CN209543137U - Ultrasonic distance measurement avoidance drive system - Google Patents
Ultrasonic distance measurement avoidance drive system Download PDFInfo
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- CN209543137U CN209543137U CN201822002341.9U CN201822002341U CN209543137U CN 209543137 U CN209543137 U CN 209543137U CN 201822002341 U CN201822002341 U CN 201822002341U CN 209543137 U CN209543137 U CN 209543137U
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Abstract
The utility model belongs to ultrasonic distance measurement field, more particularly to avoiding obstacles by supersonic wave drive system, this system includes avoiding obstacles by supersonic wave circuit, main control unit and driving circuit, for the avoiding obstacles by supersonic wave circuit connection to the signal input part of main control unit, the signal output end of the main control unit is connected to driving circuit；The avoiding obstacles by supersonic wave circuit is for detecting barrier and carrying out signal feedback；The driving circuit includes motor and motor driver, drives the system avoiding obstacles by the control of main control unit；The main control unit carries out avoidance for receiving feedback signal and controlling driving circuit；Effective information feedback is carried out in master controller, driving motor, avoiding obstacles by supersonic wave circuit, promote the sensitivity and accuracy of avoidance, barrier is detected in real time and effectively and feeds back complaint message, it will test information to timely feedback to master controller, so that there is greater efficiency in avoiding barrier, it can the effectively detection of lifting system and avoidance sensitivity and accuracy.
Description
Technical field
The utility model belongs to art of ultrasound, and in particular to a kind of ultrasonic distance measurement avoidance drive system.
Background technique
With the development of sensor technology, in distance measuring sensor field, the effect of ultrasonic distance-measuring sensor is between infrared
Between two kinds of ranging schemes of laser, with the moderate and higher detection accuracy of detection range, and to the adaptability of environment compared with
Height can be carried out effective detection particularly with transparent substance (such as glass), and detecting transparent substance is that optical sensor does not have
Standby.Ultrasonic wave is a kind of technical solution for being relatively more suitable for complex application context.
Existing ultrasonic evadible system lacks effective letter in master controller, motor driver, avoiding obstacles by supersonic wave circuit
Breath feedback, influences the sensitivity and accuracy of avoidance, can not effectively detect barrier in real time and feed back complaint message, so that hiding
There is a situation where that reaction is slower when obstacle avoidance object.
Utility model content
To overcome the above the deficiencies in the prior art, the utility model discloses a kind of ultrasonic distance measurement avoidance drive systems.
In order to solve the above-mentioned technical problem, the utility model uses following technical scheme: providing a kind of ultrasonic distance measurement and keeps away
Hinder drive system, including avoiding obstacles by supersonic wave circuit, master controller and driving circuit, the avoiding obstacles by supersonic wave circuit connection to master control
The signal output end of the signal input part of device processed, the master controller is connected to driving circuit；The avoiding obstacles by supersonic wave circuit is used
In detection barrier and carry out signal feedback；The driving circuit includes motor and motor driver, passes through main controller controls
Drive the system avoiding obstacles；The master controller carries out avoidance for receiving feedback signal and controlling driving circuit, described
Avoiding obstacles by supersonic wave circuit detects barrier, and obstacle information is sent to master controller；Master controller according to feedback information to
Motor driver sends deceleration or direction information；The motor driver driving motor realizes deceleration or steering operation, described super
Sound wave the obstacle avoidance circuit include control processing unit, serial port circuit, power management module and multichannel ultrasonic transmission circuit,
CAN transmission circuit, wherein the control processing unit is connected separately with ultrasonic transceiver circuit, serial port circuit, power management mould
Block and CAN transmission circuit, the ultrasonic transceiver circuit is for detecting barrier and measure distance；The power management module
For ultrasonic transceiver circuit, CAN transmission circuit and the power supply for controlling processing unit, the control processing unit is used for and master
Controller communicates and controls the running of each module.
The technical solution carries out effective information feedback in master controller, driving motor, avoiding obstacles by supersonic wave circuit, and promotion is kept away
The sensitivity and accuracy of barrier detect barrier and feed back complaint message, in real time and effectively so that having in avoiding barrier
Greater efficiency, at the same can effectively lifting system detection and avoidance sensitivity and accuracy, will test signal and timely feedback to master
Controller is passed through by the avoiding obstacles of master controller drive system more efficiency.
