CN109188441B - Four-dimensional continuous wave ultrasonic radar and four-dimensional information measuring method - Google Patents
Four-dimensional continuous wave ultrasonic radar and four-dimensional information measuring method Download PDFInfo
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- CN109188441B CN109188441B CN201811033423.8A CN201811033423A CN109188441B CN 109188441 B CN109188441 B CN 109188441B CN 201811033423 A CN201811033423 A CN 201811033423A CN 109188441 B CN109188441 B CN 109188441B
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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
- 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
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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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
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S15/62—Sense-of-movement determination
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Abstract
The embodiment of the invention provides a four-dimensional continuous wave ultrasonic radar, which comprises: the ultrasonic transducer array and a control processing system connected with the ultrasonic transducer; the ultrasonic transducer array comprises an ultrasonic transmitting transducer positioned in the center of the array, a first horizontal ultrasonic receiving transducer and a second horizontal ultrasonic receiving transducer which are arranged symmetrically to the ultrasonic transmitting transducer along the horizontal axial direction, and a first vertical ultrasonic receiving transducer and a second vertical ultrasonic receiving transducer which are arranged symmetrically to the ultrasonic transmitting transducer along the vertical axial direction; the control processing system is used for controlling the ultrasonic transmitting transducer to transmit signals to a target to be detected, receiving echo signals of the first horizontal ultrasonic receiving transducer, echo signals of the second horizontal ultrasonic receiving transducer, echo signals of the first vertical ultrasonic receiving transducer and echo signals of the second vertical ultrasonic receiving transducer, processing all the echo signals and acquiring four-dimensional information of the target to be detected. And the comprehensive positioning information of the target to be detected can be obtained.
Description
Technical Field
The embodiment of the invention relates to the technical field of ultrasonic radar detection, in particular to a four-dimensional continuous wave ultrasonic radar and a four-dimensional information measuring method.
Background
Ultrasonic radar is used as an effective obstacle detection means and is widely applied to the fields of intelligent driving of automobiles, intelligent robots and the like.
The traditional ultrasonic radar only comprises an ultrasonic transmitting transducer and an ultrasonic receiving transducer, and can only detect the distance information and the speed information of a target to be detected, but cannot accurately acquire the direction information of different targets in a beam range.
Therefore, a four-dimensional continuous wave ultrasonic radar and a four-dimensional information measurement method are needed to obtain more comprehensive positioning information of the target to be measured.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention provide a four-dimensional continuous wave ultrasonic radar and a four-dimensional information measuring method that overcome the above problems or at least partially solve the above problems.
In a first aspect, an embodiment of the present invention provides a four-dimensional continuous wave ultrasonic radar, including:
the ultrasonic transducer array and a control processing system are connected with the ultrasonic transducer;
the ultrasonic transducer array comprises an ultrasonic transmitting transducer positioned in the center of the array, a first horizontal ultrasonic receiving transducer and a second horizontal ultrasonic receiving transducer which are arranged symmetrically to the ultrasonic transmitting transducer along the horizontal axial direction, and a first vertical ultrasonic receiving transducer and a second vertical ultrasonic receiving transducer which are arranged symmetrically to the ultrasonic transmitting transducer along the vertical axial direction;
the control processing system is used for controlling the ultrasonic transmitting transducer to transmit signals to a target to be detected and receiving echo signals of the first horizontal ultrasonic receiving transducer, echo signals of the second horizontal ultrasonic receiving transducer, echo signals of the first vertical ultrasonic receiving transducer and echo signals of the second vertical ultrasonic receiving transducer, and performing signal processing on all echo signals to acquire four-dimensional information of the target to be detected.
In a second aspect, an embodiment of the present invention further provides a four-dimensional information measurement method, where the method includes:
receiving an echo signal of a first horizontal ultrasonic receiving transducer, an echo signal of a second horizontal ultrasonic receiving transducer, an echo signal of a first vertical ultrasonic receiving transducer and an echo signal of a second vertical ultrasonic receiving transducer;
calculating distance, speed and azimuth information of a horizontal continuous wave ultrasonic radar according to an echo signal of a first horizontal ultrasonic receiving transducer and an echo signal of a second horizontal ultrasonic receiving transducer, and calculating distance, speed and azimuth information of a vertical continuous wave ultrasonic radar according to the echo signal of the first vertical ultrasonic receiving transducer and the echo signal of the second vertical ultrasonic receiving transducer;
and fusing the distance, speed and azimuth information of the horizontal continuous wave ultrasonic radar and the distance, speed and azimuth information of the vertical continuous wave ultrasonic radar to acquire four-dimensional information of the target to be detected.
