CN118032092B - Underwater ranging sensor and automobile wading early warning method based on same - Google Patents
Underwater ranging sensor and automobile wading early warning method based on same Download PDFInfo
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
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Abstract
The invention discloses an underwater ranging sensor and an automobile wading early warning method based on the underwater ranging sensor, comprising the following steps: providing first and second ultrasonic sensors, providing first and second underwater ranging sensors; the first ultrasonic sensor and the second ultrasonic sensor are respectively arranged on the lower edges of the left rearview mirror and the right rearview mirror; the first underwater ranging sensor and the second underwater ranging sensor are respectively arranged on the lower edges of the left side and the right side of the locomotive; the first ultrasonic sensor and the second ultrasonic sensor are used for identifying the liquid level height by combining the ground clearance height of the left rearview mirror and the ground clearance height of the right rearview mirror, so that the wading depth of the automobile is obtained; when the recognized wading depth reaches a first wading limit value, a first wading early warning is sent out, the first and second underwater ranging sensors are triggered to recognize the underwater working condition, and when a preset condition occurs under the water, obstacle early warning is carried out; and when the wading depth is identified to reach the second wading limit value, sending out a second wading early warning. The invention provides a safety support for wading running of the vehicle, and achieves the aim of avoiding running safety accidents.
Description
Technical Field
The invention relates to the technical field of wading early warning, in particular to an underwater ranging sensor and an automobile wading early warning method based on the underwater ranging sensor.
Background
The road system is an artery for daily production and life of cities, and the development and the operation efficiency of urban economy are concerned. However, urban inland inundation sometimes occurs due to weather factors or urban drainage system aging failures. If a driver blindly wades to pass under the condition that the water depth of the road surface is not examined, the water inlet of the engine is easy to be flameout, the electric appliance is easy to be short-circuited, and the vehicle is anchored in the water, so that the traffic is blocked, and the personal and property safety is threatened. Meanwhile, the automobile is likely to be flooded in a parking state. For example, when parking in underground garages, low-lying road sections and the like, the vehicle owners cannot know the situation in time and take measures, so that the vehicles are damaged due to long-term water soaking.
When an automobile runs wading, flooding faults easily occur. The flooding fault refers to damage to mechanical parts of an engine, mechanical parts of a chassis, electrical parts, vehicle circuits and various sensors caused by exceeding the rated wading depth of the vehicle in the wading process of the vehicle. Different degrees of influence can also be caused for normal driving by the driver. Because the contact coefficient between the tire and the road surface is smaller when the automobile runs on the accumulated water road surface, the judgment of the road condition by a driver can be influenced. And because of the unknown underwater condition, psychological tension of a driver is easily caused, and the risk of misoperation is increased. In summary, wading is a dangerous driving behavior, and if it is necessary, the vehicle is required to have a certain water depth sensing capability and an early warning function so as to remind the driver to take measures in time.
The application of ultrasonic sensors in car pre-warning is very common nowadays, but most of the use conditions are limited to distance detection only when the propagation medium is air. In the case where the propagation medium is water in the face of heavy rainfall or other water accumulation environments, it is difficult to effectively function. Therefore, the vehicle is easy to enter water, flameout, crash and other risks when running in the wading environment.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an underwater ranging sensor and an automobile wading early warning method based on the underwater ranging sensor, which are used for solving the technical problem that the automobile wading running cannot detect underwater road conditions and obstacles in the prior art, thereby providing effective safe support for the automobile wading running and achieving the purpose of avoiding running safety accidents.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
an underwater ranging sensor, comprising: the piezoelectric ceramic module comprises a matching layer, piezoelectric ceramics, PCBA, a transformer and a connector PIN piece;
The hardware structure of the built-in circuit of the PCBA comprises: the device comprises an MCU, a power input processing circuit, an ultrasonic transmitting and receiving circuit, a data transmission circuit, a signal voltage amplitude limiting circuit, a signal amplifying circuit and a detection circuit;
the power input processing circuit, the ultrasonic transmitting and receiving circuit, the data transmission circuit and the detection circuit are respectively connected with the MCU;
the signal voltage amplitude limiting circuit is arranged between the ultrasonic wave transmitting and receiving circuit and the signal amplifying circuit, and the detection circuit receives and processes the signal output by the signal amplifying circuit and feeds the signal back to the MCU;
the acoustic impedance of the matching layer is 1.5-35 MRAYL, and the attenuation coefficient is 0.2-0.4 The thickness is 2-4mm;
Wherein, Is the acoustic frequency.
