CN116256736B

CN116256736B - Multichannel driving system and multichannel driving method of ultrasonic sonar device

Info

Publication number: CN116256736B
Application number: CN202310037889.XA
Authority: CN
Inventors: 孙锋; 何春良; 金丽玲
Original assignee: Yunnan Poly Tiantong Underwater Equipment Technology Co ltd
Current assignee: Yunnan Poly Tiantong Underwater Equipment Technology Co ltd
Priority date: 2023-01-01
Filing date: 2023-01-01
Publication date: 2024-07-02
Anticipated expiration: 2043-01-01
Also published as: CN116256736A

Abstract

The invention discloses a multichannel driving system and a multichannel driving method of an ultrasonic sonar device, wherein the multichannel driving system comprises a loading value acquisition unit, a counter control unit, a level overturning unit and a driving unit. The loading value obtaining unit is configured to obtain K delay loading values and a string P, N of loading value arrays, the counter control unit is configured to control the working state of the delay counter array according to the delay loading values and the working state of the waveform counter array according to a string P, N of loading value arrays, the level turning unit is configured to turn the P counter output square wave P (X) level of the waveform counter array and the N counter output square wave N (X) level of the waveform counter array at proper time, and the driving unit is configured to output the enabled output square waves P (X) and N (X) to the ultrasonic sonar device so as to drive the ultrasonic sonar device to work.

Description

Multichannel driving system and multichannel driving method of ultrasonic sonar device

Technical Field

The invention relates to the field of driving of sonar devices, in particular to a multichannel driving system and a multichannel driving method of an ultrasonic sonar device.

Background

The ultrasonic sonar device obtains information such as the distance, the material, the shape, the movement speed and the like of a concerned target by transmitting ultrasonic signals, receiving and processing the reflected echoes of the target. In order to obtain a higher processing resolution and a longer range, an ultrasound system often uses a plurality of transmitting transducer elements to form a transmitting array, where each transmitting transducer element transmits signals with the same waveform, but there are designed delays, referring to the phased transmitting schematic of the ultrasound sonar device shown in fig. 1, that will cause all transmitting transducer element transmitting signals to interfere with each other in space, so that energy is concentrated in a specific direction, that is, phased transmitting is achieved.

The linear frequency modulation signal can achieve a larger time-bandwidth product, so that higher echo energy and time resolution can be obtained at the same time, and the linear frequency modulation signal is widely applied to ultrasonic sonar devices. The chirping signal belongs to an amplitude constant signal and can be realized by driving a nonlinear power amplifying circuit by a pair of PWM square waves, wherein the pair of PWM square waves consists of two paths of high and low levels of 0 and 1, and the schematic diagram of the chirping signal is shown in the figure 2 by using a pair of P/N PWM square wave driving. However, on the one hand, the current multi-channel chirp signal PWM driving signal is generally generated in the FPGA through a hardware logic programmable language, and pins of the DSP or ARM processor are limited and are complex in programming, so that the multi-channel chirp signal PWM driving signal can only be used under the condition of a small number of channels, on the other hand, the generating scheme of the multi-channel chirp signal PWM driving signal in the FPGA is a pre-storing-reading mode, that is, a plurality of PWM waveforms are pre-stored in the ROM inside the FPGA, an address where one waveform is located is selected according to the transmission requirement, and the "0" and "1" data are sequentially read out and output to the pins to drive the power amplifying circuit, which results in reduced driving flexibility and cannot meet the requirement. Therefore, how to flexibly drive the ultrasonic sonar device is a technical problem addressed by the inventor of the present invention.

Disclosure of Invention

It is an object of the present invention to provide a multi-channel driving system and a multi-channel driving method of an ultrasonic sonar device, wherein the multi-channel driving system can flexibly drive the ultrasonic sonar device.

An object of the present invention is to provide a multi-channel driving system and a multi-channel driving method for an ultrasonic sonar device, in which a loading value obtaining unit of the multi-channel driving system is capable of obtaining K delay loading values and a string P, N of loading value arrays in real time according to input phase-control angle parameters and waveform parameters, a counter control unit is capable of controlling an operating state of a delay counter array according to the delay loading values and controlling an operating state of a waveform counter array according to a string P, N of loading value arrays, a level turning unit is capable of turning a P counter output square wave P (X) level and a turned N counter output square wave N (X) level of the waveform counter array at appropriate times, and a driving unit outputs output square waves P (X) and N (X) enabling output to the ultrasonic sonar device, so that the multi-channel driving system allows the waveform parameters to be adjustable in real time, and each channel delay to be adjustable in real time, thereby flexibly driving the ultrasonic sonar device.