As the further improvement of the system, the ultrasonic transceiver circuit by least three independent ultrasonic waves transmittings and
Circuit composition is received, each independent circuits are set to the different direction of system.
Inventor proposes, since most of autonomous mobile apparatus volume is larger and the limitation of ultrasonic probe investigative range,
Existing ultrasonic distance measurement scheme cannot be detected effectively since blind area is larger and carry out multi-angle avoidance, and the utility model is adopted
The detection of obstacles to three front of system, left side and right side directions is realized with 6 equally distributed independent probes.
Further, each independent circuits include transceiver ultrasonic probe, transmitting-receiving in the ultrasonic transceiver circuit
Driving circuit and echo signal processing circuit；Wherein, processing unit, transmitting-receiving driving circuit, transceiver ultrasonic probe are controlled
And echo signal processing circuit closed loop connection.Effectively optimization circuit, sufficiently improves efficiency, so that circuit effectively improves detection spirit
Sensitivity and minimum detection blind area.
Further, reception of the transmitting-receiving driving circuit for ultrasonic signal transmitting and echo-signal, wherein ultrasound
Wave transmitting has the pulse signal detection barrier of setting amplitude and frequency.
As a kind of more preferable scheme, echo signal processing circuit includes primary amplifying circuit, filter circuit, secondary amplification
Circuit, detection shaping circuit and level shifting circuit, wherein echo-signal is first by filter circuit after primary amplifying circuit is amplified
It is filtered, carries out secondary amplification through secondary amplification circuit again thereafter, most obtain square-wave signal through detection shaping circuit afterwards, pass through
Level shifting circuit is converted into switching signal.
Inventor points out, thus the echo processing circuit of existing scheme is brought by the way of first amplifying and being filtered again
The problem of be also be exaggerated other noise signals while amplifying echo-signal, thus increase filtering processing circuit difficulty
Degree, so that subsequent conditioning circuit is more complicated, the speed of response reduces.The preamplifying circuit filter capacitor of application scheme will receive and dispatch one
The low-frequency d signal in echo-signal that body probe receives filters, so that preamplifying circuit is only to the friendship in echo-signal
Signal amplification is flowed, is effectively filtered by unlimited gain multiple feedback bandpass filter；Secondary amplification circuit is to filtered
Signal carries out secondary amplification to meet the requirement of subsequent processing；The overall gain of amplifying circuit reaches 30dB after two-stage treatment；
40kHz high-frequency signal forms round and smooth envelope signal after detecting circuit；Since envelope signal is not easy to processor processing, need
Envelope signal after detection is subjected to shaping；Since the intensity that ultrasonic probe receives echo-signal is arrived barrier by itself
Between distance and such environmental effects so that signal amplitude after handling shaping has uncertainty, for the ease of processing
Device is handled, and the signal amplitude after needing to carry out detection shaping is converted into the switch that amplitude is 3.3V by level shifting circuit
Signal, after above-mentioned processing, the obtained signal of this system effectively reflects detecting distance, so that detection sensitivity is effectively promoted.
Above-mentioned echo signal processing circuit is only the single channel electricity in the ultrasonic distance measurement obstacle avoidance system of the utility model
Road, whole system are made of 6 identical channels, it is achievable to multiple directions while detect.
Further, CAN transmission circuit one end is connected with control processing unit, and the other end is connected with master controller,
For realizing between control processing unit and master controller.
In order to improve the versatility of ultrasonic distance measurement obstacle avoidance system and conducive to the integration of follow-up system, which is kept away
Barrier system realizes the interconnection with other systems unit using CAN communication.Due to CAN bus have real-time is good, long transmission distance,
A little convenient for node expansion, strong antijamming capability, low cost, ultrasonic distance measurement obstacle avoidance system, which can according to need, is extended
It is integrated with other systems, to have high versatility.
