WO2023165276A1 - 一种超声波检测系统和方法 - Google Patents

一种超声波检测系统和方法 Download PDF

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WO2023165276A1
WO2023165276A1 PCT/CN2023/071700 CN2023071700W WO2023165276A1 WO 2023165276 A1 WO2023165276 A1 WO 2023165276A1 CN 2023071700 W CN2023071700 W CN 2023071700W WO 2023165276 A1 WO2023165276 A1 WO 2023165276A1
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correlation
ultrasonic
angle
existence
module
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PCT/CN2023/071700
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English (en)
French (fr)
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吕英超
東直哉
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苏州优达斯汽车科技有限公司
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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
    • 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
    • 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
    • G01S7/524—Transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Definitions

  • Embodiments of the present invention relate to the technical field of ultrasonic detection, and in particular to an ultrasonic detection system and method based on mixed waves.
  • the present invention provides an ultrasonic detection system and method, without using multiple "microphones” or an “ultrasonic detection system” that uses multiple ultrasonic sensors, only one "microphone” or one ultrasonic sensor is used
  • the detection system can realize the simultaneous detection of the distance and the existence angle of the object.
  • an ultrasonic detection system including:
  • the mixed wave generation circuit is used to mix and superimpose at least two excitation waves of different frequencies, and output them to the ultrasonic generation module;
  • the ultrasonic generation module is used for correspondingly generating at least two ultrasonic signals with different detection ranges according to the mixed and superimposed excitation waves;
  • the amplifying and filtering circuit module is used for amplifying and filtering the echo signal received by the ultrasonic generation module
  • the correlation calculation circuit module includes at least two correlation calculation circuits, which are respectively used to calculate the correlation between the amplified and filtered echo signal and the corresponding reference wave, so as to obtain the calculation results of the correlation of different detection ranges;
  • the CPU processing unit includes an existence angle determination processing module, and the existence angle determination processing module is used to determine the distance information and the existence angle of the measured object according to the calculation results of the correlation degrees of different detection ranges.
  • the CPU further includes an excitation wave generation processing module, configured to generate at least two excitation waves with different frequencies.
  • the CPU further includes a reference wave generation processing module, configured to generate corresponding reference waves for the at least two ultrasonic signals with different detection ranges.
  • a reference wave generation processing module configured to generate corresponding reference waves for the at least two ultrasonic signals with different detection ranges.
  • the existence angle determination processing module is specifically configured to perform:
  • the detection time of the measured object is obtained according to the correlation peak, and the distance information of the measured object is calculated according to the detection time.
  • construct an association relationship between the correlation value and the object existence angle including:
  • the correlation between the correlation value and the object existence angle is constructed.
  • the embodiment of the present invention also provides an ultrasonic detection method based on the ultrasonic detection system described in any one of the above, including:
  • the existence angle and distance information of the measured object are determined according to the calculation result of the correlation degree.
  • determining the existence angle and distance information of the measured object according to the correlation calculation result includes:
  • the detection time of the measured object is obtained according to the correlation peak, and the distance information of the measured object is calculated according to the detection time.
  • construct an association relationship between the correlation value and the object existence angle including:
  • the correlation between the correlation value and the object existence angle is constructed.
  • excitation waves of different frequencies are sent to the same ultrasonic generation module to generate ultrasonic signals with different detection ranges, and through the correlation between the pre-built correlation value and the angle of the object, according to the ultrasonic echo signal and Corresponding to the correlation value of the reference signal, the distance information and the existence angle of the measured object are determined.
  • the ultrasonic detection system with only one "microphone” or one ultrasonic sensor can realize simultaneous detection of objects without using multiple "microphones” or “ultrasonic detection system” with multiple ultrasonic sensors The distance and angle of existence improve the stability of the ultrasonic detection process.
  • Figure 1 shows the system architecture diagram of previous cases
  • Figure 2 shows a schematic diagram of Chirp waves in previous cases
  • Figure 3 shows a schematic diagram of the correlation value calculation method in previous cases
  • Figure 4(1) shows a schematic diagram of object detection in the horizontal direction of previous cases
  • Figure 4(2) shows a schematic diagram of object detection in the vertical direction in previous cases
  • Fig. 5 (1) represents the schematic diagram of the ultrasonic pointing characteristic of embodiment 1 in the present invention
  • Fig. 5 (2) represents the ultrasonic impedance characteristic schematic diagram of embodiment 1 in the present invention
  • Fig. 5 (3) represents the schematic diagram of ultrasonic transceiver sensitivity of embodiment 1 in the present invention
  • Fig. 6 (1) shows the schematic diagram of the horizontal angle detection area range (after K correction) of embodiment 1 in the present invention
  • Fig. 6 (2) shows the schematic diagram of the vertical angle detection area range (after K correction) of embodiment 1 in the present invention
  • Fig. 7 shows the system architecture diagram of Embodiment 1 in the present invention.
  • Fig. 8 shows the Chirp wave mixing schematic diagram of embodiment 1 in the present invention
  • Fig. 9 shows the schematic diagram of correlation value calculation method_object position.1 in embodiment 1 of the present invention.
  • Fig. 10 shows the schematic diagram of correlation value calculation method_object position.2 in embodiment 1 of the present invention.
  • Fig. 11 shows the schematic diagram of correlation value calculation method_object position.3 in embodiment 1 of the present invention.
