Sensor signal processing method

Abstract

The present invention belongs to the technical field of sensors, and in particular relates to a signal processing method for sensors. The present invention can greatly avoid mutual interference between sensor sensing elements and ensure detection accuracy by slightly adjusting and limiting the wave transmission signals and their sequences.

Description

Technical Field

[0001] The invention belongs to the technical field of sensors, and in particular relates to a signal processing method of a sensor. Background Art

[0002] Intelligent devices such as humanoid robots have complex structures. In order to achieve the dexterity of robots and complete complex tasks, they need to be equipped with small, flexible, and highly sensitive sensors. When the sensing elements of multiple sensors are installed adjacently or on the same carrier, they are prone to mutual interference, which affects the detection accuracy and cannot meet the detection needs in a compact installation area. Summary of the invention

[0003] The object of the present invention is to provide a sensor signal processing method, which can effectively improve the accuracy of short-range distance measurement.

[0004] To achieve the above purpose, the technical solution adopted by the present invention is: a signal processing method of a sensor, the sensor includes a transducer element, two or more transducer element arrays are arranged on the surface of a plane or curved workpiece, and each transducer element is electrically connected to the same signal transmitting module and signal receiving module through a distribution circuit;

[0005] Step A: The signal transmitting module sends out a first electronic pulse wave, the transducer element receives the electronic pulse wave output by the signal transmitting module, and converts the electronic pulse wave into an ultrasonic signal to be transmitted outwardly. After a preset time interval t1, the signal receiving module receives the echo signal collected by the transducer element.

[0006] If the signal receiving module obtains a valid echo signal, the time difference between the transducer element transmitting the ultrasonic wave and receiving the echo signal is calculated to obtain the distance between the measured object and the transducer element;

[0007] If the signal receiving module fails to obtain a valid echo signal, proceed to step B;

[0008] Step B, the signal transmitting module emits a second electronic pulse wave, the amplitude power of the first electronic pulse wave is A1, the number of pulse waveforms is M1, the amplitude power of the second electronic pulse wave is A2, the number of pulse waveforms is M2, A2>A1 and M2>M1;

[0009] The transducer element receives the electronic pulse wave output by the signal transmitting module, and converts the electronic pulse wave into an ultrasonic signal to be transmitted outward. After a preset time interval t2, the signal receiving module receives the echo signal collected by the transducer element.

[0010] If the signal receiving module obtains a valid echo signal, the time difference between the transducer element transmitting the ultrasonic wave and receiving the echo signal is calculated to obtain the distance between the measured object and the transducer element;

[0011] If the signal receiving module fails to obtain a valid echo signal, proceed to step A.

[0012] Compared with the prior art, the present invention has the following technical effects: through reasonable design, slight adjustments and limitations on the wave signals and their sequences can be made, thereby greatly avoiding mutual interference among sensor sensing elements and ensuring detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The following is a brief description of the contents and symbols in the drawings of this specification:

[0014] Figure 1 is a schematic diagram of the present invention;

[0015] Figure 2 It is a schematic diagram of the transducer elements distributed in a 3×3 array. DETAILED DESCRIPTION

[0016] The specific implementation of the present invention is further described in detail below through description of embodiments in conjunction with the accompanying drawings.

[0017] As attached Figure 1 As shown, the sensor needs to be provided with at least a transducer element 10, an electric signal generating module 20, an electric signal receiving module 30, a wave generation monitoring module 40, a piezoelectric effect monitoring module 50 and a controller 60. Among them, the transducer element 10 needs to be made of a material having a piezoelectric effect. When the transducer element 10 is arranged at a distance from the object to be measured, the transducer element 10 first receives the electric pulse output by the electric signal generating module 20, and converts the electric pulse into an ultrasonic signal to be emitted outward, and then receives the ultrasonic echo signal and converts it into an electric pulse and transmits it to the electric signal receiving module 30; when the transducer element 10 contacts the object to be measured and the object to be measured applies a force to the transducer element 10, the transducer element 10 converts the mechanical force into an electric signal under the action of the piezoelectric effect and transmits it to the piezoelectric effect monitoring module 50.