An object of the present invention is to provide a multi-channel driving system and a multi-channel driving method of an ultrasonic sonar device, in which the multi-channel driving system can flexibly drive the ultrasonic sonar device without pre-storing PWM waveforms, and the multi-channel driving system allows the PWM duty ratio to be adjustable in real time, thus saving logic resources and internal BRAM space.

It is an object of the present invention to provide a multi-channel driving system and a multi-channel driving method of an ultrasonic sonar device, in which the multi-channel driving system prevents a new Ping signal from triggering the delay counter during a Ts time when the Ping signal triggers the delay counter of the delay counter array to start counting, so that the multi-channel driving system forcibly ensures that a time interval between triggering the delay counter by two Ping signals is greater than a dead time Ts, that is, the multi-channel driving system provides a transmission interval limiting function to protect a transmission circuit from being damaged by heating due to an excessively high transmission frequency.

According to one aspect of the present invention, there is provided a multi-channel driving system of an ultrasonic sonar device, comprising:

A load value acquisition unit, wherein the load value acquisition unit is configured to acquire K delayed load values and a string P, N of load value arrays;

A counter control unit, wherein the counter control unit is configured to control the working state of a delay counter array according to the delay loading value acquired by the loading value acquisition unit and control the working state of a waveform counter array according to a string P, N of loading value arrays acquired by the loading value acquisition unit;

A level flipping unit, wherein the level flipping unit is configured to flip a P counter output square wave P (X) level of the waveform counter array and flip an N counter output square wave N (X) level of the waveform counter array at appropriate timings; and

And the driving unit is configured to output the output square waves P (X) and N (X) which are enabled to be output to the ultrasonic sonar device so as to drive the ultrasonic sonar device to work.

According to one embodiment of the present invention, the counter control unit includes a delay counter control module, a trigger module, and a waveform counter control module, the delay counter control module and the waveform counter control module being respectively communicatively connected to the trigger module, wherein the trigger module is configured to control an operation state of the waveform counter control module according to an operation state of the delay counter control module.

According to one embodiment of the present invention, when the delay counter control module controls the count value of a delay counter of the delay counter array to return to 0, the trigger module triggers the waveform counter control module to allow the waveform counter control module to control the P counter and the N counter corresponding to the same transmit channel as the delay counter to operate.

According to one embodiment of the present invention, the loading value obtaining unit includes a delay loading value obtaining module configured to obtain the delay loading value according to a phase control angle and a waveform loading value obtaining module configured to obtain a string P, N of loading value arrays according to a waveform parameter.

According to one embodiment of the present invention, the delay loading value obtaining module further includes a delay obtaining sub-module and a delay loading value obtaining sub-module, where the delay obtaining sub-module obtains the delay of the adjacent transmitting channel according to the phase-controlled angle parameter, and the delay loading value obtaining sub-module obtains the delay loading value D1, D2 … … DK according to the delay of the adjacent transmitting channel.

According to one embodiment of the present invention, if the phase-control angle parameter is greater than 0, the delay-load-value obtaining submodule uses the delay-load value D ₁、D₂……D_K obtained according to the delay of the adjacent transmitting channel as K delay-load values, and if the phase-control angle parameter is less than 0, the delay-load-value obtaining submodule uses the delay-load value D ₁、D₂……D_K obtained according to the delay of the adjacent transmitting channel as K delay-load values after being flipped end-to-end.

According to one embodiment of the present invention, the waveform loading value obtaining module further includes a chirp signal obtaining sub-module, a threshold obtaining sub-module, a PWM square wave obtaining sub-module, and a waveform loading value obtaining sub-module, where the chirp signal obtaining sub-module obtains a chirp signal to be actually transmitted according to a chirp signal center frequency of the waveform parameter, the threshold obtaining sub-module obtains a threshold according to a duty cycle of the waveform parameter, the PWM square wave obtaining sub-module obtains a P (t) waveform and an N (t) waveform according to a mode of binarizing x (t) of the threshold, the waveform loading value obtaining sub-module records a sampling point number sustained by each of the segments "0" and "1" of the P (t) waveform as a loading value P ₁、P₂……P_M, and records a sampling point number sustained by each of the segments "0" and "1" as a loading value N ₁、N₂……N_M according to the N (t) waveform.

