CN1584497A

CN1584497A - Topographic supersonic detector in limited space

Info

Publication number: CN1584497A
Application number: CNA2004100092086A
Authority: CN
Inventors: 郑红; 王鹏; 孙海翔; 付湘; 方智文; 李骅; 汪洋; 王东海
Original assignee: Beihang University
Current assignee: Beihang University; Beijing University of Aeronautics and Astronautics
Priority date: 2004-06-15
Filing date: 2004-06-15
Publication date: 2005-02-23
Anticipated expiration: 2024-06-15
Also published as: CN1259544C

Abstract

A detection device comprises mechanical portion which can carry on positioning of three free degree directions and control portion which uses ultrasonic detection method to realize three-dimensional space positioning by utilizing DSP as a kernel with positioning mechanism as ane executing mechainsm and two stepping motors as driving module so that morphology character in limited space can be reappeared by converting morphology data to be ultrasonic reflection and dispersion data.

Description

Finite space pattern ultrasonic sensor

Technical field

The present invention relates to a kind of space instrument, more particularly be meant and a kind ofly realize the sterically defined finite space pattern of 3DOF ultrasonic sensor based on supersonic sounding principle, DSP information processing and the The Cloud Terrace attitude that is controlled to be core, 2 step motor control.

Background technology

The safety monitoring of museum, bank, dwelling house is important instrument and the equipment that public place and personal security ensure, the performance quality of safety equipment is important steps that current security facilities are paid close attention to, comprise the perfect of existing device performance, and the invention of new different principle security protection equipment all becomes the focus of research in this field.In addition, the pattern of the finite space is surveyed under the rugged surroundings, and for example, narrow space internal state pattern detections such as underground cavern, crater internal state, Tunnel Landslide, earthquake search and rescue etc. also are urgent problems such as scientific research and disaster relief.Therefore, study, have important significance for theories and wide practical value from aspects such as detection principle, detection method, detection practical techniques to detection of the pattern in the finite space and target following etc.

Summary of the invention

One of purpose of the present invention provides a kind of plant equipment based on supersonic sounding, check signal Processing and be controlled to be core in DSP being, 2 stepper motor driven 3 dimension mechanical underprop space orientations are the finite space safety monitoring and the pattern detection instrument of mechanism.

Another object of the present invention is to adopt the signal reconstruction theory, realizes the pattern reproduction algorithm of reflection, scattering ultrasonic signal; Adopt and set initiatively light source position and intensity, realize the monochromatic visual algorithm of playing up of ultrasonic position signalling; Adopt the artificial intelligent method, realize the anti-interference supersonic sounding signal emission of high-performance, receiving algorithm; Adopt the given method of position pulse, realize that the stepper motor Precision Orientation Algorithm obtains the pattern of the finite space.

The present invention is a kind of based on the modular finite space pattern of DSP ultrasonic sensor, comprise control section, it has ultrasound emission at least, ultrasonic reception, motor-driven, the A/D conversion, show, keyboard, system power supply connects with central processing unit, also comprise mechanical part, its The Cloud Terrace is installed on the base, the center of base is provided with the hole of drawing for lead, the The Cloud Terrace support is installed on the The Cloud Terrace, the motor B of the motor A of control pitch attitude and control The Cloud Terrace rotation angle is installed on the The Cloud Terrace support, endless screw support is installed on the The Cloud Terrace support, the pitch attitude control desk is mounted on the The Cloud Terrace support by supporting and pitch attitude Control Shaft, the stomidium that the pitch attitude Control Shaft passes The Cloud Terrace support upper end is connected with supporting, be set with worm gear on the pitch attitude Control Shaft, worm screw is installed in the center pit of endless screw support, the one end is connected with the output shaft of the motor A of control pitch attitude, ultrasonic transmitter and ultrasonic receiver are installed in the table top top of pitch attitude control desk, and its transmission circuit plate is installed in the table top below of pitch attitude control desk.Described control section, it is the processor of kernel that central processing unit adopts DSP, DSP receives the instruction that keyboard issues, and instruction controlled, handles and be distributed to display, motor-driven, transmitter and drive and A/D converter, A/D converter receives through the signal that receiver receives and the signal after its amplifying circuit processing is uploaded to DSP through conversion and carries out control and treatment, ultrasonic transmitter links to each other with DSP, and ultrasonic receiver links to each other with the A/D conversion.

