CN211905684U - Ultrasonic detection system and equipment - Google Patents
Ultrasonic detection system and equipment Download PDFInfo
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- CN211905684U CN211905684U CN202020375917.0U CN202020375917U CN211905684U CN 211905684 U CN211905684 U CN 211905684U CN 202020375917 U CN202020375917 U CN 202020375917U CN 211905684 U CN211905684 U CN 211905684U
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Abstract
The utility model discloses an ultrasonic detection system and equipment, which comprises a plurality of ultrasonic sensors with the same specification, wherein a plurality of microphones with different frequencies are arranged in the ultrasonic sensors, and when the ultrasonic sensors work simultaneously, the microphones transmit signals according to different transmitting time sequences; the transmitting time sequence and the receiving time sequence of the microphones are used as characteristic values of the microphones, and the consistency of the transmitting time sequence and the receiving time sequence of each microphone is judged to further judge the detection results of each sensor and an object thereof so as to reduce or eliminate system misdetection and misinformation caused by same-frequency signal interference among all ultrasonic sensors when the ultrasonic sensors work simultaneously. The utility model discloses in, through the work of optimizing ultrasonic sensor, microphone, eliminated co-channel interference and other external interferences, reduced the misdetection misstatement of system, improved the operational reliability and the accuracy of system.
Description
Technical Field
The utility model relates to an ultrasonic detection system and equipment.
Background
The ultrasonic sensor is widely applied to various vehicles such as automobiles, unmanned vehicles, unmanned aircrafts, robots and the like, industrial equipment and the like. The detection response speed of the ultrasonic sensor is greatly influenced because of the limit of the self propagation speed (340 m/s) of the ultrasonic wave. In order to improve the detection reaction speed of the ultrasonic sensor, the utility model discloses the people put forward a solution in having applied for utility model CN 105549022A: a single ultrasonic sensor integrates a plurality of microphones (also called transducers) with different frequency specifications to work according to a certain time sequence, so that the detection reaction period of the sensor is greatly shortened, and the detection reaction speed of the sensor is greatly improved.
In many applications, the ultrasonic detection system is composed of a plurality of ultrasonic sensors with the same specification, such as a parking assist system (a car reversing radar) on an automobile. Taking four sensors as an example, fig. 1 is a schematic layout diagram of a conventional single-microphone sensor detection system, which includes four identical ultrasonic sensors, i.e., a sensor 10A, a sensor 10B, a sensor 10C, and a sensor 10D.
Four identical ultrasonic sensors use microphones 10a1 of the same frequency specification, with microphones 10a1 having vibration frequencies (frequencies) of 40K, 58K, or others. Because the microphones have the same specification, the multiple sensors work together simultaneously, so that the same frequency interference exists, in order to avoid the misdetection and the false alarm of the system caused by the same frequency interference among the sensors, the sensors of the traditional detection system adopt a mode of working (detection) in turn, namely, one sensor works after the other, so that the ultrasonic wave emitted by the previous sensor cannot interfere with the work of the second sensor. As shown in fig. 1, the operations of the sensor 10A, the sensor 10B, the sensor 10C, the sensor 10D, and the sensor 10D are normally completed, … … are executed, and the respective sensors do not operate simultaneously at the same time.
In a conventional ultrasonic sensor for detecting an object, a sensor range distance is Ld (usually, the farthest detection distance set by the system), an ultrasonic transmission speed is V0 (usually, 340M/S), a detection time for completing a single detection of the sensor is Td, that is, a detection period of the single sensor is Td, and the calculation formula is as follows: td =2 × Ld/V0 (the ultrasonic propagation path is a round trip).
When the system is configured with 4 sensors, since the system works alternately, the detection period of the system is 4Td (the detection period of a single sensor in the system also becomes 4 Td), so when the number of sensors increases, the detection response speed of the system is greatly reduced, and the detection response speed of the system is slower as the number of sensors increases.
As disclosed in chinese patent CN105549022A, when the ultrasonic detection system is composed of a plurality of ultrasonic sensors in the same specification scheme (or when the ultrasonic detection system is composed of a plurality of sensors in the same specification containing a plurality of microphones with different frequencies), because the microphones with the same specification exist among the sensors, when the sensors work together at the same time, there is the same frequency interference; if the conventional operation mode, such as the alternate operation of the sensors of the conventional parking assist system, is adopted, the detection response speed of the system is greatly reduced.