  • Fig. 12 (1) shows the schematic diagram of the relationship between the correlation value operation result Vout and the position of the object
  • Fig. 12 (2) shows the schematic diagram of the relationship between the correlation value operation result Vout and the object angle
  • Fig. 13 (1) shows the application schematic diagram of the determination of the existence angle in the horizontal direction of Embodiment 1 in the present invention
  • Fig. 13 (2) shows the application schematic diagram of the determination of the presence angle in the vertical direction in Embodiment 1 of the present invention
  • FIG. 14 shows a system architecture diagram of Embodiment 2 of the present invention.
  • Fig. 15 shows the Pulse wave mixing schematic diagram of embodiment 2 in the present invention
  • Fig. 16 shows the schematic diagram of correlation value calculation method_object position.1 of embodiment 2 in the present invention
  • Fig. 17 shows a schematic diagram of the correlation value calculation method_object position.2 in embodiment 2 of the present invention.
  • FIG. 18 shows a schematic diagram of the correlation value calculation method_object position.3 in Embodiment 2 of the present invention.
  • the system architecture diagram of the ultrasonic detection system in the prior art is shown in Fig. 1.
  • the system includes a Chirp wave generating circuit, an ultrasonic generating module, an amplification and filtering circuit, a related calculation circuit and a CPU processing unit. in:
  • Chirp wave generation circuit used to generate Chirp waves and drive the ultrasonic generation module to send ultrasonic waves.
  • Ultrasonic generation module used to send Chirp type ultrasonic waves.
  • Amplifying and filtering circuit used to amplify the reflected receiving wave from the object to obtain the output signal of the amplifying and filtering circuit.
  • Correlation calculation circuit A device capable of high-speed calculation processing such as DSP is used to perform correlation calculation on the "reference wave output" generated from the Chirp wave.
  • CPU processing unit control and process all relevant signals in the system, process the results output from relevant calculation circuits, judge the distance of objects, and output the detection results.
  • Figure 2 shows the properties of a Chirp wave in the prior art.
  • the time difference between t0-t1 is defined as the sending time of the Chirp wave; the corresponding Fc1_0–Fc1_1 is defined as the frequency range of the Chirp wave.
  • Chirp waves have various types such as linear increase in frequency with time, linear decrease or nonlinear increase, and nonlinear decrease.
  • Figure 2 shows the type of Chirp wave frequency that increases linearly with time.
  • the Chirp-type ultrasonic wave is sent through the ultrasonic generation module, the reflected wave from the object is received, and then enters the amplification and filtering circuit to obtain the output signal of the amplification and filtering circuit.
  • the reception time of the reflected signal from the object is assumed to be t2.
  • Fig. 3 shows the correlation value calculation method in the prior art.
  • the method is as follows: multiply “reference wave_0000” and “amplification filter circuit output”, and accumulate the multiplication results.
  • the accumulated value is used as the correlation value at time t0 and stored in " Correlation value calculation results”.
  • delay 1 cycle to obtain "reference wave_0001”, multiply “reference wave_0001” and “amplification filter circuit output”, and accumulate the multiplication results, and the accumulated value obtained is used as the correlation value at time t1.
  • This process is repeated sequentially below. That is, the correlation value calculation is equivalent to calculating the correlation between the two. In the vicinity of t2 when there is a reflected wave from the object, the correlation value between the "reference wave” and the “amplification filter circuit output” increases, so the value of the "correlation value calculation result” also increases.
  • the detection distance to the object can be calculated.
  • the previous case can output the distance of the object, as shown in the horizontal angle detection in Figure 4(1), it cannot be determined which position the distance is reflected from the concentric circle centered on the "ultrasonic microphone", and it cannot be determined The existence area and existence angle of the object.
  • ultrasonic inspection system products currently on the market usually adopt a solution: use multiple ultrasonic sensors in combination, and determine in which area the object is located according to their respective results, that is, multiple ultrasonic sensors are required for inspection. area determination.
  • ultrasonic detection system products currently on the market cannot accurately determine the angle of existence of the object.
  • an embodiment of the present invention provides an ultrasonic testing system, which includes a mixed wave generating circuit, an ultrasonic generating module, an amplification and filtering circuit module, a related computing circuit module and a CPU processing unit.
  • the mixed wave generating circuit is used for mixing and superimposing at least two excitation waves of different frequencies, and outputting the mixed wave to the ultrasonic generating module.
  • the excitation wave in this embodiment may be in the form of Chirp wave, pulse wave or the like.
  • the ultrasonic generation module is used for correspondingly generating at least two ultrasonic signals with different detection ranges according to the mixed and superimposed excitation waves.
  • the ultrasonic generating module in this embodiment may be a microphone, an ultrasonic sensor, and other components.
  • the amplifying and filtering circuit module is used for amplifying and filtering the echo signal received by the ultrasonic generation module
  • the correlation calculation circuit module includes at least two correlation calculation circuits, which are respectively used to calculate the correlation between the amplified and filtered echo signal and the corresponding reference wave, so as to obtain the calculation results of the correlation of different detection ranges;
  • the CPU processing unit includes an existence angle determination processing module, an excitation wave generation processing module, a reference wave generation processing module and an existence angle output module.
  • the existence angle determination processing module is used to determine the distance information and the existence angle of the measured object according to the calculation results of different detection range correlations;
  • the excitation wave generation processing module is used to generate at least two excitation waves with different frequencies;
  • the reference wave generation processing module is used to generate corresponding reference waves for the at least two ultrasonic signals with different detection ranges;
  • the existence angle output module is used to output the distance and the existence angle of the measured object.
