CN115616583A - Ultrasonic ranging blind area adjusting method and ultrasonic sensor - Google Patents
Ultrasonic ranging blind area adjusting method and ultrasonic sensor Download PDFInfo
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- CN115616583A CN115616583A CN202211299287.3A CN202211299287A CN115616583A CN 115616583 A CN115616583 A CN 115616583A CN 202211299287 A CN202211299287 A CN 202211299287A CN 115616583 A CN115616583 A CN 115616583A
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- echo
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- ultrasonic sensor
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000005259 measurement Methods 0.000 description 12
- 239000000919 ceramic Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000026683 transduction Effects 0.000 description 1
- 238000010361 transduction Methods 0.000 description 1
- 235000012431 wafers Nutrition 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/524—Transmitters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/534—Details of non-pulse systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The invention provides an ultrasonic ranging blind area adjusting method, which is applied to the technical field of ultrasonic ranging and comprises the following steps: step one, configuring a blind area distance value for a transmitting end of an ultrasonic sensor; step two, defining echo loss times and echo receiving time threshold values; step three, judging whether the ultrasonic sensor has an echo, if so, adding 1 to the echo receiving frequency, and if not, adding 1 to the echo losing frequency; step four, judging whether the echo receiving times and the echo losing times exceed threshold values, if so, reducing or increasing the power of a corresponding transmitting terminal, and if not, returning to the step three; step five, updating the blind area distance value according to the power of the transmitting terminal; and sixthly, returning to the third step after the echo receiving times and the echo losing times are cleared. The ultrasonic sensor can adjust the transmitting power of the transmitting end according to the detected echo receiving times and echo losing times by executing the method, so that the blind zone distance value is dynamically adjusted, and the ranging accuracy is improved.
Description
Technical Field
The invention belongs to the technical field of ultrasonic ranging, and particularly relates to an ultrasonic ranging blind area adjusting method and an ultrasonic sensor.
Background
Most of the existing ultrasonic sensors adopt piezoelectric ceramics as transduction wafers which are respectively arranged at a transmitting end and a receiving end, and the piezoelectric ceramics of the transmitting end are vibrated to generate ultrasonic waves in a voltage applying mode. If the voltage applied to the piezoelectric ceramic at the transmitting end is increased, not only the power consumed by the ultrasonic sensor is increased, but also the mechanical vibration frequency of the piezoelectric ceramic is increased, so that the power density of the ultrasonic wave is increased, and finally, the propagation distance of the ultrasonic wave is increased. When the receiving end piezoelectric ceramic receives the reflected ultrasonic waves, mechanical vibration is generated, mechanical energy is converted into electric energy, and the generated electric signals are amplified by the amplifying circuit.
However, actually, due to inertia, when the application of voltage to the emitter-side piezoelectric ceramic is stopped, the emitter-side piezoelectric ceramic does not immediately stop vibrating but generates residual vibration for a certain period of time, and the larger the voltage applied before the application of voltage is stopped, the longer the residual vibration lasts.
The ultrasonic wave generated by the aftervibration decreases along with the increase of time, so that the power density of the ultrasonic wave is reduced, and finally the propagation distance of the ultrasonic wave is reduced. That is, the echo of the ultrasonic wave generated by the residual vibration may cause an erroneous measurement distance (i.e., blind zone distance) to be output if the echo of the ultrasonic wave generated by the receiving end piezoelectric ceramic is received earlier than the echo of the ultrasonic wave generated by the normal vibration. Therefore, the maximum blind area distance under the current ultrasonic sensor transmitting end power needs to be judged, and the measurement distance result within the blind area distance needs to be shielded, so that the measurement error is reduced.
In order to reduce measurement errors, some instruments adopt a method of setting a blind zone distance to be a certain fixed empirical value, and the method has a good short-distance measurement effect, but can be influenced by ultrasonic wave echo generated by residual vibration during long-distance measurement; in the method, the blind area distance is used as an adjustable numerical value, and the blind area distance is manually adjusted to reduce the measurement error of the far/near distance in the face of different working conditions.
Therefore, an adjusting method for the ultrasonic ranging blind area needs to be designed, the distance value of the blind area can be dynamically adjusted, and the measuring accuracy and stability are improved.