The four-dimensional continuous wave ultrasonic radar and the four-dimensional information measuring method provided by the embodiment of the invention detect a target to be detected through a self-arranged ultrasonic transducer array, and a horizontal continuous wave detection radar is formed by an ultrasonic transmitting transducer in the center of the array and two horizontal ultrasonic receiving transducers and is used for detecting the distance, the speed and the azimuth angle of the target to be detected; the ultrasonic transmitting transducer and the two vertical ultrasonic receiving transducers form a vertical continuous wave detection radar which is used for detecting the distance, the speed and the pitch angle of a target to be detected. And then, carrying out data matching fusion on the information to determine the final four-dimensional information of the target to be detected, thereby obtaining the omnibearing positioning information of the target to be detected.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an ultrasound transducer array provided by an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a four-dimensional continuous wave ultrasonic radar according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a computing processing module according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart of a four-dimensional information measurement method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a frequency curve of a transmitted signal and an echo signal according to an embodiment of the present invention;
reference numerals: 1. an ultrasonic transmitting transducer; 2. a second vertical ultrasonic receiving transducer; 3. a first vertical ultrasonic receiving transducer; 4. a first horizontal ultrasonic receiving transducer; 5. a second horizontal ultrasonic receiving transducer; 6. a target to be measured; 7. receiving a conditioning module; 8. a transmit excitation module; 9. a first receiving frequency measuring module; 10. a second receiving frequency measuring module; 11. a continuous frequency modulation module; 12. a first phase difference measurement module; 13. a second phase difference measurement module; 14. and a calculation processing module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments, but not all embodiments, of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, the ultrasonic radar provided by the prior art can only detect the distance information and the speed information of the target to be detected, and can not accurately acquire the omnibearing information of different targets in the wave beam range.
To solve the above problems in the prior art, an embodiment of the present invention provides a four-dimensional continuous wave ultrasonic radar, including:
the ultrasonic transducer array and a control processing system are connected with the ultrasonic transducer;
fig. 1 is a schematic structural diagram of an ultrasonic transducer array provided by an embodiment of the present invention, and as shown in fig. 1, the ultrasonic transducer array includes an ultrasonic transmitting transducer 1 located in the center of the array, a first horizontal ultrasonic receiving transducer 4 and a second horizontal ultrasonic receiving transducer 5 arranged symmetrically to the ultrasonic transmitting transducer along a horizontal axial direction, and a first vertical ultrasonic receiving transducer 3 and a second vertical ultrasonic receiving transducer 2 arranged symmetrically to the ultrasonic transmitting transducer along a vertical axial direction;
the control processing system is used for controlling the ultrasonic transmitting transducer 1 to transmit signals to a target 6 to be detected, receiving echo signals of the first horizontal ultrasonic receiving transducer 4, echo signals of the second horizontal ultrasonic receiving transducer 5, echo signals of the first vertical ultrasonic receiving transducer 3 and echo signals of the second vertical ultrasonic receiving transducer 2, performing signal processing on all echo signals, and acquiring four-dimensional information of the target 6 to be detected.
The four-dimensional continuous wave ultrasonic radar provided by the embodiment of the invention is mainly applied to target detection and positioning, and is different from a common ultrasonic radar provided by the prior art, the four-dimensional continuous wave ultrasonic radar provided by the embodiment of the invention can detect four-dimensional information of a target to be detected, wherein the four-dimensional information refers to distance information (r in fig. 1) of the target to be detected, speed information (v in fig. 1) of the target to be detected, azimuth angle information (theta in fig. 1) of the target to be detected and pitch angle information (alpha in fig. 1) of the target to be detected.
The embodiment of the present invention is implemented by providing a specially designed ultrasonic transducer array structure, as shown in fig. 1, in the ultrasonic transducer array provided by the embodiment of the present invention, it includes one ultrasonic transmitting transducer 1, two horizontal ultrasonic receiving transducers (a first horizontal ultrasonic receiving transducer 4 and a second horizontal ultrasonic receiving transducer 5), and two vertical ultrasonic receiving transducers (a first vertical ultrasonic receiving transducer 3 and a second vertical ultrasonic receiving transducer 2). The ultrasonic transmitting transducer 1 is arranged in the center of the array, a spatial rectangular coordinate system is established with the center of the ultrasonic transmitting transducer 1 as an origin, a first horizontal ultrasonic receiving transducer 4 and a second horizontal ultrasonic receiving transducer 5 are arranged on an x-axis of the spatial rectangular coordinate system, the first horizontal ultrasonic receiving transducer 4 and the second horizontal ultrasonic receiving transducer 5 are symmetrically arranged on the ultrasonic transmitting transducer 1, and the distance between the first horizontal ultrasonic receiving transducer 4 and the ultrasonic transmitting transducer 1 can be adjusted according to actual conditions.
