CN112162289A - Ultrasonic ranging method and device - Google Patents
Ultrasonic ranging method and device Download PDFInfo
- Publication number
- CN112162289A CN112162289A CN202010882656.6A CN202010882656A CN112162289A CN 112162289 A CN112162289 A CN 112162289A CN 202010882656 A CN202010882656 A CN 202010882656A CN 112162289 A CN112162289 A CN 112162289A
- Authority
- CN
- China
- Prior art keywords
- ultrasonic
- frequency
- signal
- receiver
- transmitter
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000001514 detection method Methods 0.000 claims description 13
- 238000012360 testing method Methods 0.000 claims description 7
- 238000002955 isolation Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001902 propagating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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
-
- 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
- G01S7/52001—Auxiliary means for detecting or identifying sonar signals or the like, e.g. sonar jamming 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
- G01S7/523—Details of pulse systems
- G01S7/524—Transmitters
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (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 provides an ultrasonic ranging method and device, wherein the method comprises the following steps: transmitting an ultrasonic signal with a first frequency by a first transmitter at a transmitting end; a first receiver of a receiving end receives an ultrasonic signal with a first frequency, and a second transmitter transmits the ultrasonic signal with a second frequency in a time delay of a first preset time; a second receiver of the transmitting end receives the ultrasonic signal of the second frequency; and calculating the distance between the transmitting end and the receiving end according to the moment when the first transmitter transmits the ultrasonic waves, the first preset time and the moment when the second receiver receives the ultrasonic waves. According to the distance measuring method, the ultrasonic transmitters and the receivers with different frequencies are used, so that the influence caused by aftershocks generated by the ultrasonic transmitters due to the physical characteristics of the ultrasonic transmitters is avoided, and the problem of distance measuring blind areas in distance measurement is solved.
Description
Technical Field
The invention relates to the technical field of ultrasonic distance measurement, in particular to an ultrasonic distance measurement method and an ultrasonic vehicle distance device.
Background
At present, the ultrasonic ranging technology is widely applied, a reflection type ranging method is mainly adopted, a pulse modulation electric signal generated by a circuit transmits ultrasonic waves with certain frequency through an ultrasonic transducer, the ultrasonic waves are transmitted in a medium, an echo signal is reflected after the ultrasonic waves reach a measured object, a receiver receives the echo signal and converts the echo signal into an electric signal to be detected by the circuit, and finally, a measuring distance is calculated according to the time difference between the received reflected echo and the transmitted ultrasonic wave.
Because the self physical characteristic of ultrasonic wave trembler can produce the decay and vibrate, forms aftershock (trailing), and in this period of time, aftershock and echo signal can't distinguish, lead to ultrasonic ranging to have the blind area to exist. If a transducer of the transceiver type is used, the receiving circuit needs to start the receiving electric signal mode after a period of time. If a transmitting-receiving split transducer is used, two situations are distinguished: firstly, the transmitter and the receiver are close in physical distance, and a first wave signal reaching a receiving circuit is that ultrasonic waves are directly transmitted to the receiver through a straight line by the transmitter, so that the detected signal is a 'false signal', and the distance of a measured object cannot be really measured; secondly, the physical distance between the transmitter and the receiver is close to or larger than the measured distance, the transmitter, the receiver and the measured object form a triangular shape, and a larger angle is generated, so that the ultrasonic propagation path has larger deviation than the actual linear distance, and the relative error of the calculation result is large. Meanwhile, because the current of the transmitter at the moment of ultrasonic wave transmission is also larger, the power supply is also influenced to a certain extent, and the detection of the receiving circuit is also interfered.
Disclosure of Invention
The invention provides an ultrasonic ranging method for solving the technical problems, and the ultrasonic ranging method avoids the influence caused by aftershocks generated by the ultrasonic transmitter due to the physical characteristics of the ultrasonic transmitter and solves the problem of ranging blind areas in ranging by using the ultrasonic transmitter and the ultrasonic receiver with different frequencies.
The technical scheme adopted by the invention is as follows:
an ultrasonic ranging method, comprising the steps of: transmitting an ultrasonic signal with a first frequency by a first transmitter at a transmitting end; a first receiver of a receiving end receives an ultrasonic signal with a first frequency, and a second transmitter transmits the ultrasonic signal with a second frequency when delaying for a first preset time; a second receiver of the transmitting end receives an ultrasonic signal of a second frequency; and calculating the distance between the transmitting end and the receiving end according to the moment when the first transmitter transmits the ultrasonic waves, the first preset time and the moment when the second receiver receives the ultrasonic waves.
