Method and system for automatically compensating sensitivity of ultrasonic sensor, medium and product

Abstract

The invention provides an ultrasonic sensor sensitivity automatic compensation method and system, a medium and a product, and the method comprises the steps: S1, obtaining an echo height mean value and an echo height range of an ultrasonic sensor after the selected parameters of the ultrasonic sensor are calibrated; s2, acquiring first echo information at different temperatures, and adjusting a first echo height value in the first echo information to a second echo height value by using a proportional integral differential control algorithm; s3, when the second echo height value is within a height range preset according to the echo height range, a gain compensation value is determined, and the gain compensation value is a difference value between a first gain corresponding to the second echo height value and a second gain corresponding to the first echo height value; and S4, writing the gain compensation value into a preset temperature compensation curve. According to the technical scheme, the accuracy, the stability and the adaptability of automatic sensitivity adjustment of the ultrasonic sensor can be improved.

Description

Technical Field

[0001] The present invention relates to the field of sensor sensitivity compensation, and in particular to a method, system, medium and product for automatic sensitivity compensation of an ultrasonic sensor. Background Art

[0002] Ultrasonic sensor is a device widely used in distance measurement and obstacle detection. Its core principle is to convert electrical energy into sound energy, and then convert the sound energy reflected by the obstacle back into electrical energy for signal processing. The sensitivity adjustment of ultrasonic sensors depends on the amplification of the transmitted energy and the received signal. However, the traditional ultrasonic sensor sensitivity adjustment method usually relies on manual gain adjustment at a specific temperature of 25°C, and only considers a single sensitivity value, without considering the maximum and minimum values ​​of sensitivity in actual applications, ignoring the changes in sensor performance at different temperatures, and lacks analysis of sensitivity under abnormal conditions. In addition, the traditional testing method is inefficient and requires a lot of time and manpower to adjust and test ultrasonic sensors one by one. These problems limit the accuracy and reliability of ultrasonic sensors under different environmental and temperature conditions. Summary of the invention

[0003] In response to at least one of the above problems, embodiments of the present invention provide a method, system, medium and product for automatic compensation of ultrasonic sensor sensitivity, aiming to improve the accuracy, stability and adaptability of automatic adjustment of ultrasonic sensor sensitivity.

[0004] In order to achieve the above object, on the one hand, a method for automatic sensitivity compensation of an ultrasonic sensor is provided, the method comprising:

[0005] Step S1, after calibrating selected parameters of the ultrasonic sensor, obtaining an echo height mean and an echo height range of the ultrasonic sensor, wherein the selected parameters are defined at a preset temperature, and the selected parameters include: emission sound pressure, resonance frequency and / or echo information of different working modes at different detection distances, the emission sound pressure is the emission sound pressure at a predetermined distance from a standard obstacle, the working mode is fixed frequency or swept frequency, and the echo information includes an echo height value;

[0006] Step S2, obtaining first echo information at different temperatures, and using a proportional-integral-differential control algorithm to adjust a first echo height value in the first echo information to a second echo height value, wherein an absolute value of a difference between the second echo height value and the echo height mean value is less than a predetermined first threshold value, and the first threshold value is an absolute value of a difference between the first echo height value and the echo height mean value;

[0007] Step S3, when the second echo height value is within a first height range pre-set according to the echo height range, determining a gain compensation value, wherein the gain compensation value is a difference between a first gain corresponding to the second echo height value and a second gain corresponding to the first echo height value, wherein the first height range is formed by expanding a boundary of the echo height range by a predetermined percentage;

[0008] Step S4, writing the gain compensation value into a preset temperature compensation curve, wherein the temperature compensation curve includes a gain compensation mean value curve.

[0009] Preferably, in the method for automatic compensation of ultrasonic sensor sensitivity, the temperature compensation curve further includes a gain compensation worst-case curve.

[0010] Preferably, the method for automatic compensation of ultrasonic sensor sensitivity also includes: recording gain compensation values ​​of multiple ultrasonic sensors at different temperatures, determining the mean, maximum and minimum values ​​of the multiple gain compensation values, writing the mean of the gain compensation values ​​at different temperatures into the gain compensation mean curve, and writing the maximum and minimum values ​​of the gain compensation values ​​at different temperatures into different gain compensation worst-case curves, respectively.