Disclosure of Invention
In view of the above problems in the prior art, an object of the present invention is to provide a method for adjusting a blind zone in ultrasonic ranging, which determines whether to adjust the power of a transmitting end currently by determining whether the echo receiving frequency and the echo losing frequency of a receiving end of an ultrasonic sensor exceed corresponding thresholds, and dynamically adjusts the distance value of the blind zone depending on the corresponding relationship between the power of the transmitting end and the distance value of the blind zone, thereby improving the accuracy and stability of ultrasonic ranging.
An ultrasonic ranging blind area adjusting method is used for adjusting the transmitting power of an ultrasonic sensor transmitting end by judging whether the echo receiving times and the echo losing times exceed a threshold value, so as to dynamically adjust the distance value of the blind area, and specifically comprises the following steps:
step one, configuring a blind area distance empirical value for each transmitting end of the ultrasonic sensor;
step two, an echo loss time threshold and an echo receiving time threshold are specified;
step three, judging whether the ultrasonic sensor has an echo, if so, adding 1 to the echo receiving times, and if not, adding 1 to the echo losing times;
step four, judging whether the echo receiving times and the echo losing times exceed corresponding threshold values, if so, reducing or increasing the power of a corresponding transmitting terminal according to a judgment result, and if not, returning to the step three;
fifthly, updating the blind area distance empirical value according to the power of the transmitting end of the ultrasonic sensor;
and sixthly, returning to the third step after the echo receiving times and the echo losing times are cleared.
In order to determine whether to adjust the power of the transmitting end, the specific process of determining whether the echo receiving times and the echo losing times exceed the corresponding threshold values is as follows: if the receiving times of the echo exceed the corresponding threshold value, the power of the corresponding transmitting end is reduced, and if the receiving times of the echo do not exceed the corresponding threshold value, the third step is returned; and if the echo loss times exceed the corresponding threshold value, the power of the corresponding transmitting end is increased, and if the echo loss times do not exceed the corresponding threshold value, the step three is returned.
The blind area distance empirical value comprises a minimum blind area distance value and a maximum blind area distance value.
In order to dynamically adjust the blind area distance empirical value, the blind area distance empirical value and the power of the transmitting end of the ultrasonic sensor are in a one-to-one correspondence relationship, and the correspondence relationship is modified through parameters.
In another aspect of the present invention, an ultrasonic sensor is further provided, where the ultrasonic sensor performs the above-mentioned ultrasonic ranging blind area adjusting method.
The beneficial effects of the invention are: the method for adjusting the blind zone of the ultrasonic ranging and the ultrasonic sensor judge whether the power of a transmitting end is adjusted at present by judging whether the echo receiving times and the echo losing times of a receiving end of the ultrasonic sensor exceed corresponding threshold values, and dynamically adjust the distance value of the blind zone according to the corresponding relation between the power of the transmitting end and the distance value of the blind zone; compared with the method for improving the accuracy of ultrasonic ranging by setting the distance value of the fixed blind area in the prior art, the method has wider applicability of measuring the distance and can be suitable for different working conditions; compared with the method for improving the distance measurement accuracy by manually adjusting the distance value of the blind area in the prior art, the method avoids the possible manual adjustment error, and is higher and more stable in measurement accuracy.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a flow chart of a conditioning method of the present invention;
FIG. 2 is a schematic diagram of the distance of the measurement blind area at the minimum power of the transmitting terminal of the present invention;
FIG. 3 is a schematic diagram of the distance of the measurement blind area after the power of the transmitting terminal is properly increased according to the present invention;
fig. 4 is a schematic diagram of the distance of the measurement blind area at the maximum power of the transmitting terminal of the present invention.
Detailed Description
Example one
As shown in fig. 1, an ultrasonic ranging blind area adjusting method is used for adjusting the transmitting power of a transmitting end of an ultrasonic sensor by judging whether the echo receiving times and the echo losing times exceed a threshold value, so as to dynamically adjust a blind area distance value, and the adjusting method specifically includes the following steps:
step one, configuring a blind area distance empirical value for each transmitting end of the ultrasonic sensor, wherein the blind area distance empirical value comprises a minimum blind area distance value and a maximum blind area distance value, and at the moment, automatically adjusting the numerical value of the blind area distance to be between the minimum blind area distance value and the maximum blind area distance value.
And step two, an echo loss frequency threshold value and an echo receiving frequency threshold value are specified and used for judging whether the power of the transmitting end is adjusted or not.
