CN209215580U - Demarcate the aided measurement device and measuring system of ultrasonic sensor detection envelope - Google Patents
Demarcate the aided measurement device and measuring system of ultrasonic sensor detection envelope Download PDFInfo
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- CN209215580U CN209215580U CN201821604076.5U CN201821604076U CN209215580U CN 209215580 U CN209215580 U CN 209215580U CN 201821604076 U CN201821604076 U CN 201821604076U CN 209215580 U CN209215580 U CN 209215580U
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Abstract
The utility model relates to demarcate the aided measurement device and measuring system of ultrasonic sensor detection envelope.Measuring device includes: support rod, is arranged perpendicular to ground, and one end is fixed on ground；Telescopic rod, one end are fixedly connected with the other end of support rod and extend along the horizontal plane；First motor, is coupled to support rod, and driving support rod rotates so that telescopic rod at a predetermined angle and orients at a predetermined angle；Telescopic component is set on telescopic rod, the enabled flexible length to adjust telescopic rod of telescopic rod；And object, the calibration object measured when calibration detects envelope as ultrasonic sensor are suspended to the other end of telescopic rod by rigid suspension.The utility model also provides the corresponding main measuring device comprising ultrasonic sensor, cooperates the detection envelope for realizing the ultrasonic sensor to demarcate with aided measurement device, the efficiency for demarcating multiple ultrasonic sensors greatly improved, reduce the nominal time.
Description
Technical field
The utility model relates generally to data processing field, and in particular to calibration ultrasonic sensor detects the auxiliary of envelope
Help measuring device and measuring system.
Background technique
Ultrasonic sensor is used widely in each field.Such as in automatic Pilot, ultrasonic sensor is played
Very important effect, automatic driving vehicle perceive the environment of surrounding based on the measurement of ultrasonic sensor.Detecting envelope is
One important parameter of ultrasonic sensor characterizes the credible investigative range of ultrasonic sensor.
The application of ultrasonic sensor needs accurately detection envelope parameters under various scenes, but at present for measurement ultrasound
The detection envelope of wave sensor is usually manually to place reference test bar in the position for needing to measure, and passes through observation ultrasonic sensor
Signal judges whether detect reference test bar in the position, and then finally obtains the detection envelope of ultrasonic sensor.
Existing method is not only time-consuming and laborious, but also there are human errors, is also unable to satisfy the requirement of measuring accuracy.It is expected that
Be to provide a kind of technical solution that can demarcate to intelligent and high-efficiency ultrasonic sensor detection envelope.
Utility model content
In view of the above-mentioned problems, the embodiments of the present invention provide the subsidiary of calibration ultrasonic sensor detection envelope
Device and measuring system realize highly efficient, accurate, the stronger ultrasonic sensor envelope calibration of robustness.
In the utility model in a first aspect, providing a kind of subsidiary dress of calibration ultrasonic sensor detection envelope
It sets.The aided measurement device includes: support rod, is arranged perpendicular to ground, and one end is fixed on ground；Telescopic rod, one end with
The other end of support rod is fixedly connected and extends along the horizontal plane；First motor is coupled to support rod, drives support rod with pre-
Determine angle and rotate so that telescopic rod to orient at a predetermined angle；Telescopic component is set on telescopic rod, and it is flexible to enable telescopic rod
To adjust the length of telescopic rod；And object, the calibration measured when calibration detects envelope as ultrasonic sensor
Object is suspended to the other end of telescopic rod by rigid suspension.
In certain embodiments, aided measurement device further includes the second motor, and the second motor driven telescopic component is with predetermined
Telescopic telescopic rod.
In certain embodiments, aided measurement device further includes that controller, controller and first motor and the second motor connect
It connects, the operation of the turn around parameters control first motor based on the telescopic rod being calculated, and flexible based on what is be calculated
The warp parameter of bar controls the operation of the second motor.
In certain embodiments, telescopic rod is socket pipe, and telescopic component includes gear and brake, and brake passes through gear
It is coupled with the second motor, to drive socket pipe flexible by the positive and negative rotation of the second motor.
In certain embodiments, aided measurement device further includes the first communication module, is connect with controller, and reception comes from
The configuration information of main measuring device, main measuring device includes ultrasonic sensor, and controller parsing configuration information is to obtain
Turn around parameters and warp parameter.
