An ultrasonic ranging self-checking device and method

Abstract

This application provides an ultrasonic ranging self-testing device and method, relating to the field of ultrasonic ranging technology, including at least one ultrasonic transmitting component and at least two ultrasonic receiving components, wherein there is a distance difference H between the at least two ultrasonic receiving components along a first direction. ij At least one ultrasonic transmitting component emits an ultrasonic signal toward the target object along a first direction, and at least two ultrasonic receiving components receive the echo signal reflected back from the reflective surface of the target object. Based on the echo signal, the difference Δh between the distances of the at least two ultrasonic receiving components to the reflective surface of the target object is calculated. ij =|h i -h j |,when|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 automatically calibrates ultrasonic test results, eliminates or reduces the influence of the external environment on the test, improves test accuracy, and has a simplified structure and strong versatility.

Description

Technical Field

[0001] This application relates to the field of ultrasonic ranging technology, specifically to an ultrasonic ranging self-testing device and method. Background Technology

[0002] Ultrasonic technology has been successfully applied in various aspects of production and daily 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 home appliances in smart homes. However, ultrasonic technology is currently affected by the testing environment, such as temperature and humidity, which can influence the accuracy of ultrasonic test results. In such cases, additional sensors and systems are typically needed to calibrate ultrasonic parameters, significantly increasing the complexity of calibration and testing devices. Alternatively, complex algorithms can be used to improve testing accuracy. However, due to the diversity and complexity of environments, the difficulty in constructing such algorithms, and their poor versatility, these algorithms are not suitable for porting to multiple application platforms. Summary of the Invention

[0003] The purpose of this application is to provide an ultrasonic ranging self-testing device and method that can automatically calibrate ultrasonic test results, improve test accuracy, and has a simplified structure and strong versatility.

[0004] One aspect of this application provides an ultrasonic ranging self-testing device, including at least one ultrasonic transmitting component and at least two ultrasonic receiving components, wherein a distance difference H exists between the at least two ultrasonic receiving components along a first direction. ij At least one ultrasonic transmitting component emits an ultrasonic signal toward the target object along a first direction, and at least two ultrasonic receiving components receive the echo signal reflected back from the reflective surface of the target object. Based on the echo signal, the difference Δh between the distances of the at least two ultrasonic receiving components to the reflective surface of the target object is calculated. ij =|h i -h j |,when|Δh ij -H ij If |≤a, the output must be at least the distance h between the ultrasonic receiving component and the reflecting surface of the target object. i h j , where a is a constant.

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

[0006] Optionally, the ultrasonic transmitting component includes one ultrasonic receiving component and the ultrasonic receiving component includes two ultrasonic receiving components, with one ultrasonic transmitting component corresponding to two ultrasonic receiving components; or, the ultrasonic transmitting component includes two ultrasonic transmitting components and the ultrasonic receiving component includes two ultrasonic receiving components, with one ultrasonic transmitting component corresponding to one ultrasonic receiving component.

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

[0010] Optionally, it also includes a storage module, and 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, it also includes a pre-processing module, which is connected to the ultrasonic component and the control system respectively.

[0012] Another aspect of this application provides a method for ultrasonic ranging self-testing, using the above-described ultrasonic ranging self-testing apparatus, comprising: controlling an ultrasonic emitting component to emit an ultrasonic signal toward a target object along a first direction, and receiving the echo signal reflected back from the reflective surface of the target object through at least two ultrasonic receiving components; wherein, an initial sound velocity v is set. Based on 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; 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 If |≤a, output the distance h between each ultrasonic receiving component and the reflecting surface of the target object. i h j H ijThe distance difference between at least two ultrasonic receiving components along a first direction.

