CN114563589A - Method and device for measuring object rotation angular velocity based on sound directivity - Google Patents
Method and device for measuring object rotation angular velocity based on sound directivity Download PDFInfo
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Abstract
The invention discloses a method and a device for measuring the rotation angular speed of an object based on sound wave directivity, wherein the method comprises the following steps: installing a sound wave source to a measured object, enabling the sound wave source to sound and rotate the measured object, measuring the change frequency or period of a surrounding sound pressure field, and calculating the rotation angular speed of the measured object according to the frequency or period; wherein the device includes: the acoustic wave measuring device comprises at least one acoustic wave generating module and at least one acoustic wave receiving module, wherein the acoustic wave generating module is used for emitting directional acoustic waves, and the acoustic wave receiving module is used for detecting the change of an acoustic pressure field and calculating the rotation angular velocity of a measured object; the method and the device can accurately and rapidly measure the rotating angular velocity of the object, particularly the object with space relative displacement.
Description
Technical Field
The invention relates to the technical field of electronics, in particular to a method and a device for measuring the rotation angular speed of an object based on sound wave directivity.
Background
The rotating angular velocity of an object is a physical quantity which needs to be measured frequently, and measuring methods such as a rotary encoder and a Hall sensor are usually used as measuring means, but the measuring means requires that a testing instrument and a measured target position are relatively fixed; for measuring the rotational angular velocity of an object moving in a relative space, an angular velocity sensor (MEMS gyroscope) is generally used, but the MEMS gyroscope is an analog device, the accuracy of which is affected by factors such as ambient temperature, processing accuracy, electromagnetic noise, etc., and a complicated calibration process is required, so that it is difficult to ensure a high-accuracy measurement situation.
Disclosure of Invention
In order to solve the problem of measuring the rotating angular velocity of an object in the prior art, the invention provides a method and a device for measuring the rotating angular velocity of the object based on the directivity of sound waves, which overcome the problems and have the characteristics of high precision, simple installation and wide application range.
The invention provides a method and a device for measuring the rotation angular speed of an object based on sound wave directivity.
According to an aspect of the present invention, there is provided a method for measuring an angular velocity of rotation of an object based on directivity of sound waves, comprising:
the method is characterized in that the method is classified into two types of fixed rotating shafts and non-fixed rotating shafts according to the rotating characteristics of a measured object:
aiming at a measured object with a fixed rotating shaft, fixedly mounting a directional sound wave source on the measured object, wherein the mounting direction is a rotating shaft, the axis of the sound wave is perpendicular to the axis of the sound wave pointing direction, and the direction of the sound wave back to the measured object;
aiming at a measured object without a fixed rotating shaft, fixedly mounting three sound wave sources with directivity on the measured object, wherein the mounting direction is that the sound wave pointing axes are mutually vertical and the direction is opposite to the measured object;
making the sound source emit sound waves and rotate the object to be measured;
measuring the frequency of the sound pressure field change of the surrounding space, and calculating to obtain the rotating average angular velocity W of the measured object at the corresponding moment according to the following formula:
W=2πf
in the formula: pi represents a circumferential ratio, f represents a frequency of a change in the acoustic pressure field of the measurement surrounding space;
or measuring the period of the sound pressure field change of the surrounding space, and calculating to obtain the rotating average angular velocity W of the measured object at the corresponding moment according to the following formula:
W=2π/T
in the formula: pi denotes the circumferential ratio and T denotes the period of the change of the acoustic pressure field in the space surrounding the measurement.
Optionally: aiming at a measured object without a fixed rotating shaft, three sound wave sources with directivity are fixedly arranged on the measured object, and the sound wave sources are three sound wave sources with different frequencies.
Optionally: the sound wave source emits sine wave sound waves with fixed frequency and amplitude.
Further optional: the frequency and amplitude of the sine wave sound wave emitted by the sound wave source are fixed, and the frequency range is 10K-20 KHz.
Optionally: during the measurement, the measured object is rotated with a constant angular jerk.
Further optional: during the measurement, the measured object is rotated with a constant angular acceleration.
