Ultrasonic transducer center frequency adaptive adjustment method and device and leveling system
By dynamically adjusting the center frequency of the ultrasonic transducer, the impact of environmental changes on detection capabilities is resolved, enabling continuous distance measurement and accurate detection in the paver's automatic leveling system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HUNAN SANY INTELLIGENT CONTROL EQUIP
- Filing Date
- 2023-12-21
- Publication Date
- 2026-04-21
AI Technical Summary
In existing technologies, the center frequency of ultrasonic transducers remains fixed, which cannot adapt to drastic environmental changes and affects detection capabilities and ranging accuracy.
By acquiring the propagation speed and echo amplitude of the compensated ultrasonic transducer, and using preset conditions and adjustment step size, the center frequency of the ultrasonic transducer is dynamically adjusted to adapt to environmental changes.
It enables continuous ranging of ultrasonic transducers under drastic environmental changes, improving detection capabilities and ranging accuracy.
Smart Images
Figure CN117600050B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of instrument frequency updating technology, and in particular to a method, apparatus and leveling system for adaptive adjustment of the center frequency of an ultrasonic transducer. Background Technology
[0002] An ultrasonic transducer is a device that converts electrical power into mechanical power (i.e., ultrasonic waves) and transmits the ultrasonic waves. It is widely used in the automatic leveling system of pavers.
[0003] The slipper sensor in the paver's automatic leveling system includes a compensated ultrasonic transducer and multiple ranging ultrasonic transducers. The center frequency of the ultrasonic transducers (including the compensated and ranging transducers) is typically a fixed frequency recommended by the manufacturer for use at room temperature, and the compensated ultrasonic transducer is used only for sound velocity compensation.
[0004] The environment significantly affects the center frequency of ultrasonic transducers. For example, the center frequency of an ultrasonic transducer decreases as temperature increases. When a paver is applying asphalt, the asphalt temperature is high, typically reaching 150°C or higher. After air conduction, the temperature reaching the slipper sensor may exceed 70°C. Using a fixed frequency as the center frequency of the ultrasonic transducer will affect its detection capability under drastic environmental changes, impacting the ranging range, accuracy, and echo intensity of the ultrasonic waves. Summary of the Invention
[0005] This invention provides a method, apparatus, and leveling system for adaptive adjustment of the center frequency of an ultrasonic transducer, which solves the problems existing in the prior art and improves the performance of the ultrasonic transducer under drastic environmental changes while achieving continuous ranging.
[0006] This invention provides a method for adaptive adjustment of the center frequency of an ultrasonic transducer, comprising:
[0007] The first propagation speed and the first echo amplitude of the ultrasonic wave of the compensated ultrasonic transducer are obtained, wherein the first propagation speed is the ultrasonic wave propagation speed of the compensated ultrasonic transducer in the current frame at the current center frequency, and the first echo amplitude is the maximum echo amplitude of the compensated ultrasonic transducer in the current frame at the current center frequency, and the distance between the compensated ultrasonic transducer and the reference object to be measured is fixed.
[0008] Based on the first propagation speed, the first echo amplitude, the second echo amplitude, the third echo amplitude, the third propagation speed, and the current center frequency of the compensated ultrasonic transducer, the target center frequency of the compensated ultrasonic transducer is determined, wherein the second echo amplitude is the maximum echo amplitude of the previous frame of the current frame, the third echo amplitude is the stored echo amplitude, and the third propagation speed is the stored ultrasonic propagation speed.
[0009] Based on the target center frequency, the center frequency of the ranging ultrasonic transducer is determined.
[0010] According to the present invention, an adaptive adjustment method for the center frequency of an ultrasonic transducer, wherein determining the target center frequency of the compensated ultrasonic transducer based on the first propagation velocity, the first echo amplitude, the second echo amplitude, the third echo amplitude, the third propagation velocity, and the current center frequency of the compensated ultrasonic transducer includes:
[0011] S1. Determine whether the first echo amplitude satisfies a first preset condition and / or a second preset condition. The first preset condition includes that the ratio of the first echo amplitude to the third echo amplitude is less than a preset threshold. The second preset condition includes that the first echo amplitude is greater than the second echo amplitude.
[0012] S2. If the first echo amplitude does not meet the first preset condition and / or the second preset condition, determine the current center frequency as the target center frequency;
[0013] S3. When the first echo amplitude satisfies the first preset condition and the second preset condition, determine the new current center frequency of the compensated ultrasonic transducer based on the first echo amplitude, the third echo amplitude, the first propagation velocity, the third propagation velocity, and the current center frequency; determine the first echo amplitude as the new second echo amplitude; based on the new current center frequency, obtain the first propagation velocity and the first echo amplitude of the ultrasonic wave of the compensated ultrasonic transducer, and repeat steps S1-S3 until the first echo amplitude no longer satisfies the first preset condition and / or the second preset condition, and determine the new current center frequency as the target center frequency.
