CN115047483A - Distance measuring device and method based on ultrasonic echo method - Google Patents
Distance measuring device and method based on ultrasonic echo method Download PDFInfo
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S17/14—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/296—Acoustic waves
- G01F23/2962—Measuring transit time of reflected waves
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Abstract
The invention discloses a distance measuring device and method based on an ultrasonic echo method, wherein a channel selector is used for outputting a driving pulse to one transducer, when an echo signal is received from the transducer and echo time is read from a timer, a driving pulse is output to the other transducer and the echo signal and the echo time are received, and finally the distance d from the transducer to a measured object is calculated according to the echo time of the two transducers and the relative distance d0 of the transducers. The ultrasonic ranging device is not influenced by the ambient temperature, the humidity and the air flow, and has high measurement stability and accuracy; higher measurement accuracy; when the device is used for measuring the liquid level of liquid, fixed-point, continuous and non-contact measurement can be realized.
Description
Technical Field
The invention relates to the technical field of industrial measurement and control, in particular to a distance measuring device and method based on an ultrasonic echo method.
Background
Distance detection, especially accurate measurement of liquid level, is an important guarantee for realizing accurate detection in the production process and an important means for realizing real-time control in the production process. The ultrasonic ranging has wide applicability, particularly, a measured container does not need to be perforated in the liquid level detection of the storage tank, and therefore real non-contact measurement can be achieved. There are also many methods for ultrasonic liquid level detection, including resonance method, frequency difference method, ultrasonic attenuation method, echo method, etc., but the prior art is limited by some specific conditions, for example, the resonance method belongs to contact measurement, the frequency difference method requires a frequency modulator, the attenuation method requires measurement of ultrasonic attenuation, the traditional echo method is susceptible to environmental temperature and air flow, etc.
Disclosure of Invention
The invention aims to provide a distance measuring device and method based on an ultrasonic echo method in order to solve the problems that the measuring result in the prior art is influenced by the ambient temperature, the humidity and the air flow, and the measuring precision is low, and the like, and the invention not only can avoid the influence of the ambient temperature, the humidity and the air flow on the measuring result, but also has extremely high measuring precision; fixed-point, continuous and non-contact measurement can be realized; the method is suitable for propagation media such as gas, liquid, solid and the like, and has wide applicability; the installation and maintenance are convenient in practical application, and the practical value is good.
The invention achieves the above purpose through the following technical scheme:
a distance measuring device based on an ultrasonic echo method comprises a first ultrasonic transducer, a second ultrasonic transducer, a driver, a channel selector, an amplifier, a threshold comparator, a timer, a clock generator and a microprocessor;
the low-frequency clock for rough measurement and the high-frequency clock for fine measurement output by the clock generator take the complete low-frequency clock period between the rising edges of the timing start pulse and the timing end pulse as rough measurement and take the high-frequency clock period between the timing start pulse and the rising edges of the timing end pulse and the low-frequency clock as fine measurement;
the driver generates an ultrasonic driving pulse and a timing starting pulse, the threshold comparator performs pulse shaping on an ultrasonic echo signal output by the amplifier and generates a timing ending pulse, the microprocessor controls the working state of the ultrasonic transducer through the driver and the channel selector, and the distance of a measured target is calculated according to the echo time measured by the timer;
the channel selector selects one of the two ultrasonic transducers to be in a working state in a time division mode, the first ultrasonic transducer transmits ultrasonic waves and receives echoes in a first time period during measurement, and the second ultrasonic transducer transmits the ultrasonic waves and receives the echoes in a second time period;
the first ultrasonic transducer and the second ultrasonic transducer are ultrasonic transducers integrating transceiving, and the first ultrasonic transducer and the second ultrasonic transducer are away from each other by a fixed distance d0 along the direction of a measured target.
The first ultrasonic transducer and the second ultrasonic transducer are used for transmitting ultrasonic waves with set frequency and receiving ultrasonic wave echoes reflected by a measured target.
The further scheme is that the first ultrasonic transducer and the second ultrasonic transducer adopt a receiving and transmitting integrated ultrasonic transducer with the resonant frequency of 200KHz, and the first ultrasonic transducer and the second ultrasonic transducer are 5mm away from each other at a fixed distance along the direction of a measured target.
Further, the channel selector simulates a switch circuit and is used for selecting one of the two ultrasonic transducers to be in a working state in a time division mode.