[0013] Optionally, the target object has at least two reflective surfaces, and the at least two reflective surfaces have a distance difference A along a first direction. ij At that time, calculate the distance difference Δh between each ultrasonic receiving component and the reflecting surface of the target object. ij Subsequently, the method also includes: When |Δh ij -H ij -A ij When |>a, update the speed of sound v until |Δh. ij -H ij -A ij If |≤a, output the distance h between each ultrasonic receiving component and the reflecting surface of the target object. i h j .

[0014] The ultrasonic ranging self-testing device and method provided in this application embodiment, by setting a distance difference H between at least two ultrasonic receiving components along a first direction. ij At least one ultrasonic transmitting component emits an ultrasonic signal toward the target object along a first direction, and at least two ultrasonic receiving components receive the echo signal reflected back from the reflective surface of the target object. Based on the echo signal, the difference Δh between the distances of the at least two ultrasonic receiving components to the reflective surface of the target object is calculated. ij =|h i -h j |,when|Δh ij -H ij When | > a, it indicates that the detection conclusion is inaccurate, so the velocity 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 ultrasonic test results, eliminate or reduce the influence of the external environment on the test, improve test accuracy, and has a simplified structure and strong versatility. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1This is one of the structural schematic diagrams of the ultrasonic ranging self-testing device provided in the embodiments of this application; Figure 2 This is the second schematic diagram of the ultrasonic ranging self-testing device provided in the embodiments of this application; Figures 3a-3b This is a schematic diagram of the ultrasonic signal of the ultrasonic ranging self-testing device provided in the embodiments of this application; Figure 4 This is the third schematic diagram of the ultrasonic ranging self-testing device provided in the embodiments of this application; Figure 5 This is the fourth schematic diagram of the ultrasonic ranging self-testing device provided in the embodiments of this application; Figure 6 This is the fifth schematic diagram of the ultrasonic ranging self-testing device provided in the embodiments of this application; Figure 7 This is the sixth schematic diagram of the ultrasonic ranging self-testing device provided in the embodiments of this application; Figure 8 This is the seventh schematic diagram of the ultrasonic ranging self-testing device provided in the embodiments of this application; Figure 9 This is a diagram showing the switching modes of the ultrasonic ranging self-testing device provided in the embodiments of this application; Figure 10 This is a control mode diagram of the ultrasonic ranging self-testing device provided in the embodiments of this application; Figure 11 This is a flowchart of the ultrasonic ranging self-test method provided in the embodiments of this application.

[0017] Icons: 10A - Ultrasonic component; 10A1, 10A2 - Ultrasonic sub-components; 10 - Ultrasonic transmitting component; 11, 12 - Ultrasonic receiving component; 13 - Transceiver ultrasonic component; 20 - Target object; 21, 22 - Reflecting surface; 31 - Storage module; 32 - Processing module; 33 - Control module. Detailed Implementation

[0018] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0019] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0020] It should also be noted that, unless otherwise explicitly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0021] Please refer to Figure 1 As shown, this application provides an ultrasonic ranging self-testing device, including: at least one ultrasonic transmitting component 10 and at least two ultrasonic receiving components, wherein there is a distance difference H between the at least two ultrasonic receiving components along a first direction. ij At least one ultrasonic transmitting component 10 emits ultrasonic signals toward the target object 20 along a first direction, and receives the echo signals reflected back from the reflecting surface 21 of the target object 20 by at least two ultrasonic receiving components. Based on the echo signals, the difference Δh between the distances of the at least two ultrasonic receiving components to the reflecting surface 21 of the target object 20 is calculated. ij =|h i -h j |,when|Δh ij -H ij |≤a, the output is at least the distance h between the ultrasonic receiving component and the reflecting surface 21 of the target object 20. i h j , where a is a constant.

[0022] In this application, the starting and ending points of the distance are the emitting surface of the ultrasonic transmitting 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 h is the difference between the receiving surfaces of the two ultrasonic receiving components. i h j The distance 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 in the same way.

