CN108205139A - For the control method and device of ultrasonic ranging system - Google Patents
For the control method and device of ultrasonic ranging system Download PDFInfo
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- CN108205139A CN108205139A CN201711407686.6A CN201711407686A CN108205139A CN 108205139 A CN108205139 A CN 108205139A CN 201711407686 A CN201711407686 A CN 201711407686A CN 108205139 A CN108205139 A CN 108205139A
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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
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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
- 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
- G01S7/52001—Auxiliary means for detecting or identifying sonar signals or the like, e.g. sonar jamming signals
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Disclosed herein is a kind of control method and device for ultrasonic ranging system；The control method includes at least one of：According to target measurement range, the signal strength of the ultrasonic signal of control ultrasonic transmission device transmitting；It determines the intensity threshold of ultrasonic probe, ultrasonic receiver received ultrasonic signal, and ultrasonic probe, ultrasonic receiver is controlled to filter out the ultrasonic signal that the signal strength received is less than intensity threshold.In this way, reducing the error of ultrasonic ranging, range measurement accuracy is improved.
Description
Technical field
This application involves but be not limited to ultrasonic technology more particularly to a kind of control method for ultrasonic ranging system
And device.
Background technology
Ultrasonic wave is a part for sound wave, be human ear do not hear, frequency be higher than 20KHZ (kHz) sound wave；Ultrasonic wave
Propagation have the characteristics that directive property is strong, farther out, thus ultrasonic wave is frequently used for propagation distance energy expenditure slowly, in the medium
Range measurement.
One embodiment of ultrasonic ranging includes a ultrasonic transmitter and a ultrasonic receiver, using super
Acoustic receiver receives the difference of the time of ultrasonic signal and the time of ultrasonic transmitter transmission ultrasonic signal, is multiplied by super
The spread speed of acoustic signals can obtain the distance between ultrasonic transmitter and ultrasonic receiver.
The tracking of object space can be carried out using the method for ultrasonic ranging；Such as ultrasonic transmitter is in fixed bit
It puts, is mounted with that the position of the equipment to be positioned of ultrasonic receiver is continually changing, is then received according to ultrasonic receiver
The difference of the time difference of ultrasonic signal can obtain equipment to be positioned in the position of different time.Due to ultrasonic propagation
Directive property feature, the position that ultrasonic receiver deviates ultrasonic transmitter only in face or slightly can just receive its hair
The ultrasonic signal gone out deviates above-mentioned constrained and does not receive ultrasonic signal then.It in order to solve this problem, can be undetermined
Multiple ultrasonic receivers in the equipment of position are installed, such as multiple ultrasonic receivers are installed around circumferencial direction, no matter then undetermined
How position equipment moves, and can receive ultrasonic signal.
However, since ultrasonic wave has reflectance signature, what the ultrasonic signal of reflection may be installed in equipment to be positioned
Part or all of ultrasonic receiver receives, so as to influence the accuracy of ultrasonic ranging.For example, as shown in Figure 1, smaller
Space in, due to ultrasonic wave have reflectance signature, when encountering wall or object when barriers, reflection ultrasonic wave letter
Number may be received by the multiple ultrasonic receivers installed in equipment to be positioned, at this point, equipment utilization ultrasonic wave to be positioned into
Row ranging just will appear error, so as to influence the accuracy of range measurement.
Invention content
It is the general introduction of the theme to being described in detail herein below.This general introduction is not the protection model in order to limit claim
It encloses.
The embodiment of the present application provides a kind of control method and device for ultrasonic ranging system, can reduce ultrasonic wave
The error of ranging improves measurement accuracy.
In a first aspect, the embodiment of the present application provide a kind of control method for ultrasonic ranging system, including with down toward
It is one of few：
According to target measurement range, the signal strength of the ultrasonic signal of control ultrasonic transmission device transmitting；
It determines the intensity threshold of ultrasonic probe, ultrasonic receiver received ultrasonic signal, and the ultrasonic probe, ultrasonic receiver is controlled to filter
Except the signal strength received is less than the ultrasonic signal of the intensity threshold.
In the exemplary embodiment, the ultrasonic probe, ultrasonic receiver can include at least two ultrasonic receivers, on
Stating control method can also include：
Determine the target receiver of the ultrasonic probe, ultrasonic receiver, wherein, the target receiver connects for the ultrasonic wave
A ultrasonic receiver of ultrasonic transmission device described in face on receiving apparatus；
According to the determining target receiver, the shape of each ultrasonic receiver on the ultrasonic probe, ultrasonic receiver is controlled
State.
In the exemplary embodiment, the target receiver that the basis determines controls the ultrasonic wave to receive dress
The state of each ultrasonic receiver is put, can be included：
It controls the target receiver and meets the ultrasonic receiver of setting condition between the target receiver
In starting state, and the ultrasonic receiver for being unsatisfactory for the setting condition between the target receiver is controlled to be in and is closed
Closed state.
In the exemplary embodiment, above-mentioned control method can also include：
It is sent out according to movement speed of the ultrasonic probe, ultrasonic receiver within the period 1, acceleration and with the ultrasonic wave
Ultrasonic measurement distance between injection device determines orientation distance of the ultrasonic probe, ultrasonic receiver in second round；
Determine ultrasound of the ultrasonic probe, ultrasonic receiver within second round between the ultrasonic transmission device
Span from；
According to the ratio between ultrasonic measurement distance of the ultrasonic probe, ultrasonic receiver within second round and orientation distance
Compared with as a result, ultrasonic measurement of the correction within second round between the ultrasonic probe, ultrasonic receiver and the ultrasonic transmission device
Distance；Wherein, the second round is next signal period of the period 1.
