CN113777614B - Ultrasonic radar data transmission method and system - Google Patents
Ultrasonic radar data transmission method and system Download PDFInfo
- Publication number
- CN113777614B CN113777614B CN202111041737.4A CN202111041737A CN113777614B CN 113777614 B CN113777614 B CN 113777614B CN 202111041737 A CN202111041737 A CN 202111041737A CN 113777614 B CN113777614 B CN 113777614B
- Authority
- CN
- China
- Prior art keywords
- signal
- pulse signal
- ultrasonic
- echo
- echo signals
- 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.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000005284 excitation Effects 0.000 claims abstract description 35
- 238000004891 communication Methods 0.000 claims description 9
- 230000000644 propagated effect Effects 0.000 claims description 5
- 238000005070 sampling Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 3
- 239000000523 sample Substances 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 238000002604 ultrasonography Methods 0.000 description 5
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention provides an ultrasonic radar data transmission method and a system thereof, wherein the method comprises the steps that an ultrasonic system starts to work after receiving a starting instruction, ultrasonic waves are emitted outwards at fixed time, echo signals reflected after the ultrasonic waves meet an obstacle are collected, the collected echo signals are stored, a first pulse signal and a second pulse signal of the ultrasonic system are calculated according to the stored echo signals, and therefore the position of the obstacle is determined, wherein the first pulse signal is an echo peak value for the echo signals without coded excitation, the second pulse signal is a signal width value, the first pulse signal is an echo peak value for the echo signals with coded excitation, and the second pulse signal is a confidence value. The system of the present invention is applied to the above-described method. The invention can improve the real-time performance and reduce the load and the cost by defining a new data expression format without a standard bus mode.
Description
Technical Field
The invention relates to the technical field of ultrasonic radars, in particular to an ultrasonic radar data transmission method and an ultrasonic radar data transmission system applying the method.
Background
Ultrasonic radar systems are commonly used on automobiles to detect obstacles and alert the driver to prevent collisions. The ultrasonic radar system is generally composed of main machine with radar sensors, and the number of the sensors is determined by a vehicle manufacturer according to the needs. Or an ultrasonic radar system is composed of a radar system without a host, which would have a master probe that is both a host and a slave probe, and the other sensors are slave probes.
At present, the peak signal or confidence signal transmitted back to the controller by the ultrasonic radar sensor is a digital signal, delay exists relative to real-time performance, the data volume is large, the load is heavy, a standard bus communication mode is generally adopted, a special transceiver chip is required to be adopted at a transceiver end, and the cost is high.
In the prior art, a peak or confidence value is represented by a digital signal, and a time position and a peak value or confidence value are represented by a plurality of peak confidence values. The radar sensor (also called radar probe) of the acoustic radar system is usually built in the probe by using an ASIC chip, and the signals transmitted to the controller (host or main probe) by the probe are as follows:
As shown in fig. 1, fig. 1 is a timing chart of the signal transmitted from the probe to the controller in the first prior art, only the signal size, no peak value or confidence value, and the disadvantage is: no peak signal is present.
As shown in fig. 2, fig. 2 is a timing chart of the signal transmitted from the probe to the controller in the second prior art, and the signal size and the peak data of the first echo have the following drawbacks: the peak signal has delay, and the data volume is large, and the load is heavy.
As shown in fig. 3, fig. 3 is a timing chart of the signal transmitted from the probe to the controller in the third prior art, which includes signal amplitude and peak, confidence, time, etc., and has the following disadvantages: all the signals are digital signals, the signals have delay, the data volume is large, and the load is heavy; the communication mode generally adopts a standard bus communication mode, a transceiver is needed by a transceiver terminal, and the product cost is high.
Disclosure of Invention
The invention mainly aims to provide an ultrasonic radar data transmission method which can improve the instantaneity and reduce the load by defining a new data expression format without a standard bus mode.
Another object of the present invention is to provide an ultrasonic radar data transmission system applied to the above ultrasonic radar data transmission method.
