Ultrasonic detection system, detection method and device

Abstract

The present invention discloses an ultrasonic detection system, detection method and equipment, including a plurality of ultrasonic sensors of the same specification, wherein a plurality of microphones of different frequencies are arranged in the ultrasonic sensors, wherein when the plurality of ultrasonic sensors work at the same time, the plurality of microphones transmit signals according to different transmission timings; the transmission timing and receiving timing of the microphones are both used as their characteristic values, and by judging the consistency of the transmission timing and receiving timing of each microphone, the detection results of each sensor and its object are further judged, so as to reduce or eliminate the system misdetection and misreporting caused by the interference of the same-frequency signals between the various ultrasonic sensors when working at the same time. In the present invention, by optimizing the work of the ultrasonic sensors and microphones, the same-frequency interference and other external interference are eliminated, the misdetection and misreporting of the system are reduced, and the working reliability and accuracy of the system are improved.

Description

Technical Field

[0001] The invention relates to an ultrasonic detection system, a detection method and a device. Background Art

[0002] Ultrasonic sensors are widely used in various transportation tools and industrial equipment such as automobiles, unmanned vehicles, unmanned aerial vehicles, robots, etc. Due to the limitation of the propagation speed of ultrasound itself (340 meters per second), the detection response speed of ultrasonic sensors is greatly affected. In order to improve the detection response speed of ultrasonic sensors, the inventors proposed a solution in the invention CN105549022A that has been applied for: a single ultrasonic sensor integrates multiple microphones (also called transducers) with different frequency specifications and works in a certain sequence, which greatly reduces the detection response cycle of the sensor and greatly improves the detection response speed of the sensor.

[0003] In many applications, the ultrasonic detection system is composed of multiple ultrasonic sensors of the same specifications, such as the parking assistance system (reversing radar) on a car. Take the four-sensor system as an example. Figure 1 Schematic diagram of the arrangement of a conventional single-microphone sensor detection system. The detection system has four identical ultrasonic sensors, namely, sensor 10A, sensor 10B, sensor 10C, and sensor 10D.

[0004] Four identical ultrasonic sensors use microphone 10a1 with the same frequency specification. The vibration frequency (frequency) of microphone 10a1 is 40K, 58K or other. Because the microphones are of the same specification, there will be co-frequency interference when multiple sensors work together at the same time. In order to avoid the co-frequency interference between the sensors causing the system to detect and misreport, the sensors of the traditional detection system work (detect) in turns, that is, one works before the other works, so that the ultrasonic wave emitted by the previous sensor will not interfere with the work of the second sensor. Figure 1 As shown, usually, sensor 10A works, then sensor 10B works, sensor 10B works, then sensor 10C works, sensor 10C works, then sensor 10D works, then sensor 10D works, then sensor 10A works, and so on, and at the same time, the sensors do not work at the same time.

[0005] When a traditional ultrasonic sensor detects an object, the sensor range is set to Ld (usually the maximum detection distance set by the system), the ultrasonic transmission speed is set to V0 (usually 340M / S), and the detection time to complete a single detection by the sensor is set to Td. That is, the detection period of a single sensor is Td, and its calculation formula is: Td=2*Ld / V0 (the ultrasonic propagation path is a round trip).

[0006] When the system is configured with 4 sensors, because they work in turns, the detection period of the system is 4Td (the detection period of a single sensor in the system also becomes 4Td). Therefore, when the number of sensors increases, the detection response speed of the system is greatly reduced. The more sensors there are, the slower the detection response speed of the system.

[0007] As disclosed in Chinese patent CN105549022A, when the ultrasonic detection system is composed of multiple ultrasonic sensors of the same specification (or when the ultrasonic detection system is composed of multiple sensors of the same specification with multiple microphones of different frequencies), since there are microphones of the same specification between the sensors, there will also be co-frequency interference when the sensors work together at the same time; and if the traditional working mode of the traditional parking assistance system in which the sensors work in turn is adopted, the detection response speed of the system will also be greatly reduced. Summary of the invention

[0008] In view of the problems existing in the prior art, the object of the present invention is to provide an ultrasonic detection method, which has a fast response speed, few false detections and false alarms, and has very good reliability and accuracy. Another object of the present invention is to provide an ultrasonic detection system for implementing the above detection method. Another object of the present invention is to provide a device using an ultrasonic detection system or an ultrasonic detection method.