In the exemplary embodiment, above-mentioned control method can also include：
According to the target measurement range and ultrasonic transmission speed, the ultrasonic transmission device transmitting ultrasound is controlled
The signal period of wave signal.
Second aspect, the embodiment of the present application provide a kind of control device for ultrasonic ranging system, including with down toward
It is one of few：
First control module is configured to according to target measurement range, the ultrasonic wave letter of control ultrasonic transmission device transmitting
Number signal strength；
Second control module, is configured to determine the intensity threshold of ultrasonic probe, ultrasonic receiver received ultrasonic signal, and controls
The ultrasonic probe, ultrasonic receiver filters out the ultrasonic signal that the signal strength received is less than the intensity threshold.
In the exemplary embodiment, the ultrasonic probe, ultrasonic receiver can include at least two ultrasonic receivers；
Second control module is also configured as determining the target receiver of the ultrasonic probe, ultrasonic receiver, wherein,
A ultrasonic receiver of the target receiver for ultrasonic transmission device described in face on the ultrasonic probe, ultrasonic receiver；
And according to the determining target receiver, control the state of each ultrasonic receiver on the ultrasonic probe, ultrasonic receiver.
In the exemplary embodiment, above-mentioned control device can also include：Ranging rectification module is configured to according to
Movement speed, acceleration and ultrasound the ultrasonic transmission device between of the ultrasonic probe, ultrasonic receiver within the period 1
Wave measurement distance determines orientation distance of the ultrasonic probe, ultrasonic receiver in second round；Determine the ultrasonic probe, ultrasonic receiver
Ultrasonic measurement distance within second round between the ultrasonic transmission device；Existed according to the ultrasonic probe, ultrasonic receiver
The comparison result between ultrasonic measurement distance and orientation distance in second round, corrects the ultrasonic wave within second round
Ultrasonic measurement distance between reception device and the ultrasonic transmission device；Wherein, the second round is described first
Next signal period in period.
The third aspect, the embodiment of the present application provide a kind of ultrasonic ranging system, including：Ultrasonic transmission device and super
Acoustic receiver device；
Wherein, the ultrasonic transmission device is configured to, according to target measurement range, control the ultrasonic signal of transmitting
Signal strength；
The ultrasonic probe, ultrasonic receiver is configured to determine the intensity threshold of received ultrasonic signal, and filters out the letter received
Number intensity is less than the ultrasonic signal of the intensity threshold.
In the exemplary embodiment, the ultrasonic probe, ultrasonic receiver can include control module and at least two ultrasounds
Wave receiver；Wherein, the control module is configurable to determine the target receiver of the ultrasonic probe, ultrasonic receiver, wherein,
A ultrasonic receiver of the target receiver for ultrasonic transmission device described in face on the ultrasonic probe, ultrasonic receiver；
And according to the determining target receiver, control the state of each ultrasonic receiver on the ultrasonic probe, ultrasonic receiver.
In the exemplary embodiment, the ultrasonic probe, ultrasonic receiver can also include：Ranging rectification module and acceleration
Spend sensor；Wherein, the acceleration transducer is configurable to detect the movement speed of the ultrasonic probe, ultrasonic receiver and adds
Speed；The ranging rectification module be configurable to according to movement speed of the ultrasonic probe, ultrasonic receiver within the period 1,
Acceleration and the ultrasonic measurement distance between the ultrasonic transmission device determine the ultrasonic probe, ultrasonic receiver
The orientation distance of two cycles；Determine the ultrasonic probe, ultrasonic receiver within second round between the ultrasonic transmission device
Ultrasonic measurement distance；And ultrasonic measurement distance and spacer according to the ultrasonic probe, ultrasonic receiver within second round
Comparison result between is corrected within second round between the ultrasonic probe, ultrasonic receiver and the ultrasonic transmission device
Ultrasonic measurement distance；Wherein, the second round is next signal period of the period 1.
In addition, the embodiment of the present application also provides a kind of computer-readable medium, it is stored with for ultrasonic ranging system
The step of control program, the control program realizes the control method that above-mentioned first aspect provides when being executed by processor.
In the embodiment of the present application, at least one of is performed：According to target measurement range, control ultrasonic transmission device hair
The signal strength for the ultrasonic signal penetrated；It determines the intensity threshold of ultrasonic probe, ultrasonic receiver received ultrasonic signal, and controls super
Acoustic receiver device filters out the ultrasonic signal that the signal strength received is less than intensity threshold.In this way, by control with down toward
It is one of few：The transmitting signal strength of ultrasonic signal, the intensity threshold of received ultrasonic signal, so as to reduce ultrasonic ranging
Error provides range measurement accuracy.
It in the exemplary embodiment, can also be by determining the target receiver in ultrasonic probe, ultrasonic receiver, it is ensured that super
Acoustic receiver device only receives effective ultrasonic signal of ultrasonic transmission device transmitting, so as to reduce the mistake of ultrasonic ranging
Difference, and improve range measurement accuracy.
In the exemplary embodiment, it is also based on the movement speed of ultrasonic probe, ultrasonic receiver and acceleration is predicted to obtain
Orientation distance is corrected ultrasonic measurement distance by orientation distance, so as to reduce the error of ultrasonic ranging, and is improved
Range measurement accuracy.
After attached drawing and detailed description is read and understood, it can be appreciated that other aspects.
Description of the drawings
Fig. 1 is exemplary plot of the ultrasonic ranging there are error of equipment to be positioned；
Fig. 2 is the schematic diagram of the control method provided by the embodiments of the present application for ultrasonic ranging system；
Fig. 3 is the distribution example figure of the ultrasonic receiver on ultrasonic probe, ultrasonic receiver provided by the embodiments of the present application；
Fig. 4 is the schematic diagram of the control device provided by the embodiments of the present application for ultrasonic ranging system；
Fig. 5 is the schematic diagram of ultrasonic ranging system provided by the embodiments of the present application.
