EP0859966A2 - Procede de reperage de la direction et de l'eloignement d'un objet de mesure avec un transducteur ultrasonore - Google Patents

Procede de reperage de la direction et de l'eloignement d'un objet de mesure avec un transducteur ultrasonore

Info

Publication number
EP0859966A2
EP0859966A2 EP96945703A EP96945703A EP0859966A2 EP 0859966 A2 EP0859966 A2 EP 0859966A2 EP 96945703 A EP96945703 A EP 96945703A EP 96945703 A EP96945703 A EP 96945703A EP 0859966 A2 EP0859966 A2 EP 0859966A2
Authority
EP
European Patent Office
Prior art keywords
signal
swfn
signals
measurement
filter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP96945703A
Other languages
German (de)
English (en)
Inventor
Valentin Magori
Peter-Christian Eccardt
Heinrich Ruser
Martin Vossiek
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP0859966A2 publication Critical patent/EP0859966A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
    • G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
    • G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
    • G01F23/296—Acoustic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Definitions

  • the invention relates to a method for determining the location and distance of a measurement object with an ultrasound transducer.
  • the object of the invention is to provide a method for determining the position and direction of a measurement object with a single, stationary ultrasound transducer.
  • the object is achieved by a method according to claim 1.
  • the measurement rate can be increased due to the short signal duration.
  • the method according to claim 7, in which a neural network is used offers the advantage that the evaluation rules and similarity criteria need not be known explicitly, but can be learned by the neural network in a training phase.
  • the fuzzy logic used in claim 10 to compare the filter signals has the advantage of being easily adaptable to the ambient conditions. Furthermore, the fuzzy logic is associated with a high degree of flexibility.
  • the method according to claim 11, in which a neural network is used to compare the filter signals, offers the advantage that the evaluation rules and similarity criteria do not have to be known explicitly, but can be learned by the neural network in a training phase.
  • Narrow-band signal components with different frequencies which are transmitted sequentially (compare claim 12), have the advantage over the broadband transmission signal that subsequent narrowband filtering to split the broadband received signal can be omitted.
  • FIG. 1 shows the dependency of an RU 80 converter on the excitation frequency and the solid angle
  • FIG. 2 shows the spectral transfer function of the RU 80 converter with the send / receive direction 0 °
  • FIG. 3 shows the spectral transfer function of the RU 80 converter with a send / receive direction of -3 °
  • FIG. 4 shows the spectral transfer function of the RU 80 converter with a send / receive direction of -6 °
  • Figure 5 shows the spectral transfer function of the RU 80 converter with a send / receive direction of -10 °.
  • FIG. 6 shows an exemplary measuring arrangement
  • FIG. 8 shows the directional characteristic of the RU 80 converter at 75 kHz
  • FIG. 9 shows the directional characteristic of the RU 80 converter at 80 kHz
  • FIG. 10 shows the directional characteristic of the RU 80 converter at 91 kHz
  • FIG. 11 four evaluation results of the Wiener filtering with a rod as a measurement object
  • FIG. 12 four evaluation results of the Wiener filtering with a plate as a measurement object.
  • FIG. 13 shows an example of the shape of a broadband transmitter
  • FIG. 14 shows a block diagram of a possible embodiment of the method according to the invention.
  • FIG. 15 shows a block diagram of a second possible embodiment of the method according to the invention.
  • the diagram relates to a razor-sharp ultrasonic transducer of the type RU-80, as described in the article V. Magori et al, Ultrasonic Presence Sensors with Wide Range and High Local Resolution, IEEE Transactions and Ultrasonics, Ferroelectrics and Frequency Control, Vol. UFFC-34, No. 2, March 1987.
  • the RU converter consists of a composite of a piezoceramic and a material with low acoustic impedance. This transducer is tuned in such a way that the radial resonance of the piezoceramic interferes constructively with the thickness resonance of the composite of ceramic and matching material. By attaching an aluminum ring, the thickness resonance is continued beyond the diameter of the piezoceramic. Due to the large transducer diameter compared to the wavelength, it is possible to achieve a very good directivity of the ultrasonic transducer.
  • the ultrasonic transducer described has the global maximum at a solid angle of 0 ° and a resonance frequency of approximately 80 kHz.
  • the converter has different eigenmodes which can be described by the superposition of fundamental and harmonics of the radial and thickness resonances.
  • the transducer was tuned so that there is a surface deflection on the useful frequency Edge slightly decreasing amplitude and constant phase without disturbing overlaps with radial resonances resulted.
  • the converter is usually operated in the narrow band on the useful mode (79 kHz) in order to achieve a defined directional behavior with little sidelobes.
  • vibration modes which surface deflection differs fundamentally from the forms of vibration at the useful frequency.
  • the directional diagrams resulting from the surface deflections of the ultrasonic transducer, cf. Figures 8, 9 and 10 are thus strongly dependent on the signal frequency. 8, 9 and 10, the radiation angle and the amplitude in the radial direction are plotted on the circumference.
  • the directional behavior shown in FIG. 8 is obtained at a transmission signal frequency of 75 kHz.
  • the main lobe of the measured ultrasonic transducer is approximately 3 °. Furthermore two side lobes are formed at approx. 10 and 355 °. If the converter is operated at 80 kHz, cf. 9, the amplitudes of the secondary maxima increase. The directional characteristic decreases. If the ultrasonic transducer is operated at 91 kHz, cf. Figure 10, the number of secondary sound lobes increases significantly. A clear main sound lobe is no longer given.
  • FIGS. 2 to 5 show the measured spectrum of the ultrasonic transducer, which results from the arrangement of a reflector at a solid angle of 0, 3, 6 or 10 degrees. The measured spectra differ significantly.
  • a reflector R is positioned at different spatial angles ⁇ with respect to the ultrasonic transducer USW