In one embodiment of the present invention, the distance between the transmitting end and the receiving end is calculated by the following formula:
wherein L represents a distance between the transmitting end and the receiving end, v represents a propagation velocity of the ultrasonic wave, and t1Indicating the moment, t, at which the second receiver receives the ultrasonic waves0Represents the moment at which the first transmitter transmits the ultrasonic waves, and Δ t represents the first preset time.
In one embodiment of the invention, the first frequency and the second frequency are different.
In an embodiment of the present invention, the above ultrasonic ranging method further includes: and converting the received ultrasonic signal of the first frequency into an electric signal, and determining whether the first receiver receives the ultrasonic signal of the first frequency according to the electric signal.
In an embodiment of the present invention, the above ultrasonic ranging method further includes: and converting the received ultrasonic signal of the second frequency into an electric signal, and determining whether the second receiver receives the ultrasonic signal of the second frequency according to the electric signal.
In addition, the present invention also provides an ultrasonic ranging apparatus, comprising: the main module comprises: a first transmitter and a second receiver, the module under test comprising: a first receiver and a second transmitter, wherein the first transmitter is used for transmitting an ultrasonic signal with a first frequency; the first receiver is used for receiving an ultrasonic signal of a first frequency; the second transmitter is used for transmitting an ultrasonic signal with a second frequency when delaying for a first preset time; the second receiver is used for receiving an ultrasonic signal of a second frequency; the main module is used for calculating the distance between the main module and the object to be measured according to the moment when the first transmitter transmits the ultrasonic waves, the first preset time and the moment when the second receiver receives the ultrasonic waves.
In one embodiment of the present invention, the main module calculates the distance to the object to be measured by the following formula:
wherein L represents a distance between the transmitting end and the receiving end, v represents a propagation velocity of the ultrasonic wave, and t1Indicating the moment, t, at which the second receiver receives the ultrasonic waves0Represents the moment at which the first transmitter transmits the ultrasonic waves, and Δ t represents the first preset time.
In one embodiment of the invention, the first frequency and the second frequency are different.
In an embodiment of the present invention, the module under test further includes: a first receiving circuit for converting the received ultrasonic signal of the first frequency into an electrical signal; a first detection circuit for determining whether the first receiver receives an ultrasonic signal of the first frequency from the electrical signal; the main module further includes: the second receiving circuit is used for converting the received ultrasonic signals of the second frequency into electric signals; and the second detection circuit is used for determining whether the second receiver receives the ultrasonic signal of the second frequency according to the electric signal.
In an embodiment of the present invention, the ultrasonic ranging apparatus further includes: and the isolation power supply is used for supplying power to the first receiving circuit, the second receiving circuit, the first detection circuit and the second detection circuit.
The invention has the beneficial effects that:
according to the invention, by using the ultrasonic transmitters and the receivers with different frequencies, the influence caused by aftershocks generated by the ultrasonic transmitters due to the physical characteristics of the ultrasonic transmitters is avoided, and the problem of a ranging blind area in ranging is solved; in addition, an isolation power supply is used in the main module and the tested module to supply power to the receiving circuit and the detecting circuit, so that the influence of an electric signal generated by heavy current at the moment of transmitting of the transmitter on the power supply is reduced, the interference on the received signal in the receiving circuit is reduced, the error signal caused by crosstalk generated by the electric signal is avoided, and the signal accuracy of the receiving circuit is improved.
Drawings
FIG. 1 is a flow chart of an ultrasonic ranging method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an ultrasonic ranging method according to an embodiment of the present invention;
fig. 3 is a block diagram of an ultrasonic ranging device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a flowchart of an ultrasonic ranging method according to an embodiment of the present invention.
As shown in fig. 1, the ultrasonic ranging method according to the embodiment of the present invention may include the following steps:
s1, transmitting an ultrasonic signal with a first frequency by a first transmitter at a transmitting end.
And S2, receiving the ultrasonic signal of the first frequency by the first receiver of the receiving end, and transmitting the ultrasonic signal of the second frequency by the second transmitter when delaying for the first preset time.
In an embodiment of the present invention, the first preset time may be calibrated according to actual conditions, for example, determined according to the circuit itself and the signal frequency, and after determining that the ultrasonic signal of the first frequency is received, the MCU determines the time for driving the second transmitter to transmit the ultrasonic signal of the second frequency, that is, the time between receiving the ultrasonic signal of the first frequency and transmitting the ultrasonic signal of the second frequency is the first preset time.