Advantage of the present invention: the pattern that (1) utilizes ultrasonic technique to carry out the finite space is surveyed, this method surpasses the performance of picture system aspect the landforms detection with finite space under the rugged surroundings such as smog, dust, dull thread, for example, narrow space internal state patterns such as underground cavern, crater internal state, Tunnel Landslide, earthquake search and rescue are surveyed; (2) utilize ultrasonic technique to carry out multiple goal motion tracking supervision in the finite space, conventional finite space safety monitoring method is an image, for example, the safety monitoring of museum, bank, family etc., but, image monitoring method is subject to the space time image treatment technology of ambient light, camera angle conversion, shooting continuously etc., makes the safety of image monitoring technology have certain limitation, and utilizes the method for supersonic sounding can overcome these shortcomings.The first, can be according to the motion orientation of the quick tracking target of morphology change; The second, do not need any secondary light source; The 3rd, simple in structure, cost is low, performance good.

Description of drawings

Fig. 1 is a mechanical part master TV structure synoptic diagram of the present invention.

Fig. 2 is a mechanical part backsight structural representation of the present invention.

Fig. 3 is that mechanical part of the present invention is looked up structural representation.

Fig. 4 is a control section structural representation of the present invention.

Fig. 5 is that space of the present invention pattern is surveyed FB(flow block).

Fig. 6 is the circuit theory diagrams of DSP of the present invention.

Fig. 7 is a memory circuitry schematic diagram of the present invention.

Fig. 8 is the interface circuit schematic diagram of DSP of the present invention.

Fig. 9 is A/D converter circuit theory diagrams of the present invention.

Figure 10 is a ultrasonic signal receiving circuit schematic diagram of the present invention.

Figure 11 is a motor-drive circuit schematic diagram of the present invention.

Among the figure:	1. ultrasonic transmitter	2. ultrasonic receiver	3. transmission circuit plate	401. supporting
Among the figure:	1. ultrasonic transmitter	2. ultrasonic receiver	3. transmission circuit plate	401. supporting	4. pitch attitude control desk		5. The Cloud Terrace	6. base	7. The Cloud Terrace support
8. pitch attitude Control Shaft		9. sell	10. motor A	11. worm gear	4. pitch attitude control desk		5. The Cloud Terrace	6. base	7. The Cloud Terrace support
8. pitch attitude Control Shaft		9. sell	10. motor A	11. worm gear	12. worm screw	13. endless screw support	14. pin	15. motor B	16. hole

Embodiment

The present invention is further illustrated below in conjunction with accompanying drawing.

Finite space pattern detection instrument of the present invention, control section comprises CPU, ultrasonic transmitter, ultrasonic receiver, ultrasonic transmission circuit, A/D change-over circuit, display circuit, power circuit, stepper motor driving circuit, and mechanical part is a 3DOF machinery turntable.Its ultrasonic transmitter 1 is installed on the top of pitch attitude control desk 4, and is connected with DSP; Ultrasonic receiver 2 also be installed on pitch attitude control desk 4 the top (with transmitter at same position), and be connected with A/D converter with amplifier; A/D converter is connected with DSP; The DSP circuit is connected with electric power management circuit, display circuit, keyboard, FLASHROM, stepper motor driving circuit respectively; The axle of 2 stepper motors is connected with two rotating shafts of 3DOF machinery turntable respectively.Ultrasonic transmitter, the ultrasound wave about emission 40kHz, ultrasonic receiver receives ultrasonic reflection or scattering wave, through amplifier and 12 A/D converters, is digital signal with the analog signal conversion that receives.Then, send into DSP and handle, by anti-interference algorithm, signal reconstruction algorithm, the visual algorithm of playing up, target lock-on algorithm, display algorithm determine that the space a bit and the distance and bearing between the detection instrument.DSP is according to operation result, and the anglec of rotation of 2 stepper motors of timing controlled changes the locus that detection instrument is launched, received, and is final, forms the spacescan result.

In the present invention, the The Cloud Terrace turntable 5 of mechanical part is installed on the The Cloud Terrace base 6, the center of The Cloud Terrace base 6 is provided with the hole 16 of drawing for lead, The Cloud Terrace support 7 is installed on the The Cloud Terrace turntable 5, the motor B15 of the motor A10 of control pitch attitude and control The Cloud Terrace rotation angle is installed on the The Cloud Terrace support 7, endless screw support 13 is installed on the The Cloud Terrace support 7, pitch attitude control desk 4 is mounted on the The Cloud Terrace support 7 with pitch attitude Control Shaft 8 by supporting 401, the stomidium that pitch attitude Control Shaft 8 passes The Cloud Terrace support 7 upper ends is connected with supporting 401, be set with worm gear 11 on the pitch attitude Control Shaft 8, worm screw 12 is installed in the center pit of endless screw support 13, the one end is connected with the output shaft of the motor A10 of control pitch attitude, ultrasonic transmitter 1 and ultrasonic receiver 2 are installed in the table top top of pitch attitude control desk 4, and its transmission circuit plate 3 is installed under the table top of pitch attitude control desk 4.Thereby motor A10 drives worm screw 12 and drives worm gear 11 motions in this mechanical part, makes pitch attitude control desk 4 carry out Pose Control in default pitching position.Motor B15 is installed in the position of The Cloud Terrace support 7 with motor A10 symmetry, motor B15 drives The Cloud Terrace turntable 5 and rotates to predeterminated position in the direction of the clock, the output shaft of motor A10 is connected with worm screw 11 by pin 14, and motor B15 is connected with pitch attitude Control Shaft 8 by pin 9.The motion that forms 3 degree of freedom like this under the driving of 2 motors is achieved.