According to another aspect of the present invention, the present invention further provides a multi-channel driving method of an ultrasonic sonar device, wherein the multi-channel driving method comprises the steps of:

(a) Respectively obtaining K delay loading values and a string P, N loading value array;

(b) Controlling the working state of a delay counter array according to the delay loading value, and controlling the working state of a waveform counter array according to a string P, N of loading value arrays;

(c) Flipping output square wave P (X) levels when a P counter in the waveform counter array outputs square wave P (X), and flipping output square wave N (X) levels when an N counter in the waveform counter array outputs square wave N (X); and

(D) And enabling output square waves P (X) and N (X) to the ultrasonic sonar device so as to drive the ultrasonic sonar device to work.

According to one embodiment of the present invention, in the step (b), an operation state of the waveform counter array is controlled according to an operation state of the delay counter array.

According to one embodiment of the invention, said step (b) further comprises the steps of:

(b.1) a delay counter of the delay counter array starts counting from 0 when triggered by a Ping signal, stops counting when counting to the delay loading value corresponding to the delay counter array and returns the count value to 0; and

(B.2) triggering the waveform counter array to change the operating states of the P counter and the N counter of the waveform counter array when the delay counter returns the count value to 0.

According to one embodiment of the present invention, in the above method, the new Ping signal is prevented from triggering the delay counter for a time Ts in which the Ping signal triggers the delay counter to start counting, wherein the time Ts is a dead time Ts.

According to one embodiment of the present invention, in the step (a), the step of obtaining the late loading value includes:

acquiring delay of adjacent transmitting channels according to a phase control angle parameter; and

And acquiring the delay loading value according to the delay of the adjacent transmitting channels.

According to one embodiment of the present invention, in the step (a), the step of obtaining a string P, N of the loaded value arrays includes:

acquiring a practical linear frequency modulation signal to be transmitted according to the linear frequency modulation signal center frequency of a waveform parameter;

acquiring a threshold value according to the duty ratio of the waveform parameter;

binarizing x (t) according to the threshold value to obtain a P (t) waveform and an N (t) waveform;

Recording the number of sampling points sustained by each small segment of 0 and 1 in the P (t) waveform as a loading value P ₁、P₂……P_M; and

The N (t) waveform is noted as a load value N ₁、N₂……N_M for the number of sampling points that each small segment "0" and "1" persists.

Drawings

Fig. 1 is a schematic diagram of phased emission of an ultrasonic sonar device.

Fig. 2 shows a schematic diagram of a pair of P/N PWM square wave drive transmit chirp signals.

FIG. 3 is a block diagram of a multi-channel driving system according to a preferred embodiment of the present invention.

FIG. 4 is a schematic diagram of the operation of the multi-channel driving system according to the preferred embodiment of the present invention.

FIG. 5 is a flow chart of a multi-channel driving method according to a preferred embodiment of the invention.

Detailed Description

Before any embodiments of the invention are explained in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The invention is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including," "comprising," or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless specified or limited otherwise, the terms "mounted," "connected," "supported," and "coupled" and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings. Furthermore, "connected" and "coupled" are not restricted to physical or mechanical connections or couplings.

Also, in the present disclosure, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are merely for convenience in describing the present disclosure and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus the above terms should not be construed as limiting the present disclosure; in a second aspect, the terms "a" and "an" should be understood as "at least one" or "one or more", i.e. in one embodiment the number of one element may be one, while in another embodiment the number of the element may be plural, the term "a" should not be construed as limiting the number.

Referring to fig. 3 and 4 of the drawings, a multi-channel driving system of an ultrasonic sonar device according to a preferred embodiment of the present invention will be disclosed and described in the following description, wherein the multi-channel driving system includes a loading value obtaining unit 10, a counter control unit 20, a level flipping unit 30, and a driving unit 40, and the loading value obtaining unit 10, the counter control unit 20, the level flipping unit 30, and the driving unit 40 are communicably connected to each other.

