An ultrasonic ranging self-checking device

Abstract

This application provides an ultrasonic ranging self-testing device, relating to the field of ultrasonic technology, wherein a distance difference H exists between a first ultrasonic receiving component and a second ultrasonic receiving component along a first direction. ij There is a distance difference H between the second and third ultrasonic receiving components along the first direction. jk At least one ultrasonic transmitting component emits an ultrasonic signal toward the target object along a first direction, and at least three ultrasonic receiving components receive the echo signal reflected back from the reflective surface of the target object. Based on the echo signal, the difference Δh is calculated. ij =|h i -h j | and the difference Δh jk =|h j -h k |,when|Δh ij -H ij |≤a and|Δh jk -H jk If |≤a, output the distance h between at least three ultrasonic receiving components and the reflecting surface of the target object. i h j h k The device automatically calibrates ultrasonic test results, eliminating or reducing the influence of the external environment on the test, such as the effect of temperature on sound velocity, effectively improving test accuracy. Furthermore, due to the simple overall structure of the device, it can also reduce test costs.

Description

Technical Field

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

[0002] Ultrasonic technology, with its non-contact, high-precision, and wide-application characteristics, is widely used in industrial automation, medical, vehicle assistance systems, smart homes and consumer electronics, security, and testing. However, the performance of ultrasonic technology is limited by environmental conditions, material properties, and hardware costs. For example, ultrasonic technology is highly dependent on temperature, as the speed of sound changes with temperature. Furthermore, complex environments present multipath interference problems (such as multiple obstacles, absorbing materials, and ultrasonic propagation media). These limitations can easily lead to unstable ultrasonic reflection signals, reducing measurement accuracy. In such cases, additional temperature compensation or system calibration is usually required to improve accuracy, but this significantly increases costs. Utility Model Content

[0003] The purpose of this application is to provide an ultrasonic ranging self-testing device that can improve testing accuracy and reduce costs.

[0004] One aspect of this application provides an ultrasonic ranging self-testing device, including at least one ultrasonic transmitting component and at least three ultrasonic receiving components. The three ultrasonic receiving components are a first ultrasonic receiving component, a second ultrasonic receiving component, and a third ultrasonic receiving component, respectively. A distance difference H exists between the first ultrasonic receiving component and the second ultrasonic receiving component along a first direction. ij There is a distance difference H between the second and third ultrasonic receiving components along the first direction. jk ;

[0005] At least one ultrasonic transmitting component emits an ultrasonic signal toward the target object along a first direction, and at least three ultrasonic receiving components receive the echo signal reflected back from the reflective surface of the target object. Based on the echo signal, the distance h between the first ultrasonic receiving component and the reflective surface of the target object is calculated. i The distance h between the second ultrasonic receiving component and the reflecting surface of the target object j The difference Δh ij =|h i -h j | and the distance h between the second ultrasonic receiving component and the reflecting surface of the target object. j The distance h between the third ultrasonic receiving component and the reflecting surface of the target object k The difference Δh jk =|h j -h k |,when|Δh ij -H ij|≤a and|Δh jk -H jk If |≤a, output the distance h between at least three ultrasonic receiving components and the reflecting surface of the target object. i h j h k , where a is a constant.

[0006] Optionally, the first ultrasonic receiving component, the second ultrasonic receiving component, and the third ultrasonic receiving component are configured according to h i >h j >h k or h i <h j <h k The relationships are arranged along the first direction.

[0007] Optionally, the ultrasonic transmitting component and at least one ultrasonic receiving component are located on the same horizontal plane along a second direction, which is perpendicular to the first direction.

[0008] Optionally, the ultrasonic transmitting component includes one ultrasonic receiving component and the ultrasonic receiving component includes three ultrasonic receiving components, with one ultrasonic transmitting component corresponding to three ultrasonic receiving components; the ultrasonic transmitting component and any one ultrasonic receiving component are located on the same horizontal plane along a second direction, which is perpendicular to the first direction.

[0009] Optionally, the ultrasonic transmitting component includes three ultrasonic receiving components, with one ultrasonic transmitting component corresponding to one ultrasonic receiving component; the ultrasonic transmitting component and the corresponding ultrasonic receiving component are located on the same horizontal plane along a second direction, which is perpendicular to the first direction.