[0011] Preferably, in the method for automatic compensation of ultrasonic sensor sensitivity, the preset temperature is 25° C. and the predetermined distance is 30 cm.

[0012] On the other hand, an ultrasonic sensor sensitivity automatic compensation system that uses any of the methods described above to automatically compensate for the sensitivity of an ultrasonic sensor includes: an ultrasonic sensor and a host computer, wherein the host computer is an external device outside the ultrasonic sensor or an internal device integrated inside the ultrasonic sensor.

[0013] Preferably, in the automatic sensitivity compensation system for ultrasonic sensors, when the host computer is an external device, the host computer comprises: an automatic sensitivity correction module and a data recording module; wherein:

[0014] The automatic sensitivity correction module is used to obtain the first echo information and the echo height mean and echo height range of the calibrated ultrasonic sensor at different temperatures, and use the proportional integral differential control algorithm to adjust the first echo height value in the first echo information to the second echo height value, the absolute value of the difference between the second echo height value and the echo height mean is less than a predetermined first threshold, and the first threshold is the absolute value of the difference between the first echo height value and the echo height mean; when the second echo height value is within a first height range pre-set according to the echo height range, determine a gain compensation value, wherein the gain compensation value is the difference between a first gain corresponding to the second echo height value and a second gain corresponding to the first echo height value, wherein the first height range is formed by expanding the boundary of the echo height range by a predetermined percentage; write the gain compensation value into a pre-set temperature compensation curve, wherein the temperature compensation curve includes a gain compensation mean curve and a gain compensation worst-case curve;

[0015] The data recording module is used to record the gain compensation values ​​of multiple ultrasonic sensors at different temperatures, determine the mean, maximum and minimum values ​​of the multiple gain compensation values, write the mean of the gain compensation values ​​at different temperatures into the gain compensation mean curve, and write the maximum and minimum values ​​of the gain compensation values ​​at different temperatures into different gain compensation worst-case curves, respectively.

[0016] Preferably, in the automatic sensitivity compensation system for ultrasonic sensors, the gain compensation worst-case curve is used to determine the gain compensation value of the ultrasonic sensor by using the gain compensation value of the gain compensation worst-case curve when the gain compensation of the ultrasonic sensor fails to meet a predetermined standard and the number of times the predetermined standard is failed to meet is greater than a predetermined number of times.

[0017] Preferably, the ultrasonic sensor sensitivity automatic compensation system, wherein when the host computer is the internal device, the host computer includes: a sensor integrated gain automatic calibration module, wherein the sensor integrated gain automatic calibration module is used to obtain the first echo information at different temperatures and the echo height mean and echo height range of the ultrasonic sensor after calibration, and use the proportional integral differential control algorithm to adjust the first echo height value in the first echo information to the second echo height value, the absolute value of the difference between the second echo height value and the echo height mean is less than a predetermined first threshold, and the first threshold is the absolute value of the difference between the first echo height value and the echo height mean; when the second echo height value is within a first height range pre-set according to the echo height range, a gain compensation value is determined, wherein the gain compensation value is the difference between the first gain corresponding to the second echo height value and the second gain corresponding to the first echo height value, wherein the first height range is formed by expanding the boundary of the echo height range by a predetermined percentage; the gain compensation value is written into a pre-set temperature compensation curve, wherein the temperature compensation curve includes a gain compensation mean curve.

[0018] On the other hand, a computer-readable storage medium is provided, wherein at least one program is stored in the storage medium, and the at least one program is executed by a processor to implement any of the methods described above.

[0019] On the other hand, a computer program product includes a computer program, wherein when the computer program is executed by a processor, any of the methods described above is implemented.

[0020] The above technical solution has the following technical effects:

[0021] The technical solution of this embodiment obtains the echo height mean and echo height range of the ultrasonic sensor after calibrating the selected parameters of the ultrasonic sensor, and uses a proportional integral differential (PID) control algorithm to adjust the echo information received by the ultrasonic sensor at different temperatures according to the echo height mean and the echo height range, to obtain a gain compensation value, and then writes the gain compensation value into a pre-set temperature compensation curve, thereby realizing automatic compensation of the sensitivity of the ultrasonic sensor and ensuring the performance stability and consistency of the ultrasonic sensor under different environmental conditions and different operating modes.

