WO2019119654A1 - 用于超声波接收装置的控制方法及装置 - Google Patents

用于超声波接收装置的控制方法及装置 Download PDF

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Publication number
WO2019119654A1
WO2019119654A1 PCT/CN2018/079324 CN2018079324W WO2019119654A1 WO 2019119654 A1 WO2019119654 A1 WO 2019119654A1 CN 2018079324 W CN2018079324 W CN 2018079324W WO 2019119654 A1 WO2019119654 A1 WO 2019119654A1
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WIPO (PCT)
Prior art keywords
ultrasonic
receiving device
period
receiver
signal
Prior art date
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PCT/CN2018/079324
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English (en)
French (fr)
Inventor
张益铭
张佳宁
张道宁
Original Assignee
北京凌宇智控科技有限公司
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.)
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Priority claimed from CN201711408878.9A external-priority patent/CN108254739B/zh
Priority claimed from CN201711407686.6A external-priority patent/CN108205139B/zh
Priority claimed from CN201711408869.XA external-priority patent/CN108287339B/zh
Application filed by 北京凌宇智控科技有限公司 filed Critical 北京凌宇智控科技有限公司
Priority to US16/956,517 priority Critical patent/US11500089B2/en
Publication of WO2019119654A1 publication Critical patent/WO2019119654A1/zh

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    • 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
    • G01S15/08—Systems for measuring distance only
    • G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S15/101—Particularities of the measurement of distance
    • 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
    • G01S7/54—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 with receivers spaced apart
    • 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
    • G01S15/66—Sonar tracking systems
    • 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
    • G01S7/52004—Means for monitoring or calibrating
    • 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
    • G01S7/523—Details of pulse systems
    • G01S7/526—Receivers
    • 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
    • G01S7/52004—Means for monitoring or calibrating
    • G01S2007/52007—Means for monitoring or calibrating involving adjustment of transmitted power

Definitions

  • the present application relates to, but is not limited to, ultrasonic technology, and more particularly to a control method and apparatus for an ultrasonic receiving device.
  • Ultrasonic waves are part of sound waves. They are sound waves that are inaudible to humans and have a frequency higher than 20KHZ (kilohertz). Ultrasonic propagation has the characteristics of strong directivity, slow energy consumption, and long distance travel in the medium. Ultrasonic waves are often used. Distance measurement.
  • One embodiment of the ultrasonic ranging includes an ultrasonic transmitter and an ultrasonic receiver, and the difference between the time when the ultrasonic receiver receives the ultrasonic signal and the time when the ultrasonic transmitter transmits the ultrasonic signal is multiplied by the propagation speed of the ultrasonic signal. The distance between the ultrasonic transmitter and the ultrasonic receiver.
  • the embodiment of the present application provides a control method and device for an ultrasonic receiving device, which can reduce the error of the ultrasonic ranging and improve the measurement accuracy.
  • an embodiment of the present application provides a control method for an ultrasonic receiving device, wherein the ultrasonic receiving device includes at least two ultrasonic receivers, and the control method includes:
  • the target receiver is an ultrasonic receiver on the ultrasonic receiving device that is closest to the ultrasonic transmitting device
  • a state of each of the ultrasonic receivers on the ultrasonic receiving device is controlled according to the determined target receiver.
  • controlling the state of each of the ultrasonic receivers on the ultrasonic receiving device according to the determined target receiver may include:
  • the ultrasonic receiver that meets the set condition between the target receiver and the target receiver may include:
  • the determining a target receiver of the ultrasonic receiving device may include: determining a target based on time data of each ultrasonic receiver received by the ultrasonic receiver on the ultrasonic receiving device in a plurality of signal periods receiver.
  • control method may further include:
  • the state of each ultrasonic receiver on the ultrasonic receiving device in the next signal period is adjusted.
  • the adjusting the state of each ultrasonic receiver on the ultrasonic receiving device in the next signal period according to the adjusted target receiver may include:
  • the conditional ultrasonic receiver is off.
  • the adjusting the target receiver according to the time data of the ultrasonic signal received by the ultrasonic receiver in the activated state on the ultrasonic receiving device in the current signal period may include:
  • the target receiver is wherein the reference time data is time data of the target receiver receiving the ultrasonic signal in the previous signal period.
  • control method may further include at least one of the following:
  • control method may further include:
  • a signal period during which the ultrasonic transmitting device transmits the ultrasonic signal is controlled according to the target measurement range and the ultrasonic transmission speed.
  • control method may further include:
  • the second period is the next signal period of the first period.
  • the ultrasonic receiving device and the ultrasonic transmitting device are corrected in a second period according to a comparison result between the ultrasonic measuring distance and the positioning distance of the ultrasonic receiving device in the second period
  • the distance between the ultrasonic measurements can include:
  • the ultrasonic measurement distance is corrected to the positioning distance in the second period.
  • the determining the positioning distance of the ultrasonic receiving device in the second period according to the moving speed, the acceleration of the ultrasonic receiving device in the first period, and the ultrasonic measuring distance between the ultrasonic transmitting device and the ultrasonic transmitting device may be include:
  • S is a positioning distance of the second period
  • S 0 is an ultrasonic measuring distance between the ultrasonic receiving device and the ultrasonic transmitting device in the first period
  • t is a signal period
  • V 0 is the first ultrasonic receiving device
  • a is the acceleration of the ultrasonic receiving device in the first period.
  • the determining the ultrasonic measuring distance between the ultrasonic transmitting device and the ultrasonic transmitting device in the second period may include:
  • the embodiment of the present application provides a control device for an ultrasonic receiving device, wherein the ultrasonic receiving device includes at least two ultrasonic receivers, and the control device includes:
  • a target receiver determining module configured to determine a target receiver of the ultrasonic receiving device, wherein the target receiver is an ultrasonic receiver that is closest to the ultrasonic transmitting device on the ultrasonic receiving device;
  • control module configured to control a state of each of the ultrasonic receivers on the ultrasonic receiving device according to the determined target receiver.
  • control module may be configured to control a state of each of the ultrasonic receivers on the ultrasonic receiving device according to the determined target receiver by:
  • the target receiver determining module may be further configured to adjust the target receiver according to time data of the ultrasonic signal received by the ultrasonic receiver in the activated state on the ultrasonic receiving device during the current signal period;
  • the control module may be further configured to adjust a state of each of the ultrasonic receivers on the ultrasonic receiving device in the next signal period according to the adjusted target receiver.
  • an embodiment of the present application provides an ultrasonic receiving apparatus, including: at least two ultrasonic receivers, a memory, and a processor; the memory is configured to store a control program for the ultrasonic receiving device, where the control program is The steps of the control method provided by the above first aspect are implemented when the processor is executed.
  • the ultrasonic receiving device may further include an acceleration sensor configured to detect a moving speed and an acceleration of the ultrasonic receiving device.
  • the embodiment of the present application further provides an ultrasonic ranging system, including: an ultrasonic transmitting device and an ultrasonic receiving device; wherein the ultrasonic transmitting device is configured to control a signal intensity of the transmitted ultrasonic signal according to a target measurement range; The ultrasonic receiving device is configured to determine an intensity threshold for receiving the ultrasonic signal and to filter out the received ultrasonic signal having an intensity less than the intensity threshold.
  • the ultrasonic receiving device may include a control module and at least two ultrasonic receivers; wherein the control module is configured to determine a target receiver of the ultrasonic receiving device, wherein the target receiver An ultrasonic receiver that is closest to the ultrasonic transmitting device on the ultrasonic receiving device; and controls a state of each ultrasonic receiver on the ultrasonic receiving device according to the determined target receiver.
  • the ultrasonic receiving device may further include: a distance correction module and an acceleration sensor; wherein the acceleration sensor is configured to detect a moving speed and an acceleration of the ultrasonic receiving device; the ranging correction module Configuring to determine a positioning distance of the ultrasonic receiving device in a second period according to a moving speed, an acceleration, and an ultrasonic measuring distance between the ultrasonic receiving device and the ultrasonic transmitting device in the first period; determining the ultrasonic wave Receiving an ultrasonic measuring distance between the ultrasonic transmitting device and the ultrasonic transmitting device in a second period; and correcting the second period according to a comparison result between the ultrasonic measuring distance and the positioning distance of the ultrasonic receiving device in the second period An ultrasonic measuring distance between the ultrasonic receiving device and the ultrasonic transmitting device; wherein the second period is a next signal period of the first period.
  • an embodiment of the present application provides a computer readable medium storing a control program for an ultrasonic receiving device, where the control program is executed by a processor to implement the steps of the control method provided by the first aspect.
  • a target receiver of the ultrasonic receiving device is determined for an ultrasonic receiving device including at least two ultrasonic receivers, wherein the target receiver is an ultrasonic receiver closest to the ultrasonic transmitting device on the ultrasonic receiving device And controlling the state of each ultrasonic receiver on the ultrasonic receiving device according to the determined target receiver. In this way, it is ensured that the ultrasonic receiving device receives only the effective ultrasonic signal emitted by the ultrasonic transmitting device, thereby reducing the error of the ultrasonic ranging and improving the measurement accuracy.
  • 1 is a diagram showing an example of an error in ultrasonic ranging of a device to be positioned
  • FIG. 2 is a flowchart of a method for controlling an ultrasonic receiving device according to an embodiment of the present application
  • FIG. 3 is a diagram showing an example of distribution of an ultrasonic receiver on an ultrasonic receiving device according to an embodiment of the present application
  • FIG. 4 is a schematic diagram of a control device for an ultrasonic receiving device according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of an ultrasonic receiving device according to an embodiment of the present application.
  • FIG. 6 is another schematic diagram of an ultrasonic receiving device according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of an ultrasonic ranging system provided by an embodiment of the present application.
  • Ultrasonic ranging can be used to track the position of the object; for example, the ultrasonic transmitter is in a fixed position, and the position of the device to be positioned with the ultrasonic receiver installed is constantly changing, according to the time difference of the ultrasonic signal received by the ultrasonic receiver The difference between the devices to be located at different times can be obtained. Due to the directional characteristics of the ultrasonic wave propagation, the ultrasonic receiver can receive the ultrasonic signal emitted only when it is facing or slightly deviated from the ultrasonic transmitter, and the ultrasonic signal is not received when the position is deviated from the above constraint position.
