Object detection device
By designing an object detection device that includes components such as detectors, mixers, signal integrators, etc., the problem of poor timeliness of ultrasonic detectors detecting small movements of objects is solved, and the effect of detecting small movements of objects is achieved in real time.
Patent Information
- Application Number
- CN202421438365.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-21
- Publication Date
- 2025-07-25
- Estimated Expiration
- 2034-06-21
AI Technical Summary
The existing ultrasonic detectors have poor timeliness when detecting small movements of objects, and require multiple detections and calculations to achieve them.
An object detection device is designed, including a detector, a mixer, a signal integrator, a first filter, a signal amplifier, an analog-to-digital converter, a second filter and a data processor. Through the connection and processing of these components, the micro-moving signals and noise of the target object in the ultrasonic signal can be extracted in real time and the change trend of the target object can be determined.
It realizes the tiny movements of objects that can be detected in real time without multiple detections, and improves the timeliness of ultrasonic detectors.
Smart Images
Figure CN223155233U_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the technical field of object detection, and particularly relates to an object detection device. Background Art
[0002] Currently, common object detection devices include optical detectors, electromagnetic detectors, and ultrasonic detectors. Optical detectors and electromagnetic detectors may be affected by environmental factors (such as light interference or electromagnetic interference) and cannot work properly.
[0003] The ultrasonic detector is less affected by environmental factors, but it can usually only be used to detect large-amplitude movements of an object. If you want to detect the micro-movements of an object, you can only achieve it through multiple detections and calculations. Therefore, the detection result cannot be obtained in real time. It can be seen that the existing ultrasonic detector has poor timeliness in detecting the micro-movements of an object. Summary of the Invention
[0004] In view of this, the embodiments of this application provide an object detection device to solve the technical problem that the existing ultrasonic detector has poor timeliness in detecting the micro-movements of an object.
[0005] The embodiments of this application provide an object detection device, which includes a detector, a mixer, a signal integrator, a first filter, a signal amplifier, an analog-to-digital converter, a second filter, and a data processor; the detector is connected to the mixer, the mixer is connected to the signal integrator, the signal integrator is connected to the first filter, the first filter is connected to the signal amplifier, the signal amplifier is connected to the analog-to-digital converter, the analog-to-digital converter is connected to the second filter, and the second filter is connected to the data processor;
[0006] The detector is used to perform detection processing on the received ultrasonic signal; the mixer is used to perform mixing processing on the ultrasonic signal after detection processing; the signal integrator is used to perform integration processing on the ultrasonic signal after mixing processing to extract the micro-movement signal and noise of the target object in the ultrasonic signal; the first filter is used to perform the first filtering processing on the ultrasonic signal after integration processing; the signal amplifier is used to perform amplification processing on the ultrasonic signal after the first filtering processing; the analog-to-digital converter is used to perform analog-to-digital conversion processing on the ultrasonic signal after amplification processing; the second filter is used to perform the second filtering processing on the ultrasonic signal after analog-to-digital conversion processing; the data processor is used to perform data analysis processing on the ultrasonic signal after the second filtering processing, and determine the change trend of the target object according to the micro-movement signal.
[0007] Optionally, the object detection device further includes an ultrasonic signal transmitting unit;
[0008] The ultrasonic signal transmitting unit is configured to transmit the ultrasonic signal to the target object.
[0009] Optionally, the object detection device further includes an ultrasonic signal receiving unit; the ultrasonic signal receiving unit is connected to the detector;
[0010] The ultrasonic signal receiving unit is configured to receive the reflected ultrasonic signal and send the ultrasonic signal to the detector.
[0011] Optionally, the ultrasonic signal transmitting unit includes an ultrasonic driving module, an inverter, a first transmitter, and a second transmitter; the ultrasonic driving module is connected to the inverter and the first transmitter, and the inverter is connected to the second transmitter;
[0012] The ultrasonic driving module is configured to generate the ultrasonic signal with a preset frequency by pulse width modulation technology and send the ultrasonic signal to the inverter and the first transmitter respectively;
[0013] The inverter is configured to perform an inversion process on the ultrasonic signal and send the inverted ultrasonic signal to the second transmitter;
[0014] The first transmitter is configured to transmit the ultrasonic signal before the inversion process;
[0015] The second transmitter is configured to transmit the ultrasonic signal after the inversion process.