See also shown in Figure 6ly, CPU adopts the TMS320C5402 DSP chip in the present invention, has 144 terminals.The connection of each terminal: the power supply input 4,33,56,75,112 of DSP U1,130 terminations+3.3V power supply,

power supply input

12,16,52,68,91,125,142 terminations+1.8V power supply,

ground input

1,3,14,15,34,37,40,50,57,70,72,76,90,93,106,111,126,128,144 terminations are digitally;

Corresponding respectively address 24,25,26,27,28,29,30,31,32,35,36,37,38,39,40,41 ends of program storage U8 and

address

5,4,3,2,1,44,43,42,27,26,25,24,21,20,19,18 ends of data-carrier store U9 of connecting of 16 address output 131,132,133,134,136,137,138,139,140,141,5,7,8,9,10,11 ends of U1; Its address input 140,141,5,7 ends connect

interface

7,25,6,24 ends of J1 respectively; Article 16, data output 99,100,101,102,103,104,113,114,115,116,117,118,119,121,122,123 ends difference correspondence connects

data

21,20,19,18,17,16,15,14,11,10,9,8,7,6,5,4 ends of program storage U8 and

data

7,8,9,10,13,14,15,16,29,30,31,32,35,36,37,38 ends of data-carrier store U9; Its data input 99,100,101,102,103,104,113,114 ends connect

interface

13,31,12,30,11,29,10,28 ends of J1 respectively; The power supply of the 44 termination 3.3V of its program storage U8,12,34 terminations digitally, 8 ends of output enable end 22 termination not gate U7,11, the 33 termination power 3.3V of data-carrier store U9,12,34,39,40 terminations digitally, 22 ends of output enable end 41 termination program storages;

(11,22,921,8,20,7,19 ends that 58,69,81,95,120,124,135,6 ends of HD0～HD7) connect J2 respectively connect with keyboard the host interface of U1 again;

The communication port of U1 is drawn

end

39,46,62,17,129,127,13,18,55,51 ends connect the interface 4 of J2 respectively, 16,2,5,14,1,17,18,3,15 ends, draw end 13 resistance and meet 3.3V by 10K, draw end 92 10 terminations by switch S 2 digitally, and meet 3.3V by the resistance of a 10K, the interrupt response signal draws the interface 4 that end 61 connects J1, maskable does not interrupt drawing the interface 9 of end 63 connection J1 and leads to a switch S 5 and realizes interrupting enabling and not enabling, the maskable external interrupt is drawn

end

64,65,66 connect the interface 27 of J1 respectively, 8,26, draw the interface 6 that end 67 connects J2, draw

end

64,65,66,67 meet 3.3V by a 10K resistance respectively, the RST98 end meets 3.3V by the resistance of a 10K, resistance and a reset switch ground connection by one 10 Europe, the polar capacitor that between RST end and ground, connects a 100uF, the working mode selection signal draws end 32 resistance by a 10K and meets 3.3V, 9 terminations by switch S 2 digitally simultaneously, the interface 3 that end 31 connects J1 is drawn in the input of general purpose I/O port, and meet 3.3V by the resistance of a 10K, be drawn out to 3 ends of wire jumper P2 simultaneously, the interface 22 that end 27 connects J1 is drawn in the output of general purpose I/O port, the interface 6 that connects J3, the interface 6 that connects J4, be drawn out to 2 ends of wire jumper P2 simultaneously, ready for data signal draws the interface 23 that end 19 connects J1, and meet 3.3V by the resistance of a 10K, the control that the external program memory chip selection signal draws end 20 connection program storage U8 enables 3 ends, the external data memory chip selection signal draws control Enable Pin 6 ends that end 21 connects data-carrier store U6, I/O choice of equipment signal draws the interface 5 that end 22 connects J1, read-write draws interface 14 ends that end 23 connects J1,43 ends that connect program storage U8 also connect 9 ends of not gate chip U7 simultaneously, 17 ends that connect data-carrier store U9, the connection of request control store interface signal 30 ends meets 3.3V by a 10K resistance, clock draws