[0009] To achieve the above object, the present invention provides an ultrasonic detection method, specifically:

[0010] 1) Two or more ultrasonic sensors of the same specification are set, and each ultrasonic sensor is equipped with two or more microphones of different frequencies;

[0011] 2) Each microphone in the ultrasonic sensor transmits ultrasonic waves at different transmission timings and receives the reflected echoes from the object to generate echo signals; in a single detection cycle, the ultrasonic sensor completes several detections to improve the detection response speed of the ultrasonic sensor;

[0012] 3) The ultrasonic sensor compares and analyzes the echo signal and the transmission signal, as well as the consistency of the echo signal reception timing and the ultrasonic transmission timing, to determine the object detection results of each ultrasonic sensor, thereby reducing or eliminating system misdetection and false alarm caused by co-frequency interference between ultrasonic sensors and other external interference.

[0013] Furthermore, the ultrasonic emission timing includes but is not limited to the emission order of each microphone and the time interval for starting emission.

[0014] Furthermore, the working process of several of the ultrasonic sensors is as follows:

[0015] 1) N microphones are arranged in the ultrasonic sensor, where N ≥ 2, including microphone 1, microphone 2, ... microphone N;

[0016] 2) Microphone 1, microphone 2, ..., microphone N have different operating frequencies, and the detection period of a single microphone is Td;

[0017] 3) The time interval between the start of transmission of microphone 1 and microphone 2 is Tj1;

[0018] 4) The time interval between the start of transmission of microphone 2 and microphone 3 is Tj2; the subsequent microphone working modes are similar;

[0019] 5) The time interval between the start of transmission of microphone N and microphone 1 is Tjn;

[0020] 6) Tj1+Tj2+…+Tjn=Td, forming n transmission signals and echo signals in one detection cycle;

[0021] During working hours, when each ultrasonic sensor works simultaneously, several microphones in each ultrasonic sensor transmit signals in a set order and at a set time interval; the ultrasonic sensor determines each ultrasonic sensor and its object detection results according to the consistency of the receiving order and time interval of each microphone echo signal and the transmission order and start transmission time interval of each microphone, and reduces or eliminates the interference of the same-frequency signals between each ultrasonic sensor.

[0022] The present invention provides an ultrasonic detection system for implementing the above detection method, comprising a plurality of ultrasonic sensors of the same specification, wherein a plurality of microphones of different frequencies are arranged in the ultrasonic sensors, wherein when the plurality of ultrasonic sensors work simultaneously, the plurality of microphones transmit signals according to different transmission timings; the transmission timing and reception timing of the microphones are both used as their characteristic values, and the consistency of the transmission timing and reception timing of each microphone is judged to further judge the detection results of each sensor and its object, so as to reduce or eliminate the system misdetection and misalarm caused by the interference of the same-frequency signals between the ultrasonic sensors when working simultaneously.

[0023] Furthermore, the transmission sequence and the time interval for starting transmission of the plurality of microphones are dynamically adjusted.

[0024] Furthermore, the microphone is a single microphone integrating the transmitting and receiving functions, or is a microphone combination including a transmitting microphone and a receiving microphone.

[0025] Furthermore, the ultrasonic detection system is configured with at least two ultrasonic sensors, and each ultrasonic sensor is configured with at least two microphones of different frequencies.

[0026] Furthermore, the ultrasonic sensor is provided with N microphones, which generate N echo signals in a single detection period Td, so as to increase the detection response speed of the ultrasonic sensor to N times.

[0027] Furthermore, the ultrasonic detection system is provided with M ultrasonic sensors, which generate N*M echo signals in a single detection period Td, so as to increase the detection response speed of the ultrasonic detection system to N*M times.

[0028] A device, in which any of the above-mentioned ultrasonic detection systems or any of the above-mentioned ultrasonic detection methods are applied, and the device is a car, a drone, an unmanned vehicle, a robot, a smart home device, a security device or an automated production line device.

[0029] In the present invention, by optimizing the operation of the ultrasonic sensor and the microphone, the same-frequency interference and other external interference are eliminated, the false detection and false alarm of the system are reduced, and the operating reliability and accuracy of the system are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the layout of a traditional single-microphone sensor detection system;

[0031] Figure 2 This is a schematic diagram of the detection timing of a traditional single-microphone sensor;

[0032] Figure 3 It is a schematic diagram of the layout of the ultrasonic detection system of the present invention;

[0033] Figure 4 It is a schematic diagram of the detection timing of the ultrasonic sensor of the present invention. DETAILED DESCRIPTION

[0034] The present invention is described more fully below with reference to the accompanying drawings, in which exemplary embodiments of the present invention are shown. However, the present invention may be embodied in a variety of different forms and should not be construed as being limited to the exemplary embodiments described herein. Rather, these embodiments are provided so that the present invention is comprehensive and complete and fully conveys the scope of the present invention to those of ordinary skill in the art.

[0035] For ease of description, spatially relative terms such as "upper", "lower", "left", "right", etc. may be used herein to describe the relationship of one element or feature shown in the figure relative to another element or feature. It should be understood that, in addition to the orientation shown in the figure, the spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figure is inverted, the elements described as being "below" other elements or features will be positioned "above" other elements or features. Therefore, the exemplary term "lower" can include both upper and lower orientations. The device can be positioned in other ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here can be interpreted accordingly.

[0036] like Figure 3 , Figure 4 As shown, the present invention provides an ultrasonic detection method, specifically:

[0037] 1) Two or more ultrasonic sensors of the same specifications are set up, and each ultrasonic sensor is equipped with two or more microphones of different frequencies:

[0038] 2) Each microphone in the ultrasonic sensor transmits ultrasonic waves at different transmission timings and receives the reflected echoes from the object to generate echo signals; in a single detection cycle, the ultrasonic sensor completes several detections to improve the detection response speed of the ultrasonic sensor;

[0039] 3) The ultrasonic sensor compares and analyzes the echo signal and the transmission signal, as well as the consistency of the echo signal reception timing and the ultrasonic transmission timing, to determine the object detection results of each ultrasonic sensor, thereby reducing or eliminating system misdetection and false alarm caused by co-frequency interference between ultrasonic sensors and other external interference.

[0040] The working process of several of the ultrasonic sensors is as follows:

[0041] 1) N microphones are arranged in the ultrasonic sensor, where N ≥ 2, including microphone 1, microphone 2, ... microphone N;

[0042] 2) Microphone 1, microphone 2, ..., microphone N have different operating frequencies, and the detection period of a single microphone is Td;

[0043] 3) The time interval between the start of transmission of microphone 1 and microphone 2 is Tj1;

[0044] 4) The time interval between the start of transmission of microphone 2 and microphone 3 is Tj2; the subsequent microphone working modes are similar;

[0045] 5) The time interval between the start of transmission of microphone N and microphone 1 is Tjn;

[0046] 6) Tj1+Tj2+…+Tjn=Td, forming n transmission signals and echo signals in one detection cycle;

[0047] During working hours, when each ultrasonic sensor works simultaneously, several microphones in each ultrasonic sensor transmit signals in a set order and at a set time interval; the ultrasonic sensor determines each ultrasonic sensor and its object detection results according to the consistency of the receiving order and time interval of each microphone echo signal and the transmission order and start transmission time interval of each microphone, and reduces or eliminates the interference of the same-frequency signals between each ultrasonic sensor.

[0048] The ultrasonic detection system of the present invention is composed of two or more ultrasonic sensors of the same specification, each of which includes two or more microphones of different frequencies: microphone 1, microphone 2, ..., microphone N (N≥2). Each ultrasonic sensor works simultaneously to detect an object, so as to speed up the detection response speed of the system.

[0049] Microphone 1, microphone 2, ..., microphone N in each ultrasonic sensor transmits ultrasonic waves at different transmission timings, and receives the reflected echo of the object to generate an echo signal. The ultrasonic sensor compares and analyzes the echo signal and the consistency of the echo signal reception timing with the ultrasonic transmission timing to determine the object detection results of each ultrasonic sensor; thereby reducing or eliminating system misdetection and misreporting caused by co-frequency interference between ultrasonic sensors and other external interference.

[0050] The transmission timing of microphone 1, microphone 2, ..., microphone N includes but is not limited to the transmission order of microphone 1, microphone 2, ..., microphone N and / or the time interval for starting transmission.

[0051] In this embodiment, the technical solution of the present invention will be described by comparing with the detection timing of the ultrasonic sensor of the existing traditional single microphone.

[0052] Figure 2 FIG. 1 is a schematic diagram of the detection timing of a traditional single-microphone ultrasonic sensor, wherein TA-10a1 is the transmission signal of the microphone 10a1 in the ultrasonic sensor 10, SA-10a1 is the echo signal of the microphone 10a1 detecting an object at a certain distance, and the detection period of the microphone is Td. Because it is a traditional single-microphone ultrasonic sensor, the detection period of the ultrasonic sensor is also Td.

[0053] This embodiment takes four ultrasonic sensors as an example. Figure 3The schematic diagram of the arrangement of the multi-microphone ultrasonic sensor detection system of the present invention is shown in FIG. The detection system has four ultrasonic sensors of the same specifications, namely ultrasonic sensor 30A, ultrasonic sensor 30B, ultrasonic sensor 30C, and ultrasonic sensor 30D. For example, each ultrasonic sensor has three microphones of different frequencies, and the ultrasonic sensor has microphones 30b1, 30b2, and 30b3 of different frequencies.

[0054] Figure 4 2 is a schematic diagram of the detection timing of the ultrasonic sensor of the present invention, wherein the microphone 30bx, the microphone 30by, and the microphone 30bz are respectively one of the microphones 30b1, 30b2, and 30b3.

[0055] Among them, TA-30bx is the transmission signal of microphone 30bx in ultrasonic sensor 30, SA-30bx is the echo signal of microphone 30bx, TA-30by is the transmission signal of microphone 30by, SA-30by is the echo signal of microphone 30by, TA-30bz is the transmission signal of microphone 30bz, and SA-30bz is the echo signal of microphone 30bz.

[0056] The detection period of each microphone (30bx, 30by, 30bz) is Td (the range of the ultrasonic sensor / microphone is also set to Ld).

[0057] The time interval between microphone 30by and microphone 30bx starting to transmit is Tj1, the time interval between microphone 30bz and microphone 30by starting to transmit is Tj2, and the time interval between microphone 30bx and microphone 30bz starting to transmit is Tj3, wherein the time setting requirement is: Tj1+Tj2+Tj3=Td.

[0058] When detecting the same object, correspondingly, the time interval between the echo signals of microphone 30by and microphone 30bx is Tj1, the time interval between the echo signals of microphone 30bz and microphone 30by is Tj2, and the time interval between the echo signals of microphone 30bx and microphone 30bz is Tj3.

[0059] contrast Figure 2 , Figure 4 It can be seen that when a conventional single-microphone ultrasonic sensor is working, there is only one echo signal in a single detection period Td. In the present invention, when the ultrasonic sensor is working, there are three echo signals in a single detection period Td.

[0060] When microphones 30bx, 30by and 30bz detect with substantially the same start-of-transmission time intervals (i.e., when Tj1, Tj2 and Tj3 are equal to or approximately equal to 1 / 3Td), the detection period of the ultrasonic sensor 30 is reduced to 1 / 3Td, i.e., the detection response speed of the ultrasonic sensor 30 is increased to three times that of the ultrasonic sensor 10. That is, in the present invention, the detection response speed of the ultrasonic sensor is three times that of the detection response speed of the traditional single-microphone ultrasonic sensor.

[0061] In this embodiment, it is assumed that: the transmitting order of the microphones in the ultrasonic sensor 30A is b1, b2, b3, and the time intervals from starting to transmit are Tj1a, Tj2a; the transmitting order of the microphones in the ultrasonic sensor 30B is b3, b2, b1, and the time intervals from starting to transmit are Tj1b, Tj2b; the transmitting order of the microphones in the ultrasonic sensor 30C is b1, b3, b2, and the time intervals from starting to transmit are Tj1c, Tj2c; the transmitting order of the microphones in the ultrasonic sensor 30D is b2, b1, b3, and the time intervals from starting to transmit are Tj1d, Tj2d.

[0062] When detecting an object, the ultrasonic sensor determines the detection results of each ultrasonic sensor and its object based on the consistency of the order and time interval of receiving echo signals of each microphone and the order and time interval of transmitting and starting transmitting of each microphone. The transmitting timing and receiving timing of the microphone are used as their characteristic values. By determining the consistency of the transmitting timing and receiving timing of each microphone, the detection results of each sensor and its object are further determined to reduce or eliminate the system misdetection and misalarm caused by the interference of the same frequency signals between each ultrasonic sensor when working at the same time.

[0063] For example, when the echo signals received by the ultrasonic sensor are SA-30b1, SA-30b2, and SA-30b3 in order, and the time interval between SA-30b2 and SA-30b1 is Tj1a, and the time interval between SA-30b3 and SA-30b2 is Tj2a, then it is determined that this is the object detection echo signal of the ultrasonic sensor 30A, and the detection result obtained is the detection result of the ultrasonic sensor 30A. When the echo signals received by the ultrasonic sensor are SA-30b3, SA-30b2, and SA-30b1 in order, and the time interval between SA-30b2 and SA-30b3 is Tj1b, and the time interval between SA-30b1 and SA-30b2 is Tj2b, then it is determined that this is the object detection echo signal of the ultrasonic sensor 30B, and the detection result obtained is the detection result of the ultrasonic sensor 30B..., and so on, to determine each ultrasonic sensor and its object detection result.

[0064] When ultrasonic sensors 30A, 30B, 30C, and 30D work at the same time, since each ultrasonic sensor has a microphone of the same frequency, there will be signal interference between the ultrasonic sensors, but the interference signal is random and it is difficult to form a regular signal sequence. Therefore, the present invention adopts a detection method with different emission sequence modes, which can reduce or eliminate system misdetection and misalarm caused by the same frequency signal interference between each ultrasonic sensor when working at the same time, and can also reduce or eliminate system misdetection and misalarm caused by other external interference.

[0065] At the same time, it can be seen from the above that in the ultrasonic sensor detection system of the present invention, N microphones are arranged in the ultrasonic sensor, and N echo signals are generated in a single detection period Td to increase the detection response speed of the ultrasonic sensor to N times. M ultrasonic sensors are arranged in the ultrasonic detection system, and N*M echo signals are generated in a single detection period Td to increase the detection response speed of the ultrasonic detection system to N*M times.

[0066] For this embodiment, each ultrasonic sensor can work simultaneously, and the detection period of the system is 1 / 3Td. However, in the traditional single-microphone ultrasonic sensor detection system, each ultrasonic sensor cannot work simultaneously, and the detection period of the system is 4Td. Therefore, the ultrasonic sensor detection system of the present invention is 1 / 12 of the detection period of the traditional single-microphone ultrasonic sensor detection system, that is, the detection response speed of the detection system of the present invention is 12 times that of the detection response speed of the traditional detection system.

[0067] In this embodiment, the ultrasonic detection system of the present invention is equipped with four ultrasonic sensors, and each ultrasonic sensor is equipped with three microphones of different frequencies, and the speed is increased by 12 times the traditional speed. If the number of microphones configured in each ultrasonic sensor of the present invention is increased, or the detection system is equipped with more ultrasonic sensors, the reaction speed of the detection system of the present invention will be further increased relative to the traditional detection system. The ultrasonic detection system of the present invention has a greatly improved detection reaction speed, and the detection sensitivity and accuracy of the system are also greatly improved.

[0068] The ultrasonic detection system of the present invention is configured with at least two ultrasonic sensors, and each ultrasonic sensor is configured with at least two microphones of different frequencies. Even with the simplest configuration, the detection system of the present invention can greatly improve the detection response speed of the system compared with the traditional single-microphone ultrasonic sensor detection system.

[0069] In order to further reduce or eliminate the system misdetection and misalarm caused by the same-frequency interference between the ultrasonic sensors and other external interference, the ultrasonic detection system of the present invention, in a preferred embodiment, when the system is working, the system dynamically adjusts the emission timing of the microphone 1, microphone 2, ..., microphone N of each ultrasonic sensor. Still taking the four-ultrasonic sensor system as an example, in the ultrasonic detection system of the present invention, the emission sequence of the ultrasonic sensor 30A microphone is b1, b2, b3, and the start emission time interval is Tj1a, Tj2a; after working for a certain period of time, the emission sequence of the 30A microphone is changed to b2, b3, b1, and the start emission time interval is still Tj1a, Tj2a, or after working for a certain period of time, the emission sequence of the 30A microphone is changed to b1, b2, b3, and the start emission time interval becomes Tj1t, Tj2t (Tj1t, Tj2t are different from Tj1a, Tj2a), and so on. When the system is working, the emission timing of the microphone in the ultrasonic sensor is adjusted regularly or randomly, which has a further filtering effect on the same-frequency interference of other ultrasonic sensors and other external interference, thereby further reducing the system's false detection and false alarm, and improving the system's working reliability and accuracy.

[0070] The ultrasonic detection system of the present invention includes a microphone, which can be a single microphone integrating the functions of transmitting and receiving. The microphone is physically a device (such as Figure 1 10a1 and Figure 3 30b1, 30b2, 30b3 in FIG); it may also be a microphone combination including a transmitting microphone and a receiving microphone, which is physically two devices (not shown in the figure).

[0071] The present invention provides a device, in which any of the above-mentioned ultrasonic detection systems or any of the above-mentioned ultrasonic detection methods are applied, and the device can be a car, a drone, an unmanned vehicle, a robot, a smart home device, a security device, or an automated production line device. The ultrasonic detection system and detection method of the present invention have excellent detection performance, and the ultrasonic detection system is widely used, and can be used in cars, drones, unmanned vehicles, industrial equipment, consumer electronics, smart homes, security, etc. Therefore, the ultrasonic detection system and detection method of the present invention have good application prospects and value.

[0072] The above description is only a preferred embodiment of the present invention, and therefore cannot be used to limit the scope of the present invention. That is, equivalent changes and modifications made according to the patent scope of the present invention and the contents of the specification should still fall within the scope of the present invention.

Claims

1. An ultrasonic detection method, characterized in that: The method is as follows: 1) Two or more ultrasonic sensors of the same specification are provided, and each ultrasonic sensor is provided with two or more microphones of different frequencies; 2) Each microphone in the ultrasonic sensor transmits ultrasonic waves at different transmission timings and receives the reflected echoes from the object to generate echo signals; within a single detection cycle, the ultrasonic sensor completes several detections to improve the detection response speed of the ultrasonic sensor; 3) The ultrasonic sensor compares and analyzes the echo signal and the transmission signal, as well as the consistency of the echo signal reception timing and the ultrasonic transmission timing, to determine the object detection results of each ultrasonic sensor, thereby reducing or eliminating the system misdetection and misalarm caused by the same-frequency interference between ultrasonic sensors and other external interference; Among them, the transmission sequence of the microphone of an ultrasonic sensor 30A is b1, b2, b3, and the starting transmission time interval is Tj1a, Tj2a; after working for a certain period of time, the transmission sequence of the microphone 30A is changed to b2, b3, b1, and the starting transmission time interval is still Tj1a, Tj2a, or after working for a certain period of time, the transmission sequence of the microphone 30A is changed to b1, b2, b3, and the starting transmission time interval is changed to Tj1t, Tj2t; other ultrasonic sensors also use detection methods with different transmission timing modes. When working, the transmission timing of the microphone in the ultrasonic sensor is adjusted regularly or randomly, which has a further filtering effect on the same-frequency interference of other ultrasonic sensors and other external interference.

