CN108254739A - For the control method and device of ultrasonic probe, ultrasonic receiver - Google Patents
For the control method and device of ultrasonic probe, ultrasonic receiver Download PDFInfo
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- CN108254739A CN108254739A CN201711408878.9A CN201711408878A CN108254739A CN 108254739 A CN108254739 A CN 108254739A CN 201711408878 A CN201711408878 A CN 201711408878A CN 108254739 A CN108254739 A CN 108254739A
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- ultrasonic
- receiver
- target
- probe
- ultrasonic probe
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
Abstract
Disclosed herein is a kind of control method and device for ultrasonic probe, ultrasonic receiver；The control method includes：Determine the target receiver of ultrasonic probe, ultrasonic receiver, wherein, ultrasonic probe, ultrasonic receiver includes at least two ultrasonic receivers, a ultrasonic receiver of the target receiver for face ultrasonic transmission device on ultrasonic probe, ultrasonic receiver；According to determining target receiver, the state of each ultrasonic receiver on ultrasonic probe, ultrasonic receiver is controlled.In this way, reducing the error of ultrasonic ranging, 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 probe, ultrasonic receiver
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.
As shown in Figure 1, in smaller space, since ultrasonic wave has reflectance signature, wall or object etc. are being encountered
During barrier, the ultrasonic signal of reflection may be received by the multiple ultrasonic receivers installed in equipment to be positioned, this
When, equipment utilization ultrasonic wave to be positioned carries out ranging and 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 probe, ultrasonic receiver, can reduce ultrasonic wave
The error of ranging improves measurement accuracy.
In a first aspect, the embodiment of the present application provides a kind of control method for ultrasonic probe, ultrasonic receiver, wherein, it is described super
Acoustic receiver device includes at least two ultrasonic receivers, and the control method includes：
Determine the target receiver of the ultrasonic probe, ultrasonic receiver, wherein, the target receiver connects for the ultrasonic wave
A ultrasonic receiver of face ultrasonic transmission device 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, the ultrasonic wave that setting condition is met between the target receiver receives
Device can include：
The ultrasonic wave for meeting first threshold on the ultrasonic probe, ultrasonic receiver with the distance between the target receiver connects
Receive device；Alternatively, on the ultrasonic probe, ultrasonic receiver, in using the target receiver as the model of the center of circle, second threshold for radius
Enclose interior ultrasonic receiver.
In the exemplary embodiment, the target receiver for determining the ultrasonic probe, ultrasonic receiver, can include：Base
The time number of ultrasonic signal is received in ultrasonic receiver each on ultrasonic probe, ultrasonic receiver described in multiple signal periods
According to determining target receiver.
In the exemplary embodiment, the target receiver that the basis determines controls the ultrasonic wave to receive dress
After the state for putting each ultrasonic receiver, above-mentioned control method can also include：
Ultrasonic receiver according to starting state is on the ultrasonic probe, ultrasonic receiver in the current demand signal period receives
To the time data of ultrasonic signal, target receiver is adjusted；
According to the target receiver after adjustment, the shape of each ultrasonic receiver on the ultrasonic probe, ultrasonic receiver is adjusted
State.
In the exemplary embodiment, the target receiver according to after adjustment, adjusts the ultrasonic probe, ultrasonic receiver
The state of upper each ultrasonic receiver, can include：
It controls the target receiver after the adjustment and meets setting item between the target receiver after the adjustment
The ultrasonic receiver of part is in starting state, and is unsatisfactory for imposing a condition between the target receiver after control and the adjustment
Ultrasonic receiver be closed.
In the exemplary embodiment, it is described according on the ultrasonic probe, ultrasonic receiver in the current demand signal period in start
The ultrasonic receiver of state receives the time data of ultrasonic signal, adjusts the target receiver, 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, the corresponding ultrasonic receiver of the time data that will be selected
Target receiver is adjusted to, wherein, the reference time data received ultrasound for the target receiver in a upper signal period
The time data of wave signal.
Second aspect, the embodiment of the present application provide a kind of control device for ultrasonic probe, ultrasonic receiver, wherein, it is described super
Acoustic receiver device includes at least two ultrasonic receivers, and the control device includes：
Target receiver determining module is configured to determine the target receiver of the ultrasonic probe, ultrasonic receiver, wherein, it is described
A ultrasonic receiver of the target receiver for face ultrasonic transmission device on the ultrasonic probe, ultrasonic receiver；
Control module is configured to according to the determining target receiver, is controlled each on the ultrasonic probe, ultrasonic receiver
The state of ultrasonic receiver.
