CN112285722A

CN112285722A - Obstacle detection circuit and method and automobile

Info

Publication number: CN112285722A
Application number: CN202011108249.6A
Authority: CN
Inventors: 舒南翔; 王天禹; 任建华; 饶生源
Original assignee: Anhui Jianghuai Automobile Group Corp
Current assignee: Anhui Jianghuai Automobile Group Corp
Priority date: 2020-10-14
Filing date: 2020-10-14
Publication date: 2021-01-29

Abstract

The invention discloses an obstacle detection circuit, an obstacle detection method and an automobile, and relates to the technical field of vehicles. The invention forms an obstacle detection circuit by arranging a main control circuit and a plurality of ultrasonic circuits; the main control circuit is used for controlling all the ultrasonic circuits to simultaneously transmit ultrasonic signals; the frequency of each ultrasonic signal is different; the ultrasonic circuit is also used for receiving a reflected signal corresponding to the ultrasonic signal; the reflected signals and the ultrasonic signals are compared and analyzed, and an analysis result is sent to the main control circuit; and the main control circuit is also used for determining the barrier information according to each analysis result. When the invention is used for detecting the obstacle, the ultrasonic line signals are transmitted and received simultaneously through the plurality of ultrasonic circuits, and the obstacle information is analyzed in multiple directions.

Description

Obstacle detection circuit and method and automobile

Technical Field

The invention relates to the technical field of vehicles, in particular to an obstacle detection circuit and method and an automobile.

Background

During the vehicle backing, a driver needs to correctly judge a target barrier behind so as to control the backing speed. In the prior art, when the car backing obstacle is detected, the obstacle information is not accurate, and the car backing precision is influenced. Therefore, how to accurately detect the obstacle is an urgent technical problem to be solved.

The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.

Disclosure of Invention

The invention mainly aims to provide an obstacle detection circuit, an obstacle detection method and an automobile, and aims to solve the technical problem that an obstacle cannot be accurately detected in the prior art.

In order to achieve the above object, the present invention provides an obstacle detection circuit, which includes a main control circuit and a plurality of ultrasonic circuits, each of which is connected to the main control circuit;

the main control circuit is used for controlling all the ultrasonic circuits to simultaneously transmit ultrasonic signals; wherein the frequencies of the ultrasonic signals are different;

the ultrasonic circuit is also used for receiving a reflected signal corresponding to the ultrasonic signal; the reflected signals and the ultrasonic signals are compared and analyzed, and an analysis result is sent to the main control circuit;

and the main control circuit is also used for determining barrier information according to each analysis result.

Optionally, the ultrasonic circuit includes a first microprocessor, an ultrasonic sensor, an output amplifying circuit and an input amplifying circuit; the first microprocessor is respectively connected with the output amplifying circuit and the input amplifying circuit, and the ultrasonic sensor is respectively connected with the output amplifying circuit and the input amplifying circuit;

the first microprocessor is used for receiving the control signal transmitted by the main control circuit, generating a pulse signal according to the control signal and transmitting the pulse signal to the output amplification circuit;

the output amplifying circuit is used for amplifying the pulse signal and transmitting the amplified pulse signal to the ultrasonic sensor so as to emit an ultrasonic signal;

the input amplifying circuit is used for receiving a reflected signal corresponding to the ultrasonic signal detected by the ultrasonic sensor, amplifying the reflected signal and transmitting the amplified reflected signal to the first microprocessor;

the first microprocessor is further configured to compare and analyze the amplified reflection signal and the pulse signal, and send an analysis result to the main control circuit.

Optionally, the output amplifying circuit includes a first resistor, a second resistor, a first diode, a triode, a first capacitor, and a transformer; the first end of the first resistor is connected with the first microprocessor, the second end of the first resistor is respectively connected with the first end of the second resistor and the base electrode of the first triode, the second end of the second resistor is grounded, the anode of the first diode is connected with the first end of the first resistor, the cathode of the first diode is grounded, the collector of the first triode is respectively connected with a preset power supply and the first end of the first capacitor, the emitter of the first triode is grounded, the second end of the first capacitor is connected with the first end of the primary side of the transformer, the first end of the secondary side of the transformer is connected with the ultrasonic sensor, and the second end of the primary side and the second end of the secondary side of the transformer are both grounded;

the first triode is used for amplifying the pulse signal and transmitting the amplified pulse signal to the transformer;

the transformer is used for boosting the amplified pulse signal and transmitting the boosted pulse signal to the ultrasonic sensor so as to emit an ultrasonic signal.

