Ultrasonic positioning device and positioning method

Abstract

The invention discloses an ultrasonic positioning device and method, and relates to the technical field of through-wall positioning, and the device comprises a transmitting probe which can be disposed at one side of an obstacle, and is used for transmitting an ultrasonic signal, and enabling the ultrasonic signal to pass through the obstacle; the signal transmitter is connected with the transmitting probe and is used for driving the transmitting probe to transmit an ultrasonic signal; the receiving probe array can be arranged on the side, opposite to the transmitting probe, of the obstacle, the receiving probe array comprises a plurality of receiving probes, and all the receiving probes are arranged around the target point and can receive the ultrasonic signals transmitted by the transmitting probe; and the signal receiver is respectively connected with all the receiving probes and is used for collecting the ultrasonic signals received by all the receiving probes and judging the positions of the transmitting probes. The positioning method provided by the invention is implemented by adopting the ultrasonic positioning device. The method can avoid structural damage, and is high in adaptability, easy and convenient to operate and suitable for engineering sites.

Description

Technical Field

[0001] This invention relates to the field of through-wall positioning technology, and in particular to an ultrasonic positioning device and positioning method. Background Technology

[0002] When installing components (such as steering gears or calibrators) in tanks, containers, ships, or other enclosed structures, it is often necessary to find the corresponding position on the other side of the structure. Currently used methods such as mechanical perforation, magnetic positioning, or distance measurement have problems such as low accuracy, cumbersome construction, or poor adaptability, especially in environments with metal walls (such as carbon steel or stainless steel) where precise and rapid millimeter-level alignment cannot be achieved.

[0003] Therefore, an ultrasonic positioning device and positioning method are provided to solve the above-mentioned problems existing in the prior art. Summary of the Invention

[0004] The purpose of this invention is to provide an ultrasonic positioning device and positioning method to solve the problems existing in the prior art. It can avoid structural damage, is not affected by metal interference, has strong adaptability, and is easy to operate, making it suitable for use in engineering sites.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides an ultrasonic positioning device, comprising:

[0007] A transmitting probe is used to determine a positioning point. The transmitting probe can be set on one side of the obstacle where the positioning point is to be determined, and the transmitting probe is used to emit ultrasonic signals and make the ultrasonic signals pass through the obstacle.

[0008] A signal transmitter, connected to the transmitting probe, is used to drive the transmitting probe to emit ultrasonic signals;

[0009] A receiving probe array is provided, which can be disposed on the side of the obstacle opposite to the transmitting probe. The receiving probe array includes multiple receiving probes, all of which are arranged around the target point and are capable of receiving the ultrasonic signal emitted by the transmitting probe. The positioning point is a point on the obstacle that corresponds to the target point in the normal direction.

[0010] A signal receiver is connected to all of the receiving probes respectively, and is used to collect the ultrasonic signals received by each of the receiving probes and determine whether the position of the transmitting probe is at the positioning point.

[0011] Preferably, the receiving probe array includes multiple sets of receiving probes, and each set of receiving probes includes two receiving probes, and the two receiving probes in the same set are symmetrically arranged about the target point.

[0012] Preferably, the receiving probe array includes two sets of receiving probes, wherein one set of receiving probes includes a first receiving probe and a third receiving probe, the first receiving probe and the third receiving probe being located above and below the target point, respectively, and the other set of receiving probes includes a second receiving probe and a fourth receiving probe, the second receiving probe and the fourth receiving probe being located to the left and right of the target point, respectively.

[0013] Preferably, the signal receiver can collect the ultrasonic signals received by each of the receiving probes and compare their phases. By moving the transmitting probe, when the phases of the ultrasonic signals received by the two receiving probes in each group are consistent, the position of the transmitting probe is the positioning point of the target point on the other side of the obstacle.

