TWI762048B - Ultrasonic distance-measuring device, ultrasonic distance-measuring method and controller - Google Patents

Abstract

The present disclosure provides an ultrasonic distance-measuring device, including: an ultrasonic transmitter/receiver including a plurality of ultrasonic units arranged in a ring shape, each ultrasonic unit is configured to transmit a first ultrasonic wave outside the ring and to receive a second ultrasonic wave; an ultrasonic transmitting/receiving channel configured to switch its own working mode so that the ultrasonic transmitter/receiver transmits the first ultrasonic wave or receives the second ultrasonic wave; and a controller configured to control one or more ultrasonic units in the ultrasonic transmitter/receiver to emit the first ultrasonic wave by controlling the ultrasonic transmitting/receiving channel, and to obtain a distance information of a target object according to a transmitting time of the first ultrasonic wave and a receiving time of the second ultrasonic wave. The disclosure also provides an ultrasonic measuring method and a controller.

Description

Ultrasonic ranging device, ultrasonic ranging method and controller

The invention relates to the technical field of ultrasonic ranging, in particular to an ultrasonic ranging device, an ultrasonic ranging method applied to the ultrasonic ranging device and a controller applied to the ultrasonic ranging device.

Conventional ultrasonic ranging devices include a single ultrasonic probe. This ultrasonic probe is used to emit ultrasonic waves. The ultrasonic distance measuring device can calculate the distance of the target object according to the return time of the ultrasonic wave. On the one hand, in the ultrasonic ranging device, the curvature of the end face of the ultrasonic probe that emits ultrasonic waves determines the focal point of the ultrasonic waves. The position of the focal point for emitting ultrasonic waves is limited, and it is impossible to obtain wide-area distance information at the same time. On the other hand, when the target object is far away from the focal point, the ultrasonic waves returning to the ultrasonic ranging device diverge during the propagation process, causing the resolution of the ultrasonic ranging device to decrease.

One aspect of the present invention provides an ultrasonic ranging device, comprising: an ultrasonic transmitter/receiver, wherein the ultrasonic transmitter/receiver includes a plurality of ultrasonic array elements arranged in a ring shape, each ultrasonic array element is used to send a ring to the ring. The first ultrasonic wave is emitted externally, the first ultrasonic wave is reflected by the target object when it contacts the target object, and the first ultrasonic wave reflected by the target object is defined as the second ultrasonic wave, and the ultrasonic transmitter/receiver is also used for receiving The second ultrasonic wave; an ultrasonic wave transmitting/receiving channel, electrically connected to the ultrasonic wave transmitting/receiver, for switching its own working mode so that the ultrasonic wave transmitting/receiver transmits the first ultrasonic wave or receives the first ultrasonic wave the second ultrasonic wave; and a controller, electrically connected to the ultrasonic wave transmitting/receiving channel, for controlling one or a plurality of ultrasonic waves in the ultrasonic wave transmitting/receiving channel by the ultrasonic wave transmitting/receiving channel The array element emits the first ultrasound and is used to obtain the distance information of the target object according to the transmitting time of the first ultrasonic wave and the receiving time of the second ultrasonic wave.

Another aspect of the present invention provides an ultrasonic ranging method, which is applied to an ultrasonic ranging device, the ultrasonic ranging device includes an ultrasonic transmitter/receiver, and the ultrasonic transmitter/receiver includes complex numbers arranged in a ring. An ultrasonic array element; the ultrasonic ranging method includes: controlling one or a plurality of array elements in the ultrasonic transmitter/receiver to emit a first ultrasonic wave, and the first ultrasonic wave is reflected by the target object when it contacts the target object , the first ultrasonic wave reflected by the target object is defined as the second ultrasonic wave; control the ultrasonic transmitter/receiver to receive the second ultrasonic wave, and according to the transmission time of the first ultrasonic wave and the second ultrasonic wave The ultrasonic reception time obtains the distance information of the target object.