SUMMERY OF THE UTILITY MODEL
To the problem that prior art exists, the utility model aims to provide a structure is through the ultrasonic wave detecting system of modified, should detect that system response is fast, the misdetection misstatement reports fewly, has very good reliability and accuracy. Another object of the present invention is to provide an apparatus using the ultrasonic detecting system.
In order to achieve the above object, the present invention provides an ultrasonic detecting system for implementing the above detecting method, including a plurality of ultrasonic sensors with the same specification, and a plurality of microphones with different frequencies are disposed in the ultrasonic sensors, wherein when the plurality of ultrasonic sensors work simultaneously, the plurality of microphones emit signals according to different emission time sequences; the transmitting time sequence and the receiving time sequence of the microphones are used as characteristic values of the microphones, and the consistency of the transmitting time sequence and the receiving time sequence of each microphone is judged to further judge the detection results of each sensor and an object thereof so as to reduce or eliminate system misdetection and misinformation caused by same-frequency signal interference among all ultrasonic sensors when the ultrasonic sensors work simultaneously.
Further, the microphone is a single microphone integrating the transmitting and receiving functions, or a microphone combination including a transmitting microphone and a receiving microphone.
Further, the ultrasonic detection system is provided with at least two ultrasonic sensors, and each ultrasonic sensor is provided with at least two microphones with different frequencies.
Furthermore, the ultrasonic sensor is internally provided with N microphones, and N echo signals are generated in a single detection period Td, so that the detection reaction speed of the ultrasonic sensor is increased to N times.
Furthermore, M ultrasonic sensors are arranged in the ultrasonic detection system, and N × M echo signals are generated in a single detection period Td, so as to increase the detection reaction speed of the ultrasonic detection system to N × M times.
An equipment, use above-mentioned any in this equipment ultrasonic detection system, equipment is car, unmanned aerial vehicle, unmanned vehicle, robot, intelligent house equipment, security protection equipment or automation line equipment.
The utility model discloses in, through the work of optimizing ultrasonic sensor, microphone, eliminated co-channel interference and other external interferences, reduced the misdetection misstatement of system, improved the operational reliability and the accuracy of system.
Drawings
FIG. 1 is a schematic diagram of a conventional single microphone sensor detection system;
FIG. 2 is a schematic diagram of a conventional single microphone sensor detection timing sequence;
fig. 3 is a schematic layout view of the ultrasonic detecting system of the present invention;
fig. 4 is a schematic diagram of the timing sequence of the ultrasonic sensor according to the present invention.
Detailed Description
The present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown. The present invention may, however, be embodied in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
For ease of description, spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 3 and 4, the system of the present invention comprises two or more ultrasonic sensors with the same specification, wherein each ultrasonic sensor comprises two or more microphones with different frequencies: microphone 1, microphone 2, … …, microphone N (N ≧ 2). All the ultrasonic sensors work simultaneously to detect the object, so that the detection response speed of the system is increased.
The microphone 1, the microphones 2, … …, and the microphone N in each ultrasonic sensor emit ultrasonic waves at different emission timings, and receive reflected echoes from an object to generate echo signals. The ultrasonic sensors compare and analyze the echo signals and the consistency of the echo signal receiving time sequence and the ultrasonic wave transmitting time sequence so as to judge the object detection result of each ultrasonic sensor; therefore, system false detection and false alarm caused by same frequency interference and other external interference among the ultrasonic sensors are reduced or eliminated.
The transmission timing of microphone 1, microphone 2, … …, microphone N includes, but is not limited to, the transmission sequence and or start transmission time interval of microphone 1, microphone 2, … …, microphone N.
In this embodiment, will listen the chronogenesis through the ultrasonic sensor with current single microphone of tradition and contrast, on the basis of the ultrasonic sensor of traditional single microphone listened the chronogenesis, describe the technical scheme of the utility model.
Fig. 2 is a schematic diagram of a detection timing sequence of a conventional single-microphone ultrasonic sensor, wherein TA-10a1 is a transmission signal of a microphone 10a1 in the ultrasonic sensor 10, SA-10a1 is a detection signal of an echo of the microphone 10a1 detected from a certain distance object, and a detection period of the microphone is Td.
This embodiment uses four ultrasonic sensor to constitute the example, and fig. 3 is the utility model discloses many microphones ultrasonic sensor detecting system arranges the schematic diagram, and detecting system has ultrasonic sensor 30A, ultrasonic sensor 30B, ultrasonic sensor 30C, the ultrasonic sensor of four same specifications of ultrasonic sensor 30D. Taking the example of three different frequency microphones per ultrasonic sensor, the ultrasonic sensor has microphones 30b1, 30b2, and 30b3 of different frequencies.
