Multi-region adaptive ultrasonic phased array sensing obstacle avoidance method and system

Abstract

The invention relates to the technical field of mobile robots, in particular to a multi-area self-adaptive ultrasonic phased array sensing obstacle avoidance method and system, and the method comprises the steps: forming an ultrasonic phased array by ultrasonic transmitting / receiving array elements which are arranged in a planar matrix, and transmitting pulse ultrasound and receiving echoes by the ultrasonic phased array; calculating the horizontal / vertical angle of the target based on the ultrasonic time of flight ToF and the array element phase difference, and generating a three-dimensional point cloud; comparing the generated three-dimensional point cloud with a currently selected preset area, wherein each preset area comprises a protection area, a warning area and an exclusion area; when it is detected that an object enters the protection area, a redundant shutdown signal is sent out; when the vehicle enters a warning area, an early warning signal is sent out; stopping or warning is not triggered when the detection is in the exclusion area; and in a multi-device cooperation scene, according to a set multi-device coexistence strategy, allocating a transmission code and a synchronization offset. According to the invention, the environmental anti-interference capability is strong, the cost is low, the sensing degree is high, the detection angle is wide, and the spatial resolution is high.

Description

Technical Field

[0001] This invention relates to the field of mobile robot technology, and in particular to a multi-region adaptive ultrasonic phased array perception and obstacle avoidance method and system. Background Technology

[0002] Autonomous mobile robots (AMRs) are increasingly used in industrial warehousing, logistics sorting, manufacturing and distribution scenarios. The safe operation of AMRs highly depends on reliable obstacle avoidance and environmental perception capabilities. However, existing mainstream obstacle avoidance / perception solutions have the following shortcomings: While LiDAR can provide high-precision 3D ranging, it suffers from high equipment costs, is significantly affected by dust and reflective surfaces, and has poor maintenance and long-term reliability in some industrial environments. Infrared / TOF sensors offer low cost and low power consumption, but most only provide two-dimensional or sparse distance information, making it difficult to meet the precise perception requirements of complex 3D environments. Traditional ultrasonic sensors, while dust-resistant and adaptable, often have narrow detection angles and low spatial resolution, and are prone to interference and false detections when multiple devices are present or when ground reflections are present. Furthermore, traditional ultrasonic devices also have shortcomings in terms of energy consumption, response speed, and safety output design, making it difficult to directly meet the real-time, safety, and multi-vehicle collaboration requirements of industrial-grade AMRs.

[0003] It is necessary to provide a perception and obstacle avoidance solution that meets industrial safety and real-time requirements while significantly improving anti-interference capabilities and energy efficiency, and is suitable for multi-AMR collaborative operation scenarios.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the general background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] This invention provides a multi-region adaptive ultrasonic phased array sensing obstacle avoidance method and system, thereby effectively solving the problems in the background art.

[0006] To achieve the above objectives, the technical solution adopted by this invention is: a multi-region adaptive ultrasonic phased array sensing obstacle avoidance method and system, comprising the following steps: An ultrasonic phased array is formed by ultrasonic transmitting / receiving array elements arranged in a planar matrix. The ultrasonic phased array transmits pulsed ultrasound and receives echoes. Calculate the target and horizontal / vertical angles based on ultrasonic time-of-flight (ToF) and array element phase difference, and generate a 3D point cloud. The generated 3D point cloud is compared with the currently selected region preset, and each region preset includes a protection zone, a warning zone, and an exclusion zone; When an object is detected entering the protected area, a redundant shutdown signal is issued; when it enters the warning area, a warning signal is issued; when it is detected in the exclusion area, no shutdown or warning is triggered; and in multi-device collaborative scenarios, the transmission code and synchronization offset are allocated according to the set multi-device coexistence strategy.

[0007] Furthermore, the step of calculating the target's horizontal / vertical angle based on Time-of-Flight (ToF) and the phase difference between array elements and generating a 3D point cloud also includes: Collect ambient temperature and humidity data to correct for ultrasonic velocity; The distance traveled by the AMR vehicle is calculated based on the number of teeth and the circumference of the wheels, and the real-time point cloud coordinates are compensated based on the distance traveled by the vehicle.

[0008] Furthermore, the correction of ultrasonic velocity based on the collected ambient temperature and humidity includes: In the formula, The velocity of sound is the temperature and humidity corrected value, where T is the real-time temperature and RH is the relative humidity.