Optionally: the adopted method of measuring the frequency or period of the acoustic pressure field variations of the surrounding space:
the frequency measuring method comprises the following steps: acquiring the sound pressure field change data, and obtaining the frequency of the maximum amplitude point through Fourier transform, namely the sound pressure field change frequency;
the measuring period method comprises the following steps: and collecting the sound pressure field change data, drawing an envelope curve of sound waves, and obtaining the change period of the amplitude of the envelope curve, namely the sound pressure field change period.
According to another aspect of the present invention, there is also provided an apparatus for measuring an angular velocity of rotation of an object based on directivity of sound waves, comprising at least one sound wave generating module and at least one sound wave receiving module;
the sound wave generating module is used for emitting directional sound waves and comprises a sound wave generating unit and a first microprocessor, and the first microprocessor controls the sound wave generating unit to emit preset directional sound waves;
the sound wave receiving module is used for detecting the change of the sound pressure field and calculating the rotation angular velocity of the measured object; the sound wave receiving module comprises a sound wave detection sensor, a second microprocessor and an output interface, wherein the second microprocessor receives the voltage of the electric signal output by the sound wave detection sensor, obtains a measurement result through operation and outputs the measurement result to the output interface;
the process of detecting the rotating angular velocity of the object by combining the sound wave generating module and the sound wave receiving module comprises the following steps:
aiming at a measured object with a fixed rotating shaft, mounting the sound wave generating module on the measured object, wherein the mounting direction is a rotating shaft, the sound wave points to the axis and is vertical to the measured object, and the direction is opposite to the measured object;
aiming at a measured object without a fixed rotating shaft, mounting three sound wave generating modules on the measured object, wherein the mounting direction is that sound waves point to the axis and are mutually vertical and the direction is opposite to the measured object;
under the condition that the sound wave generating module emits the directional sound wave, the object to be measured is rotated;
placing the sound wave receiving module at a space point where the sound source field change generated by the sound wave generating module exceeds a set threshold; the sound wave detection sensor measures the sound pressure field change value of the sound wave and converts the sound pressure field change value into a corresponding electric signal to be transmitted to the second microprocessor, the second microprocessor collects the electric signal, obtains the frequency of the maximum amplitude point through Fourier transformation, and obtains the value of the rotation angular velocity of the object to be measured at the corresponding moment by multiplying the value of the frequency of the maximum amplitude point by the double circumference ratio;
or the sound wave detection sensor measures the sound pressure field change value of the sound wave, converts the sound pressure field change value into a corresponding electric signal and transmits the electric signal to the second microprocessor, and the second microprocessor acquires the electric signal, draws an envelope curve, obtains an envelope curve amplitude change period, and divides the value of the amplitude change period by a double circumference ratio to obtain the value of the rotation angular velocity of the object to be measured at the corresponding moment.
Optionally: the sound wave generating module comprises a sound wave generating unit, and a sound gathering cover or a horn is further arranged in the sound wave direction axis direction of the sound wave generating unit and used for enhancing the directivity of the sound wave.
Optionally: the sound wave generating module further comprises a sound wave setting interface, and the sound wave setting interface is electrically connected with the control unit.
The invention has the beneficial effects that: the method utilizes the directivity principle of sound, changes the surrounding sound pressure field by installing the directional sound source on the measured object, indirectly measures the angular speed of the rotation of the object by measuring the change period or frequency of the surrounding sound pressure field of the measured object, and can more accurately and quickly measure the angular speed of the rotation of the object (particularly a moving object with space relative motion).
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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 a method for measuring an angular velocity of rotation of an object based on directivity of sound waves according to an embodiment of the present application.
Fig. 2 is a schematic structural view of the acoustic wave generating module.
Fig. 3 is a schematic structural diagram of the acoustic wave receiving module.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than here.
The directivity of a sound source represents the spatial distribution of the intensity of the sound radiated by the sound source. The sound pressure levels of directional sound sources at different spatial positions equidistant from the center of the sound source are not equal. Both human and musical instrument sounds have directivity. Generally, the higher the frequency, the stronger the directivity of the sound source. In this patent, we refer to the direction of the strongest sound pressure level of the spatial position as the pointing axis, and the direction of the weakening sound pressure of the pointing axis as the pointing direction of the pointing axis.
