Ultrasonic ranging self-checking device and method

Abstract

The invention provides an ultrasonic ranging self-checking device and method, and relates to the technical field of ultrasonic ranging, the ultrasonic ranging self-checking device comprises at least one ultrasonic transmitting part and at least two ultrasonic receiving parts, and a distance difference Hij exists between the at least two ultrasonic receiving parts along a first direction; the at least one ultrasonic transmitting part transmits an ultrasonic signal towards the target object in the first direction, echo signals reflected by the reflecting surface of the target object are received through the at least two ultrasonic receiving parts, and the difference value delta hij = hi-hj of the distances between the at least two ultrasonic receiving parts and the reflecting surface of the target object is calculated according to the echo signals, when delta hij-Hij is less than or equal to a, the detection result is accurate, and the distances hi and hj from each ultrasonic receiving part to the reflecting surface of the target object can be output; the ultrasonic testing device can automatically calibrate the testing result of ultrasonic waves, eliminates or reduces the influence of the external environment on testing, improves the testing precision, and is simplified in structure and high in universality.

Description

Technical Field

[0001] The present application relates to the technical field of ultrasonic ranging technology, and in particular to a device and method for ultrasonic ranging self-test. Background Art

[0002] Ultrasonic technology has been maturely applied in all aspects of production and life, such as industrial robots and quality inspection systems in industrial manufacturing, automated guided vehicles and intelligent sorting systems in logistics and warehousing, and smart appliances in smart homes. Currently, ultrasonic technology is affected by the test environment. Temperature and humidity, for example, can affect the accuracy of ultrasonic test results. In these cases, additional sensors and systems are often required to calibrate ultrasonic parameters, significantly increasing the complexity of calibration and testing equipment. Alternatively, complex algorithms can be applied to improve test accuracy. However, these algorithm models are not suitable for porting across multiple application platforms due to the diverse and complex environments, difficulty in construction, and poor versatility. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide an ultrasonic ranging self-test device and method, which can automatically calibrate the ultrasonic test results, improve the test accuracy, and have a simplified structure and strong versatility.

[0004] In one aspect of an embodiment of the present application, an ultrasonic distance measurement self-test device is provided, comprising at least one ultrasonic transmitting component and at least two ultrasonic receiving components, wherein a distance difference H is present between the at least two ultrasonic receiving components along a first direction. ij At least one ultrasonic emitting component emits an ultrasonic signal toward a target object along a first direction, and receives an echo signal reflected by a reflective surface of the target object through at least two ultrasonic receiving components, and calculates a difference Δh in the distance between the at least two ultrasonic receiving components and the reflective surface of the target object based on the echo signal. ij =|h i -h j |, when |Δh ij -H ij |≤a, output at least the distance h between the ultrasonic receiving component and the reflecting surface of the target object i 、h j , a is a constant.

[0005] Optionally, the target object has at least two reflecting surfaces, and the at least two reflecting surfaces have a distance difference A along the first direction. ij , when |Δh ij -H ij -A ij |≤a, output the distance h between each ultrasonic receiving component and the reflecting surface of the target object i 、h j .

[0006] Optionally, there is one ultrasonic emitting component and two ultrasonic receiving components, and one ultrasonic emitting component corresponds to two ultrasonic receiving components; or there are two ultrasonic emitting components and two ultrasonic receiving components, and one ultrasonic emitting component corresponds to one ultrasonic receiving component.

[0007] Optionally, the ultrasonic emitting component and the ultrasonic receiving component are provided separately; and / or, the ultrasonic emitting component and the ultrasonic receiving component are integrated into one to form an ultrasonic transmitting and receiving component.

[0008] Optionally, at least one ultrasonic transmitting component and at least two ultrasonic receiving components form an ultrasonic component.

[0009] Optionally, it also includes a control system, a detection module and a calibration module, the ultrasonic component is connected to the control system, the detection module and the calibration module respectively, and the control system is connected to the detection module and the calibration module respectively, so that the ultrasonic component can switch between the detection mode and the calibration mode.

[0010] Optionally, a storage module is further included, the control system includes a processing module and a control module, the ultrasonic component is connected to the control module, and the control module is connected to the storage module and the processing module.

[0011] Optionally, a pre-processing module is further included, and the pre-processing module is connected to the ultrasonic component and the control system respectively.