[0014] According to the present invention, an adaptive adjustment method for the center frequency of an ultrasonic transducer is provided, wherein determining a new current center frequency of the compensated ultrasonic transducer based on a first echo amplitude, a third echo amplitude, a first propagation velocity, a third propagation velocity, and a current center frequency includes:
[0015] The center frequency adjustment step size is determined based on the first echo amplitude and the third echo amplitude;
[0016] The new current center frequency of the compensated ultrasonic transducer is determined based on the center frequency adjustment step size, the first propagation velocity, the third propagation velocity, and the current center frequency.
[0017] According to the present invention, an adaptive adjustment method for the center frequency of an ultrasonic transducer is provided, wherein determining a new current center frequency of the compensated ultrasonic transducer based on the center frequency adjustment step size, the first propagation velocity, the third propagation velocity, and the current center frequency includes:
[0018] The center frequency adjustment direction is determined based on the first propagation speed and the third propagation speed;
[0019] The new current center frequency of the compensated ultrasonic transducer is determined based on the current center frequency, the center frequency adjustment step size, and the center frequency adjustment direction.
[0020] According to the present invention, an adaptive adjustment method for the center frequency of an ultrasonic transducer is provided, wherein determining a new current center frequency of the compensated ultrasonic transducer based on the current center frequency, the center frequency adjustment step size, and the center frequency adjustment direction includes:
[0021] The center frequency adjustment value is determined based on the center frequency adjustment step size and the current center frequency;
[0022] The new current center frequency of the compensated ultrasonic transducer is determined based on the current center frequency, the center frequency adjustment value, and the center frequency adjustment direction.
[0023] According to the present invention, an adaptive adjustment method for the center frequency of an ultrasonic transducer is provided, wherein determining the center frequency of the ranging ultrasonic transducer based on the target center frequency includes:
[0024] The target center frequency is determined as the center frequency of the ranging ultrasonic transducer.
[0025] According to the present invention, an adaptive adjustment method for the center frequency of an ultrasonic transducer further includes, after determining the target center frequency of the compensated ultrasonic transducer:
[0026] The target center frequency is determined as the current center frequency;
[0027] Store the first echo amplitude value corresponding to the target center frequency as the new third echo amplitude value;
[0028] Store the first propagation speed corresponding to the target center frequency as the new third propagation speed.
[0029] The present invention also provides an adaptive adjustment device for the center frequency of an ultrasonic transducer, comprising:
[0030] The acquisition module is used to acquire the first propagation speed and the first echo amplitude of the ultrasonic wave of the compensated ultrasonic transducer, wherein the first propagation speed is the ultrasonic wave propagation speed of the compensated ultrasonic transducer in the current frame at the current center frequency, and the first echo amplitude is the maximum echo amplitude of the compensated ultrasonic transducer in the current frame at the current center frequency, and the distance between the compensated ultrasonic transducer and the reference object to be measured is fixed.
[0031] The first determining module is used to determine the target center frequency of the compensated ultrasonic transducer based on the first propagation speed, the first echo amplitude, the second echo amplitude, the third echo amplitude, the third propagation speed, and the current center frequency of the compensated ultrasonic transducer, wherein the second echo amplitude is the maximum echo amplitude of the previous frame of the current frame, the third echo amplitude is the stored echo amplitude, and the third propagation speed is the stored ultrasonic propagation speed.
[0032] The second determining module is used to determine the center frequency of the ranging ultrasonic transducer based on the target center frequency.
[0033] The present invention also provides a leveling system, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of any of the above-described ultrasonic transducer center frequency adaptive adjustment methods, or includes the ultrasonic transducer center frequency adaptive adjustment device.
[0034] The present invention also provides an engineering machine, including the leveling system.
[0035] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the adaptive adjustment method for the center frequency of an ultrasonic transducer as described above.
[0036] The present invention provides an adaptive adjustment method, apparatus, and leveling system for the center frequency of an ultrasonic transducer. By compensating for the first propagation velocity, first echo amplitude, second echo amplitude, third echo amplitude, and third propagation velocity of the ultrasonic waves in the ultrasonic transducer, and considering the current center frequency of the compensated ultrasonic transducer, a target center frequency of the compensated ultrasonic transducer is determined. Then, based on the target center frequency of the compensated ultrasonic transducer, the center frequency of the ranging ultrasonic transducer is determined, thereby adaptively adjusting the center frequency of the ranging ultrasonic transducer and improving its performance under drastic environmental changes. Furthermore, the compensated ultrasonic transducer dynamically calculates the center frequency under the current environment without affecting the operation of the ranging ultrasonic transducer, achieving continuous ranging. Attached Figure Description
[0037] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0038] Figure 1 This is a flowchart illustrating the adaptive adjustment method for the center frequency of an ultrasonic transducer provided in an embodiment of the present invention.