By utilizing the directional characteristic of the sound source, the direction of the sound source pointing to the axis is changed, the sound pressure level distribution of the space can be changed, the sound source is enabled to do uniform rotation motion with the period of T along the direction perpendicular to the direction of the sound source pointing to the axis, the rotation plane space formed by the sound source pointing to the axis generates an alternating sound pressure field with the period of T, the period T of the change of the sound pressure intensity of the specified point in the plane is measured, the T is the rotation period of the sound source, and the angular speed of the uniform rotation of the sound source is converted to be 2 pi/T.
Based on the above principle, in the present embodiment, a method and an apparatus for measuring an angular rotation speed of an object based on a directivity of a sound wave are provided, and fig. 1 is a flowchart of a method for measuring an angular rotation speed of an object based on a directivity of a sound wave according to an embodiment of the present invention: as shown in fig. 1, the process includes the following steps:
step S1, mounting a sound wave source to the object to be measured, in which step:
the method is characterized in that the method is classified into two types of fixed rotating shafts and non-fixed rotating shafts according to the rotating characteristics of a measured object:
aiming at a measured object with a fixed rotating shaft, fixedly mounting an acoustic wave generating module as shown in fig. 2 on the measured object, wherein the mounting direction is a rotating shaft, the acoustic wave pointing axis of the rotating shaft is vertical to the measured object, and the direction of the rotating shaft is opposite to the measured object;
aiming at a measured object without a fixed rotating shaft, fixedly mounting three sound wave generating modules on the measured object, wherein the mounting direction is that sound waves point to the axis and are mutually vertical and the direction is opposite to the measured object;
step S2, sounding the acoustic wave source and rotating the object to be measured, in which step: the first microcontroller controls the sound wave generating unit to emit preset sound waves;
step S3, measuring the frequency or period of change of the surrounding sound pressure field, in which step:
arranging a sound wave receiving module shown in fig. 3 to a space point where the sound source field change generated by the sound wave generating module exceeds a set threshold, measuring the sound pressure field change value of the sound wave by the sound wave detection sensor, converting the sound pressure field change value into a corresponding electric signal, and transmitting the electric signal to the second microprocessor, wherein the second microprocessor collects the electric signal, and the frequency of the maximum amplitude point obtained by fourier transform is the sound pressure field change frequency;
or the sound wave detection sensor measures the sound pressure field change value of the sound wave and converts the sound pressure field change value into a corresponding electric signal to be transmitted to the second microprocessor, and the second microprocessor collects the electric signal, draws an envelope curve and obtains an envelope curve amplitude change cycle which is the sound pressure field change cycle;
step S4, calculating the rotational angular velocity of the object to be measured according to the period or frequency, in which:
the change frequency or cycle of the sound pressure field is the frequency or cycle of the rotation of the measured object, and the second microprocessor uses a calculation formula: multiplying the frequency value of the maximum amplitude point by the double circumference ratio to obtain the value of the rotation angular velocity of the measured object at the corresponding moment; or dividing the value of the amplitude variation cycle by the double circumference ratio to obtain the value of the rotation angular velocity of the measured object at the corresponding moment.
The present invention also provides a second embodiment: measuring the change frequency of the spatial sound pressure field generated by the sound wave generation module in the process of throwing the flying disc to measure the rotating angular speed of the flying disc, as shown in fig. 1, the process comprises the following steps:
step S1, mounting a sound wave source to the measured object:
the flying disc rotates with a fixed rotating shaft in the flying process, and the rotating axis direction of the flying disc is vertical to the disc surface of the flying disc;
fixedly mounting the sound wave generating module as shown in fig. 2 on the flying disc, wherein the sound wave is mounted in a direction perpendicular to the axis and opposite to the rotating shaft of the flying disc;
step S2, sounding the sound wave source and rotating the object to be measured,
in this example: the first microcontroller controls the sound wave generating unit to emit preset sound waves, the frequency of the sound waves is set to be 20 KHz, and the flying disc is thrown;
step S3, measuring the frequency or period of change of the surrounding sound pressure field,
in this example: measuring the change frequency of the sound pressure field: arranging at least one sound wave receiving module of the device shown in fig. 3 to a space point where the sound source field change generated by the sound wave generating module exceeds a set threshold, measuring the sound pressure field change value of the sound wave by the sound wave detection sensor, converting the sound pressure field change value into a corresponding electric signal and transmitting the electric signal to the second microprocessor, and acquiring the electric signal by the second microprocessor, wherein the frequency of the point with the maximum amplitude obtained by fourier transform is the sound pressure field change frequency;
step S4, calculating the rotation angular velocity of the measured object according to the period or frequency, wherein the change frequency or period of the sound pressure field is the rotation frequency or period of the measured object,
in this example: calculating a frequency, the second microprocessor calculating: and multiplying the frequency of the maximum amplitude point by a double circumference ratio to obtain the value of the rotation angular velocity of the flying disc at the corresponding moment.