And S3, the second receiver of the transmitting end receives the ultrasonic wave signal of the second frequency. In one embodiment of the invention, the first frequency and the second frequency are different.
And S4, calculating the distance between the transmitting end and the receiving end according to the moment when the first transmitter transmits the ultrasonic wave, the first preset time and the moment when the second receiver receives the ultrasonic wave.
Specifically, the ultrasonic wave receiving device comprises two ultrasonic wave transmitters with different frequencies and two ultrasonic wave receivers with different frequencies, namely a transmitting end comprises a first transmitter for transmitting an ultrasonic wave signal with a first frequency and a second receiver for receiving the ultrasonic wave signal with a second frequency, and a receiving end comprises a first receiver for receiving the ultrasonic wave signal with the first frequency and a second transmitter for transmitting the ultrasonic wave signal with the second frequency. As shown in FIG. 2, when the first transmitter at the transmitting end transmits an ultrasonic signal with a first frequency, a time is started and is recorded as t0When the first emitter emits ultrasonic wave, the first receiver corresponding to the first emitter in the receiving end receives the ultrasonic wave signal with the first frequency and converts the signal into electric signal, and the signal is processed to drive the second emitter of the emitting endThe ultrasonic transmitter transmits an ultrasonic signal with a second frequency, and the first preset time delta t is the time difference from the reception of the ultrasonic signal with the first frequency to the transmission of the ultrasonic signal with the second frequency. A second receiver with a transmitting end corresponding to the second transmitter receives the ultrasonic signal with the second frequency, stops timing and reaches the time t1I.e. the moment the second receiver receives the ultrasound waves. According to t0、Δt、t1And calculating the distance between the transmitting end and the receiving end according to the propagation speed of the ultrasonic wave.
Therefore, the ultrasonic complementary interference of two frequencies can be realized by adopting the ultrasonic waves with different frequencies, after the ultrasonic wave with the first frequency is transmitted by the first transmitter, the signal generated when the ultrasonic wave reaches the receiver with the second frequency is very weak, and in addition, the environmental noise is added, so that the ultrasonic wave signal with the first frequency cannot be received by the second receiver, the influence of aftershock generated by the first transmitter on the second receiver is eliminated, and similarly, the similar interference can be eliminated in the receiving end.
According to an embodiment of the present invention, the distance between the transmitting end and the receiving end may be calculated by the following formula (1):
wherein L represents a distance between a transmitting end and a receiving end, v represents a propagation velocity of the ultrasonic wave, and t1Indicating the moment at which the second receiver receives the ultrasonic waves, t0Indicating the moment at which the first transmitter transmits the ultrasonic waves, at represents a first preset time.
That is, the transmitting end transmits an ultrasonic signal with a first frequency from the first transmitter to the second receiver1-t0And the actual time of the ultrasonic wave actually propagating in the medium is t1-t0At, while the propagation velocity of the ultrasonic signal of the first frequency and the ultrasonic signal of the second frequency in the same environment are the same, becauseHere, the distance between the transmitting end and the receiving end can be calculated by the above formula (1).
In an embodiment of the present invention, the above-mentioned ultrasonic ranging method further includes: the received ultrasonic signal of the first frequency is converted into an electric signal, and whether the first receiver receives the ultrasonic signal of the first frequency is determined according to the electric signal. And converting the received ultrasonic signal of the second frequency into an electric signal, and determining whether the second receiver receives the ultrasonic signal of the second frequency according to the electric signal.
That is, after the first receiver receives the ultrasonic signal with the first frequency, the ultrasonic signal is first converted into an electrical signal, and the ultrasonic signal with the first frequency is determined to be received according to the magnitude of the electrical signal, for example, whether the magnitude of the electrical signal is the same as a preset magnitude is judged, if so, the ultrasonic signal with the first frequency is received, and then the signal is sent to the second transmitter, so that the second transmitter is driven to transmit the ultrasonic signal. Similarly, it is necessary to determine whether the second receiver at the transmitting end receives the ultrasonic signal of the second frequency, and when it is determined that the ultrasonic signal is received, the timing is stopped as the time t when the second receiver receives the ultrasonic wave1。
In one embodiment of the invention, an isolation power supply is used for supplying power to the receiving circuits for receiving the electric signals and the detection circuits for detecting the electric signals in the transmitting end and the receiving end, so that the influence of the electric signals generated by large current at the moment of transmitting of the transmitter on the power supply is reduced, the interference on the received signals in the receiving circuits is reduced, no signal caused by crosstalk generated by the electric signals is avoided, and the accuracy of the received signals is improved.