  • a plurality of ultrasonic receivers can be mounted on the device to be positioned, for example, a plurality of ultrasonic receivers are installed around the circumferential direction, and ultrasonic signals can be received regardless of how the device to be positioned moves.
  • the reflected ultrasonic signals may be received by some or all of the ultrasonic receivers mounted on the device to be positioned, thereby affecting the accuracy of the ultrasonic ranging.
  • the reflected ultrasonic signal may be a plurality of ultrasonic receivers mounted on the device to be positioned. Received, at this time, the device to be positioned uses the ultrasonic wave to perform ranging, and an error occurs, thereby affecting the accuracy of the distance measurement.
  • FIG. 2 is a flowchart of a method for controlling an ultrasonic receiving device according to an embodiment of the present application.
  • the ultrasonic receiving device includes at least two ultrasonic receivers.
  • the ultrasonic receiving device has a spherical shape, and 12 ultrasonic receivers are sequentially arranged on the spherical surface.
  • the ultrasonic receiving device has a spherical shape, and 12 ultrasonic receivers are sequentially arranged on the spherical surface.
  • six ultrasonic receivers 301 to 306 are shown in FIG.
  • the six ultrasonic receivers are not shown in FIG.
  • the present application is not limited to the shape of the ultrasonic receiving device and the manner in which the ultrasonic receiver is distributed.
  • control method provided in this embodiment includes:
  • the target receiver is an ultrasonic receiver closest to the ultrasonic transmitting device on the ultrasonic receiving device; usually an ultrasonic receiver directly opposite the ultrasonic transmitting device;
  • the control method provided by the present embodiment may be performed by the ultrasonic receiving device or may be performed by a control device connected to the ultrasonic receiving device.
  • this application is not limited thereto.
  • S202 may include: controlling the target receiver and the ultrasonic receiver that satisfies the set condition between the target receiver and the target receiver, and controlling the ultrasonic reception between the target receiver and the target receiver that does not satisfy the set condition The device is off.
  • the ultrasonic receiver that satisfies the set condition with the target receiver may include:
  • An ultrasonic receiver whose distance from the target receiver on the ultrasonic receiving device satisfies a first threshold value; or, on the ultrasonic receiving device, an ultrasonic receiver in a range centered on the target receiver and having a radius of the second threshold.
  • the first threshold and the second threshold may be set according to an actual application scenario. However, this application is not limited thereto.
  • the ultrasonic receiver on the ultrasonic receiving device facing or slightly deviating from the ultrasonic transmitting device is turned on, and the ultrasonic receiver deviating from the above-mentioned restrained position is turned off, thereby determining that the ultrasonic receiving device receives only the effective ultrasonic signal emitted by the ultrasonic transmitting device. .
  • S201 may include determining a target receiver based on time data of each of the ultrasonic receivers receiving the ultrasonic signals on the ultrasonic receiving device during the plurality of signal periods.
  • this application is not limited thereto.
  • the target receiver when the target receiver is first determined, the target receiver can also be determined in a specified manner.
  • control method of this embodiment may further include:
  • the state of each ultrasonic receiver on the ultrasonic receiving device in the next signal period is adjusted.
  • adjusting the state of each ultrasonic receiver on the ultrasonic receiving device in the next signal period according to the adjusted target receiver may include:
  • the ultrasonic receiver that controls the adjusted target receiver and the set target condition with the adjusted target receiver is in an activated state, and the ultrasonic receiver that does not satisfy the setting condition between the controlled target receiver and the adjusted target receiver is Disabled.
  • adjusting the target receiver according to the time data of the ultrasonic signal received by the ultrasonic receiver in the activated state on the ultrasonic receiving device in the current signal period may include:
  • the third threshold may be set according to an actual application scenario. However, this application is not limited thereto.
  • the target receiver can be dynamically adjusted to ensure that the ultrasonic receiver turned on on the ultrasonic receiving device can be in a position that is facing or slightly deviated from the ultrasonic transmitting device to improve the ranging accuracy during the movement of the ultrasonic receiving device. .
  • the shielding of the ultrasonic signal reflected by the obstacle is achieved by turning off part of the ultrasonic receiver on the ultrasonic receiving device.
  • the device to be positioned ie, the ultrasonic receiving device in this embodiment
  • the ultrasonic receiving device has five ultrasonic receivers (illustrated by circles in the device to be positioned in FIG. 1), which are respectively installed on the device to be positioned.
  • the present application will be exemplified below based on the ultrasonic receiving device shown in FIG.
  • each of the ultrasonic receivers on the ultrasonic receiving device can receive an ultrasonic signal transmitted from the ultrasonic transmitting device or an ultrasonic signal transmitted from the space. After receiving the ultrasonic signal for a period of time, the time for each ultrasonic receiver to receive the ultrasonic signal in multiple signal transmission intervals can be obtained. Since the motion trajectory is continuous, the time for receiving the ultrasonic signal should be a continuous smooth The data line (for example, the timing of receiving the ultrasonic signal is continuously increased regularly, or continuously decreasing); when a certain time is selected, if the data of the continuous smooth data line is from the ultrasonic receiver 301, the ultrasonic receiver 301 is used. Target receiver.
  • one or more ultrasonic receivers around the target receiver 301 are turned on; for example, one or more ultrasonic receivers that open the spherical distance from the target receiver 301 to a first threshold, such as ultrasonic receivers 302, 303, 304, 305, and 306; and other ultrasonic receivers (other ultrasonic receivers on the back of the sphere not shown in Fig. 3) are turned off.
  • a first threshold such as ultrasonic receivers 302, 303, 304, 305, and 306
  • other ultrasonic receivers other ultrasonic receivers on the back of the sphere not shown in Fig. 3
  • the target receiver can be dynamically adjusted. For example, in a signal period after determining the target receiver 301, time data of the ultrasonic signals received by the six opened ultrasonic receivers in the signal period can be obtained; and the target is selected closest to the previous signal period.
  • the receiver 301 receives the time data of the ultrasonic signal, and adjusts the ultrasonic receiver corresponding to the selected time data to the target receiver.
  • the time data of the target receiver 301 receiving the ultrasonic signal in the previous signal period is 10.01 ms
  • the time data of the ultrasonic signals received by the six ultrasonic receivers in the current signal period are: 10.03 ms (ultrasonic receiver 301) 16.7ms (ultrasonic receiver 302), 10.3ms (ultrasonic receiver 303), 10.02ms (ultrasonic receiver 304), 10.03ms (ultrasonic receiver 305), 18.1ms (ultrasonic receiver 306), the closest
  • the time data of 10.01 ms is the time data of the ultrasonic receiver 304 receiving the ultrasonic signal for 10.02 ms, and therefore, the ultrasonic receiver 304 can be updated to the target receiver.
  • ultrasonic receiver 304 after determining that the ultrasonic receiver 304 is the target receiver, several ultrasonic receivers around the target receiver 304 can be turned on, such as turning on the ultrasonic receivers 301, 303, 304, 305 and the distance target receiver on the back of the sphere.
  • the two nearest ultrasonic receivers are 304; and other ultrasonic receivers, such as ultrasonic receivers 302, 306, and four other ultrasonic receivers not shown on the back of the sphere are closed.
  • the target receiver can be dynamically adjusted according to the signal period, so that one or more ultrasonic receivers that are facing or slightly deviating from the ultrasonic transmitting device are in an activated state according to the real-time position control of the ultrasonic receiving device, and Other ultrasonic receivers are turned off to reduce the positioning error of ultrasonic ranging and improve the accuracy of ultrasonic ranging.
  • the ultrasonic receiving device may perform fusion processing on the time data of the ultrasonic signals received by the plurality of ultrasonic receivers that have been turned on, obtain the fusion time data of the ultrasonic signals received by the ultrasonic receiving device, and perform distance calculation according to the fusion time data.
  • the fusion mode may include, but is not limited to, nearest neighbor method, generalized correlation method, Gaussian sum method, optimal Bayesian method, probability data interconnection method, symmetric measurement equation filtering, weighted average, geometric mean, arithmetic mean, square Average, harmonic average.
  • this application is not limited thereto.
  • the fusion time data may be used to calculate the ultrasonic measurement distance in the signal period, and the predicted positioning distance according to the moving speed and acceleration based on the previous signal period and The comparison result of the ultrasonic measurement distance measured in this period is used to correct the ultrasonic measurement distance measured by this period.
  • time data of the ultrasonic receiver may be utilized to calculate an ultrasonic measurement distance within the signal period, and based on The comparison between the moving speed of the previous signal period and the predicted positioning distance of the acceleration and the ultrasonic measuring distance measured in the current period corrects the ultrasonic measuring distance measured by the current period.
  • the positioning distance is predicted, and then the ultrasonic measuring distance is corrected by the positioning distance, thereby reducing the error of the ultrasonic ranging and improving the distance measurement accuracy.
  • the ultrasonic receiving device may include an acceleration sensor configured to detect a moving speed and an acceleration of the ultrasonic receiving device.
  • An acceleration sensor ie, an accelerometer
  • the accelerometer is one of the basic measuring components of an inertial navigation and inertial guidance system.
  • the accelerometer is essentially an oscillating system that is mounted inside the motion carrier (in this embodiment, an ultrasonic receiver) and can be used The motion acceleration of the carrier is measured.
  • a micro-electro mechanical system (MEMS) accelerometer works by accumulating an accelerometer together with an external object (the acceleration of the object is the acceleration to be measured). The force acts in the opposite direction, and the displacement of the mass is limited by the spring and the damper, and the external acceleration can be measured by the output voltage.
  • MEMS micro-electro mechanical system
  • the application does not limit the type of acceleration sensor used.
  • the positioning distance of the ultrasonic receiving device in the second period may be determined according to the moving speed, the acceleration, and the ultrasonic measuring distance between the ultrasonic receiving device and the ultrasonic transmitting device in the first period; determining the ultrasonic receiving device in the first Ultrasonic measuring distance between the ultrasonic transmitting device and the ultrasonic transmitting device in the second period; correcting the ultrasonic receiving device and the ultrasonic transmitting device in the second period according to the comparison result between the ultrasonic measuring distance and the positioning distance of the ultrasonic receiving device in the second period The ultrasonic measurement distance between the two; wherein the second period is the next signal period of the first period.