In the exemplary embodiment, the control module is configurable in the following manner according to the determining mesh
Receiver is marked, controls the state of each ultrasonic receiver on the ultrasonic probe, ultrasonic receiver：
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, the target receiver determining module was also configured as according to the current demand signal period
The ultrasonic receiver in starting state receives the time data of ultrasonic signal on the interior ultrasonic probe, ultrasonic receiver, adjusts
Whole target receiver；
The control module is also configured as, according to the target receiver after adjustment, adjusting the ultrasonic probe, ultrasonic receiver
The state of upper each ultrasonic receiver.
The third aspect, the embodiment of the present application provide a kind of ultrasonic probe, ultrasonic receiver, including：At least two ultrasonic waves receive
Device, memory and processor；The memory is configured to control program of the storage for ultrasonic probe, ultrasonic receiver, the control
Program realizes the step of control method that above-mentioned first aspect provides when being performed by the processor.
In addition, the embodiment of the present application provides a kind of computer-readable medium, it is stored with the control for ultrasonic probe, ultrasonic receiver
The step of processing procedure sequence, 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, for the ultrasonic probe, ultrasonic receiver including at least two ultrasonic receivers, ultrasound is determined
The target receiver of wave receiving device, wherein, target receiver is face ultrasonic transmission device on ultrasonic probe, ultrasonic receiver
One ultrasonic receiver；According to determining target receiver, each ultrasonic receiver on ultrasonic probe, ultrasonic receiver is controlled
State.So, it is ensured that ultrasonic probe, ultrasonic receiver only receives effective ultrasonic signal of ultrasonic transmission device transmitting, so as to reduce
The error of ultrasonic ranging improves 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 flow chart of the control method provided by the embodiments of the present application for ultrasonic probe, ultrasonic receiver；
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 probe, ultrasonic receiver；
Fig. 5 is the schematic diagram of ultrasonic probe, ultrasonic receiver 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 flow chart of the control method provided by the embodiments of the present application for ultrasonic probe, ultrasonic receiver.The present embodiment
In, ultrasonic probe, ultrasonic receiver includes at least two ultrasonic receivers.Illustratively, as shown in figure 3, ultrasonic probe, ultrasonic receiver is in
12 ultrasonic receivers are sequentially distributed on spherical surface, for example, showing six ultrasonic receivers in Fig. 3 in sphere shape
301 to 306, it is not shown in FIG. 3 in six ultrasonic receivers of spherical back face.However, the application receives ultrasonic wave
The shape of device and the distribution mode of ultrasonic receiver do not limit.
As shown in Fig. 2, control method provided in this embodiment, including：
S201, the target receiver for determining ultrasonic probe, ultrasonic receiver, wherein, target receiver is on ultrasonic probe, ultrasonic receiver
One ultrasonic receiver of face ultrasonic transmission device；
The determining target receiver of S202, basis controls the state of each ultrasonic receiver on ultrasonic probe, ultrasonic receiver.
Control method provided in this embodiment can be performed by ultrasonic probe, ultrasonic receiver, alternatively, can be by being connected to ultrasound
The control device of wave receiving device performs.However, the application does not limit this.
In the exemplary embodiment, S202 can include：Control targe receiver and between target receiver it is full
The ultrasonic receiver to impose a condition enough is in starting state, and controls and surpass be unsatisfactory for imposing a condition between target receiver
Acoustic receiver is 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 ultrasonic wave in the range of being radius as the center of circle, second threshold using target receiver receives
Device.
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, S201 can include：It is connect based on ultrasonic wave each on ultrasonic probe, ultrasonic receiver in multiple signal periods
The time data that device receives ultrasonic signal is received, determines target receiver.However, the application does not limit this.At other
In realization method, for the first time during determining target receiver, can also target receiver be determined by specific mode.
Illustratively, after S202, 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.
