its occurrence, as long as meeting transmitting ultrasonic transducer
SPS1 elapsed-time standards section Δ t=t1-t0Vibration after amplitude tend towards stability.In addition, to particular moment t1Method of determination it is same
Sample without limitation, e.g., in one embodiment, in range-measurement system t0After moment is powered, triggering timing device starts timing, reaches special
T is carved in timing1The second sine wave signal is sent into amplitude modulaor afterwards.In another embodiment, according to primary sinusoid signal
Or second sine wave signal timing determine particular moment t1, specific: primary sinusoid signal or the second sine wave signal are carried out
Digital pulse signal is formed after Zero-cross comparator, and obtained digital pulse signal is counted；When counting reaches preset value, sentence
Surely particular moment t is reached1。
In one example, frequency divider obtains the second square-wave signal of 625Hz to the first square-wave signal 64 frequency dividing of 40KHz,
And according to second square-wave signal formed the second sine wave signal after, divide two-way to send out the second sine wave signal, wherein all the way
It is sent to the input terminal for the integrated analog switch connecting with modem, another way is after the processing of high speed zero cross fired comparator
Form digital pulse signal (at the time of rising edge corresponds to the second sine wave signal zero crossing).Later, using initial output state
The tetrad counter for being zero counts the digital pulse signal, when counting down to the 4th digital pulse signal, meter
Number device output bit Q2Q1Q0Corresponding logic digital value is " 100 ", output bit Q2It is 1 by zero jump, the skip signal is by micro process
Control integrated analog switch is open-minded after device detects, the second sine wave signal is sent into amplitude modulaor as modulated signal to the
One sine wave signal carries out amplitude modulation, while using the moment as the initial time point t of measurement1.During this, amplitude tune
The period Δ t=t waited before system1-t0It can accurately be obtained by formula (3):
Δ t=t1-t0=1 × 64 × 4/4000=0.0064s (3)
That is, starting after the 40KHz constant amplitude sinusoid of transmitting ultrasonic transducer SPS1 output 0.0064s (second)
The second sine wave signal is accessed to amplitude modulaor, and emits ultrasonic transducer using the amplitude-modulated wave signal excitation after amplitude modulation
SPS1.In this example, during the 0.0064s before the second sine wave signal is added, transmitting ultrasonic transducer SPS1 is had been subjected to
The complete constant amplitude sinusoid Energizing cycle of 256 40KHz, has entered stable state.In other instances, the quantity of timing figure pulse
It can be adjusted according to the actual situation.
After the ultrasonic signal arrival measured target for emitting ultrasonic transducer SPS1 transmitting, by the reflection point of measured target
Echo-signal is reflected to form, is finally received by the reception ultrasonic transducer SPS2 in system.System receive echo-signal it
Afterwards, accurate halfwave rectifier is carried out to echo-signal immediately and obtains half-wave signa, and be the second sine wave freuqency with centre frequency
Bandpass filter is filtered half-wave signa to obtain the second sine wave signal, and then is believed according to the second sine wave that demodulation obtains
Number determine echo-signal arrival time point tx.Determining arrival time point txIn, to obtained the second sine wave signal of demodulation into
Row Zero-cross comparator forms corresponding digital pulse signal VtxAnd zero cross fired is carried out, digital pulse signal VtxRising edge (when
Carve tx) be echo-signal arrival time point.
In one example, system receives echo-signal (in particular moment tx, use the second sine wave signal of 625Hz
The amplitude-modulated wave signal excitation transmitting ultrasonic transducer SPS1 that the primary sinusoid signal of modulation 40KHz obtains) after, first through low
Noise high cmrr operational amplifier carries out differential amplification processing, so that relative to system reference the echo-signal of floating
Be converted into relative to system reference, be amplified and press down the echo-signal in addition to common-mode noise；Later to the echo-signal into
Fourth-order band-pass filter row precision halfwave rectifier and be 625Hz by centre frequency believes the primary sinusoid of wherein 40KHz
It number filters out, demodulates the second sine wave signal of pure 625Hz；Finally by the second sine wave signal of 625Hz by high speed
Zero-crossing comparator simultaneously implements zero cross fired, as the digital pulse signal Vt of generationxIn when there is zero crossing, during microprocessor generates
Break signal TEND, the as arrival time point t of echo-signal at the time of the microprocessor responds interruptionx(corresponding digital pulse signal
VtxThe rising edge of zero crossing).It is appreciated that in Δ t=t1-t0Period, system are motivated with the primary sinusoid signal of 40KHz
Emit ultrasonic transducer SPS1, being received the echo-signal that ultrasonic transducer receives after reflection is equally persistent wave, in
Frequency of heart is that the output after the fourth-order band-pass filter of 625Hz is zero；And the echo-signal after amplitude amplitude-modulation is through centre frequency
It is the second sine wave signal of 625Hz for the output after the fourth-order band-pass filter of 625Hz, present embodiment is realized based on this
Purpose.