Optionally, the input amplifying circuit includes an input signal receiving circuit and an input signal amplifying circuit; the input signal receiving circuit comprises a third resistor, a second capacitor, a third capacitor, a second diode and a third diode; the first end of the third resistor is connected with the ultrasonic sensor and the first end of the second capacitor respectively, the second end of the second capacitor is grounded, the second end of the third resistor is connected with the first end of the third capacitor, the cathode of the second diode and the anode of the third diode respectively, the anode of the second diode and the cathode of the third diode are grounded, the second end of the third capacitor is connected with the input signal amplifying circuit, and the input signal amplifying circuit is connected with the first microprocessor;

the input signal receiving circuit is used for receiving a reflected signal corresponding to the ultrasonic signal detected by the ultrasonic sensor and transmitting the reflected signal to the input signal amplifying circuit;

the input signal amplifying circuit is used for amplifying the reflection signal and transmitting the amplified reflection signal to the first microprocessor.

Optionally, the input signal amplifying circuit includes a first amplifier, a second amplifier, a fourth capacitor, a fifth capacitor, a sixth capacitor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, an adjustable resistor, and a fourth diode; a first end of the fourth resistor is connected to a preset power supply, a second end of the fourth resistor is connected to a first end of the fifth resistor and a first end of the fourth capacitor, respectively, a second end of the fifth resistor and a first end of the fourth capacitor are both grounded, a negative input end of the first amplifier is connected to a second end of the third capacitor, a positive input end of the first amplifier is connected to a second end of the fourth resistor, an output end of the first amplifier is connected to a first end of the sixth resistor and a first end of the fifth capacitor, respectively, a second end of the sixth resistor is connected to a negative input end of the first amplifier, a second end of the fifth capacitor is connected to a first end of the seventh resistor, a second end of the seventh resistor is connected to a first end of the adjustable resistor, and a second end of the adjustable resistor is connected to a negative input end of the second amplifier, a positive input end of the second amplifier is connected to a second end of the fourth resistor, an output end of the second amplifier is connected to a first end of the eighth resistor, a second end of the eighth resistor is connected to a first end of the ninth resistor, a first end of the sixth capacitor, a cathode of the fourth diode and the first microprocessor, respectively, a second end of the ninth resistor and a second end of the sixth capacitor are both connected to a negative input end of the second amplifier, and an anode of the fourth diode is grounded;

the first amplifier is used for carrying out first amplification on the reflected signal and transmitting the reflected signal after the first amplification to the second amplifier;

and the second amplifier is used for carrying out secondary amplification on the reflected signal and transmitting the reflected signal after the secondary amplification to the first microprocessor.

Optionally, the main control circuit includes a second microprocessor, a tenth resistor, a second triode, and a buzzer; a signal input port of the second microprocessor is connected with each ultrasonic circuit, a signal output port of the second microprocessor is connected with a first end of the tenth resistor, a second end of the tenth resistor is connected with a base electrode of the second triode, an emitting electrode of the second triode is grounded, a collector electrode of the second triode is connected with a first end of the buzzer, and a second end of the buzzer is connected with a preset power supply;

the second microprocessor is used for controlling all the ultrasonic circuits to simultaneously transmit ultrasonic signals;

the second microprocessor is also used for receiving analysis results fed back by the ultrasonic circuits through the signal input port and determining barrier information according to the analysis results;

the second microprocessor is further configured to generate an alarm signal according to the obstacle information, and transmit the alarm signal to the second triode through the signal output port, so that the second triode is turned on, and the buzzer gives an alarm.

Optionally, the obstacle detection circuit further includes a display, and the second microprocessor is connected to the display through a data output port;

the second microprocessor is further configured to send the obstacle information to the display through the data output port, so that the display displays the obstacle information.

To achieve the above object, the present invention also proposes an obstacle detection method applied to an obstacle detection circuit as described above, the obstacle detection circuit including a main control circuit and a plurality of ultrasonic circuits connected to the main control circuit, the obstacle detection method including the steps of:

the main control circuit controls all the ultrasonic circuits to simultaneously transmit ultrasonic signals; wherein the frequencies of the ultrasonic signals are different;

the ultrasonic circuit receives a reflected signal corresponding to the ultrasonic signal; the reflected signals and the ultrasonic signals are compared and analyzed, and an analysis result is sent to the main control circuit;

and the main control circuit determines the barrier information according to each analysis result.