[0012] Another aspect of the present application provides a method for ultrasonic ranging self-testing, using the above-mentioned ultrasonic ranging self-testing device, comprising: controlling an ultrasonic emitting component to transmit an ultrasonic signal toward a target object along a first direction, and receiving an echo signal reflected from a reflective surface of the target object through at least two ultrasonic receiving components; wherein an initial sound velocity v is set;

[0013] According to the echo signal, calculate the distance h between each ultrasonic receiving component and the reflecting surface of the target object i 、h j ;i=1,2,3,j=1,2,3,...;i≠j;

[0014] Calculate the distance difference Δh between each ultrasonic receiving component and the reflecting surface of the target object ij ;i=1,2,3,…, j=1,2,3,…;i≠j;

[0015] When |Δh ij -H ij When |>a, update the speed of sound v until |Δh ij -H ij |≤a, output the distance h between each ultrasonic receiving component and the reflecting surface of the target object i 、hj ;H ij is the distance difference between at least two ultrasonic wave receiving components along the first direction.

[0016] Optionally, the target object has at least two reflecting surfaces, and the at least two reflecting surfaces have a distance difference A along the first direction. ij Calculate the distance difference Δh between each ultrasonic receiving component and the reflecting surface of the target object ij Afterwards, the method also includes:

[0017] When |Δh ij -H ij -A ij When |>a, update the speed of sound v until |Δh ij -H ij -A ij |≤a, output the distance h between each ultrasonic receiving component and the reflecting surface of the target object i 、h j .

[0018] The ultrasonic distance measurement self-test device and method provided in the embodiment of the present application is configured to provide a distance difference H between at least two ultrasonic receiving components along a first direction. ij At least one ultrasonic emitting component emits an ultrasonic signal toward a target object along a first direction, and receives an echo signal reflected by a reflective surface of the target object through at least two ultrasonic receiving components, and calculates a difference Δh in the distance between the at least two ultrasonic receiving components and the reflective surface of the target object based on the echo signal. ij =|h i -h j |, when |Δh ij -H ij When |>a, it indicates that the detection conclusion is inaccurate, and the speed of sound v is updated until |Δh ij -H ij |≤a, indicating that the detection result is accurate, and the distance h between each ultrasonic receiving component and the reflecting surface of the target object can be output i 、h j It can automatically calibrate the ultrasonic test results, eliminate or reduce the impact of the external environment on the test, improve the test accuracy, and has a simplified structure and strong versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 This is one of the schematic diagrams of the ultrasonic ranging self-test device structure provided in the embodiment of the present application;

[0021] Figure 2 This is the second schematic diagram of the structure of the ultrasonic ranging self-test device provided in the embodiment of the present application;

[0022] Figure 3a-3b This is a schematic diagram of ultrasonic signals of an ultrasonic ranging self-test device provided in an embodiment of the present application;

[0023] Figure 4 This is the third schematic diagram of the ultrasonic ranging self-test device structure provided in the embodiment of the present application;

[0024] Figure 5 This is the fourth schematic diagram of the ultrasonic ranging self-test device structure provided in the embodiment of the present application;

[0025] Figure 6 This is the fifth structural diagram of the ultrasonic ranging self-test device provided in the embodiment of the present application;

[0026] Figure 7 This is the sixth schematic diagram of the ultrasonic ranging self-test device structure provided in the embodiment of the present application;

[0027] Figure 8 This is the seventh schematic diagram of the structure of the ultrasonic ranging self-test device provided in the embodiment of the present application;

[0028] Figure 9 This is a diagram of a switching mode of an ultrasonic ranging self-test device provided in an embodiment of the present application;

[0029] Figure 10 This is a control mode diagram of the ultrasonic ranging self-test device provided in an embodiment of the present application;

[0030] Figure 11 This is a flow chart of the ultrasonic ranging self-test method provided in an embodiment of the present application.

[0031] Icons: 10A-ultrasonic component; 10A1, 10A2-ultrasonic sub-components; 10-ultrasonic transmitting component; 11, 12-ultrasonic receiving components; 13-transmitting and receiving integrated ultrasonic component; 20-target object; 21, 22-reflecting surface; 31-storage module; 32-processing module; 33-control module. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0033] In the description of this application, it should be noted that the terms "inner" and "outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the product of this application is typically placed when in use. These terms are intended solely to facilitate the description of this application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" and the like are used solely for distinction and should not be construed as indicating or implying relative importance.