Specific embodiment
The embodiment of the present application is described in detail below in conjunction with attached drawing, it should be understood that embodiments described below is only
For instruction and explanation of the application, it is not used to limit the application.
If it should be noted that not conflicting, each feature in the embodiment of the present application and embodiment can be tied mutually
It closes, within the protection domain of the application.In addition, though logical order is shown in flow charts, but in certain situations
Under, it can be with the steps shown or described are performed in an order that is different from the one herein.
Fig. 2 is the schematic diagram of the control method provided by the embodiments of the present application for ultrasonic ranging system.The present embodiment
In, ultrasonic ranging system can include：Ultrasonic transmission device and ultrasonic probe, ultrasonic receiver；Ultrasonic probe, ultrasonic receiver can be with
Including one or more ultrasonic receivers.
As shown in Fig. 2, control method provided in this embodiment includes at least one of：
S201, the signal strength of ultrasonic signal emitted according to target measurement range, control ultrasonic transmission device；
S202, the intensity threshold for determining ultrasonic probe, ultrasonic receiver received ultrasonic signal, and control ultrasonic probe, ultrasonic receiver
Filter out the ultrasonic signal that the signal strength received is less than intensity threshold.
Control method provided in this embodiment can be performed by ultrasonic ranging system, alternatively, can be by being connected to ultrasound
The control device of wave range-measurement system performs.However, the application does not limit this.
In the exemplary embodiment, the control method of the present embodiment can also include：According to target measurement range and
Ultrasonic transmission speed, the signal period of control ultrasonic transmission device transmitting ultrasonic signal.
In this example, by taking target measurement ranging from 5 meters (m) as an example, the ultrasonic signal of ultrasonic transmission device transmitting passes
It is about 15ms to broadcast the time data spent by 5m, wherein, ultrasonic transmission speed is about 340m/s (the propagation speed of ultrasonic wave
Degree is influenced by environmental factors such as temperature, humidity, is floated up and down in 340m/s)；It therefore, can will be twice between ultrasonic signal
Transmission intercal (i.e. signal period) be set as slightly larger than 15ms, such as 18ms.However, the application does not limit this；It is theoretical
As long as upper be more than 15ms.In this way, for the ultrasonic probe, ultrasonic receiver of movement, by obtaining one within the shorter signal period
Secondary distance value, convenient for tracking its movement locus.
In the present embodiment, ultrasonic wave can encounter the influence of factors during actual propagation, and generate different degrees of
Attenuation, the attenuation of ultrasonic wave mainly has scattering, diffusion and absorbs three kinds.It needs, according to target measurement range, to control ultrasonic wave
Emitter transmitting ultrasonic signal signal strength, illustratively, as object ranging range be less than or equal to 5m, and 5m away from
From when, the signal strength of ultrasonic signal of ultrasonic transmission device transmitting decays to 0 from 80, since ultrasonic probe, ultrasonic receiver connects
The ultrasonic signal received needs certain intensity that could identify, then needs to control the ultrasonic wave letter of ultrasonic transmission device transmitting
Number signal strength be more than 80.Since ultrasonic wave has reflectance signature, the ultrasonic signal of reflection may be received by ultrasonic wave to be filled
It puts and receives, so as to influence the accuracy of ultrasonic ranging, so needing to filter out these ultrasonic signals reflected.Due to super
The attenuation of sound wave, the signal strength of back wave can be weakened, it is possible to by determining that ultrasonic probe, ultrasonic receiver receives
The intensity threshold of ultrasonic signal, and ultrasonic probe, ultrasonic receiver is controlled to filter out the signal strength received and is less than the super of intensity threshold
The mode of acoustic signals, to filter out back wave.Illustratively, can by ultrasonic probe, ultrasonic receiver under current angular away from ultrasonic wave
The distance of emitter for the ultrasonic signal at setting value (for example, 5m) intensity value as intensity threshold, for ultrasonic wave
Reception device filtered out the ultrasonic signal less than the intensity threshold, that is, filters out by barriers such as walls in next signal period
The ultrasonic signal of reflection.Wherein, ultrasonic probe, ultrasonic receiver distance away from ultrasonic transmission device under current angular is setting
The intensity value of ultrasonic signal at value can be determined by way of detecting in advance.For example, the transmitting of ultrasonic transmission device
Intensity is 100, the intensity that the ultrasonic probe, ultrasonic receiver at ultrasonic transmission device 5m receives be 30, then using 30 as
Intensity threshold for ultrasonic probe, ultrasonic receiver in next signal period, filters out the ultrasonic signal less than 30.In this way, pass through control
At least one of in the transmitting signal strength of ultrasonic transmission device processed and the intensity threshold of ultrasonic probe, ultrasonic receiver, it can exclude
The interference of ultrasonic reflections signal.
In the exemplary embodiment, ultrasonic probe, ultrasonic receiver can include at least two ultrasonic receivers, this implementation
The control method that example provides can also include：
Determine the target receiver of ultrasonic probe, ultrasonic receiver, wherein, target receiver is face on ultrasonic probe, ultrasonic receiver
One ultrasonic receiver of ultrasonic transmission device；
According to determining target receiver, the state of each ultrasonic receiver on ultrasonic probe, ultrasonic receiver is controlled.
In this illustrative embodiments, it according to determining target receiver, controls and each surpasses on ultrasonic probe, ultrasonic receiver
The state of acoustic receiver can include：
Control targe receiver and meet between target receiver setting condition ultrasonic receiver be in start
State, and the ultrasonic receiver for being unsatisfactory for imposing a condition between target receiver is controlled to be closed.