  • the ultrasonic measurement distance in the second period is credible at this time;
  • the ultrasonic measurement distance between the ultrasonic receiving device and the ultrasonic transmitting device in the second period is corrected to be in the second period.
  • the positioning distance in other words, the ultrasonic measurement distance in the second period at this time is unreliable, and the predicted positioning distance in the second period is used as the ultrasonic measurement distance.
  • the fourth threshold may be set according to an actual application scenario. However, this application is not limited thereto.
  • the positioning distance of the ultrasonic receiving device in the second period can be calculated according to the following formula 1:
  • S is a positioning distance of the second period
  • S 0 is an ultrasonic measuring distance between the ultrasonic receiving device and the ultrasonic transmitting device in the first period
  • t is a signal period
  • V 0 is a movement of the ultrasonic receiving device in the first period
  • Speed is the acceleration of the ultrasonic receiving device in the first period.
  • determining the ultrasonic measurement distance between the ultrasonic receiving device and the ultrasonic transmitting device in the second period may include:
  • the ultrasonic measuring distance between the ultrasonic receiving device and the ultrasonic transmitting device in the second period is determined according to the time data of the ultrasonic signal received by the ultrasonic receiving device in the second period and the propagation speed of the ultrasonic signal.
  • the ultrasonic measurement distance of the second cycle can be calculated according to the following formula 2:
  • S' is the ultrasonic measuring distance of the second period
  • V is the propagation speed of the ultrasonic wave
  • t' is the time data of the ultrasonic receiving device receiving the ultrasonic signal in the second period.
  • t' may be time-fused data in which the plurality of ultrasonic receivers of the ultrasonic receiving device receive the ultrasonic signal in the second period, or time data in which the single ultrasonic receiver receives the ultrasonic signal in the second period.
  • the device to be positioned ie, the ultrasonic receiving device of the present embodiment
  • the 10 ms data of the ultrasonic signal received by the positioning device can be obtained by fusing the time data of the ultrasonic signals received by the five ultrasonic receivers.
  • the fusion method may include but is not limited to one of the following: nearest neighbor method, generalized correlation method, Gaussian sum method, optimal Bayesian method, probability data interconnection method, symmetric measurement equation filtering, weighted average, geometric mean, arithmetic Average, squared average, harmonic average.
  • the 10 ms data that the device to be positioned receives the ultrasonic signal may be time data of the ultrasonic signal received by a single ultrasonic receiver (eg, a target receiver) on the device to be located.
  • the time signal that the obstacle is reflected back to the first signal period by the device to be positioned may be 23 ms, and the first signal is exceeded.
  • the period, in the second signal period appears to receive an ultrasonic signal at 8 ms of the second signal period.
  • the time data of the ultrasonic signal actually transmitted by the device to be positioned to receive the second signal period may be 11 ms; in order to filter the reflected ultrasonic signal, usually within each signal period
  • the time data of the first ultrasonic signal is selected as the basis for the distance calculation, so that the actual data is filtered out for 11 ms, and the error data is retained for 8 ms.
  • the distance is calculated according to the error data, and the device to be positioned is transmitted close to the ultrasonic wave. The direction of motion of the device will cause positioning errors.
  • the time data of the ultrasonic signal actually received by the second signal period may be 9 ms; in order to filter the reflected ultrasonic signal, usually the most time is selected in each signal period.
  • the time data of the ultrasonic signal is first received as the basis for the distance calculation, so that the actual data is filtered out for 9 ms, and the error data is retained for 8 ms, resulting in possible positioning errors.
  • the value of S′ can be calculated by Equation 1 according to the determined time data (for example, 8 ms), and if S′ is within the range of S ⁇ fourth threshold (S is calculated by Formula 2), it is considered to be credible. Otherwise, it is considered that S' is not credible, thereby reducing the positioning error and improving the accuracy of the distance measurement.
  • the ultrasonic receiving device cooperates with the ultrasonic transmitting device to achieve ultrasonic ranging.
  • interference of the ultrasonic reflected signal can also be excluded by controlling at least one of the transmitted signal intensity of the ultrasonic transmitting device and the intensity threshold of each ultrasonic receiver.
  • the ultrasonic wave encounters many factors in the actual propagation process, and produces different degrees of attenuation.
  • the attenuation of the ultrasonic wave mainly includes scattering, diffusion and absorption. It is necessary to control the signal intensity of the ultrasonic signal emitted by the ultrasonic transmitting device according to the target measuring range.
  • the target ranging range is less than or equal to 5 m
  • the distance of the ultrasonic signal emitted by the ultrasonic transmitting device is attenuated from 80 at a distance of 5 m
  • the ultrasonic wave has a reflection characteristic, the reflected ultrasonic signal may be received by the ultrasonic receiving device, thereby affecting the accuracy of the ultrasonic ranging, so it is necessary to filter out the reflected ultrasonic signal.
  • the intensity threshold of the ultrasonic signal received by the ultrasonic receiver can be determined, and the ultrasonic receiver can be controlled to filter out the ultrasonic signal whose received signal strength is less than the intensity threshold.
  • the intensity value of the ultrasonic signal at a set value (for example, 5 m) at a distance from the ultrasonic transmitting device at the current angle may be used as an intensity threshold for the ultrasonic receiver to filter in the next signal period.
  • the ultrasonic signal reflected by an obstacle such as a wall is filtered out.
  • the intensity value of the ultrasonic signal at which the ultrasonic receiver is at a set value from the ultrasonic transmitting device at the current angle can be determined by means of pre-detection.
  • the emission intensity of the ultrasonic transmitting device is 100
  • the intensity received by the ultrasonic receiver at 5 m from the ultrasonic transmitting device is 30, and 30 is used as the intensity threshold for the ultrasonic receiver to filter out less than 30 in the next signal cycle.
  • Ultrasonic signal is used as the intensity threshold for the ultrasonic receiver to filter out less than 30 in the next signal cycle.
  • the signal period at which the ultrasonic transmitting device transmits the ultrasonic signal can be controlled according to the target measurement range and the ultrasonic transmission speed. Taking the target measurement range of 5 m (m) as an example, the time data for the ultrasonic signal emitted by the ultrasonic transmitting device to propagate 5 m is about 15 ms, wherein the ultrasonic transmission speed is about 340 m/s (the ultrasonic propagation speed is affected by temperature and humidity).
  • the transmission interval (ie, signal period) between the two ultrasonic signals can be set to be slightly larger than 15 ms, for example, 18 ms.
  • this application is not limited thereto; in theory, it is only required to be greater than 15 ms.
  • the transmitted signal strength of the ultrasonic transmitting device is determined according to the target measuring range, and the ultrasonic transmitting device is determined according to the determined The signal period and the transmitted signal strength emit ultrasonic signals.
  • the ultrasonic receiving device includes at least two ultrasonic receivers, each of which detects the received ultrasonic signal according to the determined intensity threshold, filters out the ultrasonic signal whose signal strength is less than the intensity threshold, and the ultrasonic receiving device determines the target receiver according to the determined , turn off unnecessary ultrasonic receivers.
  • the ultrasonic receiving device fuses the time data of the ultrasonic signal received by the opened ultrasonic receiver to obtain the fusion time data, and calculates the ultrasonic measurement distance in the signal period by using the fusion time data, or the ultrasonic receiving device uses a single ultrasonic wave.
  • the receiver (for example, the target receiver) receives the time data of the ultrasonic signal to calculate the ultrasonic measurement distance in the signal period; and the predicted distance according to the moving speed and acceleration based on the previous signal period and the ultrasonic measurement measured in the current period The comparison result of the distance corrects the ultrasonic measurement distance measured by this period.
  • the fusion method of the time data is the same as that described above, and thus will not be described herein.
  • the interference of the ultrasonic reflected signal is effectively eliminated by combining a plurality of ultrasonic anti-interference methods.
  • each of the ultrasonic receivers of the ultrasonic receiving device may filter out the received ultrasonic signal having an intensity less than the intensity threshold based on the determined intensity threshold of the received ultrasonic signal. And the ultrasonic receiving device turns off the unnecessary ultrasonic receiver according to the determined target receiver.
  • the ultrasonic receiving device fuses the time data of the ultrasonic signal received by the opened ultrasonic receiver to obtain the fusion time data, and calculates the ultrasonic measurement distance in the signal period by using the fusion time data, or the ultrasonic receiving device uses a single ultrasonic wave.
  • the receiver receives the time data of the ultrasonic signal to calculate the ultrasonic measurement distance in the signal period; and the predicted distance according to the moving speed and acceleration based on the previous signal period and the ultrasonic wave measured in the current period The comparison result of the measurement distance is used to correct the ultrasonic measurement distance measured by the current period.
  • the ultrasonic receiving device may perform fusion processing on the time data of the ultrasonic signal received by the opened ultrasonic receiver to obtain fusion time data, and calculate the ultrasonic measurement distance in the signal period by using the fusion time data, and based on the The comparison between the moving speed of the previous signal period and the predicted positioning distance of the acceleration and the ultrasonic measuring distance measured in the current period corrects the ultrasonic measuring distance measured by the current period.
  • one of the signal strength control scheme of the ultrasonic transmitting device, the signal filtering scheme of the ultrasonic receiving device, the target receiver adjusting scheme of the ultrasonic receiving device, and the scheme for measuring the distance using the ultrasonic correcting ultrasonic wave may be Multiple combinations are made to improve the accuracy of ultrasonic ranging.
  • FIG. 4 is a schematic diagram of a control apparatus for an ultrasonic receiving device according to an embodiment of the present application.
  • the ultrasonic receiving device may include at least two ultrasonic receivers.
  • the control apparatus provided in this embodiment includes:
  • the target receiver determining module 401 is configured to determine a target receiver of the ultrasonic receiving device, wherein the target receiver is an ultrasonic receiver on the ultrasonic receiving device and closest to the ultrasonic transmitting device; usually a pair facing the ultrasonic transmitting device Ultrasonic receiver
  • the control module 402 is configured to control the state of each of the ultrasonic receivers on the ultrasonic receiving device according to the determined target receiver.
