CN110865378A - Anti-crosstalk ultrasonic distance measuring device, system and method - Google Patents
Anti-crosstalk ultrasonic distance measuring device, system and method Download PDFInfo
- Publication number
- CN110865378A CN110865378A CN201911089133.XA CN201911089133A CN110865378A CN 110865378 A CN110865378 A CN 110865378A CN 201911089133 A CN201911089133 A CN 201911089133A CN 110865378 A CN110865378 A CN 110865378A
- Authority
- CN
- China
- Prior art keywords
- signal
- ultrasonic
- circuit
- data
- single chip
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—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
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
- G01S15/104—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
-
- 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
Abstract
The utility model provides an ultrasonic ranging device of anti-interference, including supply circuit and the singlechip that links to each other with supply circuit respectively, drive circuit, receiving circuit and ultrasonic transducer, the singlechip links to each other with drive circuit and receiving circuit respectively, the singlechip control drive circuit output frequency is close but not be equal to the wave form of ultrasonic transducer natural frequency to load the protocol data that is used for discerning on the carrier signal, the singlechip is according to the reflection signal data of receiving and frequency data, whether protocol data unanimity that preset come the judgement whether for the reflection signal of transmission signal. By distributing different transmitting frequencies to different ultrasonic transducers and adding specific protocol data, even if the frequencies of the reflected signals are close or consistent, the verification can be identified, the probability of misjudgment is reduced, and the purpose that a plurality of probes are not interfered with each other is achieved; the structure of the power supply circuit can ensure that a power supply with stable voltage is output, and the influence of power supply interference is reduced.
Description
Technical Field
The invention relates to the technical field of ultrasonic distance measurement, in particular to an ultrasonic distance measurement device, system and method for preventing crosstalk.
Background
The existing ultrasonic distance measurement technology is that a waveform is output through a driving circuit, an acoustoelectric transducer is driven, the transducer converts an electric signal into an acoustic signal, sends the acoustic signal out, starts timing until the sound is fed back to the transducer, converts the sound into the electric signal, the circuit stops timing, and the distance in the direction can be obtained by knowing the sound velocity and the time. The acoustoelectric transducer is a piezoelectric ceramic piece in nature, the sound vibration extrudes the ceramic piece to vibrate to generate an electric signal, or the electric signal drives the ceramic piece to vibrate to generate a sound signal, any object has a natural frequency, the ceramic piece is no exception, when the vibration reaches the natural frequency, the amplitude is maximum, and the generated sound signal or the electric signal is strongest, so that the frequency which is consistent with the natural frequency of the transducer is generally adopted in the market, and a driving circuit on the currently applied ultrasonic range finder also emits a fixed frequency. However, if two or more transducers are working together at the same time, interference can be caused, for example, if the transducer probe A is working and timing is carried out, the probe B is also working and sends out a waveform, the waveform is received by the transducer probe A, but actually the waveform of the transducer probe A is not returned, but the waveform of the transducer probe A is returned, the recorded time and distance are wrong, and the device using the transducer probe is misjudged, so that wrong reaction is caused.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an ultrasonic ranging device and system for preventing crosstalk, which solve the problem of mutual interference of a plurality of ultrasonic ranging modules, reduce equipment operation errors and improve the equipment operation stability; the invention also provides an ultrasonic distance measurement method for preventing crosstalk.
The invention is realized by the following technical scheme:
an ultrasonic distance measuring device for preventing crosstalk comprises a power supply circuit, and a single chip microcomputer, a driving circuit, a receiving circuit and an ultrasonic transducer which are respectively connected with the power supply circuit, wherein the power supply circuit is used for providing stable power supplies for all units; the single chip microcomputer is respectively connected with the driving circuit and the receiving circuit, the driving circuit and the receiving circuit are respectively connected with the ultrasonic transducer, the single chip microcomputer sends an instruction to the driving circuit to control the driving circuit to output a waveform with a frequency close to but not equal to the inherent frequency of the ultrasonic transducer, the ultrasonic transducer converts an electric signal of the waveform into a sound signal to be sent and receives a reflected signal, the receiving circuit receives the sound signal and transmits the sound signal to the single chip microcomputer, the single chip microcomputer judges whether the reflected signal is the reflected signal of the transmitted signal according to whether the received reflected signal data is consistent with preset frequency data, and if so, the distance measurement is calculated according to the time interval corresponding to the transmitted wave and the reflected wave.
