Ultrasonic ranging method and device based on frequency adjustment and electronic equipment

Abstract

The invention provides an ultrasonic ranging method and device based on frequency adjustment and electronic equipment and relates to the technical field of ultrasonic ranging. The ultrasonic ranging method is characterized by, according to a preset transmitting time interval, randomly selecting any frequency in a preset frequency table as a transmitting frequency and transmitting ultrasonic signals in preset number of periods; receiving return wave signals and recording propagation time from transmitting the ultrasonic signals to receiving the return wave signals; calculating a frequency component, having the largest amplitude in the frequency domain, of the return wave signals; and when the frequency component is equal to the transmitting frequency in two consecutive transmitting, calculating the distance between ultrasonic ranging equipment and an obstacle according to the propagation time of the last transmitting. The ultrasonic ranging method and device based on frequency adjustment and the electronic equipment can autonomously adjust the work frequency of ultrasonic ranging, thereby improving ultrasonic ranging accuracy and anti-interference performance, effectively avoiding mutual interference of multiple ultrasonic ranging devices during working, and realizing cooperative work of the multiple ultrasonic ranging devices.

Description

technical field [0001] The invention relates to the technical field of ultrasonic ranging, in particular to an ultrasonic ranging method, device and electronic equipment based on frequency adjustment. Background technique [0002] Ultrasonic waves have the characteristics of strong directivity, slow energy consumption, and long distances in the medium, so ultrasonic waves are often used for distance measurement. In the field of mobile robots, in order to enable the robot to automatically avoid obstacles and walk, it is often necessary to equip a ranging system so that it can obtain the distance information from obstacles in time. Therefore, ultrasonic ranging is widely used in mobile robots. [0003] With the rapid development of mobile robots, it has become an urgent need for robot development that multiple mobile robots can work simultaneously in the same space. For example, in a large room, multiple sweeping robots need to work at the same time to keep the floor of the...

AI Technical Summary

Problems solved by technology

For example, in a large room, multiple sweeping robots need to work simultaneously to keep the floor of the entire room clean, because for a single sweeping robot, its working efficiency is fixed, and it is difficult to clean a large area in a short time

However, existing ultrasonic distance measuring devices often send ultrasonic waves of the same frequency. When multiple ultrasonic distance measuring devices work in the same space, there will be serious interference with each other, making the distance measurement inaccurate, resulting in the inability of such devices normal work

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