  • control module 402 can be configured to control the state of each ultrasonic receiver on the ultrasonic receiving device according to the determined target receiver in the following manner:
  • the ultrasonic receiver that controls the target receiver and the set condition with the target receiver is in an activated state, and the ultrasonic receiver that does not satisfy the set condition between the control and the target receiver is in a closed state.
  • the target receiver determining module 401 may be further configured to adjust the target receiver according to time data of the ultrasonic signal received by the ultrasonic receiver in the activated state on the ultrasonic receiving device during the current signal period;
  • the control module 402 can also be configured to adjust the state of each of the ultrasonic receivers on the ultrasonic receiving device for the next signal period based on the adjusted target receiver.
  • control device For a description of the control device provided in this embodiment, reference may be made to the description of the foregoing method embodiments, and thus no further details are provided herein.
  • FIG. 5 is a schematic diagram of an ultrasonic receiving device according to an embodiment of the present application.
  • the ultrasonic receiving device provided by the embodiment of the present application includes: at least two ultrasonic receivers 501, a memory 503, and a processor 502; the memory 503 is configured to store a control program for the ultrasonic receiving device, the control program
  • the steps of the control method provided by the above embodiments are implemented when executed by the processor 502.
  • the processor 502 may include, but is not limited to, a processing device such as a microprocessor (MCU) or a Field Programmable Gate Array (FPGA).
  • the memory 503 can be used to store software programs and modules of the application software, such as program instructions or modules corresponding to the control method in the embodiment, and the processor 502 executes various functional applications by running software programs and modules stored in the memory 503. And data processing, that is, the above control method is implemented.
  • Memory 503 can include high speed random access memory and can also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid state memory.
  • memory 503 can include memory remotely located relative to processor 502 that can be coupled to the ultrasonic receiving device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • FIG. 6 is another schematic diagram of an ultrasonic receiving device according to an embodiment of the present application.
  • the embodiment of the present application further provides an ultrasonic receiving device, including: an ultrasonic receiver 601, an acceleration sensor 604, a memory 603, and a processor 602.
  • the ultrasonic receiver 601 is configured to detect an ultrasonic signal
  • the acceleration sensor 604 is configured.
  • the memory 603 is configured to store a control program that, when executed by the processor 602, implements the steps of the control method provided by the above embodiments.
  • the ultrasonic receiver 601 the memory 603, and the processor 602 reference may be made to the descriptions of the ultrasonic receiver 501, the memory 503, and the processor 502, and thus no further details are provided herein.
  • the acceleration sensor 604 reference may be made to the related description of the foregoing method embodiments, and thus no further details are provided herein.
  • FIG. 7 is a schematic diagram of an ultrasonic ranging system provided by an embodiment of the present application.
  • the ultrasonic ranging system of the present embodiment includes: an ultrasonic transmitting device 71 and an ultrasonic receiving device 72; wherein the ultrasonic transmitting device 71 is configured to control the signal intensity of the transmitted ultrasonic signal according to the target measuring range;
  • the ultrasonic receiving device 72 is configured to determine an intensity threshold for receiving the ultrasonic signal and to filter out the ultrasonic signal whose received signal strength is less than the intensity threshold.
  • the ultrasonic receiving device 72 can include a control module 721 and at least two ultrasonic receivers 722; wherein the control module 721 can be configured to determine a target receiver of the ultrasonic receiving device 72, wherein the target receiver is an ultrasonic receiving device An ultrasonic receiver on the 72 closest to the ultrasonic transmitting device 71, usually an ultrasonic receiver facing the ultrasonic transmitting device 71; and controlling each ultrasonic receiver on the ultrasonic receiving device 72 according to the determined target receiver status.
