Object surface wave and acoustic wave sensor unit

Abstract

The application discloses an object surface wave and sound wave sensor unit, which comprises the following steps: taking an image of a using object surface by an infrared shooting unit in a sensor to form a three-dimensional image of the using object surface, fixing the distance between the sensor and the using object to perform sound wave sensing, contacting any position on the using object surface to generate sound wave information, receiving the sound wave information by the sensor, converting the sound wave information into a digital signal through A / D signal conversion by the sensor, obtaining the three-dimensional coordinates of the digital signal through positioning calculation, and introducing the three-dimensional coordinates into the three-dimensional image of the using object surface to form positioning information. The object surface wave and sound wave sensor unit can position the object surface through the reception of sound waves by the sensor, and can be more accurately positioned through the formation of the three-dimensional image.

Description

Technical Field

[0001] This invention relates to the field of sensor technology, and more particularly to surface wave and acoustic wave sensor units. Background Technology

[0002] Acoustic wave sensing, with acoustic wave sensors as its core, studies and develops the formation, transmission, reception, transformation, processing, and application of acoustic wave information. Devices that convert acoustic wave signals into digital signals are called acoustic wave sensors. Generally, acoustic waves refer to the vibrations of particles in the surrounding elastic medium caused by mechanical vibrations, which propagate from near to far in all directions. In open spaces, the propagation mode in the air is like a gradually inflating soap bubble. It is a spherical frontal wave. The object that can produce vibration is called a sound source. Sound sources in nature include tuning forks, vocal organs of humans and animals, loudspeakers, electronic keyboards and various musical instruments, as well as earthquake epicenters, volcanic eruptions, storms, ocean waves, gunfire, flashovers, thermonuclear explosions, and various movable objects such as raindrops, wind, fluttering leaves, and insect wings.

[0003] With the development of positioning technology, it plays an important role in various fields. Among them, the method of positioning using sound waves is also an important part of positioning technology.

[0004] In existing technologies, acoustic positioning methods primarily utilize specialized narrowband ultrasonic equipment with acoustic frequencies ranging from 50kHz to 100kHz. When locating multiple terminals, time-division multiplexing is employed, synchronizing the multiple terminals. Each terminal emits an acoustic signal sequentially, which is then received by specialized ultrasonic equipment. Positioning is determined based on the acoustic signal and its arrival time.

[0005] The current method of positioning using ultrasonic equipment requires the use of several terminals, which involves a complex procedure and is prone to inaccuracy. The problem of complex ultrasonic positioning procedures and inaccurate positioning needs to be solved. Summary of the Invention

[0006] To address the aforementioned problems, this invention proposes a surface wave and acoustic wave sensor unit to more accurately resolve the issues of complex and inaccurate acoustic wave positioning procedures.

[0007] This invention is achieved through the following technical solution:

[0008] This invention proposes a surface wave and acoustic wave sensor unit, comprising:

[0009] S1: The surface of the object being used is photographed by the infrared imaging unit in the sensor to form a three-dimensional image of the surface of the object being used;

[0010] S2: Sound wave sensing is performed by setting a fixed distance between the sensor and the object being used;

[0011] S3: By contacting any point on the surface of the object, sound wave information is generated, and the sensor receives the sound wave information;

[0012] S4: The sensor converts the acoustic wave information into a digital signal via an A / D converter;

[0013] S5: Obtain the three-dimensional coordinates of the digital signal through positioning calculation;

[0014] S6: Import the three-dimensional coordinates into the three-dimensional map of the object surface to form positioning information;

[0015] S7: By moving the object on the surface of the object to contact other locations, repeat steps S2-S6 to refine the positioning information and form a precise positioning.

[0016] Furthermore, the infrared imaging unit includes: a light-receiving subunit and an imaging subunit. The step of capturing an image of the surface of the object using infrared imaging from the sensor to form a three-dimensional map of the object surface includes:

[0017] Infrared light is emitted by the light-receiving and light-emitting unit and irradiates the surface of the object being used. The reflected light is then received by the light-receiving and light-emitting unit.

[0018] The shooting settings are configured according to the time it takes for the receiving and receiving sub-unit to receive the infrared light, so that the shooting sub-unit can take a picture and obtain a two-dimensional photograph.