[0014] Preferably, the receiving probe array includes at least three receiving probes, and all the receiving probes are arranged around the target point, and the distance from any one of the receiving probes to the target point is the same;

[0015] When all the ultrasonic signals received by the receiving probes are in phase, the position of the transmitting probe is the location point of the target point on the other side of the obstacle.

[0016] Preferably, the signal receiver is a multi-channel data acquisition device with multiple synchronous sampling channels, not less than the number of the receiving probes, for receiving and synchronously displaying the ultrasonic signal waveforms received by each of the receiving probes; wherein, the signal receiver is a multi-channel oscilloscope, or other similar functional devices, such as a multi-channel data acquisition card, may also be selected.

[0017] Preferably, both the transmitting surface of the transmitting probe and the receiving surface of the receiving probe are coated with a coupling agent.

[0018] Preferably, it also includes a positioning fixture, which is used to adjust the position of the transmitting probe;

[0019] The positioning fixture includes an inner housing and an outer housing. The transmitting probe is installed inside the inner housing, and the transmitting surface of the transmitting probe can fit against the obstacle. The outer housing is sleeved on the outside of the inner housing and can be fixed to the obstacle. The outer housing is also provided with an adjustment component for adjusting the position of the inner housing.

[0020] The ultrasonic positioning device of this invention includes a transmitting probe, a signal transmitter, a receiving probe array, and a signal receiver. Depending on the usage environment, it can be equipped with an intrinsically safe probe, battery power supply, intrinsically safe circuit and system, thus becoming an intrinsically safe explosion-proof portable ultrasonic positioning device.

[0021] The present invention also provides a positioning method, implemented using the ultrasonic positioning device described above, comprising the following steps:

[0022] S1. The transmitting probe is driven by the signal transmitter to emit an ultrasonic signal, which passes through the obstacle and is received by the receiving probe.

[0023] S2. When the transmitting probe emits an ultrasonic signal, the transmitting probe is moved, and the ultrasonic signals received by each receiving probe are collected by the signal receiver to determine the position of the transmitting probe for positioning.

[0024] Preferably, the receiving probe array includes multiple sets of receiving probes, and each set of receiving probes includes two receiving probes, and the two receiving probes in the same set are symmetrically arranged about the target point;

[0025] In step S2, the transmitting probe is moved. When the phases of the ultrasonic signals received by the two receiving probes in each group are consistent, the position of the transmitting probe is the positioning point of the target point on the other side of the obstacle.

[0026] The signal receiver has multiple synchronous sampling channels for receiving and synchronously displaying the ultrasonic signal waveforms received by each of the receiving probes. The waveforms of the multiple synchronous sampling channels are observed through the multi-channel oscilloscope, and phase consistency is judged using a fixed reference point.

[0027] Preferably, the fixed reference point is the first zero-crossing point after the start point of the ultrasonic signal waveform received by the receiving probe, such as the zero-crossing point at 1 / 2 period of the head wave of the received ultrasonic signal, to avoid the influence of amplitude changes, dispersion and multipath phenomena of the received ultrasonic signal waveform on the accuracy of phase consistency judgment.

[0028] Preferably, in step S2, the position of the transmitting probe is finely adjusted by a positioning fixture.

[0029] Preferably, before step S1, the method further includes the following step:

[0030] S101. Perform preliminary positioning of the transmitting probe, move the transmitting probe, observe the waveform displayed on any synchronous sampling channel of the multi-channel data acquisition device, and find the position where the waveform peak is the largest. This position is close to the positioning point.

[0031] The present invention achieves the following technical effects compared to the prior art:

[0032] The ultrasonic positioning device of this invention mainly includes: a transmitting probe, which can be set on one side of an obstacle and is used to emit ultrasonic signals and allow the ultrasonic signals to pass through the obstacle; a signal transmitter, which is connected to the transmitting probe and is used to drive the transmitting probe to emit ultrasonic signals; a receiving probe array, which can be set on the side of the obstacle opposite to the transmitting probe, wherein the receiving probe array includes multiple receiving probes, all of which are arranged around the target point and are capable of receiving the ultrasonic signals emitted by the transmitting probe; and a signal receiver, which is connected to all the receiving probes respectively and is used to collect the ultrasonic signals received by each receiving probe and determine the position of the transmitting probe to achieve accurate wall-penetrating positioning.