The invention provides an automobile wading early warning method based on an underwater ranging sensor, which comprises the following steps of:
providing a first ultrasonic sensor and a second ultrasonic sensor, and providing a first underwater ranging sensor and a second underwater ranging sensor;
the first ultrasonic sensor and the second ultrasonic sensor are respectively arranged on the lower edges of a left rearview mirror and a right rearview mirror of the automobile;
The first underwater ranging sensor and the second underwater ranging sensor are respectively arranged on the lower edges of the left side and the right side of the automobile head;
The first ultrasonic sensor and the second ultrasonic sensor are utilized to identify the liquid level height by combining the ground clearance height of the left rearview mirror and the right rearview mirror, so that the wading depth of the automobile is obtained;
when the wading depth is recognized to reach a first wading limit value, a first wading early warning is sent out, the first underwater ranging sensor and the second underwater ranging sensor are triggered to recognize the underwater working condition in front of the automobile wading running, and when a preset condition occurs under the front water, obstacle early warning is carried out on a driver;
When the wading depth is identified to reach a second wading limit value, a second wading early warning is sent out, and a driver is prompted to be unable to continue to travel forwards;
Wherein, the preset condition includes: pit or obstruction.
In a preferred embodiment of the present invention, when an underwater ranging sensor is used to identify an underwater condition in front of a wading travel of an automobile, the method includes:
Providing a power supply, supplying power to the PCBA through the connector PIN piece, and sending a driving pulse signal to enter the primary stage of the transformer through an MCU on the PCBA;
The driving pulse signal is boosted by the transformer and then is sent to the piezoelectric ceramic through a secondary stage, high-frequency vibration is generated by the piezoelectric ceramic based on a reverse piezoelectric effect, sound waves are emitted, the sound waves are transmitted into water through the matching layer, and reflection is generated after the sound waves meet obstacles;
Receiving reflected sound waves through the underwater ranging sensor so as to enable the piezoelectric ceramic to generate a positive piezoelectric effect, and outputting an electric signal to the PCBA;
And the built-in circuit of the PCBA is used for carrying out information processing on the received signals, and after the distance of the obstacle is obtained by the MCU according to the TOF principle, the distance information of the obstacle is transmitted to the display unit or the alarm unit by the PIN of the connector.
In a preferred embodiment of the present invention, when the underwater ranging sensor is used to identify the underwater condition in front of the wading of the automobile, the method further comprises:
the damping block absorbs reverse sound waves and reduces residual vibration time, and the decoupling ring isolates vibration of the matching layer, so that the vibration cannot be transmitted to the sensor shell to generate resonance;
anti-collision and waterproof are carried out through pouring sealant so as to protect the PCBA;
Wherein, the underwater ranging sensor includes: the damping block, the decoupling ring, the sensor housing and the pouring sealant.
In a preferred embodiment of the present invention, when the information processing is performed on the received signal by the built-in circuit of the PCBA, the method includes:
and information processing is performed through the ultrasonic transmitting and receiving circuit, the signal voltage amplitude limiting circuit, the signal amplifying circuit and the detection circuit on the PCBA.
As a preferred embodiment of the present invention, when information processing is performed by the ultrasonic transmitting/receiving circuit, the method includes:
The MCU sends PWM signals to the triode Q3 and the triode Q4, drives the medium Zhou Bianya device T1 in a push-pull mode, and outputs high-voltage driving energy converter SEN1 to work;
Transmitting a low frequency signal through the transducer SEN1, the low frequency signal being reflected back to the transducer SEN1 through an obstacle;
wherein, the ultrasonic wave transmitting and receiving circuit includes: the triode Q3, the triode Q4, the medium Zhou Bianya T1 and the transducer SEN1.
As a preferred embodiment of the present invention, when information processing is performed by the signal voltage limiter circuit, the method includes:
The signal of the ultrasonic wave transmitting and receiving circuit reaches a diode D6 through a resistor R30 and a capacitor C22, and is input to an operational amplifier after being limited by the diode D6 so as to prevent overhigh power supply voltage and negative pulse;
Wherein the signal voltage limiting circuit comprises: the resistor R30, the capacitor C22 and the diode D6.
As a preferred embodiment of the present invention, when information processing is performed by the signal amplifying circuit, the signal amplifying circuit includes:
Carrying out negative feedback on the signal of the signal voltage amplitude limiting circuit through an operational amplifier by a peripheral element, adjusting the amplification factor and the center frequency, and outputting an amplified signal;
When the information processing is performed by the detection circuit, the method comprises the following steps:
And detecting a positive half-cycle signal by the signal amplification circuit through a resistor R21 and a diode D4, and inputting the positive half-cycle signal to an AD sampling interface of the MCU.
As a preferred embodiment of the present invention, when the distance of the obstacle is obtained by the MCU according to the TOF principle, it includes:
Controlling the piezoelectric ceramic to vibrate through the MCU to generate an ultrasonic signal, and recording the generation time point of the ultrasonic signal;
waiting and monitoring and recording the return time point of the ultrasonic signal reflected by the obstacle received by the piezoelectric ceramic in real time through the MCU;
obtaining a time-consuming according to the generation time point and the return time point as shown in formula 1:
（1）；
In the method, in the process of the invention, In order for this time to be taken up,For the point of time of the return,For the generation time point;
According to the speed of ultrasonic wave transmission in water and the time consumption, the distance between the ultrasonic wave underwater ranging sensor and the obstacle is obtained, as shown in a formula 2:
（2）；
In the method, in the process of the invention, A distance from the ultrasonic underwater ranging sensor to an obstacle; The speed of ultrasonic wave transmission in water was 1500 m/s.