[0016] Optionally, the ultrasonic signal receiving unit includes a first receiver and a second receiver;
[0017] The first receiver is configured to receive the ultrasonic signal transmitted by the first transmitter and send the ultrasonic signal to the detector;
[0018] The second receiver is configured to receive the ultrasonic signal transmitted by the second transmitter and send the ultrasonic signal to the detector.
[0019] Optionally, the detector includes an ultrasonic signal selection unit and a detection unit; the ultrasonic signal selection unit is connected to the first receiver, the second receiver, and the detection unit, and the detection unit is connected to the mixer;
[0020] The ultrasonic signal selection unit is configured to select and receive the ultrasonic signal transmitted by the first receiver or the second receiver and send the received ultrasonic signal to the detection unit;
[0021] The detection unit is configured to perform detection processing on the ultrasonic signal and convert the ultrasonic signal after the detection processing into an electrical signal.
[0022] Optionally, the mixer includes a triangular wave generation unit and a mixing unit; the mixing unit is respectively connected to the triangular wave generation unit and the detector;
[0023] The triangular wave generation unit is configured to generate a triangular wave signal and send the triangular wave signal to the mixing unit;
[0024] The mixing unit is configured to perform mixing processing on the triangular wave signal and the ultrasonic signal after the detection processing to obtain the ultrasonic signal after the mixing processing.
[0025] Optionally, the signal amplifier includes a second rail-to-rail operational amplifier and a programmable operational amplifier; the second rail-to-rail operational amplifier is respectively connected to the first filter and the programmable operational amplifier, and the programmable operational amplifier is connected to the analog-to-digital converter;
[0026] The second rail-to-rail operational amplifier is configured to perform a first amplification process on the ultrasonic signal after the first filtering process;
[0027] The programmable operational amplifier is configured to perform a second amplification process on the ultrasonic signal after the first amplification process.
[0028] Optionally, the second filter includes a Kalman filter;
[0029] The Kalman filter is configured to perform a second filtering process on the ultrasonic signal after the amplification process and perform dynamic estimation and correction on the ultrasonic signal after the second filtering process.
[0030] Optionally, the data processor includes a variance calculator and a signal analyzer; the variance calculator is respectively connected to the second filter and the signal analyzer;
[0031] The variance calculator is configured to determine the variance of the ultrasonic signal after the second filtering process in the time series;
[0032] The signal analyzer is configured to determine the change trend of the target object according to the variance of the ultrasonic signal after the second filtering process in the time series.
[0033] Implementing the object detection device provided by the embodiments of the present application has the following beneficial effects:
[0034] Embodiments of the present application provide an object detection device, which includes a detector, a mixer, a signal integrator, a first filter, a signal amplifier, an analog-to-digital converter, a second filter, and a data processor. The detector is connected to the mixer, the mixer is connected to the signal integrator, the signal integrator is connected to the first filter, the first filter is connected to the signal amplifier, the signal amplifier is connected to the analog-to-digital converter, the analog-to-digital converter is connected to the second filter, and the second filter is connected to the data processor. Among them, the detector is used to perform detection processing on the received ultrasonic signal; the mixer is used to perform mixing processing on the ultrasonic signal after detection processing; the signal integrator is used to perform integration processing on the ultrasonic signal after mixing processing to extract the micro-motion signal and noise of the target object in the ultrasonic signal; the first filter is used to perform the first filtering processing on the ultrasonic signal after integration processing; the signal amplifier is used to perform amplification processing on the ultrasonic signal after the first filtering processing; the analog-to-digital converter is used to perform analog-to-digital conversion processing on the ultrasonic signal after amplification processing; the second filter is used to perform the second filtering processing on the ultrasonic signal after analog-to-digital conversion processing; the data processor is used to perform data analysis processing on the ultrasonic signal after the second filtering processing, and determine the change trend of the target object according to the micro-motion signal. Since the object detection device of the present application includes a signal integrator that can extract the micro-motion signal and noise of the target object in the ultrasonic signal and a data processor that can determine the change trend of the target object according to the micro-motion signal, the object detection device of the present application can detect the micro-motion of an object without multiple detections and calculations, that is, it can detect the micro-motion of an object in real time, improving the timeliness of the ultrasonic detector for detecting the micro-motion of an object. Description of the Drawings
[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0036] Figure 1 It is a schematic structural diagram of an object detection device provided by an embodiment of the present application;
[0037] Figure 2 It is a structural schematic diagram of an object detection device provided by another embodiment of the present application. Detailed Embodiments
[0038] It should be noted that the terms used in the embodiments of the present application are only for explaining the specific embodiments of the present application, rather than aiming to limit the present application. In the description of the embodiments of the present application, unless otherwise specified, "a plurality of" means two or more than two, "at least one", "one or more" means one, two or more than two. The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.
