CN112162289B - Ultrasonic ranging method and device - Google Patents
Ultrasonic ranging method and device Download PDFInfo
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- CN112162289B CN112162289B CN202010882656.6A CN202010882656A CN112162289B CN 112162289 B CN112162289 B CN 112162289B CN 202010882656 A CN202010882656 A CN 202010882656A CN 112162289 B CN112162289 B CN 112162289B
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- 238000001514 detection method Methods 0.000 claims description 15
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- 238000003491 array Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/52001—Auxiliary means for detecting or identifying sonar signals or the like, e.g. sonar jamming signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/524—Transmitters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
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- 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 application 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 of a transmitting end; receiving an ultrasonic signal with a first frequency by a first receiver of a receiving end, and transmitting the ultrasonic signal with a second frequency by a second transmitter after delaying for a first preset time; a second receiver of the transmitting end receives ultrasonic signals with 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 wave, the first preset time and the moment when the second receiver receives the ultrasonic wave. According to the ranging method, by using the ultrasonic transmitters and the ultrasonic receivers with different frequencies, the influence of aftershock of the ultrasonic transmitters due to the physical characteristics of the ultrasonic transmitters is avoided, and the problem that a ranging blind area exists in ranging is solved.
Description
Technical Field
The application relates to the technical field of ultrasonic ranging, in particular to an ultrasonic ranging method and an ultrasonic vehicle distance device.
Background
At present, the ultrasonic ranging technology is widely applied, mainly adopts a reflective ranging method, pulse modulation electric signals generated by a circuit transmit ultrasonic waves with certain frequency through an ultrasonic transducer, the ultrasonic waves propagate in a medium, echo signals are reflected after reaching a measured object, the signals are converted into electric signals after being received by a receiver and detected by the circuit, and finally, the measuring distance is calculated according to the time difference when the reflected echoes are received and the ultrasonic waves are transmitted.
Because of the self physical characteristics of the ultrasonic vibration piece, damping vibration can be generated to form aftershock (trailing), and in the period of time, aftershock and echo signals cannot be distinguished, so that a blind area exists in ultrasonic ranging. If a transceiver-integrated transducer is used, the receiving circuit needs to start the mode of receiving the electric signal after a period of time. If a transceiver-type transducer is used, two situations are considered: firstly, the physical distance between the transmitter and the receiver is close, the first wave signal reaching the receiving circuit is ultrasonic wave which is directly transmitted to the receiver through a straight line by the transmitter, so that the detected signal is an error signal, and the distance of a measured object cannot be truly measured; and 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 triangle shape, a larger angle is generated, so that the ultrasonic wave propagation path has larger deviation than the actual linear distance, and the relative error of the calculation result is large. Meanwhile, the instantaneous current of the transmitter in ultrasonic wave transmission is larger, so that the power supply is influenced to a certain extent, and the detection of the receiving circuit is interfered.
Disclosure of Invention
The application aims to solve the technical problems, and provides an ultrasonic ranging method, which avoids the influence of residual vibration of an ultrasonic transmitter caused by physical characteristics of the ultrasonic transmitter and solves the problem of a ranging blind area in ranging by using ultrasonic transmitters and receivers with different frequencies.
The technical scheme adopted by the application is as follows:
an ultrasonic ranging method comprises the following steps: transmitting an ultrasonic signal with a first frequency by a first transmitter of a transmitting end; receiving an ultrasonic signal with a first frequency by a first receiver of a receiving end, and transmitting the ultrasonic signal with a second frequency by a second transmitter when delaying for a first preset time; a second receiver of the transmitting end receives ultrasonic signals with a second frequency; and calculating the distance between the transmitting end and the receiving end according to the moment of transmitting the ultrasonic wave by the first transmitter, the first preset time and the moment of receiving the ultrasonic wave by the second receiver.
In one embodiment of the application, the distance between the transmitting end and the receiving end is calculated by the following formula:
wherein L represents the distance between the transmitting end and the receiving end, v represents the propagation speed of ultrasonic wave, t 1 Representing the time t of the second receiver receiving the ultrasonic wave 0 Indicating the moment at which the first transmitter transmits ultrasound, Δt indicating the first preset time.
In one embodiment of the application, the first frequency and the second frequency are different.
In an embodiment of the present application, the above-mentioned ultrasonic ranging method further includes: and converting the received ultrasonic signal with the first frequency into an electric signal, and determining whether the first receiver receives the ultrasonic signal with the first frequency according to the electric signal.