Another aspect of the present invention provides a controller, which is applied to an ultrasonic ranging device, the ultrasonic ranging device includes an ultrasonic transmitter/receiver, and the ultrasonic transmitter/receiver includes a plurality of ultrasonic arrays arranged in a ring shape element, the controller includes: an emission control module for controlling one or a plurality of array elements in the ultrasonic transmitter/receiver to emit a first ultrasonic wave, which is blocked by the target object when the first ultrasonic wave contacts the target object Reflection, the first ultrasonic wave reflected by the target object is defined as the second ultrasonic wave; the data processing module is electrically connected to the emission control module for controlling the ultrasonic transmitter/receiver to receive the second ultrasonic wave , and obtain the distance information of the target object according to the transmitting time of the first ultrasonic wave and the receiving time of the second ultrasonic wave.

The above-mentioned ultrasonic ranging device, by setting the ultrasonic transmitter/receiver to include a plurality of ultrasonic array elements arranged in a ring, can obtain the target object in a large range (360° range) in one ultrasonic transmission and reception process. Distance information (or position information), which is beneficial to improve the ranging speed of the ultrasonic ranging device; and, the number of array elements that transmit the first ultrasonic wave is adjustable (one or plural), so that in the process of sending and receiving ultrasonic waves at one time Among them, the detectable range is adjustable, so that the detection method of the ultrasonic ranging device can match the actual detection requirements, and the detection method is more flexible.

10: Ultrasonic ranging device

11: Ultrasonic transmitter/receiver

111, E ₁ , E ₂ , E ₃ , E ₄ , E ₅ : array element

12: Ultrasonic transmit/receive channel

121: Ultrasonic launch channel

122: Ultrasonic receiving channel

123: transmit/receive switching unit

13: Controller

131: Launch Control Module

132: Data processing module

20: Target Object

d: distance

S1, S2: Steps

FIG. 1 is a schematic structural diagram of an ultrasonic ranging device and a target object in an embodiment of the present invention.

FIG. 2 is a schematic structural diagram of a module of an ultrasonic ranging device according to an embodiment of the present invention.

FIG. 3 is a flowchart of steps of an ultrasonic ranging method in an embodiment of the present invention.

FIG. 4 is a schematic diagram of transmit delay of each array element in an embodiment of the present invention.

FIG. 5 is a schematic diagram of an ultrasonic transmitter/receiver transmitting a focused first ultrasonic wave in an embodiment of the present invention.

FIG. 6 is a schematic diagram of an ultrasonic transmitter/receiver transmitting a diverging first ultrasonic wave in a modified embodiment.

FIG. 7 is a schematic diagram of the receiving delay of each array element in an embodiment of the present invention.

FIG. 8 is a schematic diagram of an ultrasonic transmitter/receiver receiving a second ultrasonic wave in an embodiment of the present invention.

FIG. 9 is a schematic diagram of obtaining distance information of a target object through two ranging periods in an embodiment of the present invention.

FIG. 10 is a schematic diagram of obtaining distance information of a target object through three ranging periods in a modified embodiment.

Referring to FIG. 1 , the ultrasonic ranging device 10 is used to obtain distance information of a target object 20 existing in the environment. In this embodiment, the ultrasonic ranging device 10 is used to transmit ultrasonic waves. When the ultrasonic waves contact the target object 20, they are reflected by the target object 20. The ultrasonic ranging device 10 matches the known ultrasonic waves according to the time difference between the transmission and reception of ultrasonic waves. The speed of sound of the ultrasonic wave can be used to obtain the distance d between the target object 20 existing in the environment and the ultrasonic ranging device 10 .

The ultrasonic ranging device 10 is usually integrated into other smart devices as a functional module for ranging. For example, the ultrasonic distance measuring device 10 is integrated into a vehicle or carrier, which can be used to construct a map or monitor whether there are obstacles in the driving path and the specific distance of the obstacles during driving.

Referring to FIG. 2, the ultrasonic ranging device 10 includes an ultrasonic transmitter/receiver 11, an ultrasonic transmitter/receiver channel 12, and a controller 13. The ultrasonic transmitter/receiver channel 12 is electrically connected to the ultrasonic transmitter/receiver 11 and the controller 13, respectively. controller 13.

The ultrasonic transmitter/receiver 11 includes a complex array element 111 . The complex array elements 111 can be arranged on a carrier. The complex array elements 111 are arranged in a ring shape. Each array element 111 is used for emitting a row of first ultrasonic waves in a direction away from the center of the ring. When all the array elements 111 transmit the first ultrasonic waves at the same time, they can cover a 360° ranging range.