The invention also provides a third embodiment: measuring the change cycle of the spatial sound pressure field generated by the sound wave generation module in the process of throwing the sphere to measure the rotation angular velocity of the sphere, as shown in fig. 1, the process comprises the following steps:
step S1, mounting a sound wave source to the object to be measured:
the ball rotates without a fixed rotating shaft in the rotating process,
fixedly mounting three sound wave generating modules as shown in fig. 2 on the quilt ball body, wherein the mounting directions of the three sound wave generating modules are that sound wave pointing axes are vertical to each other and the directions are opposite to the ball body;
step S2, sounding the sound wave source and rotating the object to be measured,
in this example: the first microcontroller controls the sound wave generating unit to emit preset sound waves, the frequency of the sound waves is set to be 20 KHz, and a ball is thrown;
step S3, measuring the frequency or period of change of the surrounding sound pressure field,
in this example: measuring a sound pressure field change period, arranging at least one space point from a sound wave receiving module of the device shown in fig. 3 to a sound source field change generated by a sound wave generating module, wherein the sound wave change value of the sound wave is measured by a sound wave detection sensor and converted into a corresponding electric signal to be transmitted to a second microprocessor, and the second microprocessor collects the electric signal, draws an envelope curve, and obtains an envelope curve amplitude change period, namely the sound pressure field change period;
step S4, calculating the rotation angular velocity of the measured object according to the period or frequency, wherein the change frequency or period of the sound pressure field is the rotation frequency or period of the measured object,
in this example: a calculation cycle, the second microprocessor calculating: and dividing the value of the amplitude variation period by a double circumference ratio to obtain the value of the rotation angular velocity of the sphere at the corresponding moment.
The system or the apparatus is used for implementing the functions of the method in the foregoing embodiments, and each module in the system or the apparatus corresponds to each step in the method, which has been described in the method and is not described herein again.
The above are merely examples of the present invention, and are not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A method for measuring the rotation angular velocity of an object based on the directivity of sound waves is characterized by comprising the following steps:
the method is characterized in that the method is classified into two types of fixed rotating shafts and non-fixed rotating shafts according to the rotating characteristics of a measured object:
aiming at a measured object with a fixed rotating shaft, fixedly mounting a directional sound wave source on the measured object, wherein the mounting direction is a rotating shaft, the axis of the sound wave is perpendicular to the axis of the sound wave pointing direction, and the direction of the sound wave back to the measured object;
aiming at a measured object without a fixed rotating shaft, fixedly mounting three sound wave sources with directivity on the measured object, wherein the mounting direction is that the sound wave pointing axes are mutually vertical and the direction is opposite to the measured object;
making the sound source emit sound waves and rotate the object to be measured;
measuring the frequency of the sound pressure field change of the surrounding space, and calculating to obtain the rotating average angular velocity W of the measured object at the corresponding moment according to the following formula:
W=2πf
in the formula: pi represents a circumferential ratio, f represents a frequency of a change in the acoustic pressure field of the measurement surrounding space;
or measuring the period of the sound pressure field change of the surrounding space, and calculating to obtain the rotating average angular velocity W of the measured object at the corresponding moment according to the following formula:
W=2π/T
in the formula: pi denotes the circumferential ratio and T denotes the period of the change of the acoustic pressure field in the space surrounding the measurement.
2. The method for measuring angular velocity of rotation of an object based on directivity of sound waves according to claim 1, characterized in that: the three directional sound wave sources are fixedly mounted on a measured object without a fixed rotating shaft, and the three sound wave sources are different in frequency.