[0039] Figure 2 This is a schematic diagram of the structure of the slipper sensor provided in an embodiment of the present invention;
[0040] Figure 3 This is a schematic diagram of the structure of the ultrasonic transducer center frequency adaptive adjustment device provided in an embodiment of the present invention;
[0041] Figure 4 This is a schematic diagram of the leveling system provided in an embodiment of the present invention. Detailed Implementation
[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.
[0043] To address the shortcomings of existing technologies that use a fixed frequency as the center frequency of ultrasonic transducers (including compensated ultrasonic transducers and ranging ultrasonic transducers), which affects the detection capability of ultrasonic transducers when the environment changes drastically, this invention provides an adaptive adjustment method for the center frequency of ultrasonic transducers. Figure 1 This is a flowchart illustrating the adaptive adjustment method for the center frequency of an ultrasonic transducer provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the adaptive adjustment method for the center frequency of the ultrasonic transducer includes the following steps:
[0044] Step 110: Obtain the first propagation speed and the first echo amplitude of the ultrasonic wave from the compensated ultrasonic transducer, wherein the first propagation speed is the ultrasonic wave propagation speed of the compensated ultrasonic transducer in the current frame at the current center frequency, and the first echo amplitude is the maximum echo amplitude of the compensated ultrasonic transducer in the current frame at the current center frequency, and the distance between the compensated ultrasonic transducer and the reference object to be measured is fixed.
[0045] Specifically, the first propagation velocity and the first echo amplitude of the ultrasonic wave in the compensated ultrasonic transducer are obtained, wherein the first propagation velocity is the ultrasonic wave propagation velocity of the compensated ultrasonic transducer in the current frame at the current center frequency, and the first echo amplitude is the maximum echo amplitude of the compensated ultrasonic transducer in the current frame at the current center frequency. For example, Figure 2 This is a schematic diagram of the structure of the slipper sensor provided in an embodiment of the present invention, as shown below. Figure 2 As shown, assuming the compensated ultrasonic transducer is a lateral compensated ultrasonic transducer and the ranging ultrasonic transducer is a longitudinal ranging ultrasonic transducer, the propagation time t1 of the ultrasonic wave from the excitation trigger moment to the detection of the first echo in the current environment can be determined. This propagation time t1 is the time for the lateral propagation distance D1 to the round trip of the compensated ultrasonic transducer, and this lateral propagation distance D1 is the distance between the compensated ultrasonic transducer and the reference object being measured. Therefore, based on the lateral propagation distance D1 and the propagation time t1 of the compensated ultrasonic transducer, the first propagation velocity v of the ultrasonic wave in the current environment of the compensated ultrasonic transducer can be determined. c This process can be represented by the following mathematical expression:
[0046]
[0047] The first echo amplitude V of the ultrasonic wave under the current environment was determined by testing. c It is important to note that determining the first propagation speed v... c and the first echo amplitude V c Previously, smoothing filtering could be performed on the propagation duration t1, lateral propagation distance D1, and other acquired multi-frame data to eliminate the effects on the first propagation velocity v. c and the amplitude of the first echo V c Interference.
[0048] In the above embodiments, by obtaining the first propagation velocity and the first maximum echo amplitude of the compensated ultrasonic transducer, a foundation is laid for subsequently determining the target center frequency of the compensated ultrasonic transducer.
[0049] It should be noted that the compensated ultrasonic transducer can be a transversely compensated ultrasonic transducer or a longitudinally compensated ultrasonic transducer; this application does not make any specific limitation.
[0050] Step 120: Based on the first propagation speed, the first echo amplitude, the second echo amplitude, the third echo amplitude, the third propagation speed, and the current center frequency of the compensated ultrasonic transducer, determine the target center frequency of the compensated ultrasonic transducer, wherein the second echo amplitude is the maximum echo amplitude of the previous frame of the current frame, the third echo amplitude is the stored echo amplitude, and the third propagation speed is the stored ultrasonic propagation speed.
[0051] In one embodiment, determining the target center frequency of the compensated ultrasonic transducer based on the first propagation velocity, the first echo amplitude, the second echo amplitude, the third echo amplitude, the third propagation velocity, and the current center frequency of the compensated ultrasonic transducer includes:
[0052] S1. Determine whether the first echo amplitude satisfies a first preset condition and / or a second preset condition. The first preset condition includes that the ratio of the first echo amplitude to the third echo amplitude is less than a preset threshold. The second preset condition includes that the first echo amplitude is greater than the second echo amplitude.
[0053] S2. If the first echo amplitude does not meet the first preset condition and / or the second preset condition, determine the current center frequency as the target center frequency;
[0054] S3. When the first echo amplitude satisfies the first preset condition and the second preset condition, determine the new current center frequency of the compensated ultrasonic transducer based on the first echo amplitude, the third echo amplitude, the first propagation velocity, the third propagation velocity, and the current center frequency; determine the first echo amplitude as the new second echo amplitude; based on the new current center frequency, obtain the first propagation velocity and the first echo amplitude of the ultrasonic wave of the compensated ultrasonic transducer, and repeat steps S1-S3 until the first echo amplitude no longer satisfies the first preset condition and / or the second preset condition, and determine the new current center frequency as the target center frequency.
[0055] Specifically, based on the first propagation velocity, the first echo amplitude, the second echo amplitude, the third echo amplitude, the third propagation velocity, and the current center frequency of the compensated ultrasonic transducer, the target center frequency of the compensated ultrasonic transducer can be determined through the following steps:
[0056] S1. Determine whether the first echo amplitude meets the first preset condition and / or the second preset condition. The first preset condition includes the first echo amplitude V. c With the third echo amplitude V m The ratio is less than a preset threshold β, and this first preset condition can be expressed by the following mathematical expression:
[0057]
[0058] For example, typically in the first echo amplitude V c Less than the third echo amplitude V m In this case, the center frequency needs to be adjusted; however, the first echo amplitude V may... c At the third echo amplitude V m The surrounding area is oscillating and unstable. Therefore, a preset threshold β is set to prevent the first echo amplitude V from being too high. c With the third echo amplitude V m The comparison is subject to oscillations and is therefore preset. The preset threshold β must be less than 1. For example, the value of the preset threshold β can be 0.8 < β < 1, such as the preset threshold β = 0.85.
[0059] The second preset condition includes the first echo amplitude V. c Greater than the second echo amplitude V c ′ The second precondition can be represented by the following mathematical expression:
[0060] V c >V c ′
[0061] Among them, the second echo amplitude V c ′ This is the maximum echo amplitude value of the previous frame. That is, the second echo amplitude value V. c ′ This is the amplitude value of the first echo in the previous frame.
[0062] S2, at the first echo amplitude V c If the first preset condition and / or the second preset condition are not met, that is, in and / or V c ≤V c ′ In this case, determine the current center frequency P of the compensated ultrasonic transducer.c The target center frequency P t .
[0063] S3, at the first echo amplitude V c Under the condition that the first preset condition and the second preset condition are met, based on the first echo amplitude V c The amplitude of the third echo V m First propagation speed v c Third propagation speed v m and the current center frequency P c Determine the new current center frequency of the compensated ultrasonic transducer. Use this new current center frequency P as the current center frequency P of the compensated ultrasonic transducer in the next execution of steps S1-S3. c Therefore, the amplitude value V of the first echo can be... c The new second echo amplitude value is determined. The new first propagation velocity and new first echo amplitude value of the ultrasonic wave in the compensated ultrasonic transducer are reacquired, and these new first propagation velocity and new first echo amplitude value are used as the first propagation velocity v of the ultrasonic wave in the compensated ultrasonic transducer in the next execution of steps S1-S3. c and the amplitude of the first echo V c And repeat steps S1-S3 until the first echo amplitude value V is reached. c If the first preset condition and / or the second preset condition are not met, the new current center frequency is determined as the target center frequency.
[0064] The second echo amplitude is the maximum echo amplitude of the previous frame of the current frame, the third echo amplitude is the stored echo amplitude, and the third propagation speed is the stored ultrasonic propagation speed.
[0065] It should be noted that the third echo amplitude and the third propagation speed can be preset values or updated in real time according to the current target center frequency. This application does not impose specific limitations.
[0066] In the above embodiments, by utilizing the variation characteristics of the echo amplitude and propagation speed of ultrasonic waves, steps S1-S3 are repeated so that the process of determining the target center frequency can converge.
[0067] In one embodiment, determining the new current center frequency of the compensated ultrasonic transducer based on the first echo amplitude, the maximum echo amplitude, the first propagation velocity, the third propagation velocity, and the current center frequency includes:
[0068] The center frequency adjustment step size is determined based on the first echo amplitude and the third echo amplitude;
[0069] The new current center frequency of the compensated ultrasonic transducer is determined based on the center frequency adjustment step size, the first propagation velocity, the third propagation velocity, and the current center frequency.
[0070] Specifically, based on the first echo amplitude V c and the third echo amplitude V m The center frequency adjustment step size δ is determined by the following formula:
[0071]
[0072] Then, the step size δ and the first propagation velocity v are adjusted based on the center frequency. c Third propagation speed v m and the current center frequency P c Determine the new current center frequency of the compensated ultrasonic transducer.
[0073] In the above embodiments, the center frequency adjustment step size was calculated and determined, thereby laying the foundation for determining the new current center frequency.
[0074] In one embodiment, determining the new current center frequency of the compensated ultrasonic transducer based on the center frequency adjustment step size, the first propagation velocity, the propagation velocity, and the current center frequency includes:
[0075] The center frequency adjustment direction is determined based on the first propagation speed and the propagation speed;
[0076] The new current center frequency of the compensated ultrasonic transducer is determined based on the current center frequency, the center frequency adjustment step size, and the center frequency adjustment direction.
[0077] Specifically, it can be based on the first propagation speed v c and the third propagation speed v m Determine the direction of center frequency adjustment. Compare with the first propagation velocity v. c and propagation speed v m If the first propagation speed v c Greater than the propagation speed v m Then the direction of center frequency adjustment is determined to be negative; if the first propagation velocity v c Less than or equal to the propagation speed v m If so, then the direction of center frequency adjustment is determined to be positive.
[0078] Therefore, the new current center frequency of the compensated ultrasonic transducer can be determined based on the current center frequency, the center frequency adjustment step size, and the center frequency adjustment direction.
[0079] In one embodiment, determining the new current center frequency of the compensated ultrasonic transducer based on the current center frequency, the center frequency adjustment step size, and the center frequency adjustment direction includes:
[0080] The center frequency adjustment value is determined based on the center frequency adjustment step size and the current center frequency;
[0081] The new current center frequency of the compensated ultrasonic transducer is determined based on the current center frequency, the center frequency adjustment value, and the center frequency adjustment direction.
[0082] Specifically, the adjustment step size δ and the current center frequency P are based on the center frequency. c The center frequency adjustment value is determined, and this center frequency adjustment value can be expressed as:
[0083] P c ×(1-δ)
[0084] Furthermore, let P be the new current center frequency of the compensated ultrasonic transducer. When the center frequency adjustment direction is negative, based on the current center frequency P... c The center frequency adjustment value and direction determine the new current center frequency of the compensated ultrasonic transducer. This process can be represented by the following mathematical expression:
[0085] P = P c -P c ×(1-δ)=P c ×δ
[0086] When the center frequency adjustment direction is positive, based on the current center frequency P c The center frequency adjustment value and direction determine the new current center frequency of the compensated ultrasonic transducer. This process can be represented by the following mathematical expression:
[0087] P = P c +P c ×(1-δ)=P c ×(2-δ)
[0088] Furthermore, the new current center frequency P can be stored and used as the current center frequency P for compensating the ultrasonic transducer in the next execution of steps S1-S3. c It can also store the first echo amplitude value V of the current frame. c The first echo amplitude V c The second echo amplitude V, used to compensate the ultrasonic transducer in the next execution steps S1-S3, is... c ′ .
[0089] In the above embodiments, the new current center frequency of the compensated ultrasonic transducer is determined based on the current center frequency, the center frequency adjustment value, and the center frequency adjustment direction, laying the foundation for finally determining the target center frequency of the compensated ultrasonic transducer.
[0090] Step 130: Determine the center frequency of the ranging ultrasonic transducer based on the target center frequency.
[0091] In one embodiment, determining the center frequency of the ranging ultrasonic transducer based on the target center frequency includes:
[0092] The target center frequency is determined as the center frequency of the ranging ultrasonic transducer.
[0093] Specifically, the target center frequency of the compensating ultrasonic transducer can be directly determined as the center frequency of the ranging ultrasonic transducer.
[0094] Furthermore, the current center frequency of the ranging ultrasonic transducer and the target center frequency P of the compensating ultrasonic transducer can be determined first. t Are they the same? This involves determining whether the current center frequency of the ranging ultrasonic transducer is the same as the target center frequency P of the compensating ultrasonic transducer. t In different situations, it indicates that the current center frequency of the ranging ultrasonic transducer needs to be updated. In this case, the target center frequency P of the ultrasonic transducer will be compensated. t The center frequency P of the ranging ultrasonic transducer was determined. d This updates the current center frequency of all ranging ultrasonic transducers to the center frequency P of the ranging ultrasonic transducers. d At this time P d =P t The current center frequency of the ranging ultrasonic transducer and the target center frequency P of the compensating ultrasonic transducer are determined. t Under the same conditions, it means that there is no need to update the current center frequency of the ranging ultrasonic transducer, and the current center frequency of the ranging ultrasonic transducer remains unchanged.
[0095] In the above embodiments, the center frequency of the ranging ultrasonic transducer is adjusted based on the target center frequency of the compensating ultrasonic transducer, thereby improving the performance of the ultrasonic transducer under drastic environmental changes while achieving continuous ranging.
[0096] The adaptive center frequency adjustment method for ultrasonic transducers provided by this invention determines the target center frequency of the compensated ultrasonic transducer by using the first propagation velocity, first echo amplitude, second echo amplitude, third echo amplitude, third propagation velocity, and the current center frequency of the compensated ultrasonic transducer. Then, based on the target center frequency of the compensated ultrasonic transducer, the center frequency of the ranging ultrasonic transducer is determined, thereby adaptively adjusting the center frequency of the ranging ultrasonic transducer and improving its detection capability under drastic environmental changes. Furthermore, the compensated ultrasonic transducer dynamically calculates the center frequency under the current environment, thus not affecting the operation of the ranging ultrasonic transducer and achieving dynamic ranging.
[0097] In one embodiment, after determining the target center frequency of the compensated ultrasonic transducer, the method further includes:
[0098] The target center frequency is determined as the current center frequency;
[0099] Store the first echo amplitude value corresponding to the target center frequency as the new third echo amplitude value;
[0100] Store the first propagation speed corresponding to the target center frequency as the new third propagation speed.
[0101] Specifically, after determining the target center frequency of the compensated ultrasonic transducer, the target center frequency P of the compensated ultrasonic transducer can be stored. t The target center frequency P t The current center frequency P is determined as the next frame. c And it can also display the first echo amplitude V corresponding to the target center frequency. c Store as a new third echo amplitude value V m It can also be the first propagation velocity v corresponding to the target center frequency. c Stored as a new third propagation speed v m Furthermore, the first echo amplitude V corresponding to the target center frequency can also be... c Stored as the second echo amplitude value V for the next frame c ′ .
[0102] In the above embodiments, by determining the target center frequency as the current center frequency, storing the first echo amplitude corresponding to the target center frequency as the new third echo amplitude, and storing the first propagation speed corresponding to the target center frequency as the new third propagation speed, the adaptive adjustment of the center frequency is facilitated in the next iteration.
[0103] The adaptive adjustment device for the center frequency of an ultrasonic transducer provided by the present invention is described below. The adaptive adjustment device for the center frequency of an ultrasonic transducer described below can be referred to in correspondence with the adaptive adjustment method for the center frequency of an ultrasonic transducer described above.
[0104] Figure 3 This is a schematic diagram of the structure of the adaptive adjustment device for the center frequency of an ultrasonic transducer provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the ultrasonic transducer center frequency adaptive adjustment device 300 includes:
[0105] The acquisition module 310 is used to acquire the first propagation speed and the first echo amplitude of the ultrasonic wave of the compensated ultrasonic transducer, wherein the first propagation speed is the ultrasonic wave propagation speed of the compensated ultrasonic transducer in the current frame at the current center frequency, and the first echo amplitude is the maximum echo amplitude of the compensated ultrasonic transducer in the current frame at the current center frequency, and the distance between the compensated ultrasonic transducer and the reference object to be measured is fixed.
[0106] The first determining module 320 is used to determine the target center frequency of the compensated ultrasonic transducer based on the first propagation speed, the first echo amplitude, the second echo amplitude, the third echo amplitude, the third propagation speed, and the current center frequency of the compensated ultrasonic transducer, wherein the second echo amplitude is the maximum echo amplitude of the previous frame of the current frame, the third echo amplitude is the stored echo amplitude, and the third propagation speed is the stored ultrasonic propagation speed.
[0107] The second determining module 330 is used to determine the center frequency of the ranging ultrasonic transducer based on the target center frequency.
[0108] In one embodiment, the first determining module 320 is specifically used for:
[0109] S1. Determine whether the first echo amplitude satisfies a first preset condition and / or a second preset condition. The first preset condition includes that the ratio of the first echo amplitude to the third echo amplitude is less than a preset threshold. The second preset condition includes that the first echo amplitude is greater than the second echo amplitude.
[0110] S2. If the first echo amplitude does not meet the first preset condition and / or the second preset condition, determine the current center frequency as the target center frequency;
[0111] S3. When the first echo amplitude satisfies the first preset condition and the second preset condition, determine the new current center frequency of the compensated ultrasonic transducer based on the first echo amplitude, the third echo amplitude, the first propagation velocity, the third propagation velocity, and the current center frequency; determine the first echo amplitude as the new second echo amplitude; based on the new current center frequency, obtain the first propagation velocity and the first echo amplitude of the ultrasonic wave of the compensated ultrasonic transducer, and repeat steps S1-S3 until the first echo amplitude no longer satisfies the first preset condition and / or the second preset condition, and determine the new current center frequency as the target center frequency.
[0112] In one embodiment, the first determining module 320 is specifically used for:
[0113] The center frequency adjustment step size is determined based on the first echo amplitude and the third echo amplitude;
[0114] The new current center frequency of the compensated ultrasonic transducer is determined based on the center frequency adjustment step size, the first propagation velocity, the third propagation velocity, and the current center frequency.
[0115] In one embodiment, the first determining module 320 is specifically used for:
[0116] The center frequency adjustment direction is determined based on the first propagation speed and the third propagation speed;
[0117] The new current center frequency of the compensated ultrasonic transducer is determined based on the current center frequency, the center frequency adjustment step size, and the center frequency adjustment direction.
[0118] In one embodiment, the first determining module 320 is specifically used for:
[0119] The center frequency adjustment value is determined based on the center frequency adjustment step size and the current center frequency;
[0120] The new current center frequency of the compensated ultrasonic transducer is determined based on the current center frequency, the center frequency adjustment value, and the center frequency adjustment direction.
[0121] In one embodiment, the second determining module 330 is specifically used for:
[0122] The target center frequency is determined as the center frequency of the ranging ultrasonic transducer.
[0123] In one embodiment, the adaptive adjustment device for the center frequency of the ultrasonic transducer further includes a storage module, which, after determining the target center frequency of the compensated ultrasonic transducer, is specifically used for:
[0124] The target center frequency is determined as the current center frequency;
[0125] Store the first echo amplitude value corresponding to the target center frequency as the new third echo amplitude value;
[0126] Store the first propagation speed corresponding to the target center frequency as the new third propagation speed.
[0127] The ultrasonic transducer center frequency adaptive adjustment device provided by this invention determines the target center frequency of the compensated ultrasonic transducer by using the first propagation speed, first echo amplitude, second echo amplitude, third echo amplitude, third propagation speed of the ultrasonic wave, and the current center frequency of the compensated ultrasonic transducer. Then, based on the target center frequency of the compensated ultrasonic transducer, the center frequency of the ranging ultrasonic transducer is determined, thereby adaptively adjusting the center frequency of the ranging ultrasonic transducer and improving its detection capability under drastic environmental changes. Furthermore, the compensated ultrasonic transducer dynamically calculates the center frequency under the current environment, thus not affecting the operation of the ranging ultrasonic transducer and achieving continuous ranging.
[0128] Figure 4 An example is a schematic diagram of the solid structure of a leveling system, such as... Figure 4 As shown, the leveling system may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 may call logical instructions in the memory 430 to execute an adaptive adjustment method for the center frequency of the ultrasonic transducer, or, including the ultrasonic transducer center frequency adaptive adjustment device, the method includes:
[0129] The first propagation speed and the first echo amplitude of the ultrasonic wave of the compensated ultrasonic transducer are obtained, wherein the first propagation speed is the ultrasonic wave propagation speed of the compensated ultrasonic transducer in the current frame at the current center frequency, and the first echo amplitude is the maximum echo amplitude of the compensated ultrasonic transducer in the current frame at the current center frequency, and the distance between the compensated ultrasonic transducer and the reference object to be measured is fixed.
[0130] Based on the first propagation speed, the first echo amplitude, the second echo amplitude, the third echo amplitude, the third propagation speed, and the current center frequency of the compensated ultrasonic transducer, the target center frequency of the compensated ultrasonic transducer is determined, wherein the second echo amplitude is the maximum echo amplitude of the previous frame of the current frame, the third echo amplitude is the stored echo amplitude, and the third propagation speed is the stored ultrasonic propagation speed.
[0131] Based on the target center frequency, the center frequency of the ranging ultrasonic transducer is determined.
[0132] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0133] On the other hand, the present invention also provides an engineering machine including the leveling system. This engineering machine may be, for example, a paver, etc., and is not specifically limited thereto.
[0134] In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is capable of executing the ultrasonic transducer center frequency adaptive adjustment method provided by the above methods, the method comprising:
[0135] The first propagation speed and the first echo amplitude of the ultrasonic wave of the compensated ultrasonic transducer are obtained, wherein the first propagation speed is the ultrasonic wave propagation speed of the compensated ultrasonic transducer in the current frame at the current center frequency, and the first echo amplitude is the maximum echo amplitude of the compensated ultrasonic transducer in the current frame at the current center frequency, and the distance between the compensated ultrasonic transducer and the reference object to be measured is fixed.
[0136] Based on the first propagation speed, the first echo amplitude, the second echo amplitude, the third echo amplitude, the third propagation speed, and the current center frequency of the compensated ultrasonic transducer, the target center frequency of the compensated ultrasonic transducer is determined, wherein the second echo amplitude is the maximum echo amplitude of the previous frame of the current frame, the third echo amplitude is the stored echo amplitude, and the third propagation speed is the stored ultrasonic propagation speed.
[0137] Based on the target center frequency, the center frequency of the ranging ultrasonic transducer is determined.
[0138] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.
[0139] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.
[0140] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A method for adaptive adjustment of the center frequency of an ultrasonic transducer, characterized in that, include: The first propagation speed and the first echo amplitude of the ultrasonic wave of the compensated ultrasonic transducer are obtained, wherein the first propagation speed is the ultrasonic wave propagation speed of the compensated ultrasonic transducer in the current frame at the current center frequency, and the first echo amplitude is the maximum echo amplitude of the compensated ultrasonic transducer in the current frame at the current center frequency, and the distance between the compensated ultrasonic transducer and the reference object to be measured is fixed. Based on the first propagation speed, the first echo amplitude, the second echo amplitude, the third echo amplitude, the third propagation speed, and the current center frequency of the compensated ultrasonic transducer, the target center frequency of the compensated ultrasonic transducer is determined, wherein the second echo amplitude is the maximum echo amplitude of the previous frame of the current frame, the third echo amplitude is the stored echo amplitude, and the third propagation speed is the stored ultrasonic propagation speed. Based on the target center frequency, the center frequency of the ranging ultrasonic transducer is determined.
