CN206638819U - Omnidirectional's ultrasonic signal receiving unit and omnidirectional's ranging system - Google Patents
Omnidirectional's ultrasonic signal receiving unit and omnidirectional's ranging system Download PDFInfo
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- CN206638819U CN206638819U CN201621272269.6U CN201621272269U CN206638819U CN 206638819 U CN206638819 U CN 206638819U CN 201621272269 U CN201621272269 U CN 201621272269U CN 206638819 U CN206638819 U CN 206638819U
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Abstract
Ultrasonic measuring distance technology field is the utility model is related to, more particularly to a kind of omnidirectional's ultrasonic signal receiving unit and omnidirectional's ranging system.Omnidirectional's ultrasonic signal receiving unit is by the comprehensive synchronous ultrasonic signal for receiving datum mark and sending of radial ultrasonic signal receiving structure and axial ultrasonic signal receiving structure, to ensure that ultrasound signal receipt efficiency high, accuracy are strong, receive broad covered area；The system includes：Signal emission module, synchronous signal receiver module, omnidirectional's ultrasonic signal receiving unit as described above, signal amplification module, signal filtration module, threshold value comparison module and apart from resolve module, the system improves ultrasound signal receipt efficiency using omnidirectional's ultrasonic signal receiving unit and receives coverage rate, and module is resolved by distance and resolves distance of the tracking object relative to datum mark, with the accurate distance of quick obtaining direct wave.
Description
Technical field
The utility model is related to ultrasonic measuring distance technology field, more particularly to a kind of omnidirectional's ultrasonic signal receiving unit and
Omnidirectional's ranging system.
Background technology
Many places can all be related to the measurement adjusted the distance in the production and life of people, and the mode and hand measured
Section is also varied.Ranging is carried out from most traditional various rulers of use, to current laser ranging, supersonic sounding and long distance
From radar range finding, these measuring methods suffer from the advantage and disadvantage of oneself.Traditional distance measuring method is cheap, easy to use,
Then enhanced convenience is quick for laser ranging and supersonic sounding, and the distance that radar range finding then measures is farther, but because its cost is high
It is high to be therefore used for military field.
For ultrasonic ranging, the use transmitting-receiving more of device on the market at present puts formula, i.e. ultrasonic transmitter and reception together
Device is located together, and the ultrasonic wave reflected by detecting measured target obtains its distance relative to measurement apparatus.This measurement
Mode has certain requirement to the material of measured object, and due to energy attenuation of the super sonic reflection to ultrasound cause measurement distance compared with
It is short.Also there are some devices to put formula using transmitting-receiving is different, that is, ranging datum mark is set, and by the ultrasonic transmitter hair positioned at datum mark
Ultrasonic wave is penetrated, and ultrasonic wave is received by the ultrasonic reception device on measured object, is received by calculating to be issued to from ultrasonic wave
To time obtain distance of the measured point relative to datum mark.This metering system precision is higher, and measurement distance farther out, can be used
In the field such as Indoor Robot positioning and virtual reality interaction.But because the directive property of ultrasonic wave is stronger, if measured object is in fortune
Dynamic state, then it is difficult to ensure that ultrasonic probe, ultrasonic receiver can receive the ultrasonic wave that datum mark is sent.
Utility model content
(1) technical problems to be solved
The purpose of this utility model is to provide a kind of measurement, and accurately and efficiently omnidirectional's ultrasonic signal receiving unit and omnidirectional surpass
Sound ranging system.
(2) technical scheme
In order to solve the above-mentioned technical problem, a kind of omnidirectional's ultrasonic signal receiving unit provided by the utility model, including：Axle
To ultrasonic signal receiving mechanism, for receiving from omnidirectional's ultrasonic signal receiving unit at least ultrasonic signal of one end and turning
It is changed to electric signal；Radial ultrasonic signal receiving structure, at least one end are connected with the axial ultrasonic signal receiving structure, for connecing
Receive the ultrasonic signal from omnidirectional's ultrasonic signal receiving unit side and be converted to electric signal.
Further, in addition to base, the base are used for fixed radial ultrasonic signal receiving mechanism.