It is illustrated in figure 4 continuous modulation supersonic range finder block diagram provided by the invention, as seen from the figure, in the ultrasound
It include: microprocessor unit 1, primary sinusoid formation unit 2, the second sinusoidal waveform in Wave ranging device into unit 3, amplitude tune
System and driving unit 4, initial time form unit 5, preamble reception unit 6, amplitude demodulation unit 7 and the processing of echo arrival time
Unit 8, wherein the output end of microprocessor unit 1 forms unit 2 and the second sinusoidal waveform into unit with the primary sinusoid respectively
3 input terminal connection, the primary sinusoid formed unit 2 and the second sinusoidal waveform at unit 3 output end respectively with amplitude modulation
And the input terminal connection of driving unit 4, the second sinusoidal waveform also form the defeated of unit 5 with initial time at the output end of unit 3
Enter end connection, the output end that initial time forms unit 5 is connect with the input terminal of microprocessor unit 1, preamble reception unit 6
Output end is connect with the input terminal of amplitude demodulation unit 7, the output end and echo arrival time processing unit of amplitude demodulation unit 7
8 input terminal connection, the output end of echo arrival time processing unit 8 are connect with the input terminal of microprocessor unit 1.In addition,
It further include that the power supply converter unit 9 of corresponding power supply is provided for each functional unit in the supersonic range finder, it is possible to provide ±
12V power supply and ± 5V power supply guarantee the normal operation of continuous modulation ultrasonic ranging system.
In the present embodiment, range-measurement system is in t0After moment is powered, microprocessor unit 1 controls the primary sinusoid and is formed
Unit 1 forms primary sinusoid signal and exports to amplitude modulation and driving unit, while controlling the second sinusoidal waveform into unit 2
Form the second sine wave signal.After amplitude modulation and driving unit 4 receive primary sinusoid signal, first just with this immediately
String wave signal excitation transmitting ultrasonic transducer SPS1, the transmitting ultrasonic transducer SPS1 to remain static this first just
Start to vibrate under the driving of string wave signal, and be gradually transitioned into stable state within a certain period of time, as shown in Figure 1a.Initial time is formed
After unit 5 determines that preset particular moment reaches, microprocessor unit 1 controls the second sine wave signal immediately and enters amplitude
Modulation and driving unit 4, and then amplitude modulation and driving unit 4 carry out primary sinusoid signal using the second sine wave signal
Amplitude modulation, and the amplitude-modulated wave signal Persistent Excitation transmitting ultrasonic transducer SPS1 after amplitude modulation is used, after amplitude modulation
Obtained amplitude-modulated wave signal I is as shown in Figure 3.After the ultrasonic signal arrival measured target for emitting ultrasonic transducer SPS1 transmitting
It carries out reflecting to form echo-signal and be received by the reception ultrasonic transducer SPS2 in preamble reception unit 6.Receive ultrasonic wave
After energy converter SPS2 receives echo-signal, amplitude demodulation unit 7 demodulates it to obtain the second sine wave signal immediately,
Back echo arrival time processing unit 8 the arrival time point of echo-signal is determined according to obtained the second sine wave signal of demodulation
tx.Finally, microprocessor unit 1 is according to arrival time point txWith initial time point t1Between time difference, in conjunction with ultrasonic wave wave
Speed, as accurate ultrasonic wave launch point distance L between measured target reflection point is calculated in formula (1) and formula (2).