Further, the electric signal output by the single chip microcomputer control driving circuit is also loaded with protocol data, so that an identification code is carried on a transmitting signal transmitted by the ultrasonic transducer and used for identifying and verifying whether the received signal is a reflected signal returned by the transmitting signal, the protocol data is special information formed by the single chip microcomputer control driving circuit, and the single chip microcomputer judges whether the received reflected signal is the reflected signal of the transmitting signal according to whether the received reflected signal data is consistent with preset frequency data and protocol data.
The preferred technical scheme is that the protocol data loaded by the electric signal output by the driving circuit is a data packet formed by combining pulse time intervals and pulse number.
Furthermore, the power supply circuit comprises a common mode rejection and filter circuit, an LDO voltage stabilizing circuit and a filter circuit which are connected in sequence, the common mode rejection and filter circuit is connected with the power input end, and the filter circuit is connected with the power output end. The power supply circuit can ensure stable power output, reduce the influence of interference generated by the power supply on signals and improve the stability of data acquisition. The common mode rejection and filter circuit is mainly used for rejecting common mode signal interference of power supply input (the common mode interference refers to interference generated by simultaneous equidirectional intersection of potentials of two measured points in the circuit when the potentials are relatively large), because the common mode interference can generate relatively large influence on signal acquisition. The LDO voltage stabilizing circuit is helpful for generating low-ripple power supply voltage, and interference generated by the power supply circuit is reduced to influence acquisition of ultrasonic signals. The filter circuit can further reduce the problem of output voltage and improve the direct coupling degree of the circuit.
Furthermore, the ultrasonic transducer is a transmitting-receiving integrated transducer or a transmitting-receiving split transducer.
Furthermore, the single chip microcomputer is connected with an upper computer through a standard bus, and the ranging data are synchronized to the upper computer, so that the upper computer can conveniently carry out unified scheduling.
An ultrasonic distance measuring system for preventing crosstalk comprises a power supply circuit, a single chip microcomputer and a plurality of ultrasonic receiving and transmitting devices, wherein the single chip microcomputer and the plurality of ultrasonic receiving and transmitting devices are respectively connected with the power supply circuit, each ultrasonic receiving and transmitting device comprises a driving circuit, a receiving circuit and an ultrasonic transducer, the driving circuit and the receiving circuit are respectively connected with the ultrasonic transmitting transducer, each driving circuit and the receiving circuit are respectively connected with the single chip microcomputer, the single chip microcomputer controls each driving circuit to output different frequencies and load waveforms with protocol data, the frequencies are close to but not equal to the inherent frequencies of the ultrasonic transducers, and the single chip microcomputer judges whether the reflected signals are the reflected signals of the transmitted signals according to the condition that whether the received reflected signal data are consistent with preset frequency data and protocol data. The single chip microcomputer can be connected with the upper computer through a standard bus to synchronize the ranging data to the upper computer so as to facilitate unified scheduling of the upper computer.
An ultrasonic distance measuring method for preventing crosstalk comprises the following steps:
s1, the single chip microcomputer sends instructions to the plurality of driving circuits, the plurality of driving circuits are controlled to output waveforms with frequencies close to but not equal to the natural frequency of the ultrasonic transducer, protocol data are loaded on each waveform signal, the output frequencies of the driving circuits are different, and the protocol data of the waveform signals are different;
s2, converting the electric signal of the waveform output by the driving circuit into a sound signal by each ultrasonic transducer, and sending the sound signal;
s3, the ultrasonic transducer receives the reflection signal, the receiving circuit receives the reflection signal, the reflection signal is transmitted to the single chip microcomputer after being processed by filtering, amplifying and the like, the single chip microcomputer judges whether the reflection signal is the reflection signal corresponding to the emission signal by detecting whether the received reflection signal data is consistent with preset frequency data and protocol data, and if so, the distance measurement is calculated according to the time interval corresponding to the emission wave and the reflection wave.
Furthermore, the protocol data loaded by the single chip microcomputer on the waveform signal is a data packet formed by combining pulse time intervals and pulse number.