In the present embodiment, by closing the portion of ultrasonic sound wave receiver on ultrasonic probe, ultrasonic receiver, realize anti-to barrier
The shielding for the ultrasonic signal penetrated.For example, in Fig. 1, on equipment (ultrasonic probe, ultrasonic receiver i.e. in the present embodiment) to be positioned
Tool is separately mounted to there are five ultrasonic receiver (with the circle signal in equipment to be positioned in Fig. 1) in equipment to be positioned
Upper left, lower-left, upper right, bottom right and centre position；In scene shown in Fig. 1, if closing positioned at the super of upper right and bottom-right location
Acoustic receiver, then equipment to be positioned will not receive the ultrasonic signal reflected from barrier, receive only ultrasonic wave transmitting
The ultrasonic signal that device directly transmits so as to reduce position error, improves the accuracy of ultrasonic ranging.
The application is illustrated below based on ultrasonic probe, ultrasonic receiver shown in Fig. 3.
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 data that target receiver 301 receives ultrasonic signal in signal period is 10.01ms, in the current demand signal period, 6
The time data that ultrasonic receiver receives ultrasonic signal is respectively：10.03ms (ultrasonic receiver 301), 16.7ms
(ultrasonic receiver 302), 10.3ms (ultrasonic receiver 303), 10.02ms (ultrasonic receiver 304), 10.03ms are (super
Acoustic receiver 305), 18.1ms (ultrasonic receiver 306), then connect closest to the time data of 10.01ms for ultrasonic wave
The time data 10.02ms that device 304 receives ultrasonic signal is received, therefore, ultrasonic receiver 304 can be updated to target
Receiver.In this example, determine ultrasonic receiver 304 for that after target receiver, can open around target receiver 304
Several ultrasonic receivers, for example, opening ultrasonic receiver 301,303,304,305 and at the sphere back side apart from mesh
Mark two nearest ultrasonic receivers of receiver 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.
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 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.
Illustratively, according to time of fusion data into row distance calculate when, this letter can be calculated using time of fusion data
Ultrasonic measurement distance in number period, and the positioning predicted according to the movement speed based on a upper signal period and acceleration
The comparison result of ultrasonic measurement distance that distance and this period measurement obtain, corrects the ultrasound that this period measurement obtains
Span from.
Wherein, ultrasonic probe, ultrasonic receiver can include acceleration transducer, and acceleration transducer is configured to detection ultrasonic wave
The movement speed and acceleration of reception device.Acceleration transducer (i.e. accelerometer) is inertial navigation and inertial guidance system
One of fundamental measurement element, accelerometer is substantially an oscillatory system, and it (is super in the present embodiment to be installed on motion carrier
Acoustic receiver device) inside, can be used for measuring the acceleration of motion of carrier.For example, MEMS (MEMS, Micro-
Electro Mechanical Systems) class accelerometer operation principle be when accelerometer together with external object (object
The acceleration of body is acceleration to be measured) one when acting as accelerated motion, mass block can be by the effect of inertia force to opposite
Direction moves, and the displacement that mass block occurs is limited by spring and damper, and extraneous add can be measured by output voltage
Velocity magnitude.However, the application does not limit the type of the acceleration transducer used.
In this example, can according to movement speed of the ultrasonic probe, ultrasonic receiver within the period 1, acceleration and with
Ultrasonic measurement distance between ultrasonic transmission device determines orientation distance of the ultrasonic probe, ultrasonic receiver in second round；Really
Determine ultrasonic measurement distance of the ultrasonic probe, ultrasonic receiver within second round between ultrasonic transmission device；It is connect according to ultrasonic wave
Comparison result between ultrasonic measurement distance and orientation distance of the receiving apparatus within second round is corrected and is surpassed within second round
Ultrasonic measurement distance between acoustic receiver device and ultrasonic transmission device；Wherein, second round is under the period 1
One signal period.
In this example, 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 ultrasound within second round between ultrasonic probe, ultrasonic receiver and ultrasonic transmission device
Span is from constant；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.
In this example, 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.
In this example, the ultrasonic measurement distance of second round can be 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.
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.
In the exemplary embodiment, ultrasonic probe, ultrasonic receiver realizes ultrasonic ranging with ultrasonic transmission device cooperation.
Wherein, by controlling in the transmitting signal strength of ultrasonic transmission device and the intensity threshold of each ultrasonic receiver at least
One, it can also exclude the interference of ultrasonic reflections signal.