Illustratively, the ultrasonic receiver of setting condition is met between target receiver, can be included：
Meet the ultrasonic receiver of first threshold on ultrasonic probe, ultrasonic receiver with the distance between target receiver；Or
Person,
On ultrasonic probe, ultrasonic receiver, the ultrasound in the range of being radius as the center of circle, second threshold using target receiver
Wave receiver.
Wherein, first threshold and second threshold can be set according to practical application scene.However, the application to this simultaneously
It does not limit.
In this example, the ultrasonic wave that ultrasonic transmission device is deviateed by face on ultrasonic probe, ultrasonic receiver or slightly receives
Device is opened, and closes the ultrasonic receiver for deviateing above-mentioned constrained, so that it is determined that ultrasonic probe, ultrasonic receiver only receives ultrasound
Effective ultrasonic signal of wave transmitting device transmitting.
Illustratively, determining the target receiver of ultrasonic probe, ultrasonic receiver can include：Based on super in multiple signal periods
Each ultrasonic receiver receives the time data of ultrasonic signal on acoustic receiver device, determines target receiver.However,
The application does not limit this.It, can also be true by specific mode for the first time during determining target receiver in other realization methods
Set the goal receiver.
Illustratively, according to determining target receiver, each ultrasonic receiver on ultrasonic probe, ultrasonic receiver is controlled
State after, the control method of the present embodiment can also include：
Ultrasonic receiver according to starting state is on ultrasonic probe, ultrasonic receiver in the current demand signal period receives super
The time data of acoustic signals adjusts target receiver；
According to the target receiver after adjustment, the state of each ultrasonic receiver on ultrasonic probe, ultrasonic receiver is adjusted.
Illustratively, according to the target receiver after adjustment, each ultrasonic receiver on ultrasonic probe, ultrasonic receiver is adjusted
State, can include：
It controls the target receiver after adjustment and meets the ultrasound of setting condition between the target receiver after adjustment
Wave receiver is in starting state, and is unsatisfactory for the ultrasonic wave to impose a condition between the target receiver after control and adjustment and receives
Device is closed.
Wherein, about the explanation of setting condition as described above, it therefore is repeated no more in this.
Illustratively, according to the ultrasonic receiver that starting state is on ultrasonic probe, ultrasonic receiver in the current demand signal period
The time data of ultrasonic signal is received, target receiver is adjusted, can include：
In the time data for receiving ultrasonic signal out of current demand signal the period, between selection and reference time data
Absolute difference is less than or equal to the time data of third threshold value, and the corresponding ultrasonic receiver of the time data selected is adjusted
For target receiver, wherein, reference time data received ultrasonic signal for the target receiver in a upper signal period
Time data.
Wherein, third threshold value can be set according to practical application scene.However, the application does not limit this.
In this example, target receiver can be dynamically adjusted, so that it is guaranteed that the ultrasound opened on ultrasonic probe, ultrasonic receiver
Wave receiver may be at face or slightly deviate the position of ultrasonic transmission device, to improve being moved through for ultrasonic probe, ultrasonic receiver
Ranging accuracy in journey.
The determining and adjustment process of target receiver can be illustrated referring to Fig. 3.
As shown in figure 3, ultrasonic probe, ultrasonic receiver is in sphere shape, 12 ultrasonic waves are sequentially distributed on spherical surface and receive
Device for example, showing six ultrasonic receivers 301 to 306 in Fig. 3, does not exist in six ultrasonic receivers of spherical back face
It is shown in Fig. 3.However, the application is for the shape of ultrasonic probe, ultrasonic receiver and the distribution mode of ultrasonic receiver and unlimited
It is fixed.
In this example, as shown in figure 3, each ultrasonic receiver on ultrasonic probe, ultrasonic receiver can be received and be come from
The ultrasonic signal of ultrasonic transmission device transmitting or the ultrasonic signal from spatial emission.In received ultrasonic signal one
After the section time, the time that each ultrasonic receiver receives ultrasonic signal in multiple signal transmission intervals is can obtain, because
It is continuous for movement locus, so it receives the data line (ratio that the time of ultrasonic signal should be a continuous and derivable
Such as, continuous regular increase or continuous rule are successively decreased at the time of receiving ultrasonic signal)；The a certain moment is selected, as this is continuous
The data of smooth data line come from ultrasonic receiver 301, then are target receiver with ultrasonic receiver 301.
Then, one or more ultrasonic receivers around target receiver 301 are opened；It is connect for example, opening with target
Receive device 301 spherical distance be first threshold one or more ultrasonic receivers, for example, ultrasonic receiver 302,303,
304th, 305 and 306；And close other ultrasonic receivers (unshowned other ultrasonic waves receptions at the sphere back side in Fig. 3
Device).
In this example, target receiver can be adjusted into Mobile state.For example, after target receiver 301 is determined
A signal period in, above-mentioned 6 ultrasonic receivers having turned on can be obtained and receive ultrasound within the signal period
The time data of wave signal；It therefrom selects to receive ultrasonic wave letter closest to target receiver 301 in a upper signal period
Number time data, the corresponding ultrasonic receiver of the time data selected is adjusted to target receiver.For example, upper one
The time that target receiver 301 receives ultrasonic signal in signal period is 10.01ms, in the current demand signal period, 6 ultrasounds
The time data that wave receiver receives ultrasonic signal is respectively：10.03ms (ultrasonic receiver 301), 16.7ms (ultrasounds
Wave receiver 302), 10.3ms (ultrasonic receiver 303), 10.02ms (ultrasonic receiver 304), 10.03ms (ultrasonic waves
Receiver 305), 18.1ms (ultrasonic receiver 306), then closest to the time data of 10.01ms be ultrasonic receiver
304 receive the time data 10.02ms of ultrasonic signal, therefore, can ultrasonic receiver 304 be updated to intended recipient
Device.In this example, determine ultrasonic receiver 304 for that after target receiver, can open several around target receiver 304
A ultrasonic receiver, for example, unlatching ultrasonic receiver 301,303,304,305 and the distance objective at the sphere back side connect
Receive two nearest ultrasonic receivers of device 304；And other ultrasonic receivers are closed, such as ultrasonic receiver 302,306
And in the unshowned four additional ultrasonic receiver in the sphere back side.