[0009] Furthermore, the calculation of the distance traveled by the AMR vehicle based on the number of wheel teeth and the circumference of the wheels, and the compensation of the real-time point cloud coordinates based on the distance traveled by the vehicle, includes: In the formula, X is the x-coordinate of the point cloud, Y is the y-coordinate of the point cloud, and Z is the z-coordinate of the point cloud. Let be the speed of the AMR trolley, D be the wheel diameter, N be the total number of teeth on the AMR trolley, and n be the tooth count value of the AMR trolley. This represents the horizontal offset angle of the ultrasonic wave emission. Let t be the vertical offset angle of the ultrasonic wave transmission, t be the time difference between the ultrasonic wave transmission and reception, S be the distance the trolley travels, and L be the total distance the ultrasonic wave is transmitted and received.

[0010] Further, comparing the generated 3D point cloud with the currently selected region preset includes: The 3D point cloud data is transmitted to the navigation system of the AMR vehicle, and the 3D point cloud data is compared with the preset protection zone and warning zone of the currently selected area. Different detection and alarm distances can be preset for different areas.

[0011] Furthermore, in a multi-device collaborative scenario, allocating transmission codes and synchronization offsets according to a set multi-device coexistence strategy includes: Several transmission code allocations are set, and different devices use different codes to avoid signal conflicts; The transmission time slots of the same encoding device are isolated by synchronous offset control; the maximum number of retries is configured to filter interference signals.

[0012] The present invention also includes a multi-region adaptive ultrasonic phased array sensing obstacle avoidance system, using the method described above, wherein the system comprises: An ultrasonic phased array unit is used to form an ultrasonic phased array composed of ultrasonic transmitting / receiving array elements arranged in a planar matrix. The ultrasonic phased array transmits pulsed ultrasound and receives echoes. Three-dimensional point cloud unit, used to calculate the target and horizontal / vertical angles based on ultrasonic time-of-flight (ToF) and array element phase difference and generate three-dimensional point cloud; The region comparison unit is used to compare the generated 3D point cloud with the currently selected region preset, which includes a protection zone, a warning zone, and an exclusion zone. The obstacle avoidance unit is used to issue redundant shutdown signals when an object is detected entering the protected area; issue warning signals when an object enters the warning area; not trigger shutdown or warning when an object is detected in the exclusion area; and allocate transmission codes and synchronization offsets according to the set multi-device coexistence strategy in multi-device collaborative scenarios.

[0013] Furthermore, it also includes a low-power control unit for using pulsed excitation with a transmit duty cycle ≤10% to reduce the average power consumption of the device through a sleep / wake-up mechanism.

[0014] The present invention also includes a computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as described above.

[0015] The present invention also includes a storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described above.

[0016] The beneficial effects of this invention are as follows: it supports dynamic switching of preset areas, adapts to the obstacle avoidance requirements of different AMR operating scenarios, the exclusion zone design effectively reduces the false detection rate, compared with lidar, it has strong environmental anti-interference ability, can work in dusty or reflective environments and has low cost, compared with infrared sensors and traditional ultrasonic sensors, ultrasonic phased array can provide three-dimensional point cloud information, with higher perception, wider detection angle and higher spatial resolution; and the multi-device coexistence strategy effectively avoids signal interference and improves adaptability to complex environments. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of the method in Example 1; Figure 2 This is a schematic diagram of the system structure in Example 1; Figure 3 This is a schematic diagram of the system structure in Example 2; Figure 4 This is a schematic diagram of the ultrasonic phased array in Example 2; Figure 5 This is a schematic diagram of the preset area in Example 2; Figure 6 This is a schematic diagram of the structure of the computer device of the present invention. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] Example 1: like Figure 1 As shown: A multi-region adaptive ultrasonic phased array sensing obstacle avoidance method and system, comprising the following steps: An ultrasonic phased array is formed by ultrasonic transmitting / receiving array elements arranged in a planar matrix. The ultrasonic phased array transmits pulsed ultrasound and receives the echo. Calculate the target and horizontal / vertical angles based on ultrasonic time-of-flight (ToF) and array element phase difference, and generate a 3D point cloud. The generated 3D point cloud is compared with the currently selected region preset. Each region preset includes a protection zone, a warning zone, and an exclusion zone. When an object is detected entering the protected area, a redundant shutdown signal is issued; when it enters the warning area, a warning signal is issued; when it is detected in the exclusion area, no shutdown or warning is triggered; and in multi-device collaborative scenarios, the transmission code and synchronization offset are allocated according to the set multi-device coexistence strategy.