  • the existence angle determination processing module is specifically used to perform:
  • the detection time of the measured object is obtained according to the correlation peak, and the distance information of the measured object is calculated according to the detection time.
  • the correlation between the correlation value and the object existence angle is constructed, including:
  • the correlation between the correlation value and the object existence angle is constructed.
  • the correlation calculation values corresponding to different detection positions are also different.
  • the detection position of the object By converting the detection position of the object into the existence angle, the relationship between the correlation degree value and the existence angle relationship.
  • the angle of existence of the measured object can be determined correspondingly according to different calculated correlation values.
  • excitation waves of different frequencies are sent to the same ultrasonic generation module to generate ultrasonic signals with different detection ranges, and through the correlation between the pre-built correlation value and the angle of the object, according to the ultrasonic echo signal and Corresponding to the correlation value of the reference signal, the distance information and the existence angle of the measured object are determined.
  • the ultrasonic detection system with only one "microphone” or one ultrasonic sensor can realize simultaneous detection of objects without using multiple "microphones” or “ultrasonic detection system” with multiple ultrasonic sensors The distance and angle of existence improve the stability of the ultrasonic detection process.
  • An ultrasonic mixed wave detection system provided in Embodiment 1 of the present invention uses a plurality of different Chirp waves, and FIG. 5 shows the generation of ultrasonic directivity of the system.
  • an "ultrasonic microphone” used in an ultrasonic testing device is a piezoelectric element attached to a metal case such as aluminum, and is excited by an applied transmission wave to vibrate to emit ultrasonic waves.
  • the emitted radiation intensity has a specific radiation intensity depending on the diameter and frequency of the vibration source.
  • the characteristics of the radiation intensity of ultrasonic waves are called directivity characteristics.
  • directivity characteristics In the present invention, by using a plurality of frequencies, different directivity characteristics are produced.
  • the sensitivity of transmission/reception is high near the resonance point, but if the frequency is far away from the resonance point, the sensitivity decreases, so sensitivity correction is required.
  • fm1 40 [kHz]
  • fm2 60 [kHz]
  • FIG. 7 shows the system architecture of Embodiment 1 of the present invention.
  • the system includes a mixed wave generating circuit, a microphone, an amplification and filtering circuit module, a related calculation circuit module and a CPU processing unit. in:
  • Amplifying and filtering circuit module amplifying and filtering the reflected echoes received by the microphone.
  • Correlation calculation circuit module it contains a plurality of correlation calculation circuits, each of which uses a device capable of high-speed calculation processing such as DSP, and performs amplified and filtered signals and "reference wave output" generated from Chirp waves Carry out correlation calculation processing, input the processing result to the existence angle judgment module for processing, obtain the existence angle judgment result and output it through the existence angle output processing module, at the same time, the distance can also be calculated and output synchronously.
  • a device capable of high-speed calculation processing such as DSP
  • CPU processing unit comprising a generation processing module of multiple Chirp waves, a reference wave generation processing module corresponding to the aforementioned Chirp waves, and an existence angle determination processing module and its output processing module for processing related calculation results, through " The calculation result output by the "correlation calculation circuit module” determines the “distance” and "existence angle” of the object, and outputs the detection result.
  • Fig. 8 shows the Chirp wave mixing in Example 1 of the present invention.
  • the "microphone” receives the reflected wave from the object and enters the "amplification and filtering loop” module for processing.
  • the reception time of the reflected wave from the object is set to t2.
  • FIG. 9 to 11 show schematic diagrams of correlation value calculations in Embodiment 1 of the present invention.
  • Fig. 9 is the correlation calculation result of object position .1
  • Fig. 10 is the correlation calculation result of object position .2
  • Fig. 11 is the correlation calculation result of object position .3.
  • FIG. 12 shows the existence angle determination method of Embodiment 1 of the present invention.
  • FIG. 12(1) shows the relationship between the correlation value calculation result Vout and the object position.
  • the correlation value calculation result Vout changes according to the existing position of the object;
  • FIG. 12(2) shows the relationship between the correlation value calculation result Vout and the object angle.
  • the object position in Figure 12(1) is transformed into the angle at which the object exists, it becomes Figure 12(2). That is, when the angle of existence of the object becomes larger, the result of Vout.2-Vout.1 or Vout.3-Vout.1 is a curve that increases with the increase of the angle.
  • Objects can be identified by comparing the calculated "correlation value.1 calculation result Vout.1", “correlation value.2 calculation result Vout.2” and “correlation value.3 calculation result Vout.3” with this curve The angles and distances that exist.
  • FIG. 13 shows two application examples of existence angle determination in Embodiment 1 of the present invention. in:
  • Figure 13 (1) shows in the horizontal angle detection: in the horizontal direction, an ultrasonic detection system that detects the "distance” and “existence angle” of an object at the same time with only one “ultrasonic microphone” can be realized.
  • Figure 13(2) shows in the vertical angle detection: In the vertical direction, because the "distance” and “existence angle” of the object can be detected at the same time, it can be judged whether the object exists in the "opposite object” in the front direction or exists on the road. "Road Surface Objects” on .
  • a plurality of pulse (Pulse) waves are used in the system of Embodiment 2 of the present invention.
  • Fig. 14 shows the system architecture of Embodiment 2 of the present invention.