[0033] In this invention, a signal transmitter drives a transmitting probe to emit ultrasonic signals, which then pass through obstacles. A receiving probe receives the ultrasonic signals emitted by the transmitting probe, and a signal receiver collects the ultrasonic signals received by each receiving probe, thereby determining the position of the transmitting probe and achieving precise wall-penetrating positioning. Compared to mechanical perforation methods, this invention eliminates the need for drilling, avoiding structural damage. Compared to magnetic field positioning methods, it is unaffected by metal interference, has strong adaptability, and can be used on metal walls such as carbon steel and stainless steel. Compared to laser measurement methods, it eliminates the need for wall geometry data and manual calculations, making it simple to operate and suitable for on-site engineering applications. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is a schematic diagram of the ultrasonic positioning device in an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of the receiving probe array in an embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram illustrating the positioning principle of the first group of receiving probe signals with symmetrical phase in an embodiment of the present invention.

[0038] Figure 4 This is a waveform diagram of the phase alignment of multi-channel signals from a multi-channel oscilloscope in an embodiment of the present invention.

[0039] In the diagram: 1-obstacle, 2-transmitting probe, 3-first receiving probe, 4-third receiving probe, 5-second receiving probe, 6-fourth receiving probe, 7-signal transmitter, 8-signal receiver, O-target point, T-positioning point. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] The purpose of this invention is to provide an ultrasonic positioning device and positioning method to solve the problems existing in the prior art. It can avoid structural damage, is not affected by metal interference, has strong adaptability, and is easy to operate, making it suitable for use in engineering sites.

[0042] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0043] Example 1

[0044] like Figures 1-4 As shown, this embodiment provides an ultrasonic positioning device, which mainly includes:

[0045] Transmitting probe 2 is used to determine the positioning point T. Transmitting probe 2 can be set on one side of the obstacle 1 to be located at the positioning point T. Transmitting probe 2 is used to emit ultrasonic signals and make the ultrasonic signals pass through the obstacle 1.

[0046] Signal transmitter 7 is connected to transmitting probe 2 and is used to drive transmitting probe 2 to transmit ultrasonic signals;

[0047] A receiving probe array can be set on the side of the obstacle 1 opposite to the transmitting probe 2. The receiving probe array includes multiple receiving probes, all of which are set around the target point O and can receive the ultrasonic signals emitted by the transmitting probe 2. The positioning point T is the point on the normal direction of the obstacle that corresponds to the target point O.

[0048] Signal receiver 8 is connected to all the receiving probes and is used to collect the ultrasonic signals received by each receiving probe and determine whether the position of transmitting probe 2 is at the positioning point T, so as to achieve accurate through-wall positioning.

[0049] Furthermore, it should be noted that the ultrasonic positioning device in this embodiment can be applied to scenarios requiring high-precision alignment of inner and outer walls, such as petrochemical, power, military, and special containers. The obstacle 1 can be a wall, tank wall, or plate, etc.

[0050] In this embodiment, the signal transmitter 7 drives the transmitting probe 2 to emit ultrasonic signals, which then pass through the obstacle 1. The receiving probe receives the ultrasonic signals emitted by the transmitting probe 2, and the signal receiver 8 collects the ultrasonic signals received by each receiving probe, thereby determining whether the position of the transmitting probe 2 is at the positioning point T, achieving precise wall-penetrating positioning. Compared with the mechanical perforation method, this embodiment does not require drilling, avoiding structural damage. Compared with the magnetic field positioning method, it is not affected by metal interference, has strong adaptability, and can be used on metal walls such as carbon steel and stainless steel. Compared with the laser measurement method, it does not require wall geometry data and manual calculation, is easy to operate, and is suitable for on-site engineering use.

