CN111804553A - Self-focusing ultrasonic transducer, sweeping robot and acoustic impedance calculation method - Google Patents
Self-focusing ultrasonic transducer, sweeping robot and acoustic impedance calculation method Download PDFInfo
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- CN111804553A CN111804553A CN202010628562.6A CN202010628562A CN111804553A CN 111804553 A CN111804553 A CN 111804553A CN 202010628562 A CN202010628562 A CN 202010628562A CN 111804553 A CN111804553 A CN 111804553A
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- 238000010408 sweeping Methods 0.000 title claims abstract description 26
- 238000004364 calculation method Methods 0.000 title claims abstract description 10
- 239000004743 Polypropylene Substances 0.000 claims abstract description 16
- -1 polypropylene Polymers 0.000 claims abstract description 16
- 229920001155 polypropylene Polymers 0.000 claims abstract description 16
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 claims abstract description 10
- 229910052709 silver Inorganic materials 0.000 claims abstract description 6
- 239000004332 silver Substances 0.000 claims abstract description 6
- 238000002592 echocardiography Methods 0.000 claims description 3
- 229920006335 epoxy glue Polymers 0.000 claims description 3
- 230000005284 excitation Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 9
- 230000006872 improvement Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000002604 ultrasonography Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 239000002023 wood Substances 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000005096 rolling process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/06—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction
- B06B1/0688—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction with foil-type piezoelectric elements, e.g. PVDF
- B06B1/0696—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction with foil-type piezoelectric elements, e.g. PVDF with a plurality of electrodes on both sides
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B3/00—Methods or apparatus specially adapted for transmitting mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/09—Analysing solids by measuring mechanical or acoustic impedance
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Engineering & Computer Science (AREA)
- Biochemistry (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Health & Medical Sciences (AREA)
- Acoustics & Sound (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention discloses a self-focusing ultrasonic transducer, a sweeping robot and an acoustic impedance calculation method, wherein the self-focusing ultrasonic transducer comprises a supporting piece, the bottom of the supporting piece is provided with a concave spherical surface, an annular plane is surrounded around the concave spherical surface, and the upper end of the supporting piece is provided with a connecting joint; the cross-linked polypropylene piezoelectric electret film is characterized in that conductive silver paste is printed on the upper surface and the lower surface of the cross-linked polypropylene piezoelectric electret film and covers the concave spherical surface; one end of the shielding wire is connected with the edge of the lower surface of the cross-linked polypropylene piezoelectric electret film, and the other end of the shielding wire is connected with the connecting joint to be used as a positive electrode; and the silver film is plated on the surface of the support, and the upper surface of the cross-linked polypropylene piezoelectric electret film is connected with the connecting joint to serve as a negative electrode. The self-focusing ultrasonic transducer can realize the self-focusing of the acoustic energy, identify and detect the acoustic resistance of the reflector, identify different materials of the reflector, and control the robot to switch different working modes according to the different materials.
Description
Technical Field
The invention relates to the technical field of sweeping robots, in particular to a self-focusing ultrasonic transducer, a sweeping robot and an acoustic impedance calculation method.
Background
Due to the efficient and intelligent cleaning mode, the sweeping robot is increasingly popularized in the society. The sweeping robot generally adopts a brush sweeping and vacuum mode, and sundries on the ground are firstly absorbed into the garbage storage box, so that the function of cleaning the ground is achieved. In addition, some floor sweeping robots are provided with a water tank, so that the floor sweeping function can be completed. When the floor sweeping robot is used for sweeping, if a carpet is encountered, the walking path of the floor sweeping robot is changed, and the carpet is prevented from being damaged. Therefore, it is necessary to detect the floor material such as a carpet.
Currently, in the prior art, a carpet detection mode of a sweeping robot is to determine whether a carpet exists according to the working current change or the internal sound characteristic of a rolling brush or a motor. Patents ZL201610765425.0 and ZL201910172819.9 propose that when the robot is on the carpet, the working current of the roller brush or the motor will increase, and the current is monitored to determine the condition of the carpet and the non-carpet. Patent ZL201810645504.7 proposes collecting sounds generated inside the motor and reflected by the ground for analysis and determining the material of the ground. However, when the sweeping robot receives resistance caused by non-carpet substances (such as hair entanglement, blocking of the side brush, passing of obstacles and the like), sound changes can be caused, and misjudgment is caused.