end

77,78,79 respectively the resistance by a 10K meet 3.3V, and simultaneously by 8 of

switch S

2,7,6 ends with digitally link, clock draws

end

96,97 connect external crystal-controlled oscillation, the TOUTO82 end connects 2 ends of J1 interface, and be drawn out to 1 end of wire jumper P2, the PORT COM of U1 and serial ports 1 is drawn

end

42,47,44,49,60,54 connect the interface 9 of J4 respectively, 8,4,3,2,7, the 1 termination 5V of J4,5 terminations digitally, the PORT COM of U1 and serial ports 0 is drawn

end

41,45,43,48,59,53 connect the interface 9 of J3 respectively, 8,4,3,2,7, the 1 termination 5V of J3,5 terminations digitally.

See also shown in Figure 6, what system power supply adopted in the present invention is the TPS73HD318 chip, have 28 terminals, 3 of connecting mode: U2,4,9,10 terminations digitally, 5,6,11,12 termination 5V power supplys, 5,6 ends and ground is the capacitor C u21 of 1uF indirectly, 11,12 ends and ground is the capacitor C u22 of 1uF indirectly, 23,24,25 ends are linked together, and output 1.8V voltage, the voltage of 1.8V with digitally indirectly the polar capacitor Cu23 of 10u/16V (they are 23 years old, 24,25 terminations+), 28,22 ends are respectively by 100K resistance R u21, Ru22 is linked together, and output 5V voltage, and 17,18,19 ends connect together, and output 3.3V voltage, at the voltage of 3.3V and meet the polar capacitor Cu24 of nonpolar capacitor C u25 of 0.1uF and 10u/16V digitally respectively (they are 17 years old, 18,19 terminations+).

See also shown in Figure 9, the chip of A/D plate employing in the present invention is MAX147, it is with 20 terminals, 1～8 end of the connecting mode of each terminal: U11 meets 0.01uF capacitor C 6～C13 respectively and connects simulation ground, 9,13 terminations simulation ground, 14 terminations digitally, 11 ends connect simulation ground by 0.1

uF capacitor C

1,11 ends connect with 8 ends of voltage stabilizing chip U13 (LM385), 11 ends connect by

resistance R

2 and 12 ends of 51K, 12 terminations, 20 ends, 20 ends meet 3.3V by the resistance R 1 in 10 Europe, and 20 ends connect (20 terminations+) by 0.1uF polarity free capacitor C4 and 1uF polar capacitor C5 with simulation ground respectively.The 4 terminations simulation ground of U13 (LM385).

See also shown in Figure 10ly, the ultrasonic signal receiving circuit is made up of the two poles of the earth amplifier U16, U17 and detecting circuit U19LM567 that OP27 forms.

See also shown in Figure 11, the ultrasound emission circuit is by crystal oscillator in the present invention, not gate chip U30 (4069) and logic switch U31 (MAX4053) form, each end connects: 14 terminations of U30+15V power supply, 7 terminations digitally, 2 ends and 3 ends connect, 4 ends and 5 ends connect, 6,9,11,13 ends are coupled to each other, connect the parallel connection of a 40Kz crystal oscillator Y1 and 20M Europe resistance R Y1 between 1 end and 2 ends, 1 end and 2 ends connect digitally by the nonpolarity voltage of capacitor C Y147pF and CY21000pF respectively, 8,10,12 ends are coupled to each other, and connect with 3 ends of U31, the 16 end connection+15V of U31,5,6,7,8 ends connect digitally, and 4 ends connect digitally by a wire jumper, 9 ends connect the collector of Q1 (NPN type triode), the collector of Q1 is by the resistance R q1 connection+5V of 200K, and the emitter of Q1 connects simulation ground, and the base stage of Q1 connects 6 ends of J3 interface by the resistance R q2 of 2M.