[0018] The electric signal generating module 20 can modulate electric pulses and output them to the transducer element 10. The electric signal receiving module 30 can receive the echo signal collected by the echo transducer element 10 and output it to the controller 60 after demodulation. The wave emission monitoring module 40 can monitor the amplitude of the transducer element 10 when the transducer element 10 emits ultrasonic signals. The piezoelectric effect monitoring module 50 collects the voltage changes when the transducer element 10 is subjected to mechanical pressure. The controller 60 is used to control the start and stop and timing of the transducer element 10, the electric signal generating module 20, the electric signal receiving module 30, the wave emission monitoring module 40, and the piezoelectric effect monitoring module 50, and collects the information uploaded by each component and analyzes and outputs the detection results.

[0019] Two or more transducer elements 10 are arranged in an array on a flat or curved workpiece surface, and each transducer element 10 is electrically connected to the same electrical signal generating module 20 and electrical signal receiving module 30 through a distribution circuit. Figure 2 As shown, an array of 9 transducer elements is arranged on the outer surface of the moving part of the equipment. By analyzing the relative position relationship of the transducer elements 10 and the collected echo signals, the approximate shape, size, spatial position of the object being measured, and the position relationship between the object and each transducer element 10 and other information are obtained.

[0020] In order to reduce the influence of the carrier on the wave transmission and echo detection of the transducer element 10 when the transducer element 10 is closely arranged and installed on the same carrier, or the multipath reception of the reflected echo of the irregular object at the receiving end, causing interference and ranging error, this embodiment provides the following sensor signal processing method:

[0021] In step A, the signal transmitting module 20 emits a first electronic pulse wave, the transducer element 10 receives the electronic pulse wave output by the signal transmitting module 20 and converts the electronic pulse wave into an ultrasonic signal to be emitted outwardly. After a preset time interval t1, the signal receiving module 30 receives the echo signal collected by the transducer element 10.

[0022] If the signal receiving module 30 obtains a valid echo signal, the time difference between the transducer element 10 transmitting the ultrasonic wave and receiving the echo signal is calculated to obtain the distance between the measured object and the transducer element 10;

[0023] If the signal receiving module 30 fails to obtain a valid echo signal, the process goes to step B.

[0024] Step B, the signal transmitting module 20 emits a second electronic pulse wave, the amplitude power of the first electronic pulse wave is A1, the number of pulse waveforms is M1, the amplitude power of the second electronic pulse wave is A2, the number of pulse waveforms is M2, A2>A1 and M2>M1;

[0025] The transducer element 10 receives the electronic pulse wave output by the signal transmitting module 20, and converts the electronic pulse wave into an ultrasonic signal to be transmitted outwardly. After a preset time interval t2, the signal receiving module 30 receives the echo signal collected by the transducer element 10.

[0026] If the signal receiving module 30 obtains a valid echo signal, the time difference between the transducer element 10 transmitting the ultrasonic wave and receiving the echo signal is calculated to obtain the distance between the measured object and the transducer element 10;

[0027] If the signal receiving module 30 fails to obtain a valid echo signal, the process goes to step A.

[0028] That is, the signal transmitting module 20 emits the first electronic pulse wave and the second electronic pulse wave alternately, and first emits the first electronic pulse wave with lower amplitude power and fewer pulse waveforms. The first electronic pulse wave has lower amplitude power, which can effectively reduce the resonance of adjacent transducer elements 10 through the carrier that affects the accuracy of the detection result. It can also prevent the strong echo that occurs when the distance between the measured target and the transducer element 10 is small and the measurement error caused by the reflection of nearby non-target objects. Fewer pulse waveforms can prevent the blind spot identification from being blocked due to the small distance between the measured object and the transducer element 10 and the fast echo. Fewer pulse waveforms can also shorten the transmission time, thereby avoiding the occupation of the receiving channel caused by the long transmission time, which causes the echo reception to be blocked or omitted and affects the measurement accuracy.