Further, the axial ultrasonic signal receiving structure includes piezoelectric patches and card interface, and the card interface is arranged at
The lower surface of piezoelectric patches, the radial ultrasonic signal receiving structure includes the piezoelectric membrane that head and the tail bending docking forms, radially super
One end of acoustic signal receiver structure is fixed on the base, and the other end is connected by the card interface with piezoelectric patches.
Further, the material of the piezoelectric patches is piezoelectric ceramics.
The utility model additionally provides a kind of omnidirectional's ranging system, including：Signal emission module, for periodically
Launch ultrasonic signal and synchronizing signal；Synchronous signal receiver module, the synchronization sent for receiving the signal emission module
Signal；Omnidirectional as described above ultrasonic signal receiving unit, the ultrasonic signal sent for receiving the signal emission module,
And the ultrasonic signal received is converted into electric signal；Signal amplification module, received for receiving from omnidirectional's ultrasonic signal
The electric signal of component, the electric signal is amplified；Signal filtration module, for the letter sent out to the signal amplification module
Number it is filtered；Threshold value comparison module, for compared with the threshold value specified, output low and high level signal to be sent into electric signal
Distance resolves module；The distance resolves module, is resolved for completing distance.
Further, in addition to acceleration transducer, for dynamically changing the reference value of the threshold value comparison module.
Further, the distance resolves the module reception low and high level signal and calculates the ultrasonic signal and arrives
Up to the through distance of the receiving step, resolved with completing the distance.
Further, the distance of the distance resolving module is resolved and included：
Obtain the time t for the synchronizing signal that the receiving step receives1；
Obtain the time t for the radial ultrasonic ripple signal that the receiving step receivesr11、 tr12...tr1m；
Obtain the t for the axial ultrasonic ripple signal that the receiving step receivesr21、tr22...tr2n；
By optimizing algorithm obtain the radial ultrasonic ripple signal and the synchronizing signal, the axial ultrasonic ripple signal with
Shortest time difference t between the synchronizing signal2：
t2=φ (tr11,tr12,···,tr1m,tr21,tr22,···,tr2n)=min (tr11,tr12,···,
tr1m,tr21,tr22,···,tr2n) obtain the beeline l=(t of the ultrasonic signal received2-t1)*c。
The utility model additionally provides a kind of omnidirectional's ranging system, including：Signal emission module, for periodically
Launch ultrasonic signal and synchronizing signal；Synchronous signal receiver module, the synchronization sent for receiving the signal emission module
Signal；Omnidirectional as described above ultrasonic signal receiving unit, the ultrasonic signal sent for receiving the signal emission module,
And the ultrasonic signal received is converted into electric signal；Signal amplification module, received for receiving from omnidirectional's ultrasonic signal
The electric signal of component, the electric signal is amplified；Signal filtration module, for the letter sent out to the signal amplification module
Number it is filtered；Threshold value comparison module, for compared with the threshold value specified, output low and high level signal to be sent into electric signal
Distance resolves module；The distance resolves module, is resolved for completing distance.
Further, in addition to acceleration transducer, for dynamically changing the reference value of the threshold value comparison module.
Further, the distance resolves the module reception low and high level signal and calculates the ultrasonic signal and arrives
Up to the through distance of the receiving step, resolved with completing the distance.
Further, the distance of the distance resolving module is resolved and included：
Obtain the time t for the synchronizing signal that the receiving step receives1；
The ultrasonic signal immediate moment obtained with a upper cycle is obtained as t2；
Obtain the beeline l=(t of the ultrasonic signal received2-t1)*c。
(3) beneficial effect
A kind of omnidirectional's ultrasonic signal receiving unit and omnidirectional's ranging system provided by the utility model, it has following
Advantage：Omnidirectional's ultrasonic signal receiving unit of the present utility model is connect by radial ultrasonic signal receiving structure and axial ultrasonic signal
Receive the comprehensive synchronous ultrasonic signal for receiving datum mark and sending of mechanism, with ensure ultrasound signal receipt efficiency high,
Accuracy is strong, receives broad covered area.Omnidirectional's ranging system of the present utility model is received using above-mentioned omnidirectional's ultrasonic signal
Component effectively improves ultrasound signal receipt efficiency and signal receives coverage rate, and resolves module by distance and resolve tracking object
Relative to the distance of datum mark, therefore it can quickly obtain the accurate distance of direct wave.