[0010] Optionally, the ultrasonic transmitting component and the ultrasonic receiving component are provided separately; and / or, the ultrasonic transmitting component and the ultrasonic receiving component are integrated into one to form an integrated ultrasonic transceiver component.

[0011] Optionally, H ij =H jk , or H ij ≠H jk .

[0012] Optionally, the ultrasonic transmitting component is an ultrasonic transmitting sensor, and the ultrasonic receiving component is an ultrasonic receiving sensor.

[0013] Optionally, it also includes a temperature sensor and / or humidity sensor disposed on one side of the ultrasonic transmitting component and the ultrasonic receiving component, for testing the temperature and / or humidity of the ultrasonic transmitting component and the ultrasonic receiving component.

[0014] Optionally, it also includes a preprocessor connected to the ultrasonic transmitting component and the ultrasonic receiving component for preprocessing interference signals from the ultrasonic transmitting component and the ultrasonic receiving component.

[0015] The ultrasonic ranging self-testing device provided in this application embodiment includes at least one ultrasonic transmitting component and at least a first ultrasonic receiving component, a second ultrasonic receiving component, and a third ultrasonic receiving component. A distance difference H exists between the first ultrasonic receiving component and the second ultrasonic receiving component along a first direction. ij There is a distance difference H between the second and third ultrasonic receiving components along the first direction. jk At least one ultrasonic transmitting component emits an ultrasonic signal toward the target object along a first direction, and at least three ultrasonic receiving components receive the echo signal reflected back from the reflective surface of the target object. Based on the echo signal, the distance h between the first ultrasonic receiving component and the reflective surface of the target object is calculated. i The distance h between the second ultrasonic receiving component and the reflecting surface of the target object j The difference Δh ij =|h i -h j | and the distance h between the second ultrasonic receiving component and the reflecting surface of the target object. j The distance h between the third ultrasonic receiving component and the reflecting surface of the target object k The difference Δh jk =|h j -h k |,when|Δh ij -H ij |≤a and|Δh jk -H jk |≤a, indicating that the test result is accurate, and the output should include at least the distance h between the ultrasonic receiving components and the reflecting surface of the target object. i h j h k Otherwise, it indicates that the test result is inaccurate, and the speed of sound v is updated until |Δh| is reached. ij -H ij |≤a and|Δh jk -H jk If |≤a, output distance value h i h j h k This device can automatically calibrate ultrasonic test results, eliminate or reduce the influence of the external environment on the test, such as the effect of temperature on sound velocity, thereby effectively improving the test accuracy. Furthermore, due to the simple overall structure of the device, it can also reduce the test cost. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is one of the structural schematic diagrams of the ultrasonic ranging self-testing device provided in the embodiments of this application;

[0018] Figure 2 This is the second schematic diagram of the ultrasonic ranging self-testing device provided in the embodiments of this application;

[0019] Figures 3a-3c This is a schematic diagram of the ultrasonic signal of the ultrasonic receiving component of the ultrasonic ranging self-testing device provided in this application embodiment;

[0020] Figure 4 This is the third schematic diagram of the ultrasonic ranging self-testing device provided in the embodiments of this application;

[0021] Figure 5 This is the fourth schematic diagram of the ultrasonic ranging self-testing device provided in the embodiments of this application;

[0022] Figure 6 This is the fifth schematic diagram of the ultrasonic ranging self-testing device provided in the embodiments of this application.

[0023] Icons: 100 - Ultrasonic component; 10, 101, 102, 103 - Ultrasonic transmitting component; 11 - First ultrasonic receiving component; 12 - Second ultrasonic receiving component; 13 - Third ultrasonic receiving component; 110, 120, 130 - Transceiver ultrasonic component; 200 - Target object; 201 - Reflecting surface; F1 - First direction; F2 - Second direction. Detailed Implementation

