CN111366934A - System and method for eliminating tire distance influence based on ultrasonic waves - Google Patents
System and method for eliminating tire distance influence based on ultrasonic waves Download PDFInfo
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- CN111366934A CN111366934A CN202010175208.2A CN202010175208A CN111366934A CN 111366934 A CN111366934 A CN 111366934A CN 202010175208 A CN202010175208 A CN 202010175208A CN 111366934 A CN111366934 A CN 111366934A
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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
- G01S15/46—Indirect determination of position data
Abstract
The invention discloses a system and a method for eliminating tire distance influence based on ultrasonic waves, which comprises a main control module, an ultrasonic wave transmitting and receiving module, a power supply module, an alarm module and a mechanical arm, wherein the main control module is used for controlling the ultrasonic wave transmitting and receiving module to transmit ultrasonic waves; the ultrasonic transmitting and receiving module is installed at the front end of the mechanical arm, and the main control module is connected with the mechanical arm, the ultrasonic transmitting and receiving module, the warning module and the power supply module respectively. The method utilizes an ultrasonic transit time distance measurement method, considers the influence factors of different sizes of tires of two-wheel vehicles with different models on the establishment of an anti-collision model, fundamentally eliminates the measurement error caused by the distance between the placement position of an ultrasonic module and the foremost end of a vehicle body of the two-wheel vehicle, and is a breakthrough of the application of ultrasonic obstacle measurement on the two-wheel vehicle.
Description
Technical Field
The invention belongs to the field of safe driving of vehicles, and particularly relates to a system and a method for eliminating tire distance influence based on ultrasonic waves.
Background
The ultrasonic wave is a sound wave with the frequency higher than 20000 Hz, has strong penetrating power, is easy to obtain more concentrated sound energy, and has long propagation distance in water. Due to its high frequency, it has many features: the first is high power, which is much more energetic than the typical sound waves and can be used for cutting, welding, drilling, etc. Moreover, because the ultrasonic probe has high frequency, short wavelength, not serious diffraction and good directionality, the ultrasonic probe is commonly used for ultrasonic detection in industry and medicine. Ultrasonic ranging is an important part of the range. The ultrasonic distance measurement method mainly comprises three methods, namely a phase detection method, a sound wave amplitude detection method and a transit time method. The phase detection method has high precision, but the detection range is limited; the acoustic wave amplitude detection method is susceptible to the influence of a reflecting medium, and the transit time method is most widely applied as a compromise method.
The ultrasonic sensor has simple structure, and the precision can reach more than centimeter level generally. The system can be networked, 3D positioning can be realized by a plurality of sensors, the price of a single ultrasonic sensor is extremely low, and the detection distance is generally short. The currently popular ultrasonic ranging range is typically on the order of 3-5 m.
To achieve a good obstacle measurement effect, the position of a sensor on the two-wheel vehicle needs to be reasonably considered. Two-wheeled vehicles of different models often have wheels of different sizes, and in consideration of the structure of the two-wheeled vehicle, when a forward collision occurs, the front wheel first contacts an obstacle on the ground, as shown in fig. 1 and 2. Therefore, for two electric vehicles having the same vehicle speed and the same braking acceleration and different wheel sizes (radii), the possibility that the front wheel having a large radius contacts an obstacle earlier and a danger occurs is higher. In summary, it is necessary to consider a system that is suitable for two-wheeled vehicles of different models and that can eliminate the influence of tire size on distance measurement.
Disclosure of Invention
In view of the above technical problems, an object of the present invention is to provide a system and a method for eliminating tire distance influence based on ultrasonic waves, which can effectively solve the problem of distance measurement error caused by tire size in a two-wheeled vehicle ultrasonic obstacle measurement system.
The invention adopts the following technical scheme: a system for eliminating tire distance influence based on ultrasonic waves comprises a main control module, an ultrasonic transmitting and receiving module, a power supply module, an alarm module and a mechanical arm; the ultrasonic transmitting and receiving module is installed at the front end of the mechanical arm, and the main control module is connected with the mechanical arm, the ultrasonic transmitting and receiving module, the warning module and the power supply module respectively.
Preferably, the main control module is used for driving the mechanical arm to rotate, transmitting/receiving ultrasonic signals and processing data;
the mechanical arm is used for driving the ultrasonic transmitting and receiving module to rotate;
the ultrasonic transmitting and receiving module is used for receiving distance information;
the alarm module is used for alarming and reminding;
the power supply module supplies power to the system.