[0023] At least one ultrasonic transmitting component 10 and at least two ultrasonic receiving components are in Figure 1 The ultrasonic transmitter 10 and the ultrasonic receiver 10 are on the same horizontal plane in the lateral direction. The ultrasonic transmitter 10 can be an ultrasonic transmitter sensor, and the ultrasonic receiver 10 can be an ultrasonic receiver sensor. This application takes two ultrasonic receivers as an example. The receiving surfaces of the two ultrasonic receivers have a distance difference H along the first direction. ij The target object 20 is located on the opposite side of the ultrasonic transmitting component 10 and the two ultrasonic receiving components along the first direction.

[0024] The ultrasonic transmitting component 10 emits ultrasonic signals toward the target object 20 along a first direction, and receives the echo signals from the reflecting surface 21 of the target object 20 via the ultrasonic receiving component. Based on the echo signal data, the distance h between the receiving surface of each ultrasonic receiving component and the reflecting surface 21 of the target object 20 is calculated. i h j (i and j are the numbers of different ultrasonic receiving components, i=1, 2, 3, ...; j=1, 2, 3, ...; i≠j).

[0025] Determine if calibration of the test results is required: If calibration is required, calculate the 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, that is, when |Δh ij -H ij When |>a (a is a constant), calibration is required. The sound velocity v is then updated, and the difference Δh between the distances of 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, up to |Δh ij -H ij |≤a, indicating that the detection result is accurate, and then the distance h between each ultrasonic receiving component and the reflecting surface 21 of the target object 20 is output. i h j .

[0026] The following explanation uses two ultrasonic receiving components as an example: like Figure 2 As shown, the ultrasonic transmitting component 10 and the ultrasonic receiving component 11 are located on the same horizontal plane in the lateral 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 A schematic diagram of the ultrasonic signal received by the ultrasonic receiving components is shown. 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 respectively: h1 = v × t1 / 2; h2=v×t2 / 2-H 12 / 2; t1 is the time from when the ultrasonic transmitting component 10 transmits an 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 transmitting component 10 transmits an ultrasonic signal toward the target object 20 to when the ultrasonic receiving component 12 receives the echo signal. Determine if calibration of the test results is required: If not, output distances h1 and h2; if calibration is required, calculate the difference Δh between the receiving surfaces of ultrasonic receiver 11 and ultrasonic receiver 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| is used to determine the value of |Δh|. 12 -H 12 |>a (a is a constant, assumed to be 1mm): If so, update the sound velocity v (which can be obtained through actual measurement during the test), 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, up to |Δh 12 -H 12 If |≤a, output the updated distances h1 and h2.

[0027] In some embodiments, such as Figure 1 As shown, the ultrasonic transmitting component 10 includes one ultrasonic receiving component, and the ultrasonic receiving component includes two ultrasonic receiving components. One ultrasonic transmitting component 10 corresponds to two ultrasonic receiving components, and the ultrasonic transmitting component 10 and the two ultrasonic receiving components form an ultrasonic component 10A.

[0028] In other embodiments, such as Figure 4 As shown, there are two ultrasonic transmitting components 10 and two ultrasonic receiving components. One ultrasonic transmitting component 10 and one ultrasonic receiving component correspond to form an ultrasonic sub-component. Ultrasonic sub-component 10A1 and ultrasonic sub-component 10A2 form ultrasonic component 10A.

[0029] 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 .

[0030] When determining whether calibration is needed for a test result, it can be performed according to time intervals, periodic calibration, or temporary calibration, etc. The method for updating the speed of sound v can be based on some circuit logic, a machine learning algorithm, or an artificial neural network algorithm, etc.

[0031] Furthermore, if the target object 20 has two or more reflective surfaces 21, and the reflective surfaces 21 have a distance difference A along the first direction... ij Then determine the distance difference Δh ij With distance difference H ij When determining the size, the distance difference A between each reflecting surface 21 needs to be considered. ij Everything else remains the same.