Optionally, the determining, by the master control circuit, the obstacle information according to each analysis result includes:

the main control circuit determines the signal characteristics of each reflected signal according to each analysis result;

determining target subentry results from each analysis result according to preset screening conditions and the signal characteristics;

and acquiring the current speed of the automobile, and determining the barrier information according to the current speed and the target subentry result.

In order to achieve the above object, the present invention also provides an automobile including the above obstacle detecting circuit; alternatively, the automobile employs the obstacle detection method as described above.

The invention forms an obstacle detection circuit by arranging a main control circuit and a plurality of ultrasonic circuits; the main control circuit is used for controlling all the ultrasonic circuits to simultaneously transmit ultrasonic signals; the frequency of each ultrasonic signal is different; the ultrasonic circuit is also used for receiving a reflected signal corresponding to the ultrasonic signal; the reflected signals and the ultrasonic signals are compared and analyzed, and an analysis result is sent to the main control circuit; and the main control circuit is also used for determining the barrier information according to each analysis result. When the invention is used for detecting the obstacle, the ultrasonic line signals are transmitted and received simultaneously through the plurality of ultrasonic circuits, and the obstacle information is analyzed in multiple directions.

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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic circuit diagram of a first embodiment of an obstacle detection circuit according to the present invention;

FIG. 2 is a schematic view of obstacle detection;

FIG. 3 is a schematic circuit diagram of an ultrasonic circuit of the present invention;

FIG. 4 is a circuit schematic of the master control circuit of the present invention;

fig. 5 is a flowchart illustrating a first embodiment of the obstacle detection method.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	Master control circuit	C1～C6	First to sixth capacitors
200	Ultrasonic circuit	D1～C4	First to fourth diodes
				2001	Output amplifying circuit	Q1～Q2	First to second triodes
2002	Input amplifying circuit	T	Transformer device
				20021	Input signal receiving circuit	VCC	Presetting power supply
20022	Input signal amplifying circuit	P	Ultrasonic sensor
				300	Display device	S	Buzzer
U1～U2	First to second microprocessors	DA	Signal input port
				R1～R10	First to tenth resistors	OT	Data output port
A1～A2	First to second amplifiers

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should be considered to be absent and not within the protection scope of the present invention.

Referring to fig. 1, a first embodiment of the obstacle detection circuit of the present invention is provided, and fig. 1 is a schematic circuit diagram of the first embodiment of the obstacle detection circuit of the present invention.

In the present embodiment, the obstacle detection circuit includes a main control circuit 100 and a plurality of ultrasonic circuits 200, each of the ultrasonic circuits 200 being connected to the main control circuit; a main control circuit 100 for controlling the ultrasonic circuits 200 to transmit ultrasonic signals at the same time; wherein the frequencies of the ultrasonic signals are different from each other.

It should be noted that the ultrasonic circuit 200 includes an ultrasonic sensor and a driving circuit, and the ultrasonic sensor emits an ultrasonic signal to the outside under the control of the driving circuit; meanwhile, the ultrasonic sensor can also receive a reflected signal refracted by the transmitted ultrasonic signal after contacting an obstacle.

It is understood that different operating frequencies may be used when transmitting ultrasonic signals simultaneously in order to avoid interference between the signals of the ultrasonic circuits 200. For example, 25KHz, 30KHz, 35KHz, 40KHz, 45KHz or 50 KHz. The number of the ultrasonic circuits 200 may be set according to the user's requirement, which is not limited in this embodiment.

The ultrasonic circuit 200 is further configured to receive a reflected signal corresponding to the ultrasonic signal; the reflected signals and the ultrasonic signals are compared and analyzed, and the analysis result is sent to the main control circuit 100; the main control circuit 100 is further configured to determine obstacle information according to each analysis result.

It should be noted that the obstacle information may include obstacle distance, obstacle size, and plane distribution information of the obstacles. The ultrasonic sensor only analyzes the signal amplitude between the reflected signal and the transmitted ultrasonic signal, so that the distance between the obstacle and the ultrasonic sensor can be determined, and the size of the obstacle can be determined according to the signal amplitude.