The utility model has the following beneficial effects: being carried out in master controller, driving motor, avoiding obstacles by supersonic wave circuit effective
Information feedback, promote the sensitivity and accuracy of avoidance, in real time and effectively detection barrier simultaneously feeds back complaint message so that
There is greater efficiency when avoiding barrier；Can effectively lifting system detection and avoidance sensitivity and accuracy, will test signal
It timely feedbacks to master controller, is passed through by the avoiding obstacles of master controller drive system more efficiency；It is able to achieve multi-faceted inspection
Avoidance is surveyed and driven, detection sensitivity and accuracy are improved；It utmostly improves detection range and reduces detection blind area, it is effectively excellent
Change circuit, sufficiently improves efficiency.
Detailed description of the invention
Fig. 1 is the utility model ultrasonic distance measurement avoidance drive system block diagram；
Fig. 2 is the utility model ultrasonic distance measurement avoidance drive system avoiding obstacles by supersonic wave circuit system block diagram；
Fig. 3 is the utility model ultrasonic distance measurement avoidance drive system avoiding obstacles by supersonic wave circuit echo processing circuit structural frames
Figure；
Fig. 4 is the utility model ultrasonic distance measurement avoidance drive system avoiding obstacles by supersonic wave circuit echo signal processing circuit
Figure.
Specific embodiment
As shown in Figure 1, the utility model provides a kind of ultrasonic distance measurement avoidance drive system, including avoiding obstacles by supersonic wave circuit
10, master controller 5 and driving circuit 7, the avoiding obstacles by supersonic wave circuit 10 is connected to the signal input part of master controller 5, described
The signal output end of master controller 5 is connected to driving circuit 7；The avoiding obstacles by supersonic wave circuit 10 is for detecting barrier and carrying out
Signal feedback；The driving circuit 7 includes motor and motor driver, and motor driver is accordingly moved for driving motor
Make；It is controlled by master controller 5 and drives the system avoiding obstacles；The master controller 5 is for receiving feedback signal and controlling
Driving circuit 7 carries out avoidance.
Working principle specifically: the transmitting-receiving driving circuit 12 of avoiding obstacles by supersonic wave circuit 10 emits ultrasonic signal, through detecting
To barrier 8, the transmitting-receiving driving circuit 12 receives echo-signal, and echo-signal passes through the multi-step of echo processing circuit 13
After processing, it is transmitted to control processing unit 2, is communicated by CAN transceiver 3 with master controller 5 by the control processing unit 2, it is main
Controller 5 controls the motor driver driving motor in driving circuit 7 and carries out corresponding actions.
Further improvement for above scheme, the avoiding obstacles by supersonic wave circuit include control processing unit 2, serial port circuit
4 and power management module 6, it further include multichannel ultrasonic transmission circuit 1, CAN transmission circuit 3, wherein control processing is single
Member 2 is connected separately with ultrasonic transceiver circuit 1, serial port circuit 4, power management module 6 and CAN transmission circuit 3, the electricity
Source control module 6 is for ultrasonic transceiver circuit 1, CAN transmission circuit 3 and the power supply for controlling processing unit 2, the control processing
Unit 2 is used to communicate and control with master controller 5 operating control of each module, and the ultrasonic transceiver circuit 1 is for detecting barrier
Hinder object 8 and measure distance, ultrasonic transceiver circuit 1 is emitted by least three independent ultrasonic waves and received circuit and forms, each
Independent circuits are set to the different direction of system.In view of the volume of part autonomous mobile apparatus itself is larger and ultrasonic probe
The limitation of investigative range, the probe that the utility model is evenly arranged using 6 realize three directions in front and left and right to equipment
Detection of obstacles；6 channel ultrasonic transmission circuits 1 are emitted by 6 independent ultrasonic waves and are received circuit and form, CAN transmitting-receiving
Device 3 uses TJA1051, and the power management module 6 is single for ultrasonic transceiver circuit, CAN transmission circuit 3 and control processing
The power supply of member 2, it includes the power supply of tri- kinds of voltage of 12V, 5V, 3.3V, the input voltage range of system is 15~36V, the control
Processing unit 2 processed uses STM32F103C8T6, for the operating control of each module to be communicated and controlled with master controller 5,
The schematic diagram of avoiding obstacles by supersonic wave circuit is as shown in Figure 2；In figure 11 be transceiver ultrasonic probe, 12 be transmitting-receiving drive
Dynamic circuit, 13 be echo signal processing circuit, 2 be control processing unit, 3 be CAN transceiver, 5 be master controller, 8 be obstacle
Object.The utility model uses 6 groups of independent ultrasonic transceiver circuits, and 6 groups of transmission circuits all pass through control processing unit 2 and sent out
Penetrate the control with signal operation processing.The advantage of scheme is to be effectively isolated transmitting-receiving the utility model compared with the existing technology
Driving circuit, echo signal processing circuit and CAN transceiver, will not make it mutually cause signal mutual interference.Receive and dispatch driving circuit 12
For the reception of ultrasonic wave transmitting and echo-signal, including energy bleeder resistance, for discharging coil after ultrasonic signal emits
In dump energy；Further include clamp diode, the amplitude of echo-signal is limited between positive and negative 0.7V, to prevent amplitude
It is excessively high that follow-up signal processing circuit is damaged；Isolation boosting transformer is also comprised, driving signal will be right by transformer
The drive signal amplitude of side increases to original 10 times, to increase the emissive porwer of ultrasonic signal.