Furthermore, the protocol data loaded by the single chip microcomputer on the waveform signal is a data packet formed by combining pulse time interval, pulse width and pulse number.
The ultrasonic data is modulated and demodulated by emitting different frequencies, increasing communication protocol data and the like, the ultrasonic sending frequency is adjustable and can be manually adjusted, and different emitting frequencies are distributed to different ultrasonic transducers, so that a plurality of ultrasonic probes work simultaneously, and the probability of misjudgment is reduced compared with the inherent frequency; by adding communication protocol data, the transmitting signal loads specific information, even if the frequencies of the transmitting signals are close or consistent, the contents of the protocol data are inconsistent, the information data are different, the transmitting signal and the receiving signal can be corresponding, the probability of misjudgment is further reduced, and the purpose that a plurality of probes are not interfered with each other is achieved; the structure of the power supply circuit can ensure that a power supply with stable voltage is output, reduce the influence of interference generated by the power supply on working signals and improve the stability of data acquisition.
Drawings
Fig. 1 is a schematic diagram of an ultrasonic pulse transmitted by a conventional ultrasonic distance measuring device.
Fig. 2 is a block diagram of an ultrasonic distance measuring device according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of an ultrasonic pulse transmitted according to an embodiment of the present invention.
Figure 4 is a schematic diagram of another ultrasonic pulse sent by an embodiment of the present invention.
Figure 5 is a schematic diagram of another ultrasonic pulse sent by an embodiment of the present invention.
Fig. 6 is a block diagram of a power supply circuit according to an embodiment of the present invention.
Fig. 7 is a block diagram of an ultrasonic ranging system according to an embodiment of the present invention.
FIG. 8 is a flow chart of an ultrasonic ranging method according to an embodiment of the present invention.
Detailed Description
The center frequency (natural frequency) of the currently available ultrasonic transducer is generally 40kHz, and the driving method is to transmit a string of fixed 8 pulses of 40kHz to drive the transducer, as shown in fig. 1, the frequency, interval and number of the pulses are all fixed values, and when two transducers work simultaneously, the same frequency and the same pulse data are easy to cause mutual interference.
The ultrasonic distance measuring device for preventing crosstalk, as shown in fig. 2 (the power supply circuit is not shown), comprises a power supply circuit, and a single chip microcomputer, a driving circuit, a receiving circuit and an ultrasonic transducer which are respectively connected with the power supply circuit, wherein the ultrasonic transducer in the embodiment is split and comprises an ultrasonic transmitting transducer and an ultrasonic receiving transducer, and the power supply circuit is used for providing a stable power supply for each unit; the single chip microcomputer is respectively connected with the driving circuit and the receiving circuit, the driving circuit is connected with the ultrasonic transmitting transducer, the receiving circuit is connected with the ultrasonic receiving transducer, the singlechip sends an instruction to the driving circuit to control the driving circuit to output a waveform with the frequency close to but not equal to the natural frequency of the ultrasonic transmitting transducer, and meanwhile, protocol data for identification is loaded on the waveform signal, the ultrasonic transmitting transducer converts the electrical signal of the waveform into a sound signal for sending, the ultrasonic receiving transducer receives a reflected signal, the reflected signal is transmitted to the single chip microcomputer after being received by the receiving circuit, the single chip microcomputer judges whether the reflected signal is the reflected signal of the transmitted signal according to whether the received reflected signal data is consistent with preset frequency data and protocol data, and if the received reflected signal data is consistent with the preset frequency data and the protocol data, the distance measurement is calculated according to the time interval corresponding to the transmitted wave and the reflected wave. The output frequency of the driving circuit is controlled to be about plus or minus 5 deviation of the natural frequency of the ultrasonic transmitting transducer, and the range is also enough to generate various signals, so that the use is satisfied.
The single chip microcomputer is an ST single chip microcomputer, and an STM32F103 series single chip microcomputer can be selected. The drive circuit is an amplifying circuit, a control signal with a specific format sent by the singlechip is converted into a square wave drive signal which is enough to drive the transducer, and the ultrasonic transducer sends out the signal. Because the frequency of the signal to be converted on the transducer is not the center frequency of the transducer, the acquired waveform data is relatively weak, and the amplification factor of the driving circuit needs to be increased correspondingly. The ultrasonic receiving circuit can select a TI low-noise and high-precision operational amplifier chip, the ultrasonic transducer receives signals, the signals are processed by the filter circuit, amplified by the amplifying circuit and output to the STM32 single chip microcomputer by a comparator for program analysis and processing. Since the output frequency of the drive circuit is near the natural frequency of the ultrasonic transmitting transducer, the deviation of the frequency can be realized without changing the structure of the drive circuit. The structures of the driving circuit and the receiving circuit are prior art in the field, and can be used in the present invention, and are not described herein again.