Fig. 4 is a schematic diagram of the detection timing sequence of the ultrasonic sensor of the present invention, in which the microphone 30bx, the microphone 30by, and the microphone 30bz are respectively one of the microphones 30b1, 30b2, and 30b 3.
Wherein, TA-30bx is a transmitting signal of the microphone 30bx in the ultrasonic sensor 30, SA-30bx is an echo signal of the microphone 30bx, TA-30by is a transmitting signal of the microphone 30by, SA-30by is an echo signal of the microphone 30by, TA-30bz is a transmitting signal of the microphone 30bz, and SA-30bz is an echo signal of the microphone 30 bz.
The detection periods of the individual microphones (30 bx, 30by, 30 bz) are all Td (the range of the ultrasonic sensor/microphone is also denoted as Ld).
The microphone 30by and the microphone 30bx start to transmit at a time interval Tj1, the microphone 30bz and the microphone 30by start to transmit at a time interval Tj2, and the microphone 30bx and the microphone 30bz start to transmit at a time interval Tj3, wherein the time setting requirement is: tj1+ Tj2+ Tj3= Td.
The same object is detected, and correspondingly, the echo signal time interval between the microphone 30by and the microphone 30bx is Tj1, the echo signal time interval between the microphone 30bz and the microphone 30by is Tj2, and the echo signal time interval between the microphone 30bx and the microphone 30bz is Tj 3.
Comparing fig. 2, fig. 4 can know, traditional single sound ware ultrasonic sensor during operation has only an echo signal in single cycle Td of listening, the utility model discloses in, ultrasonic sensor during operation has three echo signal in single cycle Td of listening.
When the microphones 30bx, 30by, and 30bz are detected with substantially equal initial transmission time intervals (i.e., Tj1, Tj2, Tj3 are equal to or approximately equal to 1/3 Td), the detection period of the ultrasonic sensor 30 is reduced to 1/3Td, i.e., the detection response speed of the ultrasonic sensor 30 is increased to three times that of the ultrasonic sensor 10, i.e., the detection response speed of the ultrasonic sensor is three times that of the conventional single-microphone ultrasonic sensor.
In this embodiment, it is assumed that: the transmitting sequence of the microphones in the ultrasonic sensor 30A is b1, b2 and b3, and the starting transmitting time interval is Tj1a and Tj2 a; the transmitting sequence of the microphones in the ultrasonic sensor 30B is B3, B2 and B1, and the starting transmitting time interval is Tj1B and Tj 2B; the transmitting sequence of the microphones in the ultrasonic sensor 30C is b1, b3 and b2, and the starting transmitting time interval is Tj1C and Tj 2C; the microphones of the ultrasonic sensor 30D transmit in the order b2, b1, b3, and the transmission start time intervals Tj1D, Tj 2D.
When detecting the object, the ultrasonic sensor judges the ultrasonic sensors and the object detection results thereof according to the consistency of the receiving sequence and the time interval of the echo signals of the microphones, the transmitting sequence of the microphones and the starting transmitting time interval. The transmitting time sequence and the receiving time sequence of the microphones are used as characteristic values of the microphones, and the consistency of the transmitting time sequence and the receiving time sequence of each microphone is judged to further judge the detection results of each sensor and an object thereof so as to reduce or eliminate system misdetection and misinformation caused by same-frequency signal interference among all ultrasonic sensors when the ultrasonic sensors work simultaneously.
For example, when the echo signals received by the ultrasonic sensor are in the order of SA-30b1, SA-30b2 and SA-30b3, the time interval between SA-30b2 and SA-30b1 is Tj1a, and the time interval between SA-30b3 and SA-30b2 is Tj2a, it is determined that the echo signals are detected by the object of the ultrasonic sensor 30A, and the obtained detection result is the detection result of the ultrasonic sensor 30A. When the echo signals received by the ultrasonic sensors are SA-30B3, SA-30B2 and SA-30B1 in sequence, the time interval between SA-30B2 and SA-30B3 is Tj1B, and the time interval between SA-30B1 and SA-30B2 is Tj2B, the echo signals are determined to be the object detection echo signals of the ultrasonic sensor 30B, the obtained detection result is the detection result … … of the ultrasonic sensor 30B, and the like, and the detection results of the ultrasonic sensors and the object thereof are determined.