In order to more clearly explain the obstacle detection method of the present embodiment, the following description is given with reference to examples. Referring to fig. 2, fig. 2 is a schematic view of obstacle detection.

As shown in fig. 2, in the present embodiment, six ultrasonic circuits 200 are provided, and each ultrasonic circuit 200 corresponds to an ultrasonic sensor a, an ultrasonic sensor B, an ultrasonic sensor C, an ultrasonic sensor D, an ultrasonic sensor E, an ultrasonic sensor F, an obstacle G, an obstacle H, an obstacle I, and an obstacle J.

When the presence of the obstacle G is detected, information of the obstacle G is calculated from the distance between the sensors and the ultrasonic signal. Among them, the distances between the ultrasonic sensor a, the ultrasonic sensor B, and the ultrasonic sensor C are known. Ultrasonic signals of 25KHz, 30KHz and 30KHz are respectively transmitted and received to the barrier G in real time by the ultrasonic sensor A, B, C. Each ultrasonic circuit determines distance information and the like between the obstacle G and the ultrasonic sensor based on the transmitted ultrasonic signal and the received reflected signal. The main control circuit 100 receives distance information and the like fed back by each ultrasonic circuit, processes three triangles, namely ABG, ACG and BCG, according to a trigonometric function, and obtains plane position information of the obstacle.

When the existence of the obstacle G, H is detected, the main control circuit 100 receives distance information and the like fed back by each ultrasonic circuit, processes thirteen triangles, i.e., ABG, ACG, BCG, ABH, ACH, ADH, AEH, BCH, BDH, BEH, CDH, CEH, DEH, according to a trigonometric function, and obtains plane position information of the obstacle. When the presence of the obstacle G, H, I is detected, the main control circuit 100 receives distance information and the like fed back by each ultrasonic circuit, processes sixteen triangles, i.e., ABG, ACG, BCG, ABH, ACH, ADH, AEH, BCH, BDH, BEH, CDH, CEH, DEH, DEI, DFI, EFI, according to trigonometric function processing, and obtains plane position information of the obstacle. When the presence of the obstacle G, H, I, J is detected, the main control circuit 100 processes twenty-three triangles, i.e., ABG, ACG, BCG, ABH, ACH, ADH, AEH, BCH, BDH, BEH, CDH, CEH, DEH, ABJ, ACJ, ADJ, AEJ, BCJ, BDJ, BEJ, CDJ, CEJ, DEJ, etc., according to the distance information or the like fed back by each ultrasonic circuit, and obtains plane position information of the obstacle.

In the first embodiment, the obstacle detection circuit is configured by providing a main control circuit and a plurality of ultrasonic circuits; the main control circuit is used for controlling all the ultrasonic circuits to simultaneously transmit ultrasonic signals; the frequency of each ultrasonic signal is different; the ultrasonic circuit is also used for receiving a reflected signal corresponding to the ultrasonic signal; the reflected signals and the ultrasonic signals are compared and analyzed, and an analysis result is sent to the main control circuit; and the main control circuit is also used for determining the barrier information according to each analysis result. The embodiment simultaneously transmits and receives ultrasonic line signals through a plurality of ultrasonic circuits when detecting the barrier, carries out diversified analysis to barrier information, compares the mode that adopts left and right radars among the prior art, can obtain the size and the positional information of barrier, and the detection precision is higher.

Based on the above first embodiment, a second embodiment of the obstacle detecting circuit of the present invention is proposed. Referring to fig. 3, fig. 3 is a schematic circuit diagram of the ultrasonic circuit of the present invention.

In the second embodiment, the ultrasonic circuit 200 includes a first microprocessor U1, an ultrasonic sensor a, an output amplification circuit 2001, and an input amplification circuit 2002; the first microprocessor U1 is connected to the output amplifier circuit 2001 and the input amplifier circuit 2002, respectively, and the ultrasonic sensor a is connected to the output amplifier circuit 2001 and the input amplifier circuit 2002, respectively.

The first microprocessor U1 is configured to receive a control signal transmitted by the main control circuit 100, generate a pulse signal according to the control signal, and transmit the pulse signal to the output amplifier circuit 2001; the output amplifying circuit 2001 is configured to amplify the pulse signal and transmit the amplified pulse signal to the ultrasonic sensor P to emit an ultrasonic signal. The input amplifying circuit 2002 is configured to receive a reflection signal corresponding to the ultrasonic signal detected by the ultrasonic sensor P, amplify the reflection signal, and transmit the amplified reflection signal to the first microprocessor U1. And the first microprocessor U1 is further used for performing comparative analysis on the amplified reflection signal and the pulse signal and sending an analysis result to the main control circuit.