  • a sine burst with a sudden change in frequency is advantageous if the vibration modes of the ultrasonic transducer are far apart. The loss of energy can thereby be reduced.
  • a possible excitation signal is shown in FIG. 13.
  • the converter can be excited sequentially with a number of n sine bursts of different frequencies.
  • the advantage here is that by evaluating and comparing the n sequential received signal components of different frequencies (which correspond to a broadband signal in total), one can deduce the solid angle of the reflection, provided that the frequency-dependent directional behavior of the transducer is known.
  • the converter of the type RU80 has a usable transmission behavior for the frequency range from 70 to 90 kHz. Its resonance frequency is 80 kHz.
  • a reference object R is set up at a defined location in relation to the ultrasound transducer USW, ie the distance of the reference object to the ultrasound transducer USW and the spatial angle ⁇ are known.
  • the ultrasound transducer USW is excited with a broadband signal SS, also called a transmission signal, and is thus caused to emit ultrasound waves.
  • the ultrasound waves are partially reflected on the reference object R and received again by the ultrasound transducer USW.
  • This received signal which is also referred to as a reflected reference signal SROn, is used together with the location of the reference object.
  • SROn number of stored reference signals
  • the ultrasound transducer USW is in turn prompted with the broadband transmission signal SS to emit ultrasound waves, which are partially reflected on the measurement object MO and received by the ultrasound transducer USW.
  • This received ultrasound signal SMO is fed to Wiener filters WFn as an input signal.
  • the transfer functions of the Wiener filter WFn are characterized by the reference signals SROn.
  • the number n of reference signals SROn determines the number of Wiener filters WFn to which the measurement signal SMO is fed.
  • the filter output signals SWFn present at the Wiener filter outputs are then compared with a target signal W ( ⁇ ), which corresponds to the window function (will be explained in more detail below).
  • the filter output signals SWFn can also be compared with a so-called reference filter output signal SARef.
  • a reference signal SROn is fed to a Wiener filter WFn, the transfer function of which is specified by precisely this reference signal SROn.
  • the measurement signal SMO can also be fed to a Wiener filter, the transfer function of which is predetermined by this measurement signal.
  • the basic aim here is to generate a reference output signal SARef at the output of the Wiener filter, with which the filter output signals SWFn present at the other Wiener filter outputs can be compared.
  • the filter output signals SWFn can be compared with the target signal W ( ⁇ ) or the reference output signal SARef, for example by means of fuzzy logic (see FIG. 14) or a neural network (see FIG. 15).
  • Width of the filter output signal SWFn whereby not the entire width of the filter output signal, but the width of the main peak, which contains the global maximum, is used.
  • Possible evaluation strategies are a suitable weighting of these features, a combined evaluation with the next bar classifier or fuzzy rules or an assignment to object classes (membership classes) in neural networks.
  • the features that can be used to compare the filter output signals SWFn with the target signal W ( ⁇ ) or the reference output signal SARef are to be related to the respective application. Depending on the application, further features may have to be used.
  • the proposed Wiener filter acts like a matched filter for large signals and as a correlation filter for small signals (noise). If the measurement signal SMO corresponds to the reference signal SROn, this results in a maximum narrow output signal SWFn at the output of the Wiener filter.
  • the filter output signal SWFn which comes closest to the target signal W ( ⁇ ) or the reference output signal SARef, is used to infer the reference signal SROn relevant for generating this filter output signal SWFn. Since the location is also stored for this reference signal SROn, the location is thus determined.
  • the Wiener filter has the following transfer function I ( ⁇ ):
  • the quotient ⁇ s / ⁇ n as a measure of the signal-to-noise ratio can be for the frequency range of interest, which is determined by the adapted window function W ( ⁇ ) is cut out to be assumed to be constant.
  • FIG. 7 shows the signals as they are generated successively in time.
  • the pulse response of the ultrasound transducer USW in the time domain and below in the frequency domain is shown in FIG. 7 above. Again below this, the transfer function of the Wiener filter is shown as an example. It is characterized by the reference signal SROn.
  • the bottom diagram shows the filter output signal SWFn in the time domain after the Wiener filtering.
  • a reference object R is set up at a defined location with respect to the ultrasound transducer USW, i.e. the distance of the reference object to the ultrasonic transducer USW and the solid angle ⁇ are known.
  • the ultrasound transducer USW is now excited with a narrow-band signal SS, also called a transmission signal, and is thus caused to emit ultrasound waves.
  • SS narrow-band signal
  • the converter sequentially sends out a number of n sine bursts of different frequencies.
  • the ultrasonic waves are partially reflected on the reference object R and received again by the ultrasonic transducer USW.
  • the received signal has a total of a broadband signal.
  • the shape of the measurement signal SMO and the shapes of the reference signals SROn can be used directly for evaluation. A Wiener filter is no longer necessary. Based on the shape of the reference signal SROn, which comes closest to the shape of the measurement signal SMO, the location of the measurement object can be concluded.
  • An intelligent ultrasound level sensor with directionally selective echo evaluation can be implemented as an application.
  • fixed targets and deposits on the wall can be recognized in a silo.
  • the method can also be used in robotics, for example for obstacle detection in the direction of travel and to the side thereof.
  • the method can also be used in traffic engineering for vehicles as a reversing protection or as a parking aid.
  • the method can also be used to determine the position of an object on a conveyor belt.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Acoustics & Sound (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Thermal Sciences (AREA)
  • Fluid Mechanics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