The forming process of primary sinusoid signal and the second sine wave signal are as follows: range-measurement system t0After moment is powered, micro- place
It manages continuous first square-wave signal that device unit 1 generates predeterminated frequency and duty ratio is 50% and is respectively fed to the primary sinusoid and formed
At unit 3, the primary sinusoid forms unit 2 and forms the first sine according to first square-wave signal for unit 2 and the second sinusoidal waveform
Wave signal is simultaneously sent into amplitude modulation and driving unit 4.At the same time, the second sinusoidal waveform at unit 3 to the first square-wave signal into
Row frequency dividing obtains the second square-wave signal, and forms the second sine wave signal according to the second square-wave signal.Generate the first square-wave signal
Frequency be specially ultrasonic transmission/reception energy converter work centre frequency, it is assumed that ultrasonic transmission/reception energy converter work centre frequency
For 40KHz, then microprocessor forms continuous first square-wave signal of 40KHz constant frequency perseverance width, and then according to first square-wave signal
The primary sinusoid signal of 40KHz is formed, i.e. the frequency of primary sinusoid signal is also in the work of ultrasonic transmission/reception energy converter
Frequency of heart.First square-wave signal is being divided to obtain in the second square-wave signal, frequency dividing ratio is set according to the actual situation,
Such as, 64 frequency dividings be can be set as, also can be set as 32 frequency dividings, 24 frequency dividings, even two divided-frequency, be not specifically limited here.
In one example, the centre frequency of ultrasonic transmission/reception energy converter work is 40KHz, includes one in microprocessor unit
The first square-wave signal and initial reset signal are provided at unit for forming unit and the second sinusoidal waveform for the primary sinusoid
Microprocessor；It includes one for the first square-wave signal to be transformed to 40KHz primary sinusoid letter that the primary sinusoid, which is formed in unit,
Number second-order bandpass filter；Second sinusoidal waveform divides including one for what is divided to primary sinusoid signal in unit
Second sine wave signal for being transformed to the second-order bandpass filter of the second sine wave signal by frequency device and one；Amplitude modulation and
It include for carrying out the amplitude modulation integrated circuit of amplitude modulation, for sending out amplitude modulation integrated circuit in driving unit
Amplitude-modulated signal is transformed to the balance driver and transmitting ultrasonic transducer SPS1 of Differential Output drive mode.
During the work time, range-measurement system is in t0After moment is powered, the microprocessor in microprocessor unit generates 40KHz
Frequency stabilization, the first square-wave signal that duty ratio is 50% are simultaneously sent out, which forms list by the primary sinusoid
After second-order bandpass filter in member, the pure 40KHz constant frequency perseverance width primary sinusoid signal as carrier signal is obtained.With
This simultaneously, the first square-wave signal is sent into the second sinusoidal waveform into the frequency divider in unit by microprocessor, is obtained through 64 frequency dividings
The second square-wave signal of 625Hz (hertz), second square-wave signal are filtered by the second sinusoidal waveform at the second order band logical in unit
After wave device, pure permanent the second sine wave signal of the 625Hz constant frequency as beacon signal is obtained.As particular moment t1It reaches
Afterwards, the amplitude modulation integrated circuit in amplitude modulation and driving unit is using the second sine wave signal of 625Hz to the of 40KHz
One sine wave signal carries out amplitude modulation, and controls amplitude-modulated wave signal balance driver and continue to swash in a manner of balance drive
Encourage transmitting ultrasonic transducer SPS1.
Carry out the particular moment t of amplitude modulation1(initial time point) is according to emitting ultrasonic transducer in practical application
The vibrational state of SPS1 is preset, here without limitation to its occurrence, as long as meeting transmitting ultrasonic transducer
SPS1 elapsed-time standards section Δ t=t1-t0Vibration after amplitude tend towards stability.In addition, for particular moment t1Method of determination
Equally without limitation, e.g., in one embodiment, in range-measurement system t0After moment is powered, triggering initial time is formed in unit 5
Timer start timing, reach particular moment t1The second sine wave signal is sent into afterwards and controls amplitude modulaor and carries out amplitude
Modulation.In another embodiment, initial time forms unit 5 according to primary sinusoid signal or the second sine wave signal timing
Determine particular moment t1, specific: to form digital arteries and veins after carrying out Zero-cross comparator to primary sinusoid signal or the second sine wave signal
Signal is rushed, and obtained digital pulse signal is counted；When counting reaches preset value, judgement reaches particular moment t1。
In one example, the second sinusoidal waveform is at including further including in unit except frequency divider and second-order bandpass filter
For controlling the integrated analog switch of the second sine wave signal on-off；It includes for sinusoidal by second that initial time, which is formed in unit,
Wave signal is transformed to the integrated comparator of digital pulse signal and the integrated counter for being counted to digital pulse signal；
Microprocessor in microprocessor unit, which is also used to form unit for initial time, provides interruption service.