[0051] In this embodiment, the receiving probe array includes multiple sets of receiving probes, each set of receiving probes includes two receiving probes, and the receiving probes in the same set are symmetrically arranged about the target point O.

[0052] In a preferred embodiment, the receiving probe array includes two sets of receiving probes. One set of receiving probes includes a first receiving probe 3 and a third receiving probe 4, which are located above and below the target point O, respectively. The other set of receiving probes includes a second receiving probe 5 and a fourth receiving probe 6, which are located to the left and right of the target point O, respectively. The four receiving probes are arranged in a cross shape, forming two intersecting axes of symmetry. The center point of the four receiving probes constitutes the target point O.

[0053] In this embodiment, the signal receiver 8 is connected to four receiving probes respectively, used to collect the ultrasonic signals received by each receiving probe and compare their phases. By moving the transmitting probe 2, when the phases of the ultrasonic signals received by two receiving probes in each group are consistent (i.e., the phases of the ultrasonic signals received by the first receiving probe 3 and the third receiving probe 4 are consistent, and the phases of the ultrasonic signals received by the second receiving probe 5 and the fourth receiving probe 6 are consistent), the position of the transmitting probe 2 is the positioning point T corresponding to the center point (i.e., target point O) of the receiving probe array on the other side of the obstacle 1, thus achieving precise through-wall positioning. Specifically, when the phases of the ultrasonic signals received by two receiving probes in the same group are consistent, the transmitting probe 2 is located on the axis of symmetry of the receiving probes in that group on the other side of the obstacle 1. By using two groups of receiving probes set horizontally and vertically, the axes of symmetry in two directions can be determined, and the corresponding positioning point T of the center point of the receiving probe array on the other side of the obstacle 1 can be located.

[0054] Furthermore, it should be noted that the receiving probe array is not limited to including two sets of receiving probes; three or more sets of receiving probes can also be set.

[0055] Alternatively, the receiving probe array can include multiple independently set receiving probes. In this case, there are at least three receiving probes, which are set around the target point O. The distance from any receiving probe to the target point O is the same. When the ultrasonic signals received by all receiving probes are in phase, the position of the transmitting probe 2 is the positioning point T on the other side of the obstacle 1 corresponding to the center point of the receiving probe array (i.e., the target point O), thus achieving accurate through-wall positioning.

[0056] In this embodiment, it should also be noted that the positioning method is not limited to the phase symmetry judgment method described above, and other positioning methods can be selected as needed. For example, the corresponding positional relationship between the transmitting probe 2 and the center point of the receiving probe array on the other side of the obstacle 1 can be determined by measuring the sound path of the ultrasonic signal received by the four receiving probes from the same transmitting probe 2. Specifically, the sound path (distance) = sound speed (v) × propagation time (t). The material of each part of the same obstacle 1 is basically the same, that is, the sound speed of the sound path between each group of receiving probes is the same. The propagation time of the sound path between each group of receiving probes is measured. When the propagation time of two receiving probes in the same direction is the same, the position of the transmitting probe 2 is located on the axis of symmetry of these two receiving probes. When the propagation time of two other receiving probes in different directions is also the same, the position of the transmitting probe 2 is located at the center point of symmetry of these four receiving probes.

[0057] In this embodiment, the signal receiver 8 is a multi-channel data acquisition device with multiple (at least four) synchronous sampling channels for receiving and synchronously displaying the ultrasonic signal waveforms received by each receiving probe. The waveforms of multiple synchronous sampling channels are observed using a multi-channel oscilloscope, and phase consistency is judged using a fixed reference point, improving operational visibility and accuracy. As a preferred embodiment, the signal receiver 8 is a multi-channel oscilloscope; alternatively, other devices with similar functions, such as a multi-channel data acquisition card, can also be selected.