[0034] It should also be noted that, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0035] Please refer to Figure 1 As shown, the embodiment of the present application provides an ultrasonic ranging self-test device, comprising: at least one ultrasonic transmitting component 10 and at least two ultrasonic receiving components, and there is a distance difference H between the at least two ultrasonic receiving components along the first direction. ij At least one ultrasonic emitting component 10 emits an ultrasonic signal toward a target object 20 along a first direction, and receives an echo signal reflected by a reflective surface 21 of the target object 20 through at least two ultrasonic receiving components. Based on the echo signal, a difference Δh in the distance between the at least two ultrasonic receiving components and the reflective surface 21 of the target object 20 is calculated. ij =|h i -h j |, when |Δh ij -H ij |≤a, output at least the distance h between the ultrasonic receiving component and the reflecting surface 21 of the target object 20 i 、h j , a is a constant.

[0036] The starting and ending surfaces of the distance in this application are the emitting surface of the ultrasonic emitting component 10, the receiving surface of the ultrasonic receiving component and the reflecting surface 21 of the target object 20; for example, the distance difference H ij The distance difference between the receiving surfaces of the two ultrasonic receiving components, the distance value h i 、h j is the distance between the receiving surfaces of the two ultrasonic receiving components and the reflecting surface 21 of the target object 20. Other distance parameters in this application are implemented similarly.

[0037] At least one ultrasonic emitting component 10 and at least two ultrasonic receiving components are Figure 1 The transverse direction is in the same horizontal plane, the ultrasonic emitting component 10 can be an ultrasonic emitting sensor, and the ultrasonic receiving component can be an ultrasonic receiving sensor. This application takes two ultrasonic receiving components as an example, and the receiving surfaces of the two ultrasonic receiving components have a distance difference H along the first direction. ij The target object 20 is located on the opposite side of the ultrasonic emitting component 10 and the two ultrasonic receiving components along the first direction.

[0038] The ultrasonic emitting component 10 emits an ultrasonic signal toward the target object 20 along a first direction, and receives the echo signal from the reflective surface 21 of the target object 20 through the ultrasonic receiving component. Based on the echo signal data, the distance h between the receiving surface of each ultrasonic receiving component and the reflective surface 21 of the target object 20 is calculated. i 、h j (i, j are numbers of different ultrasonic receiving components, i=1, 2, 3, ...; j=1, 2, 3, ...; i≠j).

[0039] Determine whether calibration is required: If calibration is required, calculate the distance difference Δh between the receiving surface of each ultrasonic receiving component and the reflecting surface 21 of the target object 20. ij =|h i -h j |(i, j are the numbers of different ultrasonic receiving components, i = 1, 2, 3, ...; j = 1, 2, 3, ...; i ≠ j); Determine the distance difference Δh ij With H ij The size of |Δh ij -H ij |>a (a is a constant), calibration is required, the sound velocity v is updated, and the difference Δh between each ultrasonic receiving component and the reflecting surface 21 of the target object 20 is recalculated. ij =|h i -h j |, determine the distance difference Δh ij With H ij The size of |Δh ij -H ij |≤a, indicating that the detection result is accurate, and then outputting the distance h between each ultrasonic receiving component and the reflecting surface 21 of the target object 20 i 、h j .

[0040] The following is a specific description using two ultrasonic receiving components as an example:

[0041] like Figure 2 As shown, the ultrasonic emitting component 10 and the ultrasonic receiving component 11 are located on the same horizontal plane in the transverse direction, and there is a distance difference H between the receiving surfaces of the two ultrasonic receiving components along the first direction. 12. Figure 3a 、 Figure 3b The diagram shows the ultrasonic signal received by the ultrasonic receiving component. The distances h1 and h2 between the receiving surfaces of the two ultrasonic receiving components and the reflecting surface 21 of the target object 20 are:

[0042] h1=v×t1 / 2;

[0043] h2=v×t2 / 2-H 12 / 2;