In this example, ultrasonic probe, ultrasonic receiver can receive the multiple ultrasonic receivers having turned in ultrasonic wave letter
Number time data carry out fusion treatment, obtain the time of fusion data that ultrasonic probe, ultrasonic receiver receives ultrasonic signal, then
It is calculated according to time of fusion data into row distance.Wherein, amalgamation mode can include but is not limited to：Nearest-neighbor method, broad sense phase
Guan Fa, gaussian sum method, optimal Bayesian Method, probability data interconnection method, the filtering of symmetrical measurement equation, weighted average, geometric average,
Arithmetic average, square mean, harmonic average.However, the application does not limit this.
It should be noted that in this example, it can be according to signal period dynamic adjustment target receiver, so as to according to super
The real time position control face of acoustic receiver device or the one or more ultrasonic waves reception for slightly deviateing ultrasonic transmission device
Device is in starting state, and other ultrasonic receivers are closed, and to reduce the position error of ultrasonic ranging, and are carried
The accuracy of praetersonic ranging.
In the exemplary embodiment, the control method of the present embodiment can also include：
According to movement speed of the ultrasonic probe, ultrasonic receiver within the period 1, acceleration and with ultrasonic transmission device it
Between ultrasonic measurement distance, determine orientation distance of the ultrasonic probe, ultrasonic receiver in second round；
Determine ultrasonic measurement distance of the ultrasonic probe, ultrasonic receiver within second round between ultrasonic transmission device；
According to the comparison knot between ultrasonic measurement distance of the ultrasonic probe, ultrasonic receiver within second round and orientation distance
Fruit corrects the ultrasonic measurement distance between ultrasonic probe, ultrasonic receiver and ultrasonic transmission device within second round；
Wherein, second round is next signal period of period 1.
In this illustrative embodiment, ultrasonic probe, ultrasonic receiver can include acceleration transducer, and acceleration transducer is matched
It is set to the movement speed and acceleration of detection ultrasonic probe, ultrasonic receiver.Wherein, acceleration transducer (i.e. accelerometer) is used
Property navigation and inertial guidance system one of fundamental measurement element, accelerometer is substantially an oscillatory system, is installed on fortune
The inside of dynamic load body (being ultrasonic probe, ultrasonic receiver in the present embodiment) can be used for measuring the acceleration of motion of carrier.It is for example, micro-
The operation principle of Mechatronic Systems (MEMS, Micro-electro Mechanical Systems) class accelerometer is to work as acceleration
When meter acts as accelerated motion together with external object (acceleration of the object is acceleration to be measured) one, mass block can be by used
Property power effect move in the opposite direction, mass block occur displacement limited by spring and damper, pass through export electricity
Pressure can measure extraneous acceleration magnitude.However, the application does not limit the type of the acceleration transducer used.
Illustratively, according between ultrasonic measurement distance of the ultrasonic probe, ultrasonic receiver within second round and orientation distance
Comparison result, correct the ultrasound span between ultrasonic probe, ultrasonic receiver and ultrasonic transmission device within second round
From can include：
If the absolute difference between ultrasonic measurement distance and orientation distance in second round is less than or equal to the 4th
Threshold value, it is determined that the ultrasonic measurement distance within second round between ultrasonic probe, ultrasonic receiver and ultrasonic transmission device is not
Become；In other words, the ultrasonic measurement distance in second round at this time is believable；
If the absolute difference between ultrasonic measurement distance and orientation distance in second round is more than the 4th threshold value,
It it is second round by the ultrasonic measurement distance correction in second round between ultrasonic probe, ultrasonic receiver and ultrasonic transmission device
Interior orientation distance；In other words, the ultrasonic measurement distance in second round at this time is incredible, and obtained using prediction
Orientation distance in second round is as ultrasonic measurement distance.
Wherein, the 4th threshold value can be set according to practical application scene.However, the application does not limit this.
Illustratively, orientation distance of the ultrasonic probe, ultrasonic receiver in second round can be calculated according to the following formula：
Wherein, orientation distances of the S for second round, S0It is filled for ultrasonic probe, ultrasonic receiver in the period 1 and ultrasonic wave transmitting
Ultrasonic measurement distance between putting, t are the signal period, V0The movement speed for being ultrasonic probe, ultrasonic receiver within the period 1, a
The acceleration for being ultrasonic probe, ultrasonic receiver within the period 1.
Illustratively, ultrasound of the ultrasonic probe, ultrasonic receiver within second round between ultrasonic transmission device is determined
Span is from can include：
The time data of ultrasonic signal and ultrasonic wave letter are received within second round according to ultrasonic probe, ultrasonic receiver
Number spread speed, determine ultrasound span of the ultrasonic probe, ultrasonic receiver within second round between ultrasonic transmission device
From.
Wherein it is possible to the ultrasonic measurement distance of second round is calculated according to the following formula：
S '=V × t '；
Wherein, S ' is the ultrasonic measurement distance of second round, and V is the spread speed of ultrasonic wave, and t ' is received for ultrasonic wave
Device receives the time data of ultrasonic signal in second round.
