CN110412582A - The method and apparatus of the echo of ultrasonic signal for identification - Google Patents
The method and apparatus of the echo of ultrasonic signal for identification Download PDFInfo
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- CN110412582A CN110412582A CN201910360280.XA CN201910360280A CN110412582A CN 110412582 A CN110412582 A CN 110412582A CN 201910360280 A CN201910360280 A CN 201910360280A CN 110412582 A CN110412582 A CN 110412582A
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- 230000007613 environmental effect Effects 0.000 claims abstract description 30
- 230000003068 static effect Effects 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 13
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims description 2
- 239000010931 gold Substances 0.000 claims description 2
- 229910052737 gold Inorganic materials 0.000 claims description 2
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 238000004590 computer program Methods 0.000 claims 2
- 230000010363 phase shift Effects 0.000 description 10
- 230000004044 response Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000001228 spectrum Methods 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 241001203771 Eudonia echo Species 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 229910002056 binary alloy Inorganic materials 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/534—Details of non-pulse systems
- G01S7/536—Extracting wanted echo signals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S15/325—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of coded signals, e.g. of phase-shift keyed [PSK] signals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
- G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention relates to a kind of method of the echo of ultrasonic signal for identification (5) (7) and a kind of equipment.It the described method comprises the following steps: sending first part's signal of ultrasonic signal, first part's signal has the first static frequency and the first predefined duration, send the second part signal of ultrasonic signal, the second part signal has the second static frequency and the second predefined duration, second static frequency is different from first frequency, and the first frequency and the second frequency are used at ultrasonic signal (7) that identification is reflected at environmental objects (6).
Description
Technical field
The present invention relates to a kind of method of the echo of ultrasonic signal for identification and a kind of equipment.Here, especially using tool
There is the part signal of different frequency.
The present invention also relates to a kind of delivery vehicles with this equipment.
Background technique
At a distance from the environmental objects sought based on the measuring system of ultrasonic signal in front of transmitter.Here, hair
Device is sent to send ultrasonic signal.The reflection (echo) of the ultrasonic signal as caused by environmental objects is received as receiver.It can also will connect
Device is received to be directly installed in environmental objects.In this case, the not instead of echo received, ultrasonic signal itself.Processing
Unit analysis handles signal and seeks between transmitter and environmental objects or send by signal propagation time and the velocity of sound
The distance between device and receiver.
It is advantageous in order to improve the accuracy and the operating distance of system of the echo for identifying ultrasonic signal or ultrasonic signal
It is that weak signal can also be filtered out from broadband noise.For this purpose, using so-called extended code (Spreizcode).Here, producing
Raw pseudo noise code.The code and signal to be sent are combined by code division multiplexing method, and next sent by ultrasound
Device sends it.
Because the code being combined with signal is known, it is possible to received by cross-correlation or auto-correlation
Device side easily filters out signal from noise.Because of that very faint signal can also be identified, it is possible to increase
The EFFECTIVE RANGE of ultrasonic sensor.
It is known from the state of the art such system.10 2,009 031 955 A1 of DE for example discloses a kind of for by super
Sound wave is come the method that determines the spatial position of unit to be positioned, in the method, to ultrasonic carrier signal apply PN (it is pseudo- with
Machine noise) code sequence, and the method includes the steps of: PN code sequence is generated in transmitter；By PN code sequence and send
Ultrasonic carrier signal in device is mixed；Periodically emit ULTRASONIC P N code sequence；It is mixed that signal-noise is received at receiver
Object is closed, and analyzes the propagation time characteristic of the received signal of processing, to seek the space coordinate of unit to be positioned.
Here, ultrasonic signal is divided into linear or nonlinear frequency modulation(PFM) (so-called Chirps: linear to adjust
Frequently part signal).Linear FM signal has start frequency and terminates the slope of frequency and frequency, wherein slope can be with
It is positive or negative.This has the advantage that generation and sends the wide spectrum with constant amplitude, this generates recognition rate
Positive influence.Used ultrasonic transmitters and ultrasonic receiver must have corresponding wide frequency spectrum thus.This is needed with corresponding
Premised on configuration and therefore expensive component, or there is limitation in terms of recognition performance.
Summary of the invention
It is characterized in that according to the method for the present invention, simple and cost-effective component also can be used, without knowing
Other aspect of performance generation significantly limits.The method of the echo of ultrasonic signal includes multiple steps for identification.Here, ultrasonic signal
The part signal sent with following one another by least two forms.In the first step, ultrasound letter is sent by ultrasonic transmitters
Number first part's signal, first part's signal have the first static frequency and the first predefined duration.Next exist
In second step, the second part signal of ultrasonic signal is sent by ultrasonic transmitters, the second part signal is quiet with second
State frequency and the second predefined duration, second static frequency are different from first frequency.Here, the first static frequency and
Two static frequencies are in the range of ultrasonic wave --- preferred 25kHz between 60kHz, preferably 30kHz to the model between 55kHz
In enclosing, and ideally there is at least interval of 1kHz.First frequency and second frequency can be related to harmonic frequency, delta frequency
Or square wave frequency.If the signal does not correspond to sine curve, concept " frequency " is related to the fundamental frequency of signal.First is predefined
Duration and the second predefined duration not only can have different length, but also be also possible to equal.If institute
The ultrasonic signal of transmission is irradiated on environmental objects (such as barrier on the sending direction of ultrasonic transmitters), then the ultrasound is believed
It number is reflected by the environmental objects.The environmental objects not only can be static traffic space object, but also can be and can transport
Dynamic traffic space object, and/or be to collision significant correlation traffic element (such as traffic sign, runway boundary element,
Another delivery vehicle, pedestrian etc.).Here, a part of the ultrasonic signal reflected returns on the direction of ultrasonic transmitters.In
This, can be by the ultrasonic receiver being preferably mounted near ultrasonic transmitters or by combined ultrasonic transmitters/reception
Device module receives reflected ultrasonic signal (echo).In third step according to the method for the present invention, in identification in environment
First frequency and second frequency are used when the ultrasonic signal reflected at object.When sending ultrasonic signal, by for each portion
Sub-signal generates signal mode using two different frequencies.The echo of ultrasonic signal also has the signal mode.Because super
Acoustical signal or echo mode is known, so can also pick out the mode by the received ultrasonic noise of institute.Carry out
Such as cross-correlation or autocorrelative method are used when identification.If picking out echo, can calculate the transmission of ultrasonic signal with
Time interval (signal propagation time of ultrasonic signal) between the reception of echo, and therefore calculate to environmental objects away from
From.