In certain embodiments, rigid suspension includes the hold assembly for clamping object, or including buckling target
The snap part of object；Object is suspended in midair perpendicularly to the ground by rigid suspension.
In the second aspect of the utility model, a kind of measuring system of calibration ultrasonic sensor detection envelope, packet are provided
The aided measurement device as described in the utility model first aspect and main measuring device are included, main measuring device includes: wait mark
Surely at least one ultrasonic sensor of envelope is detected；Laser radar is set to high-order at least one ultrasonic sensor etc.
It sets, serves as the positioning rule being fixed on ground and carry out auxiliary calibration；And measurement processing device, it is coupled at least one ultrasonic wave biography
Sensor and laser radar, based on aided measurement device it is autonomous traveling and detection packet is carried out at least one ultrasonic sensor
Network calibration.
In certain embodiments, main measuring device further includes the second communication module, to aided measurement device transmission configuration
Information.
The scheme for the calibration ultrasonic sensor detection envelope that the embodiments of the present invention propose, can demarcate more simultaneously
Efficiency greatly improved in a ultrasonic sensor, reduces the nominal time.Meanwhile using system operational parameters, example is reasonably arranged
The movement speed of such as object, the residence time, detectable signal various threshold values, improve testing result accuracy, reduce
Error.In addition, using lidar measurement physical location, so that calibration is more accurate.
Detailed description of the invention
Fig. 1 shows showing for the system of the calibration ultrasonic sensor detection envelope of one embodiment according to the present utility model
Meaning property overlooks block diagram；
Fig. 2 shows the schematic frames of the control section of the aided measurement device of one embodiment according to the present utility model
Figure；
The measurement parameter that Fig. 3 shows the control section of the aided measurement device of one embodiment according to the present utility model is closed
The schematic diagram of system；And
Fig. 4 shows the stream of the method for the calibration ultrasonic sensor detection envelope of one embodiment according to the present utility model
Cheng Tu.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below in conjunction with specific embodiment, and
Referring to attached drawing, the utility model is further described.But as known to those skilled in the art, the utility model is not limited to
Attached drawing and following embodiment.
As described herein, term " includes " and its various variants are construed as open-ended term, it means that " packet
It includes but is not limited to ".Term "based" is construed as " being based at least partially on ".Term " one embodiment " it is understood that
For " at least one embodiment ".Term " another embodiment " is construed as " at least one other embodiment ".
As previously mentioned, generalling use artificial fixed point for measurement ultrasonic sensor detection envelope at present, general detection is single
A ultrasonic sensor is just very time-consuming, and then needs in the application scenarios of multiple ultrasonic sensors more long.For example,
Multiple ultrasonic sensors would generally be set in automatic driving vehicle, not only need directly to measure the spy of each ultrasonic sensor
Survey envelope, it is also necessary to determine the detection envelope measured indirectly between ultrasonic sensor.Especially in industry application, batch vehicle
Also need the detection envelope of each ultrasonic sensor of accurate calibration.
The technical solution that the embodiments of the present invention provide can effectively solve the problems of the prior art, and efficiently and accurately is fast
The detection envelope of ultrasonic sensor is demarcated fastly.The utility model embodiment is further described with reference to the accompanying drawing.
Fig. 1 shows the measurement system of the calibration ultrasonic sensor detection envelope of one embodiment according to the present utility model
The diagrammatic top block diagram of system 100.As shown, measuring system 100 includes the dress of ultrasonic sensor to be calibrated detection envelope
Set 110 (being referred to as main measuring device) and the device 120 (referred to as aided measurement device) for auxiliary calibration.At one
In concrete application, for example, device 110 can be the vehicle with Function for Automatic Pilot comprising multiple ultrasonic sensor (examples
Such as 111 and 112), laser radar 113 and measurement processing device 114.