[0022] In a further embodiment, parameters such as emission sound pressure, resonant frequency, and echo information of different working modes at different detection distances are selected to calibrate the ultrasonic sensor, wherein the working mode is fixed frequency or swept frequency, and the echo information includes the echo height mean and the echo height range, which further improves the accuracy and reliability of ultrasonic sensor detection; and selecting appropriate working modes according to different application scenarios can make the application of ultrasonic sensors more flexible.

[0023] In a further embodiment, the echo height value in the acquired echo information is adjusted to a second echo height value related to the echo height mean by using a proportional-integral-differential control algorithm, and it is further determined that when the adjusted echo height value is within a first height range predetermined according to the echo height range, the gain corresponding to the adjusted echo height value is determined to be the adjusted first gain, and the difference between the first gain and the gain corresponding to the acquired echo height value is the gain compensation value. The above steps significantly improve the sensitivity compensation effect of the ultrasonic sensor, and enhance the reliability of the ultrasonic sensor under various working conditions.

[0024] In a further embodiment, by adding a gain compensation worst case curve, when the gain compensation of the ultrasonic sensor fails to meet a predetermined standard, and the number of times the predetermined standard is failed to meet is greater than a predetermined number of times, the gain compensation value of the ultrasonic sensor is determined by the gain compensation of the gain compensation worst case curve, and the ultrasonic wave ensures the sensitivity adjustment of the ultrasonic sensor under abnormal environmental conditions, thereby improving the robustness, accuracy and applicability of the ultrasonic sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of a flow chart of an automatic sensitivity compensation method for an ultrasonic sensor according to an embodiment of the present invention;

[0026] Figure 2 It is a schematic diagram of the principle of using an automatic sensitivity compensation system of an ultrasonic sensor to perform sensitivity compensation according to an embodiment of the present invention;

[0027] Figure 3 It is a schematic diagram of the principle of using an automatic sensitivity compensation system of an ultrasonic sensor to perform sensitivity compensation according to another embodiment of the present invention. DETAILED DESCRIPTION

[0028] To further illustrate the various embodiments, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, a person of ordinary skill in the art should be able to understand other possible implementations and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0029] The present invention will now be further described with reference to the accompanying drawings and specific implementation methods.

[0030] Embodiment 1:

[0031] In order to improve the accuracy, stability and adaptability of automatic adjustment of the sensitivity of an ultrasonic sensor, an embodiment of the present invention provides a method for automatic compensation of the sensitivity of an ultrasonic sensor. Figure 1 FIG. 1 is a flow chart of an automatic sensitivity compensation method for an ultrasonic sensor according to an embodiment of the present invention. Figure 1 As shown, the method of the embodiment of the present invention includes:

[0032] Step S1, after calibrating the selected parameters of the ultrasonic sensor, obtaining the echo height mean and echo height range of the ultrasonic sensor, wherein the selected parameters are defined at a preset temperature, and the selected parameters include: emission sound pressure, resonance frequency, and echo information of different working modes at different detection distances, the emission sound pressure is the emission sound pressure at a predetermined distance from a standard obstacle, the working mode is fixed frequency or swept frequency, and the echo information includes an echo height value;

[0033] Step S2, obtaining first echo information at different temperatures, and using a proportional-integral-differential control algorithm to adjust a first echo height value in the first echo information to a second echo height value, wherein an absolute value of a difference between the second echo height value and an echo height mean value is less than a predetermined first threshold value, and the first threshold value is an absolute value of a difference between the first echo height value and the echo height mean value;

[0034] Step S3, when the second echo height value is within a first height range pre-set according to the echo height range, determining a gain compensation value, wherein the gain compensation value is a difference between a first gain corresponding to the second echo height value and a second gain corresponding to the first echo height value, wherein the first height range is formed by expanding a boundary of the echo height range by a predetermined percentage;

[0035] Step S4, writing the gain compensation value into a preset temperature compensation curve, wherein the temperature compensation curve includes a gain compensation mean value curve.

[0036] Embodiment 2:

[0037] The ultrasonic sensor is mainly composed of a transducer, a transducer driver module and an ASIC module. The ultrasonic sensor's energy conversion process for obstacle measurement is: electrical energy is converted into sound energy, and the sound energy is reflected back by the obstacle and received by the sensor and converted into electrical energy.