The single chip microcomputer can be connected with a display device to display related information according to actual application scenes or connected with an upper computer through a standard bus to synchronize ranging data to the upper computer so as to facilitate unified scheduling of the upper computer.
Taking an ultrasonic transducer with a central frequency (natural frequency) of 40kHz as an example, the singlechip control driving circuit of the invention outputs a pulse signal with a frequency close to 40kHz (such as 36kHz, 38kHz, 42kHz, and the like), and as long as the frequency is a frequency near the natural frequency of the transducer, the transducer can convert an electric signal into a sound signal, but the signal is not strong in natural frequency, and the requirements of most applications are met considering that the use condition does not need to be measured for a long distance.
In order to further solve the problem of signal crosstalk, in addition to transmitting signals with different frequencies, the invention adopts a mode of adding protocol data in a data analysis part instead of simply transmitting 8 fixed pulses to avoid the problem of collision as shown in fig. 1, a singlechip controls a driving circuit, specific data (namely protocol data) for identification is loaded on an output signal according to a specified mode and then transmitted to a transducer, when the signal is reflected back, the data is received according to the specified mode, and if the returned data is consistent with the transmitted data, the data is the return value of the measured data, so that the distance is correctly calculated.
Therefore, the data packets sent by the single chip to the driving circuit include the synchronization frame, the data frame (i.e., the protocol data packet), and the end frame. The synchronous frame is composed of a plurality of fixed high and low pulses, the pulse interval is different from the data pulse to a certain extent, and the synchronous frame is used for identifying the frequency of the frame when the single chip microcomputer receives signals, judging the start of data and preparing for starting sampling. The end frame is similar to the sync frame, has a different pulse width, and is composed of a plurality of identical pulses, which mark the end of the data. The data frame contains the contents of the protocol data.
And when the single chip microcomputer receives the signal, the synchronous frame is identified, the frequency of the data frame can be obtained, and then the data frame is sampled and analyzed by the frequency to obtain data. And the singlechip is provided with an identification program for identifying the significance of the protocol data packet.
As a preferred technical solution of this embodiment, the protocol data loaded on the output electrical signal is a data packet formed by combining a pulse time interval and a pulse number. The singlechip not only designs the frequency of the transmitted signal, but also identifies different transmitted signals by designing the combined information of the time interval and the number of pulses of pulse transmission.
As another preferable technical solution of this embodiment, the protocol data loaded to the waveform signal by the single chip microcomputer is a data packet formed by combining a pulse time interval, a pulse width, and a pulse number. The pulse width is generally represented by the difference in time, and a large pulse width can also be represented by a plurality of small pulses, and the pulse width is controlled by a single chip without changing the existing drive circuit.
The specific contents of the protocol data are further explained by taking fig. 3, fig. 4 and fig. 5 as examples.
Taking fig. 3 as an example, a data packet in the protocol data carries data information of a time interval d of pulses and a number of pulses 7, the time interval d of the pulses is different from the conventional time interval c, and the 7 pulses are also different from the conventional 8 pulses.
Different from the same time interval of each pulse in fig. 3, further, the time intervals of the pulses may also be different as a1, a2, a3, a4, and a5 shown in fig. 4, so that the protocol packet includes data information of the pulse intervals a1, a2, a3, a4, a5, and the pulse number 6.
The widths of the pulses in fig. 3 and fig. 4 are the same, and further, the widths of the pulses may be different from each other as shown in f1, f2, f3, f4, f5, f6, and f7 in fig. 5, so that the protocol data includes data information of pulse intervals b1, b2, b3, b4, b5, b6, pulse widths f1, f2, f3, f4, f5, f6, and f7, and pulse number 7.
The information is generated randomly by the singlechip or according to a preset rule.