Preferably, one end of the mechanical arm is arranged on the outer side of the axle center of the vehicle front wheel, and the other end of the mechanical arm is fixedly provided with an ultrasonic transmitting and receiving module; the mechanical arm is controlled by a steering engine, and the steering engine is connected with the main control module.
Preferably, the main control module acquires the distance from the axle center of the front wheel to the ground and the obstacle through controlling the mechanical arm to rotate, and the distance between the wheel and the obstacle is obtained through calculation to give an alarm.
The method for eliminating the tire distance influence based on the ultrasonic waves comprises the following steps:
a. the main control module, the ultrasonic transmitting and receiving module, the power supply module, the warning module and the mechanical arm are connected;
b. the other end of the mechanical arm is arranged at the axle center position of the front wheel of the vehicle;
c. placing the two-wheel vehicle on a horizontal ground, starting a switch, rotating the mechanical arm to a vertical direction, and then vertically calculating a distance L downwards by the ultrasonic transmitting head/receiving head and transmitting the distance L to the main control module;
d. the mechanical arm rotates to the horizontal direction, and the distance L' measured when the front part meets an obstacle is measured;
e. and comparing the L '-L with a preset dangerous distance parameter, and controlling the alarm module to give an alarm by the main control module when the L' -L is smaller than the dangerous distance.
Preferably, the distance L is calculated according to L ═ c × t)/2, where c is the propagation speed of the sound wave in the air; t is the time difference between the transmission time and the reception time.
The invention has the beneficial effects that:
the method of the invention utilizes an ultrasonic transit time distance measurement method, considers the influence factors of different sizes of tires of two-wheel vehicles with different models on the establishment of an anti-collision model, fundamentally eliminates the measurement error caused by the distance between the placement position of an ultrasonic module and the foremost end of a vehicle body of the two-wheel vehicle, and is a breakthrough of the application of ultrasonic obstacle measurement on the two-wheel vehicle.
Drawings
FIG. 1 is a system diagram of the present invention;
fig. 2 is a usage state diagram of the present invention.
Detailed Description
Example 1:
referring to the attached drawings in the specification, the system for eliminating the influence of the tire distance based on the ultrasonic waves comprises a main control module, an ultrasonic wave transmitting and receiving module, a power supply module, an alarm module and a mechanical arm; the ultrasonic transmitting and receiving module is installed at the front end of the mechanical arm, and the main control module is connected with the mechanical arm, the ultrasonic transmitting and receiving module, the warning module and the power supply module respectively.
The main control module is used for driving the mechanical arm to rotate, transmitting/receiving ultrasonic signals and processing data;
the mechanical arm is used for driving the ultrasonic transmitting and receiving module to rotate;
the ultrasonic transmitting and receiving module is used for receiving distance information;
the alarm module is used for alarming and reminding;
the power supply module supplies power to the system.
One end of the mechanical arm is arranged on the outer side of the axle center of the vehicle front wheel, and the other end of the mechanical arm is fixedly provided with an ultrasonic transmitting and receiving module; the mechanical arm is controlled by a steering engine, and the steering engine is connected with the main control module.
The device is applied to a two-wheel vehicle, and for an electric two-wheel vehicle, the system can be considered to be supplied with power by the power of the vehicle, and the power module is not needed at the moment, but the system is needed to be connected into a circuit of the electric two-wheel vehicle.
The ultrasonic transit time distance measuring method is utilized, influence factors of different sizes of tires of two-wheel vehicles of different models on the establishment of an anti-collision model are considered, measuring errors caused by the distance between the placement position of the ultrasonic module and the foremost end of a vehicle body of the two-wheel vehicle are fundamentally eliminated, and the ultrasonic obstacle measuring method is a breakthrough of the application of ultrasonic obstacle measuring on the two-wheel vehicle.
According to the method for eliminating the tire distance influence based on the ultrasonic waves, the main control module controls the mechanical arm to rotate to acquire the distance between the axle center of the front wheel of the vehicle and the ground and the obstacle, the distance between the wheel and the obstacle is obtained through calculation, and the alarm is given.