In a preferred embodiment of the present invention, when obtaining the wading depth of the automobile, the method comprises:
Measuring distances from the left rearview mirror and the right rearview mirror to the water surface through the first ultrasonic sensor and the second ultrasonic sensor respectively And；
According to the distance from the left rear view mirror to the groundAnd the distanceObtaining the wading depth of the left side of the automobileAs shown in equation 3:
（3）；
according to the distance from the right rearview mirror to the ground And the distanceObtaining the wading depth of the right side of the automobileAs shown in equation 4:
（4）；
wherein, when the wading depth is And/or the wading depthWhen the first wading limit value is reached, the first wading early warning is sent out;
At the wading depth And/or the wading depthAnd when the second wading limit value is reached, sending out the second wading early warning.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention provides an ultrasonic sensor for underwater ranging, which adopts an underwater sonar technology, utilizes the characteristics of sound wave propagation and reflection in water, and performs navigation and ranging through a forward piezoelectric effect, a reverse piezoelectric effect and information processing, so as to identify the underwater working condition in front of automobile wading, solve the problem that the automobile wading cannot detect underwater road conditions and obstacles in the prior art, provide effective safety support for the automobile wading, and avoid running safety accidents;
(2) The automobile wading early warning method provided by the invention can detect the road conditions in front of the waded automobile, accurately judge whether obstacles easy to collide exist around the automobile, improve the safety of wading running of the automobile and prevent falling and collision risks after wading;
(3) According to the invention, the ultrasonic sensors are arranged on the left rearview mirror and the right rearview mirror, the liquid level height is identified by combining the ground leaving heights of the left rearview mirror and the right rearview mirror, so that the wading depth of the automobile is obtained, and after the wading depth reaches a certain wading limit value, the underwater ranging sensors below the two sides of the automobile head are triggered to identify the underwater working condition in front of the wading running of the automobile, so that the accurate acquisition of wading information can be realized, the accurate identification of the underwater working condition can be realized, and the safety of the wading running of the automobile is further ensured;
(4) The invention can effectively avoid danger when a driver faces road surface ponding caused by sudden heavy rain, greatly reduces the running risk of the vehicle when wading, and provides a reliable scheme for driving under severe conditions such as heavy rain, flood and the like.
The invention is described in further detail below with reference to the drawings and the detailed description.
Drawings
FIG. 1 is a cross-sectional view of an underwater ranging sensor provided by the present invention;
FIG. 2 is a front view of an underwater ranging sensor provided by the present invention;
FIG. 3 is a schematic diagram of the components of the automobile wading early warning system provided by the invention;
fig. 4 is a schematic diagram of a pit scene in front of automobile wading provided by the invention;
FIG. 5 is a schematic diagram showing the operation of the ultrasonic sensor under the rearview mirror of the automobile provided by the invention;
FIG. 6 is a hardware block diagram of the built-in circuitry of the PCBA provided by the present invention;
FIG. 7 is a circuit diagram of an ultrasonic transmitting and receiving circuit provided by the present invention;
FIG. 8 is a circuit diagram of a signal voltage limiting circuit provided by the present invention;
FIG. 9 is a signal amplifying circuit diagram provided by the present invention;
FIG. 10 is a schematic diagram of a detection circuit provided by the present invention;
FIG. 11 is a diagram of the internal structure of the MCU provided by the invention;
FIG. 12 is a schematic diagram of TOF principle calculation obstacle provided by the present invention;
FIG. 13 is a schematic view of a first installation location of an underwater ranging sensor provided by the present invention;
FIG. 14 is a schematic view of a second installation location of an underwater ranging sensor provided by the present invention;
FIG. 15 is a schematic diagram of wading depth detection provided by the present invention;
FIG. 16 is a normal map of wading road conditions provided by the present invention;
Fig. 17 is an abnormal map of the wading road condition provided by the invention.
Reference numerals illustrate: 1. a matching layer; 2. a decoupling ring; 3. piezoelectric ceramics; 4. a damping block; 5. a sensor housing; 6. PCBA; 7. a transformer; 8. pouring sealant; 9. a connector PIN member; 10. an MCU; 11. a power supply input processing circuit; 12. an ultrasonic wave transmitting and receiving circuit; 13. a signal voltage limiting circuit; 14. a signal amplifying circuit; 15. a detection circuit; 16. a data transmission circuit; 17. a resistor R20; 18. a capacitor C21; 19. a resistor R28; 20. a resistor R31; 21. a triode Q3; 22. a resistor R35; 23. a resistor R38; 24. a triode Q4; 25. zhou Bianya of the device T1; 26. a resistor R27; 27. a transducer SEN1; 28. a resistor R32; 29. a resistor R30; 30. a capacitor C22; 31. a diode D6; 32. a capacitor C39; 33. a resistor R49; 34. a diode D4; 35. a resistor R21; 36. a first ultrasonic sensor; 37. a second ultrasonic sensor; 38. a first underwater ranging sensor; 39. a second underwater ranging sensor; 40. an obstacle.