[0058] In this embodiment, both the transmitting surface of the transmitting probe 2 and the receiving surface of the receiving probe are coated with a coupling agent. The coupling agent can squeeze out the air in the gap between the transmitting probe 2, the receiving probe and the obstacle 1, thereby enhancing the efficiency of ultrasonic waves passing through the obstacle 1. The coupling agent can be selected according to specific working needs, for example, ultrasonic coupling paste can be selected.

[0059] In this embodiment, a positioning fixture is also included, which is used to adjust the position of the transmitting probe 2 on one side of the obstacle 1 to improve the positioning accuracy.

[0060] In one preferred embodiment, the positioning fixture includes an inner housing and an outer housing. The transmitting probe 2 is installed inside the inner housing, and the transmitting surface of the transmitting probe 2 can fit against the obstacle 1. The outer housing is fitted onto the outside of the inner housing and can be fixed to the obstacle 1. The outer housing is also provided with an adjustment component for adjusting the position of the inner housing. In another preferred embodiment, both the inner housing and the outer housing are rectangular structures with front and rear openings. The adjustment component is an adjustment screw, and adjustment screws are provided on all four sides of the outer housing. By turning the adjustment screws, the position of the transmitting probe 2 can be finely adjusted in two directions (such as horizontal and vertical directions) to achieve millimeter-level or higher alignment accuracy.

[0061] This embodiment also provides a positioning method, implemented using the ultrasonic positioning device described above, which mainly includes the following steps:

[0062] S1. The signal transmitter 7 drives the transmitting probe 2 to emit ultrasonic signals, so that the ultrasonic signals pass through the obstacle 1 and are received by the receiving probe.

[0063] S2. Move the transmitting probe 2 and use the signal receiver 8 to collect the ultrasonic signals received by each receiving probe to determine the position of the transmitting probe 2 for positioning.

[0064] Before step S1, the following steps are also included:

[0065] S101. Perform preliminary positioning of the transmitting probe 2. Specifically, move the transmitting probe 2 and observe the waveform displayed on any synchronous sampling channel of the multi-channel oscilloscope to find the position where the waveform peak is the largest. This position is near the final position.

[0066] Before step S101, the following step is also included:

[0067] S01. Install the ultrasonic positioning device. Install a receiving probe array on one side (usually the inner side) of the obstacle 1 and connect the receiving probe array to the signal receiver 8; install a transmitting probe 2 on the other side of the obstacle 1 and connect the transmitting probe 2 to the signal transmitter 7.

[0068] In this embodiment, the receiving probe array includes multiple sets of receiving probes, each set of receiving probes includes two receiving probes, and the two receiving probes in the same set are symmetrically arranged about the target point O; in step S2, the transmitting probe 2 is moved, and when the phases of the ultrasonic signals received by the two receiving probes in each set are consistent, the position of the transmitting probe 2 is the positioning point T corresponding to the target point O on the other side of the obstacle 1.

[0069] In this embodiment, in step S2, the position of the transmitting probe 2 is finely adjusted by the positioning fixture to achieve alignment accuracy at the millimeter level or above.

[0070] In this embodiment, in step S2, the waveforms of multiple synchronous sampling channels are observed using a multi-channel oscilloscope, and phase consistency is judged using a fixed reference point, thereby improving the visibility and accuracy of the operation.

[0071] Example 2

[0072] In this embodiment, as Figure 1 and Figure 2 As shown, the receiving probe array includes two sets of receiving probes. One set of receiving probes includes a first receiving probe 3 and a third receiving probe 4, which are located above and below the target point O, respectively. The other set of receiving probes includes a second receiving probe 5 and a fourth receiving probe 6, which are located to the left and right of the target point O, respectively. The four receiving probes are arranged in a cross shape, forming two intersecting axes of symmetry. The center point of the four receiving probes constitutes the target point O. The signal receiver 8 is a multi-channel oscilloscope with four synchronous sampling channels, used to receive and synchronously display the ultrasonic signal waveforms received by the four receiving probes.