Specifically, the load value acquisition unit 10 is configured to acquire a string P, N of load value arrays and K delayed load values. In some specific examples, when a waveform parameter is input to the load value obtaining unit 10, the load value obtaining unit 10 can obtain a string P, N of load value arrays according to the waveform parameter, and when the waveform parameter input to the load value obtaining unit 10 changes, the load value obtaining unit 10 can obtain a string P, N of load value arrays again according to the waveform parameter; when a phase-control angle parameter is input to the loading value obtaining unit 10, the loading value obtaining unit 10 may obtain K delay loading values according to the phase-control angle parameter, that is, the delay loading value D ₁、D₂……D_K, and when the phase-control angle parameter input to the loading value obtaining unit 10 changes, the loading value obtaining unit 10 may obtain K delay loading values according to the phase-control angle parameter again. The counter control unit 20 is configured to control an operating state of a delay counter array according to the delay load value acquired by the load value acquisition unit 10 and to control an operating state of a waveform counter array according to a string P, N of load value arrays acquired by the load value acquisition unit 10. The level flipping unit is configured to flip one P counter output square wave P (X) level and flip one N counter output square wave N (X) level of a pair of waveform counters of the waveform counter array at appropriate timings. The driving unit 40 is configured to output the output square waves P (X) and N (X) enabled to be output to the ultrasonic sonar device, so as to drive the ultrasonic sonar device to operate. In this way, on one hand, the multi-channel driving system of the invention allows the waveform parameters to be adjustable in real time and the delay of each emission channel to be adjustable in real time, so that the multi-channel driving system can flexibly drive the ultrasonic sonar device, on the other hand, the multi-channel driving system of the invention can flexibly drive the ultrasonic sonar device without pre-storing PWM waveforms, and the multi-channel driving system allows the PWM duty ratio to be adjustable in real time, thereby saving logic resources and internal BRAM space.

The loading value obtaining unit 10 further includes a waveform loading value obtaining module 11, where the waveform loading value obtaining module 11 is configured to obtain a string P, N of loading value arrays according to the waveform parameter. Specifically, the waveform loading value obtaining unit 11 is configured to obtain a string P, N of loading value arrays according to the bandwidth B, the center frequency fc, the pulse width T, and the duty cycle parameter of the waveform parameter.

Further, the waveform loading value obtaining module 11 includes a chirp signal obtaining sub-module 111, a threshold obtaining sub-module 112, a PWM square wave obtaining sub-module 113, and a waveform loading value obtaining sub-module 114, wherein the chirp signal obtaining sub-module 111, the threshold obtaining sub-module 112, the PWM square wave obtaining sub-module 113, and the waveform loading value obtaining sub-module 114 are communicably connected to each other. First, according to the relation of the linear frequency modulation signal

The chirp signal acquisition sub-module 111 can acquire a chirp signal to be actually transmitted according to a chirp signal center frequency fc of the waveform parameter, where the parameter fs is a clock frequency. Next, the threshold value obtaining sub-module 112 obtains a threshold value a according to the duty cycle parameter of the waveform parameter, wherein the threshold value a is inversely proportional to the duty cycle, and the threshold value a is between 0 and 1, i.e., 0 < a < 1. Again, the PWM square wave obtaining sub-module 113 binarizes x (t) according to the threshold value a to obtain two PWM square waves of the P (t) waveform and the N (t) waveform. The waveform loading value acquisition sub-module 114 counts the number of sampling points for which each of the small segments "0" and "1" is sustained as a loading value P ₁、P₂……P_M according to the P (t) waveform, and counts the number of sampling points for which each of the small segments "0" and "1" is sustained as a loading value N ₁、N₂……N_M according to the N (t) waveform. In this manner, the waveform loading value acquisition module 11 can acquire a string P, N of loading value arrays according to the waveform parameters.

And, if the center frequency fc of the chirp signal of the waveform parameter inputted to the waveform loading value acquisition module 11 changes, the chirp signal to be actually transmitted acquired by the chirp signal acquisition sub-module 111 according to the center frequency fc of the chirp signal of the waveform parameter will change, so that the loading values P ₁、P₂……P_M and N ₁、N₂……N_M acquired by the waveform loading acquisition sub-module 114 will also change in the following, that is, the waveform loading value acquisition sub-module 114 re-acquires a series P, N of loading value arrays. Accordingly, if the duty ratio of the waveform parameter inputted to the waveform loading value obtaining module 11 changes, the threshold value a obtained by the threshold value obtaining sub-module 112 according to the duty ratio parameter of the waveform parameter will change, so that the loading values P ₁、P₂……P_M and N ₁、N₂……N_M obtained by the waveform loading trace obtaining sub-module 114 will also change in the following, that is, the waveform loading value obtaining sub-module 114 re-obtains a string P, N of loading value arrays. In this way, on one hand, the multi-channel driving system of the invention allows the waveform parameters to be adjustable in real time, so that the multi-channel driving system can flexibly drive the ultrasonic sonar device, on the other hand, the multi-channel driving system of the invention can flexibly drive the ultrasonic sonar device without pre-storing PWM waveforms, and the multi-channel driving system allows the PWM duty ratio to be adjustable in real time, so as to save logic resources and internal BRAM space.