In order to achieve the above main object, the present invention provides an ultrasonic radar data transmission method, comprising the steps of: the ultrasonic system starts to work after receiving the starting instruction and transmits ultrasonic waves outwards at regular time; collecting echo signals reflected after ultrasonic waves encounter an obstacle, storing the collected echo signals, and calculating a first pulse signal and a second pulse signal of an ultrasonic system according to the stored echo signals so as to determine the position of the obstacle; for echo signals without coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a signal width value, and the position of an obstacle is determined according to the falling edge of the pulse signal; for the echo signal with coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a confidence value, and the position of the obstacle is determined according to the falling edge of the pulse signal.
In a further scheme, for echo signals with coded excitation, at the transmitting end of an ultrasonic system, pulse signals are coded, then the carrier waves are modulated by the signals obtained after the coding, and an ultrasonic sensor is excited by a modulated pulse excitation sequence; the transmitted signal is reflected after being propagated in the air and encountering an obstacle, and the echo signal enters the receiving end of the ultrasonic system.
In a further scheme, at the receiving end of the ultrasonic system, the echo signal and a prestored reference signal are used for carrying out correlation operation, and a first pulse signal and a second pulse signal of the ultrasonic system are calculated.
In a further embodiment, the ultrasound system has a plurality of ultrasound sensors and a host computer, and pulse signals of the signal profiles respectively identified in the received plurality of echo signals are transmitted via a vehicle data communication to the host computer for identifying an obstacle and/or a distance of the obstacle from at least one ultrasound sensor or one of the ultrasound sensors of the ultrasound system.
In a further scheme, before the ultrasonic system starts to work, a cutting level is configured for the ultrasonic sensor, after the ultrasonic system collects the echo signals, whether the echo signals are larger than the cutting level is judged, if so, the sampling signals are effective, the effective echo signals are recorded, and the level is pulled down and returned to the host.
In a further aspect, assuming that the return width of the first pulse signal is X, the actual peak value is x×10.
In a further aspect, assuming that the return width of the second pulse signal is X, the actual width is x×10.
In a further scheme, for echo signals without coded excitation, the return width of the second pulse signal is a signal width value; for echo signals with coded excitation, the return width of the second pulse signal is a confidence value.
In a further scheme, when configuring the cutting level for the ultrasonic sensor, an array is set, different voltage values are set in the array, each voltage value is called the cutting level, the time is counted from the wave generation of the ultrasonic sensor, the value variable of the number of the array is increased by 1 at intervals, the cutting level is changed, and the data in the array and the echo signals are compared.
In order to achieve the above another object, the present invention provides an ultrasonic radar data transmission system, comprising: the signal transmitting unit is used for starting working after the ultrasonic system receives the starting instruction and transmitting ultrasonic waves outwards at fixed time; the detection unit is used for collecting echo signals reflected after the ultrasonic waves encounter the obstacle, storing the collected echo signals, and calculating a first pulse signal and a second pulse signal of the ultrasonic system according to the stored echo signals so as to determine the position of the obstacle; for echo signals without coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a signal width value, and the position of an obstacle is determined according to the falling edge of the pulse signal; for the echo signal with coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a confidence value, and the position of the obstacle is determined according to the falling edge of the pulse signal.
Therefore, the method for transmitting the ultrasonic radar data provided by the invention adopts the pull-down low level width to represent the peak value or the confidence value, the pull-down position represents the time position value, the signal instantaneity is good, the signal width, the peak value and the confidence value are not required to be represented by digital signals, the load is small, a communication mode of a standard bus is not required, and the cost is low.
Drawings
Fig. 1 is a wave timing diagram of the first prior art.
Fig. 2 is a wave timing diagram of the second prior art.
Fig. 3 is a timing diagram of the wave generation of the third prior art.
Fig. 4 is a flowchart of an embodiment of an ultrasonic radar data transmission method according to the present invention.
Fig. 5 is a timing diagram of echo peak value and signal width value in an embodiment of an ultrasonic radar data transmission method according to the present invention.
FIG. 6 is a timing diagram of echo peak and confidence values in an embodiment of an ultrasonic radar data transmission method according to the present invention.
