Wide ultrasonic sensor data processing system and method
Through the ultrasonic transmission and reception module arranged in equilateral triangles, combined with the technical means of AD acquisition and data processing modules, the data error problems caused by hardware differences and installation errors in ultrasonic sensor systems are solved, achieving higher measurement accuracy and stability .
Patent Information
- Application Number
- CN202411607704.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-12
- Publication Date
- 2025-02-11
AI Technical Summary
The existing ultrasonic sensor system has different hardware characteristics and installation errors in the ultrasonic transmitting head and receiving head, which leads to data errors, affecting measurement accuracy and stability, and blind spots, overreactions and irregular data changes.
Ultrasonic transmitting module and receiving module arranged in an equilateral triangle are used. Each transmitting module corresponds to a receiving module one by one. The ultrasonic signal is converted into voltage values and data signals through the AD acquisition module. The data processing module calculates the average value of adjacent data. And perform proportional calculations, accumulate and average to obtain the output signal of the sensor, and use the overlapping parts of adjacent ultrasonic heads to make up for the blind spots.
It effectively reduces data errors caused by hardware characteristics differences and installation errors, improves measurement accuracy and stability, eliminates blind spots, overreactions and irregular data changes, and ensures that the data changes appear linear.
Smart Images
Figure CN119414392A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of ultrasonic sensor data processing, and in particular to a wide-band ultrasonic sensor data processing system and method. Background Art
[0002] Ultrasonic sensors are widely used in industrial automation, environmental monitoring, medical equipment and other fields, especially in application scenarios that require high-precision measurement and real-time monitoring. Traditional ultrasonic sensors usually use a single or a few ultrasonic transmitters and receivers to achieve ranging and level detection functions. These sensors meet the basic measurement requirements to a certain extent, but they still have many limitations when facing complex environments and high-precision requirements. In order to improve the measurement accuracy and reliability of ultrasonic sensors, a variety of solutions are used in the prior art. For example, some sensor designs introduce multi-channel ultrasonic transmitting and receiving modules to increase the measurement range and resolution by increasing the number of ultrasonic heads. Another common method is to reduce interference and errors in the signal transmission process by optimizing the transmission and reception algorithms of ultrasonic signals. In addition, there are some technical means to correct the measurement results of the sensor by introducing external calibration equipment or software compensation algorithms, thereby improving measurement accuracy. However, the existing multi-ultrasonic head sensor system still faces some challenges. Due to the hardware characteristics differences and installation errors between the ultrasonic transmitter and the receiver, specifically, the hardware characteristics differences are manifested as the differences between ultrasonic transmitters and transmitters, and the differences between ultrasonic receivers and receivers, rather than the differences between ultrasonic transmitters and receivers. The hardware characteristics differences are manifested as: 1. For ultrasonic transmitters, two transmitters of the same model transmit the same signal, one of which has a transmission efficiency of 95%, while the other may have a transmission efficiency of only 80%. In this way, the signal received at the receiving end will be greatly different after being amplified and converted into a data signal by the AD module; 2. For ultrasonic receiving heads, two ultrasonic receiving heads of the same model receive the same signal, one of which receives a signal with a peak value of 10mV, while the other may receive a signal with a peak value of only 8mV. After amplification 200 times, the signals obtained are 2V and 1.6V (the reference signal of the AD module is 2.5V). After conversion, there will be a signal difference of 0.4V.
[0003] The above differences lead to large deviations in the collected data. These problems not only affect the final measurement results, but also cause the data changes to present irregular "wave line" shapes, and even blind spots and over-reaction phenomena, which seriously affect the stability and reliability of the sensor. Therefore, how to effectively solve these problems and improve the measurement accuracy and stability of ultrasonic sensors has become a technical problem that needs to be solved urgently. Summary of the invention
[0004] In order to solve the data errors caused by the hardware characteristic differences and installation errors between the ultrasonic transmitting head and the ultrasonic receiving head, the present application provides a wide-range ultrasonic sensor data processing system and method.
[0005] In a first aspect, the present application provides a wide-band ultrasonic sensor data processing system, comprising: A plurality of ultrasonic transmitting modules arranged in an equilateral triangle; A plurality of ultrasonic receiving modules arranged in an equilateral triangle and facing each other with the ultrasonic transmitting module; Each ultrasonic transmitting module corresponds to an ultrasonic receiving module one by one; AD acquisition module, used for converting the ultrasonic signal received by the ultrasonic receiving module into a voltage value, and converting the voltage value into a data signal; The data processing module is used to perform the following steps: Acquire the source data SD of each ultrasonic head collected by the AD acquisition module; Calculate the average value TAVG of two adjacent source data SD; The calculated TAVG value is proportionally calculated with the adjacent average maximum value MTAVG obtained during calibration to obtain the mapping value MD; All mapping values MD are accumulated and averaged to obtain the output signal SOUT of the sensor; The ultrasonic heads arranged in a triangle can make up for the blind area by using the overlapping parts between adjacent ultrasonic heads.
[0006] By adopting the above technical solution, the data error caused by the hardware characteristic difference and installation error between the ultrasonic transmitting head and the receiving head can be effectively reduced. Specifically, the ultrasonic transmitting module and the receiving module arranged in an equilateral triangle can ensure that each transmitting module is accurately projected one-to-one with the corresponding receiving module, thereby avoiding signal interference. The AD acquisition module converts the received ultrasonic signal into a voltage value, and further converts it into a data signal, ensuring the accuracy and reliability of the data. The data processing module calculates the average value TAVG of the two adjacent source data SD proportionally to obtain the mapping value MD, and finally obtains the output signal SOUT of the sensor by accumulating and averaging, so that the processed data changes in a linear shape, eliminating blind spots, over-reactions and "wavy lines", and improving the stability and accuracy of the data. At the same time, the overlapping parts between adjacent ultrasonic heads are used to make up for the blind spots, further enhancing the robustness of the system.
[0007] Optionally, an isolation device is provided between the ultrasonic transmitting module and the ultrasonic receiving module to prevent signal interference from other ultrasonic transmitting modules.
[0008] By adopting the above technical solution, the ultrasonic transmitting module and the ultrasonic receiving module are arranged in the same plane and are symmetrically distributed, which can ensure that the propagation path of the ultrasonic signal is more stable and uniform, reduce signal attenuation and interference caused by different spatial positions, and improve the accuracy and reliability of data collection. At the same time, this layout can also simplify the mechanical structure of the system and facilitate installation and maintenance.
[0009] Optionally, an isolation device is provided between the ultrasonic transmitting module and the ultrasonic receiving module to prevent signal interference from other ultrasonic transmitting modules.
[0010] By adopting the above technical solution, the signal interference between ultrasonic transmitting modules can be effectively reduced, and the purity of the signal received by the ultrasonic receiving module can be improved, thereby improving the accuracy and stability of the data processing system.
[0011] Optionally, the number of the ultrasonic transmitting modules and the number of the ultrasonic receiving modules are both three, and they are respectively located at three vertices of an equilateral triangle.
[0012] By adopting the above technical solution, it is possible to ensure that the layout of the ultrasonic transmitting module and the ultrasonic receiving module is more reasonable, effectively reducing the data errors caused by installation errors and hardware characteristics differences. Specifically, by setting the number of ultrasonic transmitting modules and receiving modules to three and placing them at the three vertices of an equilateral triangle, uniform signal coverage can be achieved, avoiding the generation of blind spots, while ensuring signal stability and accuracy. This layout method ensures that each ultrasonic receiving module is only affected by the corresponding ultrasonic transmitting module, reducing signal interference and further improving the accuracy of data processing.
[0013] Optionally, the ultrasonic transmitting module and the ultrasonic receiving module work in a time-sharing manner.
[0014] By adopting the above technical solution, the time-sharing transmission of ultrasonic signals can effectively avoid signal interference between different ultrasonic transmitting modules, ensuring that each ultrasonic receiving module only receives signals from the corresponding ultrasonic transmitting module, thereby improving the accuracy and reliability of data acquisition.
[0015] Optionally, the data processing module also includes a calibration unit, which is used to record the maximum value MSD of each ultrasonic head at the ultrasonic receiving end, and calculate the maximum value MTAVG of the signal average value of two adjacent ultrasonic heads at the receiving end. The ultrasonic receiving end converts the received ultrasonic signal into a voltage, and then converts the voltage value signal into a data signal through the AD acquisition module of the receiving end.
[0016] By adopting the above technical solution, the maximum value MSD of each ultrasonic head at the ultrasonic receiving end can be effectively calibrated, and the maximum value MTAVG of the signal average value of two adjacent ultrasonic heads can be calculated. This process ensures the accuracy of subsequent data processing and avoids data deviations caused by hardware characteristics and installation errors. At the same time, the ultrasonic receiving end converts the received ultrasonic signal into voltage, and then converts the voltage value signal into a data signal through the AD acquisition module, further improving the accuracy and reliability of data acquisition. These measures work together to make the processed data changes linear, and there will be no blind spots, over-reactions, and "wavy lines".
[0017] Optionally, the data processing module is further configured to use the following formula when calculating the mapping value MD: k: proportionality factor 0 <k<1; F: The maximum value of the mapping, usually 1024, 2048, 4096, etc., which are the resolution values of the AD module; The data processing module is also used to use the following formula when calculating the output signal SOUT of the sensor:
[0018] By adopting the above technical solution, the noise in the ultrasonic signal can be effectively reduced and the accuracy of data processing can be improved. Specifically, the filter circuit can filter out the noise in the ultrasonic signal to ensure that the AD acquisition module obtains a purer voltage signal, thereby improving the accuracy of subsequent data processing. In addition, by calculating the mapping value MD and the output signal SOUT of the sensor through a specific formula, the consistency and stability of data processing are further enhanced, so that the processed data changes in a linear manner, avoiding blind spots, over-reactions and "wavy lines", and improving the reliability and measurement accuracy of the system.
[0019] In a second aspect, the present application provides a wide-band ultrasonic sensor data processing method, comprising the following steps: S1: The transmitting module transmits an ultrasonic signal with a fixed frequency; S2: The receiving module receives the ultrasonic signal emitted by the ultrasonic transmitting module and converts the received ultrasonic signal into a voltage value; S3: AD acquisition module converts the voltage value into a data signal; S4: The data processing module obtains the source data SD of each ultrasonic head collected by the AD acquisition module; S5: Calculate the average value TAVG of two adjacent source data SD; S6: Proportionally calculate the calculated TAVG value and the adjacent average value maximum value MTAVG obtained during calibration to obtain a mapping value MD; S7: All mapping values MD are accumulated and averaged to obtain the output signal SOUT of the sensor. S8: The ultrasonic heads arranged in a triangle can make up for the blind spots by using the overlapping parts between adjacent ultrasonic heads.
[0020] By adopting the above technical solution, the received ultrasonic signal is converted into a voltage value, and then converted into a data signal by the AD acquisition module, thereby ensuring the accuracy and stability of the data; the ultrasonic heads arranged in a triangle can utilize the overlapping parts between adjacent ultrasonic heads, effectively making up for the blind spot problem of a single ultrasonic head, and improving the detection range and coverage capability of the system; by calculating the average value TAVG of two adjacent source data SD, the data fluctuation is further reduced, making the processed data more stable and smooth, and avoiding the appearance of "wavy lines" in the data; the calculated TAVG value is proportionally calculated with the maximum value MTAVG of the adjacent average values obtained during calibration to obtain the mapping value MD. This process ensures the linear processing of the data and eliminates the over-reaction phenomenon; by accumulating and averaging all mapping values MD, the output signal SOUT of the sensor is finally obtained. This method ensures the accuracy and reliability of the output signal.
[0021] In a third aspect, the present application provides an electronic device, which adopts the following technical solution: An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the wide-band ultrasonic sensor data processing method as described above are implemented.
[0022] In a fourth aspect, the present application provides a computer storage medium, which adopts the following technical solution: A computer storage medium comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the wide-band ultrasonic sensor data processing method as described above are implemented.
[0023] In summary, this application includes the following beneficial technical effects: 1. Through the triangular arrangement of ultrasonic transmitting modules and receiving modules, each receiving module is only affected by the corresponding transmitting module, avoiding interference from other transmitting modules, thereby reducing data errors and improving measurement accuracy; 2. The overlapping parts between adjacent ultrasonic heads are used to make up for the blind area, ensuring that there is no omission in the entire measurement range, thus improving the reliability and integrity of the sensor; 3. By calculating the ratio of the average value TAVG of two adjacent source data SD to the maximum value MTAVG of the adjacent average values obtained during calibration, the influence of hardware characteristic differences and installation errors is eliminated, making the processed data change linear, avoiding the "wavy line" and over-reaction phenomenon, and further improving the stability and accuracy of the measurement. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] Figure 1 It is a principle block diagram of a wide-band ultrasonic sensor data processing system in an embodiment of the present application.
[0025] Figure 2 It is a flow chart of the data processing module processing data in the embodiment of the present application.
[0026] Figure 3 It is a simplified diagram of the installation method of the ultrasonic transmitting end, the receiving end and each group of ultrasonic heads in the embodiment of the present application.
[0027] Figure 4 It is a flow chart of a wide-band ultrasonic sensor data processing method in an embodiment of the present application. DETAILED DESCRIPTION
[0028] The following will be combined with the attached Figure 1-Figure 4 , a clear and complete description of the technical solutions in the embodiments of the present invention is given. The described embodiments are only possible technical implementations of the present invention, not all possible implementations. Those skilled in the art can fully combine the embodiments of the present invention to obtain other embodiments without creative work, and these embodiments are also within the scope of protection of the present invention. The inventors of the present application found that there are hardware characteristic differences and installation errors between the ultrasonic transmitter and the ultrasonic receiver, which cause data errors. The processed data changes are linear, and there will be no blind spots, over-reactions, and "wavy lines".
[0029] Reference Figure 1 and Figure 2, the embodiment of the present application discloses a wide-band ultrasonic sensor data processing system, including a plurality of ultrasonic transmitting modules arranged in an equilateral triangle, a plurality of ultrasonic receiving modules arranged in an equilateral triangle and radiating oppositely to the ultrasonic transmitting modules, each ultrasonic transmitting module corresponds one-to-one to an ultrasonic receiving module, an AD acquisition module for converting the ultrasonic signal received by the ultrasonic receiving module into a voltage value, and converting the voltage value into a data signal, a data processing module for performing the following steps: obtaining the source data SD of each ultrasonic head collected by the AD acquisition module, calculating the average value TAVG of two adjacent source data SD, performing proportional calculation on the calculated TAVG value and the maximum value MTAVG of adjacent average values obtained during calibration to obtain a mapping value MD, accumulating and averaging all mapping values MD to obtain the output signal SOUT of the sensor, and the ultrasonic heads arranged in a triangle can make up for the blind spots by using the overlapping parts between adjacent ultrasonic heads. This design can effectively reduce data errors and improve measurement accuracy and stability. Reference Figure 1 and Figure 3 Specifically, the ultrasonic transmitting module is applied to the ultrasonic transmitting end, and the ultrasonic transmitting module includes multiple ultrasonic transmitting heads. Each ultrasonic transmitting head can use a piezoelectric ceramic sheet as a transducer, or an electromagnetic wave generator. The piezoelectric ceramic sheet has high sensitivity and response speed, and is suitable for the transmission of high-frequency ultrasonic signals. The electromagnetic wave generator can provide a stable ultrasonic signal in the low frequency band. The multiple ultrasonic transmitting heads are fixed by a rigid bracket to ensure that the relative positions between them remain unchanged, thereby ensuring the stability and consistency of the transmitted signal. At the same time, the ultrasonic receiving module is applied to the ultrasonic receiving end, and the ultrasonic receiving module includes multiple ultrasonic receiving heads. Each ultrasonic receiving head can use a piezoelectric ceramic sheet as a transducer, or a micro-electromechanical system (MEMS) microphone. The piezoelectric ceramic sheet has high sensitivity and signal-to-noise ratio, and is suitable for long-distance and high-precision measurement. The MEMS microphone is small in size and low in power consumption, and is suitable for portable and embedded applications. The multiple ultrasonic receiving heads are connected by a flexible cable to ensure the reliability and flexibility of signal transmission.
[0030] The AD acquisition module includes multiple AD converters. Each AD converter can use a 12-bit or 16-bit resolution analog-to-digital conversion chip to meet the accuracy requirements in different application scenarios. The 12-bit resolution AD converter is suitable for general measurement occasions and has a low cost; the 16-bit resolution AD converter is suitable for high-precision measurement occasions and has higher resolution and dynamic range. The AD converter is connected to the data processing module through a high-speed interface to ensure the speed and stability of data transmission. The data processing module includes a main control unit and a storage unit. The main control unit can use a high-performance microprocessor or FPGA to be responsible for data acquisition, processing and transmission. The high-performance microprocessor has powerful computing power and rich peripheral interfaces, which is suitable for complex signal processing tasks; FPGA has a high degree of parallel processing capability, which is suitable for large-scale data processing and real-time control. The storage unit can use flash memory or RAM to store raw data and intermediate results, which is convenient for subsequent data analysis and debugging. In practical applications, the ultrasonic transmitting module and the ultrasonic receiving module are both arranged in the same plane and are symmetrically distributed. This ensures that the relative positions of the ultrasonic heads are fixed to avoid measurement errors caused by installation errors. At the same time, an isolation device is provided between the ultrasonic transmitting module and the ultrasonic receiving module to prevent signal interference from other ultrasonic transmitting modules. The isolation device can be made of sound-absorbing materials or shielding covers to effectively absorb or block external interference signals and improve the system's anti-interference ability. Figure 1 and Figure 2 In the data processing process, the ultrasonic signal received by the ultrasonic receiving module is first converted into a voltage value through the AD acquisition module, and the voltage value is converted into a data signal. Then, the data processing module obtains the source data SD of each ultrasonic head collected by the AD acquisition module, and calculates the average value TAVG of two adjacent source data SD.
[0031] Next, the calculated TAVG value is proportionally calculated with the adjacent average value maximum MTAVG obtained during calibration to obtain the mapping value MD. Finally, all mapping values MD are accumulated and averaged to obtain the output signal SOUT of the sensor. This data processing method can effectively eliminate data errors caused by hardware characteristic differences and installation errors, and improve measurement accuracy and stability.
[0032] In addition, the data processing module also includes a calibration unit, which is used to record the maximum value MSD of each ultrasonic head at the ultrasonic receiving end, and calculate the maximum value MTAVG of the average value of the signal of two adjacent ultrasonic heads at the receiving end. The calibration unit can perform a comprehensive calibration when the sensor is used for the first time, record the maximum value MSD of each ultrasonic head, and calculate the maximum value MTAVG of the average value of the signal of two adjacent ultrasonic heads. These data will be used as reference values in subsequent data processing to correct data errors.
[0033] It should be noted that, in normal operation of the sensor, each source signal data SD collected by the sensor receiving end and the adjacent source signal data are averaged to obtain the TAVG (Two Average) value (TAVG1=(SD1+SD2) / 2, TAVG2=(SD2+SD3) / 2…), and then the TAVG value and the corresponding MTAVG are proportionally calculated to obtain the corresponding MD value (MD1=(TAVG1-k*MTAVG1) / (MTAVG1*(1-2k))*4095,…), and then all MD values are accumulated and averaged to obtain the sensor output signal SOUT (SOUT=(MD1+MD2+MD3+…+MDN) / N).
[0034] Specifically, the system calculates the average value TAVG of each source signal data SD and its adjacent source signal data. For example, for source signal data SD1 and SD2, their average value TAVG1 is (TAVG1=(SD1+SD2) / 2). This process is repeated for all adjacent source signal data to obtain a series of TAVG values.
[0035] Next, the system calculates the ratio of each TAVG value to the maximum adjacent average value MTAVG obtained by calibration to obtain the mapping value MD. The specific calculation formula is MD1 = (TAVG1-k*MTAVG1) / (MTAVG1*(1-2k))*4095,…, where k is the calibration coefficient and 4095 is the maximum value in the data range, which is used to map the MD value to a suitable value range.
[0036] Finally, the system accumulates and averages all the calculated MD values to obtain the output signal SOUT of the sensor. The specific formula is SOUT = (MD1 + MD2 + MD3 + ... + MDN) / N, where N is the total number of MD values. This process ensures the stability and accuracy of the output signal and eliminates blind spots, over-reactions, and "wavy lines".
[0037] On the other hand, the data processing module is also used to use the following formula when calculating the mapping value MD: Among them, TAVG represents the average value of two adjacent source data SD, MTAVG represents the maximum value of adjacent average values obtained during calibration, and k is a constant coefficient used to adjust the size of the mapping value. The purpose of this formula is to convert the original data into a standardized mapping value for subsequent data processing. F is used for the maximum value of the mapping, which is usually the resolution value of the AD module such as 1024, 2048, 4096; In addition, the data processing module is also used to use the following formula when calculating the output signal SOUT of the sensor: Where MD_i represents the i-th mapping value, and N represents the total number of mapping values. The purpose of this formula is to accumulate and average all mapping values to obtain the final sensor output signal SOUT. This method can effectively reduce data fluctuations and improve system stability.
[0038] In addition, when calibrating the ultrasonic sensor, the maximum value MSD (MaxSource Data) of each ultrasonic head at the ultrasonic receiving end is recorded, and the maximum value MTAVG (Max TwoAverage) of the signal average value of two adjacent ultrasonic heads at the receiving end is calculated.
[0039] Reference Figure 4 This embodiment also provides a wide-band ultrasonic sensor data processing method, comprising the following steps: S1: The transmitting module transmits an ultrasonic signal with a fixed frequency; S2: The receiving module receives the ultrasonic signal emitted by the ultrasonic transmitting module and converts the received ultrasonic signal into a voltage value; S3: AD acquisition module converts the voltage value into a data signal; S4: The data processing module obtains the source data SD of each ultrasonic head collected by the AD acquisition module; S5: Calculate the average value TAVG of two adjacent source data SD; S6: Proportionally calculate the calculated TAVG value and the adjacent average value maximum value MTAVG obtained during calibration to obtain a mapping value MD; S7: All mapping values MD are accumulated and averaged to obtain the output signal SOUT of the sensor. S8: The ultrasonic heads arranged in a triangle can make up for the blind spots by using the overlapping parts between adjacent ultrasonic heads.
[0040] Correspondingly, the above steps S1-S8 are explained one by one.
[0041] S1: The transmitting module transmits an ultrasonic signal with a fixed frequency.
[0042] In this step, the ultrasonic transmitter module will emit ultrasonic signals at a preset frequency. In order to ensure the stability and accuracy of the signal, the ultrasonic generator usually generates an ultrasonic signal of a specific frequency under the drive of the control circuit. For example, the ultrasonic generator can be a piezoelectric ceramic piece of model PZT-5 or a transducer of model SPR40B.
[0043] S2: The receiving module receives the ultrasonic signal emitted by the ultrasonic transmitting module and converts the received ultrasonic signal into a voltage value.
[0044] In this step, the ultrasonic receiving module receives the ultrasonic signal and converts it into an electrical signal. The ultrasonic receiving head can be a piezoelectric sensor or a microphone, which is used to receive the ultrasonic signal and convert it into an electrical signal. Then, the amplifier circuit amplifies the received electrical signal for subsequent processing. For example, the ultrasonic receiving head can be a piezoelectric sensor model CeramicPiezo Disc or a microphone model ECM-4005.
[0045] S3: AD acquisition module converts the voltage value into a data signal.
[0046] In this step, the AD acquisition module converts the received voltage value into a digital signal. The AD acquisition module can be an analog-to-digital converter (ADC), such as a 16-bit ADC of model ADS1115. The AD acquisition module converts the analog signal into a digital signal for subsequent data processing.
[0047] S4: The data processing module obtains the source data SD of each ultrasonic head collected by the AD acquisition module.
[0048] In this step, the data processing module will read the source data SD of each ultrasonic head collected by the AD acquisition module. These data will be used for subsequent data processing to eliminate data errors caused by hardware feature differences and installation errors.
[0049] S5: Calculate the average value TAVG of two adjacent source data SD.
[0050] In this step, the data processing module calculates the average value TAVG of two adjacent source data SD. Specifically, for three ultrasonic heads, there will be two adjacent source data SD, namely SD1 and SD2, SD2 and SD3. The calculation formulas are TAVG1 = (SD1 + SD2) / 2 and TAVG2 = (SD2 + SD3) / 2.
[0051] S6: Perform a proportional calculation on the calculated TAVG value and the adjacent average value maximum value MTAVG obtained during calibration to obtain a mapping value MD.
[0052] In this step, the data processing module will calculate the calculated TAVG value and the adjacent average value maximum MTAVG obtained during calibration to obtain the mapping value MD. The specific formula is: Where k is a constant coefficient used to adjust the size of the mapping value.
[0053] S7: All mapping values MD are accumulated and averaged to obtain the output signal SOUT of the sensor.
[0054] In this step, the data processing module will accumulate and average all the mapping values MD to obtain the output signal SOUT of the sensor. The specific formula is:
[0055] Among them, MD_i represents the i-th mapping value, and N represents the total number of mapping values. This method can effectively reduce data fluctuations and improve system stability.
[0056] S8: The ultrasonic heads arranged in a triangle can make up for the blind spots by using the overlapping parts between adjacent ultrasonic heads.
[0057] In this step, since the ultrasonic heads are arranged in an equilateral triangle, the overlapping parts between adjacent ultrasonic heads can complement each other, thus making up for the blind spots. This layout not only improves the detection accuracy of the system, but also reduces data errors.
[0058] This embodiment also provides an electronic device. The electronic device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a wide-band ultrasonic sensor data processing method is implemented: S1: The transmitting module transmits an ultrasonic signal with a fixed frequency; S2: The receiving module receives the ultrasonic signal emitted by the ultrasonic transmitting module and converts the received ultrasonic signal into a voltage value; S3: AD acquisition module converts the voltage value into a data signal; S4: The data processing module obtains the source data SD of each ultrasonic head collected by the AD acquisition module; S5: Calculate the average value TAVG of two adjacent source data SD; S6: Proportionally calculate the calculated TAVG value and the adjacent average value maximum value MTAVG obtained during calibration to obtain a mapping value MD; S7: All mapping values MD are accumulated and averaged to obtain the output signal SOUT of the sensor. S8: The ultrasonic heads arranged in a triangle can use the overlapped parts between adjacent ultrasonic heads to make up for the blind area. When the computer program is executed by the processor, any wide-band ultrasonic sensor data processing method in the above method embodiment can be implemented.
[0059] This embodiment further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: S1: The transmitting module transmits an ultrasonic signal with a fixed frequency; S2: The receiving module receives the ultrasonic signal emitted by the ultrasonic transmitting module and converts the received ultrasonic signal into a voltage value; S3: AD acquisition module converts the voltage value into a data signal; S4: The data processing module obtains the source data SD of each ultrasonic head collected by the AD acquisition module; S5: Calculate the average value TAVG of two adjacent source data SD; S6: Proportionally calculate the calculated TAVG value and the adjacent average value maximum value MTAVG obtained during calibration to obtain a mapping value MD; S7: All mapping values MD are accumulated and averaged to obtain the output signal SOUT of the sensor. S8: The ultrasonic heads arranged in a triangle can make up for the blind spots by using the overlapping parts between adjacent ultrasonic heads.
[0060] When the computer program is executed by a processor, any wide-band ultrasonic sensor data processing method in the above method embodiments can be implemented.
[0061] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
[0062] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.
[0063] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application is described in detail in the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some of the technical features therein by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.
Claims
1. A wide-band ultrasonic sensor data processing system, characterized in that: include: A plurality of ultrasonic transmitting modules arranged in an equilateral triangle; A plurality of ultrasonic receiving modules arranged in an equilateral triangle and facing each other with the ultrasonic transmitting module; Each ultrasonic transmitting module corresponds to an ultrasonic receiving module one by one; AD acquisition module, used for converting the ultrasonic signal received by the ultrasonic receiving module into a voltage value, and converting the voltage value into a data signal; The data processing module is used to perform the following steps: Acquire the source data SD of each ultrasonic head collected by the AD acquisition module; Calculate the average value TAVG of two adjacent source data SD; The calculated TAVG value is proportionally calculated with the adjacent average maximum value MTAVG obtained during calibration to obtain the mapping value MD; All mapping values MD are accumulated and averaged to obtain the output signal SOUT of the sensor; The ultrasonic heads arranged in a triangle can make up for the blind area by using the overlapping parts between adjacent ultrasonic heads.
2. A wide-band ultrasonic sensor data processing system according to claim 1, characterized in that: An isolation device is provided between the ultrasonic transmitting module and the ultrasonic receiving module to prevent signal interference from other ultrasonic transmitting modules.
3. A wide-band ultrasonic sensor data processing system according to claim 1, characterized in that: An isolation device is provided between the ultrasonic transmitting module and the ultrasonic receiving module to prevent signal interference from other ultrasonic transmitting modules.
4. A wide-band ultrasonic sensor data processing system according to claim 1, characterized in that: The number of the ultrasonic transmitting modules and the number of the ultrasonic receiving modules are both three, and they are respectively located at three vertices of an equilateral triangle.
5. A wide-band ultrasonic sensor data processing system according to claim 1, characterized in that: The working mode between the ultrasonic transmitting module and the ultrasonic receiving module is to transmit ultrasonic signals in time-sharing.
6. A wide-band ultrasonic sensor data processing system according to claim 1, characterized in that: The data processing module also includes a calibration unit, which is used to record the maximum value MSD of each ultrasonic head at the ultrasonic receiving end, and calculate the maximum value MTAVG of the signal average value of two adjacent ultrasonic heads at the receiving end. The ultrasonic receiving end converts the received ultrasonic signal into a voltage, and then converts the voltage value signal into a data signal through the AD acquisition module of the receiving end.
7. A wide-band ultrasonic sensor data processing system according to claim 1, characterized in that: The data processing module is further configured to use the following formula when calculating the mapping value MD: k: proportionality factor 0 <k<1; F: The maximum value of the mapping, usually 1024, 2048, 4096, etc., which are the resolution values of the AD module; The data processing module is also used to use the following formula when calculating the output signal SOUT of the sensor:
8. A wide-band ultrasonic sensor data processing method, characterized in that: The following steps are involved: S1: The transmitting module transmits an ultrasonic signal with a fixed frequency; S2: The receiving module receives the ultrasonic signal emitted by the ultrasonic transmitting module and converts the received ultrasonic signal into a voltage value; S3: AD acquisition module converts the voltage value into a data signal; S4: The data processing module obtains the source data SD of each ultrasonic head collected by the AD acquisition module; S5: Calculate the average value TAVG of two adjacent source data SD; S6: Proportionally calculate the calculated TAVG value and the adjacent average value maximum value MTAVG obtained during calibration to obtain a mapping value MD; S7: All mapping values MD are accumulated and averaged to obtain the output signal SOUT of the sensor. S8: The ultrasonic heads arranged in a triangle can make up for the blind spots by using the overlapping parts between adjacent ultrasonic heads.
9. An electronic device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the wide-band ultrasonic sensor data processing method as claimed in claim 8 are implemented.
10. A computer storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the wide-band ultrasonic sensor data processing method according to any one of claim 8 are implemented.