Preferably, the loading value obtaining unit 10 further comprises a waveform loading value storage module 12, the waveform loading value storage module 12 is communicatively connected to the waveform loading value obtaining module 11, wherein the waveform loading value storage module 12 is configured to store a string P, N of loading value arrays obtained by the waveform loading value obtaining module 11 according to the waveform parameters, and subsequently, a string P of loading value arrays in which the loading value P ₁、P₂……P_M can be sequentially read by the P counter in the waveform counter, and correspondingly, a string N ₁、N₂……N_M of loading value arrays in which the loading value N ₁、N₂……N_M can be sequentially read by the N counter in the waveform counter.

The load value obtaining unit 10 further includes a delayed load value obtaining module 13, where the delayed load value obtaining module 13 is configured to obtain the delayed load value D ₁、D₂……D_K according to the phase control angle.

Specifically, the delay-load-value obtaining module 13 further includes a delay obtaining sub-module 131 and a delay-load-value obtaining sub-module 132, and the delay obtaining sub-module 131 and the delay-load-value obtaining sub-module 132 are communicably connected to each other. When the phase control angle θ is greater than 0, first, the following relation is adoptedAccording to the phase control angle θ, the delay obtaining sub-module 131 determines a delay Δ of an adjacent transmitting channel, where a parameter d is a distance between two adjacent transmitting primitives of the ultrasonic sonar device, a parameter c represents a propagation speed of an ultrasonic wave in water, and a parameter fs is a clock frequency. Next, the delay-loaded value obtaining submodule 132 obtains D1, D2 … … DK according to the delay Δ and then directly uses the obtained delay-loaded value as the delay-loaded value D1, D2 … … DK of the 1 to K transmit channels according to the following relation D _k = (K-1) Δ. When the phase control angle θ is smaller than 0, first, the following relation is adoptedThe delay acquisition sub-module 131 determines the delay delta of adjacent transmit channels according to the phase control angle theta. Next, according to the following relationship D _k = (K-1) Δ, the delay-loaded-value obtaining sub-module 132 obtains D ₁、D₂……D_K according to the delay Δ, and then turns over the end-to-end as the delay-loaded value D ₁、D₂……D_K of the 1 to K transmit channels.

If the phase control angle input to the delay loading value acquisition module 13 changes, the delay acquisition sub-module 131 will change the delay delta of the adjacent transmitting channels acquired according to the phase control angle, so that, subsequently, the delay loading value acquisition sub-module 132 will also change D ₁、D₂……D_K obtained according to the delay delta, that is, the delay loading values D ₁、D₂……D_K of 1 to K transmitting channels are reacquired, in such a way that the multi-channel driving system of the present invention allows the delay of each transmitting channel to be adjustable in real time, so that the multi-channel driving system can flexibly drive the ultrasonic sonar device.

The counter control unit 20 includes a delay counter control module 21, a trigger module 22, and a waveform counter control module 23, wherein the delay counter control module 21 and the waveform counter control module 23 are respectively connected to the trigger module 22, and the trigger module 22 is configured to control the working state of the waveform counter module 23 according to the working state of the delay counter control module 21. Specifically, the delay counter control module 21 and the delay loading value acquisition module 13 are communicably connected to each other, and when a Ping signal triggers, the delay counter control module 21 controls the delay counter to start counting from 0, stops counting when counting to the corresponding delay loading value and returns the count value to 0, and at the same time, the trigger module 22 triggers the waveform counter control module 23 to control the waveform counter to start counting by the waveform counter control module 23.

The wave counter control module 23 controls the P counter in the wave counter to count from 0 after reading the first loading value P ₁ from the string of P loading value arrays stored in the wave loading value storage module 12, and when counting to P ₁, the level inversion unit 30 inverts the output square wave P (X) level, then the wave counter control module 23 controls the count value of the P counter to return to 0, and counts from 0 after reading the second loading value P ₂ from the string of P loading value arrays again, so as to repeat until the non-zero value reading in the string of P loading value arrays is completed. Accordingly, the waveform counter control module 23 controls the N counter in the waveform counter to count from 0 after reading the first load value N ₁ from the N load value array stored in the waveform load value storage module 12, and when the count reaches N ₁, the level inversion unit 30 inverts the output square wave N (X) level, then the waveform counter control module 23 controls the count value of the N counter to return to 0, and counts from 0 after reading the second load value N ₂ from the N load value array again, so as to repeat until the non-zero value in the N load value array is read out.