When the ultrasonic sensors 30A, 30B, 30C, and 30D are simultaneously operated, the ultrasonic sensors have microphones of the same frequency, and thus signal interference occurs between the ultrasonic sensors, but interference signals are random, and it is difficult to form a regular signal sequence. Therefore the utility model discloses a different emission chronogenesis modes of listening can reduce or eliminate the system mismeasurement wrong report that the same frequency signal interference leads to between each ultrasonic sensor of simultaneous working, also can reduce or eliminate the system mismeasurement wrong report that other external interferences lead to.
Can be known simultaneously by above, the utility model discloses ultrasonic sensor detects the system, be provided with N in the ultrasonic sensor the microphone produces a N echo signal in single cycle Td of listening, comes to ultrasonic sensor's detection reaction rate improves to N doubly. The ultrasonic detection system is internally provided with M ultrasonic sensors, and generates N M echo signals in a single detection period Td so as to increase the detection reaction speed of the ultrasonic detection system to N M times.
To this embodiment, each ultrasonic sensor can simultaneous working, and the cycle of listening of system is 1/3Td, and traditional single sound ware ultrasonic sensor detecting system, and each ultrasonic sensor can not simultaneous working, and the cycle of listening of system is 4Td, consequently the utility model discloses ultrasonic sensor detecting system is 1/12 that traditional single sound ware ultrasonic sensor detecting system listened the cycle, promptly the utility model discloses it is 12 times that traditional system of listening listened the reaction rate to listen the reaction rate.
In this embodiment, the utility model discloses four ultrasonic sensor of ultrasonic detection system configuration, three different frequency microphone of every ultrasonic sensor configuration, the speed that promotes is 12 times of traditional speed. If the utility model discloses the microphone that disposes increases among every ultrasonic sensor, and or when detecting the system and being equipped with more ultrasonic sensor, so the utility model discloses the system is listened to the relative tradition of reaction rate of detecting the system still can further increase. The utility model discloses ultrasonic wave detecting system, the detection reaction rate of system improves by a wide margin, and the detectivity and the accuracy of system also improve thereupon by a wide margin.
The utility model discloses ultrasonic detection system disposes two ultrasonic sensor at least, and every ultrasonic sensor disposes two different frequency microphones at least, even adopt simplest configuration, and relative tradition list microphone ultrasonic sensor detects system, the utility model discloses detecting system also can improve the detection reaction rate of system by a wide margin.
In order to further reduce or eliminate the system misdetection and false alarm that co-channel interference and other external interference lead to between each ultrasonic sensor, the utility model discloses ultrasonic detection system, a preferred embodiment, system during operation, the system carries out dynamic adjustment to each ultrasonic sensor's microphone 1, microphone 2, … …, microphone N's transmission chronogenesis. Still take four ultrasonic sensor systems as an example, in the ultrasonic detecting system of the present invention, the transmitting sequence of the ultrasonic sensor 30A microphone is b1, b2, b3, and the starting transmitting time interval is Tj1a, Tj2 a; after operating for a plurality of times, the transmitting sequence of the 30A microphone is changed to b2, b3 and b1, the starting transmitting time interval is still Tj1a and Tj2a, or after operating for a plurality of times, the transmitting sequence of the 30A microphone is changed to b1, b2 and b3, the starting transmitting time interval is changed to Tj1t and Tj2t (Tj 1t and Tj2t are different from Tj1a and Tj2 a), and the like. When the system works, the transmitting time sequence of the microphone in the ultrasonic sensor is regularly or randomly adjusted, and the system has further filtering function on the same frequency interference and other external interference of other ultrasonic sensors, thereby further reducing the false detection and the false alarm of the system and improving the working reliability and the accuracy of the system.
The ultrasonic detecting system of the present invention, the microphone included in the ultrasonic sensor can be a single microphone integrating the transmitting and receiving functions, and the microphone is a device (e.g. 10a1 in fig. 1 and 30b1, 30b2, 30b3 in fig. 3) physically; a microphone combination including a transmitting microphone and a receiving microphone may be used, and two components (not shown) may be physically provided.
The utility model relates to an ultrasonic wave detecting system, the working process specifically is:
1) two or more ultrasonic sensors with the same specification are arranged, and two or more microphones with different frequencies are arranged in each ultrasonic sensor;
2) each microphone in the ultrasonic sensor transmits ultrasonic waves in different transmitting time sequences and receives a reflected echo of an object to generate an echo signal; in a single detection period, the ultrasonic sensor completes detection for a plurality of times so as to improve the detection response speed of the ultrasonic sensor;
3) the ultrasonic sensors compare and analyze the echo signals and the transmitting signals, and compare and analyze the consistency of the receiving time sequence of the echo signals and the transmitting time sequence of the ultrasonic waves to judge the object detection results of all the ultrasonic sensors, thereby reducing or eliminating the false misdetection and the false alarm of the system caused by the same frequency interference and other external interference among all the ultrasonic sensors.