During the work time, the second sinusoidal waveform is divided at the first square-wave signal 64 of the frequency divider in unit to 40KHz
Obtain the second square-wave signal of 625Hz, and after forming the second sine wave signal according to second square-wave signal, the second sinusoidal waveform
Two-way is divided to send out second sine wave signal at unit, wherein to be sent to the integrated simulation connecting with modem all the way
The input terminal of switch, another way are sent to initial time and form unit, and the second sine wave signal is formed in unit through initial time
Integrated comparator carry out high speed Zero-cross comparator after form digital pulse signal, as integrated counter trigger signal (rise
At the time of along corresponding second sine wave signal zero crossing).Later, integrated counter (four for the use of initial output state being zero
Binary counter) digital pulse signal is counted, as its output bit Q2Q1Q0It is defeated when counterlogic digital value " 100 "
Position Q out2It is 1 by zero jump, the microprocessor in microprocessor unit generates interruption, and it is open-minded to control integrated analog switch, will
Second sine wave signal is admitted to amplitude modulation and driving unit as modulated signal and carries out amplitude tune to primary sinusoid signal
System, while the time that microprocessor responds are interrupted is as the initial time point t of measurement1.During this, before amplitude modulation etc.
To period Δ t=t1-t0It can accurately be obtained by formula (3).That is, transmitting ultrasonic transducer SPS1 exports 0.0064s
After the 40KHz constant amplitude sinusoid of (second), the amplitude modulaor started into amplitude modulation and driving unit 4 accesses the second sine wave
Signal, and emit ultrasonic transducer SPS1 using the amplitude-modulated wave signal excitation after amplitude modulation.In this example, the second sine wave
During 0.0064s before signal addition, transmitting ultrasonic transducer SPS1 has been subjected to the complete constant amplitude sinusoid of 256 40KHz
Energizing cycle has entered stable state.
After the ultrasonic signal arrival measured target for emitting ultrasonic transducer SPS1 transmitting, by the reflection point of measured target
Echo-signal is reflected to form, is finally received by the reception ultrasonic transducer SPS2 in preamble reception unit 6.Receive echo letter
After number, amplitude demodulation unit 7 carries out accurate halfwave rectifier to echo-signal immediately and obtains half-wave signa, and is with centre frequency
The bandpass filter of second sine wave freuqency is filtered half-wave signa to obtain the second sine wave signal, and then when echo arrival
Carve the arrival time point t that processing unit 8 determines echo-signal according to the second sine wave signal that demodulation obtainsx.It is reached determining
Moment point txIn, Zero-cross comparator is carried out to the second sine wave signal that demodulation obtains and forms digital pulse signal VtxAnd carry out zero passage
Triggering, digital pulse signal VtxRising edge (moment tx) be echo-signal arrival time point.
It in one example, include a reception ultrasonic transducer SPS2 and an operational amplifier in preamble reception unit 6；Vibration
It include an accurate half-wave rectifying circuit and a fourth-order band-pass filter in width demodulating unit 7；In echo arrival time processing unit 8
Including an integrated comparator；Microprocessor in microprocessor unit is also used to provide interruption for echo arrival time processing unit
Service.
During the work time, the reception ultrasonic transducer SPS2 in preamble reception unit receives echo-signal (in spy
T is carved in timingx, swashed using the amplitude-modulated wave signal that the primary sinusoid signal of the second sine wave signal modulation 40KHz of 625Hz obtains
Encourage transmitting ultrasonic transducer SPS1) after, differential amplification processing is carried out through low noise high cmrr operational amplifier first,
So that relative to system reference the echo-signal of floating be converted into relative to system reference, be amplified and press down in addition to common mode
The echo-signal of noise；It is whole to carry out accurate half-wave to the echo-signal for the accurate half-wave rectifying circuit in amplitude demodulation unit later
The fourth-order band-pass filter that centre frequency is 625Hz is flowed and passes through, by the primary sinusoid target signal filter of wherein 40KHz, demodulation
The second sine wave signal of pure 625Hz out；Finally the second sine wave signal of 625Hz is handled by echo arrival time
Integrated comparator in unit carries out Zero-cross comparator, obtains digital pulse signal Vtx；Later, to digital pulse signal VtxIt is real
Zero cross fired is applied, as digital pulse signal VtxIn when there is zero crossing, microprocessor generates interrupt signal TEND, microprocessor sound
The as arrival time point t of echo-signal at the time of should interruptingx(corresponding digital pulse signal VtxThe rising edge of zero crossing).It can
To understand, in Δ t=t1-t0Period, system is with the primary sinusoid signal excitation transmitting ultrasonic transducer SPS1 of 40KHz, warp
It is equally persistent wave that the echo-signal that ultrasonic transducer receives is received after reflection, the quadravalence band for being 625Hz through centre frequency
Output after bandpass filter is zero；And the echo-signal after amplitude amplitude-modulation is filtered through the fourth-order band-pass that centre frequency is 625Hz
Output after device is the second sine wave signal of 625Hz, and the purpose of present embodiment is realized based on this.