[0039] The reference to "one embodiment" or "some embodiments" etc. described in this specification means that a specific feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments" etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.
[0040] In current ultrasonic detectors, when it is necessary to detect the minute movements of an object, the ultrasonic detector usually needs to perform multiple detections and calculations to detect the minute movements of the object. Therefore, the current ultrasonic detector cannot detect the minute movements of the object in real time, resulting in poor timeliness of the existing ultrasonic detector in detecting the minute movements of the object.
[0041] The embodiments of the present application provide an object detection device capable of detecting the minute movements of an object in real time to solve the technical problem of poor timeliness of the existing ultrasonic detector in detecting the minute movements of the object.
[0042] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of an object detection device provided by the embodiments of the present application. As Figure 1 shown, the object detection device 11 may include a detector 111, a mixer 112, a signal integrator 113, a first filter 114, a signal amplifier 115, an analog-to-digital converter 116, a second filter 117, and a data processor 118.
[0043] Among them, the detector 111 can be connected to the mixer 112, the mixer 112 can be connected to the signal integrator 113, the signal integrator 113 can be connected to the first filter 114, the first filter 114 can be connected to the signal amplifier 115, the signal amplifier 115 can be connected to the analog-to-digital converter 116, the analog-to-digital converter 116 can be connected to the second filter 117, and the second filter 117 can be connected to the data processor 118.
[0044] The detector 111 can be used to receive ultrasonic signals, and can perform detection processing on the received ultrasonic signals to obtain the detected ultrasonic signals, and can send the detected ultrasonic signals to the mixer 112.
[0045] The mixer 112 can be used to receive the detected ultrasonic signals sent by the detector 111, and can perform mixing processing on the detected ultrasonic signals to obtain the mixed ultrasonic signals, and can send the mixed ultrasonic signals to the signal integrator 113.
[0046] The signal integrator 113 can be used to receive the mixed ultrasonic signals sent by the mixer 112, and can perform integration processing on the mixed ultrasonic signals to extract the micro-motion signals and noise of the target object in the ultrasonic signals to obtain the integrated ultrasonic signals, and can send the integrated ultrasonic signals to the first filter 114.
[0047] The signal integrator 113 can be composed of an integration circuit. The integration circuit has an inhibitory effect on noise, and the amplitude of the micro-motion signal of the target object is several times higher than the amplitude of the noise signal. Therefore, the signal integrator 113 can effectively suppress noise without affecting the micro-motion signal of the target object. Therefore, the signal integrator 113 can effectively distinguish the micro-motion signal and noise of the target object in the ultrasonic signals.
[0048] The first filter 114 can be used to receive the integrated ultrasonic signals sent by the signal integrator 113, and can perform the first filtering process on the integrated ultrasonic signals to obtain the first-filtered ultrasonic signals, and can send the first-filtered ultrasonic signals to the signal amplifier 115.
[0049] The signal amplifier 115 can be used to receive the first-filtered ultrasonic signals sent by the first filter 114, and can perform amplification processing on the first-filtered ultrasonic signals to obtain the amplified ultrasonic signals, and can send the amplified ultrasonic signals to the analog-to-digital converter 116.
[0050] The analog-to-digital converter 116 can be used to receive the amplified ultrasonic signal sent by the signal amplifier 115, perform analog-to-digital conversion processing on the amplified ultrasonic signal to obtain the ultrasonic signal after analog-to-digital conversion processing, and send the ultrasonic signal after analog-to-digital conversion processing to the second filter 117.