See also shown in Figure 11, the driving of 2 motors in the present invention is made up of the identical circuit of two-way on line, respectively by U23 (L6210), U22 (L298), U21 (L297) and U26 (L6210), U25 (L298), U24 (L297) forms, each pipe end connects: 12 terminations of U21+5V power supply, 2 ends connect digitally, 13,14 ends connect digitally by 0.5 Europe resistance R 1 respectively, 16 ends connect+the 5V power supply by 22K resistance R RR1, polarity free capacitor CC1 by 3.3nF connects digitally, 1 end of 1 end and U24 connects, 10 ends connect interface 20 ends of J2,20 ends are by the resistance connection+5V in 10K Europe, polar capacitor C10 by reset switch and 100uF connects digitally (20 ends connect polar capacitor+), 19 ends are by 3 of

switch S

4,4 ends connect 11 ends of U21,5 of S4,6 connect digitally, 1 of S4,2 ends pass through the resistance R R4 connection+5V power supply of 100K respectively, 18 ends connect interface 19 ends of J2,17 ends connect interface 7 ends of J2, the adjustable end of 15 end RS3,4 terminations of U22+24V power supply, 9 terminations of U22+5V power supply, 8 terminations of U22 digitally, 5 ends of U22 connect 4 ends of U21,6 ends of U22 connect 5 ends of U21,7 ends of U22 connect 6 ends of U21,10 ends of U22 connect 7 ends of U21,11 ends of U22 connect 8 ends of U21,12 ends of U22 connect 9 ends of U21,1 end of U22 connects 14 ends of U21,15 ends of U22 connect 13 ends of U1,2 of U22,3,13,14 connect 1 of MOTOR1 respectively, 2,3,4 ends, 1 of U23,8,9, the power supply of 16 end connection+24V, 3 of U23,4,5,6,11,12,13,14 ends connect digitally, 2 of U23,7,10,15 ends connect 1 of MOTOR1 respectively, 2,3,4 ends.

See also shown in Figure 5ly, the present invention adopts ultrasonic transmitter and ultrasonic receiver under the signal reconstruction theory, realizes the pattern reproduction algorithm of reflection, scattering ultrasonic signal; And adopt and set initiatively light source position and intensity, realize the monochromatic visual algorithm of playing up of ultrasonic position signalling; Utilization artificial intelligent method realizes the anti-interference supersonic sounding signal emission of high-performance, receiving algorithm; Adopt the Nonlinear Multiobjective sorting technique of pattern-recognition, realize multiple goal motion tracking algorithm; Adopt DSP to send position pulse and give motor-drive circuit, realize the stepper motor Precision Orientation Algorithm.Its flow process is shown in Figure 5, systematic parameter initialization at control section comprises 2 motor initial position value, the maximum rotation angle value of 2 motors, and the minimum of 2 motors is the rate setting value respectively, stand-by period between the transmitting and receiving of ultrasonic transmitter, the reception setting-up time of ultrasonic receiver.After initialization is finished, come not press on the judgment task key, if whether be in default initial position by the motor A that judges, if not, drive motor A is to default initial value; If whether be in default initial position by the motor B that judges, if not, drive motor B is to default initial value.Open ultrasonic transmitter, the emission ultrasonic signal continues the default ultrasound emission time, after the time arrives, stop emission, wait for the time interval of setting, start ultrasonic receiver then, receive ultrasonic signal, continue setting-up time at interval, carry out Filtering Processing to received signal, and it is standby to deposit internal memory in.Judging whether motor B turns over the maximum horizontal angle, if do not have, then drive motor B rotates minimum rate set angle respectively, judging whether motor A turns over default maximum luffing angle, if do not have, then drive motor A rotates the minimum predetermined angle of rate respectively, returns ultrasound emission, repeats said process and turns over the default rotation angle of maximum pitching up to motor A.The whole storage data that obtained to storage are carried out space pattern reconstruction algorithm processes, and the visual algorithm process of playing up is delivered to display and shown, whole process finishes.

To the hardware that adopt among the present invention be described below.

(1) ultrasound emission, receiver are selected

The ultrasound emission of 40kHz～100kHz, receiver technology are very ripe, select the ultrasound wave of this frequency range, are easy to realize for the reflection of the finite space, the calculating of scattering, therefore, select this class sensor as emission of the present invention, receiver.

(2) cpu chip is selected

Microcomputer chip is as the core of intelligence instrument, and its selection will determine the general structure of instrument.The DSP DSP chip is to be designed to a kind of microprocessor that is particularly suitable for carrying out digital signal processing.DSP not only is greatly improved on arithmetic speed, and greatly improvement is being arranged aspect versatility and the dirigibility.In addition, the cost of dsp chip, volume, weight and power consumption have also all had decline significantly.The design selects the TMS320VC5402 dsp chip in American TI Company fixed-point arithmetic 54 series, and its peak value arithmetic speed when the 100MHz clock can reach 100MIPS.