[0024] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0025] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] It should also be noted that, unless otherwise explicitly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0027] Please refer to Figure 1 As shown, this application provides an ultrasonic ranging self-testing device, including: an ultrasonic component 100, which includes at least one ultrasonic transmitting component 10 and at least three ultrasonic receiving components. When there are three ultrasonic receiving components, the three ultrasonic receiving components are a first ultrasonic receiving component 11, a second ultrasonic receiving component 12, and a third ultrasonic receiving component 13. There is a distance difference H between the first ultrasonic receiving component 11 and the second ultrasonic receiving component 12 along a first direction F1. ij There is a distance difference H between the second ultrasonic receiving component 12 and the third ultrasonic receiving component 13 along the first direction F1. jk ;

[0028] At least one ultrasonic transmitting component 10 emits an ultrasonic signal toward the target object 200 along a first direction F1, and receives the echo signal reflected back from the reflecting surface 201 of the target object 200 by at least three ultrasonic receiving components. Based on the echo signal, the distance h between the first ultrasonic receiving component 11 and the reflecting surface 201 of the target object 200 is calculated. i The distance h between the second ultrasonic receiving component 12 and the reflecting surface 201 of the target object 200 j The difference Δh ij =|h i -h j | and the distance h between the second ultrasonic receiving component 12 and the reflecting surface 201 of the target object 200. j The distance h between the third ultrasonic receiving component 13 and the reflecting surface 201 of the target object 200 k The difference Δh jk =|h j -h k |,when|Δh ij -H ij |≤a and|Δh jk -H jk If |≤a, output the distance h between at least three ultrasonic receiving components and the reflecting surface 201 of the target object 200. i h j h k , where a is a constant.

[0029] The ultrasonic transmitting component 10 is used to transmit ultrasonic signals toward the target object 200, and the ultrasonic receiving component is used to receive the echo signal reflected back from the reflecting surface 201 of the target object 200. For example, the ultrasonic transmitting component 10 can be an ultrasonic transmitting sensor, and the ultrasonic receiving component can be an ultrasonic receiving sensor.

[0030] This application includes at least one ultrasonic transmitter 10 and at least three ultrasonic receivers. Taking one ultrasonic transmitter 10 and three ultrasonic receivers as an example, the three ultrasonic receivers are arranged in pairs along the first direction F1 with a distance difference H between them. ij H jk .

[0031] Based on the ultrasonic echo signal data, the distances h from the positions of the three ultrasonic receiving components to the reflecting surface 201 of the target object 200 need to be calculated. i h j h k Calculate the difference Δh between the distances of the three ultrasonic receiving components to the reflective surface 201 of the target object 200. ij =|h i -h j | and Δ jk =|h j -h k |; Determine the distance difference Δh ij and Δh jk Distance difference H between the corresponding ultrasonic receiving component and the corresponding ultrasonic receiving component ij and H jk The size of |Δh| is used to determine the value of |Δh|. ij -H ij |≤a and|Δh jk -H jk Does |≤a (where a is a constant) hold true? If true, output the distance value h. i h j h k If this is not the case, then update the speed of sound v (which can be obtained through actual measurement during the test), and recalculate the distance h between each ultrasonic receiving component and the reflecting surface 201 of the target object 200. i h j h k Determine the distance difference Δh ij and Δh jk Distance difference H between the corresponding ultrasonic receiving component and the corresponding ultrasonic receiving component ij and H jk The size, up to |Δh ij -H ij |≤a and|Δh jk -H jk If |≤a, output distance value hi h j h k .

[0032] It should be noted that the starting and ending surfaces of the distance in this application are the emitting surface of the ultrasonic transmitting component 10, the receiving surface of the ultrasonic receiving component, and the reflecting surface 201 of the target object 200; for example, the distance difference H ij The distance h is the distance difference between the receiving surface of the first ultrasonic receiving component 11 and the receiving surface of the second ultrasonic receiving component 12. i This is the distance between the receiving surface of the first ultrasonic receiving component 11 and the reflecting surface 201 of the target object 200; other distance parameters are implemented accordingly.

[0033] In some embodiments of this application, such as Figure 2 As shown, Figure 2 An ultrasonic transmitter 10 and three ultrasonic receivers are shown. The three ultrasonic receivers are a first ultrasonic receiver 11, a second ultrasonic receiver 12, and a third ultrasonic receiver 13. The ultrasonic transmitter 10 and the first ultrasonic receiver 11 are located on the same horizontal plane in the second direction F2. The receiving surface of the first ultrasonic receiver 11 and the receiving surface of the second ultrasonic receiver 12 are separated by a distance H in the first direction F1. 12 The receiving surface of the second ultrasonic receiving component 12 and the receiving surface of the third ultrasonic receiving component 13 have a distance difference H in the first direction F1. 23 , Figures 3a-3c This is a schematic diagram of ultrasonic signals received by three ultrasonic receiving components.