After the first ultrasonic wave reaches the target object 20 , it is reflected by the target object 20 . In this embodiment, the first ultrasonic wave reflected by the target object 20 is defined as the second ultrasonic wave. The array elements in the ultrasonic transmitter/receiver 11 are also used to receive the second ultrasonic wave.

A time period during which the first ultrasonic wave is transmitted once and the second ultrasonic wave is received once is defined as a ranging period. In each ranging period, the number of the array elements 111 that emit the first ultrasonic waves can be controlled according to the actual ranging requirements: when the ranging range is small, a smaller number of the array elements 111 are controlled to emit the first ultrasonic waves; When the ranging range is larger, a larger number of array elements 111 are controlled to emit the first ultrasonic waves. In addition, according to the size of the field, the delay time of each array element can be controlled to adjust the focus position of the ultrasonic transmission to meet the needs of accurate ranging.

The ultrasonic transmitting/receiving channel 12 includes an ultrasonic transmitting channel 121, an ultrasonic receiving channel 122, and a transmitting/receiving switching unit 123 electrically connected to the ultrasonic transmitting channel 121 and the ultrasonic receiving channel 122 respectively. Both the ultrasonic transmitting channel 121 and the ultrasonic receiving channel 122 include a transmitting beamforming module, a digital-to-analog conversion module, and an amplifier that are electrically connected in sequence. The amplifiers in the ultrasonic transmitting channel 121 and the ultrasonic receiving channel 122 are electrically connected to the transmitting/receiving switching unit 123 . The controller 13 includes a transmission control module 131 and a data processing module 132 that are electrically connected to each other. The transmission control module 131 is electrically connected to the ultrasonic transmission channel 121 , and the data processing module 132 is electrically connected to the ultrasonic reception channel 122 .

The transmission control module 131 is used for outputting instructions to control the ultrasonic transmission channel 121 to generate an ultrasonic transmission signal, the transmission/reception switching unit 123 switches to the transmission state, and transmits the ultrasonic transmission signal sent by the ultrasonic transmission channel 121 to the corresponding one or The complex array element 111 controls the one or the complex array elements 111 to emit the first ultrasonic wave. The second ultrasonic wave reflected by the target object 20 is received by the one or plural array elements 111, and the transmit/receive switching unit 123 is switched to the receiving state, so that the received second ultrasonic wave is converted into a data processing mode by the ultrasonic wave receiving channel 122. Signal types that group 132 can identify. The data processing module 132 can acquire the distance information of the target object 20 according to the transmitting time of the first ultrasonic wave and the receiving time of the second ultrasonic wave.

The embodiment of the present invention further provides an ultrasonic ranging method, which is applied to the above-mentioned ultrasonic ranging device 10 , and specifically, is applied to the above-mentioned controller 13 .

Please refer to FIG. 3, the ultrasonic ranging method includes: step S1, controlling one or a plurality of array elements in the ultrasonic transmitter/receiver to transmit a first ultrasonic wave, and the first ultrasonic wave is blocked by the target object when the first ultrasonic wave contacts the target object. reflection, the first ultrasonic wave reflected by the target object is defined as the second ultrasonic wave; and Step S2, controlling the ultrasonic transmitter/receiver to receive the second ultrasonic wave, and obtain the distance information of the target object according to the transmitting time of the first ultrasonic wave and the receiving time of the second ultrasonic wave.

In step S1, the first ultrasonic waves emitted by the control ultrasonic transmitter/receiver 11 mainly have two forms: focused first ultrasonic waves and divergent first ultrasonic waves.

Referring to FIG. 4 , in this embodiment, in a ranging period, the plurality of array elements 111 in the ultrasonic transmitter/receiver 11 transmits a first ultrasonic wave. When the ultrasonic transmitter/receiver 11 emits the focused first ultrasonic wave, the focus of the first ultrasonic wave emitted by each array element 111 is outside the ring.

The controller 13 can obtain the transmission delay time of each array element 111 transmitting the first ultrasonic wave according to the distance between the complex number array element 111 transmitting the first ultrasonic wave and the target object 20, and control the complex number according to the transmitting delay time. The array elements 111 transmit first ultrasonic waves in sequence.