Instrument control transmitter emission ultrasonic signal, receive the ultrasonic signal of emission or scattering by ultrasonic receiver, reflection or scattering properties according to signal, obtain space length and azimuth information by digital signal processing, and the control step motor regularly changes attitude, to obtain the complete topographic data of space exploration.Equipment circuit is distributed four major parts such as radio road, receiving circuit, motor-drive circuit, DSP core basically.Radiating circuit is a controlled oscillator, and to produce the oscillator signal of ultrasonic frequency, the excitation ultrasonic transmitter sends the ultrasonic signal of required frequency; The ultrasonic signal that receiving circuit is at first returned by frequency selection circuit reception reflection or scattering, then, through the analog amplify circuit amplifying signal, be digital signal by the A/D change-over circuit with analog signal conversion again, send into DSP and carry out data processing, thereby obtain the measurement result of a bit, DSP gives the position angle that makes new advances by the rotational angle of 2 stepper motors of control.Repeat said process, turn over whole 3 dimension spaces up to transmitter, receiver, DSP obtains the topographic data in whole space, carries out anti-interference algorithm, signal reconstruction algorithm, the visual algorithm process of playing up by these are detected data, shows the pattern in whole space.If limit certain target of following the tracks of in the space, can pass through target lock-on algorithm, the motion of tracking target.

(3) selection of Motor

Adopt stepper motor to carry out position angle control.

The mechanical turntable structure of (four) 3 dimensions is selected

Adopt the mechanical turntable of 3 dimensions of two turning axle controls, volume is little, in light weight, simple in structure.

(5) Interface design of A/D converter and DSP

The J4 interface of DSP core board links by the interface J1 of 9 needle interfaces and A/D plate; (the concrete parameter of the corresponding interface is referring to A/D plate and DSP core board)

(6) Interface design of the Interface design of transmitter oscillatory circuit and DSP and motor-drive circuit and DSP

The J3 interface of DSP core board is by 9 needle interfaces and Dian Jiqudong ﹠amp; The J3 interface of emission oscillating circuit board links;

The J2 interface of DSP core board is by 25 needle interfaces and Dian Jiqudong ﹠amp; The J2 interface of emission oscillating circuit board links; (the concrete parameter of the corresponding interface is referring to motor-driven and expelling plate and DSP core board)

(7) Interface design of LCD display circuit and DSP

The J1 interface of DSP core board links by the J1 interface of 37 needle interfaces and liquid crystal circuit board; (the concrete parameter of the corresponding interface is referring to liquid crystal board and DSP core board)

(8) Interface design of keyboard circuit and DSP

The J2 interface of DSP core board links by the J1 interface of 25 needle interfaces and keyboard pcb; (keyboard pcb and Dian Jiqudong ﹠amp; The emission oscillating circuit board can not use simultaneously) (the concrete parameter of the corresponding interface is referring to finger-board and DSP core board)

Claims

1, a kind of based on the modular finite space pattern of DSP ultrasonic sensor, comprise control section, it has at least ultrasound emission, ultrasonic reception, motor-driven, A/D conversion, demonstration, keyboard, system power supply to connect with central processing unit, it is characterized in that: also comprise mechanical part

The The Cloud Terrace of described mechanical part (5) is installed on the base (6), the center of base (6) is provided with the hole (16) of drawing for lead, The Cloud Terrace support (7) is installed on the The Cloud Terrace (5), the motor B (15) of the motor A (10) of control pitch attitude and control The Cloud Terrace rotation angle is installed on the The Cloud Terrace support (7), endless screw support (13) is installed on the The Cloud Terrace support (7), pitch attitude control desk (4) is mounted on the The Cloud Terrace support (7) by supporting (401) and pitch attitude Control Shaft (8), pitch attitude Control Shaft (8) is connected with the output shaft of motor B (15) by pin (9), the stomidium that pitch attitude Control Shaft (8) passes The Cloud Terrace support (7) upper end is connected with supporting (401), be set with worm gear (11) on the pitch attitude Control Shaft (8), worm screw (12) is installed in the center pit of endless screw support (13), the one end is connected by pin (14) with the output shaft of the motor A (10) of control pitch attitude, ultrasonic transmitter (1) and ultrasonic receiver (2) are installed in the table top top of pitch attitude control desk (4), and its transmission circuit plate (3) is installed in the table top below of pitch attitude control desk (4);

Described control section also comprises the transmission circuit of controlling ultrasound emission and ultrasonic reception, and it is the processor control motor A (10) of kernel and the interior pattern detection of the finite space in motor B (15) realization 3DOF space that central processing unit adopts DSP,

DSP receives the instruction that keyboard issues, and instruction controlled, handles and be distributed to display, motor-driven, transmitter and drive and A/D converter, A/D converter receives through the signal that receiver receives and the signal after its amplifying circuit processing is uploaded to DSP through conversion and carries out control and treatment, ultrasonic transmitter (1) links to each other with DSP through lead, and ultrasonic receiver (2) links to each other with the A/D conversion through lead.