The further scheme is that the amplifier is a low-noise amplifying circuit and is used for amplifying the ultrasonic echo signal received by the ultrasonic transducer.
Further, the threshold comparator is used for comparing the amplitude of the echo signal with a set threshold voltage and outputting an echo shaping pulse and a Stop timing end pulse.
Further, the timer measures a time interval from a Start rising edge time when the ultrasonic drive pulse is emitted to a Stop rising edge time when the echo pulse is received, and the time measurement reference is a high-frequency clock signal.
The clock generator is a high-precision and high-frequency clock oscillation circuit and provides a reference clock for a timer and microprocessing.
The microprocessor adopts a 32-bit MCU chip for controlling the driver to send ultrasonic driving pulses, outputs the ultrasonic driving pulses to one of the ultrasonic transducers through the channel selector, outputs the driving pulses to the other ultrasonic transducer after receiving echo signals from the ultrasonic transducers and reading echo time from the timer, receives the echo signals and reads the echo time, and finally calculates the distance d from the first ultrasonic transducer to a measured target according to the echo time of the two ultrasonic transducers and the relative distance d0 of the ultrasonic transducers.
The timer provided by the invention adopts double-clock rough measurement and precise measurement, so that long-time and high-precision measurement of ultrasonic echo time is realized; the method comprises the following steps:
CLOCK 1: time t corresponding to the complete CLOCK1 CLOCK cycle number between the rising edges of the drive pulse Start and the echo pulse Stop for rough measurement c ，t c A longer time of timing can be achieved.
CLOCK 2: for high frequency CLOCKs, for fine-tuning the time interval t between the drive pulse Start and the rising edge of the CLOCK1 f1 And the time interval t between the echo pulse Stop and the rising edge of the CLOCK1 f2 . The fine measurement does not measure the whole echo time interval, and very high precision can be achieved.
The echo time is the time interval between the rising edges of the drive pulse Start and the echo pulse Stop, equal to t c +t f1 -t f2 。
The invention also provides a detection method of the distance measuring device based on the double ultrasonic echo method, which comprises the following steps:
the method comprises the following steps: under the control of the microprocessor, the driver transmits a first path of ultrasonic waves through the first ultrasonic transducer and synchronously outputs a Start pulse to Start a timer to time.
Step two: the first ultrasonic transducer receives a first echo reflected by a measured target, the first echo is amplified by an amplifier and shaped by a threshold comparator, a Stop pulse is output to Stop a timer, and the time interval between the rising edges of the Start pulse and the Stop pulse is the echo time t1 of the first echo. Assuming that the distance between the measured target and the first ultrasonic transducer is d, the propagation velocity of the ultrasonic wave in a propagation medium (such as air) in a standard state is v, and the variation of the propagation velocity of the acoustic wave due to the influence of ambient temperature, humidity or air flow is Δ v (as shown in the research, the propagation velocity of the acoustic wave in the air will vary by 1% for every 6 ℃ change in temperature), the following formula is given:
d＝(v+Δv)ⅹt1/2 (1)
step three: the driver transmits a second ultrasonic wave through the second ultrasonic transducer and synchronously outputs the Start pulse again.
Step four: the second ultrasonic transducer receives the second echo reflected by the measured target, the threshold comparator outputs Stop pulse again, and the timer measures the echo time t2 of the second echo. Since the second ultrasonic transducer is d0 away from the first ultrasonic transducer, the distance between the object to be measured and the second ultrasonic transducer is d + d0, and the following formula is given:
d+d0＝(v+Δv)ⅹt2/2 (2)
step five: according to the formula (1) and the formula (2), the microprocessor calculates the distance d from the first ultrasonic transducer to the measured object, and the following formula is adopted:
d＝t1/(t2-t1)ⅹd0 (3)
as can be seen from equation (3), the measured distance d depends only on the first echo time t1, the second echo time t2 and the relative distance d0 between the two ultrasonic transducers, and is independent of the propagation speed of the acoustic wave and the variation of the speed affected by the environment, so that the influence of the ambient temperature, humidity, air flow and other factors on the measurement result is completely eliminated.