  • the ultrasonic receiving device 72 may further include: a distance correction module 723 and an acceleration sensor 724; wherein the acceleration sensor 724 may be configured to detect a moving speed and an acceleration of the ultrasonic receiving device 72; the ranging correction module 723 may be configured to Determining the positioning distance of the ultrasonic receiving device 72 in the second period according to the moving speed, the acceleration, and the ultrasonic measuring distance between the ultrasonic receiving device 72 in the first period; determining the ultrasonic receiving device 72 in the second period The ultrasonic measuring distance between the inner and the ultrasonic transmitting device 71; and the ultrasonic receiving device 72 and the ultrasonic transmitting in the second period according to the comparison result between the ultrasonic measuring distance and the positioning distance of the ultrasonic receiving device 72 in the second period The ultrasonic measurement distance between the devices 71; wherein the second period is the next signal period of the first period.
  • the embodiment of the present application further provides a computer readable medium storing a control program for the ultrasonic receiving device, and the control program is executed by the processor to implement the steps of the control method provided by the foregoing embodiment.
  • computer storage medium includes volatile and nonvolatile, implemented in any method or technology for storing information, such as computer readable instructions, data structures, program modules or other data. Sex, removable and non-removable media.
  • Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridge, magnetic tape, magnetic disk storage or other magnetic storage device, or may Any other medium used to store the desired information and that can be accessed by the computer.
  • communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and can include any information delivery media. .
  • the embodiment of the present application provides a control method and device for an ultrasonic receiving device, which can reduce the error of the ultrasonic ranging and improve the measurement accuracy.

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Abstract

本文公开了一种用于超声波接收装置的控制方法及装置；该控制方法包括：确定超声波接收装置的目标接收器，其中，超声波接收装置包括至少两个超声波接收器，目标接收器为超声波接收装置上和超声波发射装置的距离最近的一个超声波接收器；根据确定的目标接收器，控制超声波接收装置上每个超声波接收器的状态。如此，减少超声波测距的误差，提高测量准确性。

Description

用于超声波接收装置的控制方法及装置 技术领域
本申请涉及但不限于超声波技术，尤其涉及一种用于超声波接收装置的控制方法及装置。
背景技术
超声波是声波的一部分，是人耳听不见、频率高于20KHZ(千赫兹)的声波；超声波的传播具有指向性强、能量消耗缓慢、在介质中传播距离较远的特点，因而超声波经常用于距离测量。
超声波测距的一个实施方式包括一个超声波发射器和一个超声波接收器，利用超声波接收器接收到超声波信号的时间和超声波发射器发送超声波信号的时间之差，乘以超声波信号的传播速度即可获得超声波发射器和超声波接收器之间的距离。
发明概述
以下是对本文详细描述的主题的概述。本概述并非是为了限制权利要求的保护范围。
本申请实施例提供一种用于超声波接收装置的控制方法及装置，能够减少超声波测距的误差，提高测量准确性。
第一方面，本申请实施例提供一种用于超声波接收装置的控制方法，其中，所述超声波接收装置包括至少两个超声波接收器，所述控制方法包括：
确定所述超声波接收装置的目标接收器，其中，所述目标接收器为所述超声波接收装置上和超声波发射装置的距离最近的一个超声波接收器；
根据确定的所述目标接收器，控制所述超声波接收装置上每个超声波接收器的状态。
在示例性实施方式中，所述根据确定的所述目标接收器，控制所述超声波接收装置上每个超声波接收器的状态，可以包括：
控制所述目标接收器以及与所述目标接收器之间满足设定条件的超声波接收器处于启动状态，且控制与所述目标接收器之间不满足所述设定条件的超声波接收器处于关闭状态。
在示例性实施方式中，所述与所述目标接收器之间满足设定条件的超声波接收器，可以包括：
所述超声波接收装置上与所述目标接收器之间的距离满足第一阈值的超声波接收器；或者，所述超声波接收装置上，处于以所述目标接收器为圆心、第二阈值为半径的范围内的超声波接收器。
在示例性实施方式中，所述确定所述超声波接收装置的目标接收器，可以包括：基于多个信号周期内所述超声波接收装置上每个超声波接收器接收到超声波信号的时间数据，确定目标接收器。
在示例性实施方式中，所述根据确定的所述目标接收器，控制所述超声波接收装置上每个超声波接收器的状态之后，上述控制方法还可以包括：
根据当前信号周期内所述超声波接收装置上处于启动状态的超声波接收器接收到超声波信号的时间数据，调整目标接收器；
根据调整后的目标接收器，调整下个信号周期所述超声波接收装置上每个超声波接收器的状态。
在示例性实施方式中，所述根据调整后的目标接收器，调整下个信号周期所述超声波接收装置上每个超声波接收器的状态，可以包括：
控制所述调整后的目标接收器以及与所述调整后的目标接收器之间满足设定条件的超声波接收器处于启动状态，且控制与所述调整后的目标接收器之间不满足设定条件的超声波接收器处于关闭状态。
在示例性实施方式中，所述根据当前信号周期内所述超声波接收装置上处于启动状态的超声波接收器接收到超声波信号的时间数据，调整所述目标接收器，可以包括：
从当前信号周期内接收到超声波信号的时间数据中，选择与参照时间数据之间的差值绝对值小于或等于第三阈值的时间数据，将选出的所述时间数据对应的超声波接收器调整为目标接收器，其中，所述参照时间数据为上一 信号周期内的目标接收器接收到超声波信号的时间数据。
在示例性实施方式中，上述控制方法还可以包括以下至少之一：
根据目标测量范围，控制所述超声波发射装置发射的超声波信号的信号强度；
确定所述超声波接收装置接收超声波信号的强度阈值，并控制所述超声波接收装置滤除接收到的信号强度小于所述强度阈值的超声波信号。
在示例性实施方式中，上述控制方法还可以包括：
根据所述目标测量范围以及超声波传输速度，控制所述超声波发射装置发射超声波信号的信号周期。
在示例性实施方式中，上述控制方法还可以包括：
根据所述超声波接收装置在第一周期内的移动速度、加速度以及与所述超声波发射装置之间的超声波测量距离，确定所述超声波接收装置在第二周期的定位距离；
确定所述超声波接收装置在第二周期内与所述超声波发射装置之间的超声波测量距离；
根据所述超声波接收装置在第二周期内的超声波测量距离与定位距离之间的比较结果，矫正在第二周期内所述超声波接收装置与所述超声波发射装置之间的超声波测量距离；
其中，所述第二周期为所述第一周期的下一信号周期。
在示例性实施方式中，所述根据所述超声波接收装置在第二周期内的超声波测量距离与定位距离之间的比较结果，矫正在第二周期内所述超声波接收装置与所述超声波发射装置之间的超声波测量距离，可以包括：
若所述第二周期内的超声波测量距离与所述定位距离之间的差值绝对值小于或等于第四阈值，则确定在第二周期内所述超声波接收装置与所述超声波发射装置之间的超声波测量距离不变；
若所述第二周期内的超声波测量距离与所述定位距离之间的差值绝对值大于所述第四阈值，则将第二周期内所述超声波接收装置与所述超声波发射 装置之间的超声波测量距离矫正为所述第二周期内的定位距离。
在示例性实施方式中，所述根据超声波接收装置在第一周期内的移动速度、加速度以及与超声波发射装置之间的超声波测量距离，确定所述超声波接收装置在第二周期的定位距离，可以包括：
根据以下式子计算所述超声波接收装置在第二周期的定位距离：
Figure PCTCN2018079324-appb-000001
其中，S为第二周期的定位距离，S 0为第一周期内所述超声波接收装置与超声波发射装置之间的超声波测量距离，t为信号周期，V 0为所述超声波接收装置在第一周期内的移动速度，a为所述超声波接收装置在第一周期内的加速度。
在示例性实施方式中，所述确定所述超声波接收装置在第二周期内与所述超声波发射装置之间的超声波测量距离，可以包括：
根据所述超声波接收装置在第二周期内接收到超声波信号的时间数据以及超声波信号的传播速度，确定所述超声波接收装置在第二周期内与所述超声波发射装置之间的超声波测量距离。
第二方面，本申请实施例提供一种用于超声波接收装置的控制装置，其中，所述超声波接收装置包括至少两个超声波接收器，所述控制装置包括：
目标接收器确定模块，配置为确定所述超声波接收装置的目标接收器，其中，所述目标接收器为所述超声波接收装置上和超声波发射装置的距离最近的一个超声波接收器；
控制模块，配置为根据确定的所述目标接收器，控制所述超声波接收装置上每个超声波接收器的状态。
在示例性实施方式中，所述控制模块可以配置为通过以下方式根据确定的所述目标接收器，控制所述超声波接收装置上每个超声波接收器的状态：
控制所述目标接收器以及与所述目标接收器之间满足设定条件的超声波接收器处于启动状态，且控制与所述目标接收器之间不满足所述设定条件的超声波接收器处于关闭状态。
在示例性实施方式中，所述目标接收器确定模块还可以配置为根据当前信号周期内所述超声波接收装置上处于启动状态的超声波接收器接收到超声波信号的时间数据，调整目标接收器；
所述控制模块还可以配置为根据调整后的目标接收器，调整下个信号周期所述超声波接收装置上每个超声波接收器的状态。
第三方面，本申请实施例提供一种超声波接收装置，包括：至少两个超声波接收器、存储器以及处理器；所述存储器配置为存储用于超声波接收装置的控制程序，所述控制程序被所述处理器执行时实现上述第一方面提供的控制方法的步骤。
在示例性实施方式中，超声波接收装置还可以包括：加速度传感器，配置为检测所述超声波接收装置的移动速度以及加速度。