Thus, air-coupled ultrasonic transducers provide a solution to such problems. The prior research aiming at the air coupling ultrasonic transducer, for example, patent ZL201721476404.3 provides a structure of a self-focusing ultrasonic transducer, but the patent uses a piezoelectric ceramic wafer as a vibration element, has a narrow bandwidth, belongs to a fragile and fragile material, and needs to be finely processed to be made into a curved surface to achieve the focusing effect. Patent ZL201811191335.0 provides a point focusing based air coupled ultrasonic transducer structure, which uses porous polypropylene ferroelectric electret film as vibration element, and sticks on the arc metal backing to realize focusing, but the arc surface of the metal backing is made by machine tool fine processing, the making difficulty is high, and it is not designable.
Therefore, in order to detect the ground material, ensure the detection precision and improve the detection efficiency, it is necessary to develop a self-focusing ultrasonic transducer and a sweeping robot.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a self-focusing ultrasonic transducer which is reasonable in structure and can be assembled at the bottom of a sweeping robot. The technical scheme is as follows:
a self-focusing ultrasound transducer, comprising:
the supporting piece is provided with a concave spherical surface at the bottom, an annular plane is surrounded around the concave spherical surface, and the upper end of the supporting piece is provided with a connecting joint;
the upper surface and the lower surface of the cross-linked polypropylene piezoelectric electret film are both printed with conductive silver paste and are covered in the concave spherical surface;
one end of the shielding wire is connected with the edge of the lower surface of the cross-linked polypropylene piezoelectric electret film, and the other end of the shielding wire is connected with the connecting joint to serve as a positive electrode;
and the silver layer is plated on the surface of the support, and the upper surface of the cross-linked polypropylene piezoelectric electret film is connected with the connecting joint to serve as a negative electrode.
As a further improvement of the present invention, the side wall of the supporting member is provided with a fixing slit, and the shielding wire is fixed to the fixing slit.
As a further improvement of the invention, the supporting part is cylindrical in shape, the radius of the supporting part is 6mm, and the height of the supporting part is 20 mm.
As a further improvement of the invention, the curvature radius of the concave spherical surface is 10mm, and the opening radius is 4 mm.
As a further improvement of the invention, the top of the supporting piece is provided with a fixing cavity for fixing the connecting joint.
As a further improvement of the invention, the connection joint is fixed to the fixing cavity by epoxy glue.
As a further improvement of the invention, a hollow cavity communicated with the fixed cavity is arranged inside the supporting piece.
As a further improvement of the invention, the connecting joint is a BNC joint or an SMA joint.
The second purpose of the invention is to provide a sweeping robot, which comprises the following technical scheme:
a sweeping robot comprises a body, wherein the bottom of the body is provided with the self-focusing ultrasonic transducer.
The third purpose of the invention is to provide an acoustic impedance calculation method, which comprises the following technical scheme:
an acoustic impedance calculation method applied to the self-focusing ultrasonic transducer according to any one of claims 1 to 8, comprising the steps of:
s10, converting the collected time-amplitude signal into distance-amplitude signal, selecting i distance intervals, and taking out the maximum value A of the echo in the intervaliAnd corresponding propagation distance di；
S20, pair AiAnd diPerforming exponential fitting to obtain an ultrasonic attenuation formula y ═ A · e-β·d＝A·r·e-α·dAnd obtaining the sound pressure reflection coefficient r ═ e(α-β)·d(ii) a Wherein y is an ultrasonic attenuation coefficient, beta is an attenuation coefficient obtained by fitting, and d is two echoesThe distance difference between the two, r is a dimensionless unit, and alpha is the attenuation coefficient in the air under the excitation frequency of the transducer;
s30, according to the sound pressure reflection coefficient formula
To obtain
Wherein Z is1Is acoustic impedance of air, Z2Is the acoustic impedance of the reflector.
The invention has the beneficial effects that:
the self-focusing ultrasonic transducer can be assembled at the bottom of the sweeping robot, can realize the self-focusing of sound energy, can identify and detect the sound resistance of a reflector, can identify different materials of the reflector, and can control the robot to switch different working modes according to the different materials.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic structural diagram of a self-focusing ultrasonic transducer in a preferred embodiment of the present invention;
FIG. 2 is a schematic structural view of a support member in a preferred embodiment of the present invention;
fig. 3 is a schematic structural diagram of a sweeping robot in a preferred embodiment of the invention;
FIG. 4 is a schematic signal transmission diagram of an ultrasonic transducer in a preferred embodiment of the present invention;
FIG. 5 is a flow chart of a method of acoustic impedance calculation in a preferred embodiment of the present invention;
fig. 6(a-f) are schematic diagrams of the reflected signals collected by the autofocus ultrasound transducer at 20mm on different materials in the preferred embodiment of the invention.