Step six: in particular, as can be seen from equation (3), the measurement error of the distance d depends on the measurement accuracy of the echo time and the accuracy of the distance d0, while the time measurement accuracy in the invention can reach nanosecond level, and the d0 usually has a large error due to assembly reasons, so that d0 is the determining factor of the measurement error of the distance d. To eliminate the effect of the distance D0 on the ranging result, the device of the present invention can be calibrated by a known distance calibration D before the factory, as follows:
assuming that the distance from the first ultrasonic transducer to the calibration target is D, the measured echo times are T1 and T2, respectively, and substituting equation (3) can obtain the following calibration equation:
d0＝(T2-T1)/T1ⅹD (4)
substituting d0 into equation (3) can obtain the following calibrated ranging equation:
d＝t1/(t2-t1)ⅹ(T2-T1)/T1ⅹD (5)
and (3) storing the T1, the T2 and the D as calibration parameters into a microprocessor, and performing high-precision measurement on the distance of the target to be measured by using a formula (5).
The invention has the beneficial effects that:
(1) the ultrasonic ranging device is not influenced by the ambient temperature, the humidity and the air flow, and has high measurement stability and accuracy;
(2) compared with the prior art, the ultrasonic ranging device has higher measurement precision;
(3) the ultrasonic ranging device can select gas, liquid, solid and other propagation media, and has wide applicability;
(4) when the invention is used for measuring the liquid level of liquid, fixed-point, continuous and non-contact measurement can be realized;
(5) the invention is convenient to install and maintain in practical application and has good practicability.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the embodiments or the drawings needed to be practical in the prior art description, and obviously, the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a structural diagram of a distance measuring device based on a double ultrasonic echo method.
Fig. 2 is a flow chart of a detection method of a distance measuring device based on a double ultrasonic echo method.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
In any embodiment, as shown in fig. 1, a distance measuring device based on an ultrasonic echo method according to the present invention includes: all ultrasonic transducers integrating transceiving are used for transmitting ultrasonic waves with set frequency and receiving ultrasonic wave echoes reflected by a measured target, and the ultrasonic transducers integrating transceiving with the resonant frequency of 200KHz are selected in the embodiment.
The sound wave emitting surfaces of the first ultrasonic transducer and the second ultrasonic transducer are separated by a fixed distance d0 along the direction of the measured object, and the distance is 5mm in the embodiment.
A channel selector: and the analog switch circuit is used for selecting one of the two ultrasonic transducers in a working state in a time division mode. During a first time period during measurement, the first ultrasonic transducer transmits ultrasonic waves and receives echoes, and during a second time period, the second ultrasonic transducer transmits ultrasonic waves and receives echoes.
A driver: and the pulse oscillation and amplification circuit is used for generating a driving pulse consistent with the resonant frequency of the ultrasonic transducer, exciting the ultrasonic transducer to emit ultrasonic waves and synchronously outputting a Start timing Start pulse.
An amplifier: and the low-noise amplifying circuit is used for amplifying the ultrasonic echo signal received by the ultrasonic transducer so as to meet the requirement of the threshold comparator on the signal amplitude.
A threshold comparator: and the integrated comparator is used for comparing the amplitude of the echo signal with a set threshold voltage and outputting an echo shaping pulse and a Stop timing termination pulse.
A timer: the time interval from the Start rising edge timing at which the ultrasonic drive pulse is emitted to the Stop rising edge timing at which the echo pulse is received (hereinafter referred to as "echo time") is measured with reference to a high-frequency clock signal.
A clock generator: the high-precision and high-frequency clock oscillation circuit provides a reference clock for the timer and the microprocessor.
The microprocessor: and the 32-bit MCU chip is used for controlling the driver to send ultrasonic driving pulses, outputting the ultrasonic driving pulses to one of the ultrasonic transducers through the channel selector, outputting the driving pulses to the other ultrasonic transducer after receiving echo signals from the ultrasonic transducers and reading echo time from the timer, receiving the echo signals and reading the echo time, and finally calculating the distance d from the first ultrasonic transducer to a measured object according to the echo time of the two ultrasonic transducers and the relative distance d0 of the ultrasonic transducers.
Particularly, the timer of the present invention adopts a technical scheme of double-clock rough measurement and fine measurement to realize long-time and high-precision time measurement, as shown in fig. 2. The method comprises the following steps:
CLOCK 1: at a time t corresponding to the number of CLOCK cycles of CLOCK1 that are complete between the rising edge of the ultrasonic drive pulse Start and the rising edge of the echo pulse Stop c As the echo rough measurement time. The CLOCK1 of the embodiment has a frequency of 4MHz, the cycle counter is a 16-bit counter, t c A long time of about 16 milliseconds can be achieved.