第四方面，本申请实施例还提供一种超声波测距系统，包括：超声波发射装置以及超声波接收装置；其中，所述超声波发射装置配置为根据目标测量范围，控制发射的超声波信号的信号强度；所述超声波接收装置配置为确定接收超声波信号的强度阈值，并滤除接收到的信号强度小于所述强度阈值的超声波信号。
在示例性实施方式中，所述超声波接收装置可以包括控制模块以及至少两个超声波接收器；其中，所述控制模块配置为确定所述超声波接收装置的目标接收器，其中，所述目标接收器为所述超声波接收装置上和所述超声波发射装置的距离最近的一个超声波接收器；并根据确定的所述目标接收器，控制所述超声波接收装置上每个超声波接收器的状态。
在示例性实施方式中，所述超声波接收装置还可以包括：测距矫正模块以及加速度传感器；其中，所述加速度传感器配置为检测所述超声波接收装置的移动速度和加速度；所述测距矫正模块配置为根据所述超声波接收装置在第一周期内的移动速度、加速度以及与所述超声波发射装置之间的超声波测量距离，确定所述超声波接收装置在第二周期的定位距离；确定所述超声波接收装置在第二周期内与所述超声波发射装置之间的超声波测量距离；以及根据所述超声波接收装置在第二周期内的超声波测量距离与定位距离之间的比较结果，矫正在第二周期内所述超声波接收装置与所述超声波发射装置 之间的超声波测量距离；其中，所述第二周期为所述第一周期的下一信号周期。
此外，本申请实施例提供一种计算机可读介质，存储有用于超声波接收装置的控制程序，所述控制程序被处理器执行时实现上述第一方面提供的控制方法的步骤。
本申请实施例中，针对至少包括两个超声波接收器的超声波接收装置，确定超声波接收装置的目标接收器，其中，目标接收器为超声波接收装置上和超声波发射装置的距离最近的一个超声波接收器；根据确定的目标接收器，控制超声波接收装置上每个超声波接收器的状态。如此，确保超声波接收装置仅接收超声波发射装置发射的有效超声波信号，从而减少超声波测距的误差，提高测量准确性。
在阅读并理解了附图和详细描述后，可以明白其他方面。
附图概述
图1为待定位设备的超声波测距存在误差的示例图；
图2为本申请实施例提供的用于超声波接收装置的控制方法的流程图；
图3为本申请实施例提供的超声波接收装置上的超声波接收器的分布示例图；
图4为本申请实施例提供的用于超声波接收装置的控制装置的示意图；
图5为本申请实施例提供的超声波接收装置的一种示意图；
图6为本申请实施例提供的超声波接收装置的另一示意图；
图7为本申请实施例提供的超声波测距系统的示意图。
详述
以下结合附图对本申请实施例进行详细说明，应当理解，以下所说明的实施例仅用于说明和解释本申请，并不用于限定本申请。
需要说明的是，如果不冲突，本申请实施例以及实施例中的各个特征可 以相互结合，均在本申请的保护范围之内。另外，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。
利用超声波测距的方法可以进行物体位置的追踪；例如超声波发射器处于固定位置，安装了超声波接收器的待定位设备的位置是不断变化的，则根据超声波接收器接收到超声波信号的时间差值的不同，可以得到待定位设备在不同时间的位置。由于超声波传播的指向性特点，超声波接收器只有在正对或者稍偏离超声波发射器的位置才能接收到其发出的超声波信号，偏离上述约束位置则接收不到超声波信号。为了解决这个问题，可在待定位设备上安装多个超声波接收器，例如围绕圆周方向安装多个超声波接收器，则不论待定位设备怎样运动，都能接收到超声波信号。
然而，由于超声波具有反射特征，反射的超声波信号可能被待定位设备上安装的部分或全部超声波接收器接收到，从而影响超声波测距的准确性。比如，如图1所示，在较小的空间里，由于超声波具有反射特征，在碰到墙壁或者物体等障碍物时，其反射的超声波信号可能被待定位设备上安装的多个超声波接收器接收到，此时，待定位设备利用超声波进行测距就会出现误差，从而影响距离测量的准确性。
图2为本申请实施例提供的用于超声波接收装置的控制方法的流程图。本实施例中，超声波接收装置包括至少两个超声波接收器。示例性地，如图3所示，超声波接收装置呈球体状，球形表面上按序分布有12个超声波接收器，例如，图3中示出了六个超声波接收器301至306，在球形背面的六个超声波接收器未在图3中示出。然而，本申请对于超声波接收装置的形状以及超声波接收器的分布方式并不限定。
如图2所示，本实施例提供的控制方法，包括：
S201、确定超声波接收装置的目标接收器，其中，目标接收器为超声波接收装置上和超声波发射装置的距离最近的一个超声波接收器；通常为正对着超声波发射装置的一个超声波接收器；
S202、根据确定的目标接收器，控制超声波接收装置上每个超声波接收器的状态。
本实施例提供的控制方法可以由超声波接收装置执行，或者，可以由连接到超声波接收装置的控制设备执行。然而，本申请对此并不限定。
在示例性实施方式中，S202可以包括：控制目标接收器以及与目标接收器之间满足设定条件的超声波接收器处于启动状态，且控制与目标接收器之间不满足设定条件的超声波接收器处于关闭状态。
示例性地，与目标接收器之间满足设定条件的超声波接收器，可以包括：
超声波接收装置上与目标接收器之间的距离满足第一阈值的超声波接收器；或者，超声波接收装置上，处于以目标接收器为圆心、第二阈值为半径的范围内的超声波接收器。
其中，第一阈值和第二阈值可以根据实际应用场景进行设定。然而，本申请对此并不限定。
在本示例中，将超声波接收装置上正对或者稍偏离超声波发射装置的超声波接收器打开，而关闭偏离上述约束位置的超声波接收器，从而确定超声波接收装置仅接收超声波发射装置发射的有效超声波信号。
示例性地，S201可以包括：基于多个信号周期内超声波接收装置上每个超声波接收器接收到超声波信号的时间数据，确定目标接收器。然而，本申请对此并不限定。在其他实现方式中，初次确定目标接收器时，还可以通过指定方式确定目标接收器。
示例性地，在S202之后，本实施例的控制方法还可以包括：
根据当前信号周期内超声波接收装置上处于启动状态的超声波接收器接收到超声波信号的时间数据，调整目标接收器；
根据调整后的目标接收器，调整下个信号周期超声波接收装置上每个超声波接收器的状态。
示例性地，根据调整后的目标接收器，调整下个信号周期超声波接收装置上每个超声波接收器的状态，可以包括：
控制调整后的目标接收器以及与调整后的目标接收器之间满足设定条件的超声波接收器处于启动状态，且控制与调整后的目标接收器之间不满足设定条件的超声波接收器处于关闭状态。
其中，关于设定条件的说明同前所述，故于此不再赘述。
示例性地，根据当前信号周期内超声波接收装置上处于启动状态的超声波接收器接收到超声波信号的时间数据，调整目标接收器，可以包括：
从当前信号周期内接收到超声波信号的时间数据中，选择与参照时间数据之间的差值绝对值小于或等于第三阈值的时间数据，将选出的时间数据对应的超声波接收器调整为目标接收器，其中，参照时间数据为上一信号周期内的目标接收器接收到超声波信号的时间数据。
其中，第三阈值可以根据实际应用场景进行设定。然而，本申请对此并不限定。
在本示例中，可以动态调整目标接收器，从而确保超声波接收装置上开启的超声波接收器可以处于正对或稍偏离超声波发射装置的位置，以提高超声波接收装置的移动过程中的测距准确性。
本实施例中，通过关闭超声波接收装置上的部分超声波接收器，实现对障碍物反射的超声波信号的屏蔽。比如，在图1中，待定位设备(即本实施例中的超声波接收装置)上具有五个超声波接收器(以图1中待定位设备中的圆圈示意)，分别安装在待定位设备上的左上、左下、右上、右下和中间位置；在图1所示的场景中，若关闭位于右上和右下位置的超声波接收器，则待定位设备不会接收到从障碍物反射的超声波信号，只接收到超声波发射装置直接传输的超声波信号，从而减少定位误差，提高超声波测距的准确性。
下面基于图3所示的超声波接收装置对本申请进行举例说明。
在本示例中，如图3所示，超声波接收装置上的每个超声波接收器都能接收到来自超声波发射装置发射的超声波信号，或来自空间发射的超声波信号。在接收超声波信号一段时间后，可得到每个超声波接收器在多个信号发射间隔内接收到超声波信号的时间，因为运动轨迹是连续的，所以其接收到超声波信号的时间应该是一条连续光滑的数据线(比如，接收到超声波信号的时刻连续规律递增，或者连续规律递减)；选定某一时刻，如该连续光滑的数据线的数据来自于超声波接收器301，则以超声波接收器301为目标接收器。
然后，开启目标接收器301周围的一个或多个超声波接收器；例如，开启与目标接收器301的球面距离为第一阈值的一个或多个超声波接收器，比如，超声波接收器302、303、304、305以及306；并关闭其他超声波接收器(图3中未示出的在球体背面的其他超声波接收器)。
在本示例中，可以对目标接收器进行动态调整。比如，在确定目标接收器301之后的一个信号周期内，可以得到上述6个已开启的超声波接收器在该信号周期内接收到超声波信号的时间数据；从中选择最接近于上一个信号周期内目标接收器301接收到超声波信号的时间数据，将选择出的时间数据对应的超声波接收器调整为目标接收器。例如，上一个信号周期内目标接收器301接收到超声波信号的时间数据为10.01ms，当前信号周期内，6个超声波接收器接收到超声波信号的时间数据分别为：10.03ms(超声波接收器301)、16.7ms(超声波接收器302)、10.3ms(超声波接收器303)、10.02ms(超声波接收器304)、10.03ms(超声波接收器305)、18.1ms(超声波接收器306)，则最接近于10.01ms的时间数据为超声波接收器304接收到超声波信号的时间数据10.02ms，因此，可以将超声波接收器304更新为目标接收器。本示例中，确定超声波接收器304为目标接收器之后，可以开启目标接收器304周围若干个超声波接收器，比如，开启超声波接收器301、303、304、305以及在球体背面的距离目标接收器304最近的两个超声波接收器；并关闭其他超声波接收器，例如超声波接收器302、306以及在球体背面未示出的另外四个超声波接收器。
需要说明的是，在本示例中，可以根据信号周期动态调整目标接收器，从而根据超声波接收装置的实时位置控制正对或者稍偏离超声波发射装置的一个或多个超声波接收器处于启动状态，而其他超声波接收器处于关闭状态，以减少超声波测距的定位误差，并提高超声波测距的准确性。
在本示例中，超声波接收装置可以对已开启的多个超声波接收器接收到超声波信号的时间数据进行融合处理，得到超声波接收装置接收到超声波信号的融合时间数据，再根据融合时间数据进行距离计算。其中，融合方式可以包括但不限于：最近邻域法、广义相关法、高斯和法、最优贝叶斯法、概率数据互联法、对称测量方程滤波、加权平均、几何平均、算术平均、平方 平均、调和平均。然而，本申请对此并不限定。
在一示例性实施方式中，根据融合时间数据进行距离计算时，可以利用融合时间数据计算本信号周期内的超声波测量距离，并根据基于上一信号周期的移动速度和加速度预测到的定位距离以及本周期测量得到的超声波测量距离的比较结果，矫正本周期测量得到的超声波测量距离。
在另一示例性实施方式中，根据单个超声波接收器(例如目标接收器)的时间数据进行距离计算时，可以利用该超声波接收器的时间数据计算本信号周期内的超声波测量距离，并根据基于上一信号周期的移动速度和加速度预测到的定位距离以及本周期测量得到的超声波测量距离的比较结果，矫正本周期测量得到的超声波测量距离。
如此，通过引入超声波接收装置的移动速度以及加速度，预测定位距离，然后通过定位距离对超声波测量距离进行矫正，从而减少超声波测距的误差，并提高距离测量准确性。
其中，超声波接收装置可以包括加速度传感器，加速度传感器配置为检测超声波接收装置的移动速度以及加速度。加速度传感器(即加速度计)是惯性导航和惯性制导系统的基本测量元件之一，加速度计本质上是一个振荡系统，安装于运动载体(本实施例中为超声波接收装置)的内部，可以用来测量载体的运动加速度。例如，微机电系统(MEMS，Micro-electro Mechanical Systems)类加速度计的工作原理是当加速度计连同外界物体(该物体的加速度即为待测的加速度)一起作加速运动时，质量块会受到惯性力的作用向相反的方向运动，质量块发生的位移受到弹簧和阻尼器的限制，通过输出电压即可测得外界的加速度大小。然而，本申请并不限定使用的加速度传感器的类型。