The method can also be applied to the existing CPPM chaotic surge position modulation technology, the interval between pulses transmitted by the ultrasonic sensor and the characteristics of chaotic signals are combined to form a special signal belonging to each ultrasonic probe, or a unique transmitting sequence is distributed to each ultrasonic probe, or pseudo-random coding adjustment is carried out on ultrasonic transmitting signals, or convolution coding and other forms are carried out on the ultrasonic transmitting signals, so that ultrasonic crosstalk is eliminated.
As shown in fig. 6, the power supply circuit includes a common mode rejection and filter circuit, an LDO voltage regulator circuit, and a filter circuit, which are connected in sequence, where the common mode rejection and filter circuit is connected to the power input terminal, and the filter circuit is connected to the power output terminal. The power supply circuit can ensure stable output of the power supply, reduce the influence of interference generated by the power supply on the misjudgment of the circuit on signals, and improve the stability of data acquisition. The common mode rejection and filter circuit is mainly used for rejecting common mode signal interference of power supply input (the common mode interference refers to interference generated by simultaneous equidirectional intersection of potentials of two measured points in the circuit when the potentials are relatively large), because the common mode interference can generate relatively large influence on signal acquisition. The LDO voltage stabilizing circuit is helpful for generating low-ripple power supply voltage, and interference generated by the power supply circuit is reduced to influence acquisition of ultrasonic signals. The filter circuit can further reduce the problem of output voltage and improve the direct coupling degree of the circuit.
An ultrasonic distance measuring system for preventing crosstalk is shown in fig. 7, and comprises a power supply circuit, a single chip microcomputer and a plurality of ultrasonic transceiver devices, wherein the single chip microcomputer and the plurality of ultrasonic transceiver devices are respectively connected with the power supply circuit, each ultrasonic transceiver device comprises a driving circuit, a receiving circuit, an ultrasonic transmitting transducer and an ultrasonic receiving transducer, the driving circuit is connected with the ultrasonic transmitting transducer, the receiving circuit is connected with the ultrasonic receiving transducer, each driving circuit and each receiving circuit are respectively connected with the singlechip, the singlechip controls each driving circuit to output waveforms with different frequencies, the frequency is close to but not equal to the natural frequency of the ultrasonic transmitting transducer, meanwhile, each waveform signal is loaded with specific protocol data, and the single chip microcomputer judges whether the received reflected signal data is the reflected signal of the transmitted signal according to the condition whether the received reflected signal data is consistent with the preset frequency data and the protocol data. If the natural frequency of the ultrasonic transmitting transducer is 40kHz, the singlechip outputs square waves with different frequencies (such as 36kHz, 37kHz, 38kHz, 39kHz, 41kHz, 42kHz, 43kHz and the like) to the plurality of driving circuits, and assigns different data with assigned meanings (such as the combination of data of assigned pulse time intervals, square wave numbers and the like) to each waveform, namely, protocol data is loaded, and if the returned data is consistent with the sent data (both the frequency data and the protocol data are consistent), the returned data is the returned value of the data measured this time. The single chip microcomputer can be connected with the upper computer through a standard bus to synchronize the ranging data to the upper computer so as to facilitate unified scheduling of the upper computer.
An ultrasonic distance measuring method for preventing crosstalk, as shown in fig. 8, includes the following steps:
s1, the single chip sends instructions to the plurality of driving circuits, the plurality of driving circuits are controlled to output waveforms with frequencies close to but not equal to the natural frequency of the ultrasonic transmitting transducer, meanwhile, the single chip loads specific protocol data to each waveform signal, the output frequencies of each driving circuit are different, the protocol data of each waveform signal are also different, the frequency and the protocol data (verification data) of each ultrasonic transducer can be dynamically generated according to requirements according to a certain rule, or randomly, or in the operation process, but are different from other ultrasonic transducers;
s2, each ultrasonic transmitting transducer converts the electric signal of the waveform output by the driving circuit into a sound signal to be sent;
s3, the ultrasonic receiving transducer receives the reflected signal, the receiving circuit receives the reflected signal, amplifies, filters and converts the reflected signal and transmits the reflected signal to the single chip microcomputer, the single chip microcomputer judges whether the reflected signal is the reflected signal corresponding to the transmitted signal by detecting whether the received reflected signal data is consistent with preset frequency data and protocol data, if so, the received reflected signal data is determined to be effective data, and the calculation ranging is carried out according to the time interval corresponding to the transmitted wave and the reflected wave; if not, the received reflected signal data is determined to be invalid data of the transmitted signal. Meanwhile, when the singlechip carries out distance measurement calculation, the temperature self-adaptive compensation is carried out on the propagation speed of the ultrasonic signal according to the relation between the propagation speed of the ultrasonic signal and the ambient temperature. The associated compensation scheme and calculation method employ existing conventional methods.
