CN111366934B - System and method for eliminating influence of tire distance based on ultrasonic waves - Google Patents
System and method for eliminating influence of tire distance based on ultrasonic waves Download PDFInfo
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- CN111366934B CN111366934B CN202010175208.2A CN202010175208A CN111366934B CN 111366934 B CN111366934 B CN 111366934B CN 202010175208 A CN202010175208 A CN 202010175208A CN 111366934 B CN111366934 B CN 111366934B
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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
- G01S15/46—Indirect determination of position data
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- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a system and a method for eliminating the influence of tire distance based on ultrasonic waves, wherein the system comprises a main control module, an ultrasonic wave transmitting and receiving module, a power supply module, an alarm module and a mechanical arm; the ultrasonic wave transmitting and receiving module is arranged at the front end of the mechanical arm, and the main control module is respectively connected with the mechanical arm, the ultrasonic wave transmitting and receiving module, the alarm module and the power supply module. According to the method, an ultrasonic transit time ranging method is utilized, the influence factors of different sizes of tires of the two-wheeled vehicles with different models on the establishment of the anti-collision model are considered, the measurement error caused by the distance between the placement position of the ultrasonic module and the forefront end of the body of the two-wheeled vehicle is fundamentally eliminated, and the method is a breakthrough of the application of ultrasonic obstacle measurement on the two-wheeled vehicle.
Description
Technical Field
The invention belongs to the field of safe running of vehicles, and particularly relates to a system and a method for eliminating the influence of a tire distance based on ultrasonic waves.
Background
The ultrasonic wave is an acoustic wave with the frequency higher than 20000 hertz, has strong penetrating power, is easy to obtain more concentrated acoustic energy, and has long propagation distance in water. Because of its high frequency, it has many characteristics: first, the power is high, and the energy is much larger than that of general sound waves, so that the ultrasonic wave can be used for cutting, welding, drilling and the like. Moreover, the ultrasonic probe has high frequency, short wavelength, less serious diffraction and good directionality, and is commonly used for ultrasonic detection in industry and medicine. Ultrasonic ranging is an important part thereof. The ultrasonic ranging method mainly comprises three methods, namely a phase detection method, an acoustic wave amplitude detection method and a transit time method. The phase detection method has high precision, but limited detection range; the acoustic wave amplitude detection method is susceptible to the influence of a reflecting medium, and the transit time method is most widely used as a compromise method.
The ultrasonic sensor has simple structure and the accuracy can reach more than centimeter level. The system can be used for networking, 3D positioning can be realized by a plurality of sensors, the price of a single ultrasonic sensor is extremely low, but the detection distance is generally short. The ultrasonic ranging distance currently popular is generally on the level of 3-5 m.
To achieve good obstacle detection results, the positions of sensors on the two-wheeled vehicle need to be reasonably considered. Two-wheeled vehicles of different types often have wheels of different sizes, and when a front collision occurs, the front wheels first contact an obstacle on the ground, as shown in fig. 1 and 2, considering the structure of the two-wheeled vehicle. Therefore, for an electric vehicle having two wheels with the same vehicle speed and the same braking acceleration and different sizes (radii), the front wheel with a large radius can contact an obstacle earlier, and the possibility of danger is higher. In summary, it is necessary to consider a system that is suitable for use with two-wheeled vehicles of different models and that eliminates the factors that affect the tire size on the distance measurement.
Disclosure of Invention
The invention aims to provide a system and a method for eliminating the influence of a tire distance based on ultrasonic waves, which can effectively solve the problem of distance measurement errors caused by the tire size in a two-wheeled vehicle ultrasonic obstacle measuring system.
The invention adopts the following technical scheme: a system for eliminating the influence of the tire distance based on ultrasonic waves comprises a main control module, an ultrasonic wave transmitting and receiving module, a power supply module, an alarm module and a mechanical arm; the ultrasonic wave transmitting and receiving module is arranged at the front end of the mechanical arm, and the main control module is respectively connected with the mechanical arm, the ultrasonic wave transmitting and receiving module, the alarm module and the power supply module.
Preferably, the main control module is used for driving the mechanical arm to rotate, transmitting/receiving ultrasonic signals and processing data;
the mechanical arm is used for driving the ultrasonic wave transmitting and receiving module to rotate;
the ultrasonic wave transmitting and receiving module is used for receiving the distance information;
the alarm module is used for alarming and reminding;
the power module supplies power to the system.