Step three, judging whether the ultrasonic sensor has an echo, if so, adding 1 to the echo receiving frequency, and if not, adding 1 to the echo losing frequency; specifically, under the current power of the transmitting end of the ultrasonic sensor, if the echo is not received, the number of times of echo loss is added by 1, and if the echo is received, the number of times of receiving recovery is added by 1.
Step four, judging whether the echo receiving times and the echo losing times exceed corresponding thresholds, if the echo receiving times exceed the corresponding thresholds, reducing the power of the corresponding transmitting terminal, and if not, returning to the step three; and if the echo loss times exceed the corresponding threshold value, increasing the power of the corresponding transmitting end, and if the echo loss times do not exceed the corresponding threshold value, returning to the step three.
And step five, updating the blind area distance empirical value according to the power of the transmitting end of the ultrasonic sensor, wherein the blind area distance empirical value and the power of the transmitting end of the ultrasonic sensor are in one-to-one correspondence, and the correspondence can be modified through parameters, so that the method is suitable for different working conditions.
And step six, returning to the step three after the echo receiving times and the echo losing times are cleared, and then judging the next time.
As shown in fig. 2, when the power of the transmitting end of the current ultrasonic sensor is the minimum value, the minimum blind area distance is about 0.64M.
As shown in fig. 3, when the power of the transmitting end is increased, the blind area distance value is automatically updated with the current power of the transmitting end, and the current blind area distance is about 0.73M.
As shown in fig. 4, when the power of the transmitting end of the current ultrasonic sensor is adjusted to the maximum power, the blind area distance value is automatically updated along with the power of the current transmitting end, and the current blind area distance is about 0.79M at this time.
Example two
In another aspect of the present invention, an ultrasonic sensor is further provided, where the ultrasonic sensor performs the above-mentioned ultrasonic ranging blind area adjusting method.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An ultrasonic ranging blind area adjusting method is used for adjusting the transmitting power of an ultrasonic sensor transmitting end by judging whether the echo receiving times and the echo losing times exceed a threshold value, so as to dynamically adjust the distance value of the blind area, and is characterized by comprising the following steps:
step one, configuring a blind area distance empirical value for each transmitting end of the ultrasonic sensor;
step two, an echo loss time threshold and an echo receiving time threshold are specified;
step three, judging whether the ultrasonic sensor has an echo, if so, adding 1 to the echo receiving times, and if not, adding 1 to the echo losing times;
step four, judging whether the echo receiving times and the echo losing times exceed corresponding threshold values, if so, adjusting the power of a corresponding transmitting end according to a judgment result, and if not, returning to the step three;
fifthly, updating the blind area distance empirical value according to the power of the transmitting end of the ultrasonic sensor;
and sixthly, returning to the third step after the echo receiving times and the echo losing times are cleared.
2. The method for adjusting the blind zone in ultrasonic ranging according to claim 1, wherein the specific process of determining whether the number of times of echo reception and the number of times of echo loss exceed the corresponding threshold values is as follows: if the receiving times of the echo exceed the corresponding threshold value, reducing the power of the corresponding transmitting end, and if the receiving times of the echo do not exceed the corresponding threshold value, returning to the step three; and if the echo loss times exceed the corresponding threshold value, increasing the power of the corresponding transmitting end, and if the echo loss times do not exceed the corresponding threshold value, returning to the step three.
3. The ultrasonic ranging blind area adjusting method as claimed in claim 1, wherein the blind area distance empirical value includes a minimum blind area distance value and a maximum blind area distance value.
4. The method for adjusting the blind zone in ultrasonic ranging according to claim 3, wherein the empirical value of the blind zone distance and the power of the transmitting end of the ultrasonic sensor are in a one-to-one correspondence relationship, and the correspondence relationship is modified by parameters.
5. An ultrasonic sensor characterized by performing the ultrasonic ranging blind zone adjusting method according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211299287.3A CN115616583A (en) | 2022-10-21 | 2022-10-21 | Ultrasonic ranging blind area adjusting method and ultrasonic sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211299287.3A CN115616583A (en) | 2022-10-21 | 2022-10-21 | Ultrasonic ranging blind area adjusting method and ultrasonic sensor |
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| CN115616583A true CN115616583A (en) | 2023-01-17 |
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| CN202211299287.3A Pending CN115616583A (en) | 2022-10-21 | 2022-10-21 | Ultrasonic ranging blind area adjusting method and ultrasonic sensor |
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Citations (12)
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Application publication date: 20230117 |