CLOCK 2: high frequency CLOCK for fine-tuning the time interval t between the rising edge of the drive pulse Start and the rising edge of the CLOCK1 f1 And the time interval t between the rising edge of the echo pulse Stop and the rising edge of the CLOCK1 f2 . The CLOCK2 of the embodiment is 64 times the CLOCK1, and is 256MHz, the minimum measurement time is about 4 nanoseconds, and high timing precision can be realized.
The time interval between the rising edge of the drive pulse Start and the echo pulse Stop is the echo time t, which is equal to t c +t f1 -t f2 。
In one embodiment, as shown in fig. 1-2, a distance measuring method of a distance measuring device based on a dual ultrasonic echo method of the present invention includes the following steps:
the method comprises the following steps: under the control of the microprocessor, the driver transmits a first path of ultrasonic waves through the first ultrasonic transducer and synchronously outputs a Start pulse to Start a timer to time.
Step two: the first ultrasonic transducer receives a first path of echo reflected by a measured target, the first path of echo is amplified by an amplifier and shaped by a threshold comparator, and a Stop pulse is output to Stop a timer. The time interval between the rising edges of the Start pulse and the Stop pulse measured at this time is the echo time t1 of the first echo, and the relation between the measured distance d and the echo time t1 is as shown in formula (1).
Step three: the driver transmits a second ultrasonic wave through the second ultrasonic transducer and synchronously outputs the Start pulse again.
Step four: the second ultrasonic transducer receives the second echo reflected by the measured target, the threshold comparator outputs Stop pulse again, and the timer measures the echo time t2 of the second echo. The relation between the distance d + d0 between the measured object and the second ultrasonic transducer and the echo time is shown in formula (2).
Step five: according to the echo time t1, t2 and the relative distance d0 of the ultrasonic transducer, the distance d from the first ultrasonic transducer to the measured object can be calculated by formula (3). Taking the example of d0 being 5mm, the practical calculation formula is as follows:
d＝t1/(t2-t1)ⅹ5 (6)
step six: in order to eliminate the influence of the relative distance D0 of the two ultrasonic transducers on the ranging result due to assembly errors, calibration test can be performed through known distance calibration D, the calibration distance D, the corresponding echo time T1 and T2 are stored in a microprocessor as calibration parameters, and then the distance of the target to be measured is measured with high precision by using a formula (5).
Taking the relative distance of the ultrasonic transducer as 5mm, the calibration distance as 500mm, and the distance measurement in the air environment as an example, the corresponding echo times T1 and T2 are 1470.6uS and 1500.0uS, respectively, so that the formula (5) can be simplified as follows:
d＝t1/(t2-t1)ⅹ9.996 (7)
the time measuring precision of the timer can reach 4 nanoseconds, so that the ultrasonic ranging device can realize high ranging precision, and a ranging result is only related to ultrasonic echo time as seen by a ranging formula (7), thereby completely eliminating the influence of environmental temperature, humidity and air flow in the prior art and having high measuring stability.
Those of ordinary skill in the art will appreciate that, depending on the characteristics of the sound waves, lower frequencies of the sound waves are less directional, but travel farther; the directivity of the high-frequency sound wave is good, but the high-frequency sound wave is easy to attenuate, so that the resonant frequency of the ultrasonic transducer can be reasonably selected according to the measured distance and the actual use scene, and is not limited to a specific frequency.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims. It should be noted that, in the above embodiments, the various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, the present invention does not separately describe various possible combinations. In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (10)
1. A distance measuring device based on an ultrasonic echo method is characterized by comprising a first ultrasonic transducer, a second ultrasonic transducer, a driver, a channel selector, an amplifier, a threshold comparator, a timer, a clock generator and a microprocessor;
the low-frequency clock for rough measurement and the high-frequency clock for fine measurement output by the clock generator take the complete low-frequency clock period between the rising edges of the timing start pulse and the timing end pulse as rough measurement and take the high-frequency clock period between the timing start pulse and the rising edges of the timing end pulse and the low-frequency clock as fine measurement;
the driver generates an ultrasonic driving pulse and a timing starting pulse, the threshold comparator performs pulse shaping on an ultrasonic echo signal output by the amplifier and generates a timing ending pulse, the microprocessor controls the working state of the ultrasonic transducer through the driver and the channel selector, and the distance of a measured target is calculated according to the echo time measured by the timer;
the timer is used for carrying out rough measurement and precise measurement on double clocks, so that long-time and high-precision measurement on the ultrasonic echo time is realized;
the channel selector is used for selecting one of the two ultrasonic transducers to be in a working state in a time division mode, the first ultrasonic transducer transmits ultrasonic waves and receives echoes in a first time period during measurement, and the second ultrasonic transducer transmits the ultrasonic waves and receives the echoes in a second time period;
the first ultrasonic transducer and the second ultrasonic transducer are ultrasonic transducers integrating transceiving, and the first ultrasonic transducer and the second ultrasonic transducer are separated by a fixed distance d0 along the direction of the measured target.