在本示例中，可以根据超声波接收装置在第一周期内的移动速度、加速度以及与超声波发射装置之间的超声波测量距离，确定超声波接收装置在第二周期的定位距离；确定超声波接收装置在第二周期内与超声波发射装置之间的超声波测量距离；根据超声波接收装置在第二周期内的超声波测量距离与定位距离之间的比较结果，矫正在第二周期内超声波接收装置与超声波发射装置之间的超声波测量距离；其中，第二周期为第一周期的下一信号周期。
在本示例中，若第二周期内的超声波测量距离与定位距离之间的差值绝对值小于或等于第四阈值，则确定在第二周期内超声波接收装置与超声波发射装置之间的超声波测量距离不变；换言之，此时第二周期内的超声波测量距离是可信的；
若第二周期内的超声波测量距离与定位距离之间的差值绝对值大于第四阈值，则将第二周期内超声波接收装置与超声波发射装置之间的超声波测量距离矫正为第二周期内的定位距离；换言之，此时第二周期内的超声波测量距离是不可信的，并采用预测得到的第二周期内的定位距离作为超声波测量距离。
其中，第四阈值可以根据实际应用场景进行设定。然而，本申请对此并不限定。
本示例中，可以根据以下公式一计算超声波接收装置在第二周期的定位距离：
Figure PCTCN2018079324-appb-000002
其中，S为第二周期的定位距离，S 0为第一周期内超声波接收装置与超声波发射装置之间的超声波测量距离，t为信号周期，V 0为超声波接收装置在第一周期内的移动速度，a为超声波接收装置在第一周期内的加速度。
示例性地，确定超声波接收装置在第二周期内与超声波发射装置之间的超声波测量距离，可以包括：
根据超声波接收装置在第二周期内接收到超声波信号的时间数据以及超声波信号的传播速度，确定超声波接收装置在第二周期内与超声波发射装置之间的超声波测量距离。
本示例中，可以根据以下公式二计算第二周期的超声波测量距离：
S’＝V×t’；
其中，S’为第二周期的超声波测量距离，V为超声波的传播速度，t’为超声波接收装置在第二周期接收到超声波信号的时间数据。t’可以为超声波接收装置中多个超声波接收器在第二周期接收到超声波信号的时间融合数据，或者，为超声波接收装置中单个超声波接收器在第二周期接收到超声波 信号的时间数据。
示例性地，基于图1所示的场景，以信号周期为15毫秒(ms)为例，待定位设备(即本实施例的超声波接收装置)在第一个信号周期内的10ms时接收到超声波信号，则可以确定待定位设备与超声波发射器(即本实施例的超声波发射装置)之间的距离为10ms×340m/s＝3.4m；其中，在图1中，待定位设备上安装有五个超声波接收器，则待定位设备接收到超声波信号的10ms数据可以根据五个超声波接收器接收到超声波信号的时间数据融合得到。比如，融合方式可以包括但不限于以下之一：最近邻域法、广义相关法、高斯和法、最优贝叶斯法、概率数据互联法、对称测量方程滤波、加权平均、几何平均、算术平均、平方平均、调和平均。然而，本申请对此并不限定。或者，待定位设备接收到超声波信号的10ms数据可以为待定位设备上单个超声波接收器(例如目标接收器)接收到超声波信号的时间数据。
如图1所示，在待定位设备后方或侧面有障碍物，则障碍物反射回第一个信号周期的超声波信号被待定位设备接收到的时间数据可能为23ms，此时超出第一个信号周期，处于第二个信号周期内，表现为在第二个信号周期的8ms时接收到超声波信号。若待定位设备是向远离超声波发射器的方向运动，则待定位设备实际接收到第二个信号周期发射的超声波信号的时间数据可以为11ms；为了过滤反射的超声波信号，通常每个信号周期内都会选择最先接收到超声波信号的时间数据作为距离计算的依据，这样就会过滤掉实际数据11ms，而保留了误差数据8ms，根据该误差数据计算距离，表现为待定位设备是向靠近超声波发射器的方向运动，就会造成定位误差。若待定位设备是向靠近超声波发射器的方向运动，则实际接收到第二个信号周期发射的超声波信号的时间数据可以为9ms；为了过滤反射的超声波信号，通常每个信号周期内都会选择最先接收到超声波信号的时间数据作为距离计算的依据，这样就会过滤掉实际数据9ms，而保留了误差数据8ms，导致可能存在定位误差。在本示例中，可以根据确定的时间数据(比如，8ms)通过公式一计算S’的值，若S’在S±第四阈值的范围内(S通过公式二计算得到)，则认为可信，否则认为S’不可信，从而减少定位误差，提高距离测量准确性。
在一示例性实施方式中，超声波接收装置与超声波发射装置配合实现超 声波测距。其中，通过控制超声波发射装置的发射信号强度和每个超声波接收器的强度阈值中的至少一项，也能够排除超声波反射信号的干扰。
本示例中，超声波在实际传播过程中，会遇到诸多因素的影响，而产生不同程度的衰减，超声波的衰减主要有散射、扩散和吸收三种。需要根据目标测量范围，控制超声波发射装置发射的超声波信号的信号强度，示例性地，如目标测距范围小于或等于5m，而5m距离时，超声波发射装置发射的超声波信号的信号强度从80衰减为0，由于超声波接收器接收到的超声波信号需要一定的强度才能识别，则需要控制超声波发射装置发射的超声波信号的信号强度大于80。由于超声波具有反射特征，反射的超声波信号可能被超声波接收装置接收到，从而影响超声波测距的准确性，所以需要过滤掉这些反射的超声波信号。由于超声波的衰减作用，反射波的信号强度会有所减弱，所以可以通过确定超声波接收器接收超声波信号的强度阈值，并控制超声波接收器滤除接收到的信号强度小于强度阈值的超声波信号的方式，来滤除反射波。示例性地，可以将超声波接收器在当前角度下距超声波发射装置的距离为设定值(比如，5m)处的超声波信号的强度值作为强度阈值，用于超声波接收器在下一信号周期，滤除小于该强度阈值的超声波信号，即滤除掉由墙壁等障碍物反射的超声波信号。其中，超声波接收器在当前角度下距超声波发射装置的距离为设定值处的超声波信号的强度值可以通过预先检测的方式确定。例如，超声波发射装置的发射强度为100，在距离超声波发射装置5m处的超声波接收器接收到的强度为30，则以30作为强度阈值，用于超声波接收器在下一信号周期，滤除小于30的超声波信号。
另外，对于运动的超声波接收装置，通过在较短的信号周期内获得一次距离值，便于追踪其运动轨迹。本示例中，可以根据目标测量范围以及超声波传输速度，控制超声波发射装置发射超声波信号的信号周期。以目标测量范围为5米(m)为例，超声波发射装置发射的超声波信号传播5m所耗费的时间数据大约为15ms，其中，超声波传输速度大约为340m/s(超声波的传播速度受温度、湿度等环境因素的影响，在340m/s上下浮动)；因此，可以将两次超声波信号之间的传输间隔(即信号周期)设置为稍大于15ms，例如18ms。然而，本申请对此并不限定；理论上只要大于15ms即可。
在一个示例中，在超声波测距系统(包括超声波接收装置和超声波发射装置)开启抗干扰模式的信号周期内，根据目标测量范围，确定超声波发射装置的发射信号强度，且超声波发射装置按照确定的信号周期和发射信号强度发射超声波信号。超声波接收装置包括至少两个超声波接收器，每个超声波接收器根据确定的强度阈值检测接收到的超声波信号，将信号强度小于强度阈值的超声波信号滤除，并且超声波接收装置根据确定的目标接收器，关闭不必要的超声波接收器。另外，超声波接收装置对已开启的超声波接收器接收到超声波信号的时间数据进行融合处理，得到融合时间数据，利用融合时间数据计算本信号周期内的超声波测量距离，或者，超声波接收装置利用单个超声波接收器(例如目标接收器)接收到超声波信号的时间数据计算本信号周期内的超声波测量距离；并根据基于上一信号周期的移动速度和加速度预测到的定位距离以及本周期测量得到的超声波测量距离的比较结果，矫正本周期测量得到的超声波测量距离。其中，关于时间数据的融合方式同上所述，故于此不再赘述。本示例中通过结合多种超声波抗干扰方式，有效排除超声波反射信号的干扰。
在另一示例中，超声波接收装置的每个超声波接收器可以根据确定的接收超声波信号的强度阈值，滤除接收到的信号强度小于该强度阈值的超声波信号。并且超声波接收装置根据确定的目标接收器，关闭不必要的超声波接收器。另外，超声波接收装置对已开启的超声波接收器接收到超声波信号的时间数据进行融合处理，得到融合时间数据，利用融合时间数据计算本信号周期内的超声波测量距离，或者，超声波接收装置利用单个超声波接收器(例如，目标接收器)接收到超声波信号的时间数据计算本信号周期内的超声波测量距离；并根据基于上一信号周期的移动速度和加速度预测到的定位距离以及本周期测量得到的超声波测量距离的比较结果，矫正本周期测量得到的超声波测量距离。
在另一示例中，超声波接收装置可以对已开启的超声波接收器接收到超声波信号的时间数据进行融合处理，得到融合时间数据，利用融合时间数据计算本信号周期内的超声波测量距离，并根据基于上一信号周期的移动速度和加速度预测到的定位距离以及本周期测量得到的超声波测量距离的比较结 果，矫正本周期测量得到的超声波测量距离。
换言之，在实际应用中，可以将超声波发射装置的信号强度控制方案、超声波接收装置的信号滤除方案、超声波接收装置的目标接收器调整方案以及利用加速度矫正超声波测量距离的方案中的一项或多项进行组合，以提高超声波测距的准确性。
图4为本申请实施例提供的用于超声波接收装置的控制装置的示意图。本实施例中，超声波接收装置可以包括至少两个超声波接收器。如图4所示，本实施例提供的控制装置包括：
目标接收器确定模块401，配置为确定超声波接收装置的目标接收器，其中，目标接收器为超声波接收装置上和超声波发射装置距离最近的一个超声波接收器；通常为正对着超声波发射装置的一个超声波接收器；
控制模块402，配置为根据确定的目标接收器，控制超声波接收装置上每个超声波接收器的状态。
示例性地，控制模块402可以配置为通过以下方式根据确定的目标接收器，控制超声波接收装置上每个超声波接收器的状态：
控制目标接收器以及与目标接收器之间满足设定条件的超声波接收器处于启动状态，且控制与目标接收器之间不满足设定条件的超声波接收器处于关闭状态。
示例性地，目标接收器确定模块401还可以配置为根据当前信号周期内所述超声波接收装置上处于启动状态的超声波接收器接收到超声波信号的时间数据，调整目标接收器；
控制模块402还可以配置为根据调整后的目标接收器，调整下个信号周期超声波接收装置上每个超声波接收器的状态。
关于本实施例提供的控制装置的相关说明可以参照上述方法实施例的描述，故于此不再赘述。
图5为本申请实施例提供的超声波接收装置的示意图。如图5所示，本申请实施例提供的超声波接收装置，包括：至少两个超声波接收器501、存储器503以及处理器502；存储器503配置为存储用于超声波接收装置的控 制程序，该控制程序被处理器502执行时实现上述实施例提供的控制方法的步骤。
其中，处理器502可以包括但不限于微处理器(MCU，Microcontroller Unit)或可编程逻辑器件(FPGA，Field Programmable Gate Array)等的处理装置。存储器503可用于存储应用软件的软件程序以及模块，如本实施例中的控制方法对应的程序指令或模块，处理器502通过运行存储在存储器503内的软件程序以及模块，从而执行各种功能应用以及数据处理，即实现上述的控制方法。存储器503可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器503可包括相对于处理器502远程设置的存储器，这些远程存储器可以通过网络连接至上述超声波接收装置。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
图6为本申请实施例提供的超声波接收装置的另一示意图。如图6所示，本申请实施例还提供一种超声波接收装置，包括：超声波接收器601、加速度传感器604、存储器603以及处理器602；超声波接收器601配置为检测超声波信号，加速度传感器604配置为检测超声波接收装置的移动速度以及加速度；存储器603配置为存储控制程序，该控制程序被处理器602执行时实现上述实施例提供的控制方法的步骤。
其中，关于超声波接收器601、存储器603以及处理器602的相关说明可以参照上述超声波接收器501、存储器503以及处理器502的描述，故于此不再赘述。关于加速度传感器604的相关说明可以参照上述方法实施例的相关描述，故于此不再赘述。