Meanwhile, the first vertical ultrasonic receiving transducer 3 and the second vertical ultrasonic receiving transducer 2 are arranged on the y axis of the spatial rectangular coordinate system, the first vertical ultrasonic receiving transducer 3 and the second vertical ultrasonic receiving transducer 2 are also symmetrically arranged on the ultrasonic transmitting transducer 1, and the distance between the first vertical ultrasonic receiving transducer 3 and the ultrasonic transmitting transducer 1 can be adjusted according to actual conditions, which is not specifically limited in the embodiment of the invention.
It should be noted that the ultrasonic transmitting transducer 1 provided in the embodiment of the present invention mainly converts the input electric power into ultrasonic waves to transmit the ultrasonic waves to the target 6 to be measured, and the specific type of the embodiment of the present invention is not limited in particular. The horizontal ultrasonic receiving transducer is a receiver capable of receiving continuous echo signals in the horizontal direction, and the vertical ultrasonic receiving transducer is a receiver capable of receiving continuous echo signals in the vertical direction.
Then, with the ultrasonic transducer array provided in the embodiment of the present invention, a manner of detecting a transmission signal from the ultrasonic transmitting transducer 1 to the target 6 to be measured and receiving echo signals reflected by the target 6 to be measured by 4 ultrasonic receiving transducers is achieved. It can be understood that, in order to obtain the positioning information of the target 6 to be measured, the echo signal needs to be processed to obtain the four-dimensional information finally required by the embodiment of the present invention. In an embodiment of the invention, a control processing system is provided to implement this functionality.
Specifically, the control processing system receives an echo signal of the first horizontal ultrasonic receiving transducer 4, an echo signal of the second horizontal ultrasonic receiving transducer 5, an echo signal of the first vertical ultrasonic receiving transducer 3, and an echo signal of the second vertical ultrasonic receiving transducer 2, and performs signal processing on all echo signals, where the signal processing mainly refers to calculating distance, speed, and azimuth information of each measurement point measured by the horizontal continuous wave ultrasonic radar according to the echo signal in the horizontal direction, and calculating distance, speed, and azimuth information of each measurement point measured by the vertical continuous wave ultrasonic radar according to the echo signal in the vertical direction. And matching and fusing the information, and finally outputting the four-dimensional positioning information of the target to be detected required by the embodiment of the invention. It can be understood that, because the measurement range of the ultrasonic radar is of a beam type, in the beam range, there may be a plurality of target points to be measured in both the horizontal continuous wave ultrasonic radar and the vertical continuous wave ultrasonic radar, and the same signal processing mode is adopted for each target point to be measured.
The four-dimensional continuous wave ultrasonic radar provided by the embodiment of the invention detects a target to be detected through a self-arranged ultrasonic transducer array, and a horizontal continuous wave detection radar is formed by an ultrasonic transmitting transducer in the center of the array and two horizontal ultrasonic receiving transducers and is used for detecting the distance, the speed and the azimuth angle of the target to be detected; the ultrasonic transmitting transducer and the two vertical ultrasonic receiving transducers form a vertical continuous wave detection radar which is used for detecting the distance, the speed and the pitch angle of a target to be detected. And then, carrying out data matching fusion on the information to determine the final four-dimensional information of the target to be detected, thereby obtaining the omnibearing positioning information of the target to be detected.
On the basis of the foregoing embodiment, fig. 2 is a schematic structural diagram of a four-dimensional continuous wave ultrasonic radar according to an embodiment of the present invention, and as shown in fig. 2, the control processing system includes a transmission excitation module 8 and a continuous frequency modulation module 11, where:
the continuous frequency modulation module 11 is connected to the transmission excitation module 8, and the continuous frequency modulation module 11 is configured to generate a triangular modulated frequency signal and send the frequency signal to the transmission excitation module 8;
the transmitting and exciting module 8 is respectively connected with the continuous frequency modulation module 11 and the ultrasonic transmitting transducer 1, and the transmitting and exciting module 8 is used for amplifying and boosting the received frequency signal and then driving the ultrasonic transmitting transducer 1 to vibrate to send out the transmitting signal.