Please continue to refer to FIG. 4 , in this embodiment, during a ranging period, five array elements (respectively array elements E ₁ , E ₂ , E ₃ , E ₄ and E ₅ ) in the ultrasonic transmitter/receiver 11 transmit The first ultrasound. In a ranging period, the array elements E ₁ , E ₂ , E ₃ , E ₄ and E ₅ need to be simultaneously focused to a detection point 21 on the target object 20 .

The distances between the detection point 21 and the array elements E ₁ , E ₂ , E ₃ , E ₄ and E ₅ are defined as Tx_path ₁ , Tx_path ₂ , Tx_path ₃ , Tx_path ₄ and Tx_path ₅ , respectively. The transmission delay times of the array elements E ₁ , E ₂ , E ₃ , E ₄ and E ₅ are defined as τ _Tx1 , τ _Tx2 , τ _Tx3 , τ _Tx4 , and τ _Tx5 , respectively. It can be seen from FIG. 5 that the distances between the detection point 21 and the array elements E ₁ , E ₂ , E ₃ , E ₄ and E ₅ are not the same, and the propagation velocity c of the first ultrasonic wave emitted by each array element is the same. of. Then by setting the values of the transmission delay times τ _Tx1 , τ _Tx2 , τ _Tx3 , τ _Tx4 , τ _Tx5 , the first ultrasonic waves emitted by the array elements E ₁ , E ₂ , E ₃ , E ₄ and E ₅ can arrive at the same time. The detection point (the array element closer to the detection point 21 has a longer transmission delay time, and the first ultrasonic wave is transmitted later, and the transmission delay time of the array element farther from the detection point 21 is shorter, and the first ultrasonic wave is transmitted earlier. ).

n

5，且n為整數。 Please refer to Figure 5, establish a plane rectangular coordinate system, the Y axis of the plane rectangular coordinate system is a straight line connecting the focus F1 of the first ultrasonic wave and the ring center of the ring formed by the complex array elements, and the X axis of the plane rectangular coordinate system is the same as Y A line that is perpendicular to the axis and is tangent to the ring formed by the complex array elements and is close to the array element that emits the first ultrasonic wave. The coordinates of the intersection of the X-axis and the Y-axis are defined as (0, 0), the coordinates of the focus F1 are defined as (0, R), and the coordinates of the array element 111 that emits the first ultrasonic wave are defined as (Xn, Zn), 1

n

5, and n is an integer.

Then, the transmission delay time is calculated by the following formula (1):

Please refer to FIG. 6 , in a modified embodiment, the ultrasonic transmitter/receiver 11 transmits the first ultrasonic waves in the form of divergence. When the diverging first ultrasonic waves are emitted, the focus F2 of the first ultrasonic waves is at the center of the ring formed by each array element 111 .

n

5，且n為整數。 Establish a plane rectangular coordinate system, the Y axis of the plane rectangular coordinate system is a straight line passing through the focus F2, and the X axis of the plane rectangular coordinate system is perpendicular to the Y axis, tangent to the ring formed by the complex array elements, close to the emission of the first ultrasonic wave The line of the array element. The coordinates of the intersection of the X axis and the Y axis are defined as (0, 0), the coordinates of the focus F2 are defined as (0, -R), and the coordinates of the array element 111 that emits the first ultrasonic wave are defined as (Xn, Zn), 1

n

5, and n is an integer.

Then, the transmission delay time in this modified embodiment is calculated by the following formula (2):

The target object 20 reflects the second ultrasonic wave according to the received first ultrasonic wave, and the second ultrasonic wave is received by the array element 111 that transmits the first ultrasonic wave.

In step S2, the received second ultrasound is focused. The controller 13 can obtain the second ultrasonic wave from each array element 111 transmitting the first ultrasonic wave and receive the second ultrasonic wave respectively according to the delay time of the complex array elements 111 transmitting the first ultrasonic wave, and defining the imaging space coordinates and the distance of each array element. When the receiving delay time is set, the complex array elements 111 are controlled to receive the second ultrasonic wave in sequence according to the receiving delay time.