It is understood that the voltage of the pulse signal generated by the first microprocessor U1 is low, and cannot meet the transmission requirement. Therefore, the pulse signal needs to be amplified and boosted before transmission. Meanwhile, in order to process the received reflected signal, the transmitted signal needs to be limited in voltage and amplified. So that the signal characteristics of the reflected signal are more obvious and the detection accuracy is improved.

In this embodiment, the output amplifying circuit 2001 includes a first resistor R1, a second resistor R2, a first diode D1, a first transistor Q1, a first capacitor C1, and a transformer T; a first end of a first resistor R1 is connected with a first microprocessor U1, a second end of a first resistor R1 is respectively connected with a first end of a second resistor R2 and a base of a first triode Q1, a second end of the second resistor R2 is grounded, an anode of a first diode D1 is connected with a first end of the first resistor R1, a cathode of the first diode D1 is grounded, a collector of the first triode Q1 is respectively connected with a preset power supply VCC and a first end of a first capacitor C1, an emitter of the first triode Q1 is grounded, a second end of the first capacitor C1 is connected with a first end of a primary side of a transformer T, a first end of a secondary side of the transformer T is connected with an ultrasonic sensor P, and a second end of the primary side and a second end of the secondary side of the transformer T are both grounded.

The first triode Q1 is used for amplifying the pulse signal and transmitting the amplified pulse signal to the transformer T; and the transformer T is used for boosting the amplified pulse signal and transmitting the boosted pulse signal to the ultrasonic sensor P so as to emit an ultrasonic signal.

It should be noted that the first resistor R1 and the second resistor R2 constitute a voltage divider circuit, and the first diode D1 plays a role of clamping. The pulse signal is amplified by a first triode Q1 and then enters a transformer T for boosting, the emission requirement is met, and an ultrasonic signal is emitted to the outside through an ultrasonic sensor P.

In the present embodiment, the input amplification circuit 2002 includes an input signal receiving circuit 20021 and an input signal amplification circuit 20022; the input signal receiving circuit 2001 includes a third resistor R3, a second capacitor C2, a third capacitor C3, a second diode D2, and a third diode D3; a first end of a third resistor R3 is connected to the ultrasonic sensor P and a first end of a second capacitor C2, a second end of a second capacitor C2 is grounded, a second end of the third resistor R3 is connected to the first end of the third capacitor C3, a cathode of a second diode D2 and an anode of a third diode D3, an anode of the second diode D2 and a cathode of the third diode D3 are grounded, a second end of the third capacitor C3 is connected to an input signal amplifying circuit 20022, and the input signal amplifying circuit 20022 is connected to the first microprocessor U1.

The input signal receiving circuit 20021 is configured to receive a reflected signal corresponding to the ultrasonic signal detected by the ultrasonic sensor P, and transmit the reflected signal to the input signal amplifying circuit 20022; the input signal amplifying circuit 20022 is used for amplifying the reflected signal and transmitting the amplified reflected signal to the first microprocessor U1.

It should be noted that the second diode D2 and the third diode D3 form a positive-negative clamp to stabilize the voltage of the received reflected signal. The second capacitor C2 is used for aftershock filtering, the third resistor R3 is used for voltage reduction, and the third capacitor C3 is used for blocking.