[0034] The ultrasonic transmitting component 10 emits ultrasonic signals and receives the echo signals from the reflective surface 201 of the target object 200 through three ultrasonic receiving components. The distances h1, h2, and h3 between the positions of the three ultrasonic receiving components and the reflective surface 201 of the target object 200 are respectively:

[0035] h1 = v × t1 / 2;

[0036] h2=v×t2 / 2-H 12 / 2;

[0037] h3=v×t3 / 2-H 12 / 2-H 23 / 2;

[0038] t1 is the time from when the ultrasonic transmitting component 10 transmits an ultrasonic signal toward the target object 20 to when the first ultrasonic receiving component 11 receives the echo signal; t2 is the time from when the ultrasonic transmitting component 10 transmits an ultrasonic signal toward the target object 20 to when the second ultrasonic receiving component 12 receives the echo signal; t3 is the time from when the ultrasonic transmitting component 10 transmits an ultrasonic signal toward the target object 20 to when the third ultrasonic receiving component 13 receives the echo signal.

[0039] Furthermore, the distance difference between each pair of the three ultrasonic receiving components is obtained as Δh. 12 =|h1-h2| and Δh 23 =|h2-h3|;

[0040] Furthermore, determine the distance difference Δh 12 and Δh 23 Distance difference H between the three ultrasonic receiving components 12 and H 23 The size of |Δh| is used to determine the value of |Δh|. 12 -H 12 |≤a and|Δh 23 -H 23 If |≤a (a is a constant, assumed to be 1mm) is true: if yes, output distance values ​​h1, h2, h3; if no, update the speed of sound v and recalculate the difference Δh between the first ultrasonic receiving component 11, the second ultrasonic receiving component 12 and the reflective surface 201 of the target object 200. 12 =|h1-h2|, and the difference Δh between the distances of the second ultrasonic receiving component 12, the third ultrasonic receiving component 13 and the reflective surface 201 of the target object 200. 23 =|h2-h3|, determine the distance difference Δh 12 and Δh 23 Distance difference H between the three ultrasonic receiving components 12 and H 23 The size, up to |Δh 12 -H 12 |≤a and|Δh 23 -H 23 If |≤a, output the updated distances h1, h2, h3.

[0041] Figure 2 The diagram illustrates the operation of one ultrasonic transmitter 10 and three ultrasonic receivers. When there are two or more ultrasonic transmitters 10 and four or more ultrasonic receivers, the operation is the same, and will not be described in detail here.

[0042] The aforementioned defines the positions of at least three ultrasonic receiving components along the first direction F1. Based on this, the emitting surface of the ultrasonic emitting component 10 and the receiving surface of at least one ultrasonic receiving component are located on the same horizontal plane along the second direction F2, which is perpendicular to the first direction F1.

[0043] When there is one ultrasonic transmitter 10 and three ultrasonic receivers, one ultrasonic transmitter 10 corresponds to one of the three ultrasonic receivers. The emitting surface of one ultrasonic transmitter 10 and the receiving surface of any ultrasonic receiver are located on the same horizontal plane along the second direction F2, such as... Figure 4 The example shown.

[0044] In another example, the ultrasonic transmitting components include three components: ultrasonic transmitting component 101, ultrasonic transmitting component 102, and ultrasonic transmitting component 103. The ultrasonic receiving components also include three components, with one ultrasonic transmitting component corresponding to one ultrasonic receiving component. The emitting surfaces of the corresponding ultrasonic transmitting components and the receiving surfaces of the corresponding ultrasonic receiving components are located on the same horizontal plane along the second direction F2. Figure 5 In the example shown, the ultrasonic transmitting component 101 and the first ultrasonic receiving component 11 are located on the same horizontal plane, the ultrasonic transmitting component 102 and the second ultrasonic receiving component 12 are located on the same horizontal plane, and the ultrasonic transmitting component 103 and the third ultrasonic receiving component 13 are located on the same horizontal plane.