A plurality of drive circuit of a single chip microcomputer control, the ultrasonic wave of a plurality of ultrasonic transducer transmission different frequencies and the different agreement data of loading to a plurality of ultrasonic transducer work in the control system and mutual noninterference, use the scene that needs a plurality of ultrasonic probe simultaneous workings, for example the robot walking keeps away barrier, field such as on-vehicle ultrasonic range finding, because ultrasonic wave reflection angle's limitation, it can not all-round control its peripheral barrier situation to rely on an ultrasonic probe alone.
Experiments prove that the distance measuring system can reach the distance measuring precision within 10mm within the range from 8cm to 5m, can effectively eliminate ultrasonic crosstalk, can timely respond to environmental changes, detect close obstacles and make feedback, and effectively protects the walking safety of the robot.
The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The ultrasonic distance measuring device is characterized by comprising a power supply circuit, and a single chip microcomputer, a driving circuit, a receiving circuit and an ultrasonic transducer which are respectively connected with the power supply circuit, wherein the power supply circuit is used for providing a stable power supply for each unit; the single chip microcomputer is respectively connected with the driving circuit and the receiving circuit, and the driving circuit and the receiving circuit are respectively connected with the ultrasonic transmitting transducer; the ultrasonic transducer is used for converting the electric signal of the driving circuit into a sound signal to be sent, receiving the reflected signal and transmitting the reflected signal to the receiving circuit; the single chip microcomputer is used for controlling the driving circuit to output a waveform with a frequency close to but not equal to the natural frequency of the ultrasonic transducer, judging whether the waveform is a reflected signal of the transmitting signal according to the condition that whether the data of the reflected signal received by the receiving circuit is consistent with the preset frequency data, and calculating the distance according to the time interval corresponding to the transmitting wave and the reflected wave if the data of the reflected signal is consistent with the preset frequency data.
2. The ultrasonic ranging device for preventing crosstalk according to claim 1, wherein the electrical signal output by the driving circuit controlled by the single chip microcomputer is further loaded with protocol data for identifying and verifying whether the received signal is a reflected signal returned by the transmitting signal.
3. The ultrasonic ranging device for preventing crosstalk according to claim 2, wherein the protocol data loaded on the electrical signal outputted by the driving circuit is a data packet formed by combining a pulse time interval and a pulse number.
4. The ultrasonic ranging device for preventing crosstalk according to any one of claims 1 to 3, wherein the power supply circuit comprises a common mode rejection and filter circuit, an LDO voltage regulator circuit and a filter circuit which are connected in sequence, the common mode rejection and filter circuit is connected with the power input end, and the filter circuit is connected with the power output end.
5. The ultrasonic ranging device for preventing crosstalk according to any one of claims 1 to 3, wherein the ultrasonic transducer is a transceiver-integrated transducer or a transceiver-split transducer.
6. The ultrasonic ranging device for preventing crosstalk according to any one of claims 1 to 3, wherein the single chip microcomputer is further connected with an upper computer through a standard bus, and ranging data are synchronized to the upper computer.
7. An ultrasonic distance measuring system for preventing crosstalk comprises a power supply circuit, a singlechip and a plurality of ultrasonic receiving and transmitting devices, wherein the singlechip and the plurality of ultrasonic receiving and transmitting devices are respectively connected with the power supply circuit, each ultrasonic receiving and transmitting device comprises a driving circuit, a receiving circuit and an ultrasonic transducer, the driving circuit and the receiving circuit are respectively connected with the ultrasonic transducer, each driving circuit and each receiving circuit are respectively connected with the singlechip, the single chip microcomputer controls each driving circuit to output waveforms with different frequencies and loaded with protocol data, the frequency is close to but not equal to the natural frequency of the ultrasonic transducer, the single chip microcomputer judges whether the reflected signal is the reflected signal of the transmitting signal according to whether the received reflected signal data is consistent with preset frequency data and protocol data, and if so, the distance is calculated according to the time interval corresponding to the transmitting wave and the reflected wave.