The working process of the plurality of ultrasonic sensors is as follows:
1) n microphones are arranged in the ultrasonic sensor, wherein N is more than or equal to 2 and comprises a microphone 1, a microphone 2 and a microphone … …;
2) the microphone 1, the microphone 2 and the microphone … … have different working frequencies, and the detection period of a single microphone is Td;
3) the time interval between the beginning of the transmission of the microphone 1 and the microphone 2 is Tj 1;
4) the time interval between the beginning of the transmission of the microphone 2 and the microphone 3 is Tj 2; the working form of the microphone is analogized in the same way;
5) the time interval between the microphone N and the microphone 1 for starting transmission is Tjn;
6) tj1+ Tj2+ … … + Tjn = Td, and n times of emission signals and echo signals are formed in one detection period;
during the working time, when all the ultrasonic sensors work simultaneously, a plurality of microphones in all the ultrasonic sensors transmit signals according to a set sequence and a set time interval; the ultrasonic sensors judge the detection results of the ultrasonic sensors and the object thereof according to the consistency of the receiving sequence and the time interval of the echo signals of the microphones and the transmitting sequence and the starting transmitting time interval of the microphones, and reduce or eliminate the same-frequency signal interference among the ultrasonic sensors.
The utility model provides an equipment, it is arbitrary to use the above-mentioned in this equipment ultrasonic wave detecting system, or the aforesaid is arbitrary the ultrasonic wave detecting method, equipment can be for equipment such as car, unmanned aerial vehicle, unmanned vehicle, robot, intelligent home equipment, security protection equipment or automation line equipment. The utility model discloses ultrasonic detection system and detection method, system have fabulous detection performance, and ultrasonic detection system application is extremely wide, can employ on the car, can employ on unmanned aerial vehicle, unmanned car, also can employ industrial equipment, can also apply to consumer electronics, intelligent house, on the ann's defence, etc.. Therefore, the ultrasonic detection system and the detection method of the utility model have good application prospect and value.
The above description is only a preferred embodiment of the present invention, and therefore the scope of the present invention should not be limited by this description, and all equivalent changes and modifications made within the scope and the specification of the present invention should be covered by the present invention.
Claims (6)
1. An ultrasonic detection system is characterized by comprising a plurality of ultrasonic sensors with the same specification, wherein a plurality of microphones with different frequencies are arranged in the ultrasonic sensors, and when the ultrasonic sensors work simultaneously, the microphones transmit signals according to different transmitting time sequences; the transmitting time sequence and the receiving time sequence of the microphones are used as characteristic values of the microphones, and the consistency of the transmitting time sequence and the receiving time sequence of each microphone is judged to further judge the detection results of each sensor and an object thereof so as to reduce or eliminate system misdetection and misinformation caused by same-frequency signal interference among all ultrasonic sensors when the ultrasonic sensors work simultaneously.
2. An ultrasonic detection system as claimed in claim 1 wherein the microphone is a single microphone integrating transmit and receive functions or a combination of microphones including a transmit microphone and a receive microphone.
3. An ultrasonic detection system as claimed in claim 1 wherein said ultrasonic detection system is configured with a minimum of two said ultrasonic sensors, each of said ultrasonic sensors being configured with a minimum of two said microphones of different frequencies.
4. An ultrasonic detection system as claimed in claim 1 wherein N microphones are disposed in the ultrasonic sensor to generate N echo signals within a single detection period Td to increase the detection response speed of the ultrasonic sensor by a factor of N.
5. An ultrasonic detection system according to claim 4 wherein M ultrasonic sensors are disposed in the ultrasonic detection system to generate N x M echo signals in a single detection period Td to increase the detection response speed of the ultrasonic detection system by a factor of N x M.
6. An apparatus, wherein the ultrasonic detection system of any one of claims 1 to 5 is applied to the apparatus, and the apparatus is an automobile, an unmanned aerial vehicle, an unmanned vehicle, a robot, an intelligent home device, a security device or an automatic production line device.
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| CN111157999A (en) * | 2020-03-23 | 2020-05-15 | 陈武强 | Ultrasonic detection system, detection method and equipment |
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| CN111157999A (en) * | 2020-03-23 | 2020-05-15 | 陈武强 | Ultrasonic detection system, detection method and equipment |
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