In conclusion, the ultrasonic transmitter and the ultrasonic receiver with different frequencies are used, so that the influence caused by aftershocks generated by the ultrasonic transmitter due to the physical characteristics of the ultrasonic transmitter is avoided, and the problem of a ranging blind area in ranging is solved; in addition, an isolation power supply is used for supplying power to the receiving circuit and the detection circuit in the transmitting end and the receiving end, so that the influence of an electric signal generated by large current in the transmitting moment of the transmitter on the power supply is reduced, the interference on the received signal in the receiving circuit is reduced, the error signal caused by crosstalk generated by the electric signal is avoided, and the signal accuracy of the receiving circuit is improved.
Fig. 3 is a block diagram of an ultrasonic ranging device according to an embodiment of the present invention.
As shown in fig. 3, the ultrasonic ranging apparatus according to the embodiment of the present invention includes: a master module 10 and a module under test 20.
The main module 10 includes: a first transmitter 11 and a second receiver 12, and a module under test 20 including: a first receiver 21 and a second transmitter 22. The first transmitter 11 is used for transmitting ultrasonic signals with a first frequency; the first receiver 21 is configured to receive an ultrasonic signal at a first frequency; the second transmitter 22 is configured to transmit an ultrasonic signal with a second frequency when the delay time is delayed by a first preset time; the second receiver 12 is used for receiving ultrasonic signals of a second frequency; the main module 10 is used for calculating the distance to the object to be measured according to the moment when the first transmitter transmits the ultrasonic wave, the first preset time and the moment when the second receiver receives the ultrasonic wave.
According to an embodiment of the present invention, the main module 10 may calculate the distance to the object to be measured by the following formula:
wherein L represents a distance between a transmitting end and a receiving end, v represents a propagation velocity of the ultrasonic wave, and t1Indicating the moment at which the second receiver receives the ultrasonic waves, t0Indicating the moment at which the first transmitter transmits the ultrasonic waves, at represents a first preset time.
According to one embodiment of the invention, the first frequency and the second frequency are different.
According to an embodiment of the present invention, the module under test 20 may further include: a first receiving circuit 23 for converting the received ultrasonic signal of the first frequency into an electric signal; a first detection circuit 24 for determining whether the first receiver 21 receives an ultrasonic signal of a first frequency based on the electrical signal; the main module 10 may further include: a second receiving circuit 13 for converting the received ultrasonic signal of the second frequency into an electric signal; a second detection circuit 14 for determining whether the second receiver 12 receives the ultrasonic signal of the second frequency based on the electrical signal.
According to an embodiment of the present invention, the above ultrasonic ranging apparatus further includes: and an isolated power supply 30 for supplying power to the first receiving circuit 23, the second receiving circuit 24, the first detecting circuit 13, and the second detecting circuit 14.
It should be noted that details that are not disclosed in the ultrasonic ranging apparatus according to the embodiment of the present invention refer to details that are disclosed in the ultrasonic ranging method according to the embodiment of the present invention, and are not described herein again in detail.
In conclusion, the ultrasonic transmitter and the ultrasonic receiver with different frequencies are used, so that the influence caused by aftershocks generated by the ultrasonic transmitter due to the physical characteristics of the ultrasonic transmitter is avoided, and the problem of a ranging blind area in ranging is solved; in addition, an isolation power supply is used in the main module and the tested module to supply power to the receiving circuit and the detecting circuit, so that the influence of an electric signal generated by heavy current at the moment of transmitting of the transmitter on the power supply is reduced, the interference on the received signal in the receiving circuit is reduced, the error signal caused by crosstalk generated by the electric signal is avoided, and the signal accuracy of the receiving circuit is improved.
In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The meaning of "plurality" is two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An ultrasonic ranging method, characterized by comprising the steps of:
transmitting an ultrasonic signal with a first frequency by a first transmitter at a transmitting end;
a first receiver of a receiving end receives an ultrasonic signal with a first frequency, and a second transmitter transmits the ultrasonic signal with a second frequency when delaying for a first preset time;
a second receiver of the transmitting end receives an ultrasonic signal of a second frequency;
and calculating the distance between the transmitting end and the receiving end according to the moment when the first transmitter transmits the ultrasonic waves, the first preset time and the moment when the second receiver receives the ultrasonic waves.
