CN110133665A - A kind of Doppler measurement method of the ultrasonic transducer based on envelope - Google Patents
A kind of Doppler measurement method of the ultrasonic transducer based on envelope Download PDFInfo
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- CN110133665A CN110133665A CN201910406752.0A CN201910406752A CN110133665A CN 110133665 A CN110133665 A CN 110133665A CN 201910406752 A CN201910406752 A CN 201910406752A CN 110133665 A CN110133665 A CN 110133665A
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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
- G01S15/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse-modulated waves and based upon the Doppler effect resulting from movement of targets
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
A kind of ultrasonic Doppler measurement method the invention discloses ultrasonic transducer based on envelope.Steps of the method are: 1) to first ultrasonic transducer under disresonance frequence excitation, emit ultrasonic pulse towards mobile object to be measured, and the reflected echo-signal amplitude curve of mobile object is received by the second ultrasonic transducer；2) envelope line drawing is carried out to the echo-signal amplitude curve, determines k-th of salient point on envelope and k-th of concave point position, and obtain k-th of salient point and the corresponding time difference T of k-th of concave pointk；3) according to time difference TkCalculate frequency shift (FS)；4) determine that frequency shift (FS) belongs to positive offset or negative offset, the frequency f after finally obtaining offset；5) according to the frequency f after offset, the speed of mobile object is calculated by ultrasonic doppler measurements principle.Envelope measurement method proposed by the present invention greatly reduces the requirement to hardware and the requirement of algorithm.
Description
Technical field
The present invention relates to a kind of ultrasonic transducers based on the Doppler measurement method for extracting dynamic response envelope.
Background technique
Ultrasonic velocity measurement is usually the measurement that speed of moving body is carried out using Doppler's (Doppler) effect of ultrasound.
When encountering moving object using ultrasonic wave, frequency can change, and determine speed of moving body by detecting frequency variation.
There are mainly two types of measurement method, continuous wave measurement and pulse-echo (pulse-echo) measurements for the measurement of ultrasonic Doppler.Even
The frequency band of continuous wave measurement is relatively narrow, and easy reflected by multiloop is influenced and generate biggish error.Due to the company of not needing
Continuous work, pulse-echo method power consumption are relatively lower.And pulse-echo method can pass through control measurement frame per second and adjustment arteries and veins
Number is rushed to adapt to different measurement ranges.Under normal conditions, it needs to carry out echo-signal when measuring using pulse-echo method
Short Time Fourier Transform protects wavelet transformation to calculate actual motion speed.But utilize Short Time Fourier Transform (FFT transform)
The mode for calculating Doppler frequency displacement needs higher sample rate, and needs to be arranged appropriate signals processing parameter to reach enough
Time frequency resolution.For this problem, it is proposed that the ultrasonic Doppler measurement method based on envelope, substantially reduces to hard
The requirement of part and algorithm.
Summary of the invention
It is an object of the invention to solve to need to carry out echo-signal Fourier's variation in short-term when pulse-echo measures
Or wavelet transformation mentions to calculate higher sample frequency and signal specific processing parameter, the present invention required for actual motion speed
The ultrasonic doppler measurements method based on envelope out, reduces sample frequency and greatly reduces to hardware and algorithm
Requirement.
The present invention realizes above-mentioned purpose by following method:
A kind of ultrasonic Doppler measurement method of the ultrasonic transducer based on envelope, its step are as follows:
1) to the first ultrasonic transducer under disresonance frequence excitation, emit ultrasonic wave arteries and veins towards mobile object to be measured
Punching, and the reflected echo-signal amplitude curve of mobile object is received by the second ultrasonic transducer；
2) envelope line drawing is carried out to the echo-signal amplitude curve, determines k-th of salient point and the kth on envelope
A concave point position, and obtain k-th of salient point and the corresponding time difference T of k-th of concave pointk, wherein k is the natural number not less than 1；
3) according to time difference TkCalculate frequency shift (FS) | f-fn|, calculation formula are as follows:Wherein fnThe second to surpass
The resonance frequency of sonic transducer；
4) determine that frequency shift (FS) belongs to positive offset or negative offset, the frequency f after finally obtaining offset；
5) according to the frequency f after offset, the speed of mobile object is calculated by ultrasonic doppler measurements principle.