图7为本申请实施例提供的超声波测距系统的示意图。如图7所示，本实施例的超声波测距系统，包括：超声波发射装置71以及超声波接收装置72；其中，超声波发射装置71，配置为根据目标测量范围，控制发射的超声波信号的信号强度；超声波接收装置72，配置为确定接收超声波信号的强度阈值，并滤除接收到的信号强度小于强度阈值的超声波信号。
示例性地，超声波接收装置72可以包括控制模块721以及至少两个超声波接收器722；其中，控制模块721，可以配置为确定超声波接收装置72 的目标接收器，其中，目标接收器为超声波接收装置72上和超声波发射装置71的距离最近的一个超声波接收器，通常为正对着超声波发射装置71的一个超声波接收器；并根据确定的目标接收器，控制超声波接收装置72上每个超声波接收器的状态。
示例性地，超声波接收装置72还可以包括：测距矫正模块723以及加速度传感器724；其中，加速度传感器724可以配置为检测超声波接收装置72的移动速度和加速度；测距矫正模块723，可以配置为根据超声波接收装置72在第一周期内的移动速度、加速度以及与超声波发射装置71之间的超声波测量距离，确定超声波接收装置72在第二周期的定位距离；确定超声波接收装置72在第二周期内与超声波发射装置71之间的超声波测量距离；以及根据超声波接收装置72在第二周期内的超声波测量距离与定位距离之间的比较结果，矫正在第二周期内超声波接收装置72与超声波发射装置71之间的超声波测量距离；其中，第二周期为第一周期的下一信号周期。
其中，关于本实施例提供的超声波测距系统的相关说明可以参照上述方法实施例的描述，故于此不再赘述。
此外，本申请实施例还提供一种计算机可读介质，存储有用于超声波接收装置的控制程序，该控制程序被处理器执行时实现上述实施例提供的控制方法的步骤。
本领域普通技术人员可以理解，上文中所公开方法中的全部或某些步骤、系统、装置中的功能模块或单元可以被实施为软件、固件、硬件及其适当的组合。在硬件实施方式中，在以上描述中提及的功能模块或单元之间的划分不一定对应于物理组件的划分；例如，一个物理组件可以具有多个功能，或者一个功能或步骤可以由若干物理组件合作执行。某些组件或所有组件可以被实施为由处理器，如数字信号处理器或微处理器执行的软件，或者被实施为硬件，或者被实施为集成电路，如专用集成电路。这样的软件可以分布在计算机可读介质上，计算机可读介质可以包括计算机存储介质(或非暂时性介质)和通信介质(或暂时性介质)。如本领域普通技术人员公知的，术语计算机存储介质包括在用于存储信息(诸如计算机可读指令、数据结构、程序模块或其他数据)的任何方法或技术中实施的易失性和非易失性、可移除 和不可移除介质。计算机存储介质包括但不限于RAM、ROM、EEPROM、闪存或其他存储器技术、CD-ROM、数字多功能盘(DVD)或其他光盘存储、磁盒、磁带、磁盘存储或其他磁存储装置、或者可以用于存储期望的信息并且可以被计算机访问的任何其他的介质。此外，本领域普通技术人员公知的是，通信介质通常包含计算机可读指令、数据结构、程序模块或者诸如载波或其他传输机制之类的调制数据信号中的其他数据，并且可包括任何信息递送介质。
以上显示和描述了本申请的基本原理和主要特征和本申请的优点。本申请不受上述实施例的限制，上述实施例和说明书中描述的只是说明本申请的原理，在不脱离本申请精神和范围的前提下，本申请还会有各种变化和改进，这些变化和改进都落入要求保护的本申请范围内。
工业实用性
本申请实施例提供一种用于超声波接收装置的控制方法及装置，能够减少超声波测距的误差，提高测量准确性。

Claims (22)

  1. 一种用于超声波接收装置的控制方法，其特征在于，所述超声波接收装置包括至少两个超声波接收器，所述控制方法包括：
    确定所述超声波接收装置的目标接收器，其中，所述目标接收器为所述超声波接收装置上和超声波发射装置的距离最近的一个超声波接收器；
    根据确定的所述目标接收器，控制所述超声波接收装置上每个超声波接收器的状态。
  2. 根据权利要求1所述的方法，其中，所述根据确定的所述目标接收器，控制所述超声波接收装置上每个超声波接收器的状态，包括：
    控制所述目标接收器以及与所述目标接收器之间满足设定条件的超声波接收器处于启动状态，且控制与所述目标接收器之间不满足所述设定条件的超声波接收器处于关闭状态。
  3. 根据权利要求2所述的方法，其中，所述与所述目标接收器之间满足设定条件的超声波接收器，包括：
    所述超声波接收装置上与所述目标接收器之间的距离满足第一阈值的超声波接收器；或者，
    所述超声波接收装置上，处于以所述目标接收器为圆心、第二阈值为半径的范围内的超声波接收器。
  4. 根据权利要求1所述的方法，其中，所述确定所述超声波接收装置的目标接收器，包括：
    基于多个信号周期内所述超声波接收装置上每个超声波接收器接收到超声波信号的时间数据，确定目标接收器。
  5. 根据权利要求1所述的方法，所述根据确定的所述目标接收器，控制所述超声波接收装置上每个超声波接收器的状态之后，所述方法还包括：
    根据当前信号周期内所述超声波接收装置上处于启动状态的超声波接收器接收到超声波信号的时间数据，调整目标接收器；
    根据调整后的目标接收器，调整下个信号周期所述超声波接收装置上每 个超声波接收器的状态。
  6. 根据权利要求5所述的方法，其中，所述根据调整后的目标接收器，调整下个信号周期所述超声波接收装置上每个超声波接收器的状态，包括：
    控制所述调整后的目标接收器以及与所述调整后的目标接收器之间满足设定条件的超声波接收器处于启动状态，且控制与所述调整后的目标接收器之间不满足设定条件的超声波接收器处于关闭状态。
  7. 根据权利要求5所述的方法，其中，所述根据当前信号周期内所述超声波接收装置上处于启动状态的超声波接收器接收到超声波信号的时间数据，调整所述目标接收器，包括：
    从当前信号周期内接收到超声波信号的时间数据中，选择与参照时间数据之间的差值绝对值小于或等于第三阈值的时间数据，将选出的所述时间数据对应的超声波接收器调整为目标接收器，其中，所述参照时间数据为上一信号周期内的目标接收器接收到超声波信号的时间数据。
  8. 根据权利要求1所述的方法，所述方法还包括以下至少之一：
    根据目标测量范围，控制所述超声波发射装置发射的超声波信号的信号强度；
    确定所述超声波接收装置接收超声波信号的强度阈值，并控制所述超声波接收装置滤除接收到的信号强度小于所述强度阈值的超声波信号。
  9. 根据权利要求8所述的方法，所述方法还包括：
    根据所述目标测量范围以及超声波传输速度，控制所述超声波发射装置发射超声波信号的信号周期。
  10. 根据权利要求1至9中任一项所述的方法，所述方法还包括：
    根据所述超声波接收装置在第一周期内的移动速度、加速度以及与所述超声波发射装置之间的超声波测量距离，确定所述超声波接收装置在第二周期的定位距离；
    确定所述超声波接收装置在第二周期内与所述超声波发射装置之间的超声波测量距离；
    根据所述超声波接收装置在第二周期内的超声波测量距离与定位距离之间的比较结果，矫正在第二周期内所述超声波接收装置与所述超声波发射装置之间的超声波测量距离；
    其中，所述第二周期为所述第一周期的下一信号周期。
  11. 根据权利要求10所述的方法，其中，所述根据所述超声波接收装置在第二周期内的超声波测量距离与定位距离之间的比较结果，矫正在第二周期内所述超声波接收装置与所述超声波发射装置之间的超声波测量距离，包括：
    若所述第二周期内的超声波测量距离与所述定位距离之间的差值绝对值小于或等于第四阈值，则确定在第二周期内所述超声波接收装置与所述超声波发射装置之间的超声波测量距离不变；
    若所述第二周期内的超声波测量距离与所述定位距离之间的差值绝对值大于所述第四阈值，则将第二周期内所述超声波接收装置与所述超声波发射装置之间的超声波测量距离矫正为所述第二周期内的定位距离。
  12. 根据权利要求10所述的方法，其中，所述根据超声波接收装置在第一周期内的移动速度、加速度以及与超声波发射装置之间的超声波测量距离，确定所述超声波接收装置在第二周期的定位距离，包括：
    根据以下式子计算所述超声波接收装置在第二周期的定位距离：
    Figure PCTCN2018079324-appb-100001
    其中，S为第二周期的定位距离，S 0为第一周期内所述超声波接收装置与超声波发射装置之间的超声波测量距离，t为信号周期，V 0为所述超声波接收装置在第一周期内的移动速度，a为所述超声波接收装置在第一周期内的加速度。
  13. 根据权利要求10所述的方法，其中，所述确定所述超声波接收装置在第二周期内与所述超声波发射装置之间的超声波测量距离，包括：
    根据所述超声波接收装置在第二周期内接收到超声波信号的时间数据以及超声波信号的传播速度，确定所述超声波接收装置在第二周期内与所述超声波发射装置之间的超声波测量距离。
  14. 一种用于超声波接收装置的控制装置，其特征在于，所述超声波接收装置包括至少两个超声波接收器，所述控制装置包括：
    目标接收器确定模块，配置为确定所述超声波接收装置的目标接收器，其中，所述目标接收器为所述超声波接收装置上和超声波发射装置的距离最近的一个超声波接收器；
    控制模块，配置为根据确定的所述目标接收器，控制所述超声波接收装置上每个超声波接收器的状态。
  15. 根据权利要求14所述的装置，其中，所述控制模块配置为通过以下方式根据确定的所述目标接收器，控制所述超声波接收装置上每个超声波接收器的状态：
    控制所述目标接收器以及与所述目标接收器之间满足设定条件的超声波接收器处于启动状态，且控制与所述目标接收器之间不满足所述设定条件的超声波接收器处于关闭状态。
  16. 根据权利要求14所述的装置，其中，所述目标接收器确定模块还配置为根据当前信号周期内所述超声波接收装置上处于启动状态的超声波接收器接收到超声波信号的时间数据，调整目标接收器；
    所述控制模块还配置为根据调整后的目标接收器，调整下个信号周期所述超声波接收装置上每个超声波接收器的状态。
  17. 一种超声波接收装置，包括：至少两个超声波接收器、存储器以及处理器；所述存储器配置为存储用于超声波接收装置的控制程序，所述控制程序被所述处理器执行时实现如权利要求1至13中任一项所述的控制方法的步骤。
  18. 根据权利要求17所述的超声波接收装置，所述超声波接收装置还包括：加速度传感器，配置为检测所述超声波接收装置的移动速度以及加速度。
  19. 一种超声波测距系统，包括：超声波发射装置以及超声波接收装置；
    其中，所述超声波发射装置配置为根据目标测量范围，控制发射的超声波信号的信号强度；
    所述超声波接收装置配置为确定接收超声波信号的强度阈值，并滤除接收到的信号强度小于所述强度阈值的超声波信号。
  20. 根据权利要求19所述的系统，其中，所述超声波接收装置包括控制模块以及至少两个超声波接收器；
    其中，所述控制模块配置为确定所述超声波接收装置的目标接收器，其中，所述目标接收器为所述超声波接收装置上和所述超声波发射装置的距离最近的一个超声波接收器；并根据确定的所述目标接收器，控制所述超声波接收装置上每个超声波接收器的状态。
  21. 根据权利要求19或20所述的系统，其中，所述超声波接收装置还包括：测距矫正模块以及加速度传感器；
    其中，所述加速度传感器配置为检测所述超声波接收装置的移动速度和加速度；
    所述测距矫正模块配置为根据所述超声波接收装置在第一周期内的移动速度、加速度以及与所述超声波发射装置之间的超声波测量距离，确定所述超声波接收装置在第二周期的定位距离；确定所述超声波接收装置在第二周期内与所述超声波发射装置之间的超声波测量距离；以及根据所述超声波接收装置在第二周期内的超声波测量距离与定位距离之间的比较结果，矫正在第二周期内所述超声波接收装置与所述超声波发射装置之间的超声波测量距离；其中，所述第二周期为所述第一周期的下一信号周期。
  22. 一种计算机可读介质，存储有用于超声波接收装置的控制程序，所述控制程序被处理器执行时实现如权利要求1至13中任一项所述的控制方法的步骤。
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