[0051] The second filter 117 can be used to receive the ultrasonic signal after analog-to-digital conversion processing sent by the analog-to-digital converter 116, perform a second filtering process on the ultrasonic signal after analog-to-digital conversion processing to obtain the ultrasonic signal after the second filtering process, and send the ultrasonic signal after the second filtering process to the data processor 118.
[0052] The data processor 118 can be used to receive the ultrasonic signal after the second filtering process sent by the second filter 117, perform data analysis processing on the ultrasonic signal after the second filtering process, and thus can determine the change trend of the target object according to the micro motion signal.
[0053] As can be seen from the above, since the object detection device of the present application includes a signal integrator that can extract the micro motion signal and noise of the target object in the ultrasonic signal and a data processor that can determine the change trend of the target object according to the micro motion signal, the object detection device of the present application can detect the micro motion of the object without multiple detections and calculations, that is, it can detect the micro motion of the object in real time, improving the timeliness of the ultrasonic detector for detecting the micro motion of the object.
[0054] Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of an object detection device provided by another embodiment of the present application.
[0055] As Figure 2 shown, in an optional implementation, the object detection device 11 may further include an ultrasonic signal transmitting unit 119 and an ultrasonic signal receiving unit 1110.
[0056] Among them, the ultrasonic signal transmitting unit 119 and the ultrasonic signal receiving unit 1110 may both be provided on the object detection device 11, and the ultrasonic signal receiving unit 1110 may be connected to the detector 111.
[0057] The ultrasonic signal transmitting unit 119 can be used to transmit an ultrasonic signal to the target object; the ultrasonic signal receiving unit 1110 can be used to receive the reflected ultrasonic signal and send the received ultrasonic signal to the detector 111.
[0058] In an alternative implementation, the ultrasonic signal transmitting unit 119 may include an ultrasonic driving module 1191, an inverter 1192, a first transmitter 1193, and a second transmitter 1194.
[0059] Among them, the ultrasonic driving module 1191 may be respectively connected to the inverter 1192 and the first transmitter 1193, and the inverter 1192 may be connected to the second transmitter 1194.
[0060] The ultrasonic driving module 1191 may be configured to generate an ultrasonic signal with a preset frequency through Pulse Width Modulation (PWM) technology. Exemplarily, the ultrasonic driving module 1191 may be configured to generate an ultrasonic signal of 40 kilohertz (kHz) through PWM technology. The ultrasonic driving module 1191 may also send the generated ultrasonic signal to the inverter 1192 and the first transmitter 1193 respectively.
[0061] The inverter 1192 may be configured to receive the ultrasonic signal sent by the ultrasonic driving module 1191, and may perform an inversion process on the received ultrasonic signal to obtain the inverted ultrasonic signal, and may send the inverted ultrasonic signal to the second transmitter 1194.
[0062] The first transmitter 1193 may be configured to receive the ultrasonic signal (the ultrasonic signal before inversion processing) sent by the ultrasonic driving module 1191, and may transmit the ultrasonic signal before inversion processing.
[0063] The second transmitter 1194 may be configured to receive the ultrasonic signal (the inverted ultrasonic signal) sent by the inverter 1192, and may transmit the inverted ultrasonic signal.
[0064] In an alternative implementation, the ultrasonic signal receiving unit 1110 may include a first receiver 11101 and a second receiver 11102.
[0065] The first receiver 11101 may be configured to receive the ultrasonic signal transmitted by the first transmitter 1193, and may send the received ultrasonic signal to the detector 111.
[0066] The second receiver 11102 may be configured to receive the ultrasonic signal transmitted by the second transmitter 1194, and may send the received ultrasonic signal to the detector 111.
[0067] In an alternative implementation, the first transmitter 1193, the second transmitter 1194, the first receiver 11101, and the second receiver 11102 can be arranged on the object detection device 11 in a preset manner, so that the object detection device 11 can transmit and receive ultrasonic signals 360°. Exemplarily, the first transmitter 1193, the second transmitter 1194, the first receiver 11101, and the second receiver 11102 can be respectively arranged at the four corners of a quadrilateral, and the first transmitter 1193 and the second transmitter 1194 can be arranged at the diagonal corners of the quadrilateral, and the first receiver 11101 and the second receiver 11102 can be arranged at the other diagonal corners of the quadrilateral, thereby ensuring the maximum detection range.