[0021] It supports dynamic switching of preset areas to adapt to the obstacle avoidance requirements of different AMR operating scenarios. The exclusion zone design effectively reduces the false detection rate. Compared with lidar, it has strong environmental anti-interference ability, can work in dusty or reflective environments, and has low cost. Compared with infrared sensors and traditional ultrasonic sensors, ultrasonic phased array can provide three-dimensional point cloud information, with higher perception, wider detection angle, and higher spatial resolution. Moreover, the multi-device coexistence strategy effectively avoids signal interference and improves adaptability to complex environments.

[0022] In this embodiment, the calculation of the target's horizontal / vertical angle based on Time-of-Flight (ToF) and the phase difference between array elements, and the generation of a 3D point cloud, further includes: Collect ambient temperature and humidity data to correct for ultrasonic velocity; The distance traveled by the AMR vehicle is calculated based on the number of teeth and the circumference of the wheels, and the real-time point cloud coordinates are compensated based on the distance traveled by the vehicle.

[0023] This includes collecting ambient temperature and humidity data to correct for ultrasonic velocity, including: In the formula, The velocity of sound is the temperature and humidity corrected value, where T is the real-time temperature and RH is the relative humidity.

[0024] The distance traveled by the AMR vehicle is calculated based on the number of teeth and the circumference of its wheels. The real-time point cloud coordinates are then compensated based on this distance, including: In the formula, X is the x-coordinate of the point cloud, Y is the y-coordinate of the point cloud, and Z is the z-coordinate of the point cloud. Let be the speed of the AMR trolley, D be the wheel diameter, N be the total number of teeth on the AMR trolley, and n be the tooth count value of the AMR trolley. This represents the horizontal offset angle of the ultrasonic wave emission. Let t be the vertical offset angle of the ultrasonic wave transmission, t be the time difference between the ultrasonic wave transmission and reception, S be the distance the trolley travels, and L be the total distance the ultrasonic wave is transmitted and received.

[0025] In this embodiment, the generated 3D point cloud is compared with the currently selected region preset, including: The 3D point cloud data is transmitted to the navigation system of the AMR vehicle, and the 3D point cloud data is compared with the preset protection zone and warning zone of the currently selected area. Different detection and alarm distances can be preset for different areas.

[0026] As a preferred embodiment of the above embodiments, in a multi-device collaborative scenario, allocating transmission codes and synchronization offsets according to a set multi-device coexistence strategy includes: Several transmission code allocations are set, and different devices use different codes to avoid signal conflicts; The transmission time slots of the same encoding device are isolated by synchronous offset control; the maximum number of retries is configured to filter interference signals.

[0027] like Figure 2 As shown, this embodiment also includes a multi-region adaptive ultrasonic phased array sensing obstacle avoidance system, using the method described above. The system includes: An ultrasonic phased array unit is used to form an ultrasonic phased array by arranging ultrasonic transmitting / receiving array elements in a planar matrix. The ultrasonic phased array transmits pulsed ultrasound and receives echoes. Three-dimensional point cloud unit, used to calculate the target and horizontal / vertical angles based on ultrasonic time-of-flight (ToF) and array element phase difference and generate three-dimensional point cloud; The region comparison unit is used to compare the generated 3D point cloud with the currently selected region preset, which includes a protection zone, a warning zone, and an exclusion zone. The obstacle avoidance unit is used to issue redundant shutdown signals when an object is detected entering the protected area; issue warning signals when an object enters the warning area; not trigger shutdown or warning when an object is detected in the exclusion area; and allocate transmission codes and synchronization offsets according to the set multi-device coexistence strategy in multi-device collaborative scenarios.

[0028] It also includes a low-power control unit, which uses pulsed excitation and a transmit duty cycle of ≤10% to reduce the average power consumption of the device through a sleep / wake-up mechanism.