Fig. 7 is a schematic diagram of a relationship between a cutting level and an echo signal in an embodiment of a data transmission method of an ultrasonic radar according to the present invention.
Fig. 8 is a schematic diagram of an embodiment of an ultrasonic radar data transmission system according to the present invention.
The invention is further described below with reference to the drawings and examples.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
Referring to fig. 4, the ultrasonic radar data transmission method of the present invention includes the steps of:
Step S1, the ultrasonic system starts to work after receiving the starting instruction, and the ultrasonic system transmits ultrasonic waves outwards at regular time.
And S2, collecting echo signals reflected after the ultrasonic waves encounter the obstacle, storing the collected echo signals, and calculating a first pulse signal and a second pulse signal of the ultrasonic system according to the stored echo signals so as to determine the position of the obstacle.
In the step S2, for the echo signal without the coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a signal width value, and the position of the obstacle is determined according to the falling edge of the pulse signal.
For the echo signal with coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a confidence value, and the position of the obstacle is determined according to the falling edge of the pulse signal.
Specifically, for echo signals with coded excitation, at the transmitting end of an ultrasonic system, pulse signals are coded, then the carrier waves are modulated by the coded signals, and an ultrasonic sensor is excited by a modulated pulse excitation sequence; the transmitted signal is reflected after being propagated in the air and encountering an obstacle, and the echo signal enters the receiving end of the ultrasonic system.
Then, at the receiving end of the ultrasonic system, the echo signal and the pre-stored reference signal are used for carrying out correlation operation, and a first pulse signal and a second pulse signal of the ultrasonic system are calculated.
In this embodiment, the ultrasonic system has a plurality of ultrasonic sensors and a host computer, and pulse signals of signal change curves respectively identified in the received plurality of echo signals are transmitted to the host computer via a vehicle data communication manner for identifying an obstacle and/or a distance of the obstacle to at least one ultrasonic sensor or one of the ultrasonic sensors of the ultrasonic system.
Before the ultrasonic system starts to work, a cutting level is configured for the ultrasonic sensor, after the ultrasonic system collects echo signals, whether the echo signals are larger than the cutting level is judged, if so, sampling signals are effective, effective echo signals are recorded, and the level is pulled down and returned to a host.
When configuring the cutting level for the ultrasonic sensor, setting an array, setting different voltage values in the array, wherein each voltage value is called the cutting level, starting timing from the wave generation of the ultrasonic sensor, increasing the value variable of the number of the array by 1 at intervals, realizing the change of the cutting level, and comparing the data in the array with echo signals.
The confidence level of this embodiment is: after the signal with the coded excitation is sent out, the signal is reflected by an obstacle and is also provided with the coded signal, the reflected echo signal is not necessarily identical to the original echo signal in coding due to signal distortion or interference by other signals, the similarity is a confidence degree, the greater the similarity is, the higher the confidence degree is, the closer the confidence is to the original signal, and the invention judges whether the received signal is the signal transmitted by a user according to the confidence degree, so as to prevent false alarm, missing report and the like caused by receiving the wrong signal.
In this embodiment, assuming that the return width of the first pulse signal is X, the actual peak value is x×10, and if the return width of the first pulse signal is 50uS, the actual peak value is 50×10.
In this embodiment, assuming that the return width of the second pulse signal is X, the actual width is x×10, and if the return width of the second pulse signal is 50uS, the actual width is 50×10.
In this embodiment, for echo signals without coded excitation, the return width of the second pulse signal is a signal width value; for echo signals with coded excitation, the return width of the second pulse signal is a confidence value.
Specifically, as shown in fig. 5, for a format without encoding: the width of the pulse represents the size of the pulse, for example, the second pulse signal represents the signal width, and the first pulse represents the corresponding peak value, and the larger the width is, the larger the peak value is; the position where the pulse falls is the obstacle position.
The corresponding relation between the width and the signal size can be determined by a chip manufacturer or both, for example, the actual signal width can be obtained by multiplying the returned signal width by 10 times, for example, if the returned width is 50uS, the actual width is 50×10=500 uS, and sometimes, in order to prevent the software load of the signal receiving end from being too heavy; of course, it may be required that the value of X is not too small, e.g. the minimum width cannot be less than 100uS, so the actual width value should be (X-100) X10, and the other same. The advantage is that the backhaul width does not occupy as much low level width.