Illustratively, based on scene shown in FIG. 1, by the signal period for for 15 milliseconds (ms), equipment to be positioned is (i.e. originally
The ultrasonic probe, ultrasonic receiver of embodiment) 10ms within first signal period when receive ultrasonic signal, then can determine
The distance between equipment to be positioned and ultrasonic transmitter (i.e. the ultrasonic transmission device of the present embodiment) are 10ms × 340m/s
=3.4m；Wherein, in Fig. 1, installation is there are five ultrasonic receiver in equipment to be positioned, then equipment to be positioned to receive ultrasound
The 10ms data of wave signal can merge to obtain according to the time data that five ultrasonic receivers receive ultrasonic signal, than
Such as, amalgamation mode can include but is not limited to one below：Nearest-neighbor method, generalized correlation method, gaussian sum method, optimal Bayes
Method, the filtering of symmetrical measurement equation, weighted average, geometric average, arithmetic average, square mean, reconciles and puts down probability data interconnection method
.However, the application does not limit this.
As shown in Figure 1, having barrier at equipment rear to be positioned, then barrier is reflected back the ultrasound of first signal period
The time data that wave signal is received by equipment to be positioned may be 23ms, at this time beyond first signal period, in second
In a signal period, show as receiving ultrasonic signal in the 8ms of second signal period.If equipment to be positioned is to remote
Direction from ultrasonic transmitter moves, then equipment to be positioned is an actually-received the ultrasonic signal of second signal period transmitting
Time data can be 11ms；In order to filter the ultrasonic signal of reflection, can be selected at first in usually each signal period
The foundation that the time data of ultrasonic signal is calculated as distance is received, can thus filter out real data 11ms, and is protected
Error information 8ms has been stayed, distance is calculated according to the error information, it is to close to ultrasonic transmitter to show as equipment to be positioned
Direction moves, and will result in position error.If equipment to be positioned is moved to the direction close to ultrasonic transmitter, actually connect
The time data for receiving the ultrasonic signal of second signal period transmitting can be 9ms；In order to filter the ultrasonic wave of reflection letter
Number, can be selected in usually each signal period the time data for being initially received ultrasonic signal be used as distance calculating according to
According to can thus filter out real data 9ms, and remain error information 8ms, lead to that there may be position errors.Originally showing
Example in, can according to determining time data (for example, 8ms) calculate S ' value, if S ' in the range of the ± the 4th threshold values of S,
Think credible, otherwise it is assumed that S ' is insincere, so as to reduce position error, improve range measurement accuracy.
The application is illustrated below by an example.
In this example, in the signal period for opening immunity mode in ultrasonic ranging system, according to target measurement model
It encloses, determines the transmitting signal strength of ultrasonic transmission device, and ultrasonic transmission device is according to determining signal period and transmitting
Signal strength emits ultrasonic signal.Ultrasonic probe, ultrasonic receiver includes at least two ultrasonic receivers, and each ultrasonic wave receives
Signal strength is less than the ultrasonic signal of intensity threshold by the ultrasonic signal that device is received according to determining intensity threshold detection
It filters out, and ultrasonic probe, ultrasonic receiver closes unnecessary ultrasonic receiver according to determining target receiver.It is in addition, super
The time data that acoustic receiver device receives the ultrasonic receiver having turned on ultrasonic signal carries out fusion treatment, obtains
Time of fusion data calculate the ultrasonic measurement distance in this signal period using time of fusion data, and according to based on upper one
The ultrasonic measurement distance that the orientation distance and this period measurement that the movement speed and acceleration of signal period predicts obtain
Comparison result, correct the ultrasonic measurement distance that this period measurement obtains.Wherein, it is same as above about the amalgamation mode of time data
It is described, therefore repeated no more in this.By combining the anti-interference mode of a variety of ultrasonic waves in this example, ultrasonic reflections letter is effectively excluded
Number interference.
Illustratively, when ultrasonic probe, ultrasonic receiver only includes a ultrasonic receiver, ultrasonic probe, ultrasonic receiver can be with
According to the ultrasonic signal that determining intensity threshold detection receives, the ultrasonic signal that signal strength is less than to intensity threshold is filtered
It removes, and the ultrasonic measurement distance in the current demand signal period is calculated based on the time data for receiving ultrasonic signal, then be based on
The orientation distance that the movement speed and acceleration of a upper signal period predict corrects ultrasonic measurement distance.In this way,
Ultrasonic wave position error is reduced, improves measurement accuracy.
Fig. 4 is the schematic diagram of the control device provided by the embodiments of the present application for ultrasonic ranging system.Such as Fig. 4 institutes
Show, the control device of the embodiment of the present application, including at least one of：
First control module 401 is configured to according to target measurement range, the ultrasonic wave of control ultrasonic transmission device transmitting
The signal strength of signal；
Second control module 402, is configured to determine the intensity threshold of ultrasonic probe, ultrasonic receiver received ultrasonic signal, and controls
Ultrasonic probe, ultrasonic receiver processed filters out the ultrasonic signal that the signal strength received is less than intensity threshold.
Illustratively, ultrasonic probe, ultrasonic receiver can include at least two ultrasonic receivers；
Second control module 402 is also configured as determining the target receiver of ultrasonic probe, ultrasonic receiver, wherein, target
A ultrasonic receiver of the receiver for face ultrasonic transmission device on ultrasonic probe, ultrasonic receiver；And according to determining target
Receiver controls the state of each ultrasonic receiver on ultrasonic probe, ultrasonic receiver.
Illustratively, the control device of the present embodiment can also include：Ranging rectification module 403, is configured to according to ultrasound
Movement speed, acceleration and ultrasound span ultrasonic transmission device between of the wave receiving device within the period 1
From determining orientation distance of the ultrasonic probe, ultrasonic receiver in second round；Determine ultrasonic probe, ultrasonic receiver within second round with surpassing
Ultrasonic measurement distance between acoustic emission apparatus；According to ultrasound span of the ultrasonic probe, ultrasonic receiver within second round
From the comparison result between orientation distance, correct within second round between ultrasonic probe, ultrasonic receiver and ultrasonic transmission device
Ultrasonic measurement distance；Wherein, second round is next signal period of period 1.