Description of the labeling: 10. a support member; 11. a concave spherical surface; 12. an annular flat surface; 13. a fixed cavity; 14. a hollow cavity; 20. connecting a joint; 30. a cross-linked polypropylene piezoelectric electret film; 40. a shielded wire; 50. a silver film; 100. a self-focusing ultrasonic transducer; 200. a body.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
As shown in fig. 1, the self-focusing ultrasonic transducer according to the embodiment of the present invention includes a support 10, a cross-linked polypropylene piezoelectric electret film 30, a shielding wire 40, and a silver film 50, wherein the upper end of the support 10 is provided with a connection joint 20.
As shown in fig. 2, the bottom of the supporting member 10 is provided with a concave spherical surface 11, and a circular plane 12 is surrounded around the concave spherical surface 11.
As shown in fig. 1, the upper and lower surfaces of the cross-linked polypropylene piezoelectric electret film 30 are printed with conductive silver paste and covered in the concave spherical surface 11, one end of the shielding line 40 is connected with the lower surface edge of the cross-linked polypropylene piezoelectric electret film 30, the other end is connected with the connection joint 20 as a positive electrode, the silver layer is plated on the surface of the support 10, and the upper surface of the cross-linked polypropylene piezoelectric electret film 30 is connected with the connection joint 20 as a negative electrode.
In one embodiment, the side wall of the supporting member 10 is provided with a fixing slit, and the shielding wire 40 is fixed in the fixing slit, so as to prevent short circuit.
In one embodiment, the support member 10 is cylindrical in shape, and the support member 10 has a radius of 6mm and a height of 20 mm. The curvature radius of the concave spherical surface 11 is 10mm, and the opening radius is 4 mm. In other embodiments of the present invention, the support member 10 and the concave spherical surface 11 may be sized as desired.
In this embodiment, the top of the supporting member 10 is provided with a fixing cavity 13 for fixing the connection joint 20, and the connection joint 20 is fixed to the fixing cavity 13 by epoxy glue. The stability of the structure can be increased.
In the embodiment, the supporting member 10 is internally provided with a hollow cavity 14 communicated with the fixed cavity 13, which is beneficial to reducing weight and saving cost.
Preferably, the connector 20 is a BNC connector or an SMA connector.
In the present embodiment, the support 10 is a 3D print.
As shown in fig. 3, the sweeping robot in the embodiment of the present invention includes a body 200, the self-focusing ultrasonic transducer 100 is assembled at the bottom of the body 200, an ultrasonic transceiver module and a microprocessor are arranged in the body 200, as shown in fig. 4, the microprocessor is connected with the ultrasonic transceiver module and sends a driving signal, and the ultrasonic transceiver module converts the driving signal into a 100V high-voltage spike and transmits the 100V high-voltage spike to the self-focusing ultrasonic transducer 100 through a connector 20. The autofocus ultrasound transducer 100 excites and receives reflected echoes from the ground. The echo is received and amplified by the ultrasonic receiving and transmitting module and then transmitted back to the microprocessor for subsequent signal processing.
The signal processing includes calculation of acoustic impedance of a reflector, and as shown in fig. 5, the acoustic impedance calculation method in the present embodiment includes the following steps:
s10, converting the collected time-amplitude signal into distance-amplitude signal, selecting i distance intervals, and taking out the maximum value A of the echo in the intervaliAnd corresponding propagation distance di(ii) a Specifically, the acquired time-amplitude signal is converted into a distance-amplitude signal through a formula d ═ v · t, wherein d is the distance and the unit is m; v is the ambient sound velocity in m/s; t is time in units of s.
S20, pair AiAnd diPerforming exponential fitting to obtain an ultrasonic attenuation formula y ═ A · e-β·d＝A·r·e-α·dAnd obtaining the sound pressure reflection coefficient r ═ e(α-β)·d(ii) a Wherein y is an ultrasonic attenuation coefficient, and beta is an attenuation coefficient obtained by fitting, and the unit is db/mm; d is the distance difference between two echoes, and the unit is mm; r is a dimensionless unit; alpha is the attenuation coefficient in air at the transducer excitation frequency, which in this example is 0.0016 db/mm.
S30, according to the sound pressure reflection coefficient formula
To obtain
Wherein Z is1For air acoustic impedance, 416Rayl, Z is used in this example2Is the acoustic impedance of the reflector. In this embodiment, the acoustic impedances of the tile, tile with water, wood floor with water, and short blanket are calculated as shown in table 1.