2, finite space pattern ultrasonic sensor according to claim 1, it is characterized in that: DSP chooses the TMS320VC5402 chip, the storer of DSP configuration is chosen AT29LV1024 and CY7C1021V33 chip, A/D converter is chosen the MAX147 chip, system power supply is chosen the TPS73HD318 chip, the two poles of the earth amplifier and a detecting circuit that motor-drive circuit is made up of OP27.

3, according to claim 1,2 described finite space pattern ultrasonic sensors, it is characterized in that: the power supply input 4,33,56,75,112 of DSP U1,130 terminations+3.3V power supply, power supply input 12,16,52,68,91,125,142 terminations+1.8V power supply, ground input 1,3,14,15,34,37,40,50,57,70,72,76,90,93,106,111,126,128,144 terminations are digitally;

Corresponding respectively address 24,25,26,27,28,29,30,31,32,35,36,37,38,39,40,41 ends of program storage U8 and address 5,4,3,2,1,44,43,42,27,26,25,24,21,20,19,18 ends of data-carrier store U9 of connecting of 16 address output 131,132,133,134,136,137,138,139,140,141,5,7,8,9,10,11 ends of U1; Its address input 140,141,5,7 ends connect interface 7,25,6,24 ends of J1 respectively; Article 16, data output 99,100,101,102,103,104,113,114,115,116,117,118,119,121,122,123 ends difference correspondence connects data 21,20,19,18,17,16,15,14,11,10,9,8,7,6,5,4 ends of program storage U8 and data 7,8,9,10,13,14,15,16,29,30,31,32,35,36,37,38 ends of data-carrier store U9; Its data input 99,100,101,102,103,104,113,114 ends connect interface 13,31,12,30,11,29,10,28 ends of J1 respectively; The power supply of the 44 termination 3.3V of its program storage U8,12,34 terminations digitally, 8 ends of output enable end 22 termination not gate U7,11, the 33 termination power 3.3V of data-carrier store U9,12,34,39,40 terminations digitally, 22 ends of output enable end 41 termination program storages;

The communication port of U1 is drawn end 39,46,62,17,129,127,13,18,55,51 ends connect the interface 4 of J2 respectively, 16,2,5,14,1,17,18,3,15 ends, draw end 13 resistance and meet 3.3V by 10K, draw end 92 10 terminations by switch S 2 digitally, and meet 3.3V by the resistance of a 10K, the interrupt response signal draws the interface 4 that end 61 connects J1, maskable does not interrupt drawing the interface 9 of end 63 connection J1 and leads to a switch S 5 and realizes interrupting enabling and not enabling, the maskable external interrupt is drawn end 64,65,66 connect the interface 27 of J1 respectively, 8,26, draw the interface 6 that end 67 connects J2, draw end 64,65,66,67 meet 3.3V by a 10K resistance respectively, RST 98 ends meet 3.3V by the resistance of a 10K, resistance and a reset switch ground connection by one 10 Europe, the polar capacitor that between RST end and ground, connects a 100uF, the working mode selection signal draws end 32 resistance by a 10K and meets 3.3V, 9 terminations by switch S 2 digitally simultaneously, the interface 3 that end 31 connects J1 is drawn in the input of general purpose I/O port, and meet 3.3V by the resistance of a 10K, be drawn out to 3 ends of wire jumper P2 simultaneously, the interface 22 that end 27 connects J1 is drawn in the output of general purpose I/O port, the interface 6 that connects J3, the interface 6 that connects J4, be drawn out to 2 ends of wire jumper P2 simultaneously, ready for data signal draws the interface 23 that end 19 connects J1, and meet 3.3V by the resistance of a 10K, the control that the external program memory chip selection signal draws end 20 connection program storage U8 enables 3 ends, the external data memory chip selection signal draws control Enable Pin 6 ends that end 21 connects data-carrier store U6, I/O choice of equipment signal draws the interface 5 that end 22 connects J1, read-write draws interface 14 ends that end 23 connects J1,43 ends that connect program storage U8 also connect 9 ends of not gate chip U7 simultaneously, 17 ends that connect data-carrier store U9, the connection of request control store interface signal 30 ends meets 3.3V by a 10K resistance, clock draws end 77,78,79 respectively the resistance by a 10K meet 3.3V, and simultaneously by 8 of switch S 2,7,6 ends with digitally link, clock draws end 96,97 connect external crystal-controlled oscillation, TOUTO 82 ends connect 2 ends of J1 interface, and be drawn out to 1 end of wire jumper P2, the PORT COM of U1 and serial ports 1 is drawn end 42,47,44,49,60,54 connect the interface 9 of J4 respectively, 8,4,3,2,7, the 1 termination 5V of J4,5 terminations digitally, the PORT COM of U1 and serial ports 0 is drawn end 41,45,43,48,59,53 connect the interface 9 of J3 respectively, 8,4,3,2,7, the 1 termination 5V of J3,5 terminations digitally.