[0044] t1 is the time from when the ultrasonic emitting component 10 transmits the ultrasonic signal toward the target object 20 to when the ultrasonic receiving component 11 receives the echo signal; t2 is the time from when the ultrasonic emitting component 10 transmits the ultrasonic signal toward the target object 20 to when the ultrasonic receiving component 12 receives the echo signal;

[0045] Determine whether calibration is required: If not, output the distances h1 and h2; if calibration is required, calculate the difference Δh between the receiving surfaces of the ultrasonic receiving components 11 and 12 and the reflecting surface 21 of the target object 20. 12 =|h1-h2|; then determine the distance difference Δh 12 The distance difference H between the two ultrasonic receiving components ij The size of |Δh 12 -H 12 |>a (a is a constant, assuming a is 1mm): If so, update the sound velocity v (the sound velocity v during the test can be obtained by actual measurement), and recalculate the difference Δh between the ultrasonic receiving component 11 and the ultrasonic receiving component 12 and the reflecting surface 21 of the target object 20 12 =|h1-h2|, determine the distance difference Δh 12 The distance difference H between the two ultrasonic receiving components ij The size of |Δh 12 -H 12 |≤a, output the updated distances h1 and h2.

[0046] In some embodiments, as Figure 1 As shown, there is one ultrasonic emitting component 10 and two ultrasonic receiving components. One ultrasonic emitting component 10 corresponds to two ultrasonic receiving components, and one ultrasonic emitting component 10 and two ultrasonic receiving components form an ultrasonic component 10A.

[0047] In other embodiments, Figure 4As shown, there are two ultrasonic emitting components 10 and two ultrasonic receiving components. One ultrasonic emitting component 10 and one ultrasonic receiving component form an ultrasonic sub-component. The ultrasonic sub-component 10A1 and the ultrasonic sub-component 10A2 form the ultrasonic component 10A.

[0048] The ultrasonic receiving components are arranged in a staggered manner along the first direction, and the ultrasonic receiving components have a fixed distance difference H along the first direction. ij .

[0049] When determining whether the detection conclusion needs to be calibrated, calibration can be performed within a certain timeframe, periodically, or temporarily. The method for updating the sound velocity v can be implemented based on certain circuit logic, a machine learning algorithm, or an artificial neural network algorithm.

[0050] Furthermore, if the target object 20 has two or more reflective surfaces 21, the reflective surfaces 21 have a distance difference A along the first direction. ij , then the distance difference Δh is determined ij and distance difference H ij When the size of the reflective surface 21 is considered, the distance difference A between the reflective surfaces 21 must be considered. ij , everything else remains unchanged.

[0051] like Figure 5 As shown, the target object 20 has two reflecting surfaces 21, and there is a distance difference A between the two reflecting surfaces 21 along the first direction. 12 , when |Δh ij -H ij -A ij |≤a, output the distance h between each ultrasonic receiving component and the reflecting surface 21 of the target object 20 i .

[0052] The aforementioned ultrasonic emitting component 10 and ultrasonic receiving component are separately provided. Figure 6 As shown, the ultrasonic emitting component and the ultrasonic receiving component are integrated into one to form an ultrasonic transceiver component 13. The ultrasonic transceiver component 13 is a component composed of the ultrasonic emitting component and the ultrasonic receiving component, and has both ultrasonic emitting and ultrasonic receiving functions.

[0053] Further, you can also refer to Figure 7 As shown, the ultrasonic transmitting component 10, the ultrasonic receiving component and the ultrasonic transmitting and receiving integrated component 13 are mixed and arranged to form the ultrasonic component 10A.

[0054] At least one ultrasonic wave transmitting element 10 and at least two ultrasonic wave receiving elements form an ultrasonic wave element 10A.

[0055] Figure 8 The diagram shows two ultrasonic emitting components 10 and ultrasonic receiving components 11 and 12 corresponding to the two ultrasonic emitting components 10. Figure 4 One ultrasonic transmitting component 10 and one ultrasonic receiving component form an ultrasonic sub-component, and two ultrasonic sub-components form an ultrasonic component 10A. Figure 8 The two ultrasonic emitting elements 10 , the ultrasonic receiving element 11 , and the ultrasonic receiving element 12 form an ultrasonic element 10A.

[0056] In addition, the present application also includes a control system, a detection module and a calibration module. At least one ultrasonic transmitting component 10 and at least two ultrasonic receiving components form an ultrasonic component 10A. The ultrasonic component is respectively connected to the control system, the detection module and the calibration module, and the control system is respectively connected to the detection module and the calibration module.