Preferably, determining Doppler frequency shift (FS) category by way of in conjunction with Ring-down count in the step 4)
In positive offset or negative offset.
Preferably, in the step 4), surveyed according to the pulse-echo that the method described in 1) is carried out continuously two minor ticks
Amount obtains the flight time according to measurement twice, judges that the relative distance of mobile object and the first ultrasonic transducer changes, to sentence
The directional velocity of disconnected object and Doppler frequency shift (FS) direction.
Preferably, the k=1.
Preferably, the resonance frequency of first ultrasonic transducer and the second ultrasonic transducer is identical.
The vibratory response that ultrasonic transducer of the present invention generates under disresonance frequence excitation passes through for response envelope
It extracts, obtains the temporal information of sags and crests on envelope to determine difference on the frequency, and then calculate the shifting speed of object.For traditional
There are mainly two types of measurement method, continuous wave measurement and pulse-echo measurements for the measurement of ultrasonic transducer ultrasound Doppler.And this
The envelope measurement method that invention proposes greatly reduces the requirement to hardware and the requirement of algorithm.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples
Fig. 1 is ultrasonic transducer generated vibratory response under disresonance frequence in the present invention；
Fig. 2 is the dynamic response envelope of ultrasonic transducer under different driving frequencies；
Fig. 3 is the relationship of envelope extreme point time of occurrence and driving frequency；
Fig. 4 is the STFT of transducer dynamic response；
Specific embodiment
The present invention is further elaborated and is illustrated with reference to the accompanying drawings and detailed description.Each implementation in the present invention
The technical characteristic of mode can carry out the corresponding combination under the premise of not conflicting with each other.
Before discussing specific implementation process of the invention, its technical principle is first introduced.
In this method, pass through the analyzing kinetic model under pulse-echo mode for ultrasonic transducer, meter
The solution for calculating ultrasonic transducer oscillatory system in the case where underdamping, to obtain the Envelope Equations of vibration displacement.Then
Pass through the dynamic response envelope to ultrasonic transducer under different driving frequencies.Response curve under observation discovery disresonance frequence
There is the position of sags and crests, it is only related with pumping signal and resonance frequency that difference on the frequency is determined by the method, and then solve
The speed of moving object.The principle is described in detail below:
(1) generated vibratory response of the ultrasonic transducer under disresonance frequence excitation is as shown in Figure 1, vibration in figure
There are sags and crests in response curve, and vibration is broadly divided into 3 stages: the starting vibration stage, stable vibration stage and after removing excitation
Damped oscillation.
The method for extracting envelope are as follows: using spring-damper-quality model of ultrasonic transducer, in pulse-echo mode
When, by the driving pulse string to ultrasonic transducer one section of sinusoidal signal of application, it is obtained to kinetics equation:Wherein M, C, K are respectively the equivalent mass of ultrasonic transducer, damping, spring, F
For driving force；X is ultrasonic transducer displacement, and ω is the angular frequency of pumping signal, and H is Heaviside equation, and t is that excitation continues
Time, t0The time started for excitation.
(2) it is Second-order Damped oscillatory system form by rewriting equation in (1):
Wherein ωnFor undamped natural resonance frequency, ζ is damping ratio.
Before the transient silution for solving the equation, the amplitude of ultrasonic transducer when we first solve stable state, i.e. time reach foot
When enough long, the amplitude of ultrasonic transducer will not change.Steady-state amplitude are as follows:
(3) mechanical system constituted for spring-damper-quality, can be divided into 3 kinds of working conditions: overdamp, critical damping
And underdamping.And overdamp and critical damping are all that will not generate the condition of oscillation, ultrasonic transducer works in underdamping situation
Under.For underdamping system, the solution of equation (2) are as follows:
A3=Aωsin(ωt-α)
A1It represents and is vibrated by the first harmonic that the big bandwidth effect of inceptive impulse excites, with the increasing of driving pulse number
Add, the bandwidth of pumping signal can gradually become smaller, this is multiplied by damped resonance frequency ωdGradually damped oscillation moves.A2It represents initial
Vibration caused by displacement and initial velocity, this are also in damped resonance frequency ωdThe trend of decaying, A3Represent stabilized driving
Displacement caused by power, α are the initial phase for vibrating initial time, x0For the initial displacement of spring.