8. An ultrasonic distance measuring method for preventing crosstalk is characterized by comprising the following steps:
s1, the single chip microcomputer sends instructions to the plurality of driving circuits, the plurality of driving circuits are controlled to output waveforms with frequencies close to but not equal to the natural frequency of the ultrasonic transducer, meanwhile, the single chip microcomputer loads protocol data to each waveform signal, the output frequencies of the driving circuits are different, and the protocol data loaded by each waveform signal are different;
s2, converting the electric signal of the waveform output by the driving circuit into a sound signal by each ultrasonic transducer, and sending the sound signal;
s3, the ultrasonic transducer receives the reflected signal, the receiving circuit receives and processes the reflected signal and transmits the processed signal to the single chip microcomputer, the single chip microcomputer judges whether the reflected signal is the reflected signal corresponding to the transmitted signal by detecting whether the received reflected signal data is consistent with the preset frequency data and protocol data, and if so, the single chip microcomputer calculates the distance measurement according to the time interval corresponding to the transmitted wave and the reflected wave.
9. The ultrasonic ranging method for preventing crosstalk according to claim 8, wherein the protocol data loaded on the waveform signal by the single chip microcomputer is a data packet formed by combining a pulse time interval and a pulse number.
10. The ultrasonic ranging method for preventing crosstalk according to claim 8, wherein the protocol data loaded on the waveform signal by the single chip microcomputer is a data packet formed by combining a pulse time interval, a pulse width and a pulse number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911089133.XA CN110865378A (en) | 2019-11-08 | 2019-11-08 | Anti-crosstalk ultrasonic distance measuring device, system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911089133.XA CN110865378A (en) | 2019-11-08 | 2019-11-08 | Anti-crosstalk ultrasonic distance measuring device, system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110865378A true CN110865378A (en) | 2020-03-06 |
Family
ID=69653679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911089133.XA Pending CN110865378A (en) | 2019-11-08 | 2019-11-08 | Anti-crosstalk ultrasonic distance measuring device, system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110865378A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111796289A (en) * | 2020-07-14 | 2020-10-20 | 武汉理工大学 | Ultrasonic precise distance measurement and anti-interference method and system |
| CN112558060A (en) * | 2020-11-12 | 2021-03-26 | 深圳市汇顶科技股份有限公司 | Ranging method, ranging system, ranging chip, electronic device and readable storage medium |
| CN113945731A (en) * | 2021-12-06 | 2022-01-18 | 中国科学院大学 | Ultrasonic speed measuring device and ultrasonic speed measuring equipment |
| CN116032326A (en) * | 2022-12-21 | 2023-04-28 | 苏州恩易浦科技有限公司 | Signal control method suitable for photovoltaic equipment, electronic equipment and storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101271154A (en) * | 2008-03-28 | 2008-09-24 | 天津大学 | Ultrasound excitation method for eliminating robot ultrasound ranging system interference |
| CN103941259A (en) * | 2014-04-15 | 2014-07-23 | 长安大学 | Ultrasonic ranging method and ranging device with high anti-interference performance |
| CN106324623A (en) * | 2011-08-02 | 2017-01-11 | 内克斯特纳夫有限公司 | A method for reducing cross-interference, a processor-readable memory, and a system |
| US20190025415A1 (en) * | 2017-07-19 | 2019-01-24 | Semiconductor Components Industries, Llc | Composite acoustic bursts for multi-channel sensing |
| CN110310418A (en) * | 2018-03-20 | 2019-10-08 | 上海雨展网络科技有限公司 | A kind of nobody more cargo path detection methods based on multi-frequency ultrasonic wave |
| CN110412582A (en) * | 2018-04-30 | 2019-11-05 | 罗伯特·博世有限公司 | The method and apparatus of the echo of ultrasonic signal for identification |
-
2019