In this embodiment, the input signal amplifying circuit 20022 includes a first amplifier a1, a second amplifier a2, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, an adjustable resistor VR, and a fourth diode D4; a first end of a fourth resistor R4 is connected to the preset power source VCC, a second end of the fourth resistor R4 is connected to a first end of a fifth resistor R5 and a first end of a fourth capacitor C4, respectively, a second end of the fifth resistor R5 and a first end of a fourth capacitor C4 are both grounded, a negative input end of a first amplifier a1 is connected to a second end of a third capacitor C3, a positive input end of a first amplifier a1 is connected to a second end of a fourth resistor R4, an output end of the first amplifier a1 is connected to a first end of a sixth resistor R6 and a first end of a fifth capacitor C5, respectively, a second end of a sixth resistor R6 is connected to a negative input end of the first amplifier a1, a second end of a fifth capacitor C5 is connected to a first end of a seventh resistor R7, a second end of the seventh resistor R7 is connected to a first end of an adjustable resistor VR, a second end of the adjustable resistor VR 2 is connected to a negative input end of the second amplifier VR 2, and a second end of the fourth resistor R4 is connected to a negative input end of the fourth amplifier R2, the output end of the second amplifier a2 is connected to the first end of the eighth resistor R8, the second end of the eighth resistor R8 is connected to the first end of the ninth resistor R9, the first end of the sixth capacitor C6, the cathode of the fourth diode D4 and the first microprocessor U1, the second end of the ninth resistor R9 and the second end of the sixth capacitor C6 are both connected to the negative input end of the second amplifier a2, and the anode of the fourth diode D4 is grounded.

A first amplifier a1 for performing a first amplification on the reflected signal and transmitting the reflected signal after the first amplification to a second amplifier a 2; and the second amplifier A2 is used for carrying out second amplification on the reflected signal and transmitting the reflected signal after the second amplification to the first microprocessor U1.

It should be noted that the sixth resistor R6 is a first-stage gain resistor, the ninth resistor R9 is a second-stage gain resistor, and the adjustable resistor VR is a gain control resistor. The fourth resistor R4 and the fifth resistor R5 are used for adjusting the voltage at the positive input end of the amplifier, and the fourth capacitor C4 is a bypass capacitor. The fifth capacitor C5 acts as a dc blocking. The sixth capacitor C6 is used to eliminate self-excitation. The fourth diode D4 is used to clamp the amplified signal.

It should be noted that the predetermined power source related to the first transistor Q1 may be the same power source as the predetermined power source related to the first microprocessor U1 and the amplifier. Meanwhile, in order to avoid power supply voltage fluctuation, a filter capacitor is provided in parallel to the first triode Q1 or the amplifier. With the first microprocessor U1 configured with corresponding voltage management circuitry. In addition, the first microprocessor U1 is further configured with a corresponding crystal oscillator circuit, and the crystal oscillator circuit and the voltage management circuit are mature circuits, which are not described in detail in this embodiment.

Referring to fig. 4, fig. 4 is a schematic circuit diagram of the main control circuit of the present invention.

In this embodiment, the main control circuit includes a second microprocessor U2, a tenth resistor R10, a second triode Q2 and a buzzer S; the signal input port DA of the second microprocessor U2 is connected with each ultrasonic circuit, the signal output port of the second microprocessor U2 is connected with the first end of a tenth resistor R10, the second end of the tenth resistor R10 is connected with the base electrode of a second triode Q2, the emitter electrode of the second triode Q2 is grounded, the collector electrode of the second triode Q2 is connected with the first end of a buzzer S, and the second end of the buzzer S is connected with a preset power supply.

The second microprocessor U2 is used for controlling the ultrasonic circuits to simultaneously transmit ultrasonic signals; the second microprocessor U2 is also used for receiving the analysis results fed back by the ultrasonic circuits through the signal input port and determining the barrier information according to the analysis results; and the second microprocessor U2 is further configured to generate an alarm signal according to the obstacle information, and transmit the alarm signal to the second triode Q2 through the signal output port, so that the second triode Q2 is turned on, and the buzzer S gives an alarm.

The number of the signal input ports DA may be set according to the number of the ultrasonic circuits 200, which is not limited in the present embodiment. The second microprocessor U2 is in communication with the first microprocessor U1 via the signal input port DA for receiving the analysis results transmitted by the first microprocessor U1. The second microprocessor U2 analyzes each analysis result according to an internal algorithm to obtain obstacle information.

The buzzer S is used to present the obstacle information. For example, when the distance of the obstacle information indicating the obstacle is smaller than a preset value, an alarm signal is generated to give an alarm. The alarm signal may be a voltage signal for controlling the on/off of the second transistor Q2, and when the second transistor Q2 is turned on, the buzzer S is powered on to alarm.

In a specific implementation, the obstacle detection circuit further includes a display 300, and the second microprocessor U2 is connected to the display 300 through a data output port OT; the second microprocessor U2 is further configured to send the obstacle information to the display 300 through the data output port OT, so that the display 300 displays the obstacle information.