[0045] Furthermore, the ultrasonic transmitting component 10 and the ultrasonic receiving component are arranged separately. In the aforementioned embodiments, the ultrasonic transmitting component 10 and the ultrasonic receiving component are both arranged separately.

[0046] Or, such as Figure 6 As shown, the ultrasonic transmitting component and the ultrasonic receiving component are integrated into one unit to form an integrated ultrasonic transceiver component. Figure 6 Three transceiver ultrasonic components 110, 120, and 130 were demonstrated. The transceiver ultrasonic component is a single component that combines an ultrasonic transmitting component and an ultrasonic receiving component, and it has both ultrasonic transmitting and ultrasonic receiving functions.

[0047] Alternatively, when there are two or more ultrasonic transmitting components 10, the ultrasonic transmitting components 10, ultrasonic receiving components, and transceiver ultrasonic components are mixed and arranged. For example, there are three ultrasonic transmitting components and three ultrasonic receiving components. One ultrasonic transmitting component and one ultrasonic receiving component are integrated into one transceiver ultrasonic component, and the other two sets of ultrasonic transmitting components and ultrasonic receiving components are set separately.

[0048] The aforementioned first ultrasonic receiving component 11, second ultrasonic receiving component 12, and third ultrasonic receiving component 13 can be configured according to h i >h j >h k The relationships are arranged along the first direction F1, such as... Figure 1 , Figure 5 , Figure 6 As shown.

[0049] In addition, the first ultrasonic receiving component 11, the second ultrasonic receiving component 12, and the third ultrasonic receiving component 13 can also be configured according to h i <h j <h k The relationships are arranged along the first direction F1, such as... Figure 4 As shown.

[0050] Furthermore, the distance difference H between the first ultrasonic receiving component 11 and the second ultrasonic receiving component 12, and the third ultrasonic receiving component 13 along the first direction F1 ij =H jk , or H ij ≠H jk .

[0051] Furthermore, to improve accuracy, a preprocessor can be set up. The preprocessor is connected to the ultrasonic transmitting component 10 and the ultrasonic receiving component to preprocess interference signals such as blind spots and noise of the ultrasonic transmitting component 10 and the ultrasonic receiving component. The preprocessor, the ultrasonic transmitting component 10, and the ultrasonic receiving component are all electrically connected to the controller to realize signal control and processing.

[0052] Temperature and / or humidity sensors can also be set up, located on one side of the ultrasonic transmitter 10 and the ultrasonic receiver 10, to test the temperature and / or humidity of the ultrasonic transmitter 10 and the ultrasonic receiver 10, in order to further calibrate the sound velocity. The temperature sensor, humidity sensor and controller are electrically connected to eliminate the influence of temperature and humidity on the ultrasonic transmitter 10 and the ultrasonic receiver 10, thereby further improving the test accuracy.

[0053] In summary, the ultrasonic ranging self-testing device provided in this application embodiment is provided with at least one ultrasonic transmitting component 10 and at least a first ultrasonic receiving component 11, a second ultrasonic receiving component 12, and a third ultrasonic receiving component 13. There is a distance difference H between the first ultrasonic receiving component 11 and the second ultrasonic receiving component 12 along the first direction F1. ij There is a distance difference H between the second ultrasonic receiving component 12 and the third ultrasonic receiving component 13 along the first direction F1. jkAt least one ultrasonic transmitting component 10 emits ultrasonic signals toward the target object 200 along a first direction F1, and receives the echo signals reflected back from the reflecting surface 201 of the target object 200 by at least three ultrasonic receiving components. Based on the echo signals, the distance h between the first ultrasonic receiving component 11 and the reflecting surface 201 of the target object 200 is calculated. i The distance h between the second ultrasonic receiving component 12 and the reflecting surface 201 of the target object 200 j The difference Δh ij =|h i -h j | and the distance h between the second ultrasonic receiving component 12 and the reflecting surface 201 of the target object 200. j The distance h between the third ultrasonic receiving component 13 and the reflecting surface 201 of the target object 200 k The difference Δh jk =|h j -h k |,when|Δh ij -H ij |≤a and|Δh jk -H jk |≤a, indicating that the test result is accurate, and the output is the distance h between at least three ultrasonic receiving components and the reflecting surface 201 of the target object 200. i h j h k Otherwise, it indicates that the test result is inaccurate, and the speed of sound v is updated until |Δh| is reached. ij -H ij |≤a and|Δh jk -H jk If |≤a, output distance value h i h j h k This device can automatically calibrate ultrasonic test results, eliminate or reduce the influence of the external environment on the test, such as the effect of temperature on sound velocity, thereby effectively improving the test accuracy. Furthermore, due to the simple overall structure of the device, it can also reduce the test cost.