  • the system includes a mixed wave generating circuit, a microphone, an amplification and filtering circuit module, a related calculation circuit module and a CPU processing unit. in:
  • (1) Mixed wave generation circuit Mix and superimpose different Pulse waves generated by the "Pulse wave generation processing" module, and output to the microphone.
  • Amplifying and filtering circuit module amplifying and filtering the reflected echoes received by the microphone.
  • Correlation calculation circuit module it includes a plurality of correlation calculation circuits, each of which uses a device capable of high-speed calculation processing such as DSP, and performs amplified and filtered signals and the "reference wave output" generated from the Pulse wave Carry out correlation calculation processing, input the processing result to the existence angle judgment module for processing, obtain the existence angle judgment result and output it through the existence angle output processing module, at the same time, the distance can also be calculated and output synchronously.
  • a device capable of high-speed calculation processing such as DSP
  • CPU processing unit including a generation processing module of multiple Pulse waves, a reference wave generation processing module corresponding to the above-mentioned Pulse wave, and an existence angle determination processing module and its output processing module for processing related calculation results, through " The calculation result output by the "correlation calculation circuit module” determines the “distance” and "existence angle” of the object, and outputs the detection result.
  • Fig. 15 shows the Pulse wave mixing in Example 2 of the present invention.
  • Fig. 16-Fig. 18 show the correlation value calculation in Embodiment 2 of the present invention.
  • Fig. 16 is the calculation result of object position .1
  • Fig. 17 is the calculation result of object position .2
  • Fig. 18 is the calculation result of object position .3.
  • the correlation calculation method has been described in Fig. 3, although for the Pulse wave, the waveform of the correlation value calculation result is different, but the calculation method is the same.

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Abstract

一种超声波检测系统和方法。其中，该系统包括:混合波生成电路，用于将至少两个不同频率的激励波进行混合叠加；超声波生成模块，用于产生至少两个检测范围不同的超声波信号；相关计算电路模块，包括至少两个相关计算电路，分别用于对放大滤波处理后的回波信号与对应的参照波进行相关度计算；CPU 处理单元，用于根据不同检测范围相关度的计算结果判定被测物体的距离信息和存在角度。该系统通过向同一超声波生成模块发送不同频率的激励波，实现了仅用一个超声波生成模块的超声波检测系统便可以实现同时检测物体的距离和存在角度，提高了超声波检测过程的稳定性。

Description