[0057] The detection module corresponds to the detection mode, and the calibration module corresponds to the calibration mode. The ultrasonic component of the present application can be controlled by the control system to switch between the detection mode and the calibration mode. Figure 9 、 Figure 10 shown.

[0058] It also includes a storage module 31, and the control system includes a processing module 32 and a control module 33. The ultrasonic component is connected to the control module 33, and the control module 33 is connected to the storage module 31 and the processing module 32. The storage module 31 is used to store data, the processing module 32 is used to process data, and the control module 33 is used to control each module and the ultrasonic component.

[0059] In order to improve the accuracy, a pre-processing module 32 may be provided. The pre-processing module 32 is connected to the ultrasonic component and the control system respectively. The pre-processing module 32 may pre-process interference data such as blind spots and noise of the ultrasonic signal.

[0060] The sound velocity can also be further calibrated using temperature sensors, humidity sensors, etc., which can be processed by a calculation module or feedback from a table, and calibrated through wired or wireless methods.

[0061] Therefore, the ultrasonic distance measurement self-test device provided in the embodiment of the present application is configured to have a distance difference H between at least two ultrasonic receiving components along the first direction. ij At least one ultrasonic emitting component 10 emits an ultrasonic signal toward a target object 20 along a first direction, and receives an echo signal reflected by a reflective surface 21 of the target object 20 through at least two ultrasonic receiving components. Based on the echo signal, a difference Δh in the distance between the at least two ultrasonic receiving components and the reflective surface 21 of the target object 20 is calculated. ij , when |Δh ij -Hij When |>a, it indicates that the detection conclusion is inaccurate, and the speed of sound v is updated until |Δh ij -H ij |≤a, indicating that the detection result is accurate, and the distance h between each ultrasonic receiving component and the reflecting surface 21 of the target object 20 can be output i 、h j It can automatically calibrate ultrasonic test results, eliminate or reduce the impact of the external environment on the test, such as the impact of temperature on the speed of sound, improve test accuracy, and has a simplified structure and strong versatility.

[0062] On this basis, on the other hand, referring to Figure 11 As shown, the embodiment of the present application further discloses a method for ultrasonic ranging self-test, using any of the above ultrasonic ranging self-test devices, the method comprising:

[0063] Step 401: Control the ultrasonic emitting component 10 to emit an ultrasonic signal toward the target object 20 along a first direction, and receive the echo signal reflected by the reflective surface 21 of the target object 20 through at least two ultrasonic receiving components; wherein, an initial sound velocity v is set;

[0064] Step 402: Calculate the distance h between each ultrasonic receiving component and the reflecting surface 21 of the target object 20 based on the echo signal. i 、h j ;i=1,2,3,…, j=1,2,3,…;i≠j;

[0065] Step 403: Calculate the distance difference Δh between each ultrasonic wave receiving component and the reflecting surface 21 of the target object 20 ij ;i=1,2,3,…, j=1,2,3,…;i≠j;

[0066] Step 404: When |Δh ij -H ij When |>a, update the speed of sound v until |Δh ij -H ij |≤a, output the distance h between each ultrasonic receiving component and the reflecting surface 21 of the target object 20 i 、h j ;H ij is the distance difference between at least two ultrasonic wave receiving components along the first direction, and a is a constant.

[0067] Furthermore, the target object 20 has at least two reflecting surfaces 21, and the at least two reflecting surfaces 21 have a distance difference A along the first direction. ij , calculate the difference Δh between the distances between each ultrasonic wave receiving component and the reflecting surface 21 of the target object 20 ij; j = 1, 2, 3, ...; i ≠ j, the method further includes:

[0068] When |Δh ij -H ij -A ij When |>a, update the speed of sound v until |Δh ij -H ij -A ij |≤a, output the distance h between each ultrasonic receiving component and the reflecting surface 21 of the target object 20 i 、h j .

[0069] The ultrasonic distance measurement self-test method includes the same structure and beneficial effects as the ultrasonic distance measurement self-test device in the aforementioned embodiment. The structure and beneficial effects of the ultrasonic distance measurement self-test device have been described in detail in the aforementioned embodiment and will not be repeated here.

[0070] The above description is merely an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, various modifications and variations of the present application are possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. An ultrasonic distance measurement self-test device, characterized in that: include: At least one ultrasonic emitting component and at least two ultrasonic receiving components, and there is a distance difference H between the at least two ultrasonic receiving components along the first direction ij At least one of the ultrasonic emitting components emits an ultrasonic signal toward the target object along the first direction, and receives an echo signal reflected by the reflective surface of the target object through at least two of the ultrasonic receiving components, and calculates the difference Δh in the distance between the at least two ultrasonic receiving components and the reflective surface of the target object based on the echo signal. ij =|h i -h j |, when |Δh ij -H ij |≤a, output at least the distance h between the ultrasonic receiving component and the reflecting surface of the target object i 、h j , a is a constant.

2. The ultrasonic distance measurement self-test device according to claim 1, characterized in that: The target object has at least two reflecting surfaces, and at least two reflecting surfaces have a distance difference A along the first direction. ij , when |Δh ij -H ij -A ij |≤a, output the distance h between each ultrasonic receiving component and the reflecting surface of the target object i 、h j .

3. The ultrasonic distance measurement self-test device according to claim 1 or 2, characterized in that: The ultrasonic emitting component includes one, the ultrasonic receiving components include two, and one ultrasonic emitting component corresponds to two ultrasonic receiving components; or the ultrasonic emitting component includes two, the ultrasonic receiving components include two, and one ultrasonic emitting component corresponds to one ultrasonic receiving component.

4. The ultrasonic distance measurement self-test device according to claim 1 or 2, characterized in that: The ultrasonic emitting component and the ultrasonic receiving component are provided separately; and / or, the ultrasonic emitting component and the ultrasonic receiving component are integrated into one to form an integrated transmitting and receiving ultrasonic component.

5. The ultrasonic distance measurement self-test device according to claim 1 or 2, characterized in that: At least one of the ultrasonic wave transmitting components and at least two of the ultrasonic wave receiving components form an ultrasonic wave component.

6. The ultrasonic distance measurement self-test device according to claim 5, characterized in that: It also includes a control system, a detection module and a calibration module. The ultrasonic component is connected to the control system, the detection module and the calibration module respectively. The control system is connected to the detection module and the calibration module respectively to enable the ultrasonic component to switch between detection mode and calibration mode.

7. The ultrasonic distance measurement self-test device according to claim 6, characterized in that: It also includes a storage module. The control system includes a processing module and a control module. The ultrasonic component is connected to the control module, and the control module is connected to the storage module and the processing module.

8. The ultrasonic distance measurement self-test device according to claim 6 or 7, characterized in that: It also includes a pre-processing module, which is connected to the ultrasonic component and the control system respectively.

9. A method for ultrasonic distance measurement self-test, using the ultrasonic distance measurement self-test device according to any one of claims 1 to 8, characterized in that: The method comprises: Controlling the ultrasonic emitting component to emit an ultrasonic signal toward the target object along a first direction, and receiving the echo signal reflected back by the reflective surface of the target object through at least two ultrasonic receiving components; wherein an initial sound velocity v is set; According to the echo signal, the distance h between each ultrasonic receiving component and the reflecting surface of the target object is calculated. i 、h j ;i=1,2,3,…, j=1,2,3,…;i≠j; Calculate the distance difference Δh between each ultrasonic receiving component and the reflecting surface of the target object ij ;i=1,2,3,…, j=1,2,3,…;i≠j; When |Δh ij -H ij When |>a, update the speed of sound v until |Δh ij -H ij |≤a, output the distance h between each ultrasonic receiving component and the reflecting surface of the target object i 、h j ;H ij is the distance difference between at least two of the ultrasonic wave receiving components along the first direction.

10. The ultrasonic distance measurement self-test method according to claim 9, characterized in that: The target object has at least two reflecting surfaces, and at least two reflecting surfaces have a distance difference A along the first direction. ij When the distance difference Δh between each ultrasonic wave receiving component and the reflecting surface of the target object is calculated, ij Afterwards, the method further includes: When |Δh ij -H ij -A ij When |>a, update the speed of sound v until |Δh ij -H ij -A ij |≤a, output the distance h between each ultrasonic receiving component and the reflecting surface of the target object i 、h j .

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