As shown in fig. 6, for a format with encoding: adopting two continuous low pulse width representations, wherein the width of a pulse represents the size of the pulse, for example, the second pulse represents a confidence value, and the first pulse represents a corresponding peak value, and the larger the width is, the larger the peak value is; the position where the pulse descends is the obstacle position; the corresponding relation between the width and the signal size is the same as that of the non-coding mode, and the only thing is that the confidence replaces the signal width.
As shown in fig. 7, the relationship between the cutting level and the echo signal is as follows:
2-3: representing the position distance between the left small echo and the rising edge level cutting of the main echo;
3-4: representing the width of the echo beyond the cutting level, such as X width, X10 is the actual width, accuracy 10uS, or table look-up; representing echo width in non-coding time and representing confidence in coding;
5-6: representing the main echo peak size, such as X width, X is 10 is the actual peak value, or obtained by looking up a table;
6-7: representing the distance of the main echo from its small right echo beyond the cut level.
The working principle of the ultrasonic system of the present embodiment is: if an object is touched in a certain range, a reflected wave returns to the transmitting source (the surface of the ultrasonic sensor), and the host computer can measure the distance by using the delay time between the transmitted wave and the reflected wave and the speed of the sound wave (340 m/s at normal temperature).
In this embodiment, the present invention further provides an automatic parking method, including the following steps:
(1) Detecting an obstacle according to the ultrasonic radar data transmission method;
(2) Calculating a parking running track according to the obstacle distance;
(3) And the automatic parking is realized by controlling gears, brakes, throttle and steering.
Of course, the detection of parking spaces is not limited to parking spaces formed by two vehicles, but can also be a scene containing more than one object, and when only a single object (such as a pillar) is provided, the method of the invention can also detect the position of an obstacle, so as to plan a parking path for automatic parking.
The ultrasonic radar data transmission method calculates the distance of each point position according to the received echo signals of each ultrasonic sensor, and calculates according to the speed signals of the vehicle body (adopting smoothing filtering, a parking space data abrupt change point identification algorithm and a key position secondary coordinate correction algorithm) so as to acquire the position information of the obstacle.
Therefore, the method for transmitting the ultrasonic radar data provided by the invention adopts the pull-down low level width to represent the peak value or the confidence value, the pull-down position represents the time position value, the signal instantaneity is good, the signal width, the peak value and the confidence value are not required to be represented by digital signals, the load is small, a communication mode of a standard bus is not required, and the cost is low.
An ultrasonic radar data transmission system embodiment:
as shown in fig. 8, the ultrasonic radar data transmission system provided by the present invention includes:
and the signal transmitting unit 10 is used for starting working after the ultrasonic system receives the starting instruction and transmitting ultrasonic waves outwards at fixed time.
The detecting unit 20 is configured to collect echo signals reflected after the ultrasonic waves encounter the obstacle, store the collected echo signals, and calculate a first pulse signal and a second pulse signal of the ultrasonic system according to the stored echo signals, thereby determining the position of the obstacle.
For echo signals without coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a signal width value, and the position of an obstacle is determined according to the falling edge of the pulse signal; for the echo signal with coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a confidence value, and the position of the obstacle is determined according to the falling edge of the pulse signal.
For echo signals with coded excitation, coding pulse signals at the transmitting end of an ultrasonic system, modulating carrier waves by using the coded signals, and exciting an ultrasonic sensor by using a modulated pulse excitation sequence; the transmitted signal is reflected after being propagated in the air and encountering an obstacle, and the echo signal enters the receiving end of the ultrasonic system.
At the receiving end of the ultrasonic system, the echo signal and a prestored reference signal are used for carrying out correlation operation, and a first pulse signal and a second pulse signal of the ultrasonic system are calculated.