In an embodiment of the present application, the above-mentioned ultrasonic ranging method further includes: and converting the received ultrasonic signal with the second frequency into an electric signal, and determining whether the second receiver receives the ultrasonic signal with the second frequency according to the electric signal.
In addition, the application also provides an ultrasonic ranging device, which comprises: the main module and the module under test, the main module includes: 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 ultrasonic signals with a first frequency; the second transmitter is used for transmitting ultrasonic signals with the second frequency when delaying the first preset time; the second receiver is used for receiving ultrasonic signals with a second frequency; the main module is used for calculating the distance between the main module and the measured object according to the moment of transmitting the ultrasonic waves by the first transmitter, the first preset time and the moment of receiving the ultrasonic waves by the second receiver.
In one embodiment of the present application, the main module calculates the distance to the object under test by the following formula:
wherein L represents the distance between the transmitting end and the receiving end, v represents the propagation speed of ultrasonic wave, t 1 Representing the time t of the second receiver receiving the ultrasonic wave 0 Indicating the moment at which the first transmitter transmits ultrasound, Δt indicating the first preset time.
In one embodiment of the application, the first frequency and the second frequency are different.
In one embodiment of the present application, 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 the ultrasonic signal of the first frequency based on the electrical signal; the main module further includes: a second receiving circuit for converting the received ultrasonic signal of the second frequency into an electrical signal; and the second detection circuit is used for determining whether the second receiver receives the ultrasonic signal with the second frequency according to the electric signal.
In an embodiment of the present application, the above ultrasonic ranging device 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 application has the beneficial effects that:
according to the application, by using the ultrasonic transmitter and the ultrasonic receiver with different frequencies, the influence of aftershock of the ultrasonic transmitter caused by physical characteristics of the ultrasonic transmitter is avoided, and the problem of a ranging blind area in ranging is solved; in addition, the isolation power supply is used for supplying power to the receiving circuit and the detection circuit in the main module and the detected module, so that the influence of the electric signal generated by the instantaneous high current of the transmitter on the power supply is reduced, the interference of the received signal in the receiving circuit is reduced, the error signal caused by crosstalk of 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 application;
FIG. 2 is a schematic diagram of an ultrasonic ranging method according to an embodiment of the present application;
fig. 3 is a block diagram of an ultrasonic ranging apparatus according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Fig. 1 is a flowchart of an ultrasonic ranging method according to an embodiment of the present application.
As shown in fig. 1, the ultrasonic ranging method according to the embodiment of the present application may include the steps of:
s1, a first transmitter of the transmitting end transmits an ultrasonic signal with a first frequency.
S2, receiving an ultrasonic signal with a first frequency by a first receiver of the receiving end, and transmitting the ultrasonic signal with a second frequency by a second transmitter when delaying for a first preset time.
In one embodiment of the present application, the first preset time may be calibrated according to the actual situation, 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 the time when the ultrasonic signal of the first frequency is received and the time when the ultrasonic signal of the second frequency is transmitted is the first preset time.
S3, a second receiver of the transmitting end receives ultrasonic signals with a second frequency. In one embodiment of the application, 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 application comprises two ultrasonic transmitters with different frequencies, and two ultrasonic receivers with different frequencies are corresponding, namely a transmitting end comprises a first transmitter for transmitting ultrasonic signals with a first frequency and a second receiver for receiving ultrasonic signals with a second frequency, and a receiving end comprises a first receiver for receiving ultrasonic signals with the first frequency and a second transmitter for transmitting ultrasonic signals with the second frequency. As shown in FIG. 2, when the first transmitter of the transmitting end transmits an ultrasonic signal with a first frequency, the timing is started and denoted as t 0 That is, when the first transmitter transmits ultrasonic waves, a first receiver corresponding to the first transmitter in the receiving end receives ultrasonic signals with a first frequency and converts the ultrasonic signals into electric signals, and after signal processing, the second transmitter driving the transmitting end transmits ultrasonic signals with a second frequency, wherein the first preset time deltat is the time difference from receiving the ultrasonic signals with the first frequency to transmitting the ultrasonic signals with the second frequency. The second receiver of the transmitting end corresponding to the second transmitter receives the ultrasonic signal with the second frequency and stops timing until the time t is reached 1 I.e. the moment the second receiver receives the ultrasonic wave. According to t 0 、Δt、t 1 And calculating the distance between the transmitting end and the receiving end by the propagation speed of the ultrasonic wave.