Specifically, the method comprises the following steps:
a. the main control module, the ultrasonic transmitting and receiving module, the power supply module, the warning module and the mechanical arm are connected;
b. the other end of the mechanical arm is arranged at the axle center position of the front wheel of the vehicle;
c. placing the two-wheel vehicle on a horizontal ground, starting a switch, rotating the mechanical arm to a vertical direction, and then vertically calculating a distance L downwards by the ultrasonic transmitting head/receiving head and transmitting the distance L to the main control module; the determination of the vertical downward position of the ultrasonic module can be obtained by comparing the distance measurement lengths of adjacent positions, and the position where the minimum distance is measured is the vertical direction, where a certain level degree of the ground needs to be ensured.
d. The mechanical arm rotates to the horizontal direction, and the distance L' measured when the front part meets an obstacle is measured;
e. and comparing the L '-L with a preset dangerous distance parameter, and controlling the alarm module to give an alarm by the main control module when the L' -L is smaller than the dangerous distance.
f. The method for eliminating tire distance influence based on ultrasonic waves according to claim 4, wherein the distance L is calculated according to L ═ (c x t)/2, wherein c is the propagation speed of sound waves in air; t is the time difference between the transmission time and the reception time.
The above is not relevant and is applicable to the prior art.
While certain specific embodiments of the present invention have been described in detail by way of illustration, it will be understood by those skilled in the art that the foregoing is illustrative only and is not limiting of the scope of the invention, as various modifications or additions may be made to the specific embodiments described and substituted in a similar manner by those skilled in the art without departing from the scope of the invention as defined in the appending claims. It should be understood by those skilled in the art that any modifications, equivalents, improvements and the like made to the above embodiments in accordance with the technical spirit of the present invention are included in the scope of the present invention.
Claims (6)
1. A system for eliminating tire distance influence based on ultrasonic waves is characterized by comprising a main control module, an ultrasonic wave transmitting and receiving module, a power supply module, an alarm module and a mechanical arm; the ultrasonic transmitting and receiving module is installed at the front end of the mechanical arm, and the main control module is connected with the mechanical arm, the ultrasonic transmitting and receiving module, the warning module and the power supply module respectively.
2. The system for eliminating tire distance influence based on ultrasonic waves of claim 1,
the main control module is used for driving the mechanical arm to rotate, transmitting/receiving ultrasonic signals and processing data;
the mechanical arm is used for driving the ultrasonic transmitting and receiving module to rotate;
the ultrasonic transmitting and receiving module is used for receiving distance information;
the alarm module is used for alarming and reminding;
the power supply module supplies power to the system.
3. The system for eliminating tire distance influence based on ultrasonic waves of claim 1,
one end of the mechanical arm is arranged on the outer side of the axle center of the vehicle front wheel, and the other end of the mechanical arm is fixedly provided with an ultrasonic transmitting and receiving module; the mechanical arm is controlled by a steering engine, and the steering engine is connected with the main control module.
4. The method for eliminating the influence of the distance between the tires on the basis of the ultrasonic waves as claimed in any one of claims 1 to 3, wherein the main control module collects the distance between the axle center of the front wheel of the vehicle and the ground and the obstacle through controlling the mechanical arm to rotate, obtains the distance between the wheel and the obstacle through calculation, and gives an alarm.
5. The method for eliminating tire distance influence based on ultrasonic waves as claimed in claim 4, comprising the steps of:
a. the main control module, the ultrasonic transmitting and receiving module, the power supply module, the warning module and the mechanical arm are connected;
b. the other end of the mechanical arm is arranged at the axle center position of the front wheel of the vehicle;
c. placing the two-wheel vehicle on a horizontal ground, starting a switch, rotating the mechanical arm to a vertical direction, and then vertically calculating a distance L downwards by the ultrasonic transmitting head/receiving head and transmitting the distance L to the main control module;
d. the mechanical arm rotates to the horizontal direction, and the distance L' measured when the front part meets an obstacle is measured;
e. and comparing the L '-L with a preset dangerous distance parameter, and controlling the alarm module to give an alarm by the main control module when the L' -L is smaller than the dangerous distance.
6. The method for eliminating tire distance influence based on ultrasonic waves according to claim 4, wherein the distance L is calculated according to L ═ (c x t)/2, wherein c is the propagation speed of sound waves in air; t is the time difference between the transmission time and the reception time.
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| CN202010175208.2A CN111366934B (en) | 2020-03-13 | 2020-03-13 | System and method for eliminating influence of tire distance based on ultrasonic waves |
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| CN202010175208.2A CN111366934B (en) | 2020-03-13 | 2020-03-13 | System and method for eliminating influence of tire distance based on ultrasonic waves |
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| CN111366934B CN111366934B (en) | 2023-07-25 |
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