Preferably, one end of the mechanical arm is arranged outside the front wheel axle center of the vehicle, and the other end of the mechanical arm is fixedly provided with an ultrasonic wave transmitting and receiving module; the mechanical arm is controlled by a steering engine, and the steering engine is connected with the main control module.
Preferably, the main control module acquires the distance between the axle center of the front wheel of the vehicle and the ground and the obstacle by controlling the mechanical arm to rotate, and obtains the distance between the wheel and the obstacle by calculation to alarm.
There is provided a method for eliminating the influence of a tire distance based on ultrasonic waves, comprising the steps of:
a. the device comprises a main control module, an ultrasonic transmitting and receiving module, a power module, an alarm module and a mechanical arm, wherein the main control module, the ultrasonic transmitting and receiving module, the power module, the alarm module and the mechanical arm are connected;
b. the other end of the mechanical arm is arranged at the axle center position of the front wheel;
c. placing the two-wheeled vehicle on the horizontal ground, starting a switch, rotating the mechanical arm to the vertical direction, vertically downwards calculating the distance L by the ultrasonic transmitting head/receiving head at the moment, and transmitting the distance L to the main control module;
d. the mechanical arm rotates to the horizontal direction, and the distance L' measured when the front part encounters an obstacle is measured;
e. and comparing the L '-L with a preset dangerous distance parameter, and controlling the alarm module to give out an alarm by the main control module when the L' -L is smaller than the dangerous distance.
Preferably, the distance L is calculated according to l= (c×t)/2, where c is the propagation speed of the sound wave in air; t is the time difference between the transmit time and the receive time.
The invention has the beneficial effects that:
the method of the invention utilizes an ultrasonic transit time ranging method, considers the influence factors of different sizes of tires of the two-wheeled vehicles with different models on the establishment of the anti-collision model, fundamentally eliminates the measurement error caused by the distance between the placement position of the ultrasonic module and the forefront of the body of the two-wheeled vehicle, and is a breakthrough of the application of ultrasonic obstacle measurement on the two-wheeled vehicle.
Drawings
FIG. 1 is a system diagram of the present invention;
FIG. 2 is a diagram illustrating the use of the present invention.
Detailed Description
Example 1:
referring to the drawings of the specification, the system for eliminating the influence of the tire distance based on ultrasonic waves in the embodiment comprises a main control module, an ultrasonic wave transmitting and receiving module, a power module, an alarm module and a mechanical arm; the ultrasonic wave transmitting and receiving module is arranged at the front end of the mechanical arm, and the main control module is respectively connected with the mechanical arm, the ultrasonic wave transmitting and receiving module, the alarm module and the power supply module.
The main control module is used for driving the mechanical arm to rotate, transmitting/receiving ultrasonic signals and processing data;
the mechanical arm is used for driving the ultrasonic wave transmitting and receiving module to rotate;
the ultrasonic wave transmitting and receiving module is used for receiving the distance information;
the alarm module is used for alarming and reminding;
the power module supplies power to the system.
One end of the mechanical arm is arranged on the outer side of the front wheel axle center of the vehicle, and the other end of the mechanical arm is fixedly provided with an ultrasonic wave transmitting and receiving module; the mechanical arm is controlled by a steering engine, and the steering engine is connected with the main control module.
The device is applied to a two-wheeled vehicle, and the system can be considered to be powered by the electric power of the vehicle, so that the system is connected into a circuit of the electric two-wheeled vehicle without the power supply module.
The ultrasonic transit time ranging method is utilized, the influence factors of different sizes of tires of the two-wheeled vehicles with different models on the establishment of the anti-collision model are considered, the measurement error caused by the distance between the placement position of the ultrasonic module and the forefront end of the body of the two-wheeled vehicle is fundamentally eliminated, and the ultrasonic transit time ranging method is a breakthrough of the application of ultrasonic obstacle measurement on the two-wheeled vehicle.
According to the method for eliminating the influence of the tire distance based on the ultrasonic wave, the main control module acquires the distance between the axle center of the front wheel of the automobile and the ground and the obstacle through controlling the mechanical arm to rotate, and the distance between the wheel and the obstacle is obtained through calculation to give an alarm.