On the basis of the above embodiment, the control processing system further includes a receiving frequency measurement module and a phase difference measurement module, wherein:
the first horizontal ultrasonic receiving transducer 4 is connected with a first receiving frequency measuring module 9, the first vertical ultrasonic receiving transducer 3 is connected with a second receiving frequency measuring module 10, and the receiving frequency measuring module is used for receiving echo signals and detecting the frequency of the echo signals;
the first horizontal ultrasonic receiving transducer 4 and the second horizontal ultrasonic receiving transducer 5 are connected with a first phase difference measuring module 12, the first vertical ultrasonic receiving transducer 3 and the second vertical ultrasonic receiving transducer 2 are connected with a second phase difference measuring module 13, and the phase difference measuring module is used for measuring the phase difference between echo signals.
As can be seen from the above description of the embodiments, the first horizontal ultrasonic receiving transducer 4 and the second horizontal ultrasonic receiving transducer 5, and the first vertical ultrasonic receiving transducer 3 and the second vertical ultrasonic receiving transducer 2 both generate echo signals, and the control processing system provided in the embodiment of the present invention needs to perform signal processing on the echo signals. Specific processing procedure the embodiment of the present invention provides a first receiving frequency measuring module 9 and a second receiving frequency measuring module 10 to measure the frequencies of the first horizontal ultrasonic receiving transducer 4 and the first vertical ultrasonic receiving transducer 3, respectively, and then perform a difference with the frequency of the transmitted signal to obtain a frequency difference. And the phase difference between the horizontal echo signals can be obtained by the first phase difference measuring module 12, and the phase difference between the vertical echo signals can be obtained by the second phase difference measuring module 13, thereby providing a data base for calculating the four-dimensional information.
On the basis of the above embodiment, as shown in fig. 2, the control processing system further includes a receiving and conditioning module 7, wherein:
the first horizontal ultrasonic receiving transducer 4, the second horizontal ultrasonic receiving transducer 5, the first vertical ultrasonic receiving transducer 3 and the second vertical ultrasonic receiving transducer 2 are respectively connected with a corresponding receiving and conditioning module 7, and the receiving and conditioning module 7 amplifies and filters echo signals;
the output end of the receiving and conditioning module corresponding to the first horizontal ultrasonic receiving transducer 4 is respectively connected with the first phase difference measuring module 12 and the first receiving frequency measuring module 9;
the output end of the receiving and conditioning module corresponding to the second horizontal ultrasonic receiving transducer 5 is connected with the first phase difference measuring module 12;
the output end of the receiving and conditioning module corresponding to the first vertical ultrasonic receiving transducer 3 is respectively connected with the second phase difference measuring module 13 and the second receiving frequency measuring module 10;
the output end of the receiving and conditioning module corresponding to the second vertical ultrasonic receiving transducer 2 is connected to the second phase difference measuring module 13.
It can be known from the foregoing embodiments that, in the embodiments of the present invention, the receiving frequency measurement module and the phase difference measurement module are provided to process the echo signal, but the original echo signal needs to be subjected to preliminary preprocessing due to noise interference and other factors, so that the processed signal effect is better.
The embodiment of the invention provides a receiving and conditioning module 7 to solve the above problems, and each ultrasonic receiving transducer is correspondingly connected with one receiving and conditioning module 7, the receiving and conditioning module 7 amplifies and filters echo signals, and then transmits the amplified and filtered signals to a receiving frequency measuring module and a phase difference measuring module, so that the calculation results of the receiving frequency measuring module and the phase difference measuring module are better.
On the basis of the above embodiment, as shown in fig. 2, the control processing system further includes a calculation processing module 14, wherein:
the calculation processing module 14 is connected to all the phase difference measuring modules and all the receiving frequency measuring modules, and the calculation processing module 14 is configured to obtain four-dimensional information of the target to be measured.
It can be understood that the receiving frequency measuring module and the phase difference measuring module provided in the above embodiments can calculate the frequency difference and the phase difference, but further calculation is required to obtain the four-dimensional information required in the embodiments of the present invention. And only the distance, speed and azimuth angle information of the horizontal continuous wave ultrasonic radar target point can be calculated according to the first horizontal ultrasonic receiving transducer 4 and the second horizontal ultrasonic receiving transducer 5, and only the distance, speed and pitch angle information of the vertical continuous wave ultrasonic radar target point can be calculated according to the first vertical ultrasonic receiving transducer 3 and the second vertical ultrasonic receiving transducer 2. Therefore, the calculation processing module 14 provided in the embodiment of the present invention needs to perform information matching and fusion on the above information to calculate and obtain the final four-dimensional information.