Therefore, the two types of ultrasonic waves with different frequencies are adopted, the complementary interference of the two types of ultrasonic waves can be realized, after the ultrasonic waves with the first frequency are transmitted by the first transmitter, the signal generated when the ultrasonic waves reach the receiver with the second frequency is weak, and the noise of the environment is added, so that the second receiver can be understood to not receive the ultrasonic signals with the first frequency, the influence of aftershock generated by the first transmitter on the second receiver is eliminated, and the similar interference can be eliminated in the receiving end.
According to one embodiment of the present application, the distance between the transmitting end and the receiving end can be calculated by the following formula (1):
wherein L represents the distance between the transmitting end and the receiving end, v represents the propagation speed of ultrasonic wave, t 1 T represents the time when the second receiver receives the ultrasonic wave 0 Indicating the moment at which the first transmitter transmits the ultrasonic wave, Δt indicates a first preset time.
That is, the time difference between the transmitting end transmitting the ultrasonic signal with the first frequency from the first transmitter and the receiving end receiving the ultrasonic signal with the second frequency from the second receiver is t 1 -t 0 While the actual time of the ultrasonic wave actually propagating in the medium is t 1 -t 0 Δt, while the propagation speeds of the ultrasonic signal of the first frequency and the ultrasonic signal of the second frequency are the same in the same environment, the distance between the transmitting end and the receiving end can be calculated by the above formula (1).
In an embodiment of the present application, the above-mentioned ultrasonic ranging method further includes: the received ultrasonic signal of the first frequency is converted into an electrical signal, and whether the ultrasonic signal of the first frequency is received by the first receiver is determined according to the electrical signal. And converting the received ultrasonic signal with the second frequency into an electric signal, and determining whether the second receiver receives the ultrasonic signal with 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 converted into an electrical signal, and the received ultrasonic signal with the first frequency is determined according to the magnitude of the electrical signal, for example, the magnitude of the electrical signal is determined to be equal to a preset valueIf the magnitudes are the same, indicating that the ultrasonic signal of the first frequency is received, and then transmitting the signal to the second transmitter to drive the second transmitter to transmit the ultrasonic signal. Similarly, it is necessary to determine whether the second receiver at the transmitting end receives the ultrasonic signal at the second frequency, and stop the timing as the time t at which the second receiver receives the ultrasonic signal when it is determined that the ultrasonic signal is received 1 。
In one embodiment of the application, an isolation power supply is used for supplying power to a receiving circuit for receiving electric signals in a transmitting end and a receiving end and a detection circuit for detecting the electric signals, so that the influence of the electric signals generated by a large current at the moment of transmitting by a transmitter on a power supply is reduced, the interference of the received signals in the receiving circuit is reduced, no signals caused by crosstalk of the electric signals are avoided, and the accuracy of the received signals is improved.
In conclusion, by using the ultrasonic transmitters and the ultrasonic receivers with different frequencies, the influence of aftershock of 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, the isolation power supply is used in the transmitting end and the receiving end to supply power to the receiving circuit and the detection circuit, so that the influence of the electric signal generated by the high current at the moment of transmitting by the transmitter on the power supply is reduced, the interference of 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 apparatus according to an embodiment of the present application.
As shown in fig. 3, an ultrasonic ranging apparatus according to an embodiment of the present application includes: a main module 10 and a module under test 20.
Wherein, the main module 10 includes: a first transmitter 11 and a second receiver 12, and a module under test 20 comprising: a first receiver 21 and a second transmitter 22. The first transmitter 11 is configured to transmit an ultrasonic signal having a first frequency; the first receiver 21 is configured to receive an ultrasonic signal of a first frequency; the second transmitter 22 is configured to transmit an ultrasonic signal with a second frequency when delaying for a first preset time; the second receiver 12 is configured to receive an ultrasonic signal at a second frequency; the main module 10 is configured to calculate a distance from the object to be measured according to a time when the first transmitter transmits the ultrasonic wave, a first preset time, and a time when the second receiver receives the ultrasonic wave.