The ultrasonic system has a plurality of ultrasonic sensors and a host computer, and pulse signals of the signal profiles respectively identified in the received plurality of echo signals are transmitted to the host computer via a vehicle data communication manner for identifying an obstacle and/or a distance of the obstacle to at least one ultrasonic sensor or one of the ultrasonic sensors of the ultrasonic system.
Before the ultrasonic system starts to work, a cutting level is configured for the ultrasonic sensor, after the ultrasonic system collects echo signals, whether the echo signals are larger than the cutting level is judged, if so, sampling signals are effective, effective echo signals are recorded, and the level is pulled down and returned to a host.
In this embodiment, assuming that the return width of the first pulse signal is X, the actual peak value is x×10, and if the return width of the first pulse signal is 50uS, the actual peak value is 50×10.
In this embodiment, assuming that the return width of the second pulse signal is X, the actual width is x×10, and if the return width of the second pulse signal is 50uS, the actual width is 50×10.
For echo signals without coding excitation, the return width of the second pulse signal is a signal width value; for echo signals with coded excitation, the return width of the second pulse signal is a confidence value.
When configuring the cutting level for the ultrasonic sensor, setting an array, setting different voltage values in the array, wherein each voltage value is called the cutting level, starting timing from the wave generation of the ultrasonic sensor, increasing the value variable of the number of the array by 1 at intervals, realizing the change of the cutting level, and comparing the data in the array with echo signals.
It should be noted that the foregoing is only a preferred embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made to the present invention by using the concept fall within the scope of the present invention.
Claims (4)
1. An ultrasonic radar data transmission method is characterized by comprising the following steps:
the ultrasonic system starts to work after receiving the starting instruction and transmits ultrasonic waves outwards at regular time;
collecting echo signals reflected after ultrasonic waves encounter an obstacle, storing the collected echo signals, and calculating a first pulse signal and a second pulse signal of an ultrasonic system according to the stored echo signals so as to determine the position of the obstacle;
For echo signals without coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a signal width value, and the position of an obstacle is determined according to the falling edge of the pulse signal;
For the echo signals with coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a confidence value, and the position of the obstacle is determined according to the falling edge of the pulse signal;
For echo signals with coded excitation, coding pulse signals at the transmitting end of an ultrasonic system, modulating carrier waves by using the coded signals, and exciting an ultrasonic sensor by using a modulated pulse excitation sequence; the transmitted signal is reflected after being propagated in the air and encounters an obstacle, and the echo signal enters the receiving end of the ultrasonic system;
Assuming that the return width of the first pulse signal is X, the actual peak value is x×10, and assuming that the return width of the second pulse signal is X, the actual width is x×10; for echo signals without coding excitation, the return width of the second pulse signal is a signal width value; for echo signals with coded excitation, the return width of the second pulse signal is a confidence value;
before the ultrasonic system starts to work, configuring a cutting level for the ultrasonic sensor, judging whether the echo signal is greater than the cutting level after the ultrasonic system acquires the echo signal, if so, effectively recording an effective echo signal by the sampling signal, and pulling down the level and returning the level to the host;
When configuring the cutting level for the ultrasonic sensor, setting an array, setting different voltage values in the array, wherein each voltage value is called the cutting level, starting timing from the wave generation of the ultrasonic sensor, increasing the value variable of the number of the array by 1 at intervals, realizing the change of the cutting level, and comparing the data in the array with echo signals.
2. The ultrasonic radar data transmission method according to claim 1, wherein:
At the receiving end of the ultrasonic system, the echo signal and a prestored reference signal are used for carrying out correlation operation, and a first pulse signal and a second pulse signal of the ultrasonic system are calculated.
3. The ultrasonic radar data transmission method according to claim 2, comprising:
the ultrasonic system has a plurality of ultrasonic sensors and a host computer, and pulse signals of the signal profiles respectively identified in the received plurality of echo signals are transmitted to the host computer via a vehicle data communication mode for identifying an obstacle and/or a distance of the obstacle to at least one ultrasonic sensor or one of the ultrasonic sensors of the ultrasonic system.