2. The ultrasonic ranging method according to claim 1, wherein the distance between the transmitting end and the receiving end is calculated by the following formula:
wherein L represents a distance between the transmitting end and the receiving end, v represents a propagation velocity of the ultrasonic wave, and t1Indicating the moment, t, at which the second receiver receives the ultrasonic waves0Represents the moment at which the first transmitter transmits the ultrasonic waves, and Δ t represents the first preset time.
3. The ultrasonic ranging method according to claim 1, wherein the first frequency and the second frequency are different.
4. The ultrasonic ranging method according to claim 1, further comprising:
and converting the received ultrasonic signal of the first frequency into an electric signal, and determining whether the first receiver receives the ultrasonic signal of the first frequency according to the electric signal.
5. The ultrasonic ranging method according to claim 1, further comprising:
and converting the received ultrasonic signal of the second frequency into an electric signal, and determining whether the second receiver receives the ultrasonic signal of the second frequency according to the electric signal.
6. An ultrasonic ranging device, comprising: the main module comprises: a first transmitter and a second receiver, the module under test comprising: a first receiver and a second transmitter, wherein,
the first transmitter is used for transmitting an ultrasonic signal with a first frequency;
the first receiver is used for receiving an ultrasonic signal of a first frequency;
the second transmitter is used for transmitting an ultrasonic signal with a second frequency when delaying for a first preset time;
the second receiver is used for receiving an ultrasonic signal of a second frequency;
the main module is used for calculating the distance between the main module and the object to be measured according to the moment when the first transmitter transmits the ultrasonic waves, the first preset time and the moment when the second receiver receives the ultrasonic waves.
7. The ultrasonic ranging apparatus according to claim 6, wherein the main module calculates the distance to the object to be measured by the following formula:
wherein L represents a distance between the transmitting end and the receiving end, v represents a propagation velocity of the ultrasonic wave, and t1Indicating the moment, t, at which the second receiver receives the ultrasonic waves0Represents the moment at which the first transmitter transmits the ultrasonic waves, and Δ t represents the first preset time.
8. The ultrasonic ranging device according to claim 6, wherein the first frequency and the second frequency are different.
9. The ultrasonic ranging device according to claim 6, wherein the module under test further comprises:
a first receiving circuit for converting the received ultrasonic signal of the first frequency into an electrical signal;
a first detection circuit for determining whether the first receiver receives an ultrasonic signal of the first frequency from the electrical signal;
the main module further includes:
the second receiving circuit is used for converting the received ultrasonic signals of the second frequency into electric signals;
and the second detection circuit is used for determining whether the second receiver receives the ultrasonic signal of the second frequency according to the electric signal.
10. The ultrasonic ranging device according to claim 9, further comprising:
and the isolation power supply is used for supplying power to the first receiving circuit, the second receiving circuit, the first detection circuit and the second detection circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010882656.6A CN112162289B (en) | 2020-08-28 | 2020-08-28 | Ultrasonic ranging method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010882656.6A CN112162289B (en) | 2020-08-28 | 2020-08-28 | Ultrasonic ranging method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112162289A true CN112162289A (en) | 2021-01-01 |
| CN112162289B CN112162289B (en) | 2023-11-17 |
Family
ID=73860361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010882656.6A Active CN112162289B (en) | 2020-08-28 | 2020-08-28 | Ultrasonic ranging method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112162289B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2784945Y (en) * | 2004-04-27 | 2006-05-31 | 山东省远大网络多媒体有限责任公司 | Ultrasonic distance-measuring sensor |
| CN101173986A (en) * | 2006-10-30 | 2008-05-07 | 深圳市诺博特智能科技有限公司 | Ultrasonic distance measuring apparatus without blind zone |