2. The adaptive adjustment method for the center frequency of an ultrasonic transducer according to claim 1, characterized in that, The step of determining the target center frequency of the compensated ultrasonic transducer based on the first propagation velocity, the first echo amplitude, the second echo amplitude, the third echo amplitude, the third propagation velocity, and the current center frequency of the compensated ultrasonic transducer includes: S1. Determine whether the first echo amplitude satisfies a first preset condition and / or a second preset condition. The first preset condition includes that the ratio of the first echo amplitude to the third echo amplitude is less than a preset threshold. The second preset condition includes that the first echo amplitude is greater than the second echo amplitude. S2. If the first echo amplitude does not meet the first preset condition and / or the second preset condition, determine the current center frequency as the target center frequency; S3. When the first echo amplitude satisfies the first preset condition and the second preset condition, determine the new current center frequency of the compensated ultrasonic transducer based on the first echo amplitude, the third echo amplitude, the first propagation velocity, the third propagation velocity, and the current center frequency; determine the first echo amplitude as the new second echo amplitude; based on the new current center frequency, obtain the first propagation velocity and the first echo amplitude of the ultrasonic wave of the compensated ultrasonic transducer, and repeat steps S1-S3 until the first echo amplitude no longer satisfies the first preset condition and / or the second preset condition, and determine the new current center frequency as the target center frequency.
3. The adaptive adjustment method for the center frequency of an ultrasonic transducer according to claim 2, characterized in that, The step of determining the new current center frequency of the compensated ultrasonic transducer based on the first echo amplitude, the third echo amplitude, the first propagation velocity, the third propagation velocity, and the current center frequency includes: The center frequency adjustment step size is determined based on the first echo amplitude and the third echo amplitude; The new current center frequency of the compensated ultrasonic transducer is determined based on the center frequency adjustment step size, the first propagation velocity, the third propagation velocity, and the current center frequency.
4. The adaptive adjustment method for the center frequency of an ultrasonic transducer according to claim 3, characterized in that, The step of determining the new current center frequency of the compensated ultrasonic transducer based on the center frequency adjustment step size, the first propagation velocity, the third propagation velocity, and the current center frequency includes: The center frequency adjustment direction is determined based on the first propagation speed and the third propagation speed; The new current center frequency of the compensated ultrasonic transducer is determined based on the current center frequency, the center frequency adjustment step size, and the center frequency adjustment direction.
5. The adaptive adjustment method for the center frequency of an ultrasonic transducer according to claim 4, characterized in that, Determining the new current center frequency of the compensated ultrasonic transducer based on the current center frequency, the center frequency adjustment step size, and the center frequency adjustment direction includes: The center frequency adjustment value is determined based on the center frequency adjustment step size and the current center frequency; The new current center frequency of the compensated ultrasonic transducer is determined based on the current center frequency, the center frequency adjustment value, and the center frequency adjustment direction.
6. The adaptive adjustment method for the center frequency of an ultrasonic transducer according to any one of claims 1 to 5, characterized in that, Determining the center frequency of the ranging ultrasonic transducer based on the target center frequency includes: The target center frequency is determined as the center frequency of the ranging ultrasonic transducer.
7. The adaptive adjustment method for the center frequency of an ultrasonic transducer according to any one of claims 1 to 5, characterized in that, After determining the target center frequency of the compensated ultrasonic transducer, the process further includes: The target center frequency is determined as the current center frequency; Store the first echo amplitude value corresponding to the target center frequency as the new third echo amplitude value; Store the first propagation speed corresponding to the target center frequency as the new third propagation speed.
8. A device for adaptive adjustment of the center frequency of an ultrasonic transducer, characterized in that, include: The acquisition module is used to acquire the first propagation speed and the first echo amplitude of the ultrasonic wave of the compensated ultrasonic transducer, wherein the first propagation speed is the ultrasonic wave propagation speed of the compensated ultrasonic transducer in the current frame at the current center frequency, and the first echo amplitude is the maximum echo amplitude of the compensated ultrasonic transducer in the current frame at the current center frequency, and the distance between the compensated ultrasonic transducer and the reference object to be measured is fixed. The first determining module is used to determine the target center frequency of the compensated ultrasonic transducer based on the first propagation speed, the first echo amplitude, the second echo amplitude, the third echo amplitude, the third propagation speed, and the current center frequency of the compensated ultrasonic transducer, wherein the second echo amplitude is the maximum echo amplitude of the previous frame of the current frame, the third echo amplitude is the stored echo amplitude, and the third propagation speed is the stored ultrasonic propagation speed. The second determining module is used to determine the center frequency of the ranging ultrasonic transducer based on the target center frequency.
9. A leveling system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the ultrasonic transducer center frequency adaptive adjustment method as described in any one of claims 1 to 7, or includes the ultrasonic transducer center frequency adaptive adjustment device as described in claim 8.
10. An engineering machinery, characterized in that, Includes the leveling system as described in claim 9.
Citation Information
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