In this example, ultrasonic wave can encounter the influence of factors during actual propagation, and generate in various degree
Attenuation, the attenuation of ultrasonic wave mainly have three kinds of scattering, diffusion and absorption.It needs according to target measurement range, control ultrasonic wave hair
The signal strength of the ultrasonic signal of injection device transmitting, illustratively, as object ranging range is less than or equal to 5m, and 5m distances
When, the signal strength of the ultrasonic signal of ultrasonic transmission device transmitting decays to 0 from 80, since ultrasonic receiver receives
Ultrasonic signal need certain intensity that could identify, then need to control the ultrasonic signal of ultrasonic transmission device transmitting
Signal strength is more than 80.Since ultrasonic wave has reflectance signature, the ultrasonic signal of reflection may be connect by ultrasonic probe, ultrasonic receiver
It receives, so as to influence the accuracy of ultrasonic ranging, so needing to filter out these ultrasonic signals reflected.Due to ultrasonic wave
Attenuation, the signal strength of back wave can be weakened, it is possible to be passed through and be determined that ultrasonic receiver receives ultrasonic wave
The intensity threshold of signal, and ultrasonic receiver is controlled to filter out the ultrasonic signal that the signal strength received is less than intensity threshold
Mode, to filter out back wave.Illustratively, can by ultrasonic receiver under current angular away from ultrasonic transmission device
Apart from the intensity value for the ultrasonic signal at setting value (for example, 5m) as intensity threshold, for ultrasonic receiver under
One signal period filtered out the ultrasonic signal less than the intensity threshold, that is, filtered out the ultrasonic wave reflected by barriers such as walls
Signal.Wherein, ultrasonic receiver distance away from ultrasonic transmission device under current angular is the ultrasonic wave letter at setting value
Number intensity value can be determined by way of detecting in advance.For example, the emissive porwer of ultrasonic transmission device be 100, away from
It is 30 from the intensity that the ultrasonic receiver at ultrasonic transmission device 5m receives, then using 30 as intensity threshold, for surpassing
Acoustic receiver filters out the ultrasonic signal less than 30 in next signal period.
In addition, for the ultrasonic probe, ultrasonic receiver of movement, by obtaining a distance value within the shorter signal period, just
In its movement locus of tracking.In this example, can ultrasonic wave hair be controlled according to target measurement range and ultrasonic transmission speed
Injection device emits the signal period of ultrasonic signal.By taking target measurement ranging from 5 meters (m) as an example, ultrasonic transmission device transmitting
Ultrasonic signal propagation 5m spent by time data be about 15ms, wherein, ultrasonic transmission speed is about 340m/s
(spread speed of ultrasonic wave is influenced by environmental factors such as temperature, humidity, is floated up and down in 340m/s)；It therefore, can be by two
Transmission intercal (i.e. signal period) between secondary ultrasonic signal is set as slightly larger than 15ms, such as 18ms.However, the application couple
This is not limited；As long as theoretically it is more than 15ms.
In one example, it is opened in ultrasonic ranging system (including ultrasonic probe, ultrasonic receiver and ultrasonic transmission device)
In the signal period of immunity mode, according to target measurement range, the transmitting signal strength of ultrasonic transmission device is determined, and super
Acoustic emission apparatus is according to determining signal period and transmitting signal strength transmitting ultrasonic signal.Ultrasonic probe, ultrasonic receiver includes
At least two ultrasonic receivers, each ultrasonic receiver are believed according to the ultrasonic wave that determining intensity threshold detection receives
Number, the ultrasonic signal that signal strength is less than to intensity threshold filters out, and ultrasonic probe, ultrasonic receiver connects according to determining target
Device is received, closes unnecessary ultrasonic receiver.In addition, ultrasonic probe, ultrasonic receiver receives the ultrasonic receiver having turned on
The time data of ultrasonic signal carries out fusion treatment, obtains time of fusion data, this signal is calculated using time of fusion data
Ultrasonic measurement distance in period, and the spacer predicted according to the movement speed based on a upper signal period and acceleration
From and the obtained ultrasonic measurement of this period measurement with a distance from comparison result, correct the ultrasonic measurement that this period measurement obtains
Distance.Wherein, it is same as above about the amalgamation mode of time data, therefore repeated no more in this.It is a variety of by combining in this example
The anti-interference mode of ultrasonic wave effectively excludes the interference of ultrasonic reflections signal.