一种超声波检测系统和方法 技术领域
本发明实施例涉及超声波检测技术领域，尤其涉及一种基于混合波的超声波检测系统和方法。
背景技术
在超声波测距原理中，通过“超声波麦克风”发出的波、再接收物体的反射波来进行障碍物检测时，虽然可以得到障碍物的距离，但是却不能确定该距离是从以“超声波麦克风”为中心的同心圆的哪个位置反射的，也就不能确定物体的存在区域和存在角度，尤其在需要进行垂直方向上的角度检测时，例如，要区分障碍物是存在于正面方向的“对面物体”还是存在于路面上的“路面物体”时，失误率会明显增高。而目前市场上的多数超声波检测系统产品还无法进行障碍物“存在角度”的准确判定。
发明内容
本发明提供一种超声波检测系统和方法，在不需要使用多个“麦克风”或不需要使用多个超声波传感器的“超声波检测系统”的情况下，仅用一个“麦克风”或一个超声波传感器的超声波检测系统便可以实现同时检测物体的距离和存在角度。
第一方面，本发明实施例提供了一种超声波检测系统，包括：
混合波生成电路、超声波生成模块、放大滤波电路模块、相关计算电路模块和CPU处理单元；
其中，所述混合波生成电路用于将至少两个不同频率的激励波进行混合叠加，并输出给超声波生成模块；
超声波生成模块，用于根据混合叠加后的激励波对应产生至少两个检测范围不同的超声波信号；
放大滤波电路模块，用于对超声波生成模块接收到的回波信号进行放大滤波处理；
相关计算电路模块，包括至少两个相关计算电路，分别用于对放大滤波处理后的回波信号与对应的参照波进行相关度计算，以得到不同检测范围相关度的计算结果；
CPU处理单元，包括存在角度判定处理模块，所述存在角度判定处理模块用于根据不同检测范围相关度的计算结果判定被测物体的距离信息和存在角度。
可选的，所述CPU还包括激励波生成处理模块，用于产生至少两个不同频率的激励波。
可选的，所述CPU还包括参照波生成处理模块，用于为所述至少两个检测范围不同的超声波信号分别生成对应的参照波。
可选的，所述存在角度判定处理模块具体用于执行：
根据所述相关度计算结果以及预先构建的相关度值与物体存在角度之间的关联关系，确定被测物体的存在角度；
根据相关度峰值获取被测物体的检测时间，根据所述检测时间计算被测物体距离信息。
可选的，构建相关度值与物体存在角度之间的关联关系，包括：
获取不同检测角度对应的超声波回波信号与参照波的相关度值；
根据检测角度和对应的相关度计算结果构建相关度值与物体存在角度之间的关联关系。
第二方面，本发明实施例还提供了一种基于上述任一项所述的超声波检测系统的超声波检测方法，包括：
同时向同一超声波生成模块发送至少两个不同频率的混合激励波，以使超声波生成模块对应产生至少两个检测范围不同的超声波信号；
接收超声波信号的回波信号，将所述回波信号分别与对应的参照波进行相关度计算；
根据所述相关度计算结果确定被测物体的存在角度和距离信息。
可选的，根据所述相关度计算结果确定被测物体的存在角度和距离信息，包括：
根据所述相关度计算结果以及预先构建的相关度值与物体存在角度之间的关联关系，确定被测物体的存在角度；
根据相关度峰值获取被测物体的检测时间，根据所述检测时间计算被测物体距离信息。
可选的，构建相关度值与物体存在角度之间的关联关系，包括：
获取不同检测角度对应的超声波回波信号与参照波的相关度值；
根据检测角度和对应的相关度计算结果构建相关度值与物体存在角度之间的关联关系。
本发明实施例通过向同一超声波生成模块发送不同频率的激励波，以生成不同检测范围的超声波信号，通过预先构建的相关度值与物体存在角度之间的关联关系，根据超声波的回波信号与对应参考信号的相关度值来确定被测物体的距离信息和存在角度。实现了在不需要使用多个“麦克风”或不需要使用多个超声波传感器的“超声波检测系统”的情况下，仅用一个“麦克风”或一个超声波传感器的超声波检测系统便可以实现同时检测物体的距离和存在角度，提高了超声波检测过程的稳定性。
附图说明
图1表示以往案例的系统架构图；
图2表示以往案例的Chirp波示意图；
图3表示以往案例的相关值计算方法示意图；
图4(1)表示以往案例水平方向上的物体检测示意图；
图4(2)表示以往案例垂直方向上的物体检测示意图；
图5(1)表示本发明中实施例1的超声波指向特性示意图；
图5(2)表示本发明中实施例1的超声波阻抗特性示意图；
图5(3)表示本发明中实施例1的超声波收发信感度示意图；
图6(1)表示本发明中实施例1的水平角度检测区域范围(K补正后)示意图；
图6(2)表示本发明中实施例1的垂直角度检测区域范围(K补正后)示意图；
图7表示本发明中实施例1的系统架构图；
图8表示本发明中实施例1的Chirp波混合示意图；
图9表示本发明中实施例1的相关值计算方法_物体位置.1示意图；
图10表示本发明中实施例1的相关值计算方法_物体位置.2示意图；
图11表示本发明中实施例1的相关值计算方法_物体位置.3示意图；
图12(1)表示相关值运算结果Vout与物体位置的关系示意图；
图12(2)表示相关值运算结果Vout与物体角度的关系示意图；
图13(1)表示本发明中实施例1的水平方向存在角度判定的应用示意图；
图13(2)表示本发明中实施例1的垂直方向存在角度判定的应用示意图；
图14表示本发明中实施例2的系统架构图；
图15表示本发明中实施例2的Pulse波混合示意图；
图16表示本发明中实施例2的相关值计算方法_物体位置.1示意图；
图17表示本发明中实施例2的相关值计算方法_物体位置.2示意图；
图18表示本发明中实施例2的相关值计算方法_物体位置.3示意图。
具体实施方式
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。
为了更好的理解本发明实施例的技术方案，先介绍一下现有技术中常用的超声波检测方法。现有技术中的超声波检测系统的系统架构图如图1所示，该系统包括Chirp波生成电路、超声波生成模块、放大滤波电路、相关计算电路和CPU处理单元。其中：
(1)Chirp波生成电路：用于生成Chirp波，驱动超声波生成模块发送超声波。
(2)超声波生成模块：用于发送Chirp型超声波。