[0029] Example 2: like Figure 3 As shown, this embodiment includes a multi-region adaptive ultrasonic phased array sensing obstacle avoidance scheme, specifically including: 1. Design of ultrasonic phased array detection module: It adopts a planar matrix arrangement of ultrasonic transceiver elements, with a working frequency of 70-85kHz, balancing detection range and resolution; it has a 180°×180° wide-angle coverage, achieving omnidirectional detection without mechanical rotation, and can detect targets as small as φ30mm cylindrical objects, meeting the detection needs of obstacles such as personnel, equipment, and goods in industrial scenarios.

[0030] like Figure 4As shown, the ultrasonic phased array calculates the target distance based on the time-of-flight principle, calculates the horizontal and vertical angles by the phase difference of the signals received by multiple array elements, and constructs a three-dimensional point cloud in real time. The point cloud output delay is ≤50ms, ensuring the real-time nature of obstacle avoidance decisions.

[0031] 2. Multi-region adaptive configuration mechanism: like Figure 5 As shown, it supports up to 128 preset zones. Each preset includes a protection zone (triggering a safety shutdown), a warning zone (early warning), and an exclusion zone (blocking invalid interference). The geometry and parameters of the zones can be customized through the host computer tool.

[0032] Equipped with 11 safety inputs, it supports real-time configuration of up to 128 zones. The AMR dynamically switches between preset zones via PLC or controller based on the current vehicle speed and scenario, adapting to complex obstacle avoidance requirements.

[0033] 3. Safety output and warning mechanism: It integrates two redundant safety outputs. When an obstacle is detected in the protected area, the safety output signal is immediately turned off (low level) with a response time of ≤10ms, ensuring the AMR stops quickly; it also has two warning outputs. A high level indicates that there is an obstacle in the warning area, realizing multi-level safety protection.

[0034] It complies with ISO 13849-1 safety standards, with a performance level (PL) of d, meeting industrial safety protection requirements.

[0035] 4. Low power consumption and multi-device coexistence optimization: It adopts a pulse-type excitation design (duty cycle ≤10%) and a sleep-wake mechanism. The module goes into sleep mode during non-working periods, with an average power consumption of ≤5W, which is more than 50% lower than traditional devices, thus extending the battery life of AMR.

[0036] Multi-device coexistence strategy: Supports four types of transmission code allocation, with different codes used by different devices to avoid signal conflicts; isolates the transmission time slots of devices with the same code through synchronization offset control; configurable maximum number of retries (0-4 times) to filter interference signals and ensure detection reliability when multiple AMRs work together.

[0037] 5. Temperature compensation and anti-interference design: It integrates a temperature compensation algorithm and is equipped with an internal temperature sensor. The system corrects the sound velocity calculation based on temperature, with a distance error of ≤±2%. The floor detection suppression function effectively shields against false detections caused by ground reflections, small debris, and other interference.

[0038] The equipment enclosure has an IP64 protection rating, providing dust and splash protection. Its electromagnetic compatibility meets the IEC 61000 series standards, making it suitable for complex industrial environments.

[0039] 6. Communication and configuration interface: It supports Ethernet interface (M12 D-code 4-pin connector), uses CoAP / UDP protocol to transmit point cloud data and device status, is compatible with ROS2 ecosystem, and can directly interface with AMR navigation system; it also supports DHCP dynamic address allocation.

[0040] It supports functions such as regional preset editing, network configuration, and firmware updates. The configuration file can be uploaded to the device via Ethernet, making it easy to operate.

[0041] The multi-region adaptive ultrasonic phased array three-dimensional point cloud generation device in this embodiment has the following beneficial effects: 1. Flexible area configuration: Supports dynamic switching of 128 preset areas to adapt to the obstacle avoidance requirements of different AMR operating scenarios. The exclusion zone design effectively reduces the false detection rate. 2. High safety level: Dual redundant outputs and 1oo2 safety logic, compliant with ISO 13849-1 PL d standard, response time ≤10ms, ensuring the safety of personnel and equipment; 3. Strong anti-interference capability: The multi-device coexistence strategy (transmission code + synchronization offset + retry mechanism) effectively avoids signal interference, and temperature compensation and floor suppression function improve adaptability to complex environments; 4. Low power consumption and long battery life: Average power consumption ≤5W, supports long-term operation of AMR, and improves battery life by more than 40% compared with traditional devices; 5. Excellent integration: small size (≤120mm×60mm×30mm), light weight (≤0.3kg), IP64 protection rating, adaptable to various AMR installation requirements, and compatible with mainstream communication protocols and configuration tools.