Total transient Displacements are xtotal=A1+A2+A3
According to this as a result, extracting the envelope of vibration vibration displacement:
(4) it is extracted by doing Short Time Fourier Transform (Short Time Fourier Transform, STFT) to Fig. 4
Time-Frequency Information.It can be seen from the figure that proj ected bottom is the Time-Frequency Information of transient response, frequency is in vibration processes in resonance frequency
The trend of mechanical periodicity near rate.It can be seen that under same STFT transformation, power spectral density (power spectral
Density, PSD) resolution ratio is better than frequency resolution.
(5) dynamic response curve of the ultrasonic transducer under different frequency excitation is as shown in Figure 2.As shown in Figure 2, separate
There is some concave points and salient point in envelope at resonant frequency point, and difference on the frequency is more obvious more greatly.And the appearance of these sags and crests
Only the difference with exciting signal frequency and resonance frequency has relationship, although amplitude is different, the temporal information of sags and crests is one
It causes.
(6) by taking first salient point and first concave point on envelope as an example, the two envelope extreme point time of occurrence
It is as shown in Figure 3 with the relationship of driving frequency.It thus can be by the calculating of the kth group sags and crests to envelope, to obtain
The time that sags and crests occur, according to formulaTo calculate difference on the frequency.
(7) f according to obtained frequency difference in (6), after obtaining frequency variation.Then according to ultrasonic doppler measurements
Principle calculates the speed of mobile object:Wherein v is acoustic speed, and Δ v is the speed of mobile object, is calculated
Sign in formula is depending on Doppler frequency shift (FS) direction.
Based on the above principles, the ultrasonic measurement side Doppler the invention proposes a kind of ultrasonic transducer based on envelope
Method, this method realize that the first ultrasonic transducer for emitting ultrasonic pulse, change by the second ultrasound based on two ultrasonic transducers
Energy device is used for receives echo-signal, two ultrasonic transducer resonance frequencies having the same (being 416kHz).Measurement method
Specific step is as follows:
1) to the first ultrasonic transducer under disresonance frequence excitation, emit ultrasonic wave arteries and veins towards mobile object to be measured
Punching, and the reflected echo-signal amplitude curve of mobile object is received by the second ultrasonic transducer.
2) envelope line drawing is carried out to the echo-signal amplitude curve that the second ultrasonic transducer receives, envelope can be used
The graphics softwares such as origin analyze echo signal data, and then draw out.Then it can determine on envelope from
K-th of the salient point and k-th of concave point position that beginning position starts, each position correspond to its time, k-th of salient point abscissa to it is corresponding when
Between be TK is convex, k-th of concave point abscissa correspond to the time be TK is recessed.Therefore k-th of salient point and k-th of concave point pair can further be obtained
The time difference T answeredk=TK is recessed-TK is convex.Wherein k is the natural number not less than 1, it is preferred to use k=1.
3) according to time difference TkCalculate Doppler frequency shift (FS) | f-fn|, calculation formula are as follows:Wherein fn
For the resonance frequency of the second ultrasonic transducer.
4) Doppler frequency shift (FS) obtained in the previous step is an absolute value, needs to further determine that frequency shift (FS) belongs to
Positive offset or negative offset, the frequency f after offset can be finally obtained.
It, can be by way of combining Ring-down count, to determine Doppler frequency displacement for this problem.For example, by applying
Add the pumping signal far from resonance frequency+10% and -10%, is clear that at 0.9fn and at 1.1fn, ultrasonic transduction
Device passes through 9 vibration periods respectively and 11 vibration periods reach first concave point.According to this method it may determine that Doppler
Frequency displacement belongs to positive offset or negative offset.