- 2019-11-08 CN CN201911089133.XA patent/CN110865378A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101271154A (en) * | 2008-03-28 | 2008-09-24 | 天津大学 | Ultrasound excitation method for eliminating robot ultrasound ranging system interference |
| CN106324623A (en) * | 2011-08-02 | 2017-01-11 | 内克斯特纳夫有限公司 | A method for reducing cross-interference, a processor-readable memory, and a system |
| CN103941259A (en) * | 2014-04-15 | 2014-07-23 | 长安大学 | Ultrasonic ranging method and ranging device with high anti-interference performance |
| US20190025415A1 (en) * | 2017-07-19 | 2019-01-24 | Semiconductor Components Industries, Llc | Composite acoustic bursts for multi-channel sensing |
| CN110310418A (en) * | 2018-03-20 | 2019-10-08 | 上海雨展网络科技有限公司 | A kind of nobody more cargo path detection methods based on multi-frequency ultrasonic wave |
| CN110412582A (en) * | 2018-04-30 | 2019-11-05 | 罗伯特·博世有限公司 | The method and apparatus of the echo of ultrasonic signal for identification |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111796289A (en) * | 2020-07-14 | 2020-10-20 | 武汉理工大学 | Ultrasonic precise distance measurement and anti-interference method and system |
| CN112558060A (en) * | 2020-11-12 | 2021-03-26 | 深圳市汇顶科技股份有限公司 | Ranging method, ranging system, ranging chip, electronic device and readable storage medium |
| CN113945731A (en) * | 2021-12-06 | 2022-01-18 | 中国科学院大学 | Ultrasonic speed measuring device and ultrasonic speed measuring equipment |
| CN116032326A (en) * | 2022-12-21 | 2023-04-28 | 苏州恩易浦科技有限公司 | Signal control method suitable for photovoltaic equipment, electronic equipment and storage medium |
| CN116032326B (en) * | 2022-12-21 | 2024-03-05 | 苏州恩易浦科技有限公司 | Signal control method suitable for photovoltaic equipment, electronic equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110865378A (en) | Anti-crosstalk ultrasonic distance measuring device, system and method | |
| CN107015230B (en) | ultrasonic ranging method | |
| CN104199036B (en) | distance measuring device and robot system | |
| US10682670B2 (en) | Excitation signal sequences for ultrasonic transducer | |
| JP2007500348A (en) | Distance measuring method and apparatus using ultrasonic waves | |
| CN102687038B (en) | Obstacle detection device | |
| EP1615050A2 (en) | Vehicle-surroundings monitor apparatus | |
| CN104656083A (en) | Ultrasonic distance measuring system having temperature compensation function and adopting pulse counting | |
| CN105548966A (en) | Bidirectional transmit-receive integrated ultrasonic distance measurement method and system | |
| CN108562906B (en) | Acoustic ranging method and device | |
| EP3333592A2 (en) | Ultrasonic sensor | |
| CN104678400A (en) | Ultrasonic ranging system employing pulse counting | |
| CN104459704A (en) | Distance measurement method based on environment temperature | |
| TWI432761B (en) | Positioning the ranging method and system, the distance measurement method | |
| CN106950983A (en) | Unmanned vehicle barrier-avoiding method and device | |
| CN110007306B (en) | Underwater sonar detection system | |
| CN110286379B (en) | Ultrasonic ranging device, system and method | |
| CN209299249U (en) | Extend Local Interconnect Network bus and from Local Interconnect Network bus transceiver | |
| CN110703235A (en) | Ultrasonic measurement system and method thereof | |
| CN103969648A (en) | Anti-noise ultrasonic distance measurement device and method | |
| CN112230206A (en) | Ultrasonic ranging module and ultrasonic equipment of single probe | |
| US10809346B2 (en) | Semiconductor device, ultrasonic sensor, and moving body | |
| CN212586545U (en) | Ultrasonic ranging module and ultrasonic equipment of single probe | |
| CN108872996B (en) | Distance measuring equipment and unmanned aerial vehicle | |
| CN206331304U (en) | Unmanned plane and its flight control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 510000 201, building a, No.19 nanxiangsan Road, Huangpu District, Guangzhou City, Guangdong Province Applicant after: GUANGZHOU SAITE INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 510000 Room 303, 36 Kaitai Avenue, Huangpu District, Guangzhou City, Guangdong Province Applicant before: GUANGZHOU SAITE INTELLIGENT TECHNOLOGY Co.,Ltd. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200306 |