The driving unit 40 includes a waveform output module 41, where the waveform output module 41 is communicatively connected to the waveform counter control module 23, and the waveform output module 41 can enable output of output square waves P (X) and N (X) outputted from the waveform counter array controlled by the waveform counter control module 23 according to a channel enable parameter and a pulse width limit parameter inputted to obtain P and N waveforms to drive the ultrasonic sonar device to emit ultrasonic signals.

With continued reference to fig. 3 and 4, the multi-channel driving system of the present invention further includes a parameter input module 50 that receives inputs of various parameters, wherein the waveform loading value acquisition module 11 and the delay loading value acquisition module 13 of the loading value acquisition unit 10 and the waveform output module 41 of the driving unit 40 are respectively communicatively connected to the parameter input module 50. The parameter input module 50 can directly transfer the waveform parameter to the waveform loading value obtaining module 11 after receiving the waveform parameter, so as to allow the waveform loading value obtaining module 11 to obtain a string P, N of loading value arrays according to the waveform parameter. The parameter input module 50 can directly transfer the phase control angle parameter to the delay loading value obtaining module 13 after receiving the phase control angle parameter, so as to allow the delay loading value obtaining module 13 to obtain the delay loading values of 1 to K emission channels according to the phase control angle parameter. The parameter input module 50 directly transfers the channel enabling parameter and the pulse width limiting parameter to the waveform output module 41 after receiving the channel enabling parameter and the pulse width limiting parameter, so that the waveform output module 41 can enable and output the output square waves P (X) and N (X) output by the waveform counter array according to the channel enabling parameter and the pulse width limiting parameter, so as to obtain P and N waveforms, and drive the ultrasonic sonar device to emit ultrasonic signals.

Preferably, in a Ts time when the Ping signal triggers the delay counter of the delay counter array to start counting, the multi-channel driving system takes a new value to trigger the delay counter, so that the multi-channel driving system forcibly ensures that a time interval between two Ping signals triggering the delay counter is greater than a dead time Ts, that is, the multi-channel driving system provides a transmitting interval limiting function to protect a transmitting circuit and avoid the transmitting circuit from being damaged by heating caused by overhigh transmitting frequency.

According to another aspect of the present invention, the present invention further provides a multi-channel driving method for driving the ultrasonic sonar device, wherein the multi-channel driving method comprises the following steps:

and (A), the multi-channel driving method receives the input of the waveform parameters and acquires a string P, N of loading value arrays according to the waveform parameters. In some embodiments, the multi-channel driving method can store a string P, N of load value arrays to the waveform load value storage module 12 after obtaining the string P, N of load value arrays.

The step of obtaining a string P, N of loaded value arrays according to the waveform parameters by the multi-channel driving method further includes:

(A.1) according to the relation of the chirp signals

Acquiring a linear frequency modulation signal to be actually transmitted, wherein the parameter fs is the clock frequency;

(a.2) obtaining a threshold value a according to the duty cycle of the waveform parameter, wherein the threshold value a is inversely proportional to the duty cycle, and the threshold value a is between 0 and 1;

(A.3) binarizing x (t) according to a threshold value a to obtain two paths of PWM square waves of a P (t) waveform and an N (t) waveform; and (A.4) recording the continuous sampling point number of each small section '0' and '1' as a loading value P ₁、P₂ … … Px according to the P (t) waveform so as to obtain a string of P loading value arrays; and recording the number of sampling points sustained by each small section of 0 and 1 as a loading value N ₁、N₂……N_M according to the N (t) waveform so as to obtain a string of N loading value arrays.

And (B) receiving the input of the phase control angle parameter by the multi-channel driving method, and acquiring the delay loading values of 1 to K emission channels according to the phase control angle parameter.

The step of obtaining the delay loading value according to the phase control angle parameter by the multichannel driving method further comprises the following steps:

(B.1) according to the relation Determining delay delta of adjacent transmitting channels according to the phase control angle theta; and

(B.2) obtaining D ₁、D₂……D_K according to the relation D _k = (K-1) Δ, and using it as the delay loading value of the 1 to K emission channels.

In the step (b.1) or the step (b.2), the multi-channel driving method needs to determine whether the phase control angle is greater than 0, if the multi-channel driving method determines that the phase control angle is greater than 0, in the step (b.2), D ₁、D₂……D_K is directly used as the delay loading value of the 1 to K emission channels after being obtained according to the delay delta, and if the multi-channel driving method determines that the phase control angle is less than 0, in the step (b.2), D ₁、D₂……D_K is obtained according to the delay delta, and then the delay loading value of the 1 to K emission channels is obtained after being turned end to end.