(3)放大滤波电路：用于放大来自物体的反射接收波，得到放大滤波回路输出信号。
(4)相关计算电路：使用了能够进行DSP等高速运算处理的装置，对从Chirp波生成的“参照波输出”进行相关运算。
(5)CPU处理单元：控制及处理系统中所有相关信号，处理从相关计算电路输出的结果，判断物体的距离，并输出检测结果。
图2所示显示了现有技术中一个Chirp波的属性。定义t0-t1之间的时间差值为Chirp波的发送时间；相对应的Fc1_0–Fc1_1定义为Chirp波的频率范围。Chirp波有频率随时间线性增加、线性减小或非线性增加、非线性减小等多种类型，图2显示出的是Chirp波频率随着时间线性增加的类型。产生Chirp波后，通过超声波生成模块发送Chirp型超声波，接收到来自物体的反射波，然后进入放大滤波电路，得到放大滤波电路输出信号。这里，将来自物体的反射信号的接收时刻设为t2。
图3给出了现有技术中的相关值计算方法。首先，计算t0时刻的相关值，方法如下：将“参照波_0000”和“放大滤波回路输出”相乘，并将相乘结果累加，得到的累加值作为t0时刻的相关值，存储在“相关值计算结果”中。接着，延迟1个周期得到“参照波_0001”,将“参照波_0001”和“放大滤波回路输出”相乘，并将相乘结果累加，得到的累加值作为t1时刻的相关值。以下依次重复该处理。即，相关值运算相当于计算两者的相关性。在存在来自物体的反射波的t2附近，“参照波”和“放大滤波回路输出”之间的相关值变大，因此“相关值计算结果”的值也增大。
计算完所有时刻的相关值后，通过阈值进行相关值计算结果的判定时，当相关值计算结果大于相关度阈值时，认为检测到障碍物存在，并检索相关值的峰值出现的时间t2。由此，如果将接收时间转换为物体距离，就可以计算到物体的检测距离。虽然该以往案例可以输出物体的距离，但是如图4(1)水平角度检测所示，却不能确定该距离是从以“超声波麦克风”为中心的同心圆的哪个位置反射的，也就不能确定物体的存在区域和存在角度。针对这一问题，目前市场上的多数超声波检查系统产品通常采用的方案是：组合使用多个超声波传感器，根据各自的结果判定物体的位置在哪个区域，也就是说，需要多个超声波传感器来进行区域的判定。但是对物体的存在角度，目前市场上的多数超声波检测系统产品还无法进行准确判定。
如图4(2)垂直角度检测所示，在垂直方向上，该以往案例中的系统无法判别检测到的物体是存在于正面方向的“对面物体”还是存在于路面上的“路面物体”。在路面物体的情况下，对于如路沿(Stone Curb)等较大的路面物体，应该能有效检测并判别其存在的方向， 但是又要避免检测到路面的小凹凸物体等。因此，需要通过物体的存在角度来判定是正面方向的“对面物体”、或是路面上的“路面物体”、或是只是路面的小凹凸物体等。
基于现有技术中存在的缺陷，本发明实施例提供了一种超声波检测系统，该系统包括混合波生成电路、超声波生成模块、放大滤波电路模块、相关计算电路模块和CPU处理单元。
其中，所述混合波生成电路用于将至少两个不同频率的激励波进行混合叠加，并输出给超声波生成模块。本实施例中的激励波可以为Chirp波、脉冲波等形式。
超声波生成模块，用于根据混合叠加后的激励波对应产生至少两个检测范围不同的超声波信号。可选的，本实施例中的超声波生成模块可以为麦克风、超声波传感器等部件。
放大滤波电路模块，用于对超声波生成模块接收到的回波信号进行放大滤波处理；
相关计算电路模块，包括至少两个相关计算电路，分别用于对放大滤波处理后的回波信号与对应的参照波进行相关度计算，以得到不同检测范围相关度的计算结果；
CPU处理单元，包括存在角度判定处理模块、激励波生成处理模块、参照波生成处理模块以及存在角度输出模块。其中，所述存在角度判定处理模块用于根据不同检测范围相关度的计算结果判定被测物体的距离信息和存在角度；所述激励波生成处理模块用于产生至少两个不同频率的激励波；所述参照波生成处理模块用于为所述至少两个检测范围不同的超声波信号分别生成对应的参照波；所述存在角度输出模块用于输出被测物体的距离和存在角度。
具体的，所述存在角度判定处理模块具体用于执行：
根据所述相关度计算结果以及预先构建的相关度值与物体存在角度之间的关联关系，确定被测物体的存在角度；
根据相关度峰值获取被测物体的检测时间，根据所述检测时间计算被测物体距离信息。
其中，构建相关度值与物体存在角度之间的关联关系，包括：
获取不同检测角度对应的超声波回波信号与参照波的相关度值；
根据检测角度和对应的相关度计算结果构建相关度值与物体存在角度之间的关联关系。
本实施例中，由于超声波存在多个检测范围，因此，不同检测位置所对应的相关度计算值也不同，通过将物体的检测位置转换成存在角度，即可以构建相关度值与存在角度之间的关联关系。在进行物体检测时，根据计算得到的不同的相关度值可以对应的确定被测物体的存在角度。
本发明实施例通过向同一超声波生成模块发送不同频率的激励波，以生成不同检测范 围的超声波信号，通过预先构建的相关度值与物体存在角度之间的关联关系，根据超声波的回波信号与对应参考信号的相关度值来确定被测物体的距离信息和存在角度。实现了在不需要使用多个“麦克风”或不需要使用多个超声波传感器的“超声波检测系统”的情况下，仅用一个“麦克风”或一个超声波传感器的超声波检测系统便可以实现同时检测物体的距离和存在角度，提高了超声波检测过程的稳定性。
接来下分别用两个实施例对上述技术方案进行一步的解释说明。
实施例1
本发明中实施例1提供的一种超声波式混合波检测系统使用多个不同的Chirp波，图5表示该系统的超声波指向性生成。通常，用于超声波检测装置的“超声波麦克风”是在铝等金属壳体内粘贴压电元件，通过施加的发送波激励产生振动，从而发出超声波。发射的辐射强度根据振动源的直径和频率而具有特定的辐射强度。超声波的辐射强度的特性叫做指向性特性。在本发明中，通过使用多个频率，产生不同的指向性特性。另外，由于“超声波麦克风”中存在谐振点，所以在谐振点附近发送/接收的灵敏度较高，但是如果远离谐振点频率，则灵敏度降低，因此需要进行灵敏度的校正。