[0068] As Figure 2 shown, in an alternative implementation, the detector 111 can include an ultrasonic signal selection unit 1111 and a detection unit 1112.
[0069] Among them, the ultrasonic signal selection unit 1111 can be connected to the first receiver 11101, the second receiver 11102, and the detection unit 1112, and the detection unit 1112 can be connected to the mixer 112.
[0070] Among them, the ultrasonic signal selection unit 1111 can be used to selectively receive the ultrasonic signals sent by the first receiver 11101 or the second receiver 11102. Exemplarily, the ultrasonic signal selection unit 1111 can receive the ultrasonic signals sent by the first receiver 11101 only when the first transmitter 1193 transmits ultrasonic signals, and can receive the ultrasonic signals sent by the second receiver 11102 only when the second transmitter 1194 transmits ultrasonic signals, thereby being able to effectively filter out interference noise. Specifically, a switching diode can be set on the ultrasonic signal selection unit 1111, and the selection of receiving the ultrasonic signals sent by the first receiver 11101 or the second receiver 11102 can be achieved by controlling the on and off of the switching diode.
[0071] The ultrasonic signal selection unit 1111 can also be used to send the selectively received ultrasonic signals to the detection unit 1112.
[0072] The detection unit 1112 can be used to receive the ultrasonic signals sent by the ultrasonic signal selection unit 1111, perform detection processing on the received ultrasonic signals, convert the detected ultrasonic signals into electrical signals, and also send the detected and converted ultrasonic signals into electrical signals to the mixer 112. Specifically, the detection unit 1112 can convert the detected ultrasonic signals into low-frequency envelope signals (electrical signals).
[0073] AsFigure 2 As shown, in an alternative implementation, the mixer 112 may include a triangular wave generation unit 1121 and a mixing unit 1122.
[0074] Among them, the mixing unit 1122 may be respectively connected to the triangular wave generation unit 1121 and the detector 111. Specifically, the mixing unit 1122 may be respectively connected to the triangular wave generation unit 1121 and the detection unit 1112.
[0075] The triangular wave generation unit 1121 may be configured to generate a triangular wave signal and send the generated triangular wave signal to the mixing unit 1122.
[0076] The mixing unit 1122 may be configured to receive the triangular wave signal sent by the triangular wave generation unit 1121, and may receive the ultrasonic signal after detection processing sent by the detection unit 1112, and may mix the triangular wave signal and the ultrasonic signal after detection processing to obtain an ultrasonic signal after mixing processing.
[0077] Mixing processing is to change the frequency of the ultrasonic signal after detection processing, which has the advantages of small distortion and high isolation degree. Therefore, mixing processing can improve the processing characteristics of the ultrasonic signal and the sensitivity of motion detection.
[0078] In an alternative implementation, the first filter 114 may be a band-pass filter. By using the band-pass filter with a preset frequency (40 kHz) as the standard, high-frequency noise outside the preset frequency is filtered to obtain a first filtered ultrasonic signal with a low signal-to-noise ratio, and the first filtered ultrasonic signal may be sent to the signal amplifier 115.
[0079] As Figure 2 shown, in an alternative implementation, the signal amplifier 115 may include a two-stage rail-to-rail operational amplifier 1151 and a programmable operational amplifier 1152.
[0080] Among them, the two-stage rail-to-rail operational amplifier 1151 may be respectively connected to the first filter 114 and the programmable operational amplifier 1152. The programmable operational amplifier 1152 may also be connected to the analog-to-digital converter 116.
[0081] The two-stage rail-to-rail operational amplifier 1151 may be configured to receive the first filtered ultrasonic signal sent by the first filter 114, and may perform a first amplification process on the first filtered ultrasonic signal to obtain a first amplified ultrasonic signal, and may send the first amplified ultrasonic signal to the programmable operational amplifier 1152.
[0082] The second-stage rail-to-rail operational amplifier 1151 can enhance the detectability of the micro-motion signal in the ultrasonic signal, providing higher gain and stability.
[0083] The programmable operational amplifier 1152 can be used to receive the ultrasonic signal after the first amplification process sent by the second-stage rail-to-rail operational amplifier 1151, perform a second amplification process on the ultrasonic signal after the first amplification process to obtain the ultrasonic signal after the second amplification process, and can send the ultrasonic signal after the second amplification process to the analog-to-digital converter 116.