[0019] The two-dimensional photograph is converted into a three-dimensional image of the object surface.

[0020] Furthermore, the step of converting the two-dimensional photograph into an image to form the three-dimensional map of the object surface includes:

[0021] The two-dimensional photograph is converted into a grayscale image, and the pixel coordinates of each pixel in the grayscale image are obtained;

[0022] Based on the mapping relationship between the pixel coordinates and the preset three-dimensional coordinate table, the target pixel coordinates corresponding to each point in the grayscale image are determined;

[0023] The target pixel coordinates are used to form a three-dimensional map of the object surface.

[0024] Furthermore, the step of generating sound wave information by contacting any location on the surface of an object, and the sensor receiving the sound wave information, includes:

[0025] Vibration is generated by contact with the surface of the object being used;

[0026] The sensor receives the sound wave information generated by the vibration propagating in the air.

[0027] Furthermore, in the step of the sensor receiving the sound wave information, which is generated by the vibration propagating in the air, the process includes:

[0028] After tapping the surface of the object, the sensor can hear two tapping sounds sequentially: one transmitted through air vibration and the other transmitted through vibration of the object's surface. This is illustrated by the following formula:

[0029] The speed of sound in air is (Formula 1):

[0030] ;

[0031] The propagation speed on the surface of an object (Formula 2):

[0032] ;

[0033] Combining the two equations, we get (Equation 3):

[0034]

[0035] in The time interval between two sounds received by the sensor. This refers to the fixed distance between the sensor and the object being used.

[0036] Furthermore, the step of converting the acoustic wave information into a digital signal via A / D signal conversion using the sensor includes:

[0037] The wavelength amplitude of the sound wave information is read, and the read wavelength amplitude is generated into an analog signal;

[0038] The analog signal is converted into a digital signal through the hold, quantization, and encoding processes in A / D signal conversion.

[0039] Furthermore, the step of obtaining the three-dimensional coordinates of the digital signal through positioning calculation includes:

[0040] The digital signal is imported into the roadData library, whereby coordinate information is generated through the roadData library;

[0041] Determine whether the coordinate information generated by the roadData library is projected coordinate information;

[0042] If not, the roadData library is converted into projected coordinate information using the proj4 library, thereby obtaining the three-dimensional coordinates of the digital signal.

[0043] Furthermore, the step of importing the digital signal into the roadData library, wherein the step of generating coordinate information through the roadData library includes:

[0044] The binary code in the digital signal is used to perform code matching in the roadData library to obtain the matching result;

[0045] The matching result is substituted into the coordinate system in the roadData library to generate the coordinate information.

[0046] Furthermore, the step of importing the three-dimensional coordinates into the three-dimensional map of the object surface to form positioning information includes:

[0047] The precise positioning of the three-dimensional coordinates on the three-dimensional map of the surface of the object being used is used to obtain the positioning information of the current acoustic wave information;

[0048] The positioning information enables the object to be located using the sound wave information.

[0049] Furthermore, the step of refining the positioning information and forming precise positioning by moving the object on its surface to contact other locations and repeating steps S2-S6 includes:

[0050] When a user taps the surface of an object anywhere, the following formula can be obtained (Formula 4):

[0051] ;

[0052] Combining formulas 3 and 4, we can obtain the distance:

[0053] .

[0054] The beneficial effects of this invention are:

[0055] 1. The object surface wave and sound wave sensor unit proposed in this invention can locate the object surface by receiving sound waves through the sensor;

[0056] 2. The surface wave and acoustic wave sensor unit proposed in this invention can form a three-dimensional image for more accurate positioning;

[0057] 3. The object surface wave and acoustic wave sensor unit proposed in this invention uses a simple sensing program and can perform rapid positioning through the sensor. Attached Figure Description

[0058] Figure 1 This is a flowchart of the method for the surface wave and acoustic wave sensor unit of the present invention.

[0059] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0060] To more clearly and completely illustrate the technical solution of the present invention, the present invention will be further described below with reference to the accompanying drawings.