Fig. 4 is the schematic diagram of the control device provided by the embodiments of the present application for ultrasonic probe, ultrasonic receiver.The present embodiment
In, ultrasonic probe, ultrasonic receiver can include at least two ultrasonic receivers.As shown in figure 4, control dress provided in this embodiment
Put including：
Target receiver determining module 401 is configured to determine 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；
Control module 402 is configured to, according to determining target receiver, control each ultrasonic wave on ultrasonic probe, ultrasonic receiver
The state of receiver.
Illustratively, control module 402 is configurable in the following manner according to determining target receiver, and control surpasses
The state of each ultrasonic receiver on acoustic receiver device：
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, target receiver determining module 401 is also configured as according to ultrasound described in the current demand signal period
The ultrasonic receiver in starting state receives the time data of ultrasonic signal on wave receiving device, adjusts intended recipient
Device；
Control module 402 is also configured as according to the target receiver after adjustment, is adjusted every on ultrasonic probe, ultrasonic receiver
The state of a ultrasonic receiver.
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 probe, ultrasonic receiver provided by the embodiments of the present application.As shown in figure 5, the embodiment of the present application
The ultrasonic probe, ultrasonic receiver of offer, including：At least two ultrasonic receivers 501, memory 503 and processor 502；Storage
Device 503 is configured to control program of the storage for ultrasonic probe, ultrasonic receiver, is realized when which is performed by processor 502
The step of control method of embodiment offer is provided.
Wherein, processor 502 can include but is not limited to microprocessor (MCU, Microcontroller Unit) or can
The processing unit of programmed logic device (FPGA, Field Programmable Gate Array) etc..Memory 503 can be used for
The software program and module of application software are stored, such as the corresponding program instruction of control method or module in the present embodiment, place
Reason device 502 is stored in software program and module in memory by operation, so as to perform various functions application and data
Processing, that is, realize above-mentioned control method.Memory 503 may include high speed random access memory, may also include non-volatile memories
Device, such as one or more magnetic storage device, flash memory or other non-volatile solid state memories.In some instances, it deposits
Reservoir 503 may include that, relative to the remotely located memory of processor 502, these remote memories can be by network connection extremely
Above-mentioned ultrasonic probe, ultrasonic receiver.The example of above-mentioned network includes but not limited to internet, intranet, LAN, moves and lead to
Letter net and combinations thereof.
In addition, the embodiment of the present application also provides a kind of computer-readable medium, it is stored with for ultrasonic probe, ultrasonic receiver
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 probe, ultrasonic receiver, which is characterized in that the ultrasonic probe, ultrasonic receiver is included at least
Two ultrasonic receivers, the control method 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 face ultrasonic transmission device；
According to the determining target receiver, the state of each ultrasonic receiver on the ultrasonic probe, ultrasonic receiver is controlled.
2. according to the method described in claim 1, 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.
3. according to the method described in claim 2, it is characterized in that, described meet setting condition between the target receiver
Ultrasonic receiver, including：
Meet the ultrasonic receiver of first threshold on the ultrasonic probe, ultrasonic receiver with the distance between the target receiver；
Alternatively,
On the ultrasonic probe, ultrasonic receiver, in the range of being radius as the center of circle, second threshold using the target receiver
Ultrasonic receiver.
4. the according to the method described in claim 1, it is characterized in that, intended recipient for determining the ultrasonic probe, ultrasonic receiver
Device, including：
Ultrasonic signal is received based on ultrasonic receiver each on the ultrasonic probe, ultrasonic receiver in multiple signal periods
Time data determines target receiver.
5. according to the method described in claim 1, it is characterized in that, the target receiver that the basis determines, controls institute
It states on ultrasonic probe, ultrasonic receiver after the state of each ultrasonic receiver, the method further includes：
Ultrasonic receiver according to starting state is on the 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 the ultrasonic probe, ultrasonic receiver is adjusted.
6. according to the method described in claim 5, it is characterized in that, the target receiver according to after adjustment, described in adjustment
The state of each ultrasonic receiver on ultrasonic probe, ultrasonic receiver, including：
It controls the target receiver after the adjustment and meets what is imposed a condition between the target receiver after the adjustment
Ultrasonic receiver is in starting state, and it is super to be unsatisfactory for imposing a condition between the target receiver after control and the adjustment
Acoustic receiver is closed.