[0084] By performing a second amplification process on the ultrasonic signal after the first amplification process through the programmable operational amplifier 1152, the obtained ultrasonic signal after the second amplification process has the characteristics of high gain and low noise, which can effectively improve the signal processing effect. In practical applications, users can set the detection distance of the ultrasonic signal by setting the parameters of the programmable operational amplifier 1152 according to actual needs.
[0085] In an alternative implementation, the analog-to-digital converter 116 can be used to receive the ultrasonic signal after the second amplification process sent by the programmable operational amplifier 1152, convert the ultrasonic signal after the second amplification process, which is an analog signal, into a digital signal, and send the ultrasonic signal after the analog-to-digital conversion process to the second filter 117.
[0086] In practical applications, in order to collect and analyze the ultrasonic signal after the second amplification process in real time, an appropriate minimum time unit can be selected to slice the collected ultrasonic signal after the second amplification process (for example, collect 100 milliseconds of data at a time), that is, collect a certain number of ultrasonic signals after the second amplification process each time for analysis and calculation. Continuing like this continuously to achieve real-time data processing.
[0087] In an alternative implementation, the second filter 117 can be a Kalman filter.
[0088] By receiving the ultrasonic signal after the analog-to-digital conversion process sent by the analog-to-digital converter 116 through the Kalman filter and performing a second filtering process to obtain the ultrasonic signal after the second filtering process, this step can further reduce noise and improve the smoothness and accuracy of the signal. In addition, the Kalman filter can also effectively improve the reliability of detection by dynamically estimating and correcting the signal.
[0089] The Kalman filter can also send the ultrasonic signal after the second filtering process to the data processor 118.
[0090] Such as Figure 2As shown, in an alternative implementation, the data processor 118 may include a variance calculator 1181 and a signal analyzer 1182.
[0091] Among them, the variance calculator 1181 may be respectively connected to the second filter 117 and the signal analyzer 1182.
[0092] The variance calculator 1181 may receive the ultrasonic signal after the second filtering process sent by the second filter 117, may determine the variance of the ultrasonic signal after the second filtering process in the time series, and send the variance of the ultrasonic signal after the second filtering process in the time series to the signal analyzer 1182.
[0093] The signal analyzer 1182 may receive the variance of the ultrasonic signal after the second filtering process sent by the variance calculator 1181, and determine the change trend of the target object according to the variance of the ultrasonic signal after the second filtering process in the time series.
[0094] In practical applications, when the target object has no movement, the ultrasonic signal is relatively stable in the time series, and at this time, the variance of the ultrasonic signal in the time series is small. When the target object moves, the ultrasonic signal will show obvious changes in the time series, and at this time, the variance of the ultrasonic signal in the time series is large. Therefore, the signal analyzer 1182 can determine the change trend of the target object through this rule.
[0095] As can be seen above, the object detection device provided by this application, through the combination of a detector, a mixer, a signal integrator, a first filter, a signal amplifier, an analog-to-digital converter, a second filter, a data processor, an ultrasonic signal transmitting unit, and an ultrasonic signal receiving unit, can not only detect the presence or absence of an object, but also be accurate to the micro-movement of the object. In addition, the object detection device provided by this application also has the advantages of high sensitivity, small interference, and fast response speed, and can work effectively in a variety of environments, especially suitable for occasions with special requirements for environmental conditions.
[0096] In the above embodiments, the descriptions of each embodiment have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.
[0097] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by the combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.
[0098] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included within the protection scope of the present application.
Claims
1. An object detection device, characterized in that, The object detection device includes a detector, a mixer, a signal integrator, a first filter, a signal amplifier, an analog-to-digital converter, a second filter, and a data processor; the detector is connected to the mixer, the mixer is connected to the signal integrator, the signal integrator is connected to the first filter, the first filter is connected to the signal amplifier, the signal amplifier is connected to the analog-to-digital converter, the analog-to-digital converter is connected to the second filter, and the second filter is connected to the data processor; The detector is used for detecting the received ultrasonic signal; the mixer is used for mixing the detected ultrasonic signal; the signal integrator is used for integrating the mixed ultrasonic signal to extract the micro-motion signal and noise of the target object in the ultrasonic signal; the first filter is used for performing a first filtering process on the integrated ultrasonic signal; the signal amplifier is used for amplifying the ultrasonic signal after the first filtering process; the analog-to-digital converter is used for performing analog-to-digital conversion on the amplified ultrasonic signal; the second filter is used for performing a second filtering process on the ultrasonic signal after the analog-to-digital conversion; the data processor is used for performing data analysis on the ultrasonic signal after the second filtering process and determining the change trend of the target object according to the micro-motion signal.