Detailed Description
The invention provides an underwater ranging sensor, the hardware structure of a built-in circuit of the sensor comprises: MCU 10, power input processing circuit 11, ultrasonic wave transmitting and receiving circuit 12, data transmission circuit 16, signal voltage amplitude limiting circuit 13, signal amplifying circuit 14 and detecting circuit 15;
Wherein, the power input processing circuit 11, the ultrasonic wave transmitting and receiving circuit 12, the data transmission circuit 16 and the detection circuit 15 are respectively connected with the MCU 10;
The signal voltage limiter circuit 13 is provided between the ultrasonic transmitting/receiving circuit 12 and the signal amplifier circuit 14, and the detector circuit 15 receives the signal output from the signal amplifier circuit 14, processes the signal, and feeds back the signal to the MCU 10.
Specifically, the underwater ranging sensor provided by the invention adopts an underwater sonar technology, and utilizes the characteristics of sound wave propagation and reflection in water to navigate and range through the forward and reverse piezoelectric effect and information processing.
When the underwater ranging sensor provided by the invention works, the MCU 10 generates an excitation pulse signal to the piezoelectric ceramic 3 so as to generate vibration (sound wave), the sound wave is transmitted to an object (an obstacle 40) to generate a reflection echo, and the piezoelectric ceramic 3 receives the reflection echo to generate vibration so as to generate an electric signal.
The underwater ranging sensor provided by the invention utilizes the time difference between transmission and reception and calculates the distance of the obstacle 40 according to the sound velocity in the medium.
The speed of sound waves traveling in water, unlike in air, is about 1500m/s. The propagation of sound waves in a medium generates losses, i.e. attenuation, due to the presence of scattering, thermal conduction and intermolecular hysteresis, the magnitude of which is related to the nature of the medium and the sound waves. The attenuation coefficient is shown as follows:
In the method, in the process of the invention, In order to be of an angular frequency,Is the speed of sound,In order to achieve a medium density of the material,Is the viscosity coefficient of the medium.
As can be seen from the above equation, the magnitude of the dielectric decay is inversely proportional to the speed of sound and directly proportional to the frequency of sound. The higher the acoustic frequency, the greater the attenuation; the smaller the medium density, the smaller the speed of sound and the greater the attenuation.
The density, sound velocity and the like of the water are substituted into the water, and the attenuation coefficient of the water is relatively smaller than that of the air and is 0.217。
Based on the analysis, the automobile wading distance measurement is not required to be far away, but the directivity requirement is high, so that the underwater distance measurement sensor provided by the invention adopts relatively high-frequency sound waves for detection.
Although the specific acoustic impedances of the piezoelectric ceramic 3 and water (35 MRAYL and 1.5 MRAYL) are not as different from those of air (0.0004 MRAYL), there is still a problem of mismatch of specific acoustic impedances, and sound waves are reflected in a large amount when transmitted into water. And because of the vibration mode problem, the traditional acoustic impedance matching layer theory is not applicable to water, and the invention discovers that the acoustic impedance matching layer which is close to the acoustic impedance of water and slightly larger than water is needed to be adopted.
In order to reduce the attenuation of sound waves, the invention adopts a material with lower attenuation coefficient as the matching layer 1 while considering the acoustic impedance, and reduces the thickness as much as possible, thereby ensuring enough sound pressure.
Specifically, the materials selected for the matching layer 1 include: the main component of the hollow glass bead is borosilicate, the particle size is 10-250 mu m, and the wall thickness is 1-2 mu m.
Specifically, the attenuation coefficient of the matching layer 1 is 0.2-0.4，Is sonic frequency and is closer to the attenuation coefficient of water 0.217The better the effect.
In summary, the matching layer 1 should be made of a material with low acoustic impedance and have a thickness as thin as possible. Under the condition of meeting 0.1-5 m of automobile wading distance measurement, the higher frequency is adopted as much as possible so as to obtain better directivity.
Specifically, the acoustic impedance of the matching layer 1 is 1.5-35 MRAYL, and the effect is better when the acoustic impedance is close to and slightly larger than 1.5 MRAYL. The matching layer 1 has a thickness of 2-4mm and the closer to 2mm the better the effect.
The underwater ranging sensor provided by the invention, as shown in fig. 1 and 2, comprises: matching layer 1, decoupling ring 2, piezoceramics 3, damping piece 4, sensor housing 5, PCBA 6, transformer 7, pouring sealant 8, connector PIN piece 9.