The driving signal of ultrasonic wave transmitting uses amplitude for 3.3V, and the pulse signal that frequency is 40kHz drives, transmitting 4~8
A pulse, specific pulse number are determined according to actual use scene.Energy size when being emitted due to pulse number and ultrasonic wave
Directly proportional, pulse number is more, and the energy put aside in transformer coil is more, and the distance that ultrasonic wave is propagated in air is also more
Far, but the time of probe remained shock can be caused to increase, increases the detection blind area of ultrasonic ranging system indirectly.The utility model root
Transmitting pulse number is automatically selected according to practical application scene；Utmostly detection range is improved with this and drops to detection blind area most
It is small.
Echo signal processing circuit block diagram as shown in figure 3, its by primary amplifying circuit, filter circuit, secondary amplification circuit,
Detection shaping circuit and five part of level shifting circuit composition.Physical circuit schematic diagram is as shown in figure 4, transceiver ultrasonic wave is visited
Head be connected to 1 one end of first resistor, 21 other end of first resistor is connected with 22 one end of first capacitor, first capacitor 22 it is another
End is connected with the inverting input terminal of the first amplifier 24；The non-inverting input terminal of first amplifier 24 is connected to the one of second resistance 23
End, the other end of second resistance 23 are connected to one end of 3rd resistor 27, the other end of 3rd resistor 27 and the first amplifier 24
Output end is connected；The non-inverting input terminal of first amplifier 24 is connect with one end of the second capacitor 54, the other end of the second capacitor 54
Ground connection；The output end of first amplifier 24 is connected with 26 one end of the 4th resistance, and the other end of the 4th resistance 26 is connected to third electricity
Hold 28 one end, the other end of third capacitor 28 is connected to the inverting input terminal of the second amplifier 29；Second amplifier 29 it is same mutually defeated
Enter end to be connected with one end of the 5th resistance 27, the other end of the 5th resistance 27 is connected to the 6th resistance 30 and the 4th capacitor 31
One end after parallel connection, the other end after the 6th resistance 30 and 31 parallel connection of the 4th capacitor are connected with the output end of the second amplifier 29；
The non-inverting input terminal of second amplifier 29 is connected with one end of the second capacitor 54, the other end ground connection of the second capacitor 54；Second fortune
It puts 29 output end to be connected with one end of the 7th resistance 32, the other end of the 7th resistance 32 is connected with one end of the 5th capacitor 33
It connects, the other end of the 5th capacitor 33 is connected with the inverting input terminal of third amplifier 34；The inverting input terminal of third amplifier 34 with
One end of 8th resistance 35 is connected, and the other end of the 8th resistance 35 is connected to the output end of third amplifier 34；Third amplifier 34
Non-inverting input terminal on the one hand be connected with one end of the 15th resistance 52, another termination power of the 15th resistance 52 is another
Aspect is connected with one end of the 16th resistance 53, the other end ground connection of the 16th resistance 53；The output end of third amplifier 34 with
One end of 6th capacitor 36 is connected, and the other end of the 6th capacitor 36 is connected to one end of detector diode 37, detector diode
37 other end is connected to the non-inverting input terminal of four high guaily unit 50；The non-inverting input terminal of four high guaily unit 50 and the 9th resistance 38 and
One end after 7th capacitor, 39 parallel connection is connected, and the other end after the 9th resistance 38 and 39 parallel connection of the 7th capacitor is connected to the 4th fortune
Put 50 inverting input terminal；On the one hand the inverting input terminal of four high guaily unit 50 connects power supply through the tenth resistance 43, on the other hand through the