3. The method for measuring angular velocity of rotation of an object based on directivity of sound waves according to claim 1, characterized in that: the sound wave source emits sine wave sound waves with fixed frequency and amplitude.
4. The method for measuring angular velocity of rotation of an object based on directivity of sound waves according to claim 1, characterized in that: the frequency and amplitude of the sine wave sound wave emitted by the sound wave source are fixed, and the frequency range is 10K-20 KHz.
5. The method for measuring angular velocity of rotation of an object based on directivity of sound waves according to claim 1, characterized in that: the object to be measured rotates at a constant angular jerk.
6. The method for measuring angular velocity of rotation of an object based on directivity of sound waves according to claim 1, characterized in that: the object to be measured rotates at a constant angular acceleration.
7. The method for measuring angular velocity of rotation of an object based on directivity of sound waves according to claim 1, characterized in that: wherein the method of measuring the frequency or period of the acoustic pressure field variation of the surrounding space:
the measuring the frequency of the acoustic pressure field variation of the surrounding space comprises: acquiring the sound pressure field change data, and obtaining the frequency of the maximum amplitude point through Fourier transform, namely the sound pressure field change frequency;
the measuring a period of the acoustic pressure field variation of the surrounding space includes: and collecting the sound pressure field change data, drawing an envelope curve of the sound wave, and obtaining a change period of the envelope curve amplitude, namely the sound pressure field change period.
8. A directivity measurement object rotational angular velocity's device based on sound wave, its characterized in that: comprises at least one sound wave generating module and at least one sound wave receiving module;
the sound wave generating module is used for emitting directional sound waves and comprises a sound wave generating unit and a first microprocessor, and the first microprocessor controls the sound wave generating unit to emit preset directional sound waves;
the sound wave receiving module is used for detecting the change of a sound pressure field and calculating the rotation angular velocity of the measured object, the sound wave receiving module comprises a sound wave detection sensor, a second microprocessor and an output interface, the second microprocessor receives an electric signal output by the sound wave detection sensor, a measurement result is obtained through operation, and the measurement result is output to the output interface;
the process of detecting the rotating angular velocity of the object by combining the sound wave generating module and the sound wave receiving module comprises the following steps:
aiming at a measured object with a fixed rotating shaft, mounting the sound wave generating module on the measured object, wherein the mounting direction is a rotating shaft, the sound wave points to the axis and is vertical to the measured object, and the direction is opposite to the measured object;
aiming at a measured object without a fixed rotating shaft, mounting three sound wave generating modules on the measured object, wherein the mounting direction is that sound waves point to the axis and are mutually vertical and the direction is opposite to the measured object;
under the condition that the sound wave generating module emits the directional sound wave, the object to be measured is rotated;
placing the sound wave receiving module at a space point where the sound source field change generated by the sound wave generating module exceeds a set threshold; the sound wave detection sensor measures the sound pressure field change value of the sound wave and converts the sound pressure field change value into a corresponding electric signal to be transmitted to the second microprocessor, the second microprocessor collects the electric signal, obtains the frequency of the maximum amplitude point through Fourier transformation, and obtains the value of the rotation angular velocity of the object to be measured at the corresponding moment by multiplying the value of the frequency of the maximum amplitude point by the double circumference ratio;
or the sound wave detection sensor measures the sound pressure field change value of the sound wave, converts the sound pressure field change value into a corresponding electric signal and transmits the electric signal to the second microprocessor, and the second microprocessor acquires the electric signal, draws an envelope curve, obtains an envelope curve amplitude change period, and divides the value of the amplitude change period by a double circumference ratio to obtain the value of the rotation angular velocity of the object to be measured at the corresponding moment.
9. An apparatus for acoustic based directivity measurement of angular velocity of rotation of an object as defined in claim 8 wherein: the sound wave generating module comprises a sound wave generating unit, and a sound gathering cover or a horn is further arranged in the sound wave direction axis direction of the sound wave generating unit and used for enhancing the directivity of the sound wave.
10. An apparatus for acoustic based directivity measurement of angular velocity of rotation of an object as defined in claim 8 wherein: the sound wave generating module further comprises a sound wave setting interface, and the sound wave setting interface is electrically connected with the control unit.
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