[0032] like Figure 5 As shown, the target object 20 has two reflective surfaces 21, and there is a distance difference A between the two reflective surfaces 21 along the first direction. 12 When |Δh ij -H ij -A ij If |≤a, output the distance h between each ultrasonic receiving component and the reflecting surface 21 of the target object 20. i .

[0033] The aforementioned ultrasonic transmitting component 10 and ultrasonic receiving component are arranged separately. In addition, see also... Figure 6 As shown, the ultrasonic transmitting component and the ultrasonic receiving component are integrated into one unit to form an integrated transceiver ultrasonic component 13. The integrated transceiver ultrasonic component 13 is a component that combines the ultrasonic transmitting component and the ultrasonic receiving component, and it has both ultrasonic transmitting and ultrasonic receiving functions.

[0034] Furthermore, one can refer to Figure 7 As shown, an ultrasonic transceiver 10, an ultrasonic receiver 10, and a transceiver integrated ultrasonic transceiver 13 are mixed and arranged to form an ultrasonic transceiver 10A.

[0035] At least one ultrasonic transmitting component 10 and at least two ultrasonic receiving components form an ultrasonic component 10A.

[0036] Figure 8 The diagram illustrates two ultrasonic transmitting components 10 and ultrasonic receiving components 11 and 12, which correspond one-to-one with the two ultrasonic transmitting components 10, respectively, distinguishing them from... Figure 4 One ultrasonic transmitting component 10 and one ultrasonic receiving component form an ultrasonic sub-component, and two ultrasonic sub-components form ultrasonic component 10A. Figure 8 The ultrasonic component 10A is formed by two ultrasonic transmitting components 10, ultrasonic receiving components 11 and 12.

[0037] In addition, this 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 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.

[0038] The detection module corresponds to the detection mode, and the calibration module corresponds to the calibration mode. The control system can control the ultrasonic component of this application to switch between the detection mode and the calibration mode. Figure 9 , Figure 10 As shown.

[0039] It also includes a storage module 31, while 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 the communication between the modules and the ultrasonic component.

[0040] To improve accuracy, a preprocessing module 32 can also be set up. The preprocessing module 32 is connected to the ultrasonic component and the control system respectively. The preprocessing module 32 can preprocess the blind zone, noise and other interference data of the ultrasonic signal.

[0041] The velocity of sound can also be further calibrated using temperature sensors, humidity sensors, etc. This can be processed through a calculation module or fed back from a table, and can be calibrated via wired or wireless means.

[0042] Therefore, the ultrasonic ranging self-testing device provided in this application embodiment achieves this by setting a distance difference H between at least two ultrasonic receiving components along a first direction. ij At least one ultrasonic transmitting component 10 emits ultrasonic signals toward the target object 20 along a first direction, and receives the echo signals reflected back from the reflecting surface 21 of the target object 20 by at least two ultrasonic receiving components. Based on the echo signals, the difference Δh between the distances of the at least two ultrasonic receiving components to the reflecting surface 21 of the target object 20 is calculated. ij When |Δh ij -H ij When | > a, it indicates that the detection conclusion is inaccurate, so the velocity 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 influence of the external environment on the test, such as the effect of temperature on sound velocity, improve test accuracy, and has a simplified structure and strong versatility.

[0043] On this basis, on the other hand, referring to Figure 11 As shown in the embodiments of this application, a method for ultrasonic ranging self-testing is also disclosed, employing any of the ultrasonic ranging self-testing devices described above. The method includes: Step 401: Control the ultrasonic transmitting component 10 to emit ultrasonic signals toward the target object 20 along the first direction, and receive the echo signals reflected back from the reflecting surface 21 of the target object 20 through at least two ultrasonic receiving components; wherein, the initial sound velocity v is set. 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; Step 403: Calculate the difference Δh between the distances of each ultrasonic receiving component and the reflecting surface 21 of the target object 20. ij ;i= 1, 2, 3,…, j=1, 2, 3,…;i≠j; Step 404: When |Δh ij -H ij When |>a, update the speed of sound v until |Δh. ij -H ij If |≤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 The distance difference between at least two ultrasonic receiving components along the first direction is denoted by 'a', which is a constant.