[0061] Please refer to Figure 1 This invention proposes a surface wave and acoustic wave sensor unit, comprising the following steps:

[0062] S1: The surface of the object being used is photographed by the infrared imaging unit in the sensor to form a three-dimensional image of the surface of the object being used;

[0063] S2: Sound wave sensing is performed by setting a fixed distance between the sensor and the object being used;

[0064] S3: By contacting any point on the surface of the object, sound wave information is generated, and the sensor receives the sound wave information;

[0065] S4: The sensor converts the acoustic wave information into a digital signal via an A / D converter;

[0066] S5: Obtain the three-dimensional coordinates of the digital signal through positioning calculation;

[0067] S6: Import the three-dimensional coordinates into the three-dimensional map of the object surface to form positioning information;

[0068] S7: By moving the object on the surface of the object to contact other locations, repeat steps S2-S6 to refine the positioning information and form a precise positioning.

[0069] In this embodiment, the surface of the object is first photographed by the infrared imaging unit in the sensor. During the photographing process, the infrared imaging unit emits infrared light, which is reflected by the object surface. The infrared imaging unit receives the reflected infrared light. After setting the photographing parameters, a two-dimensional photograph is obtained. This two-dimensional photograph is then converted into a grayscale image. The pixel coordinates of the grayscale image are mapped to a preset three-dimensional coordinate table to determine the corresponding three-dimensional coordinate points, thereby generating a three-dimensional map of the object surface. This three-dimensional map facilitates the positioning of the object surface. When the object surface is touched, vibration is generated. Through the propagation of the vibration in the air, sound wave information is generated, which the sensor can receive. After tapping the object surface, the sensor can hear two tapping sounds: one from the air vibration and the other from the vibration of the object surface. The process includes the following formula:

[0070] The speed of sound in air is (Formula 1). The propagation speed on the surface of the object (Formula 2) Combining the two equations, we can obtain (Equation 3). in The time interval between two sounds received by the sensor. The sensor is positioned at a fixed distance from the object being used. The acoustic wave information is then converted from an analog to a digital signal via an analog-to-digital converter (A / D converter). Quantization and encoding are performed simultaneously during this conversion. Quantization discretizes the analog signal in amplitude, while encoding represents each quantized sample value using a binary code. This binary code representation yields the digital signal. Coordinate information is obtained by matching the binary code in the roadData library. If the coordinates are not projected, a coordinate transformation is performed in the proj4 library to obtain three-dimensional coordinates. These coordinates are then imported into a three-dimensional map of the object's surface. Positioning is achieved through this map, and the positioning information is backed up. Steps S2-S6 are repeated when contacting other locations on the object's surface to obtain positioning information for each surface, ensuring accurate positioning every time the object's surface is touched. Distance calculations are then performed using formulas 3 and 4.

[0071] In this embodiment, the infrared imaging unit includes: a light-receiving subunit and an imaging subunit. The step of capturing images of the surface of the object to form a three-dimensional image of the object surface using infrared imaging from the sensor includes:

[0072] Infrared light is emitted by the light-receiving and light-emitting unit and irradiates the surface of the object being used. The reflected light is then received by the light-receiving and light-emitting unit.

[0073] The shooting settings are configured according to the time it takes for the receiving and receiving sub-unit to receive the infrared light, so that the shooting sub-unit can take a picture and obtain a two-dimensional photograph.

[0074] The two-dimensional photograph is converted into a three-dimensional image of the object surface.

[0075] In one specific embodiment, the infrared imaging unit includes a light-receiving and light-collecting unit and an imaging subunit. The light-receiving and light-collecting unit is used to emit and collect infrared light, and the imaging subunit is used to take pictures. The light-receiving and light-collecting unit emits infrared light onto the surface of the object being used. The emitted infrared light illuminates the surface of the object being used, and the reflected light reflected from the surface of the object being used is received. By calculating the emission and reception times, the camera can be adjusted, the focus can be adjusted, and the timed shooting can be performed to take pictures of the surface of the object being used, thereby obtaining a two-dimensional photograph. After obtaining the two-dimensional photograph, image conversion is required to obtain a three-dimensional image of the surface of the object being used.

[0076] In this embodiment, the step of converting the two-dimensional photograph into an image to form the three-dimensional map of the object surface includes:

[0077] The two-dimensional photograph is converted into a grayscale image, and the pixel coordinates of each pixel in the grayscale image are obtained;

[0078] Based on the mapping relationship between the pixel coordinates and the preset three-dimensional coordinate table, the target pixel coordinates corresponding to each point in the grayscale image are determined;

[0079] The target pixel coordinates are used to form a three-dimensional map of the object surface.

[0080] In one specific embodiment, by acquiring the RGB value of each pixel in a two-dimensional photograph, processing the RGB value of each pixel using a preset numerical conversion algorithm, obtaining and assigning an initial grayscale value to each pixel to obtain a grayscale image, and marking the grayscale image with coordinates to obtain pixel coordinates, the pixel coordinates are determined by mapping the pixel coordinates to a preset three-dimensional coordinate table to obtain the target pixel coordinates, and the target pixel coordinates are used to form a three-dimensional map of the object surface.

[0081] In this embodiment, the step of generating sound wave information by contacting any location on the surface of an object, and the sensor receiving the sound wave information, includes:

[0082] Vibration is generated by contact with the surface of the object being used;

[0083] The sensor receives the sound wave information generated by the vibration propagating in the air.

[0084] In one specific embodiment, vibration is generated upon contact with the surface of an object. As the vibration propagates through the air, sound wave information is generated. After transmission, the sound wave information is received by a sensor.

[0085] In this embodiment, sound wave information is generated by vibration propagating in the air. The step of the sensor receiving the sound wave information includes:

[0086] After tapping the surface of the object, the sensor can hear two tapping sounds sequentially: one transmitted through air vibration and the other transmitted through vibration of the object's surface. This is illustrated by the following formula:

[0087] The speed of sound in air is (Formula 1):

[0088] ;

[0089] The propagation speed on the surface of an object (Formula 2):

[0090] ;

[0091] Combining the two equations, we get (Equation 3):

[0092]

[0093] in The time interval between two sounds received by the sensor. This refers to the fixed distance between the sensor and the object being used.

[0094] In one specific embodiment, when the sensor receives sound wave information, it receives sound waves twice: once as a sound wave and once as a surface wave. The speed of sound in air is (Formula 1). The propagation speed on the surface of the object (Formula 2) Combining the two equations, we can obtain (Equation 3). in The time interval between two sounds received by the sensor. Given a fixed distance between the sensor and the object being used, the sensor can receive sound waves and surface waves according to formulas 1 / 2 / 3.

[0095] In this embodiment, the step of converting the acoustic wave information into a digital signal via A / D signal conversion using the sensor includes:

[0096] The wavelength amplitude of the sound wave information is read, and the read wavelength amplitude is generated into an analog signal;

[0097] The analog signal is converted into a digital signal through the hold, quantization, and encoding processes in A / D signal conversion.

[0098] In one specific embodiment, after the sensor receives the acoustic wave information, it reads the wavelength amplitude from the acoustic wave information. The wavelength amplitude refers to the distance the wave travels in one vibration cycle, that is, the distance between two adjacent vibration positions with a phase difference of 2π along the direction of wave propagation. The wavelength λ is equal to the product of the wave speed u and the period T, i.e., λ=uT. After extracting the wavelength amplitude, the vibration position in the wavelength is converted to generate an analog signal. After generating the analog signal, it is converted by an A / D signal converter. The A / D signal conversion refers to converting the analog quantity into a digital quantity through a certain circuit. It can convert the analog signal into a digital signal. In the conversion process, through holding, quantization and encoding, a binary digital signal can be generated.

[0099] In this embodiment, the step of obtaining the three-dimensional coordinates of the digital signal through positioning calculation includes:

[0100] The digital signal is imported into the roadData library, whereby coordinate information is generated through the roadData library;

[0101] Determine whether the coordinate information generated by the roadData library is projected coordinate information;

[0102] If not, the roadData library is converted into projected coordinate information using the proj4 library, thereby obtaining the three-dimensional coordinates of the digital signal.

[0103] In one specific embodiment, after obtaining the digital signal, the digital signal is imported into the roadData library, which contains coordinate information. The binary code in the digital signal is matched in the roadData library to generate coordinate information. After the coordinate information is generated, it is necessary to determine whether the coordinate information is projected coordinate information. If not, it needs to be converted to projected coordinate information. The proj4 library contains a projected coordinate system. The coordinate information is imported into the projected coordinate system and the coordinates are matched to obtain the three-dimensional coordinates corresponding to the digital signal.

[0104] In this embodiment, the digital signal is imported into the roadData library, wherein the step of generating coordinate information through the roadData library includes:

[0105] The binary code in the digital signal is used to perform code matching in the roadData library to obtain the matching result;

[0106] The matching result is substituted into the coordinate system in the roadData library to generate the coordinate information.

[0107] In one specific embodiment, when a digital signal enters the roadData library, code matching within the roadData library automatically begins. The binary code of the digital signal is matched, and after obtaining the matching result, coordinate transformation of the code can be performed in the coordinate system of the roadData library to generate coordinate information.

[0108] In this embodiment, the step of importing the three-dimensional coordinates into the three-dimensional map of the object surface to form positioning information includes:

[0109] The precise positioning of the three-dimensional coordinates on the three-dimensional map of the surface of the object being used is used to obtain the positioning information of the current acoustic wave information;

[0110] The positioning information enables the object to be located using the sound wave information.

[0111] In one specific embodiment, after obtaining the three-dimensional coordinates, the positioning information of the current acoustic wave information can be obtained by importing the three-dimensional coordinates into a pre-defined three-dimensional map of the surface of the object being used. This positioning information is connected to the object being used via a sensor, enabling the object to receive the positioning information, thereby achieving positioning on the object being used through acoustic wave information.

[0112] In this embodiment, the step of refining the positioning information and forming accurate positioning by moving the object surface to contact other locations and repeating steps S2-S6 includes:

[0113] When a user taps the surface of an object anywhere, the following formula can be obtained (Formula 4):

[0114]

[0115] Combining formulas 3 and 4, we can obtain the distance:

[0116] .

[0117] In one specific embodiment, after locating the surface of the object using sound wave information, data backup is performed. Simultaneously, when contacting other locations on the surface of the object, formula 4 can be used. To complete the calculation.

[0118] In summary, the surface wave and acoustic wave sensor unit proposed in this invention uses an infrared imaging unit to capture images of the surface of an object to form a three-dimensional image of the object's surface. By touching any point on the object's surface, acoustic wave information is generated. The sensor receives this acoustic wave information and obtains the propagation time of the acoustic wave information to determine the distance from the sensor to the object's surface. The sensor converts the acoustic wave information into a digital signal via an A / D converter. Through positioning calculations, the three-dimensional coordinates of the digital signal are obtained. These three-dimensional coordinates are imported into the three-dimensional image of the object's surface to form positioning information. By moving on the object's surface to touch other locations and repeating the above steps, the positioning information is refined to achieve precise positioning. This invention proposes a surface wave and acoustic wave sensor unit that can locate the surface of an object by receiving acoustic waves, and simultaneously generates a three-dimensional image for more accurate positioning.

[0119] Of course, the present invention may have many other embodiments. Based on this embodiment, other embodiments obtained by those skilled in the art without any creative effort are all within the scope of protection of the present invention.

Claims

1. A surface wave and acoustic wave sensor unit, characterized in that, include: S1: The surface of the object being used is photographed by the infrared imaging unit in the sensor to form a three-dimensional image of the surface of the object being used; S2: Sound wave sensing is performed by setting a fixed distance between the sensor and the object being used; S3: By contacting any point on the surface of the object, sound wave information is generated, and the sensor receives the sound wave information; S4: The sensor converts the acoustic wave information into a digital signal via an A / D converter; S5: Obtain the three-dimensional coordinates of the digital signal through positioning calculation; S6: Import the three-dimensional coordinates into the three-dimensional map of the object surface to form positioning information; S7: By moving the object on the surface of the object to contact other locations, repeat steps S2-S6 to refine the positioning information and form a precise positioning.