本实施例中，以fm1＝40[kHz]，fm2＝60[kHz]，fm3＝80[kHz]这3个使用频率作为例子。以fm1＝40[kHz]的灵敏度为基准，在fm2＝60[kHz]中与fm1＝40[kHz]相比只降低K60-40[dB]，在fm3＝80[kHz]中与fm1＝40[kHz]相比只降低K80-40[dB]，因此在以后的运算中对它们进行修正。
图6表示本发明中一种超声波式混合波检测系统的检测区域范围。因为进行了K60-40[dB]、K80-40[dB]的修正，所以在以后说明的本方案中，检测区域范围记为Detection Area_fm1＝40[kHz]、Detection Area_fm2＝60[kHz]、Detection Area_fm3＝80[kHz]。
图7表示本发明中实施例1的系统架构。该系统包含混合波生成电路、麦克风、放大滤波电路模块、相关计算电路模块和CPU处理单元。其中：
(1)混合波生成电路：将由“Chirp波生成处理”模块生成的不同的Chirp波进行混合叠加，并输出给麦克风。
(2)麦克风：产生超声波信号。
(3)放大滤波电路模块：对麦克风接收到的反射回波进行放大滤波处理。
(4)相关计算电路模块：包含多个相关计算电路，每个相关计算电路使用了能够进行DSP等高速运算处理的装置，对放大滤波处理后的信号与从Chirp波生成的“参照波输出”进行相关运算处理，将处理结果输入至存在角度判定模块进行处理，得到存在角度判定结 果并通过存在角度输出处理模块输出，与此同时，距离也可同步计算并输出。
(5)CPU处理单元：包含多个Chirp波的生成处理模块、与前述Chirp波对应的参照波生成处理模块、以及对相关计算结果进行处理的存在角度判定处理模块及其输出处理模块，通过“相关计算电路模块”输出的运算结果，判定物体存在的“距离”和“存在角度”，输出检测结果。
图8表示本发明中实施例1的Chirp波混合。多个Chirp波在发送时间在t0-t1之间，扫描频率分别为Fc1_0-Fc1_1，Fc2_0–Fc2_1，Fc3_0–Fc3_1。这些频率使用上述的fm1＝40[kHz]，fm2＝60[kHz]，fm3＝80[kHz]频带。Chirp混合波通过“麦克风”发送后，“麦克风”接收来自物体的反射波，并进入“放大滤波回路”模块进行处理。这里，将来自物体的反射波的接受时刻设为t2。
图9-图11表示本发明中实施例1的相关值运算示意图。图9是物体位置.1的相关运算结果，图10是物体位置.2的相关运算结果，图11是物体位置.3的相关运算结果。
图9中，“参照波.1”和“放大滤波电路输出”的相关运算、“参照波.2”和“放大滤波电路输出”的相关运算、“参照波.3”和“放大滤波电路输出”的相关运算是并行处理的。相关运算在上述图3中进行了说明。物体位置.1，是在正面方向上有物体的情况下，该物体均在在Detection Area_fm1＝40[kHz]、Detection Area_fm2＝60[kHz]、Detection Area_fm3＝80[kHz]的范围内，对接收时间t2点的3个“相关值计算结果”进行比较：“相关值.1计算结果：Vout.1”≈“相关值.2计算结果：Vout.2”≈“相关值.3计算结果：Vout.3”。
图10中的物体位置.2，在稍有偏离中线的位置有物体的情况下，该物体在Detection Area_fm1＝40[kHz]、Detection Area_fm2＝60[kHz]的范围内，但不在Detection Area_fm3＝80[kHz]的范围内，对接收时间t2点的3个“相关值计算结果”进行比较：“相关值.1计算结果：Vout.1”>“相关值.2计算结果：Vout.2”>“相关值.3计算结果：Vout.3”。
图11中的物体位置.3，在车辆外侧有物体的情况下，该物体在Detection Area_fm1＝40[kHz]的范围内，但不在Detection Area_fm2＝60[kHz]、Detection Area_fm3＝80[kHz]的范围内，对接收时间t2点的3个“相关值计算结果”进行比较：“相关值.1计算结果：Vout.1”>“相关值.2计算结果：Vout.2”>“相关值.3计算结果：Vout.3”。
图12表示本发明中实施例1的存在角度判定方法。图12(1)表示相关值运算结果Vout与物体位置的关系。相关值计算结果Vout根据物体的存在位置而变化；图12(2)表示相关值运算结果Vout与物体角度的关系。图12(1)的物体位置变换为物体存在的角度时，就变成了图12(2)。即，当物体的存在角度变大时，Vout.2-Vout.1或Vout.3-Vout.1的结果 为随角度的增加而增加的曲线。如果将运算后的“相关值.1运算结果Vout.1”和“相关值.2运算结果Vout.2”和“相关值.3运算结果Vout.3”与该曲线进行对照，则能够判别物体存在的角度和距离。
图13表示本发明中实施例1的存在角度判定的2个应用案例。其中：
图13(1)水平角度检测中显示：在水平方向上，可以实现一种只通过一个“超声波麦克风”同时检测物体的“距离”和“存在角度”的超声波检测系统。
图13(2)垂直角度检测中显示：在垂直方向上，因为可以同时检测物体的“距离”和“存在角度”，所以能够判别是物体是存在于正面方向的“对面物体”还是存在于路面上的“路面物体”。
实施例2
本发明中实施例2的系统中使用的是多个脉冲(Pulse)波。
图14表示本发明的实施例2的系统架构。该系统包含混合波生成电路、麦克风、放大滤波电路模块、相关计算电路模块和CPU处理单元。其中：
(1)混合波生成电路：将由“Pulse波生成处理”模块生成的不同的Pulse波进行混合叠加，并输出给麦克风。
(2)麦克风：产生超声波信号。
(3)放大滤波电路模块：对麦克风接收到的反射回波进行放大滤波处理。
(4)相关计算电路模块：包含多个相关计算电路，每个相关计算电路使用了能够进行DSP等高速运算处理的装置，对放大滤波处理后的信号与从Pulse波生成的“参照波输出”进行相关运算处理，将处理结果输入至存在角度判定模块进行处理，得到存在角度判定结果并通过存在角度输出处理模块输出，与此同时，距离也可同步计算并输出。