[0042] Taking obstacle avoidance applications of AMRs in industrial warehousing as an example, the specific solution is as follows: 1. Device parameter configuration: Ultrasonic phased array module: operating frequency 75kHz, detection range 0-5m, minimum detection object φ30mm cylinder, angular accuracy ±2° (center) / ±5° (edge); Area presets: Configure 3 commonly used area presets (low-speed operation area, high-speed travel area, loading and unloading area), each preset includes 1 protection area (radius 0.5-1.5m), 2 warning areas (inner warning area radius 0.8-2.0m, outer warning area radius 1.2-3.0m), and set 1 exclusion area to shield the AMR's own mechanical structure; Security input coding: Area switching is achieved through 3 security inputs; Power consumption mode: average power consumption 4.2W, pulse excitation duty cycle 8%, multi-device coexistence transmission code set to 0, synchronization offset 31250μs.

[0043] 2. Installation and Integration: Mechanical installation: Fix to the front end of the AMR through the M4 mounting holes, with an installation height of 0.5m (from the ground) and an installation torque of 3±0.3N・m, ensuring that the probe surface is unobstructed and the field of view covers the direction of travel; Electrical connections: Connect to a 24V power supply; connect the alarm output to the AMR safety PLC; connect the 11 safety inputs to the AMR controller; connect the Ethernet interface to the AMR LAN. Configuration Upload: Edit the region preset and network configuration using the tool, upload the configuration file to the device, and verify the region switching and secure output functions.

[0044] 3. Workflow: After AMR is started, the device initializes and loads the default area preset (high-speed driving area), and enters low-power scanning mode; The ultrasonic phased array module emits pulsed ultrasonic signals and receives echoes from obstacles. By calculating distance and angle, it generates a three-dimensional point cloud in real time. The sound velocity is corrected for temperature and humidity. The real-time point cloud coordinates (x, y, z) need to be compensated for the distance traveled by the vehicle. The distance traveled by the vehicle is calculated using the number of wheel teeth and the circumference of the wheels.

[0045] Point cloud data is transmitted to the AMR navigation system via Ethernet, and the device compares the point cloud with the preset protection zone and warning zone of the current area. If an object is detected entering the protected area, the safety output is immediately shut off, triggering an emergency stop for the AMR; if it enters the warning area, the warning output goes high, the AMR slows down and issues a warning; detection results within the exclusion zone do not trigger any output. When the AMR travels to the loading and unloading area, the controller switches to the loading and unloading area preset through the safety input, and the protected area is reduced to 0.5m to avoid accidental shutdown. When multiple AMRs work together, different devices are configured with different transmission codes (0 and 2 are used alternately), and different synchronization offsets are set for the same encoding device to avoid signal interference.

[0046] 4. Application Results: In industrial warehouse AMR obstacle avoidance scenarios, this device successfully achieved accurate obstacle detection within a range of 0-5m, with a point cloud resolution of 30mm and a false detection rate of ≤0.5%. There was no significant interference when multiple devices coexisted, and the safe output response time was 8ms, meeting the AMR safe obstacle avoidance requirements. The average power consumption was 4.2W, and the AMR's battery life was increased from 8 hours to 11.5 hours, improving operational efficiency by 43%.

[0047] Please see Figure 6 The diagram shows a structural schematic of a computer device provided in an embodiment of this application. An embodiment of this application provides a computer device 400, including a processor 410 and a memory 420. The memory 420 stores a computer program executable by the processor 410. When the computer program is executed by the processor 410, it performs the method described above.

[0048] This application embodiment also provides a storage medium 430, on which a computer program is stored, and the computer program is executed by a processor 410 to perform the above method.

[0049] The storage medium 430 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0050] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.

[0051] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0052] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0053] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0054] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0055] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0056] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0057] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A multi-region adaptive ultrasonic phased array sensing obstacle avoidance method, characterized in that, Includes the following steps: An ultrasonic phased array is formed by ultrasonic transmitting / receiving array elements arranged in a planar matrix. The ultrasonic phased array transmits pulsed ultrasound and receives echoes. Calculate the target and horizontal / vertical angles based on ultrasonic time-of-flight (ToF) and array element phase difference, and generate a 3D point cloud. The generated 3D point cloud is compared with the currently selected region preset, and each region preset includes a protection zone, a warning zone, and an exclusion zone; When an object is detected entering the protected area, a redundant shutdown signal is issued; When entering the warning zone, a warning signal is issued; when the detection is in the exclusion zone, no shutdown or warning is triggered. In addition, in multi-device collaborative scenarios, the transmission code and synchronization offset are allocated according to the set multi-device coexistence strategy.