In a second embodiment, an ultrasonic circuit includes a first microprocessor, an ultrasonic sensor, an output amplification circuit, and an input amplification circuit. Ultrasonic sensor can launch stable ultrasonic signal, handles the reflection signal of receiving simultaneously, is favorable to improving signal analysis precision, and then improves obstacle detection precision. Meanwhile, the alarm circuit and the display are arranged on the main control circuit, so that barrier information can be prompted in time.

To achieve the above object, based on the above embodiments, the present invention also proposes an obstacle detection method applied to the obstacle detection circuit as described above. Referring to fig. 5, fig. 5 is a flowchart illustrating a first embodiment of the obstacle detection method.

The obstacle detection circuit includes a main control circuit and a plurality of ultrasonic wave circuits connected to the main control circuit, and in this embodiment, the obstacle detection method includes the steps of:

s100: the main control circuit controls all the ultrasonic circuits to simultaneously transmit ultrasonic signals; wherein the frequencies of the ultrasonic signals are different from each other.

S200: the ultrasonic circuit receives a reflected signal corresponding to the ultrasonic signal; and comparing and analyzing the reflected signal and the ultrasonic signal, and sending an analysis result to the main control circuit.

It will be appreciated that the ultrasonic sensor only analyzes the signal amplitude between the reflected signal and the transmitted ultrasonic signal, enabling the determination of the distance of the obstacle from the ultrasonic sensor, while also determining the size of the obstacle from the signal amplitude.

S300: and the main control circuit determines the barrier information according to each analysis result.

It should be noted that the obstacle information may include obstacle distance, obstacle size, and plane distribution information of the obstacles. The main control circuit performs calculation by a built-in algorithm according to the distance information of each ultrasonic circuit and the like to obtain the obstacle information. The calculation method can refer to the above embodiment.

In this embodiment, the determining, by the main control circuit, the obstacle information according to each analysis result includes: the main control circuit determines the signal characteristics of each reflected signal according to each analysis result; determining target subentry results from each analysis result according to preset screening conditions and the signal characteristics; and acquiring the current speed of the automobile, and determining the barrier information according to the current speed and the target subentry result.

In general, many ultrasonic circuits are provided when the circuits are provided. However, the number of obstacles is different, and the number of obstacles actually required is different. For example, the obstacle detection circuit includes six ultrasonic circuits, and only three ultrasonic circuits are required when detecting one obstacle. Therefore, the ultrasonic circuit can be locked to save resources.

It should be noted that the signal characteristics may be signal amplitude, signal intensity, and the like. And preferentially determining the maximum ultrasonic signal as a signal to be calculated according to the signal amplitude and the intensity. Meanwhile, the other unselected ultrasonic circuits can be controlled to stop transmitting the ultrasonic signal.

It should be noted that, in order to make the obstacle information more accurate, the present embodiment may also perform calculation in combination with the actual scene. For example, taking reversing as an example, the distance information of the obstacle may be corrected or the obstacle information may be predicted in combination with the current vehicle speed, so as to improve the accuracy of obstacle detection.

In this embodiment, the obstacle detection circuit is configured by providing a main control circuit and a plurality of ultrasonic circuits; the main control circuit is used for controlling all the ultrasonic circuits to simultaneously transmit ultrasonic signals; the frequency of each ultrasonic signal is different; the ultrasonic circuit is also used for receiving a reflected signal corresponding to the ultrasonic signal; the reflected signals and the ultrasonic signals are compared and analyzed, and an analysis result is sent to the main control circuit; and the main control circuit is also used for determining the barrier information according to each analysis result. The embodiment simultaneously transmits and receives ultrasonic line signals through a plurality of ultrasonic circuits when detecting the barrier, carries out diversified analysis to barrier information, compares the mode that adopts left and right radars among the prior art, can obtain the size and the positional information of barrier, and the detection precision is higher.