11 resistance 42 ground connection；The output end of four high guaily unit 20 is connected with one end of zener diode 44, zener diode 44 it is another
One end is connected to the base stage of triode 47；One end after the base stage of triode 47 is in parallel with twelfth resistor 46 and the 8th capacitor 45
It is connected, the other end ground connection after 45 parallel connection of twelfth resistor 46 and the 8th capacitor；The emitter of triode 47 is grounded；Triode
47 collector is connected with one end of thirteenth resistor 48, another termination power of thirteenth resistor 48；Triode 47 and
One end of 14 resistance 49 is connected, and the other end of the 14th resistance 49 is connected to signal output end.Wherein amplifier 24,29,
34,50 be single supply op, is all made of 12V power supply power supply；Power supply 41,51 is 12V power supply；Resistance 52,53 is bias bleeder electricity
Resistance, provides forward bias voltage for amplifier 24,29,34 in figure, 54 be decoupling capacitor.21~25 composition preamplifying circuits, 21
It is capacitance for input resistance, 22,23 be input signal pull-up resistor, and 24 be single supply op, and 25 be feedback resistance；Before
The gain of grade amplification is determining by resistance 21 and resistance 25, forward gain 8dB；Filter capacitor 22 is by transceiver ultrasonic wave
Low-frequency d signal in the echo-signal received of popping one's head in filters, so that preamplifying circuit is only to the exchange in echo-signal
Signal amplification.26~31 constitute unlimited gain multiple feedback bandpass filters, centre frequency and pass band width by resistance 26,
27,30 and capacitor 28,31 determine；The centre frequency of design be 40.1kHz, passband gain 7dB, bandwidth be 36.918kHz~
43.283kHz；32~35 constitute secondary amplification circuit, carry out secondary amplification to filtered signal and are wanted with meeting subsequent processing
It asks；Circuit structure is consistent with primary amplifying circuit, and the signal due to entering secondary amplifier section has been subjected to filtering, only need by
Filtered signal, which is amplified to, meets subsequent processing requirement；The gain of secondary amplification circuit is 15dB；Therefore after treatment
The overall gain of amplifying circuit is 30dB.36~45 constitute detection shaping circuit, wherein 36~39 be detecting circuit, 41~45 be whole
Shape circuit；36 be capacitance in detecting circuit, and 37 be detector diode, and resistance 38 and capacitor 39 constitute low-pass filter；
40kHz high-frequency signal forms round and smooth envelope signal after detecting circuit；Since envelope signal is not easy to processor processing, need
Envelope signal after detection is subjected to Shape correction and obtains switching signal；Practical shaping circuit is 41~45 voltages constituted
The reverse side of comparator, amplifier 50 obtains the reference voltage of 6V by resistance 42 and the partial pressure of resistance 43, and envelope signal is by comparing
The square-wave signal of certain pulsewidth is obtained after device；Zener diode 44 is for filtering out the lower interference signal of amplitude.
Since ultrasonic probe receives the intensity of echo-signal by itself to the distance and environmental factor shadow between barrier
It rings, so that the signal amplitude after handling shaping has uncertainty, is handled, examined for the ease of processor
Signal amplitude after wave shaping is converted into the range that processor can use.46~50 be level shifting circuit in figure, and 46 be base
Grade pull down resistor, 47 be NPN triode, and 48 be collector pull-up resistor, and 49 be processor I/O mouthfuls of current-limiting resistance, and 50 be 3.3V
Power supply；After level shifting circuit, the signal after detection shaping is converted into the switching signal that amplitude is 3.3V.Above-mentioned echo letter
Number processing circuit is only the single channel circuit in the ultrasonic distance measurement obstacle avoidance system of the utility model, and whole system is by 6 phases
With channel composition, it is achievable to multiple directions while detect.