[0029] For the convenience of description, the transducer elements 10 are numbered, and the i-th transducer element is N. i , the transducer element array includes N1, N2...N n , where n is the total number of transducer elements 10 and n≥2.

[0030] Step A includes steps A1 and A2. In step A1, the i-th transducer element N i The ultrasonic signal is emitted, and after the signal receiving module 30 obtains a valid echo signal, the other transducer elements 10 in the transducer element array except Ni emit ultrasonic signals in turn and obtain their corresponding echo signals, and the kth transducer element N with the smallest distance from the object to be measured is obtained. k , and proceed to step A2. In step A2, first, the kth transducer element N identified in step A1 k After the signal receiving module 30 obtains a valid echo signal, the ultrasonic wave signal is sent out, and the ultrasonic wave signal is sent out in turn by the transducer element array except the kth transducer element N k The other transducer elements 10 except the transducer element 10 send out ultrasonic signals and obtain their corresponding echo signals, so as to obtain the minimum distance and the maximum distance between the transducer element 10 group and the measured object.

[0031] Similarly, step B includes steps B1 and B2. In step B1, the i-th transducer element N i The ultrasonic signal is emitted, and after the signal receiving module 30 obtains a valid echo signal, the other transducer elements 10 in the transducer element array except Ni emit ultrasonic signals in turn and obtain their corresponding echo signals, and the kth transducer element N with the smallest distance from the object to be measured is obtained. k , and proceed to step B2. In step B2, first, the kth transducer element N identified in step B1 k After the signal receiving module 30 obtains a valid echo signal, the ultrasonic wave signal is sent out, and the ultrasonic wave signal is sent out in turn by the transducer element array except the kth transducer element N kThe other transducer elements 10 except the transducer element 10 send out ultrasonic signals and obtain their corresponding echo signals, so as to obtain the minimum distance and the maximum distance between the transducer element 10 group and the measured object.

[0032] In steps A1 and B1, each transducer element 10 detects the object to be measured based on the first electronic pulse wave and the second electronic pulse wave emitted by the signal transmitting module 20, so that the distance between the object and each transducer element 10 can be preliminarily known, and the distance between the object to be measured and the moving part of the transducer element array can be preliminarily determined.

[0033] Preferably, in step A2, the signal transmitting module 20 should be based on the kth transducer element N in step A1. k The frequency and other characteristics of the electronic pulse wave are adjusted according to the distance from the object to be measured. In step B2, the signal transmitting module 20 should adjust the frequency and other characteristics of the electronic pulse wave according to the kth transducer element N in step B1. k The frequency and other characteristics of the electronic pulse wave are adjusted according to the distance from the measured object. Among them, the frequency of the electronic pulse wave should be selected from the operating frequency of 40KHz-2.5MHz according to the beam directivity and field range of the transducer element. After completing steps A2 and B2, the controller 60 analyzes the echo data to obtain information such as the approximate shape, size, spatial position of the measured object, and the positional relationship between the object and each transducer element 10.

[0034] When the distance between the transducer element array and the object to be measured is small, the ultrasonic wave emitted by the transducer element 10 will have multipath reflection on the surface of the object to be measured. In the actual measurement process, when the distance between the transducer element 10 arranged on the surface of the equipment's moving part and the object to be measured gradually decreases, the path of the echo signal becomes very complicated. In order to reduce the adverse effects of the multipath reflection characteristics of the echo of the object to be measured, the controller 60 is guided by the discovery of the target. In the area where the target may be touched first, the ranging elements arranged adjacently in any designated array form a ranging group, a boundary group, and a precision measurement group, and perform ranging according to the groups in turn, and collect the distance information of the working object respectively, so as to obtain the approximate position of the object to be measured and its minimum distance from the transducer element array.