Related description about control device provided in this embodiment is referred to the description of above method embodiment, therefore in
This is repeated no more.
Fig. 5 is the schematic diagram of ultrasonic ranging system provided by the embodiments of the present application.As shown in figure 5, the present embodiment is super
Acoustic ranging system, including：Ultrasonic transmission device 51 and ultrasonic probe, ultrasonic receiver 52；
Wherein, ultrasonic transmission device 51 are configured to, according to target measurement range, control the letter of the ultrasonic signal of transmitting
Number intensity；
Ultrasonic probe, ultrasonic receiver 52, is configured to determine the intensity threshold of received ultrasonic signal, and filters out the letter received
Number intensity is less than the ultrasonic signal of intensity threshold.
Illustratively, ultrasonic probe, ultrasonic receiver 52 can include 521 and at least two ultrasonic receiver of control module
522；Wherein, control module 521 are configurable to determine the target receiver of ultrasonic probe, ultrasonic receiver 52, wherein, intended recipient
A ultrasonic receiver of the device for face ultrasonic transmission device 51 on ultrasonic probe, ultrasonic receiver 52；And according to determining target
Receiver controls the state of each ultrasonic receiver on ultrasonic probe, ultrasonic receiver 52.
Illustratively, ultrasonic probe, ultrasonic receiver 52 can also include：Ranging rectification module 523 and acceleration transducer
524；Wherein, acceleration transducer 524 is configurable to the movement speed and acceleration of detection ultrasonic probe, ultrasonic receiver 52；Ranging
Rectification module 523, be configurable to according to movement speed of the ultrasonic probe, ultrasonic receiver 52 within the period 1, acceleration and with
Ultrasonic measurement distance between ultrasonic transmission device 51 determines spacer of the ultrasonic probe, ultrasonic receiver 52 in second round
From；Determine ultrasonic measurement distance of the ultrasonic probe, ultrasonic receiver 52 within second round between ultrasonic transmission device 51；With
And it according to the comparison result between ultrasonic measurement distance of the ultrasonic probe, ultrasonic receiver 52 within second round and orientation distance, rectifys
Ultrasonic measurement distance just within second round between ultrasonic probe, ultrasonic receiver 52 and ultrasonic transmission device 51；Wherein,
Two cycles are next signal period of period 1.
Related description about ultrasonic ranging system provided in this embodiment is referred to retouching for above method embodiment
It states, therefore is repeated no more in this.
In addition, the embodiment of the present application also provides a kind of computer-readable medium, it is stored with for ultrasonic ranging system
The step of control program, which realizes the control method that above-described embodiment provides when being executed by processor.
It will appreciated by the skilled person that whole or certain steps, system, dress in method disclosed hereinabove
Function module or unit in putting may be implemented as software, firmware, hardware and its appropriate combination.In hardware embodiment
In, the division between the function module or unit that refer in the above description not necessarily corresponds to the division of physical assemblies；For example,
One physical assemblies can have multiple functions or a function or step that can be performed by several physical assemblies cooperations.Certain
A little components or all components may be implemented as by processor, the software that is performed such as digital signal processor or microprocessor or
Person is implemented as hardware or is implemented as integrated circuit, such as application-specific integrated circuit.Such software can be distributed in computer
On readable medium, computer-readable medium can include computer storage media (or non-transitory medium) and communication media (or
Fugitive medium).As known to a person of ordinary skill in the art, term computer storage medium is included in store information
Implement in any method or technique of (such as computer-readable instruction, data structure, program module or other data) volatile
Property and non-volatile, removable and nonremovable medium.Computer storage media includes but not limited to RAM, ROM, EEPROM, sudden strain of a muscle
It deposits or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storages, magnetic holder, tape, disk storage
Or other magnetic memory apparatus or it can be used for any other Jie that stores desired information and can be accessed by a computer
Matter.In addition, known to a person of ordinary skill in the art be, communication media generally comprises computer-readable instruction, data structure, journey
Other data in the modulated data signal of sequence module or such as carrier wave or other transmission mechanisms etc, and may include any
Information delivery media.
The basic principle of the application and main feature and the advantages of the application has been shown and described above.The application is not by upper
The limitation of embodiment is stated, the above embodiments and description only describe the principles of the application, are not departing from the application
Under the premise of spirit and scope, the application also has various changes and modifications, these changes and improvements both fall within claimed
In the range of the application.
Claims (12)
1. a kind of control method for ultrasonic ranging system, which is characterized in that including at least one of：
According to target measurement range, the signal strength of the ultrasonic signal of control ultrasonic transmission device transmitting；
It determines the intensity threshold of ultrasonic probe, ultrasonic receiver received ultrasonic signal, and the ultrasonic probe, ultrasonic receiver is controlled to filter out and is connect
The signal strength received is less than the ultrasonic signal of the intensity threshold.
2. according to the method described in claim 1, it is characterized in that, the ultrasonic probe, ultrasonic receiver includes at least two ultrasonic waves
Receiver, the method further include：
Determine the target receiver of the ultrasonic probe, ultrasonic receiver, wherein, the target receiver receives dress for the ultrasonic wave
Put a ultrasonic receiver of ultrasonic transmission device described in face；
According to the determining target receiver, the state of each ultrasonic receiver on the ultrasonic probe, ultrasonic receiver is controlled.
3. according to the method described in claim 2, it is characterized in that, the target receiver that the basis determines, controls institute
The state of each ultrasonic receiver on ultrasonic probe, ultrasonic receiver is stated, including：
The ultrasonic receiver for controlling the target receiver and meeting setting condition between the target receiver is in
Starting state, and the ultrasonic receiver for being unsatisfactory for the setting condition between the target receiver is controlled to be in and closes shape
State.