It should be noted that the sequence of the step (a) and the step (B) is not limited in the multi-channel driving method of the present invention.

And (C) allowing the Ping signal to trigger the delay counter of the delay counter array to start counting from 0, stopping counting when the delay counter counts to the corresponding delay loading value, returning the counting value to 0, and simultaneously triggering the waveform counter of the waveform counter array to start counting.

In step (D), the P counter in the waveform counter starts counting from 0 after reading the first loading value P ₁ from the string of P loading value arrays stored in the waveform loading value storage module 12, and when counting to P ₁, the multi-channel driving method allows the output square wave P (X) to level-flip and return to 0 the count value of the P counter, and at the same time, the multi-channel driving method allows the P counter with the count value returning to 0 to read the second loading value P ₂ from the string of P loading value arrays again, so many times until the non-zero value in the string of P loading value arrays is completely read. Accordingly, the N counter in the waveform counter starts counting from 0 after reading the first load value N ₁ from the N load value array stored in the waveform load value storage module 12, and when counting to N ₁, the multi-channel driving method allows the output square wave N (X) to flip and return to 0 the count value of the N counter, and at the same time, the multi-channel driving method allows the N counter whose count value returns to 0 to read the second load value N ₂ from the N load value array again, so many times until the non-zero value in the N load value array is read out.

The multi-channel driving method in step (E) allows the input square waves P (X) and N (X) to be enabled to be output to the ultrasonic sonar device according to the channel enabling parameters and the pulse width limiting parameters so as to drive the ultrasonic sonar device to work.

It can be seen that, 1 st, if the center frequency fc of the chirped signal of the waveform parameter changes, a string P, N of the arrays of loading values acquired in the step (a) will be reacquired, 2 nd, if the duty cycle of the waveform parameter changes, a string P, N of the arrays of loading values acquired in the step (a) will be reacquired, 3 rd, if the phase control angle changes, the delay loading values of the 1 to K transmitting channels acquired in the step (B) will be reacquired, in such a way that, on one hand, the multi-channel driving system of the present invention allows the waveform parameter to be tunable in real time and the delay of each transmitting channel to be tunable in real time, so that the multi-channel driving system can flexibly drive the ultrasonic sonar device, and on the other hand, the multi-channel driving system of the present invention can flexibly drive the ultrasonic sonar device without pre-storing PWM waveforms, and the multi-channel driving system allows the duty cycle to be tunable in real time, so as to save logic resources and internal PWM BRAM space.

Preferably, in the above method, the multi-channel driving method prevents a new Ping signal from triggering the delay counter within a Ts time period when the Ping signal triggers the delay counter to start counting, wherein the time period Ts is a dead time period Ts, and in this way, the multi-channel driving method forcibly ensures that a time interval between two Ping signals triggering the delay counter is greater than the dead time period Ts, that is, the multi-channel driving method provides a transmitting interval limiting function to protect a transmitting circuit from being damaged by heating due to an excessively high transmitting frequency.

In accordance with another aspect of the present invention, referring to fig. 5, the present invention further provides the multi-channel driving method 5000, wherein the multi-channel driving method 5000 includes the steps of:

Step 5001, respectively obtaining K delay loading values and a string P, N loading value array;

step 5002, controlling the working state of the delay counter array according to the delay loading value, and controlling the working state of the waveform counter array according to a string P, N of loading value arrays;

A step 5003 of inverting the output square wave P (X) level when the P counter in the waveform counter array outputs square wave P (X), and inverting the output square wave N (X) level when the N counter in the waveform counter array outputs square wave N (X); and

And 5004, enabling output square waves P (X) and N (X) to the ultrasonic sonar device so as to drive the ultrasonic sonar device to work.

Further, the step 5002 includes the following steps:

the delay counter of the delay counter array starts counting from 0 when triggered by the Ping signal, stops counting when counting to the delay loading value corresponding to the delay counter array and returns the count value to 0; and

And triggering the waveform counter array when the delay counter returns the count value to 0 so as to change the working states of the P counter and the N counter of the waveform counter array.