Specifically, the method comprises the following steps:
a. the device comprises a main control module, an ultrasonic transmitting and receiving module, a power module, an alarm module and a mechanical arm, wherein the main control module, the ultrasonic transmitting and receiving module, the power module, the alarm module and the mechanical arm are connected;
b. the other end of the mechanical arm is arranged at the axle center position of the front wheel;
c. placing the two-wheeled vehicle on the horizontal ground, starting a switch, rotating the mechanical arm to the vertical direction, vertically downwards calculating the distance L by the ultrasonic transmitting head/receiving head at the moment, and transmitting the distance L to the main control module; the determination of the vertically downward position of the ultrasound module can be obtained by comparing the distance measurement lengths of adjacent positions, and the position of the measured minimum distance is the vertical direction, so that a certain level of the ground is required to be ensured.
d. The mechanical arm rotates to the horizontal direction, and the distance L' measured when the front part encounters an obstacle is measured;
e. and comparing the L '-L with a preset dangerous distance parameter, and controlling the alarm module to give out an alarm by the main control module when the L' -L is smaller than the dangerous distance.
f. The method for eliminating the influence of the tire distance based on the ultrasonic wave according to claim 4, wherein the distance L is calculated according to l= (c x t)/2, wherein c is the propagation velocity of the sound wave in the air; t is the time difference between the transmit time and the receive time.
The above is not relevant and is applicable to the prior art.
While certain specific embodiments of the present invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the foregoing examples are provided for the purpose of illustration only and are not intended to limit the scope of the invention, and that various modifications or additions and substitutions to the described specific embodiments may be made by those skilled in the art without departing from the scope of the invention or exceeding the scope of the invention as defined in the accompanying claims. It should be understood by those skilled in the art that any modification, equivalent substitution, improvement, etc. made to the above embodiments according to the technical substance of the present invention should be included in the scope of protection of the present invention.
Claims (1)
1. The method for eliminating the tire distance influence based on the ultrasonic wave is characterized in that a system for eliminating the tire distance influence based on the ultrasonic wave is adopted, and the system for eliminating the tire distance influence based on the ultrasonic wave comprises a main control module, an ultrasonic wave transmitting and receiving module, a power supply module, an alarm module and a mechanical arm; the ultrasonic transmitting and receiving module is arranged at the front end of the mechanical arm, and the main control module is respectively connected with the mechanical arm, the ultrasonic transmitting and receiving module, the alarm module and the power supply module;
the main control module is used for driving the mechanical arm to rotate, transmitting/receiving ultrasonic signals and processing data;
the mechanical arm is used for driving the ultrasonic wave transmitting and receiving module to rotate;
the ultrasonic wave transmitting and receiving module is used for receiving the distance information;
the alarm module is used for alarming and reminding;
the power module supplies power to the system;
one end of the mechanical arm is arranged on the outer side of the front wheel axle center of the vehicle, and the other end of the mechanical arm is fixedly provided with an ultrasonic wave transmitting and receiving module; the steering engine is controlled by the mechanical arm and is connected with the main control module, and the steering engine is characterized in that the main control module rotationally collects the distance between the axle center of the front wheel of the automobile and the ground and the obstacle through the control mechanical arm, and the distance between the wheel and the obstacle is obtained through calculation and is used for alarming;
the method comprises the following steps:
a. the device comprises a main control module, an ultrasonic transmitting and receiving module, a power module, an alarm module and a mechanical arm, wherein the main control module, the ultrasonic transmitting and receiving module, the power module, the alarm module and the mechanical arm are connected;
b. the other end of the mechanical arm is arranged at the axle center position of the front wheel;
c. placing the two-wheeled vehicle on the horizontal ground, starting a switch, rotating the mechanical arm to the vertical direction, vertically downwards calculating the distance L by the ultrasonic transmitting head/receiving head at the moment, and transmitting the distance L to the main control module;
d. the mechanical arm rotates to the horizontal direction, and the distance L' measured when the front part encounters an obstacle is measured;
e. comparing L '-L with a preset dangerous distance parameter, and controlling the alarm module to give out an alarm by the main control module when L' -L is smaller than the dangerous distance;
the distance L is calculated according to l= (c×t)/2, wherein c is the propagation speed of the sound wave in the air; t is the time difference between the transmit time and the receive time.
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| CN202010175208.2A CN111366934B (en) | 2020-03-13 | 2020-03-13 | System and method for eliminating influence of tire distance based on ultrasonic waves |
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| CN202010175208.2A CN111366934B (en) | 2020-03-13 | 2020-03-13 | System and method for eliminating influence of tire distance based on ultrasonic waves |
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| CN111366934A CN111366934A (en) | 2020-07-03 |
| CN111366934B true CN111366934B (en) | 2023-07-25 |
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