2. The multi-region adaptive ultrasonic phased array sensing obstacle avoidance method according to claim 1, characterized in that, The method of calculating the target's horizontal / vertical angles and generating a 3D point cloud based on Time-of-Flight (ToF) and array element phase difference also includes: Collect ambient temperature and humidity data to correct for ultrasonic velocity; The distance traveled by the AMR vehicle is calculated based on the number of teeth and the circumference of the wheels, and the real-time point cloud coordinates are compensated based on the distance traveled by the vehicle.

3. The multi-region adaptive ultrasonic phased array sensing obstacle avoidance method according to claim 2, characterized in that, The collection of ambient temperature and humidity data is used to correct for ultrasonic velocity, including: ； In the formula, The velocity of sound is the temperature and humidity corrected value, where T is the real-time temperature and RH is the relative humidity.

4. The multi-region adaptive ultrasonic phased array sensing obstacle avoidance method according to claim 2, characterized in that, The calculation of the distance traveled by the AMR vehicle based on the number of wheel teeth and the circumference of the wheels, and the compensation of the real-time point cloud coordinates based on the distance traveled by the vehicle, includes: In the formula, X is the x-coordinate of the point cloud, Y is the y-coordinate of the point cloud, and Z is the z-coordinate of the point cloud. Let be the speed of the AMR trolley, D be the wheel diameter, N be the total number of teeth on the AMR trolley, and n be the tooth count value of the AMR trolley. This represents the horizontal offset angle of the ultrasonic wave emission. Let t be the vertical offset angle of the ultrasonic wave transmission, t be the time difference between the ultrasonic wave transmission and reception, S be the distance the trolley travels, and L be the total distance the ultrasonic wave is transmitted and received.

5. The multi-region adaptive ultrasonic phased array sensing obstacle avoidance method according to claim 1, characterized in that, The step of comparing the generated 3D point cloud with the currently selected region preset includes: The 3D point cloud data is transmitted to the navigation system of the AMR vehicle, and the 3D point cloud data is compared with the preset protection zone and warning zone of the currently selected area. Different detection and alarm distances can be preset for different areas.

6. The multi-region adaptive ultrasonic phased array sensing obstacle avoidance method according to claim 1, characterized in that, In a multi-device collaborative scenario, the allocation of transmission codes and synchronization offsets according to a set multi-device coexistence strategy includes: Several transmission code allocations are set, and different devices use different codes to avoid signal conflicts; The transmission time slots of the same encoding device are isolated by synchronous offset control; the maximum number of retries is configured to filter interference signals.

7. A multi-region adaptive ultrasonic phased array sensing and obstacle avoidance system, characterized in that, Using the method of any one of claims 1 to 6, the system comprises: An ultrasonic phased array unit is used to form an ultrasonic phased array composed of ultrasonic transmitting / receiving array elements arranged in a planar matrix. The ultrasonic phased array transmits pulsed ultrasound and receives echoes. Three-dimensional point cloud unit, used to calculate the target and horizontal / vertical angles based on ultrasonic time-of-flight (ToF) and array element phase difference and generate three-dimensional point cloud; The region comparison unit is used to compare the generated 3D point cloud with the currently selected region preset, which includes a protection zone, a warning zone, and an exclusion zone. The obstacle avoidance unit is used to issue redundant shutdown signals when an object is detected entering the protected area; issue warning signals when an object enters the warning area; not trigger shutdown or warning when an object is detected in the exclusion area; and allocate transmission codes and synchronization offsets according to the set multi-device coexistence strategy in multi-device collaborative scenarios.

8. The multi-region adaptive ultrasonic phased array perception and obstacle avoidance system according to claim 7, characterized in that, It also includes a low-power control unit for using pulsed excitation and a transmit duty cycle of ≤10% to reduce the average power consumption of the device through a sleep / wake-up mechanism.

9. A computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1-6.

10. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-6.

Images