TABLE 1
Fig. 6(a-f) are schematic diagrams of the reflected signals collected by the autofocus ultrasound transducer at 20mm on different materials in the preferred embodiment of the invention. From fig. 6a to 6f are respectively tile, tile area water stain, timber apron area water stain, short woollen blanket and blanket, wherein, because the blanket only once reflects the echo, can't carry out data fitting, so can't calculate its acoustic impedance, but can discern it through the echo quantity.
To avoid errors, the microprocessor sets the acoustic resistance range and adjusts the control module functions. When the acoustic impedance can not be calculated by only one echo, the long blanket is judged, the advancing direction of the sweeping robot is changed, and the long blanket on the sweeping robot is prevented from being damaged; when the Z2 is less than 3000, the short blanket is judged, the floor wiping function is closed, and the suction force is increased, so that the sundries in the short blanket are effectively cleaned; when the Z2 is more than or equal to 3000 and less than 4500, the wood floor is judged, and the default working mode is switched; when R2 is larger than or equal to 4500, water stains are judged to exist on the ceramic tile or the ground, the water outlet quantity of the water tank is controlled to be 2ml/s, and wet and slippery caused by a large amount of water stains left on the ground are avoided.
The self-focusing ultrasonic transducer can be assembled at the bottom of the sweeping robot, can realize the self-focusing of sound energy, can identify and detect the sound resistance of a reflector, can identify different materials of the reflector, and can control the robot to switch different working modes according to the different materials.
The above embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (10)
1. A self-focusing ultrasonic transducer, comprising:
the supporting piece is provided with a concave spherical surface at the bottom, an annular plane is surrounded around the concave spherical surface, and the upper end of the supporting piece is provided with a connecting joint;
the upper surface and the lower surface of the cross-linked polypropylene piezoelectric electret film are both printed with conductive silver paste and are covered in the concave spherical surface;
one end of the shielding wire is connected with the edge of the lower surface of the cross-linked polypropylene piezoelectric electret film, and the other end of the shielding wire is connected with the connecting joint to serve as a positive electrode;
and the silver layer is plated on the surface of the support, and the upper surface of the cross-linked polypropylene piezoelectric electret film is connected with the connecting joint to serve as a negative electrode.
2. The self-focusing ultrasonic transducer according to claim 1, wherein the side wall of the supporting member is provided with a fixing slit, and the shielding wire is fixed to the fixing slit.
3. The self-focusing ultrasonic transducer according to claim 1, wherein the supporting member has a cylindrical shape, a radius of the supporting member is 6mm, and a height of the supporting member is 20 mm.
4. The self-focusing ultrasonic transducer according to claim 3, wherein the concave spherical surface has a radius of curvature of 10mm and a radius of opening of 4 mm.
5. The self-focusing ultrasonic transducer according to claim 1, wherein the top of the supporting member is provided with a fixing cavity for fixing the connection joint.
6. The self-focusing ultrasonic transducer according to claim 5, wherein the connection joint is fixed to the fixing cavity by epoxy glue.
7. The self-focusing ultrasonic transducer according to claim 6, wherein the supporting member is internally provided with a hollow cavity communicating with the fixed cavity.
8. The self-focusing ultrasonic transducer according to claim 1, wherein the connection connector is a BNC connector or an SMA connector.
9. A sweeping robot, comprising a body, wherein the bottom of the body is provided with a self-focusing ultrasonic transducer as claimed in any one of claims 1 to 8.
10. An acoustic impedance calculation method applied to the self-focusing ultrasonic transducer according to any one of claims 1 to 8, comprising the steps of:
s10, converting the collected time-amplitude signal into distance-amplitude signal, selecting i distance intervals, and taking out the maximum value A of the echo in the intervaliAnd corresponding propagation distance di；
S20, pair AiAnd diPerforming exponential fitting to obtain an ultrasonic attenuation formula y ═ A · e-β·d＝A·r·e-α·dAnd obtaining the sound pressure reflection coefficient r ═ e(α-β)·d(ii) a Wherein y is an ultrasonic attenuation coefficient, beta is an attenuation coefficient obtained by fitting, d is a distance difference between two echoes, r is a dimensionless unit, and alpha is an attenuation coefficient in air under the excitation frequency of the transducer;
s30, according to the sound pressure reflection coefficient formula
To obtain
Wherein Z is1Is acoustic impedance of air, Z2Is the acoustic impedance of the reflector.
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| CN202010628562.6A CN111804553A (en) | 2020-07-02 | 2020-07-02 | Self-focusing ultrasonic transducer, sweeping robot and acoustic impedance calculation method |
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| CN202010628562.6A CN111804553A (en) | 2020-07-02 | 2020-07-02 | Self-focusing ultrasonic transducer, sweeping robot and acoustic impedance calculation method |
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