Ce procédé présente l'avantage de ne requérir qu'un seul transducteur ultrasonore pour fonctionner. Le fait d'exciter le transducteur dans différentes modes opératoires permet d'obtenir un système de détection sélectif en termes de direction, dont la mise en ÷uvre n'implique qu'une complexité technique minimale.
EP96945703A 1995-11-07 1996-11-04 Procede de reperage de la direction et de l'eloignement d'un objet de mesure avec un transducteur ultrasonore Withdrawn EP0859966A2 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE1995141459 DE19541459A1 (de) 1995-11-07 1995-11-07 Verfahren zur richtungs- und entfernungsmäßigen Ortsbestimmung eines Meßobjekts mit einem Ultraschallwandler
DE19541459 1995-11-07
PCT/DE1996/002095 WO1997017624A2 (fr) 1995-11-07 1996-11-04 Procede de reperage de la direction et de l'eloignement d'un objet de mesure avec un transducteur ultrasonore

Publications (1)

Publication Number Publication Date
EP0859966A2 true EP0859966A2 (fr) 1998-08-26

Family

ID=7776829

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96945703A Withdrawn EP0859966A2 (fr) 1995-11-07 1996-11-04 Procede de reperage de la direction et de l'eloignement d'un objet de mesure avec un transducteur ultrasonore

Country Status (4)

Country Link
EP (1) EP0859966A2 (fr)
JP (1) JPH11504430A (fr)
DE (1) DE19541459A1 (fr)
WO (1) WO1997017624A2 (fr)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6684696B2 (en) 2000-08-17 2004-02-03 Vega Grieshaber, Kg Filling-level measuring device that evaluates echo signals
DE102010015077B4 (de) * 2010-04-15 2013-01-31 Valeo Schalter Und Sensoren Gmbh Verfahren zum Detektieren eines Objektes, Fahrerassistenzeinrichtung und Fahrzeug mit einer Fahrerassistenzeinrichtung
DE102010028829A1 (de) 2010-05-11 2011-11-17 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung der Position eines Objektes relativ zu einem Fahrzeug, insbesondere einem Kraftfahrzeug, zur Verwendung in einem Fahrerassistenzsystem des Fahrzeuges
CN101907708B (zh) * 2010-07-23 2013-03-20 哈尔滨工程大学 目标回波亮点测量方法
DE102014222076A1 (de) * 2014-10-29 2016-05-04 Robert Bosch Gmbh Objektmerkmale auf Signalform codiert
DE102015201770B3 (de) * 2015-02-02 2016-05-25 Robert Bosch Gmbh Vorrichtung zur Bestimmung der Position eines Objekts relativ zu einem Fahrzeug
DE102015007641B4 (de) * 2015-06-17 2018-12-13 Baumer Electric Ag Verfahren zur Messung der Entfernung eines Objektes mittels Ultraschallsensor
GB201514249D0 (en) 2015-08-12 2015-09-23 Trw Ltd Processing received radiation reflected from a target
GB2557357B (en) 2016-12-08 2022-09-07 Trw Ltd Processing a signal representitive of at least one physical property of a physical system
DE102018214294B4 (de) * 2018-08-23 2022-07-14 Vitesco Technologies GmbH Verfahren zum Betreiben einer Fluidsensorvorrichtung und Fluidsensorvorrichtung
DE102023106819A1 (de) 2023-03-17 2024-09-19 Endress+Hauser SE+Co. KG Ermittlung von Füllgut-Eigenschaften