2. The object detection device according to claim 1, characterized in that, The object detection device further includes an ultrasonic signal transmitting unit; The ultrasonic signal transmitting unit is used for transmitting the ultrasonic signal to the target object.
3. The object detection device according to claim 2, characterized in that, The object detection device further includes an ultrasonic signal receiving unit; the ultrasonic signal receiving unit is connected to the detector; The ultrasonic signal receiving unit is used for receiving the reflected ultrasonic signal and sending the ultrasonic signal to the detector.
4. The object detection device according to claim 2, wherein The ultrasonic signal transmitting unit includes an ultrasonic driving module, an inverter, a first transmitter, and a second transmitter; the ultrasonic driving module is connected to the inverter and the first transmitter, and the inverter is connected to the second transmitter; The ultrasonic driving module is used for generating the ultrasonic signal with a preset frequency through pulse width modulation technology and sending the ultrasonic signal to the inverter and the first transmitter respectively; The inverter is used for inverting the ultrasonic signal and sending the inverted ultrasonic signal to the second transmitter; The first transmitter is used for transmitting the ultrasonic signal before inversion processing; The second transmitter is used for transmitting the ultrasonic signal after inversion processing.
5. The object detection device according to claim 4, characterized in that The ultrasonic signal receiving unit includes a first receiver and a second receiver; The first receiver is used for receiving the ultrasonic signal transmitted by the first transmitter and sending the ultrasonic signal to the detector; The second receiver is used for receiving the ultrasonic signal transmitted by the second transmitter and sending the ultrasonic signal to the detector.
6. The object detection device according to claim 5, characterized in that, The detector includes an ultrasonic signal selection unit and a detection unit; the ultrasonic signal selection unit is connected to the first receiver, the second receiver, and the detection unit, and the detection unit is connected to the mixer; The ultrasonic signal selection unit is configured to selectively receive the ultrasonic signal transmitted by the first receiver or the second receiver, and send the received ultrasonic signal to the detection unit; The detection unit is configured to perform detection processing on the ultrasonic signal, and convert the ultrasonic signal after the detection processing into an electrical signal.
7. The object detection device according to claim 3, characterized in that, The mixer includes a triangular wave generation unit and a mixing unit; the mixing unit is respectively connected to the triangular wave generation unit and the detector; The triangular wave generation unit is configured to generate a triangular wave signal, and send the triangular wave signal to the mixing unit; The mixing unit is configured to perform mixing processing on the triangular wave signal and the ultrasonic signal after detection processing to obtain the ultrasonic signal after mixing processing.
8. The object detection device according to claim 7, characterized in that, The signal amplifier includes a second-stage rail-to-rail operational amplifier and a programmable operational amplifier; the second-stage rail-to-rail operational amplifier is respectively connected to the first filter and the programmable operational amplifier, and the programmable operational amplifier is connected to the analog-to-digital converter; The second-stage rail-to-rail operational amplifier is configured to perform a first amplification process on the ultrasonic signal after the first filtering process; The programmable operational amplifier is configured to perform a second amplification process on the ultrasonic signal after the first amplification process.
9. The object detection device according to claim 8, wherein, The second filter includes a Kalman filter; The Kalman filter is configured to perform a second filtering process on the ultrasonic signal after the amplification process, and perform dynamic estimation and correction on the ultrasonic signal after the second filtering process.
10. The object detection device according to claim 9, characterized in that, The data processor includes a variance calculator and a signal analyzer; the variance calculator is respectively connected to the second filter and the signal analyzer; The variance calculator is configured to determine the variance of the ultrasonic signal after the second filtering process in the time series; The signal analyzer is configured to determine the change trend of the target object according to the variance of the ultrasonic signal after the second filtering process in the time series.