On the basis of the foregoing embodiment, fig. 3 is a schematic structural diagram of a calculation processing module provided in an embodiment of the present invention, and as shown in fig. 3, the calculation processing module includes:
a first data acquisition unit 301, configured to acquire distance, speed, and azimuth information of a horizontal continuous wave ultrasonic radar according to measurement values of the first receiving frequency measurement module and the first phase difference measurement module;
a second data obtaining unit 302, configured to obtain distance, speed, and pitch angle information of the target to be measured according to the second receiving frequency measurement module and the second phase difference measurement module;
and the data fusion matching unit 303 is configured to perform data fusion matching on the distance, speed, and azimuth angle information of the horizontal continuous wave ultrasonic radar and the distance, speed, and pitch angle information of the target to be detected of the vertical continuous wave ultrasonic radar, and acquire four-dimensional information of the distance, speed, azimuth angle, and pitch angle of the target to be detected.
Specifically, in the embodiment of the present invention, the first data obtaining unit 301 obtains the distance, speed, and azimuth information of the horizontal continuous wave ultrasonic radar. From the above description of the embodiments, it can be seen that the frequency difference Δ f between the transmission signal and the horizontal echo signal at the rising edge stage can be obtained according to the frequency curve of the transmission signal and the frequency curve of the horizontal echo signalHup＝fT(t)-fH(t), and a frequency difference Δ f at a falling edge stageHdown＝fH(t)-fT(t) of (d). And then can pass through
And
calculating the distance r of the target pointHAnd velocity vHdWhere c is the speed of sound in the medium, fcIs the center frequency of frequency modulation, B is the bandwidth of frequency modulation, TmIs a frequency modulation period. Then according to
Calculating the azimuth angle theta, where dHThe center distance of 2 horizontal ultrasonic receiving transducers.
Similarly, the embodiment of the present invention acquires the distance, velocity, and pitch angle information of the vertical continuous wave ultrasonic radar through the second data acquisition unit 302. From the above description of the embodiments, it can be seen that the frequency difference Δ f between the transmission signal and the horizontal echo signal at the rising edge stage can be obtained according to the frequency curve of the transmission signal and the frequency curve of the vertical echo signalVup＝fT(t)-fV(t), and a frequency difference Δ f at a falling edge stageVup＝fV(t)-fT(t) of (d). And then can pass through
And
calculating the distance r of the target point to be measuredVAnd velocity vVdThen according to
Calculating a pitch angle α, wherein dVIs the center distance of two perpendicular ultrasound receiving transducers.
It should be noted that, when there are multiple target points in the beam of the vertical continuous wave ultrasonic radar, there are multiple frequency components in the echo signal, and correspondingly there are multiple phase differences, so that the distance, speed and azimuth information of the multiple target points can be obtained according to the above calculation method: { { rV(0),vVd(0),α(0)},...,{rV(M),vVd(M),α(M)}}。
Finally, the embodiment of the invention performs data fusion matching through the data fusion matching unit 303 to obtain four-dimensional information of the distance, the speed, the azimuth angle and the pitch angle of the target to be detected. Specifically, a group of data to be matched is selected, such as the ith target point { r ] detected by a horizontal continuous wave ultrasonic radarH(i),vHd(i) θ (i) } and the jth target point detected by the vertical continuous wave ultrasonic radar { r }V(j),vVd(j) α (j) }. Then, data matching is performed on the distance information, i.e., | r is calculatedH(i)-rV(j) Whether or not it is less than a preset threshold value deltarIf less than δrThe distance information matching is judged to be successful. At the same time, the velocity information is data matched, i.e. | v is calculatedHd(i)-vVd(j) Whether | is less than a preset threshold value deltavIf less than δvThe matching of the speed information is judged to be successful. If the distance information and the speed information are successfully matched, recording a successfully matched target point to be detected, wherein the 4-dimensional information of the target point to be detected is { r (k) }, vd(k) θ (k), α (k) }, wherein
θ (k) θ (i), α (k) α (j); and if any one of the distance information and the speed information is unsuccessfully matched, reselecting the next group of target points to be matched for matching, and repeating the matching process until all possible combinations are traversed.
Then, the distance, speed and azimuth angle information of the horizontal continuous wave ultrasonic radar and the distance, speed and pitch angle information of the target to be detected of the vertical continuous wave ultrasonic radar can be subjected to data fusion matching through the data fusion matching process provided by the embodiment of the invention, so that four-dimensional data of the target point to be detected can be obtained.