[0073] The specific positioning method in this embodiment is as follows:

[0074] Connect the transmitting probe 2 to the signal transmitter 7, and connect the leads of the four receiving probes of the receiving probe array to the four synchronous sampling channels of the multi-channel oscilloscope in sequence, that is, the first receiving probe 3 is connected to the first synchronous sampling channel CH1, the second receiving probe 5 is connected to the second synchronous sampling channel CH2, the third receiving probe 4 is connected to the third synchronous sampling channel CH3, and the fourth receiving probe 6 is connected to the fourth synchronous sampling channel CH4.

[0075] Ultrasonic signals are emitted towards obstacle 1 via transmitting probe 2. These signals travel through obstacle 1 to four receiving probes on the inside. Each of the four receiving probes is connected to a multi-channel oscilloscope to record the echo signal waveforms. Figure 3 As shown.

[0076] Apply coupling agent to the transmitting probe 2, then roughly search for the signal outside the obstacle 1. Observe the waveform displayed on any synchronous sampling channel of the multi-channel oscilloscope and find the position where the waveform peak is the largest. This position is near the final position.

[0077] The transmitting probe 2 is fixed on the inner shell of the positioning fixture, and the outer shell of the positioning fixture is fixed on the outer wall of the obstacle 1. The four sides of the inner shell are fixed to the outer shell by adjusting screws. The center position of the inner shell can be precisely adjusted by fine-tuning the adjusting screws.

[0078] After applying coupling agent to the transmitting probe 2, use a positioning fixture to move the transmitting probe 2 slightly against the outer wall of the obstacle 1. At this time, observe the waveforms of the four synchronous sampling channels displayed on the multi-channel oscilloscope and align the waveforms of the four synchronous sampling channels.

[0079] It should be noted that after the ultrasonic positioning device is installed, the position of the transmitting probe 2 is finely adjusted by adjusting the screws on the four sides of the outer casing. The vertical displacement of the multi-channel oscilloscope channel is then zeroed. The waveform displayed on the multi-channel oscilloscope is observed, and a fixed reference point is selected, such as the zero-crossing point of the rising or falling edge of the nth signal.

[0080] In a preferred embodiment, the fixed reference point is the first zero-crossing point after the starting point of the ultrasonic signal waveform received by the receiving probe, such as the zero-crossing point at 1 / 2 period of the head wave of the received ultrasonic signal, to avoid the influence of amplitude changes, dispersion and multipath phenomena of the received ultrasonic signal waveform on the accuracy of phase consistency judgment.

[0081] Using a fixed reference point as the center, set the multi-channel oscilloscope to the 500ns / div setting. Fine-tune the position of the transmitting probe 2 by adjusting the screws, aligning the reference points of the first synchronous sampling channel CH1 with those of the third synchronous sampling channel CH3, and the second synchronous sampling channel CH2 with those of the fourth synchronous sampling channel CH4. After adjustment, the center of the transmitting probe 2 is now the positioning point T, thus achieving precise positioning.

[0082] In this embodiment, the signal frequency range used by the transmitting probe 2 is generally 100kHz to 1MHz, which is suitable for steel plates, carbon steel, stainless steel and composite material walls, and the actual measurement positioning error can be controlled within ±0.5mm.

[0083] The ultrasonic positioning device and positioning method of this invention have a reasonable structural design and feasible technical implementation. They have significant engineering practical value and promotion prospects. They are applicable to scenarios requiring high-precision alignment of inner and outer walls, such as petrochemical, power, military, and special containers. They can also be extended to fields such as through-wall ultrasonic communication and sensing positioning.