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4052559A (en) * 1976-12-20 1977-10-04 Rockwell International Corporation Noise filtering device
DE3932499A1 (de) * 1989-09-28 1991-04-11 Siemens Ag Verfahren fuer eine im rahmen der industriellen automation durchzufuehrende bestimmung der positionen und/oder drehlagen von teilen mittels ultraschall-echosignalauswertung und anordnung zur durchfuehrung des verfahrens
DE4406525C2 (de) * 1994-02-28 1996-10-24 Siemens Ag Verfahren zur Bestimmung der Lage eines Objekts relativ zum Hintergrund mittels Ultraschall

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9717624A3 *

Also Published As

Publication number Publication date
WO1997017624A3 (fr) 1997-08-14
DE19541459A1 (de) 1997-05-15
JPH11504430A (ja) 1999-04-20
WO1997017624A2 (fr) 1997-05-15

Similar Documents

Publication Publication Date Title
DE19756730B4 (de) Verfahren, Einrichtung und Anwendungen zur Verknüpfung von Sende-Wellenfunktionen zur Gewinnung einer synthetischen Wellenform in einem Ultraschall-Bildgebungssystem
DE4406525C2 (de) Verfahren zur Bestimmung der Lage eines Objekts relativ zum Hintergrund mittels Ultraschall
DE3888411T2 (de) Aktivsonar mit kanalanpassung.
DE69114934T2 (de) Ultraschallabbildung mit radialer Abtastung eines trapezförmigen Sektors.
DE69713837T2 (de) Adaptive filterung von signalangepassten daten
DE69218331T2 (de) Rauschpegelverringerung in Radargeräten für Streuziele
DE19932246C2 (de) Radar zur genauen Bestimmung von Scheinzielen
DE69230064T2 (de) Signalprozessor
WO1997017624A2 (fr) Procede de reperage de la direction et de l'eloignement d'un objet de mesure avec un transducteur ultrasonore
EP0533220A1 (fr) Méthode pour distinguer au moins deux objectifs spécialement pour radars Doppler HPRF
DE10195735T5 (de) Ultraschallwandler-System und Verfahren zur Oberwellen-Bildgebung
DE19734180A1 (de) Wellenempfangsvorrichtung und Ultraschalldiagnosevorrichtung
EP1028323A2 (fr) Méthode de génération et traitement de signaux dans un appareil radar à impulsions
WO1998023970A1 (fr) Procede de formation de faisceau hertzien dans des systemes de reperage
WO2021213843A1 (fr) Procédé associé à un radar et système radar d'analyse à cohérence de phase
EP1001275B1 (fr) Dispsitif pour déterminer l'angle d'incidence d'ondes acoustiques apparaisants qui sont limitées temporalement
DE102020008021A1 (de) Verfahren zum breitbandigen Aussenden und Empfangen komplexerer Ultraschallbursts im Umfeld von Fahrzeugen
DE69305158T2 (de) Verfahren zur Detektion eines Unterwasserzieles unter Verwendung von Frequenzdiversität
DE102020008022A1 (de) Verfahren zum Aussenden von Ultraschallbursts mit abstandsabhängiger 2l/c Kürzung des Ultraschallburstabstands
DE102020008025A1 (de) Vorrichtung zum Empfangen komplexerer Ultraschallbursts mit mehreren Ultraschall-Transducern
DE102020008019A1 (de) Vorrichtung zum Aussenden von Ultraschallbursts mit vergrößerter Bandbreite
DE102020008031A1 (de) Vorrichtung zum Empfangen von Ultraschallbursts mit einem gemeinsamen Ultraschallempfangssignal mehrerer Ultraschalltransducer
DE102020008028A1 (de) Vorrichtung zum Aussenden eines Ultraschallbursts, bei dem die Bandbreite größer als die Bandbreite eines Ultraschalltransducers ist
DE102020008034A1 (de) Verfahren zum Aussenden von Ultraschallbursts mit sinkendem Ultraschallburstabstand bei sinkendem Abstand
DE102020008024A1 (de) Verfahren zum Anheben der Ultraschallburstlänge in Abhängigkeit vom Abstand

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 19980420

AK Designated contracting states

Kind code of ref document: A2

Designated state(s): CH DE FR GB LI

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN

18D Application deemed to be withdrawn

Effective date: 20000711