(5)CPU处理单元：包含多个Pulse波的生成处理模块、与前述Pulse波对应的参照波生成处理模块、以及对相关计算结果进行处理的存在角度判定处理模块及其输出处理模块，通过“相关计算电路模块”输出的运算结果，判定物体存在的“距离”和“存在角度”，输出检测结果。
图15表示本发明中实施例2的Pulse波混合。多个Pulse波的发送时间在t0-t1之间，频率分别为Fc1、Fc2和Fc3的单一频率。这些频率使用所述fm1＝40[kHz]，fm2＝60[kHz]，fm3＝80[kHz]频带。
图16-图18表示本发明中实施例2的相关值计算。图16是物体位置.1的计算结果，图17是物体位置.2的计算结果，图18是物体位置.3的计算结果。图3中已经描述了相关计算 方法，虽然对于Pulse波，相关值计算结果的波形是不同的，但是计算方法是相同的。
图16中的物体位置.1，在正面方向上有物体的情况下，该物体均在在Detection Area_fm1＝40[kHz]、Detection Area_fm2＝60[kHz]、Detection Area_fm3＝80[kHz]的范围内，对接收时间t2点的3个“相关值计算结果”进行比较：“相关值.1计算结果：Vout.1”≈“相关值.2计算结果：Vout.2”≈“相关值.3计算结果：Vout.3”。
图17中的物体位置.2，在稍有偏离中线的位置有物体的情况下，该物体在Detection Area_fm1＝40[kHz]、Detection Area_fm2＝60[kHz]的范围内，但不在Detection Area_fm3＝80[kHz]的范围内，对接收时间t2点的3个“相关值计算结果”进行比较：“相关值.1计算结果：Vout.1”>“相关值.2计算结果：Vout.2”>“相关值.3计算结果：Vout.3”。
图18中的物体位置.3，在车辆外侧有物体的情况下，该物体在Detection Area_fm1＝40[kHz]的范围内，但不在Detection Area_fm2＝60[kHz]、Detection Area_fm3＝80[kHz]的范围内，对接收时间t2点的3个“相关值计算结果”进行比较：“相关值.1计算结果：Vout.1”>“相关值.2计算结果：Vout.2”>“相关值.3计算结果：Vout.3”。
通过对“相关值.1计算结果”、“相关值.2计算结果”、“相关值.3计算结果”进行比较判定，能够同时检测物体存在的“距离”和“存在角度”。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。

Claims (9)

  1. 一种超声波检测系统，其特征在于，包括：
    混合波生成电路、超声波生成模块、放大滤波电路模块、相关计算电路模块和CPU处理单元；
    其中，所述混合波生成电路用于将至少两个不同频率的激励波进行混合叠加，并输出给超声波生成模块；
    超声波生成模块，用于根据混合叠加后的激励波对应产生至少两个检测范围不同的超声波信号；
    放大滤波电路模块，用于对超声波生成模块接收到的回波信号进行放大滤波处理；
    相关计算电路模块，包括至少两个相关计算电路，分别用于对放大滤波处理后的回波信号与对应的参照波进行相关度计算，以得到不同检测范围相关度的计算结果；
    CPU处理单元，包括存在角度判定处理模块，所述存在角度判定处理模块用于根据不同检测范围相关度的计算结果判定被测物体的距离信息和存在角度。
  2. 根据权利要求1所述的系统，其特征在于，所述CPU还包括激励波生成处理模块，用于产生至少两个不同频率的激励波。
  3. 根据权利要求1所述的系统，其特征在于，所述CPU还包括参照波生成处理模块，用于为所述至少两个检测范围不同的超声波信号分别生成对应的参照波。
  4. 根据权利要求1所述的系统，其特征在于，所述CPU还包括存在角度输出模块，用于输出被测物体的距离和存在角度。
  5. 根据权利要求1所述的系统，其特征在在于，所述存在角度判定处理模块具体用于执行：
    根据所述相关度计算结果以及预先构建的相关度值与物体存在角度之间的关联关系，确定被测物体的存在角度；
    根据相关度峰值获取被测物体的检测时间，根据所述检测时间计算被测物体距离信息。
  6. 根据权利要求5所述的系统，其特征在于，构建相关度值与物体存在角度之间的关联关系，包括：
    获取不同检测角度对应的超声波回波信号与参照波的相关度值；
    根据检测角度和对应的相关度计算结果构建相关度值与物体存在角度之间的关联关系。
  7. 一种基于权利要求1-6任一项所述的超声波检测系统的超声波检测方法，其特征在于，包括：
    同时向同一超声波生成模块发送至少两个不同频率的混合激励波，以使超声波生成模块 对应产生至少两个检测范围不同的超声波信号；
    接收超声波信号的回波信号，将所述回波信号分别与对应的参照波进行相关度计算；
    根据所述相关度计算结果确定被测物体的存在角度和距离信息。
  8. 根据权利要求7所述的方法，其特征在于，根据所述相关度计算结果确定被测物体的存在角度和距离信息，包括：
    根据所述相关度计算结果以及预先构建的相关度值与物体存在角度之间的关联关系，确定被测物体的存在角度；
    根据相关度峰值获取被测物体的检测时间，根据所述检测时间计算被测物体距离信息。
  9. 根据权利要求8所述的方法，其特征在于，构建相关度值与物体存在角度之间的关联关系，包括：
    获取不同检测角度对应的超声波回波信号与参照波的相关度值；
    根据检测角度和对应的相关度计算结果构建相关度值与物体存在角度之间的关联关系。
PCT/CN2023/071700 2022-03-04 2023-01-10 一种超声波检测系统和方法 WO2023165276A1 (zh)

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