7. according to the method described in claim 5, it is characterized in that, described receive according to ultrasonic wave described in the current demand signal period
The ultrasonic receiver in starting state receives the time data of ultrasonic signal on device, adjusts the intended recipient
Device, including：
In the time data for receiving ultrasonic signal out of current demand signal the period, the difference between selection and reference time data
Absolute value 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, the reference time data received ultrasonic wave letter for the target receiver in a upper signal period
Number time data.
8. a kind of control device for ultrasonic probe, ultrasonic receiver, which is characterized in that the ultrasonic probe, ultrasonic receiver is included at least
Two ultrasonic receivers, the control device include：
Target receiver determining module is configured to determine the target receiver of the ultrasonic probe, ultrasonic receiver, wherein, the target
A ultrasonic receiver of the receiver for face ultrasonic transmission device on the ultrasonic probe, ultrasonic receiver；
Control module is configured to according to the determining target receiver, controls each ultrasound on the ultrasonic probe, ultrasonic receiver
The state of wave receiver.
9. device according to claim 8, which is characterized in that the control module is configured in the following manner according to really
The fixed target receiver controls the state of each ultrasonic receiver on the ultrasonic probe, ultrasonic receiver：
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.
10. device according to claim 8, which is characterized in that the target receiver determining module is additionally configured to basis
The ultrasonic receiver in starting state receives ultrasonic signal on the ultrasonic probe, ultrasonic receiver in the current demand signal period
Time data, adjust target receiver；
The control module is additionally configured to, according to the target receiver after adjustment, adjust and each surpass on the ultrasonic probe, ultrasonic receiver
The state of acoustic receiver.
11. a kind of ultrasonic probe, ultrasonic receiver, which is characterized in that including：At least two ultrasonic receivers, memory and processing
Device；The memory is configured to control program of the storage for ultrasonic probe, ultrasonic receiver, and the control program is by the processor
The step of control method as described in any one of claim 1 to 7 is realized during execution.
12. a kind of computer-readable medium, which is characterized in that the control program for ultrasonic probe, ultrasonic receiver is stored with, it is described
The step of control program realizes the control method as described in any one of claim 1 to 7 when being executed by processor.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711408878.9A CN108254739B (en) | 2017-12-22 | 2017-12-22 | 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 |
| US16/956,517 US11500089B2 (en) | 2017-12-22 | 2018-03-16 | Control method and device for ultrasonic receiving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711408878.9A CN108254739B (en) | 2017-12-22 | 2017-12-22 | Control method and device for ultrasonic receiving device |
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| CN108254739A true CN108254739A (en) | 2018-07-06 |
| CN108254739B CN108254739B (en) | 2020-02-07 |
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| JPH09113617A (en) * | 1995-10-17 | 1997-05-02 | Matsushita Electric Works Ltd | Ultrasound sensor |
| CN101567728B (en) * | 2009-05-06 | 2012-09-26 | 华南理工大学 | Data transmission system and data transmission method for underwater acoustic network |
| CN102721942A (en) * | 2012-06-29 | 2012-10-10 | 中国科学院声学研究所 | Acoustic positioning system and acoustic positioning method for object in building environment |
| CN105116406A (en) * | 2015-09-30 | 2015-12-02 | 长沙开山斧智能科技有限公司 | Composite distance measuring instrument and distance measuring method thereof |
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2017
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09113617A (en) * | 1995-10-17 | 1997-05-02 | Matsushita Electric Works Ltd | Ultrasound sensor |
| CN101567728B (en) * | 2009-05-06 | 2012-09-26 | 华南理工大学 | Data transmission system and data transmission method for underwater acoustic network |
| CN102721942A (en) * | 2012-06-29 | 2012-10-10 | 中国科学院声学研究所 | Acoustic positioning system and acoustic positioning method for object in building environment |
| CN105116406A (en) * | 2015-09-30 | 2015-12-02 | 长沙开山斧智能科技有限公司 | Composite distance measuring instrument and distance measuring method thereof |
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| CN108254739B (en) | 2020-02-07 |
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