The automobile wading early warning method based on the underwater ranging sensor provided by the invention comprises the following steps:
Step S1: providing a first ultrasonic sensor 36 and a second ultrasonic sensor 37, providing a first underwater ranging sensor 38 and a second underwater ranging sensor 39;
Step S2: the first ultrasonic sensor 36 and the second ultrasonic sensor 37 are respectively arranged on the lower edges of the left rearview mirror and the right rearview mirror of the automobile;
Step S3: the first underwater ranging sensor 38 and the second underwater ranging sensor 39 are respectively arranged on the lower edges of the left side and the right side of the automobile head;
Step S4: the first ultrasonic sensor 36 and the second ultrasonic sensor 37 are utilized to identify the liquid level height by combining the ground clearance height of the left rearview mirror and the right rearview mirror, so as to obtain the wading depth of the automobile;
step S5: when the recognized wading depth reaches a first wading limit value, a first wading early warning is sent out, a first underwater ranging sensor 38 and a second underwater ranging sensor 39 are triggered to recognize the underwater working condition in front of the automobile wading running, and when a preset condition occurs under the water in the front, an obstacle 40 early warning is carried out on a driver;
step S6: when the wading depth is recognized to reach the second wading limit value, a second wading early warning is sent out, and a driver is prompted to be unable to continue to travel forwards;
The preset condition comprises the following steps: pit or obstruction 40.
Specifically, the first ultrasonic sensor 36, the second ultrasonic sensor 37, the first underwater ranging sensor 38 and the second underwater ranging sensor 39 provided by the invention are combined into an automobile wading early warning system by a wire harness, as shown in fig. 3, one of the underwater ranging sensors is used as a main probe to replace an ECU to work.
The ultrasonic sensor in the automobile wading early warning system is combined with the rearview mirror ground clearance information to identify and judge the liquid level height, when the liquid level height reaches the wading limit value, the early warning is sent out, the underwater ranging sensor (sonar) identifies the underwater working condition in front of automobile wading running, and when a pit or obstacle 40 appears under the water in front, the early warning is carried out, so that accidents are prevented.
When the liquid level reaches the wading limit value (namely, the underwater ranging sensor is completely immersed in water), the wading sensing control unit (MCU 10) of the underwater ranging sensor starts to calculate the wading depth in front of the vehicle, when the water level of the early warning occurs in front of the vehicle, relevant information is displayed on the central console screen, and meanwhile, a warning signal is sent to a driver to remind the driver that the vehicle owner does not need to go forward, or turn around or wait for rescue. The automobile wading front pit scene is shown in fig. 4.
Along with the progress of technology, more and more automobiles have wading running capability, when the automobiles run in water, the underwater ranging sensor can be used as an underwater sonar for detection, and when the obstacle 40 appears in front, the distance and azimuth information of the obstacle 40 can be accurately told to a driver so as to prevent the vehicles from collision when running in water, and guarantee is provided for running safety in water.
When parking, it is common for there to be a large height of a grass or obstacle 40 or the like near the vehicle. At this time, the ultrasonic sensor below the rearview mirror can generate false alarm, the obstacle 40 is mistaken for the liquid level depth, the existence of the underwater ranging sensor can solve the problems, and the ultrasonic ranging sensor can send out a judging signal because the ultrasonic ranging sensor is not immersed in water, and the liquid level height does not reach the early warning value, so that the problem of false alarm is solved through the control system.
As shown in fig. 5, the invention increases the advantages of the system by combining the ultrasonic sensor below the rearview mirror with the underwater ranging sensor, perfects the function of the common wading sensor, and greatly increases the reliability of the system.
In the step S5, when the underwater condition in front of the wading of the automobile is identified by the underwater ranging sensor, the method includes:
providing a power supply, supplying power to the PCBA 6 through the connector PIN piece 9, and sending a driving pulse signal to enter the primary stage of the transformer 7 through the MCU 10 on the PCBA 6;
The driving pulse signal is boosted by the transformer 7 and then sent to the piezoelectric ceramic 3 through the secondary stage, the piezoelectric ceramic 3 generates high-frequency vibration based on the inverse piezoelectric effect to emit sound waves, the sound waves are transmitted into water through the matching layer 1, and the sound waves are reflected after meeting the obstacle 40;
Receiving the reflected sound wave through an underwater ranging sensor so as to enable the piezoelectric ceramic 3 to generate a positive piezoelectric effect, and outputting an electric signal to the PCBA 6;
The received signals are processed through a built-in circuit of the PCBA 6, and after the distance of the obstacle 40 is obtained through the MCU 10 according to the TOF principle, the distance information of the obstacle 40 is transmitted to a display unit or an alarm unit through a PIN of the connector;
wherein, range sensor under water includes: matching layer 1, piezoceramics 3, PCBA 6, transformer 7, connector PIN piece 9.
Further, when the underwater working condition in front of the wading running of the automobile is identified through the underwater ranging sensor, the method further comprises the following steps:
The damping block 4 absorbs the reverse sound wave and reduces the residual vibration time, and the decoupling ring 2 isolates the vibration of the matching layer 1, so that the vibration is not transmitted to the sensor housing 5 to generate resonance;
anti-collision and waterproof are carried out through pouring sealant 8 to protect PCBA 6;
Wherein, range sensor under water includes: damping block 4, decoupling ring 2, sensor housing 5, and potting adhesive 8.
Further, when the received signal is processed by the built-in circuit of the PCBA 6, it includes:
the information processing is performed by the ultrasonic transmitting/receiving circuit 12, the signal voltage limiter circuit 13, the signal amplifier circuit 14, and the detector circuit 15 on the PCBA 6.