On the basis of the foregoing embodiment, fig. 4 is a schematic flow chart of a four-dimensional information measurement method provided in an embodiment of the present invention, and as shown in fig. 4, the method includes:
401. receiving an echo signal of a first horizontal ultrasonic receiving transducer, an echo signal of a second horizontal ultrasonic receiving transducer, an echo signal of a first vertical ultrasonic receiving transducer and an echo signal of a second vertical ultrasonic receiving transducer;
402. calculating distance, speed and azimuth information of a horizontal continuous wave ultrasonic radar according to an echo signal of a first horizontal ultrasonic receiving transducer and an echo signal of a second horizontal ultrasonic receiving transducer, and calculating distance, speed and azimuth information of a vertical continuous wave ultrasonic radar according to the echo signal of the first vertical ultrasonic receiving transducer and the echo signal of the second vertical ultrasonic receiving transducer;
403. and fusing the distance, speed and azimuth information of the horizontal continuous wave ultrasonic radar and the distance, speed and azimuth information of the vertical continuous wave ultrasonic radar to acquire four-dimensional information of the target to be detected.
It can be used that the embodiment of the present invention is a four-dimensional information measurement method implemented based on the four-dimensional continuous wave ultrasonic radar provided in the above embodiment, and the method provided in the embodiment of the present invention can be used for four-dimensional information measurement of any target to be measured, so as to position the target to be measured.
Specifically, in step 401, it is understood that, in the embodiment of the present invention, echo signals generated by detecting a target to be detected may be received by a first horizontal ultrasonic receiving transducer, a second horizontal ultrasonic receiving transducer, a first vertical ultrasonic receiving transducer, and a second vertical ultrasonic receiving transducer of a four-dimensional continuous wave ultrasonic radar, where the echo signals include a horizontal continuous wave signal received in a horizontal direction and a vertical continuous wave signal received in a vertical direction.
Further, in step 402, after receiving the echo signals of the respective ultrasonic receiving transducers, the embodiment of the present invention calculates the distance, speed and azimuth information of the horizontal continuous wave ultrasonic radar according to the horizontal continuous wave signals received in the horizontal direction, and calculates the distance, speed and azimuth information of the vertical continuous wave ultrasonic radar according to the vertical continuous wave signals received in the vertical direction. The distance, speed and azimuth angle information of the horizontal continuous wave ultrasonic radar refers to the distance, speed and azimuth angle information measured and calculated by the horizontal continuous wave ultrasonic radar of each target point to be measured; similarly, the distance, speed and azimuth angle information of the vertical continuous wave ultrasonic radar refers to the distance, speed and pitch angle information measured and calculated by the vertical continuous wave ultrasonic radar of each target point to be measured.
Finally, in step 403, according to a preset information matching fusion algorithm, the embodiment of the present invention performs fusion matching on the distance, speed, and azimuth information of the horizontal continuous wave ultrasonic radar and the distance, speed, and azimuth information of the vertical continuous wave ultrasonic radar, so as to obtain four-dimensional information of the target to be measured.
The four-dimensional information measuring method provided by the embodiment of the invention detects the distance, the speed and the pitch angle of the target to be measured by detecting the distance, the speed and the azimuth angle of the target to be measured. And then, carrying out data matching fusion on the information to determine the final four-dimensional information of the target to be detected, thereby obtaining the omnibearing positioning information of the target to be detected.
On the basis of the above embodiment, before the receiving the echo signal of the first horizontal ultrasonic receiving transducer, the echo signal of the second horizontal ultrasonic receiving transducer, the echo signal of the first vertical ultrasonic receiving transducer, and the echo signal of the second vertical ultrasonic receiving transducer, the method further includes:
and exciting the ultrasonic transmitting transducer to vibrate the ultrasonic transmitting transducer to transmit signals to the target to be measured.
It will be appreciated that if the target to be measured is capable of producing an echo signal for reception by the ultrasonic receiving transducer, which requires the transmission of an ultrasonic signal before that, the method may further comprise exciting the ultrasonic transmitting transducer to vibrate the ultrasonic transmitting transducer to transmit a signal to the target to be measured. Generally, the waveform signal excited and transmitted by the embodiment of the present invention is a triangular modulated frequency signal, so that the corresponding echo signal is received after being reflected by the target to be measured, fig. 5 is a schematic diagram of a frequency curve of the transmitted signal and the echo signal provided by the embodiment of the present invention, as shown in fig. 5, where fT(t) is the frequency curve of the transmitted signal, fH(t) is the frequency curve of the echo signal, in the diagram Δ fHupFor the frequency difference in the rising edge phase, Δ fHdownFor the frequency difference in the falling edge phase, B is the bandwidth of the modulation, TmThe frequency modulation period can be set according to actual conditions.