In addition, further including RS485 communication chip and temperature sensing chip in microprocessor unit 1, RS485 communication chip is used
In realizing continuous modulation supersonic range finder with the communication in the external world, it can be achieved that the up to transmission range of 1000m；Temperature sensing core
Piece is used to correct the velocity of wave of ultrasonic wave.In one example, using the temperature sensing chip of model DS1624, amendment in real time from-
The propagation speed of ultrasonic waves of 10~70 DEG C of variation of ambient temperature, measurement accuracy is up to 0.032 DEG C.
The present invention also provides a kind of continuous modulation ultrasonic ranging systems, in addition to including above-mentioned company in the range-measurement system
Except continuous Modulated Ultrasonic Wave ranging device, further includes: the stainless steel tube cylinder barrel filled with transformer insulation oil, and it is placed in transformer
The plate of the ultrasonic signal for reflecting transmitting ultrasonic transducer SPS1 transmitting on insulation pasta surface floats piece, and (plate floats piece
Diameter be slightly less than stainless steel barrel bore), it is exhausted that continuous modulation supersonic range finder is placed in transformer in stainless steel tube cylinder barrel
Edge oil top certain distance, measurement float the distance between piece with plate.For continuous modulation supersonic range finder setting away from
From, it is set according to the position of ultrasonic transmission/reception energy converter therein, as long as meeting the blind area of ultrasonic signal, e.g.,
By the setting of continuous modulation supersonic range finder above the transformer insulation oil at about 50cm (centimetre), when transmitting ultrasonic wave transducer
When device and reception ultrasonic transducer are not arranged in same position, it might even be possible to realize that non-blind area measures.
In the present embodiment, it can reach 1 meter or more according to continuous modulation ultrasonic wave time difference method precision distance measurement method
Measuring range, the measurement accuracy of 0.1mm (millimeter), can be applicable to compared with high measurement accuracy and need wide range measurement away from
From occasion, the bright precision ranging and positioning for being particularly suitable for submarine target.
Claims (11)
1. a kind of continuous modulation ultrasonic ranging method characterized by comprising
Primary sinusoid signal is formed, and is vibrated using primary sinusoid signal excitation transmitting ultrasonic transducer；
A particular moment using the second sine wave signal to primary sinusoid signal carry out amplitude modulation, and using the moment as
Initial time point when range-viewfinder；
The echo-signal reflected via measured target is received by receiving ultrasonic transducer；
Amplitude demodulation is carried out to the echo-signal and obtains the second sine wave signal, and is believed according to the second sine wave that demodulation obtains
Number determine echo-signal arrival time point；
The distance between measured target is calculated according to the initial time point and arrival time point, completes ranging.
2. continuous modulation ultrasonic ranging method as described in claim 1, which is characterized in that
In forming primary sinusoid signal, comprising: the first square-wave signal for generating predeterminated frequency is believed according to first square wave
Number formed primary sinusoid signal；
It further include forming the second sine wave before carrying out amplitude modulation to primary sinusoid signal using the second sine wave signal
The step of:
Second square-wave signal is obtained to the first square wave signal frequency split, and then is forming second just according to second square-wave signal
String wave signal.
3. continuous modulation ultrasonic ranging method as claimed in claim 1 or 2, which is characterized in that believed using the second sine wave
Number to primary sinusoid signal carry out amplitude modulation before, further include according to primary sinusoid signal or the second sine wave signal meter
When the step of:
Zero-cross comparator is carried out to primary sinusoid signal or the second sine wave signal and forms digital pulse signal；
The digital pulse signal is counted；
When counting reaches preset value, judgement reaches particular moment.
4. continuous modulation ultrasonic ranging method as described in claim 1, which is characterized in that carried out to the echo-signal
Amplitude demodulation obtains in the second sine wave signal, comprising:
Accurate halfwave rectifier is carried out to the echo-signal and obtains half-wave signa；
The half-wave signa is filtered to obtain the second sine with the bandpass filter that centre frequency is the second sine wave freuqency
Wave signal completes the demodulation to the echo-signal.
5. continuous modulation ultrasonic ranging method as described in claim 1 or 4, which is characterized in that is obtained according to demodulation
Second sine wave signal determines in the arrival time point of echo-signal: carrying out zero passage touching to the second sine wave signal that demodulation obtains
Hair, obtains the arrival time point of echo-signal.