Embodiment according to the present utility model is equipped with laser radar 113, compared to supersonic sensing in means 110
Device has high-precision, high-resolution advantage, can be accurately positioned with the position of detecting objects, motion state etc..Using
Laser radar 113 can be used as standard setting device and carry out auxiliary calibration, can serve as the positioning rule being fixed on ground or
Reference axis.Laser radar 113 can be set at height identical as ultrasonic sensor.Measurement processing device 114 is for obtaining
The signal of ultrasonic sensor 111 and 112 and laser radar 113 is simultaneously handled, and determines ultrasonic sensor 111 and 112
Detection envelope.
It can also include communication component 115 in device 110, realize the wireless communication function with device 120.For example, bluetooth
Module or other short-range communication (NFC) modules.Communication component 115 can be established logical with communication component corresponding in device 120
Interrogate link, transmission of configuration information, control instruction etc..
Device 120 includes suspension apparatus, and fixing suspention has the object that envelope is detected for demarcating ultrasonic sensor
121.Object 121 is the barrier that ultrasonic sensor 111 and 112 can sense, and can usually use standard testing bar, example
Such as the pvc pipe of φ 75mm.Suspension apparatus steadily can reach the predetermined position in path 122 (such as in figure by carry object 121
Crosspoint), so as to realize by ultrasonic sensor 111 and 112 complete detection envelope calibration.The specific structure of device 120
It will be described below.Before calibration starts, the ultrasonic sensor of calibration needed for device 110 needs to set.In one embodiment
In, such as in vehicle front measurement, then need to be arranged such as four ultrasonic sensors in front of unlocking vehicle and (be denoted as respectively
FOR, FCR, FCL, FOL) itself is measured and tri- information measured indirectly of FOR-FCR, FCR-FCL, FOL-FCL.Device
The mobile distance of suspension apparatus and residence time etc. can be ordinatedly arranged in 110 (or measurement processing devices 114) and device 120
Parameter.
As shown in Figure 1, object 121 is with suspension apparatus within the scope of the quasi- envelope in front of ultrasonic sensor 111 and 112
It is moved along path 122, stops certain time every a distance according to setting parameter.Ultrasonic wave passes the processing of device 110 at this time
The data of sensor 111 and 112 and laser radar 113.Suspension apparatus moves on later, repeats this process, until completing to advise
The path drawn.
It is appreciated that system 100 is only signal, for ease of description embodiment of the disclosure, not specifically illustrated and description
The other component of device 110, in order to avoid unnecessarily obscure the aspect of the utility model embodiment.In addition, measurement processing device
114 are shown as within system 100 in device 110, but it physically can independently be arranged.
The specific knot of the measuring device 120 of one embodiment according to the present utility model is further described below with reference to Fig. 1
Structure.In the present embodiment, suspension apparatus includes the support rod 123 perpendicular to ground setting, one end can by pedestal 124 or
Other suitable modes are fixed on ground.One end of telescopic rod 125 is solid by the other end of connecting component 126 and support rod 123
Fixed connection, and it is horizontally extending.
Support rod 123 is coupled to first motor 127, is rotated at a predetermined angle by the driving of first motor 127, and then so that
Telescopic rod 125 orients at a predetermined angle.Telescopic component 128 is additionally provided on telescopic rod 125, enable telescopic rod 125 it is flexible with
Adjust the length of telescopic rod 125.
In one embodiment, telescopic rod 125 can be implemented as telescopic sleeve, and telescopic component 128 includes gear, brake
Equal components, brake are coupled by gear and the second motor 129, to drive socket pipe to stretch by the positive and negative rotation of the second motor 129
Contracting, so as to adjust the length of telescopic rod 125.By this method, telescopic rod 125 is capable of each of the arrival of carry object 121 path 122
A position.
The object 121 of the calibration object measured when calibration detects envelope as ultrasonic sensor is outstanding by rigidity
Hang device 130 is suspended to the other end of telescopic rod 125, so that object 121 is stablized with holding in telescopic device moving process
And perpendicular to ground.Rigid suspension 130 may include hold assembly, such as be made of connecting rod and clamp.Rigidity is outstanding
Hang device 130 can also use snap part, and object 121 is suspended on downwards to 125 one end of telescopic rod securely.Clamping part
The outer diameter of the dimensional fits object 121 of part or snap part is arranged.