On the basis of the above embodiment, the acquiring the four-dimensional information of the target to be measured by fusing the distance, speed, and azimuth information of the horizontal continuous wave ultrasonic radar and the distance, speed, and azimuth information of the vertical continuous wave ultrasonic radar includes:
matching the distance of the horizontal continuous wave ultrasonic radar with the distance of the vertical continuous wave ultrasonic radar, and matching the speed of the horizontal continuous wave ultrasonic radar with the speed of the vertical continuous wave ultrasonic radar;
if the matching is successful, recording the average value of the distance of the horizontal continuous wave ultrasonic radar and the distance of the vertical continuous wave ultrasonic radar as the distance of the target to be detected, and recording the average value of the speed of the horizontal continuous wave ultrasonic radar and the speed of the vertical continuous wave ultrasonic radar as the speed of the target to be detected.
It can be known from the content of the above embodiment that the embodiment of the present invention provides a preset matching fusion algorithm to match the distance of the horizontal continuous wave ultrasonic radar with the distance of the vertical continuous wave ultrasonic radar, and match the speed of the horizontal continuous wave ultrasonic radar with the speed of the vertical continuous wave ultrasonic radar.
Specifically, a group of data to be matched is selected, such as the ith target point { r ] detected by a horizontal continuous wave ultrasonic radarH(i),vHd(i) θ (i) } and the jth target point detected by the vertical continuous wave ultrasonic radar { r }V(j),vVd(j) α (j) }. Then, the distance information is subjected to data matching, i.e., calculation
rH(i)-rV(j) Whether | is less than a preset threshold value deltarIf less than δrThe distance information matching is judged to be successful. At the same time, the velocity information is data matched, i.e. | v is calculatedHd(i)-vVd(j) Whether | is less than a preset threshold value deltavIf less than δvThe matching of the speed information is judged to be successful. If the distance information and the speed information are successfully matched, recording a successfully matched target point to be detected, wherein the 4-dimensional information of the target point to be detected is { r (k) }, vd(k) θ (k), α (k) }, wherein
θ (k) θ (i), α (k) α (j); and if any matching of the distance information and the speed information is unsuccessful, reselecting the next group of target points to be matched for matching, and repeating the matching process until all possible target point combinations are traversed.
The matching fusion algorithm provided by the embodiment of the invention can match the distance of the horizontal continuous wave ultrasonic radar with the distance of the vertical continuous wave ultrasonic radar, match the speed of the horizontal continuous wave ultrasonic radar with the speed of the vertical continuous wave ultrasonic radar, and determine the accurate distance and speed information meeting the conditions, thereby realizing the accurate positioning of the target to be detected.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A four-dimensional continuous wave ultrasonic radar, comprising:
the ultrasonic transducer array and a control processing system are connected with the ultrasonic transducer;
the ultrasonic transducer array comprises an ultrasonic transmitting transducer positioned in the center of the array, a first horizontal ultrasonic receiving transducer and a second horizontal ultrasonic receiving transducer which are arranged symmetrically to the ultrasonic transmitting transducer along the horizontal axial direction, and a first vertical ultrasonic receiving transducer and a second vertical ultrasonic receiving transducer which are arranged symmetrically to the ultrasonic transmitting transducer along the vertical axial direction;
the control processing system is used for controlling the ultrasonic transmitting transducer to transmit signals to a target to be detected, receiving echo signals of the first horizontal ultrasonic receiving transducer, echo signals of the second horizontal ultrasonic receiving transducer, echo signals of the first vertical ultrasonic receiving transducer and echo signals of the second vertical ultrasonic receiving transducer, and performing signal processing on all the echo signals to acquire four-dimensional information of the target to be detected;
the control processing system comprises a transmitting excitation module and a continuous frequency modulation module, wherein:
the continuous frequency modulation module is connected with the transmitting excitation module and is used for generating a triangular modulated frequency signal and sending the frequency signal to the transmitting excitation module;
the transmitting and exciting module is respectively connected with the continuous frequency modulation module and the ultrasonic transmitting transducer, and is used for amplifying and boosting the received frequency signal and then driving the ultrasonic transmitting transducer to vibrate to send out the transmitting signal;
the control processing system further comprises a receiving frequency measuring module and a phase difference measuring module, wherein:
the first horizontal ultrasonic receiving transducer is connected with a first receiving frequency measuring module, the first vertical ultrasonic receiving transducer is connected with a second receiving frequency measuring module, and the receiving frequency measuring module is used for receiving echo signals and detecting the frequency of the echo signals;
the first horizontal ultrasonic receiving transducer and the second horizontal ultrasonic receiving transducer are connected with a first phase difference measuring module, the first vertical ultrasonic receiving transducer and the second vertical ultrasonic receiving transducer are connected with a second phase difference measuring module, and the phase difference measuring module is used for measuring the phase difference between echo signals;
the control processing system further includes a calculation processing module, wherein:
the calculation processing module is connected with all the phase difference measuring modules and all the receiving frequency measuring modules, and is used for acquiring the four-dimensional information of the target to be measured;
the calculation processing module comprises:
the first data acquisition unit is used for acquiring distance, speed and azimuth angle information of the horizontal continuous wave ultrasonic radar according to the measured values of the first receiving frequency measurement module and the first phase difference measurement module;
the second data acquisition unit is used for acquiring the distance, speed and pitch angle information of the target to be measured of the vertical continuous wave ultrasonic radar according to the measured values of the second receiving frequency measurement module and the second phase difference measurement module;
and the data fusion matching unit is used for carrying out data fusion matching on the distance, speed and azimuth angle information of the horizontal continuous wave ultrasonic radar and the distance, speed and pitch angle information of the target to be detected of the vertical continuous wave ultrasonic radar so as to acquire four-dimensional information of the distance, speed, azimuth angle and pitch angle of the target to be detected.