According to one embodiment of the present application, the main module 10 may calculate the distance to the measured object by the following formula:
wherein L represents the distance between the transmitting end and the receiving end, v represents the propagation speed of ultrasonic wave, t 1 T represents the time when the second receiver receives the ultrasonic wave 0 Indicating the moment at which the first transmitter transmits the ultrasonic wave, Δt indicates a first preset time.
According to one embodiment of the application, the first frequency and the second frequency are different.
According to one embodiment of the present application, 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 electrical signal; a first detection circuit 24 for determining from the electrical signal whether the first receiver 21 receives an ultrasonic signal of a first frequency; the main module 10 may further include: a second receiving circuit 13 for converting the received ultrasonic signal of the second frequency into an electrical signal; the second detection circuit 14 is configured to determine whether the second receiver 12 receives the ultrasonic signal with the second frequency according to the electrical signal.
According to an embodiment of the present application, the above-mentioned ultrasonic ranging device further includes: 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, for details not disclosed in the ultrasonic ranging apparatus of the embodiment of the present application, please refer to details disclosed in the ultrasonic ranging method of the embodiment of the present application, and detailed descriptions thereof are omitted herein.
In conclusion, by using the ultrasonic transmitters and the ultrasonic receivers with different frequencies, the influence of aftershock of 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, the isolation power supply is used for supplying power to the receiving circuit and the detection circuit in the main module and the detected module, so that the influence of the electric signal generated by the instantaneous high current of the transmitter on the power supply is reduced, the interference of the received signal in the receiving circuit is reduced, the error signal caused by crosstalk of the electric signal is avoided, and the signal accuracy of the receiving circuit is improved.
In the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. The meaning of "a plurality of" is two or more, unless specifically defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means 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 present application. In this specification, schematic representations of the above terms are not necessarily for 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those 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 further implementations are included within the scope of the preferred embodiment of the present application 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 application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing 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). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may 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 is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (6)
1. An ultrasonic ranging method is characterized by comprising the following steps:
transmitting an ultrasonic signal with a first frequency by a first transmitter of a transmitting end;
receiving an ultrasonic signal with a first frequency by a first receiver of a receiving end, and transmitting the ultrasonic signal with a second frequency by a second transmitter when delaying for a first preset time;
a second receiver of the transmitting end receives ultrasonic signals with a second frequency;
calculating the distance between the transmitting end and the receiving end according to the moment of transmitting the ultrasonic wave by the first transmitter, the first preset time and the moment of receiving the ultrasonic wave by the second receiver;
calculating the distance between the transmitting end and the receiving end by the following formula:
wherein L represents the distance between the transmitting end and the receiving end, v represents the propagation speed of ultrasonic wave, t 1 Representing the time t of the second receiver receiving the ultrasonic wave 0 Indicating the moment of transmitting ultrasonic waves by the first transmitter, wherein deltat indicates the first preset time;
the first frequency and the second frequency are different.
2. The ultrasonic ranging method as set forth in claim 1, further comprising: and converting the received ultrasonic signal with the first frequency into an electric signal, and determining whether the first receiver receives the ultrasonic signal with the first frequency according to the electric signal.
3. The ultrasonic ranging method as set forth in claim 1, further comprising: and converting the received ultrasonic signal with the second frequency into an electric signal, and determining whether the second receiver receives the ultrasonic signal with the second frequency according to the electric signal.
4. An ultrasonic ranging device, comprising: the main module and the module under test, the main module includes: 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 ultrasonic signals with a first frequency;
the second transmitter is used for transmitting ultrasonic signals with the second frequency when delaying the first preset time;
the second receiver is used for receiving ultrasonic signals with a second frequency;
the main module is used for calculating the distance between the main module and the measured object 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;
the main module calculates the distance between the main module and the measured object by the following formula:
wherein L represents the space between the transmitting end and the receiving endV represents the propagation velocity of ultrasonic wave, t 1 Representing the time t of the second receiver receiving the ultrasonic wave 0 Indicating the moment of transmitting ultrasonic waves by the first transmitter, wherein deltat indicates the first preset time;
the first frequency and the second frequency are different.
5. The ultrasonic ranging device of claim 4, 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 the ultrasonic signal of the first frequency based on the electrical signal;
the main module further includes:
a second receiving circuit for converting the received ultrasonic signal of the second frequency into an electrical signal;
and the second detection circuit is used for determining whether the second receiver receives the ultrasonic signal with the second frequency according to the electric signal.
6. The ultrasonic ranging device of claim 5, 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.
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