Brief description of the drawings
Fig. 1 is the structural representation of omnidirectional's ultrasonic signal receiving unit described in the utility model embodiment one；
Fig. 2 is the system framework figure described in the utility model embodiment two.
Wherein：1st, base；2nd, axial ultrasonic signal receiving structure；3rd, radial ultrasonic signal receiving structure.
Embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Example is used to illustrate the utility model, but is not limited to the scope of the utility model.
Embodiment one
As shown in figure 1, the present embodiment one provides a kind of omnidirectional's ultrasonic signal receiving unit, including axial ultrasonic signal connects
Mechanism 2 and radial ultrasonic signal receiving structure 3 are received, wherein, axial ultrasonic signal receiving structure 2 is used to receive and surpassed from the omnidirectional
The ultrasonic signal of acoustical signal receiving unit at least one end is simultaneously converted to electric signal, wherein from omnidirectional's ultrasonic signal reception group
The ultrasonic signal of part at least one end is considered as axial ultrasonic signal；At least one end of radial ultrasonic signal receiving structure 3 is with axially surpassing
Acoustic signal receiver structure 2 connects, for receiving the ultrasonic signal from omnidirectional's ultrasonic signal receiving unit side and being converted to
Electric signal, wherein the ultrasonic signal from omnidirectional's ultrasonic signal receiving unit side is considered as radial ultrasonic signal；Pass through radially
The synchronous datum mark that receives of ultrasonic signal receiving mechanism 3 and the omnibearing stereo of axial ultrasonic signal receiving structure 2 is sent
Ultrasonic signal, and corresponding electric signal is translated into respectively, to ensure ultrasound signal receipt efficiency high, accuracy
By force, broad covered area is received.
For the ease of fixed and place omnidirectional's ultrasonic signal receiving unit, preferably omnidirectional's ultrasonic signal receiving unit is also
Including base 1, the installing port for fixed radial ultrasonic signal receiving mechanism is preferably provided with base 1, for the ease of fixed and
Connection system modules, the module that other are preferably used for signal transacting are arranged in base 1.
Preferably, axial ultrasonic ripple is used as using axial ultrasonic signal receiving structure 2 and radial ultrasonic signal receiving structure 3
The reception sensor of signal and radial ultrasonic ripple signal, it is synchronous to receive comprehensive ultrasonic signal, then believed using axial ultrasonic
Axial ultrasonic ripple signal and radial ultrasonic ripple signal are each converted to electricity by number receiving mechanism and radial ultrasonic signal receiving structure
Signal, so as to synchronization electric signal change is outwards sent out, so as to realize the fast and accurately collection of electric signal with
Transmission.
In order to quickly realize that comprehensive ultrasonic signal collects the conversion with electric signal, the axial direction of preferably the present embodiment one surpasses
Acoustic signal receiver structure 2 includes piezoelectric patches and card interface, and the piezoelectric material of piezoelectric patches is preferably piezoelectric ceramics, and card interface is set
The lower surface of piezoelectric patches is placed in, the piezoelectric membrane that head and the tail bending docking forms, edge are packaged with radial ultrasonic signal receiving structure 3
The excircle distribution of radial ultrasonic signal receiving structure, one end of radial ultrasonic signal receiving structure is fixed on base 1, another
End is connected by card interface with piezoelectric patches.