2. The four-dimensional continuous wave ultrasonic radar of claim 1, wherein the control processing system further comprises a receive conditioning module, wherein:
the first horizontal ultrasonic receiving transducer, the second horizontal ultrasonic receiving transducer, the first vertical ultrasonic receiving transducer and the second vertical ultrasonic receiving transducer are respectively connected with one corresponding receiving and conditioning module, and the receiving and conditioning modules amplify and filter echo signals;
the output end of the receiving and conditioning module corresponding to the first horizontal ultrasonic receiving transducer is respectively connected with the first phase difference measuring module and the first receiving frequency measuring module;
the output end of the receiving and conditioning module corresponding to the second horizontal ultrasonic receiving transducer is connected with the first phase difference measuring module;
the output end of the receiving and conditioning module corresponding to the first vertical ultrasonic receiving transducer is respectively connected with the second phase difference measuring module and the second receiving frequency measuring module;
and the output end of the receiving and conditioning module corresponding to the second vertical ultrasonic receiving transducer is connected with the second phase difference measuring module.
3. A four-dimensional information measurement method implemented by the four-dimensional continuous wave ultrasonic radar according to any one of claims 1 to 2, the method comprising:
receiving an echo signal of a first horizontal ultrasonic receiving transducer, an echo signal of a second horizontal ultrasonic receiving transducer, an echo signal of a first vertical ultrasonic receiving transducer and an echo signal of a second vertical ultrasonic receiving transducer;
calculating distance, speed and azimuth information of a horizontal continuous wave ultrasonic radar according to an echo signal of a first horizontal ultrasonic receiving transducer and an echo signal of a second horizontal ultrasonic receiving transducer, and calculating distance, speed and azimuth information of a vertical continuous wave ultrasonic radar according to the echo signal of the first vertical ultrasonic receiving transducer and the echo signal of the second vertical ultrasonic receiving transducer;
and fusing the distance, speed and azimuth information of the horizontal continuous wave ultrasonic radar and the distance, speed and azimuth information of the vertical continuous wave ultrasonic radar to acquire four-dimensional information of the target to be detected.
4. The method of claim 3, wherein prior to said receiving the echo signal of the first horizontal ultrasonic receiving transducer, the echo signal of the second horizontal ultrasonic receiving transducer, the echo signal of the first vertical ultrasonic receiving transducer, and the echo signal of the second vertical ultrasonic receiving transducer, the method further comprises:
and exciting the ultrasonic transmitting transducer to vibrate the ultrasonic transmitting transducer to transmit signals to the target to be measured.
5. The method according to claim 3, wherein the fusing the distance, speed and azimuth information of the horizontal continuous wave ultrasonic radar and the distance, speed and azimuth information of the vertical continuous wave ultrasonic radar to obtain the four-dimensional information of the target to be measured comprises:
matching the distance of the horizontal continuous wave ultrasonic radar with the distance of the vertical continuous wave ultrasonic radar, and matching the speed of the horizontal continuous wave ultrasonic radar with the speed of the vertical continuous wave ultrasonic radar;
if the matching is successful, recording the average value of the distance of the horizontal continuous wave ultrasonic radar and the distance of the vertical continuous wave ultrasonic radar as the distance of the target to be detected, and recording the average value of the speed of the horizontal continuous wave ultrasonic radar and the speed of the vertical continuous wave ultrasonic radar as the speed of the target to be detected.
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