2. The surface wave and acoustic wave sensor unit according to claim 1, characterized in that, The infrared imaging unit includes: a light-receiving subunit and an imaging subunit. The step of capturing images of the surface of the object using the infrared imaging unit in the sensor to form a three-dimensional image of the object surface includes: Infrared light is emitted by the light-receiving and light-emitting unit and irradiates the surface of the object being used. The reflected light is then received by the light-receiving and light-emitting unit. The shooting settings are configured according to the time it takes for the receiving and receiving sub-unit to receive the infrared light, so that the shooting sub-unit can take a picture and obtain a two-dimensional photograph. The two-dimensional photograph is converted into a three-dimensional image of the object surface.

3. The surface wave and acoustic wave sensor unit according to claim 2, characterized in that, The step of converting the two-dimensional photograph into an image to form the three-dimensional map of the object surface includes: The two-dimensional photograph is converted into a grayscale image, and the pixel coordinates of each pixel in the grayscale image are obtained; Based on the mapping relationship between the pixel coordinates and the preset three-dimensional coordinate table, the target pixel coordinates corresponding to each point in the grayscale image are determined; The target pixel coordinates are used to form a three-dimensional map of the object surface.

4. The surface wave and acoustic wave sensor unit according to claim 1, characterized in that, The step of generating sound wave information by contacting any location on the surface of an object, and the sensor receiving the sound wave information, includes: Vibration is generated by contact with the surface of the object being used; The sensor receives the sound wave information generated by the vibration propagating in the air.

5. The surface wave and acoustic wave sensor unit according to claim 4, characterized in that, The step of the sensor receiving the sound wave information, which is generated by the vibration propagating in the air, includes: After tapping the surface of the object, the sensor can hear two tapping sounds sequentially: one transmitted through air vibration and the other transmitted through vibration of the object's surface. This is illustrated by the following formula: The speed of sound in air is (Formula 1): ； The propagation speed on the surface of an object (Formula 2): ； Combining the two equations, we get (Equation 3): ； in The time interval between two sounds received by the sensor. This refers to a fixed distance between the sensor and the object being used. and These represent the time it takes for the sensor to travel through the air and the time it takes for the sensor to travel by vibrating the surface of an object, respectively.

6. The surface wave and acoustic wave sensor unit according to claim 1, characterized in that, The step of converting the acoustic wave information into a digital signal via A / D signal conversion using the sensor includes: The wavelength amplitude of the sound wave information is read, and the read wavelength amplitude is generated into an analog signal; The analog signal is converted into a digital signal through the hold, quantization, and encoding processes in A / D signal conversion.

7. The surface wave and acoustic wave sensor unit according to claim 1, characterized in that, The step of obtaining the three-dimensional coordinates of the digital signal through positioning calculation includes: The digital signal is imported into the roadData library, whereby coordinate information is generated through the roadData library; Determine whether the coordinate information generated by the roadData library is projected coordinate information; If not, the roadData library is converted into projected coordinate information using the proj4 library, thereby obtaining the three-dimensional coordinates of the digital signal.

8. The surface wave and acoustic wave sensor unit according to claim 7, characterized in that, The step of importing the digital signal into the roadData library, wherein generating coordinate information through the roadData library includes: The binary code in the digital signal is used to perform code matching in the roadData library to obtain the matching result; The matching result is substituted into the coordinate system in the roadData library to generate the coordinate information.

9. The surface wave and acoustic wave sensor unit according to claim 1, characterized in that, The step of importing the three-dimensional coordinates into the three-dimensional map of the object surface to form positioning information includes: The precise positioning of the three-dimensional coordinates on the three-dimensional map of the surface of the object being used is used to obtain the positioning information of the current acoustic wave information; The positioning information is used to locate the object by means of sound wave information after it comes into contact with the surface of the object.

10. The surface wave and acoustic wave sensor unit according to claim 5, characterized in that, The step of moving the object on its surface to contact other locations and repeating steps S2-S6 to refine the positioning information and form a precise positioning includes: When a user taps the surface of an object anywhere, the following formula can be obtained (Formula 4): ； Combining formulas 3 and 4, we can obtain the distance: ； in, and These represent the time it takes for the vibration of an object to travel through the air when the object is struck from any location, and the time it takes for the vibration of the object's surface to travel through the air when the object is struck from any location.

Images