Specifically, piezoelectric membrane and piezoelectric patches can all carry out received ultrasonic signal as strain transducer, and by ultrasonic wave
Signal is converted into voltage signal, wherein, piezoelectric membrane is a kind of type of dynamic strain sensor, with piezoelectric polyvinylidene fluoride polymeric membrane
(abbreviation PVDF) is used as exemplified by piezoelectric membrane, when stretching or bending a piece of piezoelectric membrane, between film upper/lower electrode surface just
An electric signal (electric charge or voltage) can be produced, and it is proportional with the deformation for stretching or bending.In general piezoelectric is all right
Presser sensor, but for piezoelectric membrane, when being longitudinally applied to the power of very little, very big stress can be produced in transverse direction,
And if when applying same power to film large area, caused stress can be much smaller, and therefore, piezoelectric membrane is non-to dynamic stress
Often sensitive, PVDF thick 28um sensitivity representative value is 10~15mV/ microstrains (the PPM change of length), works as piezoelectricity
Corresponding deformation will occur when receiving ultrasonic signal for film, will so be produced between the upper/lower electrode surface of film
One electric signal.And the piezoelectric material of piezoelectric patches is preferably piezoelectric ceramics, piezoelectric ceramic piece is a kind of data-collection device,
Ultrasonic signal can be converted directly into voltage signal by it.Footpath is fixedly connected with using one end of radial ultrasonic signal receiving structure 3
To ultrasonic signal receiving mechanism 2, the other end is fixed on base 1, and the piezoelectric membrane for bending connection is vertically arranged, and is made radially
The upper surface of the piezoelectric ceramic piece of ultrasonic signal receiving mechanism 2 is vertical upward, and such structure ensures no matter which direction come from
Ultrasonic wave can receive, it is therefore, synchronous after piezoelectric membrane or piezoelectric ceramic piece receive the ultrasonic wave of multiple directions
Small voltage signal is exported, is transferred after voltage signal is received superposition by mechanism by signal and outwards transmitted, consequently facilitating subsequently
Signal amplification, filtering etc. processing.
Embodiment two
As shown in Fig. 2 the present embodiment two provides a kind of omnidirectional's ranging system, including signal emission module, synchronization
Signal receiving module, omnidirectional's ultrasonic signal receiving unit as described in embodiment one, signal amplification module, signal filtration module,
Threshold value comparison module and apart from resolve module.
Wherein, signal emission module is used to periodically launch ultrasonic signal and synchronizing signal, may be disposed to be measured
Datum mark, it includes ultrasonic wave transmitter module and synchronizing signal transmitter module；Synchronous signal receiver module, which is used to receive, to be believed
The synchronizing signal that number transmitter module is sent, to resolve the data for providing contrast for distance in measuring process；Omnidirectional's ultrasound
Signal receiving assembly is used for the ultrasonic signal that reception signal transmitter module is sent, and the ultrasonic signal received is converted to
Electric signal；Signal amplification module be used for electric signal is amplified, it is preferred that signal amplification module respectively with described in embodiment one
Axial ultrasonic signal receiving structure connected with radial ultrasonic signal receiving structure, so as to by axial ultrasonic ripple signal and radially super
The ultra-weak electronic signal that acoustic signals are formed is amplified processing respectively；Signal filtration module is used for what signal amplification module was sent out
Signal is filtered；Threshold value comparison module is used for electric signal compared with the threshold value specified, and output low and high level signal is sent
Enter distance and resolve module；Distance resolves module and is used to complete apart from resolving, in distance resolves, preferably with synchronous signal receiver mould
The synchronizing signal that block is received and sent out parameter as a comparison, at the time of determining that direct wave reaches using optimizing algorithm, so as to enter one
The time comparing calculation of step and synchronizing signal goes out the beeline of ultrasonic signal, and then accurately calculates measuring basis to be measured
Point is the distance between to signal receiving point.
Wherein, the structure of omnidirectional's ultrasonic signal receiving unit is identical with embodiment one, and something in common repeats no more.
It should be noted that in omnidirectional's ultrasonic signal receiving unit of the present embodiment two, piezoelectric membrane is by head and the tail bending pair
The shape of a cylinder is connected into, is believed with the radial ultrasonic ripple that signal emission module of the capture setting at datum mark is sent
Number, piezoelectric ceramic piece is fixed on the top of the piezoelectric membrane of cylinder, to gather the axial ultrasonic ripple of signal emission module transmission
Signal, especially from the ultrasonic signal of top.Receiving module is made in the characteristic that can be bent due to make use of piezoelectric membrane
Cylindrical column, receive the ultrasonic wave of radial direction, received using the characteristic that piezoelectric ceramic piece slice process is ripe, cost is cheap
The ultrasonic wave of side, is connect by the way that piezoelectric membrane and piezoelectric ceramic piece to be engaged to the omnidirectional's ultrasonic signal being made as described in embodiment one
Component is received, the advantages of can not only having given play to piezoelectric membrane and piezoelectric ceramic piece each, is readily applicable to need omnidirectional to receive
Space environment under use need, and the measurement error of this omnidirectional's ultrasonic signal receiving unit is very low, usual measurement error
For grade.