[0084] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. An ultrasonic positioning device, characterized in that: include: A transmitting probe (2) is used to determine a positioning point (T). The transmitting probe (2) can be set on one side of the obstacle (1) where the positioning point (T) is to be determined, and the transmitting probe (2) is used to transmit ultrasonic signals and make the ultrasonic signals pass through the obstacle (1). A signal transmitter (7) is connected to the transmitting probe (2) and is used to drive the transmitting probe (2) to transmit ultrasonic signals; A receiving probe array is provided, which can be set on the side of the obstacle (1) opposite to the transmitting probe (2). The receiving probe array includes multiple receiving probes, all of which are arranged around the target point (O) and are capable of receiving the ultrasonic signal emitted by the transmitting probe (2). The positioning point (T) is the point on the normal direction of the obstacle that corresponds to the target point (O). A signal receiver (8) is connected to all of the receiving probes respectively, and is used to collect the ultrasonic signals received by each of the receiving probes and determine whether the position of the transmitting probe (2) is at the positioning point (T).

2. The ultrasonic positioning device according to claim 1, characterized in that: The receiving probe array includes multiple sets of receiving probes, and each set of receiving probes includes two receiving probes, and the two receiving probes in the same set are symmetrically arranged about the target point (O).

3. The ultrasonic positioning device according to claim 2, characterized in that: The receiving probe array includes two sets of receiving probes. One set of receiving probes includes a first receiving probe (3) and a third receiving probe (4), which are located above and below the target point (O), respectively. The other set of receiving probes includes a second receiving probe (5) and a fourth receiving probe (6), which are located to the left and right of the target point (O), respectively.

4. The ultrasonic positioning device according to claim 2 or 3, characterized in that: The signal receiver (8) can collect the ultrasonic signals received by each of the receiving probes and compare their phases. By moving the transmitting probe (2), when the phases of the ultrasonic signals received by the two receiving probes in each group are consistent, the position of the transmitting probe (2) is the positioning point (T) of the target point (O) on the other side of the obstacle (1).

5. The ultrasonic positioning device according to claim 1, characterized in that: The receiving probe array includes at least three receiving probes, and all of the receiving probes are arranged around the target point (O), and the distance from any one of the receiving probes to the target point (O) is the same. When the ultrasonic signals received by all the receiving probes are in phase, the position of the transmitting probe (2) is the positioning point (T) of the target point (O) on the other side of the obstacle (1).

6. The ultrasonic positioning device according to claim 3 or 5, characterized in that: The signal receiver (8) is a multi-channel data acquisition device with multiple synchronous sampling channels, not less than the number of the receiving probes, for receiving and synchronously displaying the ultrasonic signal waveforms received by each of the receiving probes.

7. The ultrasonic positioning device according to claim 1, characterized in that: It also includes a positioning fixture, which is used to adjust the position of the transmitting probe (2); The positioning fixture includes an inner shell and an outer shell. The transmitting probe (2) is installed inside the inner shell, and the transmitting surface of the transmitting probe (2) can fit against the obstacle (1). The outer shell is sleeved on the outside of the inner shell, and the outer shell can be fixed on the obstacle (1). The outer shell is also provided with an adjustment component for adjusting the position of the inner shell.

8. A positioning method, characterized in that: The method of implementation using the ultrasonic positioning device as described in any one of claims 1-7 includes the following steps: S1. The transmitting probe (2) is driven by the signal transmitter (7) to emit an ultrasonic signal, so that the ultrasonic signal passes through the obstacle (1) and is received by the receiving probe. S2. When the transmitting probe (2) emits an ultrasonic signal, the transmitting probe (2) is moved, and the ultrasonic signals received by each receiving probe are collected by the signal receiver (8) to determine the position of the transmitting probe (2) for positioning.

9. The positioning method according to claim 8, characterized in that: Before step S1, the following step is also included: S101. Perform preliminary positioning of the transmitting probe (2), move the transmitting probe (2), observe the waveform displayed by any synchronous sampling channel on the multi-channel data acquisition device, find the position where the waveform peak is the largest, and this position is close to the positioning point (T).

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