In order to measure ultrasonic sensor 111 and 112 effectively, telescopic rod 125 needs enough distances from the ground, preferably
Ground is higher than 2 meters.The length of rigid suspension 130 is set according to the actual situation, so that rigid suspension 130 and telescopic rod
125 do not influence the measurement of ultrasonic sensor 111 and 112 pair object 121, to be conducive to the ultrasonic sensor of device 110
111 and 112 can not cause detection judge by accident in the case where detecting objects 121.
Device 120 further includes communication module (not shown), can be short-range communication (NFC) module, such as blue
Tooth module etc. can also provide wired communication functions and external interface.Communication module can be communicated with device 110, can also be with
Other equipment are communicated, and configuration information, instruction, return data etc. are received.Communication module can be arranged in any of device 120
Suitable position.
In addition, measuring device 120 can also include alignment device (not shown), can be judged with aided measurement device 120
Whether object 121 is located at intersection shown in path 122.In one embodiment, path 122 is by evident to be measured
Region, image collecting device, the path image of 121 lower section of acquisition object has can be set in 121 bottom of object, and transmits
To the control section of measuring device 120, so as to the measurement process of further accurate fit measuring device 110.
It is appreciated that device 120 shown in Fig. 1 is only signal, embodiment of the disclosure for ease of description, not specifically
The other component of device 120 is shown and describes, in order to avoid unnecessarily obscure the aspect of the utility model embodiment.
Fig. 2 shows the schematic block diagrams of the control section 200 of measuring device 120.As shown, control section 200 is wrapped
Controller 210 is included, first motor 127, the second motor 129 and communication module 220 are respectively coupled to.May be used also control section 200
To include memory (not shown), various control parameters are stored.
Controller 210 can be the devices such as microprocessor, can be received from communication module 220 from device 110 or
The configuration parameter of other devices is simultaneously parsed.Configuration parameter include the travelling route figure of suspension apparatus, operating interval duration T1,
Stay time T2 etc., wherein travelling route figure can be as shown in figure 1 shown in path 122, when suspension apparatus will be with predetermined operation interval
Long T1 operation object reaches each intersection point, and stops predetermined time T2 in each intersection point.
Controller 210 controls the operation of first motor 127 according to configuration parameter, so that first motor 127 drives support rod
123 rotations, thus telescopic rod 125 is directed to specific direction with the rotation of support rod 123.Controller 210 is also according to configuration
The operation of the second motor of state modulator 129, so that the second motor 129 drives extensible member 128, to adjust the length of telescopic rod 125
Degree.By this method, object 121 is as suspension apparatus is moved to specific position along path 122 and stops, with adapting device 110
Measurement process.
Fig. 3 shows showing for the measurement parameter relationship 300 of the measuring device 120 of one embodiment according to the present utility model
It is intended to.Pre-set measuring route 122 can be loaded into measuring device 110 and measuring device 120, measuring device 120
Controller 210 determines the control parameter of first motor 127 and the second motor 129 at each measurement point position according to path 122.Such as figure
Shown, controller 210 calculates the angle a at each point between telescopic rod 125 and reference axis y-axis, and is calculated based on angle a
Out at each point support rod 123 amount of spin.Controller 210 also calculates the length d of telescopic rod 125 at each point, and
The stroke of the telescopic component 128 at each point is calculated based on distance d.
During controlling the movement of object 121, controller 210 is driven with the first amount of spin control first motor 127
Support rod 123 rotates, and telescopic rod 125 is directed to the first point with angle a.Controller 210 is with the second electricity of the first stroke control
Machine 129 drives telescopic component 128, and telescopic rod 125 is flexible with distance d, to reach at the first point.First point of arrival
The process at place is completed in scheduled operating interval duration T1, and T2 duration is then stopped at the first point.Then, controller
210 control suspension apparatus reach next point in operating interval duration T1, and T2 duration is stopped at next point.With this
Mode completes the measurement engagement process at each measurement point position.
The process of the detection envelope of calibration ultrasonic sensor 111 and 112 is described by taking system 100 as an example below.
Fig. 4 shows the method 400 of the calibration ultrasonic sensor detection envelope of one embodiment according to the present utility model
Flow chart, method 400 can at device 110 (such as measurement processing device 114) realize.