The system of the present embodiment two also includes acceleration transducer, for dynamically changing the reference of threshold value comparison module
Value, preferably acceleration transducer are connected with apart from resolving module, and when distance, which resolves module, is entering row distance clearing, use is sought
Excellent algorithm follows continuity principle, the speed of motion is detected using acceleration transducer, so as to dynamically change judgment threshold.
In order to optimize system architecture, structure is set to easily facilitate carrying and safeguard, the synchronous letter preferably described in the present embodiment two
Number receiving module, signal amplification module, signal filtration module, threshold value comparison module and it is arranged on implementation apart from module section is resolved
In base described in example one, wherein, signal amplification module directly connects with axial ultrasonic signal receiving structure and radial ultrasonic signal
Receive mechanism to connect respectively, so as to obtain the electric signal by axial ultrasonic signal and the conversion of radial ultrasonic signal respectively.
Embodiment three
The present embodiment three provides a kind of method that system using described in embodiment two carries out omnidirectional's supersonic sounding, mainly
Apply receive and dispatch it is different put formula supersonic sounding, receive and dispatch it is different put formula supersonic sounding, the ultrasound emission positioned at ranging datum mark fills
Put and periodically launch ultrasonic wave and synchronizing signal, synchronizing signal, this method tool are received positioned at the reception device for being tracked object
Body includes：Step of transmitting, receiving step, procedure of processing and measuring process, wherein,
Step of transmitting includes：Periodically launch ultrasonic signal and synchronizing signal using signal emission module；
Receiving step includes：Ultrasonic wave is received respectively using omnidirectional's ultrasonic signal receiving unit and synchronous signal receiver module
Signal and synchronizing signal, and the ultrasonic signal received is converted into electric signal；
Procedure of processing includes：Receiving step is obtained using signal amplification module, signal filtration module and threshold value comparison module
The electric signal taken is amplified respectively, filtering process and threshold value compare, and exports low and high level signal；
Measuring process includes：Module reception low and high level signal, which is resolved, using distance and calculates ultrasonic signal arrival connects
Receive the through distance of step.
Wherein, the ultrasonic signal that receiving step receives includes radial ultrasonic ripple signal and axial ultrasonic ripple signal, excellent
Choosing receives radial ultrasonic ripple using the radial ultrasonic signal receiving structure of omnidirectional's ultrasonic signal receiving unit described in embodiment one
Signal, axial ultrasonic signal is received using axial ultrasonic signal receiving structure, so as to realize that the reception of omni-directional stereo surpasses
Acoustic signals, improve signal receiving efficiency and coverage rate.
Wherein, the solution process of measuring process is：Radial ultrasonic ripple signal and axial ultrasonic ripple signal to input are carried out
Analysis, the time t for the synchronizing signal that receiving step receives is obtained respectively1, the radial ultrasonic ripple signal that receives of receiving step
Time tr11、tr12...tr1m, and obtain the t for the axial ultrasonic ripple signal that receiving step receivesr21、tr22...tr2n；
It should be noted that m and n is respectively the sound wave of the radial ultrasonic ripple signal and axial ultrasonic ripple signal received
Number.
Shortest time difference principle is followed by optimizing algorithm, because straight line is most short between 2 points, you can think tr11、
tr12...tr1mAnd tr21、tr22...tr2nIn with t1T at the time of arrival at the time of time difference minimum for direct wave2, with by connecing
Receive the synchronizing signal t that step is got1For contrast signal, i.e.,：
t2=φ (tr11,tr12,···,tr1m,tr21,tr22,···,tr2n)=min (tr11,tr12,···,
tr1m,tr21,tr22,···,tr2n)
The less situation of this principle reflection sources suitable for environment, otherwise the back wave in a upper cycle this cycle can be produced
It is raw to influence.
The beeline for obtaining the ultrasonic signal received is l=(t2-t1) * c, wherein, c is ultrasonic wave in sky
Spread speed in gas.