| US20100309043A1 (en) * | 2007-09-29 | 2010-12-09 | Christoph Guenther | Method for determining the distance between a transmitter and a receiver |
| CN109633655A (en) * | 2018-12-29 | 2019-04-16 | 肇庆奥迪威传感科技有限公司 | Ultrasonic ranging method and supersonic range finder |
| JP2019100715A (en) * | 2017-11-28 | 2019-06-24 | キヤノン株式会社 | Ultrasonic sensor |
| DE102018100567A1 (en) * | 2018-01-11 | 2019-07-11 | Valeo Schalter Und Sensoren Gmbh | Method for determining a position of an object with direction estimation by means of an ultrasound sensor, control device, ultrasound sensor device and driver assistance system |
| CN110850416A (en) * | 2019-11-27 | 2020-02-28 | 广东美的厨房电器制造有限公司 | Distance measuring method, ultrasonic distance measuring device, electric appliance and computer readable storage medium |
-
2020
- 2020-08-28 CN CN202010882656.6A patent/CN112162289B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2784945Y (en) * | 2004-04-27 | 2006-05-31 | 山东省远大网络多媒体有限责任公司 | Ultrasonic distance-measuring sensor |
| CN101173986A (en) * | 2006-10-30 | 2008-05-07 | 深圳市诺博特智能科技有限公司 | Ultrasonic distance measuring apparatus without blind zone |
| US20100309043A1 (en) * | 2007-09-29 | 2010-12-09 | Christoph Guenther | Method for determining the distance between a transmitter and a receiver |
| JP2019100715A (en) * | 2017-11-28 | 2019-06-24 | キヤノン株式会社 | Ultrasonic sensor |
| DE102018100567A1 (en) * | 2018-01-11 | 2019-07-11 | Valeo Schalter Und Sensoren Gmbh | Method for determining a position of an object with direction estimation by means of an ultrasound sensor, control device, ultrasound sensor device and driver assistance system |
| CN109633655A (en) * | 2018-12-29 | 2019-04-16 | 肇庆奥迪威传感科技有限公司 | Ultrasonic ranging method and supersonic range finder |
| CN110850416A (en) * | 2019-11-27 | 2020-02-28 | 广东美的厨房电器制造有限公司 | Distance measuring method, ultrasonic distance measuring device, electric appliance and computer readable storage medium |
Non-Patent Citations (1)
| Title |
|---|
| 郝魁红等: "虚拟仪器技术超声波测距实现", 《中国仪器仪表》, no. 11, pages 68 - 72 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112162289B (en) | 2023-11-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111413699B (en) | Acoustic distance measurement circuit and method for Low Frequency Modulated (LFM) chirp signals | |
| CN209894972U (en) | Acoustic distance measuring circuit | |
| KR200492445Y1 (en) | Circuit for acoustic distance time of flight compensation | |
| CN101173986B (en) | Ultrasonic distance measuring apparatus without blind zone | |
| US8942065B2 (en) | Method and device for determining the position of an object in relation to a vehicle, in particular a motor vehicle, for use in a driver assistance system of the vehicle | |
| CN102103206B (en) | Vehicle monitoring system | |
| CN107064939B (en) | Circuit for measuring acoustic distance | |
| JP4202083B2 (en) | Acoustic fluid measurement method | |
| US11520439B1 (en) | Self-adaptive ultra-sonic touch sensor | |
| US20080143501A1 (en) | Fast detecting obstacle method and parking sensor apparatus using the same | |
| US6865137B2 (en) | Method for pulse offset calibration in time of flight ranging systems | |
| CN112162289B (en) | Ultrasonic ranging method and device | |
| US11520027B2 (en) | Devices, systems and processes for ultra-short range detection of obstacles | |
| JP2003248050A (en) | Obstacle detecting apparatus | |
| CN113050099B (en) | Automatic parking obstacle distance detection method, system and detection equipment thereof | |
| JPWO2018225144A1 (en) | Object detection device | |
| JP3169534B2 (en) | Inundation detection method | |
| JPS6367151B2 (en) | ||
| EP2369367A1 (en) | A method for measuring the distance to a near target | |
| JP3624743B2 (en) | Ultrasonic flow meter | |
| JP2004045188A (en) | Distance measuring equipment | |
| JP4421455B2 (en) | Inclination angle measuring device | |
| US11899106B1 (en) | Dual-channel acoustic distance measurement circuit and method | |
| CN116858359A (en) | Underground cavity medium sound velocity measurement system, method, electronic equipment and medium | |
| US11874254B2 (en) | Integrity detection system for an ultrasound transducer |
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: Room 354, No. 18, Xinya Road, Wujin high tech Industrial Development Zone, Changzhou City, Jiangsu Province Applicant after: Guochuang mobile energy innovation center (Jiangsu) Co.,Ltd. Address before: Room 354, No. 18, Xinya Road, Wujin high tech Industrial Development Zone, Changzhou City, Jiangsu Province Applicant before: National innovation energy automobile intelligent energy equipment innovation center (Jiangsu) Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |