Ultrasonic distance measuring device, ultrasonic distance measuring method and controller

Abstract

The embodiment of the present invention provides an ultrasonic distance measurement device, including: an ultrasonic transmitter / receiver, including a plurality of ultrasonic array elements arranged in a ring, each ultrasonic array element is used to transmit a first ultrasonic wave to the outside of the ring, the first ultrasonic wave is reflected by the target object when it contacts the target object, the first ultrasonic wave reflected by the target object is defined as a second ultrasonic wave, and the ultrasonic transmitter / receiver is also used to receive the second ultrasonic wave; an ultrasonic transmission / reception channel, used to switch its own working mode so that the ultrasonic transmitter / receiver transmits the first ultrasonic wave or receives the second ultrasonic wave; a controller, used to control one or more ultrasonic array elements in the ultrasonic transmitter / receiver to transmit the first ultrasonic wave through the ultrasonic transmission / reception channel, and used to obtain the distance information of the target object according to the transmission time of the first ultrasonic wave and the reception time of the second ultrasonic wave. The embodiment of the present invention also provides an ultrasonic distance measurement method and a controller.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic distance measurement, and in particular to an ultrasonic distance measurement device, an ultrasonic distance measurement method applied to the ultrasonic distance measurement device, and a controller applied to the ultrasonic distance measurement device. Background Art

[0002] A conventional ultrasonic distance measuring device includes a single ultrasonic probe. The ultrasonic probe is used to transmit ultrasonic waves. The ultrasonic distance measuring device can calculate the distance of the target object based on the time it takes for the ultrasonic wave to return. On the one hand, in the ultrasonic distance measuring device, the curvature of the end face of the ultrasonic probe that transmits the ultrasonic wave determines the focal point of the ultrasonic wave, and the focal point position of the transmitted ultrasonic wave is limited, making it impossible to simultaneously obtain wide-area distance information. On the other hand, when the target object is far from the focal point, the ultrasonic wave returning to the ultrasonic distance measuring device diverges during the propagation process, causing the resolution of the ultrasonic distance measuring device to decrease. Summary of the invention

[0003] In one aspect, the present invention provides an ultrasonic distance measuring device, comprising:

[0004] An ultrasonic transmitter / receiver, the ultrasonic transmitter / receiver comprising a plurality of ultrasonic array elements arranged in a ring, each ultrasonic array element being used to transmit a first ultrasonic wave to the outside of the ring, the first ultrasonic wave being reflected by the target object when contacting the target object, the first ultrasonic wave reflected by the target object being defined as a second ultrasonic wave, the ultrasonic transmitter / receiver being further used to receive the second ultrasonic wave;

[0005] an ultrasonic transmitting / receiving channel, electrically connected to the ultrasonic transmitting / receiving channel, and used to switch its own working mode so that the ultrasonic transmitting / receiving channel transmits the first ultrasonic wave or receives the second ultrasonic wave; and

[0006] A controller is electrically connected to the ultrasonic transmitting / receiving channel, and is used to control one or more ultrasonic array elements in the ultrasonic transmitting / receiving channel to transmit the first ultrasonic wave, and is used to obtain the distance information of the target object according to the transmission time of the first ultrasonic wave and the reception time of the second ultrasonic wave.

[0007] Another aspect of the present invention provides an ultrasonic ranging method, which is applied to an ultrasonic ranging device, wherein the ultrasonic ranging device comprises an ultrasonic transmitter / receiver, and the ultrasonic transmitter / receiver comprises a plurality of ultrasonic array elements arranged in a ring shape; the ultrasonic ranging method comprises:

[0008] Control one or more array elements in the ultrasonic transmitter / receiver to transmit a first ultrasonic wave, wherein the first ultrasonic wave is reflected by the target object when contacting the target object, and the first ultrasonic wave reflected by the target object is defined as a second ultrasonic wave;

[0009] The ultrasonic transmitter / receiver is controlled to receive the second ultrasonic wave, and the distance information of the target object is acquired according to the emission time of the first ultrasonic wave and the reception time of the second ultrasonic wave.

[0010] Another aspect of the present invention provides a controller applied to an ultrasonic ranging device, wherein the ultrasonic ranging device comprises an ultrasonic transmitter / receiver, wherein the ultrasonic transmitter / receiver comprises a plurality of ultrasonic array elements arranged in a ring shape, and wherein the processor comprises:

[0011] A transmission control module, used to control one or more array elements in the ultrasonic transmitter / receiver to transmit a first ultrasonic wave, wherein the first ultrasonic wave is reflected by the target object when contacting the target object, and the first ultrasonic wave reflected by the target object is defined as a second ultrasonic wave;

[0012] The data processing module is electrically connected to the transmission control module, and is used to control the ultrasonic transmitter / receiver to receive the second ultrasonic wave, and obtain the distance information of the target object according to the transmission time of the first ultrasonic wave and the reception time of the second ultrasonic wave.

[0013] The above-mentioned ultrasonic ranging device, by setting an ultrasonic transmitter / receiver including a plurality of ultrasonic array elements arranged in a ring, can obtain the distance information (or position information) of a target object in a larger range (360° range) in one process of transmitting and receiving ultrasonic waves, which is conducive to improving the ranging speed of the ultrasonic ranging device; and the number of array elements that emit the first ultrasonic wave is adjustable (one or more), so that in one process of transmitting and receiving ultrasonic waves, the detectable range is adjustable, so that the detection method of the ultrasonic ranging device can match the actual detection needs, and the detection method is more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Schematic diagram of the structure of the ultrasonic ranging device and the target object in the embodiment of the present invention.

[0015] Figure 2 Schematic diagram of the module structure of the ultrasonic distance measuring device in an embodiment of the present invention.

[0016] Figure 3 4 is a flowchart of the steps of the ultrasonic ranging method in an embodiment of the present invention.

[0017] Figure 4 Schematic diagram of the transmission delay of each array element in an embodiment of the present invention.

[0018] Figure 5 It is a schematic diagram of an ultrasonic transmitter / receiver transmitting a focused first ultrasonic wave in an embodiment of the present invention.

[0019] Figure 6 It is a schematic diagram of an ultrasonic transmitter / receiver transmitting a divergent first ultrasonic wave in a modified embodiment.

[0020] Figure 7 Schematic diagram of the reception delay of each array element in an embodiment of the present invention.

[0021] Figure 8 It is a schematic diagram of an ultrasonic transmitter / receiver receiving a second ultrasonic wave in an embodiment of the present invention.

[0022] Fig. 9 It is a schematic diagram of obtaining distance information of a target object through two ranging periods in an embodiment of the present invention.

[0023] Fig.10 It is a schematic diagram of obtaining the distance information of the target object through three ranging periods in a modified embodiment.

[0024] Main component symbols

[0025] Ultrasonic distance measuring device 10

[0026] Ultrasonic transmitter / receiver 11

[0027] Array element 111, E1, E2, E3, E4, E5

[0028] Ultrasonic transmission / reception channel 12

[0029] Ultrasonic emission channel 121

[0030] Ultrasonic receiving channel 122

[0031] Transmit / receive switching unit 123

[0032] Controller 13

[0033] Launch control module 131

[0034] Data processing module 132

[0035] Target object 20

[0036] Distance d

[0037] Steps S1 and S2

[0038] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0039] See also Figure 1The ultrasonic distance measuring device 10 is used to obtain the distance information of the target object 20 in the environment. In this embodiment, the ultrasonic distance measuring device 10 is used to transmit ultrasonic waves. When the ultrasonic waves contact the target object 20, they are reflected by the target object 20. The ultrasonic distance measuring device 10 can obtain the distance d between the target object 20 in the environment and the ultrasonic distance measuring device 10 according to the time difference between the transmission and reception of the ultrasonic waves and the known sound velocity of the ultrasonic waves.

[0040] The ultrasonic distance measuring device 10 is usually integrated into other smart devices as a distance measuring function module. For example, the ultrasonic distance measuring device 10 is integrated into a vehicle or a carrier to construct a map or monitor whether there are obstacles in the driving path and the specific distance of the obstacles during driving.

[0041] See also Figure 2 The ultrasonic distance measuring device 10 includes an ultrasonic transmitter / receiver 11, an ultrasonic transmitter / receiver channel 12 and a controller 13. The ultrasonic transmitter / receiver channel 12 is electrically connected to the ultrasonic transmitter / receiver 11 and the controller 13 respectively.

[0042] The ultrasonic transmitter / receiver 11 includes a plurality of array elements 111. The plurality of array elements 111 may be disposed on a carrier. The plurality of array elements 111 are arranged in a ring shape. Each array element 111 is used to transmit a column of first ultrasonic waves in a direction away from the center of the ring shape. When all array elements 111 transmit the first ultrasonic waves at the same time, a 360° ranging range can be covered.

[0043] After the first ultrasonic wave reaches the target object 20, it is reflected by the target object 20. In this embodiment, the first ultrasonic wave reflected by the target object 20 is defined as the second ultrasonic wave. The array element in the ultrasonic transmitter / receiver 11 is also used to receive the second ultrasonic wave.

[0044] A time period of emitting a first ultrasonic wave and receiving a second ultrasonic wave is defined as a ranging period. In each ranging period, the number of array elements 111 emitting the first ultrasonic wave can be controlled according to the actual ranging requirements: when the ranging range is small, a smaller number of array elements 111 are controlled to emit the first ultrasonic wave; when the ranging range is large, a larger number of array elements 111 are controlled to emit the first ultrasonic wave. In addition, the delay time of each array element can be controlled according to the size of the field to adjust the focus position of the ultrasonic wave emission to meet the requirements of accurate ranging.

[0045] The ultrasonic transmitting / receiving channel 12 includes an ultrasonic transmitting channel 121, an ultrasonic receiving channel 122, and a transmitting / receiving switching unit 123 electrically connected to the ultrasonic transmitting channel 121 and the ultrasonic receiving channel 122. The ultrasonic transmitting channel 121 and the ultrasonic receiving channel 122 both include a transmitting beamforming module, a digital-to-analog conversion module, and an amplifier electrically connected in sequence. The amplifiers in the ultrasonic transmitting channel 121 and the ultrasonic receiving channel 122 are electrically connected to the transmitting / receiving switching unit 123. The controller 13 includes a transmitting control module 131 and a data processing module 132 electrically connected to each other. The transmitting control module 131 is electrically connected to the ultrasonic transmitting channel 121, and the data processing module 132 is electrically connected to the ultrasonic receiving channel 122.

[0046] The transmission control module 131 is used to output instructions, control the ultrasonic transmission channel 121 to generate an ultrasonic transmission signal, and the transmission / reception switching unit 123 switches to the transmission state, transmits the ultrasonic transmission signal sent by the ultrasonic transmission channel 121 to the corresponding one or more array elements 111, and controls the one or more array elements 111 to transmit the first ultrasonic wave. The second ultrasonic wave reflected by the target object 20 is received by the one or more array elements 111, and the transmission / reception switching unit 123 switches to the receiving state, so that the received second ultrasonic wave is converted by the ultrasonic receiving channel 122 into a signal type that can be recognized by the data processing module 132. The data processing module 132 can obtain the distance information of the target object 20 according to the transmission time of the first ultrasonic wave and the reception time of the second ultrasonic wave.

[0047] The embodiment of the present invention further provides an ultrasonic distance measurement method, which is applied to the ultrasonic distance measurement device 10 , and specifically, is applied to the controller 13 .

[0048] See also Figure 3 , ultrasonic ranging methods include:

[0049] Step S1, controlling one or more array elements in the ultrasonic transmitter / receiver to transmit a first ultrasonic wave, wherein the first ultrasonic wave is reflected by a target object when contacting the target object, and the first ultrasonic wave reflected by the target object is defined as a second ultrasonic wave; and

[0050] Step S2, controlling the ultrasonic transmitter / receiver to receive the second ultrasonic wave, and acquiring the distance information of the target object according to the emission time of the first ultrasonic wave and the reception time of the second ultrasonic wave.

[0051] In step S1 , the first ultrasonic wave emitted by the ultrasonic wave transmitter / receiver 11 is controlled to have two forms: a focused first ultrasonic wave and a divergent first ultrasonic wave.

[0052] See also Figure 4In this embodiment, in a distance measurement period, a plurality of array elements 111 in the ultrasonic transmitter / receiver 11 transmit the first ultrasonic wave. When the ultrasonic transmitter / receiver 11 transmits the first ultrasonic wave in a focused form, the focus of the first ultrasonic wave emitted by each array element 111 is outside the ring.

[0053] The controller 13 can obtain the transmission delay time of each array element 111 that transmits the first ultrasonic wave according to the distance between the multiple array elements 111 that transmit the first ultrasonic wave and the target object 20, and control the multiple array elements 111 to transmit the first ultrasonic wave in sequence according to the transmission delay time.

[0054] Please continue reading Figure 4 In this embodiment, in one ranging period, five array elements (array elements E1, E2, E3, E4 and E5) in the ultrasonic transmitter / receiver 11 transmit the first ultrasonic wave. In one ranging period, the array elements E1, E2, E3, E4 and E5 need to be simultaneously focused on a detection point 21 on the target object 20.

[0055] The distances between the detection point 21 and the array elements E1, E2, E3, E4 and E5 are defined as Tx_path1, Tx_path2, Tx_path3, Tx_path4 and Tx_path5 respectively. The transmission delay times of the array elements E1, E2, E3, E4 and E5 are defined as τ Tx1 , τ Tx2 , τ Tx3 , τ Tx4 , τ Tx5 .Depend on Figure 5 It can be seen that the distances between the detection point 21 and the array elements E1, E2, E3, E4 and E5 are not the same, but the propagation speed c of the first ultrasonic wave emitted by each array element is the same. Tx1 , τ Tx2 , τ Tx3 , τ Tx4 , τ Tx5 The value of can make the first ultrasonic waves emitted by the array elements E1, E2, E3, E4 and E5 arrive at the detection point at the same time (the array elements closer to the detection point 21 have a longer emission delay time and emit the first ultrasonic wave later, and the array elements farther from the detection point 21 have a shorter emission delay time and emit the first ultrasonic wave earlier).

[0056] See also Figure 5, establish a plane rectangular coordinate system, the Y axis of the plane rectangular coordinate system is a straight line connecting the focus F1 of the first ultrasonic wave and the center of the ring formed by multiple array elements, and the X axis of the plane rectangular coordinate system is a straight line perpendicular to the Y axis, tangent to the ring formed by multiple array elements, and close to the array element emitting the first ultrasonic wave. The coordinates of the intersection of the X axis and the Y axis are defined as (0,0), the coordinates of the focus F1 are defined as (0,R), and the coordinates of the array element 111 emitting the first ultrasonic wave are defined as (Xn,Zn), 1≤n≤5, and n is an integer.

[0057] Then, the transmission delay time is calculated by the following formula (1):

[0058]

[0059] See also Figure 6 In a modified embodiment, the ultrasonic transmitter / receiver 11 transmits a first ultrasonic wave in a divergent form. When the divergent first ultrasonic wave is transmitted, the focus F2 of the first ultrasonic wave is at the center of the ring formed by each array element 111 .

[0060] A plane rectangular coordinate system is established, wherein the Y axis of the plane rectangular coordinate system is a straight line passing through the focus F2, and the X axis of the plane rectangular coordinate system is a straight line perpendicular to the Y axis, tangent to the ring formed by the plurality of array elements, and close to the array element emitting the first ultrasonic wave. The coordinates of the intersection of the X axis and the Y axis are defined as (0, 0), the coordinates of the focus F2 are defined as (0, -R), and the coordinates of the array element 111 emitting the first ultrasonic wave are defined as (Xn, Zn), 1≤n≤5, and n is an integer.

[0061] Then, the transmission delay time in this modified embodiment is calculated by the following formula (2):

[0062]

[0063] The target object 20 reflects the second ultrasonic wave according to the received first ultrasonic wave, and the second ultrasonic wave is received by the array element 111 that transmits the first ultrasonic wave.

[0064] In step S2, the received second ultrasonic wave is focused. The controller 13 can respectively obtain the receiving delay time when each array element 111 emitting the first ultrasonic wave receives the second ultrasonic wave according to the delay time of the multiple array elements 111 emitting the first ultrasonic wave and the distance between the imaging space coordinates and each array element, and control the multiple array elements 111 to receive the second ultrasonic wave in sequence according to the receiving delay time.

[0065] See also Figure 7In this embodiment, in one ranging period, five array elements (array elements E1, E2, E3, E4 and E5) in the ultrasonic transmitter / receiver 11 receive the second ultrasonic wave. In one ranging period, the controller 13 needs to simultaneously receive the recognizable signal converted by the second ultrasonic wave. The ultrasonic wave from the detection point 22 is one of the points in the imaging area. The imaging area covers many detection points, and their positions can be determined according to the application field. The delay time can be obtained by calculating the distance between the detection point and each receiving array element. The distance from the detection point 22 to the array elements E1, E2, E3, E4 and E5 is defined as Rx_path1, Rx_path2, Rx_path3, Rx_path4 and Rx_path5, respectively. The receiving delay times of the array elements E1, E2, E3, E4 and E5 are defined as τ, respectively. Rx1 , τ Rx2 , τ Rx3 , τ Rx4 , τ Rx5 .Depend on Figure 7 It can be seen that the distances between the detection point 22 and the array elements E1, E2, E3, E4 and E5 are not the same, while the propagation speed c of the second ultrasonic wave is the same, resulting in different times for each array element E1, E2, E3, E4 and E5 to receive the second ultrasonic wave.

[0066] Although the time when the array elements E1, E2, E3, E4 and E5 receive the second ultrasonic wave is different, by setting the receiving delay time τ Rx1 , τ Rx2 , τ Rx3 , τ Rx4 , τ Rx5 The value of can make the controller 13 receive the second ultrasonic wave at the same time, and by accumulating the second ultrasonic wave arriving at the same time, the step of completing the receiving focusing can be achieved. This step will be repeated one by one until each detection point in the imaging completes the receiving focusing.

[0067] See also Figure 8 , as Figure 6 The plane rectangular coordinate system is established in the manner described in the figure, and the coordinates of any detection point within the ranging range (the range of the dotted line frame) are defined as (X, Z). Then, the receiving delay time is calculated according to the following formulas (3), (4), and (5):

[0068]

[0069]

[0070] τ(X, Z, n) = τ Txn +τ Rxn (5)

[0071] In step S1, if all array elements 111 are controlled to emit divergent first ultrasonic waves in one ranging period, the ranging range of the ultrasonic ranging device 10 can reach 360°, which is conducive to improving the ranging speed, but in this case, the spatial resolution needs to be improved. In step S1, if the array elements 111 are controlled to emit focused first ultrasonic waves in one ranging period, a target object farther away can be measured, and the spatial resolution is significantly improved, but in this case the ranging range is relatively small.

[0072] In this embodiment, the distance information of the target object 20 is obtained through multiple ranging time periods. Each ranging time period controls the array element to emit a first ultrasonic wave in a different form. The distance information of the target object 20 is obtained by combining the ranging information obtained in each ranging time period, which is conducive to the ultrasonic ranging device to obtain the beneficial effects of both divergent and focused first ultrasonic waves.

[0073] See also Fig. 9 In this embodiment, in the first ranging period, all array elements 111 are controlled to emit divergent first ultrasonic waves, and the first ranging information d1 is calculated based on the received second ultrasonic waves; in the second ranging period, all array elements 111 are controlled to emit multiple focused first ultrasonic waves (focused respectively between multiple adjacent array elements 111), and the second ranging information d2 is calculated based on the received second ultrasonic waves; the distance d of the target object 20 can be obtained by taking the average of the first ranging information d1 and the second ranging information d2. Among them, although the focused first ultrasonic waves are emitted in both the second ranging period and the third ranging period, the focusing positions are different.

[0074] See also Fig.10 In a modified embodiment, in the first ranging period, all array elements 111 are controlled to emit a divergent first ultrasonic wave, and the first ranging information d1 is calculated based on the received second ultrasonic wave; in the second ranging period, all array elements 111 are controlled to emit a plurality of focused first ultrasonic waves (adjacently arranged multiple array elements 111 are focused respectively), and the second ranging information d2 is calculated based on the received second ultrasonic wave; in the third ranging period, all array elements 111 are controlled to emit a plurality of focused first ultrasonic waves, and the third ranging information d3 is calculated based on the received second ultrasonic wave; the distance d of the target object 20 can be obtained by taking the average of the first ranging information d1, the second ranging information d2 and the third ranging information d3.

[0075] In this modified embodiment, by increasing the time period for emitting the focused first ultrasonic wave, the accuracy of the distance d of the target object 20 is further improved.

[0076] In other embodiments, more ranging time periods may be added to transmit the focused first ultrasonic wave to obtain more ranging information, and the distance d of the target object 20 may be obtained by taking an average value of more ranging information.

[0077] The ultrasonic ranging device 10, ultrasonic ranging method and controller 13 provided in this embodiment, on the first aspect, by setting the ultrasonic transmitter / receiver to include a plurality of ultrasonic array elements 111 arranged in a ring, the distance information (or position information) of the target object 20 in a larger range (360° range) can be obtained in one process of transmitting and receiving ultrasonic waves, which is conducive to improving the ranging speed of the ultrasonic ranging device 10; and the number of array elements 111 that emit the first ultrasonic wave is adjustable (one or more), so that in one process of transmitting and receiving ultrasonic waves, the detectable range is adjustable, so that the detection method of the ultrasonic ranging device 10 can match the actual detection needs, and the detection method is more flexible.

[0078] Secondly, by setting the transmission delay time, a focused first ultrasonic wave can be obtained, so that the first ultrasonic wave emitted in the same ranging period can be simultaneously focused on the target object 20, making the first ultrasonic wave energy denser, which is beneficial to improving the spatial resolution; and the focused first ultrasonic wave can also be projected to a farther distance, which is beneficial to detecting a target object 20 farther away.

[0079] Thirdly, by setting the receiving delay time, a focused second ultrasonic wave can be obtained, so that the second ultrasonic wave received in the same ranging period is simultaneously focused to the array element 111, making the second ultrasonic wave energy denser, which is beneficial to improving the spatial resolution, so that the distance information finally calculated by the controller 13 is more accurate.

[0080] Fourthly, by setting the transmission delay time, a divergent first ultrasonic wave can also be obtained. The divergent first ultrasonic wave can significantly expand the ranging range of the ultrasonic ranging device 10 in a ranging period. Therefore, for situations where detection within a specific range needs to be completed, by expanding the ranging range of the ultrasonic ranging device 10 in a ranging period, it is beneficial to reduce the number of ranging times, that is, it is beneficial to improve the ranging speed.

[0081] In the fifth aspect, by setting the ultrasonic ranging device 10 to emit first ultrasonic waves of different forms (focused or divergent) in different ranging time periods, different ranging information can be obtained in different ranging time periods, and the different ranging information obtained in different ranging time periods is used to calculate the distance information of the target object 20. The above detection method is conducive to obtaining the beneficial effects of the first ultrasonic wave in the case of focusing and divergence at the same time. That is, it is conducive to both obtaining high resolution and accurate distance information acquisition of the ultrasonic ranging device 10, and significantly improving the ranging speed of the ultrasonic ranging device 10.

[0082] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention and are not intended to limit the present invention. As long as they are within the spirit of the present invention, appropriate changes and modifications to the above embodiments are within the scope of protection claimed by the present invention.

Claims

1. An ultrasonic distance measuring device, characterized in that: include: An ultrasonic transmitter / receiver, the ultrasonic transmitter / receiver comprising a plurality of ultrasonic array elements arranged in a ring, each ultrasonic array element being used to transmit a first ultrasonic wave to the outside of the ring, the first ultrasonic wave being reflected by the target object when contacting the target object, the first ultrasonic wave reflected by the target object being defined as a second ultrasonic wave, the ultrasonic transmitter / receiver being further used to receive the second ultrasonic wave, and when one or more of the ultrasonic array elements are used to transmit a divergent first ultrasonic wave, the ranging range covered by the divergent first ultrasonic wave includes the range where the target object is located; An ultrasonic transmitting / receiving channel, electrically connected to the ultrasonic transmitting / receiving channel, and used to switch its own working mode so that the ultrasonic transmitting / receiving channel transmits the first ultrasonic wave or receives the second ultrasonic wave; as well as A controller, electrically connected to the ultrasonic transmitting / receiving channel, and configured to control one or more ultrasonic array elements in the ultrasonic transmitting / receiving channel to transmit the first ultrasonic wave; The controller is also used to obtain first ranging information in a first ranging period according to the emission time of the divergent first ultrasonic wave and the reception time of the second ultrasonic wave, and to obtain second ranging information in a second ranging period according to the emission time of the focused first ultrasonic wave and the reception time of the second ultrasonic wave, and to obtain distance information of the target object according to the first ranging information and the second ranging information.