6. a kind of continuous modulation supersonic range finder characterized by comprising
Microprocessor unit, for forming the initial time point and echo arrival time processing list that unit is formed according to initial time
The arrival time point that member obtains calculates the distance between measured target；
The primary sinusoid forms unit, connect with microprocessor unit, is used to form primary sinusoid signal；
Second sinusoidal waveform is connect at unit with microprocessor unit, is used to form the second sine wave signal；
Amplitude modulation and driving unit, for using the primary sinusoid to form the primary sinusoid signal excitation transmitting that unit is formed
Ultrasonic transducer vibration, and the second sine wave signal for using the second sinusoidal waveform to be formed at unit in a particular moment
Amplitude modulation is carried out to primary sinusoid signal；
Initial time forms unit, the particular moment of initial time point when for being determined as range-viewfinder；
Preamble reception unit, for receiving the echo-signal reflected via measured target；
Amplitude demodulation unit obtains the second sine wave letter for carrying out amplitude demodulation to the received echo-signal of preamble reception unit
Number；
Echo arrival time processing unit, the second sine wave signal for being demodulated according to amplitude demodulation unit determine echo
The arrival time point of signal.
7. continuous modulation supersonic range finder as claimed in claim 6, which is characterized in that
The microprocessor unit is also used to generate the first square-wave signal according to predeterminated frequency；
The primary sinusoid forms unit and forms primary sinusoid signal according to first square-wave signal；
After second sinusoidal waveform obtains the second square-wave signal to the first square wave signal frequency split at unit, and according to described
Second square-wave signal forms the second sine wave signal.
8. continuous modulation supersonic range finder as claimed in claims 6 or 7, which is characterized in that
It is formed in unit in the initial time, Zero-cross comparator is carried out to primary sinusoid signal or the second sine wave signal and is formed
After digital pulse signal, it is counted；When counting reaches preset value, judgement reaches particular moment；
Microprocessor unit controls amplitude modulation and driving unit use using the moment as initial time point when range-viewfinder
Second sine wave signal carries out amplitude modulation to primary sinusoid signal.
9. continuous modulation supersonic range finder as claimed in claim 6, which is characterized in that right in amplitude demodulation unit
The echo-signal received carries out accurate halfwave rectifier and obtains half-wave signa, and take centre frequency as the band of the second sine wave freuqency
Bandpass filter is filtered the half-wave signa to obtain the second sine wave signal, completes the demodulation to the echo-signal.
10. the continuous modulation supersonic range finder as described in claim 6 or 9, which is characterized in that at echo arrival time
In reason unit: carrying out zero cross fired to the second sine wave signal that demodulation obtains, obtain the arrival time point of echo-signal.
11. a kind of continuous modulation ultrasonic ranging system, which is characterized in that including as described in claim 6-10 any one
Continuous modulation supersonic range finder, further includes:
Stainless steel tube cylinder barrel filled with transformer insulation oil, and it is placed in the floating piece of plate on the transformer insulated pasta surface,
The continuous modulation supersonic range finder is placed in stainless steel tube cylinder barrel certain distance above transformer insulation oil, measures and flat
Plate floats the distance between piece.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111739463A (en) * | 2020-06-10 | 2020-10-02 | 湖南人文科技学院 | LED display screen control method and system thereof |
| WO2021008234A1 (en) * | 2019-07-16 | 2021-01-21 | 上海菲伽智能科技有限公司 | Method, apparatus and system for continuously modulating ultrasonic precision ranging |
| CN113433550A (en) * | 2021-04-28 | 2021-09-24 | 邓维川 | Ultrasonic detection method based on pulse amplitude coding and detector thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021008234A1 (en) * | 2019-07-16 | 2021-01-21 | 上海菲伽智能科技有限公司 | Method, apparatus and system for continuously modulating ultrasonic precision ranging |
| CN111739463A (en) * | 2020-06-10 | 2020-10-02 | 湖南人文科技学院 | LED display screen control method and system thereof |
| CN113433550A (en) * | 2021-04-28 | 2021-09-24 | 邓维川 | Ultrasonic detection method based on pulse amplitude coding and detector thereof |
| CN114216858A (en) * | 2021-11-25 | 2022-03-22 | 长江存储科技有限责任公司 | Detection method of thin film |
| CN114216859A (en) * | 2021-11-25 | 2022-03-22 | 长江存储科技有限责任公司 | Detection method of thin film |
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