Referring to FIG. 7 , in this embodiment, during a ranging period, five array elements (respectively array elements E ₁ , E ₂ , E ₃ , E ₄ and E ₅ ) in the ultrasonic transmitter/receiver 11 receive the first 2 Ultrasound. In a ranging period, the controller 13 needs to simultaneously receive the identifiable signal converted by the second ultrasonic wave. The ultrasonic wave is from the detection point 22 to one point in the imaging area. The imaging area covers many detection points, and its position can be Determined according to the application field, the delay time can be calculated by calculating the distance between the detection point and each receiving array element to define that the second ultrasonic wave returns from the detection point 22 to the array elements E ₁ , E ₂ , E ₃ , E ₄ and The distances of E ₅ are Rx_path ₁ , Rx_path ₂ , Rx_path ₃ , Rx_path ₄ and Rx_path ₅ , respectively. The receiving delay times of the array elements E ₁ , E ₂ , E ₃ , E ₄ and E ₅ are defined as τ _Rx1 , τ _Rx2 , τ _Rx3 , τ _Rx4 , and τ _Rx5 , respectively. It can be seen from FIG. 7 that the distances between the detection point 22 and the array elements E ₁ , E ₂ , E ₃ , E ₄ and E ₅ are not the same, and the propagation velocity c of the second ultrasonic wave is the same, resulting in The times at which elements E ₁ , E ₂ , E ₃ , E ₄ and E ₅ receive the second ultrasound are also different.

Although the times at which the array elements E ₁ , E ₂ , E ₃ , E ₄ and E ₅ receive the second ultrasonic wave are not the same, by setting the receiving delay times τ _Rx1 , τ _Rx2 , τ _Rx3 , τ _Rx4 , τ _Rx5 The value of , enables the controller 13 to simultaneously receive the second ultrasonic waves. By accumulating the second ultrasonic waves that arrive at the same time, the step of receiving and focusing can be achieved. This step will be repeated one by one until each detection in the imaging is performed. Points are all done to receive focus.

Please refer to Fig. 8, establish a plane rectangular coordinate system as shown in Fig. 6, and define the coordinates of any detection point within the ranging range (dotted line frame range) as (X, Z), then, the receiving delay time is according to the following formula (3), (4), (5) calculation:

τ ( X,Z,n )= τ _{T xn} + τ _{R xn} (5)

In step S1, if all the array elements 111 are controlled to emit the first ultrasonic waves that diverge in a ranging period, the ranging range of the ultrasonic ranging device 10 can reach 360°, which is beneficial to improve the ranging speed. However, in this case, Spatial resolution needs to be improved. In step S1, if the array element 111 is controlled to emit a focused first ultrasonic wave during a ranging period, a target object with a longer distance can be measured, and the spatial resolution is significantly improved, but the ranging range is relatively small in this case. .

In this embodiment, the distance information of the target object 20 is obtained by using a plurality of ranging periods, and each ranging period controls the array element to emit first ultrasonic waves of different forms, and the target is obtained by synthesizing the ranging information obtained in each ranging period. The distance information of the object 20 is beneficial to enable the ultrasonic ranging device to obtain the beneficial effects of the diverging and focused first ultrasonic waves at the same time.

Referring to FIG. 9 , in this embodiment, in the first ranging period, all array elements 111 are controlled to transmit the divergent first ultrasonic waves, and the first ranging information d1 is obtained by calculating according to the received second ultrasonic waves; During the ranging period, all array elements 111 are controlled to emit multiple focused first ultrasonic waves (focusing between adjacent complex array elements 111 respectively), and the second ranging information d2 is obtained by calculating according to the received second ultrasonic waves; The distance d of the target object 20 can be obtained by averaging the first ranging information d1 and the second ranging information d2. Wherein, although the second ranging period and the third ranging period both emit the focused first ultrasonic waves, the focused positions are different.

Please refer to FIG. 10 , in a modified embodiment, in the first ranging period, all array elements 111 are controlled to transmit the first ultrasonic waves that diverge, and the first ranging information d1 is obtained by calculating according to the received second ultrasonic waves; During the second ranging period, all array elements 111 are controlled to transmit multiple focused (focusing between adjacent complex array elements 111 respectively) first ultrasonic waves, and the second ranging information is obtained by calculating according to the received second ultrasonic waves d2; in the third ranging period, control all the array elements 111 to transmit multiple focused first ultrasonic waves, and calculate and obtain third ranging information d3 according to the received second ultrasonic waves; The distance d of the target object 20 can be obtained by taking the average value of the second ranging information d2 and the third ranging information d3.

In this modified embodiment, by increasing the time period for emitting the focused first ultrasonic wave, it is beneficial to further improve the accuracy of the distance d of the target object 20 .