4. An ultrasonic radar data transmission system, comprising:
The signal transmitting unit is used for starting working after the ultrasonic system receives the starting instruction and transmitting ultrasonic waves outwards at fixed time;
The detection unit is used for collecting echo signals reflected after the ultrasonic waves encounter the obstacle, storing the collected echo signals, and calculating a first pulse signal and a second pulse signal of the ultrasonic system according to the stored echo signals so as to determine the position of the obstacle;
For echo signals without coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a signal width value, and the position of an obstacle is determined according to the falling edge of the pulse signal;
For the echo signals with coded excitation, the first pulse signal is an echo peak value, the second pulse signal is a confidence value, and the position of the obstacle is determined according to the falling edge of the pulse signal;
For echo signals with coded excitation, coding pulse signals at the transmitting end of an ultrasonic system, modulating carrier waves by using the coded signals, and exciting an ultrasonic sensor by using a modulated pulse excitation sequence; the transmitted signal is reflected after being propagated in the air and encounters an obstacle, and the echo signal enters the receiving end of the ultrasonic system;
Assuming that the return width of the first pulse signal is X, the actual peak value is x×10, and assuming that the return width of the second pulse signal is X, the actual width is x×10; for echo signals without coding excitation, the return width of the second pulse signal is a signal width value; for echo signals with coded excitation, the return width of the second pulse signal is a confidence value;
before the ultrasonic system starts to work, configuring a cutting level for the ultrasonic sensor, judging whether the echo signal is greater than the cutting level after the ultrasonic system acquires the echo signal, if so, effectively recording an effective echo signal by the sampling signal, and pulling down the level and returning the level to the host;
When configuring the cutting level for the ultrasonic sensor, setting an array, setting different voltage values in the array, wherein each voltage value is called the cutting level, starting timing from the wave generation of the ultrasonic sensor, increasing the value variable of the number of the array by 1 at intervals, realizing the change of the cutting level, and comparing the data in the array with echo signals.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111041737.4A CN113777614B (en) | 2021-09-07 | 2021-09-07 | Ultrasonic radar data transmission method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111041737.4A CN113777614B (en) | 2021-09-07 | 2021-09-07 | Ultrasonic radar data transmission method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113777614A CN113777614A (en) | 2021-12-10 |
| CN113777614B true CN113777614B (en) | 2024-07-05 |
Family
ID=78841428
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111041737.4A Active CN113777614B (en) | 2021-09-07 | 2021-09-07 | Ultrasonic radar data transmission method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113777614B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104777473A (en) * | 2015-03-19 | 2015-07-15 | 柳州市华航电器有限公司 | Detection method for ultrasonic sensor |
| CN107015230A (en) * | 2017-03-15 | 2017-08-04 | 中国人民解放军63655部队 | A kind of ultrasonic ranging method |
| JP2018066669A (en) * | 2016-10-20 | 2018-04-26 | 三星電子株式会社Ｓａｍｓｕｎｇ Ｅｌｅｃｔｒｏｎｉｃｓ Ｃｏ．，Ｌｔｄ． | Ultrasonic distance measuring device, ultrasonic distance measuring method and ultrasonic distance measuring program |
| CN108490426A (en) * | 2018-02-06 | 2018-09-04 | 深圳信息职业技术学院 | A kind of target ranging method and its equipment |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1312487C (en) * | 2004-09-01 | 2007-04-25 | 崔志国 | Ultrasonic detecting device and its detecting method |
| US8982668B2 (en) * | 2010-11-15 | 2015-03-17 | Semiconductor Components Industries, Llc | Semiconductor device and method of forming same for correlation detection |
| CN103802722A (en) * | 2012-11-14 | 2014-05-21 | 上海工程技术大学 | Intelligent automobile backing image and ultrasonic ranging system |