4. according to the method in any one of claims 1 to 3, which is characterized in that the method further includes：
It is filled according to movement speed of the ultrasonic probe, ultrasonic receiver within the period 1, acceleration and emitting with the ultrasonic wave
Ultrasonic measurement distance between putting determines orientation distance of the ultrasonic probe, ultrasonic receiver in second round；
Determine ultrasound span of the ultrasonic probe, ultrasonic receiver within second round between the ultrasonic transmission device
From；
According to the comparison knot between ultrasonic measurement distance of the ultrasonic probe, ultrasonic receiver within second round and orientation distance
Fruit corrects the ultrasound span between the ultrasonic probe, ultrasonic receiver and the ultrasonic transmission device within second round
From；
Wherein, the second round is next signal period of the period 1.
5. according to the method described in claim 1, it is characterized in that, the method further includes：
According to the target measurement range and ultrasonic transmission speed, the ultrasonic transmission device transmitting ultrasonic wave letter is controlled
Number signal period.
6. a kind of control device for ultrasonic ranging system, which is characterized in that including at least one of：
First control module is configured to according to target measurement range, the ultrasonic signal of control ultrasonic transmission device transmitting
Signal strength；
Second control module is configured to determine the intensity threshold of ultrasonic probe, ultrasonic receiver received ultrasonic signal, and described in control
Ultrasonic probe, ultrasonic receiver filters out the ultrasonic signal that the signal strength received is less than the intensity threshold.
7. device according to claim 6, which is characterized in that the ultrasonic probe, ultrasonic receiver includes at least two ultrasonic waves
Receiver；
Second control module is additionally configured to determine the target receiver of the ultrasonic probe, ultrasonic receiver, wherein, the target
A ultrasonic receiver of the receiver for ultrasonic transmission device described in face on the ultrasonic probe, ultrasonic receiver；And according to true
The fixed target receiver controls the state of each ultrasonic receiver on the ultrasonic probe, ultrasonic receiver.
8. the device described according to claim 6 or 7, which is characterized in that described device further includes：Ranging rectification module, configuration
For according to movement speed of the ultrasonic probe, ultrasonic receiver within the period 1, acceleration and with the ultrasonic transmission device
Between ultrasonic measurement distance, determine orientation distance of the ultrasonic probe, ultrasonic receiver in second round；Determine the ultrasound
Ultrasonic measurement distance of the wave receiving device within second round between the ultrasonic transmission device；According to the ultrasonic wave
Comparison result between ultrasonic measurement distance and orientation distance of the reception device within second round, was corrected within second round
Ultrasonic measurement distance between the ultrasonic probe, ultrasonic receiver and the ultrasonic transmission device；Wherein, the second round
Next signal period for the period 1.
9. a kind of ultrasonic ranging system, which is characterized in that including：Ultrasonic transmission device and ultrasonic probe, ultrasonic receiver；
Wherein, the ultrasonic transmission device is configured to, according to target measurement range, control the signal of the ultrasonic signal of transmitting
Intensity；
The ultrasonic probe, ultrasonic receiver is configured to determine the intensity threshold of received ultrasonic signal, and it is strong to filter out the signal received
Degree is less than the ultrasonic signal of the intensity threshold.
10. system according to claim 9, which is characterized in that the ultrasonic probe, ultrasonic receiver include control module and
At least two ultrasonic receivers；
Wherein, the control module is configured to determine the target receiver of the ultrasonic probe, ultrasonic receiver, wherein, the target connects
Receive a ultrasonic receiver of the device for ultrasonic transmission device described in face on the ultrasonic probe, ultrasonic receiver；And according to determining
The target receiver, control the state of each ultrasonic receiver on the ultrasonic probe, ultrasonic receiver.
11. system according to claim 9 or 10, which is characterized in that the ultrasonic probe, ultrasonic receiver further includes：Ranging is rectified
Positive module and acceleration transducer；
Wherein, the acceleration transducer is configured to detect the movement speed and acceleration of the ultrasonic probe, ultrasonic receiver；
The ranging rectification module is configured to according to movement speed of the ultrasonic probe, ultrasonic receiver within the period 1, acceleration
And the ultrasonic measurement distance between the ultrasonic transmission device, determine the ultrasonic probe, ultrasonic receiver in second round
Orientation distance；Determine ultrasonic wave of the ultrasonic probe, ultrasonic receiver within second round between the ultrasonic transmission device
Measurement distance；And according between ultrasonic measurement distance of the ultrasonic probe, ultrasonic receiver within second round and orientation distance
Comparison result, correct the ultrasonic wave between the ultrasonic probe, ultrasonic receiver and the ultrasonic transmission device within second round
Measurement distance；Wherein, the second round is next signal period of the period 1.
12. a kind of computer-readable medium, which is characterized in that the control program for ultrasonic ranging system is stored with, it is described
The step of control program realizes the control method as described in any one of claim 1 to 5 when being executed by processor.
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| CN201711407686.6A CN108205139B (en) | 2017-12-22 | 2017-12-22 | Control method and device for ultrasonic ranging system |
| US16/956,517 US11500089B2 (en) | 2017-12-22 | 2018-03-16 | Control method and device for ultrasonic receiving device |
| PCT/CN2018/079324 WO2019119654A1 (en) | 2017-12-22 | 2018-03-16 | Control method and device for ultrasonic receiving device |
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| CN201711407686.6A CN108205139B (en) | 2017-12-22 | 2017-12-22 | Control method and device for ultrasonic ranging system |
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| CN112835048B (en) * | 2021-01-04 | 2023-12-15 | 海门市帕源路桥建设有限公司 | Automatic positioning control method for construction space |
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