Further, the step of obtaining the delay loading value in the step 5001 includes:

acquiring delay of adjacent transmitting channels according to the phase control angle parameters; and

Further, the step of obtaining the string P, N of loading values in the step 5001 includes:

acquiring a practical linear frequency modulation signal to be transmitted according to the linear frequency modulation signal center frequency of the waveform parameter;

binarizing x (t) according to a threshold value to obtain the P (t) waveform and the N (t) waveform;

The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Claims

1. Multichannel actuating system of ultrasonic sonar device, its characterized in that includes:

a loading value acquisition unit, wherein the loading value acquisition unit is configured to acquire K delay loading values and a string P, N of loading value arrays, wherein the loading value acquisition unit comprises a waveform loading value acquisition module, the waveform loading value acquisition module further comprises a chirp signal acquisition sub-module, a threshold value acquisition sub-module, a PWM square wave acquisition sub-module and a waveform loading value acquisition sub-module which are communicatively connected with each other, according to a chirp signal relation

The method comprises the steps that a chirp signal obtaining submodule obtains a chirp signal to be actually transmitted according to a chirp signal center frequency fc of a waveform parameter, a parameter fs is a clock frequency, a parameter B is a bandwidth, a parameter T is a pulse width, a threshold value obtaining submodule obtains a threshold value a according to a duty ratio parameter of the waveform parameter, the threshold value a is inversely proportional to the duty ratio, the threshold value a is between 0 and 1, a PWM square wave obtaining submodule obtains a P (T) waveform and an N (T) waveform according to the threshold value a binarization x (T), the waveform loading value obtaining submodule records the number of sampling points which are sustained by each small segment '0' and '1' as a loading value P ₁、P₂……P_M according to the P (T) waveform, and the number of sampling points which are sustained by each small segment '0' and '1' as a loading value N ₁、N₂……N_M according to the N (T) waveform, so as to obtain a string of P, N loading value arrays;

2. The multi-channel driving system of claim 1, wherein the counter control unit comprises a delay counter control module, a trigger module, and a waveform counter control module, the delay counter control module and the waveform counter control module being communicatively coupled to the trigger module, respectively, wherein the trigger module is configured to control an operating state of the waveform counter control module according to an operating state of the delay counter control module.

3. The multi-channel driving system of claim 2, wherein the triggering module triggers the waveform counter control module to allow the waveform counter control module to control the P-counter and the N-counter of the same transmit channel corresponding to the delay counter to operate when the delay counter control module controls a count value of a delay counter of the delay counter array to be 0.

4. A multi-channel drive system as claimed in claim 3, wherein the load value acquisition unit comprises a delayed load value acquisition module configured to acquire the delayed load value according to a phased angle.

5. The multi-channel drive system of claim 4, wherein the delay-loading-value-acquisition module further comprises a delay-acquisition sub-module and a delay-loading-value-acquisition sub-module, wherein the delay-acquisition sub-module acquires delays of adjacent ones of the transmit channels according to the phased angle parameters, and the delay-loading-value-acquisition sub-module acquires delay loading values D ₁、D₂……D_K according to delays of adjacent ones of the transmit channels.

6. The multi-channel driving system of claim 5, wherein if the phased angle parameter is greater than 0, the delay-loading-value obtaining submodule takes as K delay loading values a delay loading value D ₁、D₂……D_K obtained according to a delay of an adjacent transmit channel, and if the phased angle parameter is less than 0, the delay-loading-value obtaining submodule takes as K delay loading values a delay loading value D ₁、D₂……D_K obtained according to a delay of an adjacent transmit channel after being flipped end-to-end.

7. The multichannel driving method of the ultrasonic sonar device is characterized by comprising the following steps of:

(D) Enabling output square waves P (X) and N (X) to the ultrasonic sonar device so as to drive the ultrasonic sonar device to work;

In the step (a), the step of obtaining a string P, N of the array of loading values includes:

according to the relation of the linear frequency modulation signals

Acquiring a practical linear frequency modulation signal to be transmitted according to the linear frequency modulation signal center frequency of a waveform parameter, wherein the parameter fs is clock frequency, the parameter B is bandwidth, and the parameter T is pulse width;

Acquiring a threshold value according to the duty ratio of the waveform parameter, wherein the threshold value a is inversely proportional to the duty ratio, and the threshold value a is between 0 and 1;

8. The multi-channel driving method of claim 7, wherein in the step (b), an operation state of the waveform counter array is controlled according to an operation state of the delay counter array.

9. The multi-channel driving method of claim 8, wherein the step (b) further comprises the steps of:

10. The multi-channel driving method of claim 9, wherein in the above method, a new Ping signal is prevented from triggering the delay counter for a Ts time in which the Ping signal triggers the delay counter to start counting, wherein a time Ts is a dead time Ts.

11. The multi-channel driving method according to any one of claims 7 to 10, wherein in the step (a), the step of obtaining the delay-loaded value includes: