Synchronous response type single-point displacement monitoring method, device and equipment

Abstract

The invention relates to the technical field of ultrasonic ranging, in particular to a synchronous response type single-point displacement monitoring method, device and equipment, and the method comprises the steps: enabling an emitter to activate a receiver in a measurement working state, and enabling the emitter and the receiver to enter a time synchronization mode; in the time synchronization mode, the transmitter transmits a first ranging signal with a specified frequency to the receiver, when the receiver receives the first ranging signal, the receiver acquires first signal receiving time and transmits a second ranging signal with the same specified frequency to the transmitter, and the receiver receives the second signal receiving time. When the transmitter receives the second ranging signal, acquiring second signal receiving time; and obtaining relative displacement data of the transmitter and the receiver based on the first signal receiving time and the second signal receiving time. According to the invention, low-energy-consumption wake-up and time synchronization are carried out by using radio waves, and the problems of weak reflected signal and low detection sensitivity of a traditional echo-type ultrasonic method are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic distance measurement, and in particular to a synchronous response type single-point displacement monitoring method, device and equipment. Background Art

[0002] Currently, displacement detection technology is showing a diversified trend, covering positioning satellite RTK technology, image recognition technology, laser ranging technology, traditional ultrasonic ranging technology and millimeter wave radar monitoring technology, etc. However, the above methods are not within the scope of verification and adjustment focused on by this patent.

[0003] In substation applications, Beidou satellite RTK technology often causes unstable signals due to electromagnetic interference or building obstructions, and its accuracy (better than 3 cm in the horizontal direction and better than 5 cm in the vertical direction) cannot meet the stringent requirements for displacement monitoring in specific scenarios. Image recognition technology relies on image sensing equipment, which consumes significant energy and is difficult to support long-term uninterrupted monitoring tasks. At the same time, the lens is easily affected by pollutants such as dust, resulting in reduced monitoring accuracy. Laser ranging technology has relatively large errors when measuring at close range, and requires precise alignment of the target point, which makes operation difficult. Millimeter-wave radar technology faces the challenge of a wide emission angle, which makes it difficult to accurately identify the direction.

[0004] Traditional ultrasonic ranging technology is subdivided into three types: phase detection method, time of flight detection method (TOF, Time of Flight) and sound wave amplitude detection method. The phase detection method accurately calculates the distance based on the phase difference between the return wave and the transmitted wave. It has high accuracy, but the technical implementation is complex and is not suitable for online real-time monitoring. The sound wave amplitude detection method estimates the distance by analyzing the amplitude difference, but it is easily affected by the fluctuation of the attenuation coefficient of the conduction path. In an environment with large environmental changes, the attenuation is particularly significant. The time of flight detection method determines the distance by measuring the round-trip time delay of the ultrasonic wave. It is simple to implement and easy to promote, but it is limited by the characteristics of the reflecting surface. It is difficult to effectively measure point-reflecting targets, and when measuring at long distances, the echo signal strength is weakened, affecting the measurement accuracy. Summary of the invention

[0005] In order to solve the problem of weak reflection signal and low detection sensitivity of the traditional echo ultrasonic method, the present invention provides a synchronous response single-point displacement monitoring method, comprising the following steps:

[0006] S1: The receiver is installed on the target point to be measured. When the transmitter is in the measurement working state, the receiver is activated and the two enter the time synchronization mode;

[0007] S2: In the time synchronization mode, the transmitter sends a first ranging signal of a specified frequency to the receiver. When the receiver receives the first ranging signal, the first signal reception time is obtained, and a second ranging signal of the same specified frequency is sent back to the transmitter. When the transmitter receives the second ranging signal, the second signal reception time is obtained;

[0008] S3: Obtaining relative displacement data of the transmitter and the receiver based on the first signal receiving time and the second signal receiving time.

[0009] In one embodiment of the present invention, in S1, the method in which the transmitter starts the receiver to enter the time synchronization mode is as follows:

[0010] S11: the transmitter sends an electromagnetic wave signal including a receiver address, and based on the electromagnetic wave signal, the receiver starts and continuously monitors radio wave data;

[0011] S12: The transmitter sends the timing radio wave data for time synchronization again, and based on the timing radio wave data, the receiver completes the time synchronization with the transmitter.

[0012] In one embodiment of the present invention, in S12, before the transmitter sends the synchronization radio wave data for time synchronization again, the following steps are also included: the transmitter sends all electromagnetic wave signals and waits for a set first interruption duration.

[0013] In one embodiment of the present invention, in S2, before the transmitter sends the first ranging signal of the specified frequency to the receiver, the following steps are also included: after the transmitter completes sending the synchronization radio wave data, wait for a set second interruption duration.

[0014] In one embodiment of the present invention, in S2, before the receiver transmits back a second ranging signal of the same designated frequency to the transmitter, the following step is also included: waiting for a set third interruption duration.

[0015] In one embodiment of the present invention, the monitoring method further includes: when not in the measurement working state, the transmitter and the receiver are both in a dormant state.

[0016] Based on the same inventive concept, the present invention also provides a synchronous response single-point displacement monitoring device, including a transmitter and a receiver, wherein the receiver is installed on the target point to be measured; wherein the transmitter includes a radio generator, a pulse generator, a host waveform generator, a host real-time clock, a host microsecond timer, a host processor, a host signal transceiver probe and a host battery module; the receiver includes a radio receiver, a wireless trigger module, a slave waveform generator, a slave real-time clock, a slave microsecond timer, a slave processor, a slave signal transceiver probe and a slave battery module;

[0017] In the measurement working state, the transmitter is awakened by the host real-time clock, activating the receiver, and the two enter the time synchronization mode;

[0018] In the time synchronization mode, the host waveform generator sends a first ranging signal of a specified frequency to the receiver, and when the slave signal transceiver probe receives the first ranging signal, the slave processor obtains the first signal reception time through the slave real-time clock;

[0019] The slave waveform generator transmits a second ranging signal of the same specified frequency back to the transmitter, and when the host signal transceiver probe receives the second ranging signal, the host processor obtains the second signal reception time through the host real-time clock;

[0020] The host processor performs calculation based on the first signal reception time and the second signal reception time to obtain relative displacement data of the transmitter and the receiver.

[0021] In one embodiment of the present invention, after the transmitter is awakened by the host real-time clock, the host processor performs initialization settings, enters a measurement working state, and generates an electromagnetic wave signal containing a unique receiver address through the pulse generator and the radio generator;

[0022] The transmitter sends the electromagnetic wave signal to the receiver, the radio receiver receives the electromagnetic wave signal and activates the receiver, the wireless trigger module generates an interrupt signal to wake up the slave processor to start running from a sleep state, and the slave processor completes startup within the set startup time.

[0023] In one embodiment of the present invention, after the slave processor completes startup, after a fixed delay, the transmitter sends synchronization radio wave data to the receiver, and the host microsecond timer is cleared. When the radio receiver receives the synchronization radio wave data, the slave microsecond timer is cleared, completing the time synchronization between the transmitter and the receiver.

[0024] The present invention also provides an ultrasonic distance measuring device, comprising the synchronous response type single-point displacement monitoring device described above.

[0025] The above technical solution of the present invention has the following advantages compared with the prior art:

[0026] The time synchronization accuracy of the present invention can reach the microsecond level. At the same time, it avoids the problem that the traditional echo reflection method cannot measure the displacement of point targets. By adopting an active response mechanism, the intensity of the ultrasonic signal is significantly enhanced, so that the detection distance can be increased to more than twice that of the echo reflection method. At the same time, the monitoring device provided has low power consumption and is suitable for long-term outdoor monitoring work. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0028] Figure 1 is a flow chart of the synchronous response single-point displacement monitoring method provided in the first embodiment of the present invention;

[0029] Figure 2 yes Figure 1 A flow chart of a wireless signal transmission method of the monitoring method described in the invention;

[0030] Figure 3 is a schematic structural diagram of a synchronous response type single-point displacement monitoring device provided in the second embodiment of the present invention;

[0031] Description of the accompanying drawings in the specification: 100, time synchronization mode setting module; 200, receiving time acquisition module; 300, relative displacement calculation module;

[0032] 1. Transmitter; 11. Radio generator; 12. Pulse generator; 13. Host waveform generator; 14. Host real-time clock; 15. Host microsecond timer; 16. Host processor; 17. Host signal transceiver probe; 18. Host battery module;

[0033] 2. Receiver; 21. Radio receiver; 22. Wireless trigger module; 23. Slave waveform generator; 24. Slave real-time clock; 25. Slave microsecond timer; 26. Slave processor; 27. Slave signal transceiver probe; 28. Slave battery module. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0035] Embodiment 1

[0036] The present invention provides a synchronous response type single-point displacement monitoring method, comprising the following steps:

[0037] S1: Install the receiver at the target point to be measured. When in the measurement working state, the transmitter activates the receiver, and the two enter the time synchronization mode;

[0038] S2: In the time synchronization mode, the transmitter sends a first ranging signal of a specified frequency to the receiver. When the receiver receives the first ranging signal, the first signal reception time is obtained, and a second ranging signal of the same specified frequency is sent back to the transmitter. When the transmitter receives the second ranging signal, the second signal reception time is obtained;

[0039] S3: Obtaining relative displacement data of the transmitter and the receiver based on the first signal receiving time and the second signal receiving time.

[0040] From the above technical solutions, it can be seen that the present invention can calculate the tiny displacement changes between the transmitter and the receiver through precise timestamp recording (the first signal receiving time and the second signal receiving time), thereby realizing high-precision displacement monitoring; the transmitter and the receiver work in a time synchronization mode, ensuring the synchronization of signal sending and receiving, effectively avoiding errors caused by time asynchrony, and improving the accuracy of measurement.

[0041] Based on the above technical solution, refer to Figure 1 and Figure 2 As shown, the implementation method of the monitoring method is further specifically described, including three stages: initialization and activation of the time synchronization mode, exchange and reception of ranging signals, and calculation of relative displacement data, as follows:

[0042] S1. Initialization and activation of time synchronization mode

[0043] When not in the measurement working state, the transmitter and the receiver are both in a low-power sleep state. When the measurement operation is officially started, the transmitter performs the following steps to activate the receiver and put it into the time synchronization working mode:

[0044] S11: Receiver wake-up and address recognition

[0045] The transmitter sends an electromagnetic wave signal containing a unique receiver address, which is two bytes of encrypted data and is intended to wake up the receiver in a dormant state;

[0046] After receiving the radio wave data containing its address, the receiver completes the startup procedure within the preset time window T1 to ensure unimpeded communication with the transmitter.

[0047] S12: Establishment of time synchronization

[0048] After all wake-up related electromagnetic wave signal packets are sent, the transmitter stops sending and waits for a preset first interruption time T2 to ensure that the receiver has enough time to complete the startup and enter the monitoring state;

[0049] The transmitter then sends radio wave data for time synchronization, which carries precise timestamp information.

[0050] Within the fixed time length T3, when the receiver receives the time synchronization radio wave data, it completes the time reference alignment with the transmitter according to the timestamp in the time synchronization radio wave data to ensure the time synchronization of both parties.

[0051] S2: Exchange and reception of ranging signals

[0052] After time synchronization is established, the transmitter and receiver perform the following steps to perform ranging:

[0053] After the transmitter has sent the time synchronization radio wave and waited for a set second interruption time T4, it starts to transmit the ultrasonic ranging signal to the receiver at the specified frequency;

[0054] The receiver monitors and receives the ultrasonic signal within a fixed time window T5, and records the exact time when the signal is received, i.e., the first signal receiving time;

[0055] After receiving the signal, the receiver waits for a preset third interruption time T6 to ensure the integrity of signal processing and avoid signal conflicts, and then returns the ultrasonic ranging signal to the transmitter at the same specified frequency;

[0056] When the transmitter receives the return signal from the receiver, it records the time when the signal is received, that is, the second signal reception time.

[0057] S3: Calculation of relative displacement data

[0058] Based on the recorded first signal receiving time and second signal receiving time, mathematical calculation is performed in combination with the known transmission rate of ultrasonic waves in the medium to accurately obtain the relative displacement data between the two.

[0059] In addition, the monitoring method further includes: if the transmitter does not receive the ultrasonic signal from the receiver, the receiver repeatedly sends the ultrasonic signal to the transmitter; if the number of repetitions exceeds a set number num=3, it is determined that the transmitter has a fault problem.

[0060] In summary, this technology uses radio waves for low-energy wake-up and time synchronization, while ultrasound is used as a medium for precise ranging due to its good directivity and shorter wavelength. The combination of the two achieves efficient and accurate displacement monitoring; by setting time windows of different lengths, communication efficiency can be optimized, false alarm rate can be reduced, and the specific needs of different application scenarios can be adapted.

[0061] Embodiment 2

[0062] Based on the same inventive concept as the first embodiment, the present invention also provides a synchronous response type single point displacement monitoring device, such as Figure 3 As shown, it includes a transmitter 1 and a receiver 2, and the receiver 2 is installed on the target point to be measured; wherein, the transmitter 1 includes a radio generator 11, a pulse generator 12, a host waveform generator 13, a host real-time clock 14, a host microsecond timer 15, a host processor 16, a host signal transceiver probe 17 and a host battery module 18 for supplying power to various components of the transmitter 1;

[0063] The receiver 2 includes a radio receiver 21, a wireless trigger module 22, a slave waveform generator 23, a slave real-time clock 24, a slave microsecond timer 25, a slave processor 26, a slave signal transceiver probe 27 and a slave battery module 28 for supplying power to the components of the receiver 2.

[0064] When not in the measurement working state, the transmitter 1 and the receiver 2 are both in a dormant state.

[0065] In the measurement working state, the transmitter 1 is awakened by the host real-time clock 14, activating the receiver 2, and both enter the time synchronization mode, which specifically includes:

[0066] After the transmitter 1 is awakened by the host real-time clock, the host processor 16 performs initialization settings and enters the measurement working state, and generates an electromagnetic wave signal containing a unique receiver address through the radio generator 11 and the pulse generator 12. The electromagnetic wave signal is an encrypted two-byte data, and the two-byte data that is not related to the address of the receiver 2 cannot wake up the receiver 2;

[0067] The transmitter 1 sends the electromagnetic wave signal to the receiver 2, the radio receiver 21 receives the electromagnetic wave signal and activates the receiver 2, the wireless trigger module 22 generates an interrupt signal to wake up the slave processor 26 to start running from the sleep state, and the slave processor 26 completes the startup within the set startup time.

[0068] After all wake-up related radio wave data packets are sent, the radio generator 11 stops sending and waits for a first interruption duration T2 preset in the host microsecond timer 15 to ensure that the receiver 2 has enough time to complete the startup and enter the listening state;

[0069] Subsequently, the radio generator 11 sends the radio wave data for time synchronization, which carries accurate timestamp information, and at the same time, the host microsecond timer 15 is reset;

[0070] Within the fixed time period T3, when the radio receiver 21 receives the synchronization radio wave data, the slave microsecond timer 25 is reset to zero, ensuring the time synchronization between the transmitter 1 and the receiver 2.

[0071] In the time synchronization mode, after the radio generator 11 sends the synchronization radio wave data and waits for a set second interruption duration T4, the host waveform generator 13 sends an ultrasonic ranging signal of a specified frequency, i.e., a first ranging signal, to the receiver 2;

[0072] When the slave signal transceiver probe 27 monitors and receives the first ranging signal within the fixed time window T5, the slave processor 26 obtains the first signal receiving time through the slave real-time clock 14;

[0073] After receiving the signal, the slave waveform generator 23 waits for a preset third interruption time T6 to ensure the integrity of signal processing and avoid signal conflicts, and then transmits a second ranging signal back to the transmitter 1 at the same specified frequency;

[0074] When the host signal transceiver probe 17 receives the second ranging signal, the host processor 16 obtains the second signal receiving time through the host real-time clock 14;

[0075] The host processor 16 calculates the relative displacement data of the transmitter 1 and the receiver 2 based on the first signal receiving time and the second signal receiving time in combination with the known transmission rate of ultrasound in the medium.

[0076] Embodiment 3

[0077] The present invention also provides an ultrasonic distance measuring device, which includes the synchronous response type single-point displacement monitoring device described in the second embodiment.

[0078] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0079] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0080] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0081] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, and the instructions executed on the computer or other programmable device provide the instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0082] Obviously, the above embodiments are merely examples for clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the protection scope of the invention.

Claims

1. A synchronous response single-point displacement monitoring method, characterized in that: The following steps are involved: S1: The receiver is installed on the target point to be measured. When the transmitter is in the measurement working state, the receiver is activated and the two enter the time synchronization mode; S2: In the time synchronization mode, the transmitter sends a first ranging signal of a specified frequency to the receiver. When the receiver receives the first ranging signal, the first signal reception time is obtained, and a second ranging signal of the same specified frequency is sent back to the transmitter. When the transmitter receives the second ranging signal, the second signal reception time is obtained; S3: Obtaining relative displacement data of the transmitter and the receiver based on the first signal receiving time and the second signal receiving time.

2. The synchronous response single-point displacement monitoring method according to claim 1, characterized in that: In S1, the transmitter starts the receiver to enter the time synchronization mode as follows: S11: the transmitter sends an electromagnetic wave signal including a receiver address, and based on the electromagnetic wave signal, the receiver starts and continuously monitors radio wave data; S12: The transmitter sends the timing radio wave data for time synchronization again, and based on the timing radio wave data, the receiver completes the time synchronization with the transmitter.

3. The synchronous response single-point displacement monitoring method according to claim 2 is characterized in that: In S12, before the transmitter sends the synchronization radio wave data for time synchronization again, the following steps are also included: the transmitter sends all electromagnetic wave signals and waits for a set first interruption duration.

4. The synchronous response single-point displacement monitoring method according to claim 2, characterized in that: In S2, before the transmitter sends the first ranging signal of the designated frequency to the receiver, the following step is also included: after the transmitter finishes sending the synchronization radio wave data, wait for a set second interruption duration.

5. The synchronous response single-point displacement monitoring method according to claim 1, characterized in that: In S2, before the receiver transmits back a second ranging signal of the same designated frequency to the transmitter, the following steps are also included: waiting for a set third interruption duration.

6. The synchronous response single-point displacement monitoring method according to claim 1, characterized in that: The monitoring method further includes: when not in the measurement working state, the transmitter and the receiver are both in a dormant state.

7. A synchronous response single-point displacement monitoring device, characterized in that: The device comprises a transmitter and a receiver, wherein the receiver is installed at the target point to be measured; wherein the transmitter comprises a radio generator, a pulse generator, a host waveform generator, a host real-time clock, a host microsecond timer, a host processor, a host signal transceiver probe and a host battery module; the receiver comprises a radio receiver, a wireless trigger module, a slave waveform generator, a slave real-time clock, a slave microsecond timer, a slave processor, a slave signal transceiver probe and a slave battery module; In the measurement working state, the transmitter is awakened by the host real-time clock, activating the receiver, and the two enter the time synchronization mode; In the time synchronization mode, the host waveform generator sends a first ranging signal of a specified frequency to the receiver, and when the slave signal transceiver probe receives the first ranging signal, the slave processor obtains the first signal reception time through the slave real-time clock; The slave waveform generator transmits a second ranging signal of the same specified frequency back to the transmitter, and when the host signal transceiver probe receives the second ranging signal, the host processor obtains the second signal reception time through the host real-time clock; The host processor performs calculation based on the first signal reception time and the second signal reception time to obtain relative displacement data of the transmitter and the receiver.

8. The synchronous response single-point displacement monitoring device according to claim 7, characterized in that: After the transmitter is awakened by the host real-time clock, the host processor performs initialization settings and enters a measurement working state, and generates an electromagnetic wave signal containing a unique receiver address through the pulse generator and the radio generator; The transmitter sends the electromagnetic wave signal to the receiver, the radio receiver receives the electromagnetic wave signal and activates the receiver, the wireless trigger module generates an interrupt signal to wake up the slave processor to start running from a sleep state, and the slave processor completes startup within the set startup time.

9. The synchronous response type single-point displacement monitoring device according to claim 7, characterized in that: After the slave processor completes startup, after a fixed delay, the transmitter sends synchronization radio wave data to the receiver, and the host microsecond timer is cleared. When the radio receiver receives the synchronization radio wave data, the slave microsecond timer is cleared, completing the time synchronization between the transmitter and the receiver.

10. An ultrasonic distance measuring device, characterized in that: It comprises a synchronous response single-point displacement monitoring device as described in any one of claims 7 to 9.

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