Example IV
The present embodiment four provides the method that another system using described in embodiment two carries out omnidirectional's supersonic sounding, should
The step of method and embodiment three are essentially identical, and something in common repeats no more, and difference is：The optimizing of the present embodiment four is calculated
Method follows continuity principle, i.e., due to the distance between moving object and datum mark consecutive variations, in the absence of the situation of saltus step,
T can then be calculatedr11,tr12,···,tr1m,tr21,tr22,···,tr2nThe t obtained with a upper cycle2The difference at moment,
The difference and the reference value t pre-setthMake comparisons, difference is designated as the t in the cycle with the reference value immediate moment2When
Carve.tthSetting with motion speed it is relevant, so when need to add acceleration transducer in systems, to detect motion
Speed is so as to dynamically changing the reference value.
When following continuity principle, the solution process of the measuring process of this method is optimizing algorithm：
Obtain the time t for the synchronizing signal that receiving step receives1；
The ultrasonic signal immediate moment obtained with a upper cycle is obtained as t2；
Obtain the beeline l=(t of the ultrasonic signal received2-t1)*c。
In summary, the omnidirectional with omnidirectional's ultrasonic signal receiving unit involved by four embodiments of the utility model surpasses
At work, the signal emission module of ranging datum mark periodically launches ultrasonic signal and synchronizing signal to sound ranging system,
Synchronizing signal is received positioned at the omnidirectional ultrasonic signal receiving unit for being tracked object, because wall, tables and chairs etc. can be with space
Reflectance ultrasound ripple, therefore the ultrasonic wave that omnidirectional's ultrasonic signal receiving unit receives is made up of direct wave and back wave, of back wave
Number is relevant with place environment.
The ultrasonic signal received is converted into two path signal by omnidirectional's ultrasonic signal receiving unit, all the way to pass through footpath
The radial ultrasonic ripple signal exported to the piezoelectric membrane of ultrasonic signal receiving mechanism, another way are to be received by axial ultrasonic signal
The axial ultrasonic ripple signal of the piezoelectric patches output of mechanism；Two paths of signals passes through amplifying circuit, the signal of signal amplification module respectively
After the threshold value comparison circuit processing of the filter circuit, threshold value comparison module of filtration module, low and high level signal is exported, distance resolves
Signal access processor is preferably provided with module, two external interrupt pins of signal access processor are used to receive threshold value
The low and high level signal of comparison module output, triggering processor is interrupted when saltus step occurs for signal, processor records two respectively
At the time of road signal triggering is interrupted, at the time of the moment is that two paths of signals reaches, t is used respectivelyr11、tr12...tr1mAnd tr21、
tr22...tr2nExpression, wherein m and n are respectively the number for the sound wave that piezoelectric membrane and piezoelectric patches 2 receive, according to synchronizing signal
t1The time t of direct wave arrival is obtained at the time of arrival with two paths of signals by optimizing algorithm2。
Wherein, signal filtration module is preferably bandpass filter, the ultrasonic signal that its centre frequency and transmitting terminal are sent
Centre frequency it is consistent；Signal access processor be preferably single-chip microcomputer or DSP (abbreviation of Digital Signal Processing chip) or
Other common processors available for Digital Signal Processing.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc., the utility model should be included in
Protection domain within.
Claims (9)
- A kind of 1. omnidirectional's ultrasonic signal receiving unit, it is characterised in that including：Axial ultrasonic signal receiving structure, for receiving the ultrasound letter from omnidirectional's ultrasonic signal receiving unit at least one end Number and be converted to electric signal；Radial ultrasonic signal receiving structure, at least one end are connected with the axial ultrasonic signal receiving structure, are come from for receiving The ultrasonic signal of omnidirectional's ultrasonic signal receiving unit side is simultaneously converted to electric signal.
- 2. omnidirectional's ultrasonic signal receiving unit as claimed in claim 1, it is characterised in that also used including base, the base In fixed radial ultrasonic signal receiving mechanism.
- 3. omnidirectional's ultrasonic signal receiving unit as claimed in claim 2, it is characterised in that the axial ultrasonic signal receiver Structure includes piezoelectric patches and card interface, and the card interface is arranged at the lower surface of piezoelectric patches, the radial ultrasonic signal receiving structure The piezoelectric membrane formed including head and the tail bending docking, one end of radial ultrasonic signal receiving structure are fixed on the base, separately One end is connected by the card interface with piezoelectric patches.