| JP6026948B2 (en) * | 2013-04-30 | 2016-11-16 | 株式会社デンソー | Obstacle detection device |
| CN103542911B (en) * | 2013-11-01 | 2016-04-13 | 合肥工业大学 | Based on the guided wave radar material level gauge echo signal processing system and method for first order derivative |
| CN105277933B (en) * | 2014-07-14 | 2017-12-01 | 重庆邮电大学 | A kind of multichannel ultrasonic barrier anti-crosstalk detection method |
| CN205554311U (en) * | 2016-03-07 | 2016-09-07 | 安徽理工大学 | Children's car based on barrier and infrared remote control are kept away to AT89S51 singlechip intelligence ultrasonic wave |
| CN108363388A (en) * | 2017-01-16 | 2018-08-03 | 浙江国自机器人技术有限公司 | A kind of AGV robot obstacle-avoiding systems based on infrared sensor |
| CN118033611A (en) * | 2017-05-16 | 2024-05-14 | 艾尔默斯半导体欧洲股份公司 | Method for transmitting data from an ultrasound system to a data processing device |
| CN110531348B (en) * | 2019-08-02 | 2021-09-10 | 陈小年 | Radar ranging method, device, computer equipment and storage medium |
| CN111175728B (en) * | 2020-01-17 | 2023-02-17 | 合肥晟泰克汽车电子股份有限公司 | Echo processing method |
| CN111624609A (en) * | 2020-06-05 | 2020-09-04 | 南京英锐创电子科技有限公司 | Ultrasonic ranging method and device |
-
2021
- 2021-09-07 CN CN202111041737.4A patent/CN113777614B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104777473A (en) * | 2015-03-19 | 2015-07-15 | 柳州市华航电器有限公司 | Detection method for ultrasonic sensor |
| JP2018066669A (en) * | 2016-10-20 | 2018-04-26 | 三星電子株式会社Ｓａｍｓｕｎｇ Ｅｌｅｃｔｒｏｎｉｃｓ Ｃｏ．，Ｌｔｄ． | Ultrasonic distance measuring device, ultrasonic distance measuring method and ultrasonic distance measuring program |
| CN107015230A (en) * | 2017-03-15 | 2017-08-04 | 中国人民解放军63655部队 | A kind of ultrasonic ranging method |
| CN108490426A (en) * | 2018-02-06 | 2018-09-04 | 深圳信息职业技术学院 | A kind of target ranging method and its equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113777614A (en) | 2021-12-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10310083B2 (en) | Method for detecting target echoes in a received signal of an ultrasonic sensor of a motor vehicle, ultrasonic sensor device, and motor vehicle | |
| JP7382107B2 (en) | Time-of-flight and code signature detection for coded ultrasound transmissions | |
| US10120073B2 (en) | Method for operating a surroundings-detection system of a vehicle | |
| JPH09508974A (en) | Acoustic surface wave activated identification tag | |
| CN111679281B (en) | Method for improving detection performance of ultrasonic sensor | |
| KR20000023167A (en) | Method for determining the distance between an object and a movable device, in particular automobile | |
| WO2020261893A1 (en) | Object detection device and object detection method | |
| US11175402B2 (en) | Time-varying template for improved short-distance performance in coded ultrasonic ranging | |
| US20210302574A1 (en) | Object detection system and object detection device | |
| CN103323838B (en) | Radar device | |
| CN113777614B (en) | Ultrasonic radar data transmission method and system | |
| GB2508734A (en) | Method and device for determining the relative distance and moement of a plurality of traffic participants | |
| CN111016885A (en) | Automatic parking space detection method, electronic radar system and storage medium | |
| US20210318432A1 (en) | Object detection device and object detection system | |
| CN113552575A (en) | Parking obstacle detection method and device | |
| CN111722229A (en) | Object detection device | |
| US20210302571A1 (en) | Object detection system | |
| US20240012123A1 (en) | Object detection device | |
| US11698456B2 (en) | Object detection system | |
| US20230264710A1 (en) | Method for Determining a Speed of an Object Using an Ultrasonic Pulse | |
| US20210389456A1 (en) | Drive support device | |
| CN118330617A (en) | Method, device, vehicle and medium for eliminating same-frequency interference of ultrasonic radar | |
| US11994583B2 (en) | Object detection device | |
| CN115598628A (en) | Object detection system and object detection device | |
| CN117518174A (en) | Method, device, equipment and storage medium for detecting obstacle during reversing |
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 | ||
| GR01 | Patent grant |