410, when the object at aided measurement device reaches the first predetermined position along predefined paths, filled from main measurement
First ultrasonic sensor at the place of setting obtains the detection information in relation to object.In one embodiment, within system 100, in advance
Determine to be provided with multiple predetermined positions on path 122, in these pre-positions, the object 121 at device 120 can stop one section
Time.
In one embodiment, device 120 first passes through device 110 in advance or other equipment are configured, controller 210 according to
Path, speed of setting etc. control the movement of object 121 and stop in pre-position.
When object 121 reaches a certain predetermined position along predefined paths 122 with mobile telescopic rod 125, device
110 obtain the detection information of ultrasonic sensor 111.The setting information of 110 known devices 120 of device, being based on object will
Temporal information in multiple predetermined positions, can determine whether object reaches the first predetermined position.Further, due to super
Sonic sensor 111 issues ultrasonic signal, which will be by the reflection of barrier, that is, object 121.At this point, device 110
It obtains ultrasonic sensor 111 and detects the information for receiving the echo-signal of itself.
420, it is based on detection information, determines whether the first ultrasonic sensor detects object.In one embodiment
In, it can judge whether it examines according to the intensity of echo-signal detected by ultrasonic sensor 111 and/or duration
Measure object 121.
430, if the first ultrasonic sensor detects object, the laser radar institute at main measuring device is obtained
The location information of the object of acquisition.At this point, the record of device 110 saves the reality of the obtained object 121 of laser radar 113
Position.
440, the location information based on object determines the detection envelope of the first ultrasonic sensor.Implement at one
In example, the location information of object 121 is converted to the coordinate in the predetermined position at 111 visual angle of ultrasonic sensor by device 110, with
Just the detection envelope of ultrasonic sensor 111 is marked.When determining that ultrasonic sensor 111 detects the object of pre-position
When 121, device 110 is by corresponding coordinate labeled as a part of the detection envelope of ultrasonic sensor 111.It is appreciated that pair
The conversion of coordinate position at the physical location of object 121 to 111 visual angle of ultrasonic sensor can also be completed in object 121
After all paths, the coordinate of ultrasonic sensor 111 is converted into during drawing envelope diagram.
For object 121 with next predetermined position that is moved to of telescopic rod 125, device 110 can be true according to method 400
Fixed whether record saves the location information that object 121 is in the pre-position.Mobile device 121 continues to complete predetermined road
Diameter, device 110 repeat the above process, and then draw and obtain the detection envelope of ultrasonic sensor 111.
In above process, each ultrasonic sensor in device 110 is drawn envelope and is independent from each other.For example,
By taking vehicle front is demarcated as an example, after all predetermined point bit tests finish, the detection packet of available each ultrasonic sensor
Network.At the same time, embodiment according to the present utility model, device 110 can also determine that multiple ultrasonic sensors measure indirectly
Envelope.
In one embodiment, ultrasonic sensor 111 also detects the echo-signal for ultrasonic sensor 112, with
Determine measurement detection envelope indirectly.Specifically, this indirect measurement is encountered when the first ultrasonic sensor 111 issues signal
It is returned after object 121 and by 112 receives echo-signal of ultrasonic sensor.Similarly, device 110 is based on being directed to the echo
The detection information of signal, can determine whether object is detected；And when determining that object is detected, it can be based on
The location information of object determines the indirect detection envelope of ultrasonic sensor 111 Yu ultrasonic sensor 112.It can manage
Solution measures generation when being directed to the echo-signal of ultrasonic sensor 111 by the detection of ultrasonic sensor 112 when indirect, gained
The indirect measurement detection envelope arrived and the echo-signal that ultrasonic sensor 112 is as above directed to by the detection of ultrasonic sensor 111
Gained envelope is identical.
In the application scenarios that device 110 is automatic driving vehicle, when completing vehicle front calibration, each ultrasound has been obtained
The directly measurement of wave sensor and indirectly measurement envelope diagram.Vehicle front calibration in need ultrasonic sensor just all it is complete
At being then successively rear and side, the calibration to whole automobile ultrasonic sensor envelope can be completed.