2. The ultrasonic detection method according to claim 1, characterized in that: The ultrasonic emission timing includes but is not limited to the emission order of each microphone and the time interval for starting emission.

3. The ultrasonic detection method according to claim 1, characterized in that: The working process of several of the ultrasonic sensors is as follows: 1) N microphones are arranged in the ultrasonic sensor, where N ≥ 2, including microphone 1, microphone 2, ... microphone N; 2) Microphone 1, microphone 2, ..., microphone N have different operating frequencies, and the detection period of a single microphone is Td; 3) The time interval between the start of transmission of microphone 1 and microphone 2 is Tj1; 4) The time interval between the start of transmission of microphone 2 and microphone 3 is Tj2; the subsequent microphone working modes are similar; 5) The time interval between the start of transmission of microphone N and microphone 1 is Tjn; 6) Tj1+Tj2+…+Tjn=Td, forming n transmission signals and echo signals in one detection cycle; During working hours, when each ultrasonic sensor works simultaneously, several microphones in each ultrasonic sensor transmit signals in a set order and at a set time interval; the ultrasonic sensor determines each ultrasonic sensor and its object detection results according to the consistency of the receiving order and time interval of each microphone echo signal and the transmission order and start transmission time interval of each microphone, and reduces or eliminates the interference of the same-frequency signals between each ultrasonic sensor.

4. An ultrasonic detection system, characterized in that: The ultrasonic detection system is used to implement the ultrasonic detection method as described in any one of claims 1 to 3. The ultrasonic detection system includes a plurality of ultrasonic sensors of the same specification. A plurality of microphones of different frequencies are arranged in the ultrasonic sensors. When the plurality of ultrasonic sensors work simultaneously, the plurality of microphones transmit signals according to different transmission timings. The transmission timing and reception timing of the microphone are both used as their characteristic values. By judging the consistency of the transmission timing and reception timing of each microphone, the detection results of each sensor and its object are further judged, so as to reduce or eliminate system misdetection and misalarm caused by interference of the same-frequency signals between the ultrasonic sensors when working simultaneously.

5. The ultrasonic detection system according to claim 4, characterized in that: The transmission sequence and the time interval for starting transmission of the plurality of microphones are dynamically adjusted.

6. The ultrasonic detection system according to claim 4, characterized in that: The microphone is a single microphone integrating the transmitting and receiving functions, or is a microphone combination including a transmitting microphone and a receiving microphone.

7. The ultrasonic detection system according to claim 4, characterized in that: The ultrasonic detection system is equipped with at least two ultrasonic sensors, and each ultrasonic sensor is equipped with at least two microphones of different frequencies.

8. The ultrasonic detection system according to claim 4, characterized in that: The ultrasonic sensor is provided with N microphones, which generate N echo signals in a single detection period Td, so as to increase the detection response speed of the ultrasonic sensor to N times.

9. The ultrasonic detection system according to claim 8, characterized in that: The ultrasonic detection system is provided with M ultrasonic sensors, which generate N*M echo signals in a single detection period Td, so as to increase the detection response speed of the ultrasonic detection system to N*M times.

10. A device, characterized in that: The device applies the ultrasonic detection system described in any one of claims 4 to 9, or applies the ultrasonic detection method described in any one of claims 1 to 3, and the device is a car, a drone, a robot, a smart home device, a security device, or an automated production line device.

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