[0035] One specific embodiment is as follows:

[0036] In step A2, the kth transducer element N identified in step A1 is first k After the signal receiving module 30 obtains a valid echo signal, the N k Other transducer elements 10 other than the first transducer element 10 send ultrasonic signals and obtain their corresponding echo signals to obtain the distance between each transducer element 10 and the measured object. When the difference between the distances between the two groups of measured objects obtained by obtaining the echo signals is greater than the preset value, it is determined that there is echo interference, and the process goes to step A3.

[0037] In step A3, based on the electronic pulse wave output by the signal transmitting module 20 in step A1, the amplitude power of the electronic pulse wave output by the signal transmitting module 20 is further reduced and the number of pulse waveforms is reduced, and the a transducer elements 10 with the smallest distance between the transducer element 10 and the object to be measured are divided into a precision measurement group, where 3≤a≤6.

[0038] The transducer element 10 with the smallest distance from the object to be measured is N min , the smallest transducer element N adjacent to min The two transducer elements 10 are first adjacent transducer elements N m1 , the second adjacent transducer element N m2 .

[0039] The smallest transducer element N min With f 0- and f 0+ The ultrasonic signal is emitted, and the first adjacent transducer element N m1 , the second adjacent transducer element N m2 Collect echo signals. In this way, the minimum spacing between transducer elements N min While emitting an ultrasonic signal, the first adjacent transducer element N m1 , the second adjacent transducer element N m2 The echo signal can be collected synchronously, improving the real-time performance of echo signal collection, thereby ensuring the detection accuracy when the distance between the transducer element array and the object to be measured is small. m1 , the second adjacent transducer element N m2 The collected echo signals can be compared to verify the accuracy of the echo data.

[0040] Similarly, step B may also include step B3. When the difference between the distances between the two groups of measured objects obtained by acquiring the echo signal in step B2 is greater than a preset value, it is determined that there is echo interference and the process proceeds to step B3. In step B3, based on the electronic pulse wave output by the signal transmitting module 20 in step B1, the amplitude power of the electronic pulse wave output by the signal transmitting module 20 is further reduced and the number of pulse waveforms is reduced, and the a transducer elements 10 with the smallest distance between the transducer element 10 and the measured object are divided into a precision measurement group, where 3≤a≤6. The transducer element 10 with the smallest distance between the transducer element 10 and the measured object is N. min , the smallest transducer element N adjacent to min The two transducer elements 10 are first adjacent transducer elements N m1 , the second adjacent transducer element N m2 . The minimum spacing between transducer elements N min With f 0- and f 0+ The ultrasonic signal is emitted, and the first adjacent transducer element N m1 , the second adjacent transducer element Nm2 Collect echo signals.

[0041] This embodiment uses two or more transducer elements 10 arranged adjacent to the wave-transmitting transducer element 10 to collect echoes, which can avoid interference from blind spots in close-range detection and eliminate measurement errors caused by multipath transmission of echoes in close range.

[0042] Another embodiment is as follows:

[0043] In step A2, the kth transducer element N identified in step A1 is first k After the signal receiving module 30 obtains a valid echo signal, the N k The other transducer elements 10 except the first transducer element 10 send out ultrasonic signals and obtain their corresponding echo signals to obtain the distance between each transducer element 10 and the object to be measured. When the difference between the distances between the two groups of objects to be measured obtained by obtaining the echo signals is greater than the preset value, step A3 is entered.

[0044] In step A3, based on the electronic pulse wave output by the signal transmitting module 20 in step A1, the amplitude power of the electronic pulse wave output by the signal transmitting module 20 is reduced and the number of pulse waveforms is reduced, and the transducer elements 10 with the smallest distance between them and the object to be measured are divided into precision measurement groups, where 3≤a≤6.

[0045] The transducer element 10 with the smallest distance from the object to be measured is N min , the smallest transducer element N adjacent to min The two transducer elements 10 are first adjacent transducer elements N m1 , the second adjacent transducer element N m2 .