- 4. omnidirectional's ultrasonic signal receiving unit as claimed in claim 3, it is characterised in that the piezoelectric material of the piezoelectric patches Matter is piezoelectric ceramics.
- A kind of 5. omnidirectional's ranging system, it is characterised in that including：Signal emission module, for periodically launching ultrasonic signal and synchronizing signal；Synchronous signal receiver module, the synchronizing signal sent for receiving the signal emission module；Omnidirectional's ultrasonic signal receiving unit as described in claim any one of 1-4, for receiving the signal emission module hair The ultrasonic signal gone out, and the ultrasonic signal received is converted into electric signal；Signal amplification module, for being amplified to the electric signal；Signal filtration module, the signal for being sent out to the signal amplification module are filtered；Threshold value comparison module, for compared with the threshold value specified, output low and high level signal to be sent into distance solution to electric signal Calculate module；The distance resolves module, is resolved for completing distance.
- 6. omnidirectional's ranging system as claimed in claim 5, it is characterised in that also including acceleration transducer, for moving Change to state the reference value of the threshold value comparison module.
- 7. omnidirectional's ranging system as claimed in claim 5, it is characterised in that the distance resolves module and receives the height Low level signal simultaneously calculates the through distance that the ultrasonic signal reaches receiving step, is resolved with completing the distance.
- 8. omnidirectional's ranging system as claimed in claim 7, it is characterised in that the distance that the distance resolves module resolves Including：Obtain the time t for the synchronizing signal that the receiving step receives1；Obtain the time t for the radial ultrasonic ripple signal that the receiving step receivesr11、tr12...tr1m；Obtain the t for the axial ultrasonic ripple signal that the receiving step receivesr21、tr22...tr2n；By optimizing algorithm obtain the radial ultrasonic ripple signal and the synchronizing signal, the axial ultrasonic ripple signal with it is described Shortest time difference t between synchronizing signal2：t2=φ (tr11,tr12,···,tr1m,tr21,tr22,···,tr2n)=min (tr11,tr12,···,tr1m,tr21, tr22,···,tr2n)Obtain the beeline l=(t of the ultrasonic signal received2-t1)*c。
- 9. omnidirectional's ranging system as claimed in claim 7, it is characterised in that the distance that the distance resolves module resolves Including：Obtain the time t for the synchronizing signal that the receiving step receives1；The ultrasonic signal immediate moment obtained with a upper cycle is obtained as t2；Obtain the beeline l=(t of the ultrasonic signal received2-t1)*c。
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106483525A (en) * | 2016-11-21 | 2017-03-08 | 北京凌宇智控科技有限公司 | Omnidirectional's ultrasonic signal receiving unit, omnidirectional's ranging system and method |
| CN108663680A (en) * | 2018-04-10 | 2018-10-16 | 北京凌宇智控科技有限公司 | A kind of three-dimensional fix method, apparatus and system for reducing time synchronization |
| CN110031831A (en) * | 2019-04-24 | 2019-07-19 | 吉林大学 | A kind of small-sized three-dimensional ultrasonic transmitter having ultrasonic wave and infrared emission function |
-
2016
- 2016-11-21 CN CN201621272269.6U patent/CN206638819U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106483525A (en) * | 2016-11-21 | 2017-03-08 | 北京凌宇智控科技有限公司 | Omnidirectional's ultrasonic signal receiving unit, omnidirectional's ranging system and method |
| CN108663680A (en) * | 2018-04-10 | 2018-10-16 | 北京凌宇智控科技有限公司 | A kind of three-dimensional fix method, apparatus and system for reducing time synchronization |
| CN110031831A (en) * | 2019-04-24 | 2019-07-19 | 吉林大学 | A kind of small-sized three-dimensional ultrasonic transmitter having ultrasonic wave and infrared emission function |
| CN110031831B (en) * | 2019-04-24 | 2022-11-18 | 吉林大学 | Small three-dimensional ultrasonic transmitter with ultrasonic and infrared transmitting functions |
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