In order to improve the versatility of ultrasonic distance measurement avoidance drive system and conducive to the integration of robot system, the ultrasonic wave
It is the interconnection of same unit that ranging avoidance drive system, which uses CAN communication to realize with other,.Due to CAN bus have real-time it is good,
Long transmission distance, convenient for node expansion, strong antijamming capability, the advantage of low cost, ultrasonic distance measurement avoidance drive system can be with
It is extended and is integrated with other systems as needed, to have high versatility.The applied field of the utility model
Scape is specifically as follows the detection of obstacles (being not limited to robot system) of autonomous mobile robot during the motion.
Claims (6)
1. ultrasonic distance measurement avoidance drive system, it is characterised in that: including avoiding obstacles by supersonic wave circuit, master controller and driving electricity
Road, the signal input part of the avoiding obstacles by supersonic wave circuit connection to master controller, the signal output end connection of the master controller
To driving circuit；The avoiding obstacles by supersonic wave circuit is for detecting barrier and carrying out signal feedback；The driving circuit includes electricity
Machine and motor driver drive the system avoiding obstacles by main controller controls motor driver；The master controller is used
Avoidance is carried out in receiving feedback signal and controlling driving circuit；The avoiding obstacles by supersonic wave circuit detects barrier, by barrier
Information is sent to master controller；Master controller sends deceleration or direction information to motor driver according to feedback information；The electricity
Machine driver driving motor realizes deceleration or steering operation；
Wherein, the avoiding obstacles by supersonic wave circuit includes that control processing unit, serial port circuit, power management module and multichannel are super
Sound wave transmission circuit, CAN transmission circuit, wherein the control processing unit is connected separately with ultrasonic transceiver circuit, serial port power
Road, power management module and CAN transmission circuit, the ultrasonic transceiver circuit is for detecting barrier and measure distance；Institute
Power management module is stated for ultrasonic transceiver circuit, CAN transmission circuit and the power supply for controlling processing unit；The control processing
Unit is used to communicate and control with master controller the running of each module.
2. ultrasonic distance measurement avoidance drive system as described in claim 1, which is characterized in that the ultrasonic transceiver circuit by
At least three independent ultrasonic wave transmittings and reception circuit composition, each independent circuits are set to the different direction of system.
3. ultrasonic distance measurement avoidance drive system as claimed in claim 1 or 2, which is characterized in that the ultrasonic transmission/reception electricity
Each independent circuits include transceiver ultrasonic probe, transmitting-receiving driving circuit and echo signal processing circuit in road, wherein control
Processing unit, transmitting-receiving driving circuit, transceiver ultrasonic probe and the connection of echo signal processing circuit closed loop processed.
4. ultrasonic distance measurement avoidance drive system as claimed in claim 3, which is characterized in that the transmitting-receiving driving circuit is used for
The reception of ultrasonic signal transmitting and echo-signal, wherein ultrasonic wave transmitting has the pulse signal detection of setting amplitude and frequency
Barrier.
5. ultrasonic distance measurement avoidance drive system as claimed in claim 3, which is characterized in that the echo signal processing circuit
Including primary amplifying circuit, filter circuit, secondary amplification circuit, detection shaping circuit and level shifting circuit, wherein echo letter
It number is first filtered after primary amplifying circuit is amplified by filter circuit, carries out secondary amplification through secondary amplification circuit again thereafter,
Square-wave signal most is obtained through detection shaping circuit afterwards, is converted into switching signal by level shifting circuit.
6. ultrasonic distance measurement avoidance drive system as described in claim 1, which is characterized in that CAN transmission circuit one end
It is connected with control processing unit, the other end is connected with master controller, for controlling the communication of each intermodule.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822002341.9U CN209543137U (en) | 2018-11-30 | 2018-11-30 | Ultrasonic distance measurement avoidance drive system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201822002341.9U CN209543137U (en) | 2018-11-30 | 2018-11-30 | Ultrasonic distance measurement avoidance drive system |
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| CN209543137U true CN209543137U (en) | 2019-10-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113504307A (en) * | 2021-09-10 | 2021-10-15 | 西南石油大学 | Multi-frequency core sound velocity measuring device |
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2018
- 2018-11-30 CN CN201822002341.9U patent/CN209543137U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113504307A (en) * | 2021-09-10 | 2021-10-15 | 西南石油大学 | Multi-frequency core sound velocity measuring device |
| CN113504307B (en) * | 2021-09-10 | 2021-12-21 | 西南石油大学 | Multi-frequency core sound velocity measuring device |
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