2. The ultrasonic echo method based distance measuring device according to claim 1, wherein the first ultrasonic transducer and the second ultrasonic transducer are used for emitting ultrasonic waves with set frequency and receiving ultrasonic echoes reflected by the measured object.
3. The ultrasonic echo method based distance measuring device according to claim 1, wherein the first ultrasonic transducer and the second ultrasonic transducer are integrated ultrasonic transducers with a resonant frequency of 200KHz, and the first ultrasonic transducer and the second ultrasonic transducer are separated by a fixed distance of 5mm along the direction of the measured object.
4. An ultrasonic echo based ranging device as claimed in claim 1 wherein the channel selector simulates a switching circuit for time division selecting one of the two ultrasonic transducers to be in operation.
5. The ultrasonic echo method based distance measuring device according to claim 1, wherein the amplifier is a low noise amplification circuit for amplifying the ultrasonic echo signal received by the ultrasonic transducer.
6. The ultrasonic echo method-based distance measuring device according to claim 1, wherein the threshold comparator is configured to compare the amplitude of the echo signal with a set threshold voltage, and output an echo shaping pulse and a Stop timing end pulse.
7. The ultrasonic echo based ranging apparatus according to claim 1, wherein the timer measures a time interval from a Start rising edge time when the ultrasonic driving pulse is emitted to a Stop rising edge time when the echo pulse is received, the time measurement being based on a high frequency clock signal.
8. The ultrasonic echo based ranging device according to claim 1, wherein the clock generator is a high precision, high frequency clock oscillator circuit providing a reference clock for a timer and a microprocessor.
9. The ultrasonic echo method based distance measuring device according to claim 1, wherein the microprocessor uses a 32-bit MCU chip for controlling the driver to transmit ultrasonic driving pulses and output the ultrasonic driving pulses to one of the ultrasonic transducers through the channel selector, when an echo signal is received from the ultrasonic transducer and an echo time is read from the timer, the driving pulses are output to the other ultrasonic transducer and the echo signal and the echo time are received, and finally, the distance d from the first ultrasonic transducer to the measured object is calculated according to the echo time of the two ultrasonic transducers and the relative distance d0 of the ultrasonic transducers.
10. A method for measuring a distance of a distance measuring apparatus based on an ultrasonic echo method according to any one of claims 1 to 9, comprising the steps of:
the method comprises the following steps: under the control of the microprocessor, the driver transmits a first path of ultrasonic waves through the first ultrasonic transducer and synchronously outputs a Start pulse to Start a timer to time;
step two: the first ultrasonic transducer receives a first path of echo reflected by a measured target, the first path of echo is amplified by an amplifier and shaped by a threshold comparator, a Stop pulse is output to enable a timer to be stopped for timing, and the time interval between the Start pulse and the rising edge of the Stop pulse is the echo time t1 of the first path of echo:
step three: the driver transmits a second path of ultrasonic waves through the second ultrasonic transducer and synchronously outputs a Start pulse again;
step four: the second ultrasonic transducer receives a second path of echo reflected by the measured target, the threshold comparator outputs a Stop pulse, and the timer measures the echo time t2 of the second path of echo;
step five: the microprocessor calculates the distance d of the measured object according to the echo time t1 and t2 and the relative distance d0 of the two ultrasonic transducers according to the following formula:
d＝t1/(t2-t1)ⅹd0
step six: in order to eliminate the influence of the relative distance D0 of the two ultrasonic transducers on the distance measurement result, the distance D and the echo time T1 and T2 at the distance are known to be stored in a microprocessor as calibration parameters, and the distance of the target to be measured is measured with high precision according to the following calibration formula:
d＝t1/(t2-t1)ⅹ(T2-T1)/T1ⅹD。
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