Specifically, as shown in fig. 6, the built-in circuit of the PCBA 6 includes: MCU 10, power input processing circuit 11, ultrasonic wave transmitting and receiving circuit 12, signal voltage limiter circuit 13, signal amplifier circuit 14, detector circuit 15, and data transmission circuit 16.
Further, when information processing is performed by the ultrasonic transmitting-receiving circuit 12, it includes:
The MCU 10 sends PWM signals to the triode Q3 21 and the triode Q4 24, drives the medium Zhou Bianya device T1 25 in a push-pull mode, and outputs high-voltage driving energy converter SEN1 27 to work;
transmitting a low frequency signal through the transducer SEN1 27, the low frequency signal being reflected back through the obstruction 40 to the transducer SEN1 27;
Wherein, ultrasonic wave transmitting and receiving circuit includes: transistor Q3 21, transistor Q4 24, intermediate Zhou Bianya, T1, and transducer SEN1 27.
Specifically, the ultrasonic transmitting-receiving circuit 12 operates on the principle that: the MCU 10 sends PWM signals to the triodes Q3 and Q4. The medium Zhou Bianya driver T1 25 is driven in push-pull mode, and the output high-voltage driving transducer SEN1 27 operates. The transducer SEN1 27 operates to emit a low frequency signal that is reflected back through the obstruction 40 to the transducer SEN1 27.
As shown in fig. 7, the ultrasonic wave transmitting-receiving circuit 12 includes: resistor R20, capacitor C21 18, resistor R28, resistor R31, transistor Q3 21, resistor R35, resistor R38, transistor Q4 24, resistor T1 of Zhou Bianya, resistor R27, transducer SEN 127, and resistor R32 28.
Further, when information processing is performed by the signal voltage limiter circuit 13, it includes:
The signal of the ultrasonic wave transmitting and receiving circuit 12 reaches a diode D6 31 through a resistor R30 and a capacitor C22, and is input to an operational amplifier after being limited by the diode D6 31 so as to prevent overhigh power supply voltage and negative pulse;
wherein the signal voltage limiting circuit 13 comprises: resistor R30 29, capacitor C22 30, and diode D6 31.
Specifically, the signal voltage limiter circuit 13 is configured to prevent an excessively high power supply voltage and a negative pulse.
Working principle: after reaching the diode D6 31 through the resistor R30 and the capacitor C22, the signal is limited by the diode D6 31 and then input to the operational amplifier.
As shown in fig. 8, the signal voltage limiter circuit 13 includes: resistor R30 29, capacitor C22 30, and diode D6 31.
Further, when information processing is performed by the signal amplifying circuit 14, it includes:
The signal of the signal voltage amplitude limiting circuit 13 is subjected to negative feedback of an operational amplifier through a peripheral element, the amplification factor and the center frequency are adjusted, and an amplified signal is output;
When information processing is performed by the detection circuit 15, it includes:
The signal of the signal amplifying circuit 14 is detected as a positive half-cycle signal through the resistor R21 and the diode D4 34, and is input to the AD sampling interface of the MCU 10.
Specifically, the signal amplification circuit 14 operates on the principle that: and negative feedback of the operational amplifier is carried out through the peripheral element, the amplification factor and the center frequency are adjusted, and an amplified signal is output.
The signal amplifying circuit 14 is shown in fig. 9.
Specifically, the detection circuit 15 operates on the principle that: the positive half cycle signal is detected by the resistor R21 and the diode D4 34 and is input to the AD sampling interface of the MCU 10.
As shown in fig. 10, the detection circuit 15 includes: capacitor C39 32, resistor R49 33, diode D4 34, and resistor R21 35.
In the present invention, the internal structure of the MCU 10 is shown in FIG. 11.
Further, when the distance of the obstacle 40 is obtained by the MCU 10 according to the TOF principle, it includes:
Controlling the piezoelectric ceramic 3 to vibrate through the MCU 10 to generate an ultrasonic signal, and recording the generation time point of the ultrasonic signal;
Waiting and monitoring and recording the return time point of the ultrasonic signal reflected by the obstacle 40 received by the piezoelectric ceramic 3 in real time through the MCU 10;
the time consuming is obtained from the generation time point and the return time point as shown in equation 1:
（1）；
In the method, in the process of the invention, In order to be time-consuming,In order to return to the point in time,To generate a time point;
The distance between the ultrasonic underwater ranging sensor and the obstacle 40 is obtained according to the speed of ultrasonic transmission in water and the time consumption, as shown in equation 2:
（2）；
In the method, in the process of the invention, Distance from the ultrasonic underwater ranging sensor to the obstacle 40; The speed of ultrasonic wave transmission in water was 1500 m/s.