In other embodiments, more ranging periods can be added to emit the focused first ultrasonic wave to obtain more ranging information, and the distance d of the target object 20 can be obtained by averaging more ranging information.

In the ultrasonic ranging device 10 , the ultrasonic ranging method and the controller 13 provided by the present embodiment, in the first aspect, by setting the ultrasonic transmitter/receiver to include a plurality of ultrasonic array elements 111 arranged in a ring, in one transmission and reception In the ultrasonic process, the distance information (or position information) of the target object 20 in a large range (360° range) can be obtained, which is beneficial to improve the ranging speed of the ultrasonic ranging device 10; The number of the array elements 111 is adjustable (one or plural), so that in the process of sending and receiving ultrasonic waves, the detectable range is adjustable, so that the detection method of the ultrasonic ranging device 10 can match the actual detection requirements. way more flexible.

In the second aspect, the focused first ultrasonic wave can be obtained by setting the transmission delay time, so that the first ultrasonic wave emitted in the same ranging period is simultaneously focused on the target object 20, so that the energy of the first ultrasonic wave is denser, which is beneficial In order to improve the spatial resolution; and the focused first ultrasonic wave can also be projected to a longer distance, which is conducive to detecting the farther target object 20 .

In the third aspect, by setting the receiving delay time, a focused second ultrasonic wave can be obtained, so that the second ultrasonic wave received in the same ranging period is simultaneously focused on the array element 111, so that the energy of the second ultrasonic wave is denser, which is beneficial In order to improve the spatial resolution, the distance information finally calculated by the controller 13 is more accurate.

In the fourth aspect, the diverging first ultrasonic waves can also be obtained by setting the transmission delay time, and the diverging first ultrasonic waves can significantly expand the ranging range of the ultrasonic ranging device 10 in a ranging period. In the case of detection of a specific range, by expanding the ultrasonic ranging device 10. The ranging range in one ranging period is conducive to reducing the number of ranging, that is, improving the speed of ranging.

In the fifth aspect, by setting the ultrasonic ranging device 10 to emit first ultrasonic waves of different forms (focusing or diverging) in different ranging periods, different ranging information can be obtained respectively in different ranging periods, The above-mentioned different ranging information obtained in different ranging periods is used to calculate and obtain the distance information of the target object 20 . Using the above detection method is beneficial to simultaneously obtain the beneficial effects of the first ultrasonic wave in the case of focusing and divergence. That is, it is beneficial to not only obtain high resolution of the ultrasonic ranging device 10 and obtain accurate distance information, but also to significantly improve the ranging speed of the ultrasonic ranging device 10 .

Those skilled in the art should realize that the above embodiments are only used to illustrate the present invention, but not to limit the present invention, as long as the above embodiments are appropriately made within the spirit and scope of the present invention Changes and changes all fall within the scope of the claimed invention.

S1, S2: Steps

Claims (10)