[0038] There are two important parameter indicators for adjusting the sensitivity of ultrasonic sensors: 1) The ultrasonic emission energy of the sensor. The setting of the emission energy affects the detection range of the ultrasonic sensor. The emission energy is related to two influencing parameters: 1-the peak-to-peak value Vpp of the transducer driving voltage; 2-the resonant frequency fr of the transducer; 2) The amplification processing of the ultrasonic sensor on the received ultrasonic signal. The amplification processing of the ultrasonic signal is designed for the consistency of the detection performance of the ultrasonic sensor. The ultrasonic signal mainly includes two amplification gain parameters: 1-analog gain; 2-digital gain.

[0039] The traditional method for gain compensation of echo signals received by ultrasonic sensors is: at 25℃, the ultrasonic sensor is 3m away from the standard obstacle, and the sensitivity of each temperature point is measured. Based on the measured sensitivity, the gain of the amplifier circuit is adjusted (other parameters remain unchanged) to make the sensitivity of the ultrasonic sensor at different temperatures consistent with the sensitivity of the ultrasonic sensor at 25℃. The gain values ​​at different temperatures are compared with the gain values ​​at 25℃ to obtain the corresponding gain compensation coefficients, and further obtain the gain-to-temperature compensation curve. However, the traditional method for gain compensation of echo signals received by ultrasonic sensors has several disadvantages, including: 1) The sensitivity value of the ultrasonic sensor at 25℃ is single, and one ultrasonic sensor corresponds to only one mean value; while the sensitivity of the actual ultrasonic sensor is a range, and the sensitivity has a mean value as well as a maximum value and a minimum value. 2) The sensitivity stability of different detection distances is different. The traditional method tests a small amount of sensitivity data and a single method for processing the test data, that is, only considering the gain compensation mean value of the data, thereby ignoring the consideration of data stability when performing gain compensation. 3) The amount of data obtained during ultrasonic sensor calibration is small and limited. 4) The individual differences of each ultrasonic sensor are ignored. 5) Ultrasonic sensor calibration takes a long time and requires manual adjustment of the sensitivity of each temperature point, which is very inefficient. 6) Only one ultrasonic sensor can be calibrated at a time. 7) There is a lack of worst-case analysis of sensitivity.

[0040] Therefore, the technical solution of this embodiment proposes a method for automatically compensating the sensitivity of an ultrasonic sensor through a host computer or an individual ultrasonic sensor. Figure 2 The figure is a schematic diagram showing the principle of using an automatic sensitivity compensation system of an ultrasonic sensor to perform sensitivity compensation according to an embodiment of the present invention.

[0041] like Figure 2As shown, the ultrasonic sensor sensitivity automatic compensation system of an embodiment of the present invention includes an ultrasonic sensor and a host computer. The host computer is an external device outside the ultrasonic sensor; wherein the host computer includes: a sensitivity automatic correction module and a data recording module. Specifically, the method for sensitivity compensation using the ultrasonic sensor sensitivity automatic compensation system of an embodiment of the present invention includes:

[0042] Step 1: Define various design parameters of the ultrasonic sensor so that the function and performance of the ultrasonic sensor meet the design requirements. The object of the ultrasonic sensor sensitivity mapping is the echo height value of the ultrasonic wave received by the ultrasonic sensor at different distances from the standard obstacle. The temperature condition for defining the design parameters is 25°C, where:

[0043] Define the emission energy of the ultrasonic sensor, which is the emission sound pressure of the ultrasonic sensor at a distance of 30 cm from the standard obstacle;

[0044] Respectively define the echo information of different working modes for standard obstacles at different detection distances; preferably, the working mode includes fixed frequency or swept frequency;

[0045] Step 2: Before the ultrasonic sensor performs sensitivity compensation at different temperatures, calibrate each ultrasonic sensor to reduce the individual differences of ultrasonic sensors. The calibration of ultrasonic sensors is mainly divided into two parts:

[0046] 2.1 Calibrate the ultrasonic sensor at the transmitting end. Calibrate the ultrasonic emission energy of the ultrasonic sensor, that is, the emission sound pressure of the ultrasonic sensor at a distance of 30cm from the standard obstacle; calibrate the resonant frequency fr of the ultrasonic sensor;

[0047] 2.2 Calibrate at the receiving end of the ultrasonic sensor. The stability of the echo signal of the standard obstacle at different detection distances is different. It is necessary to ensure that the stability of different ultrasonic sensors at the same detection distance is consistent, and calibrate the echo height value in the echo signal by adjusting the gain.

[0048] Step 3: Calibrate the ultrasonic sensor using the selected parameters according to the design requirements.

[0049] Step 4: Use the host computer to automatically calibrate the sensitivity and record the data. In the specific implementation, the calibration and recording functions can be realized through the corresponding software modules, where:

[0050] 4.1 Sensitivity automatic calibration module, the ultrasonic sensor will send the echo height mean and echo height range at the standard temperature of 25°C and the echo information of the standard obstacle tested in real time at different temperatures to the host computer;

[0051] The PID control module in the host computer calculates and adjusts the gain in real time through the proportional integral differential control algorithm, and outputs the adjusted gain;

[0052] Specifically, the echo height value in the echo information received by the ultrasonic sensor is changed to be close to or even consistent with the echo height mean, wherein the echo height value reflects the sensitivity of the ultrasonic sensor; when the adjusted echo height value is within a first height range predetermined according to the echo height range, a gain compensation value is determined, wherein the gain compensation value is the difference between a first gain corresponding to the adjusted echo height value and a second gain corresponding to the echo height value before adjustment, wherein the first height range is formed by expanding the boundary of the echo height range by a predetermined percentage; preferably, the predetermined percentage is 10%; in a specific implementation, making the echo height value of the ultrasonic sensor close to or even consistent with the echo height mean can be reflected by the absolute value of the difference between the two not exceeding a predetermined threshold.

[0053] 4.2 Data recording module, records the gain compensation values ​​of the calibrated ultrasonic sensor at different temperatures. As the number of tested samples and the number of limit samples increase, worst case analysis can be performed on the recorded multiple gain compensation value data.

[0054] Step 5, obtaining a temperature compensation curve of the ultrasonic sensor according to the analysis of multiple gain compensation value data; in a specific implementation, the temperature compensation curve includes three curves, including a gain compensation mean curve and two gain compensation worst case curves.

[0055] Specifically, the gain compensation values ​​of multiple ultrasonic sensors at different temperatures are recorded, and the mean values, maximum values, and minimum values ​​of multiple gain compensations are obtained, the mean values ​​of the gain compensation values ​​at different temperatures are written into the gain compensation mean curve, and the maximum values ​​and minimum values ​​of the gain compensation values ​​at different temperatures are written into different gain compensation worst case curves respectively;

[0056] Preferably, the gain compensation worst-case curve is used to determine the gain compensation value of the ultrasonic sensor by the gain compensation value of the gain compensation worst-case curve when the gain compensation of the ultrasonic sensor fails to meet the predetermined standard and the number of times the predetermined standard is failed to meet is greater than a predetermined number of times; the gain compensation mean curve is used in the mass production of ultrasonic sensors as the gain compensation value of the ultrasonic sensor.

[0057] Figure 3 FIG. 1 is a schematic diagram showing the principle of using an ultrasonic sensor automatic sensitivity compensation system to perform sensitivity compensation in another embodiment of the present invention. Figure 2 The system of the illustrated embodiment differs in that: Figure 2The automatic calibration module of the system in the illustrated embodiment is an external device outside the ultrasonic sensor, while the automatic calibration module of the system in this embodiment is an internal device integrated inside the ultrasonic sensor; and Figure 2 The temperature compensation curve written by the system in the embodiment shown is a gain compensation mean curve and a gain compensation worst case curve. The temperature compensation curve written by the system in this embodiment is only a gain compensation mean curve. Figure 3 As shown, specifically, a method for performing sensitivity compensation using an automatic sensitivity compensation system for an ultrasonic sensor according to another embodiment of the present invention includes:

[0058] Step 1, same as above for Figure 2 Step 1 described in the illustrated embodiment;

[0059] Step 2, same as above for Figure 2 Step 2 described in the illustrated embodiment;

[0060] Step 3, same as above for Figure 2 Step 3 described in the illustrated embodiment;

[0061] Step 4: Use the sensor integrated gain automatic calibration module to convert the above Figure 2 The contents of step 4.1 and step 5 in the illustrated embodiment are integrated together, wherein the sensor integrated gain automatic calibration module is used to receive the echo height mean value and the echo height range at the standard temperature of 25°C and the echo information of the real-time test standard obstacles at different temperatures; and the gain is calculated and adjusted in real time through the proportional integral differential control algorithm, and the adjusted gain is output; specifically, the echo height value in the echo information received by the ultrasonic sensor is changed to be close to or even consistent with the echo height mean value, wherein the echo height value reflects the sensitivity of the ultrasonic sensor; when the adjusted echo height value is within the first height range predetermined according to the echo height range, the gain is adjusted to the same value as the echo height value. When the echo height value is within the range, a gain compensation value is determined, wherein the gain compensation value is the difference between a first gain corresponding to the adjusted echo height value and a second gain corresponding to the echo height value before adjustment, wherein the first height range is formed by expanding the boundary of the echo height range by a predetermined percentage; preferably, the predetermined percentage is 10%; in a specific implementation, making the echo height value of the ultrasonic sensor close to or even consistent with the echo height mean can be reflected by the absolute value of the difference between the two not exceeding a predetermined threshold; and obtaining a temperature compensation curve of the ultrasonic sensor based on multiple gain compensation value data analysis; in a specific implementation, the temperature compensation curve is a gain compensation mean curve.

[0062] Based on the above method, the technical solution of this embodiment can improve the obstacle detection performance of each ultrasonic sensor in different working modes at different temperatures, and make the obstacle detection performance consistent; when the ultrasonic sensor is in an abnormal situation, there is a problem of strong / weak obstacle detection recognition. The gain compensation value of the ultrasonic sensor is determined by calling the gain compensation value of the worstcase, thereby further enhancing the applicability of the product; since the technical solution of this embodiment realizes automatic sensitivity calibration, it can consider more parameters and factors, making data analysis richer and more detailed, thereby improving the quality and depth of data analysis; further, in specific application scenarios, the use of the technical solution of this embodiment can improve the test efficiency of ultrasonic sensors, reduce the investment of testers, and thus reduce the test cost; and due to the reduction in test costs, the sample volume of the temperature compensation experiment of the ultrasonic sensor can be significantly increased, and problems that are not easy to find in the product can be found to a greater extent in the temperature compensation experiment of the ultrasonic sensor, and temperature compensation experiments can be further regularly arranged to verify the performance stability of the detector;

[0063] Furthermore, in specific application scenarios, Figure 3 The technical solution of the present embodiment shown can directly calibrate the ultrasonic sensor installed on the product in a specific application scenario according to actual needs, so as to better analyze and solve problems; and as the detector ages, when the calibration parameters of the ultrasonic sensor do not reach the actual application level, the experience and technical knowledge (know-how) of product development can be acquired through automatic calibration; and the use of ultrasonic sensors for obstacle detection in specific applications can not only improve the safety performance of the product, but also continuously optimize and improve the algorithm through data feedback in actual operation.

[0064] Embodiment three:

[0065] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method in the embodiment of the present invention are implemented.

[0066] If the module / unit integrated in the computer unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory) and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0067] Embodiment 4:

[0068] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the method described above are implemented.

[0069] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. A method for automatically compensating the sensitivity of an ultrasonic sensor, characterized in that: include: Step S1, after calibrating the selected parameters of the ultrasonic sensor, obtaining the echo height mean and echo height range of the ultrasonic sensor, wherein the selected parameters are defined at a preset temperature, and the selected parameters include: emission sound pressure, resonance frequency, and echo information of different working modes at different detection distances, the emission sound pressure is the emission sound pressure at a predetermined distance from a standard obstacle, the working mode is fixed frequency or swept frequency, and the echo information includes an echo height value; Step S2, obtaining first echo information at different temperatures, and using a proportional-integral-differential control algorithm to adjust a first echo height value in the first echo information to a second echo height value, wherein an absolute value of a difference between the second echo height value and the echo height mean value is less than a predetermined first threshold value, and the first threshold value is an absolute value of a difference between the first echo height value and the echo height mean value; Step S3, when the second echo height value is within a first height range pre-set according to the echo height range, determining a gain compensation value, wherein the gain compensation value is a difference between a first gain corresponding to the second echo height value and a second gain corresponding to the first echo height value, wherein the first height range is formed by expanding a boundary of the echo height range by a predetermined percentage; Step S4, writing the gain compensation value into a preset temperature compensation curve, wherein the temperature compensation curve includes a gain compensation mean value curve.

2. The method according to claim 1, characterized in that The temperature compensation curve also includes a gain compensation worst case curve.

3. The method according to claim 2, characterized in that Also includes: Record the gain compensation values ​​of multiple ultrasonic sensors at different temperatures, determine the average, maximum and minimum values ​​of the multiple gain compensation values, write the average of the gain compensation values ​​at different temperatures into the gain compensation average curve, and write the maximum and minimum values ​​of the gain compensation values ​​at different temperatures into different gain compensation worst-case curves, respectively.

4. The method according to claim 1, characterized in that: The preset temperature is 25° C., and the preset distance is 30 cm.

5. An ultrasonic sensor sensitivity automatic compensation system for automatically compensating the sensitivity of an ultrasonic sensor using the method according to any one of claims 1 to 4, characterized in that: include: An ultrasonic sensor and a host computer, wherein the host computer is an external device outside the ultrasonic sensor or an internal device integrated inside the ultrasonic sensor.

6. The ultrasonic sensor sensitivity automatic compensation system according to claim 5, characterized in that: When the host computer is an external device, the host computer includes: a sensitivity automatic correction module and a data recording module; wherein: The automatic sensitivity correction module is used to obtain the first echo information and the echo height mean and echo height range of the calibrated ultrasonic sensor at different temperatures, and use the proportional integral differential control algorithm to adjust the first echo height value in the first echo information to the second echo height value, the absolute value of the difference between the second echo height value and the echo height mean is less than a predetermined first threshold, and the first threshold is the absolute value of the difference between the first echo height value and the echo height mean; when the second echo height value is within a first height range pre-set according to the echo height range, determine a gain compensation value, wherein the gain compensation value is the difference between a first gain corresponding to the second echo height value and a second gain corresponding to the first echo height value, wherein the first height range is formed by expanding the boundary of the echo height range by a predetermined percentage; write the gain compensation value into a pre-set temperature compensation curve, wherein the temperature compensation curve includes a gain compensation mean curve and a gain compensation worst-case curve; The data recording module is used to record the gain compensation values ​​of multiple ultrasonic sensors at different temperatures, determine the mean, maximum and minimum values ​​of the multiple gain compensation values, write the mean of the gain compensation values ​​at different temperatures into the gain compensation mean curve, and write the maximum and minimum values ​​of the gain compensation values ​​at different temperatures into different gain compensation worst-case curves, respectively.

7. The ultrasonic sensor sensitivity automatic compensation system according to claim 6, characterized in that: The gain compensation worst-case curve is used to determine the gain compensation value of the ultrasonic sensor by the gain compensation value of the gain compensation worst-case curve when the gain compensation of the ultrasonic sensor fails to meet a predetermined standard and the number of times the predetermined standard is failed to meet is greater than a predetermined number.

8. The ultrasonic sensor sensitivity automatic compensation system according to claim 5, characterized in that: When the host computer is the internal device, the host computer includes: a sensor integrated gain automatic calibration module, wherein the sensor integrated gain automatic calibration module is used to obtain the first echo information at different temperatures and the echo height mean and echo height range of the calibrated ultrasonic sensor, and use the proportional integral differential control algorithm to adjust the first echo height value in the first echo information to the second echo height value, and the absolute value of the difference between the second echo height value and the echo height mean is less than a predetermined first threshold, and the first threshold is the absolute value of the difference between the first echo height value and the echo height mean; when the second echo height value is within a first height range pre-set according to the echo height range, determine a gain compensation value, wherein the gain compensation value is the difference between a first gain corresponding to the second echo height value and a second gain corresponding to the first echo height value, wherein the first height range is formed by expanding the boundary of the echo height range by a predetermined percentage; write the gain compensation value into a pre-set temperature compensation curve, wherein the temperature compensation curve includes a gain compensation mean curve.

9. A computer-readable storage medium, characterized in that: The storage medium stores at least one program, and the at least one program is executed by a processor to implement the method according to any one of claims 1 to 4.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

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