Specifically, the principle and method of the underwater ranging sensor distance detection obstacle 40 are as follows:
according to the physical characteristics of ultrasonic waves, the transmission speed of ultrasonic waves in water is as follows: 1500 meters per second, abbreviated as S;
B: the MCU 10 controls the piezoelectric ceramics 3 to vibrate and record the time point of the vibration. Then the MCU 10 waits for and monitors and records the time point when the piezoelectric ceramic 3 receives the ultrasonic signal reflected by the obstacle 40 in real time, the time interval between the two time points is the time spent by the ultrasonic wave from the radar and reflected by the obstacle 40 after encountering the obstacle 40, and the time is abbreviated as T;
C: the distance from the underwater ranging sensor to the obstacle 40 can be calculated using the speed and time described in a, B.
D: the calculation formula is as follows: l=s×t/2
Wherein: l: the distance of the underwater ranging sensor to the obstacle 40; s: the transmission speed of ultrasonic wave under water is 1500 m/s; t: the ultrasonic waves recorded by the MCU 10 are time consuming to transmit to the receiving obstacle 40 and reflect back.
A process of calculating the obstacle 40 based on the TOF principle is shown in fig. 12.
The specific installation location of the underwater ranging sensor is shown in fig. 13 and 14.
In step S4, when obtaining the wading depth of the automobile, the method includes:
The distances from the left and right rear view mirrors to the water surface are measured by the first and second ultrasonic sensors 36 and 37, respectively And；
According to the distance from the left rear view mirror to the groundSum distanceObtaining the wading depth at the left side of the automobileAs shown in equation 3:
（3）；
according to the distance from the right rearview mirror to the ground Sum distanceObtaining the wading depth of the right side of the automobileAs shown in equation 4:
（4）；
Wherein, when wading depth And/or wading depthWhen the first wading limit value is reached, a first wading early warning is sent;
When wading depth And/or wading depthAnd when the second wading limit value is reached, a second wading early warning is sent.
Specifically, the ultrasonic sensor is installed below the rearview mirror, the distance A from the rearview mirror to the ground is known, the distance C from the rearview mirror to the water surface can be measured through the ultrasonic sensor, and the wading depth B can be calculated by subtracting the distance from the rearview mirror to the water surface from the distance from the rearview mirror to the ground, wherein the specific formula is as follows: b=a-C.
The wading depth detection process is shown in fig. 15.
When the vehicle is driven by wading, and the road condition in front is normal, the distance from the ultrasonic underwater ranging sensor to the ground is X1, as shown in FIG. 16, and when the working condition in front is abnormal, such as a ditch, a water hole or a cliff, the distance from the underwater ranging sensor to the ground is increased to X2, as shown in FIG. 17, and at the moment, the system prompts the driver that the vehicle is not suitable for continuous driving in front and should stop or drive away from dangerous road conditions in reverse.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but any insubstantial changes and substitutions made by those skilled in the art on the basis of the present invention are intended to be within the scope of the present invention as claimed.
Claims (3)
1. An automobile wading early warning method based on an underwater ranging sensor is characterized in that the underwater ranging sensor comprises the following steps: the piezoelectric ceramic module comprises a matching layer, piezoelectric ceramics, PCBA, a transformer and a connector PIN piece;
The hardware structure of the built-in circuit of the PCBA comprises: the device comprises an MCU, a power input processing circuit, an ultrasonic transmitting and receiving circuit, a data transmission circuit, a signal voltage amplitude limiting circuit, a signal amplifying circuit and a detection circuit;
the power input processing circuit, the ultrasonic transmitting and receiving circuit, the data transmission circuit and the detection circuit are respectively connected with the MCU;
the signal voltage amplitude limiting circuit is arranged between the ultrasonic wave transmitting and receiving circuit and the signal amplifying circuit, and the detection circuit receives and processes the signal output by the signal amplifying circuit and feeds the signal back to the MCU;
the acoustic impedance of the matching layer is 1.5-35 MRAYL, and the attenuation coefficient is 0.2-0.4 The thickness is 2-4mm;
Wherein, Is the sound wave frequency;
wherein the matching layer comprises the following materials: hollow glass beads, wherein the hollow glass beads comprise borosilicate, the particle size is 10-250 mu m, and the wall thickness is 1-2 mu m;
the automobile wading early warning method comprises the following steps:
providing a first ultrasonic sensor and a second ultrasonic sensor, and providing a first underwater ranging sensor and a second underwater ranging sensor;
the first ultrasonic sensor and the second ultrasonic sensor are respectively arranged on the lower edges of a left rearview mirror and a right rearview mirror of the automobile;
The first underwater ranging sensor and the second underwater ranging sensor are respectively arranged on the lower edges of the left side and the right side of the automobile head;
The first ultrasonic sensor and the second ultrasonic sensor are utilized to identify the liquid level height by combining the ground clearance height of the left rearview mirror and the right rearview mirror, so that the wading depth of the automobile is obtained;
when the wading depth is recognized to reach a first wading limit value, a first wading early warning is sent out, the first underwater ranging sensor and the second underwater ranging sensor are triggered to recognize the underwater working condition in front of the automobile wading running, and when a preset condition occurs under the front water, obstacle early warning is carried out on a driver;
When the wading depth is identified to reach a second wading limit value, a second wading early warning is sent out, and a driver is prompted to be unable to continue to travel forwards;