In order to achieve the above object, the present invention also provides an automobile including the above obstacle detecting circuit; alternatively, the automobile employs the obstacle detection method as described above. Since the automobile adopts all the technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The obstacle detection circuit is characterized by comprising a main control circuit and a plurality of ultrasonic circuits, wherein each ultrasonic circuit is connected with the main control circuit;

2. The obstacle detection circuit according to claim 1, wherein the ultrasonic circuit includes a first microprocessor, an ultrasonic sensor, an output amplification circuit, and an input amplification circuit; the first microprocessor is respectively connected with the output amplifying circuit and the input amplifying circuit, and the ultrasonic sensor is respectively connected with the output amplifying circuit and the input amplifying circuit;

3. The obstacle detection circuit according to claim 2, wherein the output amplification circuit includes a first resistor, a second resistor, a first diode, a first triode, a first capacitor, and a transformer; the first end of the first resistor is connected with the first microprocessor, the second end of the first resistor is respectively connected with the first end of the second resistor and the base electrode of the first triode, the second end of the second resistor is grounded, the anode of the first diode is connected with the first end of the first resistor, the cathode of the first diode is grounded, the collector of the first triode is respectively connected with a preset power supply and the first end of the first capacitor, the emitter of the first triode is grounded, the second end of the first capacitor is connected with the first end of the primary side of the transformer, the first end of the secondary side of the transformer is connected with the ultrasonic sensor, and the second end of the primary side and the second end of the secondary side of the transformer are both grounded;

4. The obstacle detection circuit according to claim 2, wherein the input amplification circuit includes an input signal receiving circuit and an input signal amplification circuit; the input signal receiving circuit comprises a third resistor, a second capacitor, a third capacitor, a second diode and a third diode; the first end of the third resistor is connected with the ultrasonic sensor and the first end of the second capacitor respectively, the second end of the second capacitor is grounded, the second end of the third resistor is connected with the first end of the third capacitor, the cathode of the second diode and the anode of the third diode respectively, the anode of the second diode and the cathode of the third diode are grounded, the second end of the third capacitor is connected with the input signal amplifying circuit, and the input signal amplifying circuit is connected with the first microprocessor;

5. The obstacle detection circuit according to claim 4, wherein the input signal amplification circuit includes a first amplifier, a second amplifier, a fourth capacitance, a fifth capacitance, a sixth capacitance, a fourth resistance, a fifth resistance, a sixth resistance, a seventh resistance, an eighth resistance, a ninth resistance, an adjustable resistor, and a fourth diode; a first end of the fourth resistor is connected to a preset power supply, a second end of the fourth resistor is connected to a first end of the fifth resistor and a first end of the fourth capacitor, respectively, a second end of the fifth resistor and a first end of the fourth capacitor are both grounded, a negative input end of the first amplifier is connected to a second end of the third capacitor, a positive input end of the first amplifier is connected to a second end of the fourth resistor, an output end of the first amplifier is connected to a first end of the sixth resistor and a first end of the fifth capacitor, respectively, a second end of the sixth resistor is connected to a negative input end of the first amplifier, a second end of the fifth capacitor is connected to a first end of the seventh resistor, a second end of the seventh resistor is connected to a first end of the adjustable resistor, and a second end of the adjustable resistor is connected to a negative input end of the second amplifier, a positive input end of the second amplifier is connected to a second end of the fourth resistor, an output end of the second amplifier is connected to a first end of the eighth resistor, a second end of the eighth resistor is connected to a first end of the ninth resistor, a first end of the sixth capacitor, a cathode of the fourth diode and the first microprocessor, respectively, a second end of the ninth resistor and a second end of the sixth capacitor are both connected to a negative input end of the second amplifier, and an anode of the fourth diode is grounded;

6. The obstacle detection circuit according to any one of claims 1 to 5, wherein the main control circuit includes a second microprocessor, a tenth resistor, a second triode, and a buzzer; a signal input port of the second microprocessor is connected with each ultrasonic circuit, a signal output port of the second microprocessor is connected with a first end of the tenth resistor, a second end of the tenth resistor is connected with a base electrode of the second triode, an emitting electrode of the second triode is grounded, a collector electrode of the second triode is connected with a first end of the buzzer, and a second end of the buzzer is connected with a preset power supply;

7. The obstacle detection circuit according to claim 6, wherein the obstacle detection circuit further comprises a display, the second microprocessor being connected to the display through a data output port;

8. An obstacle detection method applied to the obstacle detection circuit according to any one of claims 1 to 7, the obstacle detection circuit including a main control circuit and a plurality of ultrasonic circuits connected to the main control circuit, the obstacle detection method comprising the steps of:

9. The method of claim 8, wherein the determining the obstacle information from the analysis results by the master circuit comprises:

10. An automobile characterized by comprising the obstacle detecting circuit according to any one of claims 1 to 7; alternatively, the automobile employs the obstacle detection method according to any one of claims 8 to 9.