An ultrasonic ranging device is improved in that it includes: an ultrasonic transmitter/receiver, the ultrasonic transmitter/receiver includes a plurality of ultrasonic array elements arranged in a ring, each ultrasonic array element is used for The outer part of the ring emits a first ultrasonic wave, the first ultrasonic wave is reflected by the target object when it contacts the target object, and the first ultrasonic wave reflected by the target object is defined as the second ultrasonic wave, and the ultrasonic transmitter/receiver also for receiving the second ultrasonic wave; the ultrasonic wave transmitting/receiving channel is electrically connected to the ultrasonic wave transmitting/receiving channel, and is used for switching its own working mode so that the ultrasonic wave transmitting/receiver transmits the first ultrasonic wave. Sonic wave or receiving the second ultrasonic wave; and a controller, electrically connected to the ultrasonic wave transmitting/receiving channel, for adjusting the complex ultrasonic wave array element to transmit the ultrasonic wave through the ultrasonic wave transmitting/receiving channel The number of ultrasonic array elements of the first ultrasonic wave and the emission form of the first ultrasonic wave are used to obtain the target object's emission time according to the transmission time of the first ultrasonic wave and the reception time of the second ultrasonic wave. Distance information, the emission patterns include focus and divergence. The ultrasonic ranging device according to claim 1, wherein the one or more first ultrasonic waves emitted by the one or more array elements are focused to the same focus. The ultrasonic ranging device according to claim 1, wherein the one or a plurality of array elements emits first diverging ultrasonic waves, and the ranging range covered by the diverging first ultrasonic waves includes the area where the target object is located. scope. An ultrasonic ranging method is applied to an ultrasonic ranging device. The improvement is that the ultrasonic ranging device includes an ultrasonic transmitter/receiver, and the ultrasonic transmitter/receiver includes a plurality of ultrasonic waves arranged in a ring. array element; the ultrasonic ranging method includes: adjusting the number of ultrasonic array elements that emit the first ultrasonic wave in the plurality of ultrasonic array elements and the emission form of the first ultrasonic wave, so that the first ultrasonic wave is emitted. An ultrasonic wave is emitted to one or more detection points, the first ultrasonic wave is reflected by the target object when it contacts the target object, and the first ultrasonic wave reflected by the target object is defined as the second ultrasonic wave, and the emission form includes focusing and diverging ; Control the ultrasonic transmitter/receiver to receive the second ultrasonic wave, and obtain the distance information of the target object according to the transmitting time of the first ultrasonic wave and the receiving time of the second ultrasonic wave. The ultrasonic ranging method according to claim 4, wherein the step of controlling one or a plurality of array elements in the ultrasonic transmitter/receiver to transmit the first ultrasonic wave includes: According to the distance between one or a plurality of array elements that emit the first ultrasonic wave and the detection point to be focused, the emission delay time of each array element that emits the first ultrasonic wave is obtained respectively, and according to the emission delay time The one or a plurality of array elements are controlled to transmit the first ultrasonic waves in sequence. The ultrasonic ranging method according to claim 5, wherein the step of controlling the one or a plurality of array elements to sequentially transmit the first ultrasonic wave according to the transmission delay time comprises: according to the transmission delay time The one or a plurality of array elements are controlled to sequentially emit focused or divergent first ultrasonic waves. The ultrasonic ranging method according to claim 6, wherein the step of acquiring the distance information of the target object according to the transmitting time of the first ultrasonic wave and the receiving time of the second ultrasonic wave includes: The distance information of the target object is obtained according to the transmitting time of the focused first ultrasonic wave and the receiving time of the second ultrasonic wave; or according to the transmitting time of the diverging first ultrasonic wave and the receiving time of the second ultrasonic wave Obtain the distance information of the target object; or in the first ranging period, obtain the first ranging information according to the transmission time of the focused first ultrasonic wave and the receiving time of the second ultrasonic wave, and in the second ranging period , obtain the second ranging information according to the emission time of the diverging first ultrasonic wave and the receiving time of the second ultrasonic wave, and obtain the target object's distance according to the first ranging information and the second ranging information distance information. The ultrasonic ranging method according to claim 7, wherein the step of acquiring the distance information of the target object according to the first ranging information and the second ranging information comprises: according to the one The distance information of the target object is obtained from the first ranging information acquired in the first ranging period and the second ranging information acquired in the second ranging period. The ultrasonic ranging method according to claim 4, wherein the step of controlling the ultrasonic transmitter/receiver to receive the second ultrasonic wave comprises: transmitting one or more of the first ultrasonic waves according to The distance between the array element and the detection point, the receiving delay time of each array element transmitting the first ultrasonic wave is obtained respectively, and the one or a plurality of array elements are controlled to receive the second ultrasonic wave in sequence according to the receiving delay time. A controller, applied to an ultrasonic ranging device, is improved in that the ultrasonic ranging device includes an ultrasonic transmitter/receiver, and the ultrasonic transmitter/receiver includes a plurality of ultrasonic array elements arranged in a ring shape, The controller includes: The emission control module is used to adjust the number of ultrasonic array elements that emit the first ultrasonic wave in the plurality of ultrasonic array elements and the emission form of the first ultrasonic wave, and the first ultrasonic wave contacts the target object When reflected by the target object, the first ultrasonic wave reflected by the target object is defined as the second ultrasonic wave, and the emission form includes focusing and divergence; the data processing module is electrically connected to the emission control module for controlling the The ultrasonic transmitter/receiver receives the second ultrasonic wave, and obtains the distance information of the target object according to the transmitting time of the first ultrasonic wave and the receiving time of the second ultrasonic wave.

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