wherein, the preset condition includes: pit or obstacle;
when the underwater working condition in front of the wading running of the automobile is identified through the underwater ranging sensor, the method comprises the following steps:
Providing a power supply, supplying power to the PCBA through the connector PIN piece, and sending a driving pulse signal to enter the primary stage of the transformer through an MCU on the PCBA;
The driving pulse signal is boosted by the transformer and then is sent to the piezoelectric ceramic through a secondary stage, high-frequency vibration is generated by the piezoelectric ceramic based on a reverse piezoelectric effect, sound waves are emitted, the sound waves are transmitted into water through the matching layer, and reflection is generated after the sound waves meet obstacles;
Receiving reflected sound waves through the underwater ranging sensor so as to enable the piezoelectric ceramic to generate a positive piezoelectric effect, and outputting an electric signal to the PCBA;
The received signals are processed through the built-in circuit of the PCBA, and after the distance of the obstacle is obtained through the MCU according to the TOF principle, the distance information of the obstacle is transmitted to a display unit or an alarm unit through the plug-in PIN component;
When the underwater working condition in front of the wading running of the automobile is identified through the underwater ranging sensor, the method further comprises the following steps:
the damping block absorbs reverse sound waves and reduces residual vibration time, and the decoupling ring isolates vibration of the matching layer, so that the vibration cannot be transmitted to the sensor shell to generate resonance;
anti-collision and waterproof are carried out through pouring sealant so as to protect the PCBA;
wherein, the underwater ranging sensor includes: the damping block, the decoupling ring, the sensor housing and the pouring sealant;
when the received signal is processed by the built-in circuit of the PCBA, the method comprises the following steps:
Information processing is carried out through the ultrasonic transmitting and receiving circuit, the signal voltage amplitude limiting circuit, the signal amplifying circuit and the detection circuit on the PCBA;
when the ultrasonic wave transmitting and receiving circuit is used for processing information, the method comprises the following steps:
The MCU sends PWM signals to the triode Q3 and the triode Q4, drives the medium Zhou Bianya device T1 in a push-pull mode, and outputs high-voltage driving energy converter SEN1 to work;
Transmitting a low frequency signal through the transducer SEN1, the low frequency signal being reflected back to the transducer SEN1 through an obstacle;
wherein, the ultrasonic wave transmitting and receiving circuit includes: the triode Q3, the triode Q4, the medium Zhou Bianya device T1 and the transducer SEN1;
When information processing is performed by the signal voltage limiting circuit, the method comprises the following steps:
The signal of the ultrasonic wave transmitting and receiving circuit reaches a diode D6 through a resistor R30 and a capacitor C22, and is input to an operational amplifier after being limited by the diode D6 so as to prevent overhigh power supply voltage and negative pulse;
Wherein the signal voltage limiting circuit comprises: the resistor R30, the capacitor C22 and the diode D6;
when information processing is performed by the signal amplifying circuit, the method includes:
Carrying out negative feedback on the signal of the signal voltage amplitude limiting circuit through an operational amplifier by a peripheral element, adjusting the amplification factor and the center frequency, and outputting an amplified signal;
When the information processing is performed by the detection circuit, the method comprises the following steps:
And detecting a positive half-cycle signal by the signal amplification circuit through a resistor R21 and a diode D4, and inputting the positive half-cycle signal to an AD sampling interface of the MCU.
2. The automobile wading early warning method according to claim 1, characterized by comprising, when the distance of the obstacle is obtained by the MCU according to the TOF principle:
Controlling the piezoelectric ceramic to vibrate through the MCU to generate an ultrasonic signal, and recording the generation time point of the ultrasonic signal;
waiting and monitoring and recording the return time point of the ultrasonic signal reflected by the obstacle received by the piezoelectric ceramic in real time through the MCU;
obtaining a time-consuming according to the generation time point and the return time point as shown in formula 1:
（1）；
In the method, in the process of the invention, In order for this time to be taken up,For the point of time of the return,For the generation time point;
According to the speed of ultrasonic wave transmission in water and the time consumption, the distance between the ultrasonic wave underwater ranging sensor and the obstacle is obtained, as shown in a formula 2:
（2）；
In the method, in the process of the invention, A distance from the ultrasonic underwater ranging sensor to an obstacle; The speed of ultrasonic wave transmission in water was 1500 m/s.
3. The automobile wading early warning method according to claim 1, characterized by comprising, when obtaining the wading depth of the automobile:
Measuring distances from the left rearview mirror and the right rearview mirror to the water surface through the first ultrasonic sensor and the second ultrasonic sensor respectively And；
According to the distance from the left rear view mirror to the groundAnd the distanceObtaining the wading depth of the left side of the automobileAs shown in equation 3:
（3）；
according to the distance from the right rearview mirror to the ground And the distanceObtaining the wading depth of the right side of the automobileAs shown in equation 4:
（4）；
wherein, when the wading depth is And/or the wading depthWhen the first wading limit value is reached, the first wading early warning is sent out;
At the wading depth And/or the wading depthAnd when the second wading limit value is reached, sending out the second wading early warning.
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