The scheme for the calibration ultrasonic sensor detection envelope that the utility model embodiment proposes, can demarcate multiple simultaneously
Efficiency greatly improved in ultrasonic sensor, reduces the nominal time.Meanwhile using system operational parameters are reasonably arranged, such as
Movement speed, residence time, various threshold values of detectable signal of object etc., improve testing result accuracy, reduce mistake
Difference.In addition, using lidar measurement physical location, so that calibration is more accurate.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term
Stating may not refer to the same embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be
It can be combined in any suitable manner in any one or more embodiment or examples.
More than, the embodiments of the present invention is illustrated.But the utility model is not limited to above-mentioned implementation
Mode.Within the spirit and principle of the utility model, any modification, equivalent substitution, improvement and etc. done, should be included in
Within the protection scope of the utility model.
Claims (8)
1. a kind of aided measurement device of calibration ultrasonic sensor detection envelope characterized by comprising
Support rod (123), is arranged perpendicular to ground, and one end is fixed on ground；
Telescopic rod (125), one end are fixedly connected with the other end of the support rod (123) and extend along the horizontal plane；
First motor (127) is coupled to the support rod (123), drive the support rod (123) to rotate at a predetermined angle with
So that the telescopic rod (125) is with the oriented at predetermined angles；
Telescopic component (128) is set on the telescopic rod (125), is enabled the telescopic rod (125) and is stretched described in adjustment
The length of telescopic rod (125)；And
Object (121), the calibration object measured when calibration detects envelope as ultrasonic sensor (111), passes through
Rigid suspension (130) is suspended to the other end of the telescopic rod (125).
2. aided measurement device according to claim 1, which is characterized in that it further include the second motor (129), described second
Motor (129) drives the telescopic component (128) to stretch the telescopic rod (125) with predetermined length.
3. aided measurement device according to claim 2, which is characterized in that further include controller (210), the controller
(210) it is connect with the first motor (127) and second motor (129), based on the telescopic rod being calculated
(125) turn around parameters control the operation of the first motor (127), and based on the telescopic rod (125) being calculated
Warp parameter control the operation of second motor (129).
4. aided measurement device according to claim 2, which is characterized in that the telescopic rod (125) is socket pipe, described
Telescopic component (128) includes gear and brake, and the brake is coupled by the gear and second motor (129),
To drive the socket pipe flexible by the positive and negative rotation of second motor (129).
5. aided measurement device according to claim 3, which is characterized in that further include the first communication module (220), with institute
Controller (210) connection is stated, the configuration information for carrying out autonomous measuring device (110) is received, the main measuring device (110) includes
The ultrasonic sensor (111), and the controller (210) parse the configuration information with obtain the turn around parameters and
The warp parameter.
6. aided measurement device according to claim 1, which is characterized in that the rigid suspension (130) includes folder
Hold the hold assembly of the object, or the snap part including buckling the object；The object is by the rigidity
Suspension arrangement (130) suspends in midair perpendicularly to the ground.
7. a kind of measuring system of calibration ultrasonic sensor detection envelope, including it is such as of any of claims 1-6
Aided measurement device and main measuring device, which is characterized in that the main measuring device includes:
At least one ultrasonic sensor (111) of detection envelope to be calibrated；
Laser radar (113), be set to at least one described ultrasonic sensor (111) isometry position, serve as and be fixed on ground
Positioning rule on face carrys out auxiliary calibration；And
Measurement processing device (114) is coupled at least one ultrasonic sensor (111) and the laser radar (113),
Its based on the aided measurement device it is autonomous traveling and detection envelope is carried out at least one described ultrasonic sensor (111)
Calibration.
8. measuring system according to claim 7, which is characterized in that the main measuring device further includes the second communication module
(115), the configuration information is transmitted to the aided measurement device.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109188404A (en) * | 2018-09-29 | 2019-01-11 | 广州小鹏汽车科技有限公司 | A kind of aided measurement device, measuring system and method detecting envelope for demarcating ultrasonic sensor |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109188404A (en) * | 2018-09-29 | 2019-01-11 | 广州小鹏汽车科技有限公司 | A kind of aided measurement device, measuring system and method detecting envelope for demarcating ultrasonic sensor |
| CN109188404B (en) * | 2018-09-29 | 2024-03-08 | 广州小鹏汽车科技有限公司 | Method for calibrating detection envelope of ultrasonic sensor |
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