2. The ultrasonic distance measuring device according to claim 1, characterized in that: When one or more of the ultrasonic array elements are used to transmit one or more focused first ultrasonic waves, the one or more focused first ultrasonic waves are focused to the same focus.

3. An ultrasonic distance measurement method, applied to an ultrasonic distance measurement device, characterized in that: The ultrasonic distance measuring device comprises an ultrasonic transmitter / receiver, and the ultrasonic transmitter / receiver comprises a plurality of ultrasonic array elements arranged in a ring shape; The ultrasonic ranging method comprises: Control one or more of the ultrasonic array elements in the ultrasonic transmitter / receiver to transmit a first ultrasonic wave to one or more detection points, wherein the first ultrasonic wave is reflected by the target object when it contacts the target object, and the first ultrasonic wave reflected by the target object is defined as a second ultrasonic wave; control the ultrasonic transmitter / receiver to receive the second ultrasonic wave; In a first ranging period, controlling one or more of the ultrasonic array elements in the ultrasonic transmitter / receiver to transmit a divergent first ultrasonic wave to one or more detection points, and acquiring first ranging information according to the emission time of the divergent first ultrasonic wave and the reception time of the second ultrasonic wave; In the second ranging period, controlling one or more of the ultrasonic array elements in the ultrasonic transmitter / receiver to transmit a focused first ultrasonic wave to one or more detection points, and acquiring second ranging information according to the emission time of the focused first ultrasonic wave and the reception time of the second ultrasonic wave; and The distance information of the target object is acquired according to the first distance measurement information and the second distance measurement information.

4. The ultrasonic distance measurement method according to claim 3, characterized in that: The step of controlling one or more ultrasonic array elements in the ultrasonic transmitter / receiver to transmit a focused first ultrasonic wave comprises: According to the distance between one or more ultrasonic array elements that emit the first ultrasonic wave and the detection point to be focused, the emission delay time of each array element that emits the first ultrasonic wave is obtained respectively, and according to the emission delay time, the one or more ultrasonic array elements are controlled to emit the first ultrasonic wave in sequence.

5. The ultrasonic distance measurement method according to claim 3, characterized in that: The step of acquiring the distance information of the target object according to the first ranging information and the second ranging information comprises: After the second ranging period, in a third ranging period, controlling one or more of the ultrasonic array elements in the ultrasonic transmitter / receiver to transmit a focused first ultrasonic wave to one or more detection points, and acquiring third ranging information according to the emission time of the focused first ultrasonic wave and the reception time of the second ultrasonic wave; The distance information of the target object is acquired according to the first distance measurement information, the second distance measurement information and the third distance measurement information.

6. The ultrasonic distance measurement method according to claim 3, characterized in that: The step of controlling the ultrasonic transmitter / receiver to receive the second ultrasonic wave comprises: According to the distance between one or more ultrasonic array elements that transmit the first ultrasonic wave and the detection point, the receiving delay time of each array element that transmits the first ultrasonic wave is respectively obtained, and according to the receiving delay time, the one or more ultrasonic array elements are controlled to receive the second ultrasonic wave in sequence.

7. A controller, applied to an ultrasonic distance measuring device, characterized in that: The ultrasonic distance measuring device comprises an ultrasonic transmitter / receiver, wherein the ultrasonic transmitter / receiver comprises a plurality of ultrasonic array elements arranged in a ring shape, and the controller comprises: a transmission control module, used to control one or more of the ultrasonic array elements in the ultrasonic transmitter / receiver to transmit one or more first ultrasonic waves, wherein the first ultrasonic waves are reflected by the target object when contacting the target object, and the first ultrasonic waves reflected by the target object are defined as second ultrasonic waves; and A data processing module, electrically connected to the transmission control module, and used to control the ultrasonic transmitter / receiver to receive the second ultrasonic wave; The data processing module is also used to obtain first ranging information in a first ranging period according to the emission time of the divergent first ultrasonic wave and the reception time of the second ultrasonic wave, and to obtain second ranging information in a second ranging period according to the emission time of the focused first ultrasonic wave and the reception time of the second ultrasonic wave, and to obtain distance information of the target object according to the first ranging information and the second ranging information.

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