If in addition, measurement method of the invention is used as if ultrasonic wave tests the speed, a kind of relatively simple mode is identified
Positive frequency deviation or negative frequency offsets are that flight time (ToF) is combined to judge.By the method described in step 1), treat
The mobile object of survey carries out the very short pulse-echo measurement of time interval twice, due to the flight time with apart from proportional,
The variation of distance can be judged according to the flight time, changed so that the directional velocity of judgment object, i.e. object are directed towards the first ultrasound
The movement of energy device or separate first ultrasonic transducer move, according to the directional velocity available Doppler frequency shift (FS) direction.
5) according to the frequency f after offset, the speed of mobile object can be calculated by ultrasonic doppler measurements principle
Degree:.
It can be seen that the vibratory response that ultrasonic transducer of the invention generates under disresonance frequence excitation obtains envelope
Information determines difference on the frequency by the temporal information to sags and crests on envelope, and then calculates the shifting speed of object.For routine
Short Time Fourier Transform or wavelet transformation are carried out to echo-signal to calculate actual motion speed needs when pulse-echo method measures
Compared with high sampling rate and setting signal specific parameter come the shortcomings that reaching time frequency resolution, the present invention can reduce to sample frequency and
The requirement of algorithm.
Claims (5)
1. a kind of ultrasonic Doppler measurement method of ultrasonic transducer based on envelope, which is characterized in that steps are as follows:
1) to the first ultrasonic transducer under disresonance frequence excitation, emit ultrasonic pulse towards mobile object to be measured, and
The reflected echo-signal amplitude curve of mobile object is received by the second ultrasonic transducer；
2) envelope line drawing is carried out to the echo-signal amplitude curve, determine k-th of salient point on envelope and k-th it is recessed
Point position, and obtain k-th of salient point and the corresponding time difference T of k-th of concave pointk, wherein k is the natural number not less than 1；
3) according to time difference TkCalculate frequency shift (FS) | f-fn|, calculation formula are as follows:Wherein fnIt is changed for the second ultrasound
The resonance frequency of energy device；
4) determine that frequency shift (FS) belongs to positive offset or negative offset, the frequency f after finally obtaining offset；
5) according to the frequency f after offset, the speed of mobile object is calculated by ultrasonic doppler measurements principle.
2. ultrasonic Doppler measurement method of the ultrasonic transducer as described in claim 1 based on envelope, which is characterized in that
In the step 4), determine that Doppler frequency shift (FS) belongs to positive offset or negative bias by way of in conjunction with Ring-down count
It moves.
3. ultrasonic Doppler measurement method of the ultrasonic transducer as described in claim 1 based on envelope, which is characterized in that
It in the step 4), is measured according to the pulse-echo that the method described in 1) is carried out continuously two minor ticks, according to measuring twice
To the flight time, judge that the relative distance of mobile object and the first ultrasonic transducer changes, thus the directional velocity of judgment object
With Doppler frequency shift (FS) direction.
4. ultrasonic Doppler measurement method of the ultrasonic transducer as described in claim 1 based on envelope, which is characterized in that
The k=1.
5. ultrasonic Doppler measurement method of the ultrasonic transducer as described in claim 1 based on envelope, which is characterized in that
The resonance frequency of first ultrasonic transducer and the second ultrasonic transducer is identical.
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Cited By (2)
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| CN112764015A (en) * | 2020-11-24 | 2021-05-07 | 海鹰企业集团有限责任公司 | Sonar target capable of dynamically responding and response method thereof |
| CN113376645A (en) * | 2021-08-16 | 2021-09-10 | 深圳煜炜光学科技有限公司 | Method and device for improving laser ranging precision |
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| CN113376645B (en) * | 2021-08-16 | 2021-11-30 | 深圳煜炜光学科技有限公司 | Method and device for improving laser ranging precision |
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