[0044] Furthermore, the target object 20 has at least two reflective surfaces 21, and the at least two reflective surfaces 21 have a distance difference A along the first direction. ij At the same time, calculate the difference Δh between the distances of each ultrasonic receiving component and the reflecting surface 21 of the target object 20. ij After j = 1, 2, 3, ... and i ≠ j, the method also includes: When |Δh ij -H ij -A ij When |>a, update the speed of sound v until |Δh. ij -H ij -A ij If |≤a, output the distance h between each ultrasonic receiving component and the reflecting surface 21 of the target object 20. i h j .

[0045] This ultrasonic ranging self-testing method includes the same structure and beneficial effects as the ultrasonic ranging self-testing device in the foregoing embodiments. The structure and beneficial effects of the ultrasonic ranging self-testing device have been described in detail in the foregoing embodiments and will not be repeated here.

[0046] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A device for self-testing ultrasonic ranging, characterized in that, include: At least one ultrasonic transmitting component and at least two ultrasonic receiving components, wherein there is a distance difference H between the at least two ultrasonic receiving components along a first direction. ij At least one of the ultrasonic transmitting components emits an ultrasonic signal toward the target object along the first direction, and receives the echo signal reflected back from the reflective surface of the target object by at least two of the ultrasonic receiving components, wherein an initial sound velocity v is set; based on the echo signal, the difference Δh between the distances of the at least two ultrasonic receiving components to the reflective surface of the target object is calculated. ij =|h i -h j |,when|Δh ij -H ij When |>a, update the speed of sound v until |Δh ij -H ij If |≤a, output at least the distance h between the ultrasonic receiving component and the reflecting surface of the target object. i h j , where a is a constant.

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

3. The ultrasonic ranging self-testing device according to claim 1 or 2, characterized in that, The ultrasonic transmitting component includes one, and the ultrasonic receiving component includes two, with one ultrasonic transmitting component corresponding to two ultrasonic receiving components; or, the ultrasonic transmitting component includes two, and the ultrasonic receiving component includes two, with one ultrasonic transmitting component corresponding to one ultrasonic receiving component.

4. The ultrasonic ranging self-testing device according to claim 1 or 2, characterized in that, The ultrasonic transmitting component and the ultrasonic receiving component are disposed separately; and / or, the ultrasonic transmitting component and the ultrasonic receiving component are integrated to form an integrated ultrasonic transceiver component.

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

6. The ultrasonic ranging self-testing 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, so that the ultrasonic component can switch between detection mode and calibration mode.

7. The ultrasonic ranging self-testing device according to claim 6, characterized in that, It also includes a storage module, and 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 ranging self-testing device according to claim 6 or 7, characterized in that, It also includes a preprocessing module, which is connected to the ultrasonic component and the control system respectively.

9. A method for self-testing ultrasonic ranging, employing the ultrasonic ranging self-testing device according to any one of claims 1 to 8, characterized in that, The method includes: The ultrasonic transmitting component is controlled to emit ultrasonic signals toward the target object along a first direction, and the echo signals reflected back from the reflective surface of the target object are received by at least two ultrasonic receiving components; wherein, the initial sound velocity v is set. Based on 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; Calculate the distance difference Δh between each of the ultrasonic receiving components 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 If |≤a, output the distance h between each ultrasonic receiving component and the reflecting surface of the target object. i h j H ij The distance difference between at least two of the ultrasonic receiving components along the first direction.

10. The method for self-testing ultrasonic ranging according to claim 9, characterized in that, The target object has at least two reflective surfaces, and the at least two reflective surfaces have a distance difference A along the first direction. ij When calculating the distance difference Δh between each of the ultrasonic receiving components and the reflecting surface of the target object, ij Subsequently, 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 If |≤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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