[0054] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. An ultrasonic ranging self-testing device, characterized in that, include: The system comprises at least one ultrasonic transmitting component and at least three ultrasonic receiving components, wherein the three ultrasonic receiving components are designated as a first ultrasonic receiving component, a second ultrasonic receiving component, and a third ultrasonic receiving component, and a distance difference H exists between the first ultrasonic receiving component and the second ultrasonic receiving component along a first direction. ij There is a distance difference H between the second ultrasonic receiving component and the third ultrasonic receiving component along the first direction. jk ; At least one of the ultrasonic transmitting components emits an ultrasonic signal toward the target object along the first direction, and at least three of the ultrasonic receiving components receive the echo signal reflected back from the reflective surface of the target object. Based on the echo signal, the distance h between the first ultrasonic receiving component and the reflective surface of the target object is calculated. i The distance h between the second ultrasonic receiving component and the reflecting surface of the target object j The difference Δh ij =|h i -h j | and the distance h between the second ultrasonic receiving component and the reflecting surface of the target object. j The distance h between the third ultrasonic receiving component and the reflecting surface of the target object k The difference Δh jk =|h j -h k |,when|Δh ij -H ij |≤a and|Δh jk -H jk If |≤a, output the distance h between at least three of the ultrasonic receiving components and the reflecting surface of the target object. i h j h k , where a is a constant.

2. The ultrasonic ranging self-testing device according to claim 1, characterized in that, The first ultrasonic receiving component, the second ultrasonic receiving component, and the third ultrasonic receiving component are arranged in order of h i >h j >h k or h i <h j <h k The relationships are arranged along the first direction.

3. The ultrasonic ranging self-testing device according to claim 1 or 2, characterized in that, The ultrasonic transmitting component and at least one of the ultrasonic receiving components are located on the same horizontal plane along a second direction, which is perpendicular to the first direction.

4. The ultrasonic ranging self-testing device according to claim 1 or 2, characterized in that, The ultrasonic transmitting component includes one, and the ultrasonic receiving component includes three, with one ultrasonic transmitting component corresponding to three ultrasonic receiving components; one ultrasonic transmitting component and any one of the ultrasonic receiving components are located on the same horizontal plane along a second direction, which is perpendicular to the first direction.

5. The ultrasonic ranging self-testing device according to claim 1 or 2, characterized in that, The ultrasonic transmitting component includes three ultrasonic receiving components, with one ultrasonic transmitting component corresponding to one ultrasonic receiving component; one ultrasonic transmitting component and one corresponding ultrasonic receiving component are located on the same horizontal plane along a second direction, which is perpendicular to the first direction.

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

7. The ultrasonic ranging self-testing device according to claim 1 or 2, characterized in that, H ij =H jk , or H ij ≠H jk .

8. The ultrasonic ranging self-testing device according to claim 1 or 2, characterized in that, The ultrasonic transmitting component is an ultrasonic transmitting sensor, and the ultrasonic receiving component is an ultrasonic receiving sensor.

9. The ultrasonic ranging self-testing device according to claim 1 or 2, characterized in that, It also includes a temperature sensor and / or humidity sensor disposed on one side of the ultrasonic transmitting component and the ultrasonic receiving component, for testing the temperature and / or humidity of the ultrasonic transmitting component and the ultrasonic receiving component.

10. The ultrasonic ranging self-testing device according to claim 1 or 2, characterized in that, It also includes a preprocessor connected to the ultrasonic transmitting component and the ultrasonic receiving component, for preprocessing interference signals from the ultrasonic transmitting component and the ultrasonic receiving component.

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