[0046] First, the minimum spacing transducer element N min With f 0- and f 0+ Send out ultrasonic signal, wait for the minimum distance transducer element N min After acquiring the echo signal;

[0047] By the first adjacent transducer element N m1 The following frequency conversion f 0- Transmit ultrasonic signal, wait for the first adjacent transducer element N m1 After acquiring the echo signal;

[0048] By the second adjacent transducer element N m2 The above frequency conversion f 0+ The ultrasonic signal is emitted, and the second adjacent transducer element N m2 The echo signal is collected.

[0049] Similarly, step B may also have step B3. When the difference between the distances between the two groups of measured objects obtained by acquiring the echo signal is greater than a preset value, it is determined that there is echo interference and the process proceeds to step B3. In step B3, based on the electronic pulse wave output by the signal transmitting module 20 in step B1, the amplitude power of the electronic pulse wave output by the signal transmitting module 20 is reduced and the number of pulse waveforms is reduced. The transducer elements 10 with the smallest distance from the measured object are divided into a precision measurement group, where 3≤a≤6. The transducer element 10 with the smallest distance from the measured object is N. min , the smallest transducer element N adjacent to min The two transducer elements 10 are first adjacent transducer elements N m1 , the second adjacent transducer element N m2 . First, the transducer element with the smallest spacing N min With f 0- and f 0+ Send out ultrasonic signal, wait for the minimum distance transducer element N min After the echo signal is collected, the first adjacent transducer element N m1 The following frequency conversion f 0- Transmit ultrasonic signal, wait for the first adjacent transducer element N m1 After the echo signal is collected, the second adjacent transducer element N m2 The above frequency conversion f 0+ The ultrasonic signal is emitted, and the second adjacent transducer element N m2 The echo signal is collected.

[0050] In this embodiment, adjacent transducer elements 10 are configured to respectively transmit staggered frequency detection waves to avoid interference in a close-range detection blind zone.

[0051] In specific implementation, when the distance between the transducer element array and the object to be measured is small, the above two embodiments can also be applied successively, that is, two or more transducer elements 10 arranged adjacent to the wave-emitting transducer element 10 are applied successively or alternately to collect echoes, and adjacent transducer elements 10 respectively transmit wrong-frequency detection waves for detection, and the controller 60 compares the action path of the action component to verify the echo signal result to obtain an accurate ranging result.

Claims

1. A sensor signal processing method, characterized in that: The sensor comprises a transducer element (10), wherein two or more transducer elements (10) are arrayed on a flat or curved workpiece surface, and each transducer element (10) is electrically connected to the same signal transmitting module (20) and signal receiving module (30) through a distribution circuit; A) the signal transmitting module (20) emits a first electronic pulse wave, the transducer element (10) receives the electronic pulse wave output by the signal transmitting module (20), and converts the electronic pulse wave into an ultrasonic wave signal and transmits it outward, and after a preset time interval t1, the signal receiving module (30) receives the echo signal collected by the transducer element (10), If the signal receiving module (30) obtains a valid echo signal, the time difference between the transducer element (10) transmitting the ultrasonic wave and receiving the echo signal is calculated to obtain the distance between the measured object and the transducer element (10); If the signal receiving module (30) fails to obtain a valid echo signal, proceed to step B; B) the signal transmitting module (20) emits a second electronic pulse wave, wherein the amplitude power of the first electronic pulse wave is A1, the number of pulse waveforms is M1, the amplitude power of the second electronic pulse wave is A2, the number of pulse waveforms is M2, A2>A1 and M2>M1; The transducer element (10) receives the electronic pulse wave output by the signal transmitting module (20), and converts the electronic pulse wave into an ultrasonic signal and transmits it outwardly. After a preset time interval t2, the signal receiving module (30) receives the echo signal collected by the transducer element (10). If the signal receiving module (30) obtains a valid echo signal, the time difference between the transducer element (10) transmitting the ultrasonic wave and receiving the echo signal is calculated to obtain the distance between the measured object and the transducer element (10); If the signal receiving module (30) fails to obtain a valid echo signal, proceed to step A.