4, finite space pattern supersonic sounding according to claim 1, it is characterized in that: in the transmission circuit of control ultrasound emission and ultrasonic reception, radiating circuit is by crystal oscillator, not gate chip U30 (4069) and logic switch U31 (MAX4053) form, 14 terminations of U30+15V power supply, 7 terminations digitally, 2 ends and 3 ends connect, 4 ends and 5 ends connect, 6,9,11,13 ends are coupled to each other, connect the parallel connection of a 40Kz crystal oscillator Y1 and 20M Europe resistance R Y1 between 1 end and 2 ends, 1 end and 2 ends connect digitally by the nonpolarity voltage of capacitor C Y1 47pF and CY2 1000pF respectively, 8,10,12 ends are coupled to each other, and connect with 3 ends of U31, the 16 end connection+15V of U31,5,6,7,8 ends connect digitally, 4 ends connect digitally by a wire jumper, and 9 ends connect the collector of Q1 (NPN type triode), and the collector of Q1 is by the resistance R q1 connection+5V of 200K, the emitter of Q1 connects simulation ground, and the base stage of Q1 connects 6 ends of J3 interface by the resistance R q2 of 2M.

5, finite space pattern supersonic sounding according to claim 1, it is characterized in that: the driving of motor A (10) and motor B (15) is made up of the identical circuit of two-way on line, respectively by U23 (L6210), U22 (L298), U21 (L297) and U26 (L6210), U25 (L298), U24 (L297) forms, 12 terminations of U21+5V power supply, 2 ends connect digitally, 13,14 ends connect digitally by 0.5 Europe resistance R 1 respectively, 16 ends connect+the 5V power supply by 22K resistance R RR1, polarity free capacitor CC1 by 3.3nF connects digitally, 1 end of 1 end and U24 connects, 10 ends connect interface 20 ends of J2,20 ends are by the resistance connection+5V in 10K Europe, polar capacitor C10 by reset switch and 100uF connects digitally (20 ends connect polar capacitor+), 19 ends are by 3 of switch S 4,4 ends connect 11 ends of U21,5 of S4,6 connect digitally, 1 of S4,2 ends pass through the resistance R R4 connection+5V power supply of 100K respectively, 18 ends connect interface 19 ends of J2,17 ends connect interface 7 ends of J2, the adjustable end of 15 end RS3,4 terminations of U22+24V power supply, 9 terminations of U22+5V power supply, 8 terminations of U22 digitally, 5 ends of U22 connect 4 ends of U21,6 ends of U22 connect 5 ends of U21,7 ends of U22 connect 6 ends of U21,10 ends of U22 connect 7 ends of U21,11 ends of U22 connect 8 ends of U21,12 ends of U22 connect 9 ends of U21,1 end of U22 connects 14 ends of U21,15 ends of U22 connect 13 ends of U1,2 of U22,3,13,14 connect 1 of MOTOR1 respectively, 2,3,4 ends, 1 of U23,8,9, the power supply of 16 end connection+24V, 3 of U23,4,5,6,11,12,13,14 ends connect digitally, 2 of U23,7,10,15 ends connect 1 of MOTOR1 respectively, 2,3,4 ends.

6, according to claim 1,5 described finite space pattern ultrasonic sensors, it is characterized in that: motor A (10) and motor B (15) are stepper motor.

7, finite space pattern ultrasonic sensor according to claim 1 is characterized in that: use ultrasound emission, the receive mode of being interrupted to carry out the space pattern and survey, its ultrasonic frequency is 40～100KHz.

8, finite space pattern ultrasonic sensor according to claim 1, it is characterized in that: adopt the angle orientation of stepper motor A (10) and stepper motor B (15) control The Cloud Terrace (5) attitude as ultrasonic spacescan, its bearing accuracy and orientation range can be selected by the keyboard input.

9, finite space pattern ultrasonic sensor according to claim 1 is characterized in that: dsp processor can show the signal that obtains the pattern of detected space through filtering algorithm, space orientation algorithm, space pattern visualized algorithm reconstruct.