2. The sensor signal processing method according to claim 1, characterized in that: The transducer elements (10) are numbered, and the i-th transducer element is N i , the transducer element array includes N1, N2...N n , wherein n is the total number of transducer elements (10) and n≥2; Step A1 / Step B1, first, the i-th transducer element N i An ultrasonic signal is emitted, and after the signal receiving module (30) obtains a valid echo signal, the other transducer elements (10) except Ni in the transducer element array emit ultrasonic signals in sequence and obtain their corresponding echo signals, thereby obtaining the kth transducer element N with the smallest distance from the object to be measured. k , proceed to step A2 / step B2; Step A2 / Step B2, first, the kth transducer element N identified in step A1 / Step B2 k An ultrasonic signal is emitted, and after the signal receiving module (30) obtains a valid echo signal, the ultrasonic signal is sequentially transmitted from the transducer element array except the kth transducer element N k Other transducer elements (10) other than the transducer element (10) send out ultrasonic signals and obtain corresponding echo signals, thereby obtaining the minimum spacing and the maximum spacing between the transducer element (10) group and the object to be measured.

3. The sensor signal processing method according to claim 2, characterized in that: In step A2 / step B2, the kth transducer element Nk identified in step A1 / step B1 first sends out an ultrasonic signal, and after the signal receiving module (30) obtains a valid echo signal, the other transducer elements (10) in the transducer element array except Nk send out ultrasonic signals in turn and obtain their corresponding echo signals, so as to obtain the distance between each transducer element (10) and the measured object, and when the difference between the distances between the two groups of measured objects obtained by obtaining the echo signals is greater than a preset value, step A3 / step B3 is entered; Step A3 / Step B3, reducing the amplitude power of the electronic pulse wave output by the signal transmission module (20) and reducing the number of pulse waveforms, dividing the transducer elements (10) into a precision measurement group with the smallest distance between the transducer element (10) and the measured object, where 3≤a≤6, The transducer element (10) with the smallest distance from the object to be measured is N. min , the smallest transducer element N adjacent to min The two transducer elements (10) are first adjacent transducer elements N m1 , the second adjacent transducer element N m2 , The smallest transducer element N min With f 0- and f 0+ The ultrasonic signal is emitted, and the first adjacent transducer element N m1 , the second adjacent transducer element N m2 Collect echo signals.

4. The sensor signal processing method according to claim 2, characterized in that: In step A2 / step B2, the kth transducer element Nk identified in step A1 / step B2 first sends out an ultrasonic signal, and after the signal receiving module (30) obtains a valid echo signal, the other transducer elements (10) in the transducer element array except Nk send out ultrasonic signals in turn and obtain their corresponding echo signals, so as to obtain the distance between each transducer element (10) and the measured object, and when the difference between the distances between the two groups of measured objects obtained by obtaining the echo signals is greater than a preset value, step A3 / step B3 is entered; Step A3 / Step B3, reducing the amplitude power of the electronic pulse wave output by the signal transmission module (20) and reducing the number of pulse waveforms, dividing the transducer elements (10) into a precision measurement group with the smallest distance between the transducer element (10) and the measured object, where 3≤a≤6, The transducer element (10) with the smallest distance from the object to be measured is N. min , the smallest transducer element N adjacent to min The two transducer elements (10) are first adjacent transducer elements N m1 , the second adjacent transducer element N m2 , First, the minimum spacing transducer element N min With f 0- and f 0+ Send out ultrasonic signal, wait for the minimum distance transducer element N min After acquiring the echo signal, By the first adjacent transducer element N m1 The following frequency conversion f 0- Transmit ultrasonic signal, wait for the first adjacent transducer element N m1 After acquiring the echo signal, By the second adjacent transducer element N m2 The above frequency conversion f 0+ The ultrasonic signal is emitted, and the second adjacent transducer element N m2 The echo signal is collected.

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