According to the present invention, a kind of equipment of echo of ultrasonic signal for identification is also provided.The equipment includes data output
End, data input pin and processing unit.By the ultrasonic transmitters being connected on data output end, it is subject to processing unit control ground
First part's signal of ultrasonic signal is sent with the first predefined static frequency on the first predefined duration.It connects down
Come, equally by the ultrasonic transmitters being connected on data output end, with second static frequency different from first frequency and the
Two predefined duration sent the second part signal of ultrasonic signal.The ultrasonic receiver connecting with data input pin can connect
The ultrasonic signal and broad band ultrasonic noise reflected by environmental objects is received, and the ultrasonic signal and broadband noise are made
Processing unit is transferred to by data input pin for electric signal.It, can be with according to first frequency and second frequency in processing unit
Ultrasonic signal or time of the ultrasonic signal are picked out and therefore filtered out in the electric signal of received broadband noise from representing
Wave or the electric signal for representing the echo.Similarly, processing unit can calculate ultrasonic signal transmission and echo reception it
Between time interval, the propagation time, and therefore calculate to the distance of environmental objects.
Preferred extension of the invention is shown in specification.
In the particularly advantageous embodiment of one kind of the invention, by ultrasonic transmitters transmitting ultrasonic signal, and by
Ultrasonic receiver receives the ultrasonic signal (i.e. echo) reflected at environmental objects.Here, ultrasonic transmitters and ultrasonic receiver
It can be configured to equipment, diaphragm or the acoustical convertor of two separation.It is also possible that making respectively for each frequency to be sent
With a ultrasonic transmitters.Therefore, can by the margin maximization between first frequency and second frequency and can choose as
Lower frequency: the frequency allows to be identified as optimally as possible, corresponding wide without having dependent on each ultrasonic transmitters
Frequency spectrum.Using being not only configured to ultrasonic transmitters but also be configured to the individual equipment of ultrasonic receiver be another embodiment.
In order to optimize the identification of the environmental objects in very small or very big distance, or in order to to environmental objects
The distance of variation is made a response, and can improve as follows the present invention: according to the desired of environmental objects or detecting
The first duration of distance definition and the second duration, and on the duration of transmitting portion signal always again into
Row Auto-matching.For moderate distance, ideally carry out transmitting portion signal using the duration of 200 μ s herein.By portion
The ultrasonic signal of sub-signal composition is for example with the duration of 2ms.It, can also be with however for very close environmental objects
Shorten the duration for being used for transmitting portion signal, and for very remote environmental objects, can also extend for sending out
Send the duration of part signal.It can also predefine and/or change the duration for the ultrasonic signal being made of part signal.
In a kind of advantageous embodiment, the symbol of code can be distributed to frequency.Using two different frequencies
In the case where, binary code is provided herein.It may be thus possible, for example, to which first frequency is distributed to 0 and distributes second frequency
To 1.The use of other numbering systems is also possible, and especially use more than two different frequencies come transmitting portion letter
It is recommendable in the case where number.If each symbol dividing frequency of numbering system can not be given, such as can will make a reservation for
Remaining symbol is distributed in the part signal of justice or transmission pause.It is desirable that for example being carried out using pseudo noise code to ultrasonic signal
Coding.It is the PRN code as known to satellite technology (Pseudo-Random Noise Code) to example known to this.Other examples be Gold code or
Kasami code.Selected code is made of the symbol of predefined quantity.Here, each symbol corresponds to the part of ultrasonic signal
Signal.Therefore, the length of ultrasonic signal depends on the predefined quantity of the symbol of code and the part signal of composition ultrasonic signal
Sending duration.If using more than a ultrasonic transmitters simultaneously, recommends each ultrasonic transmitters and distribute one
Individual code.Therefore, the received echo of institute can be distributed into corresponding ultrasonic transmitters.
In another improvement plan of the invention, ultrasonic signal can be retransmitted after first time sends.It is more frequent
Ground repeats to send or receive ultrasonic signal, then can filter out very weak echo from the noise changed on the time goodly.
If continuously repeating transmission ultrasonic signal but no longer can recognize that the beginning or end of signal for ultrasonic receiver.
It is determining that this may influence the propagation time again.Therefore, when retransmitting ultrasonic signal, the phase of ultrasonic signal can also be turned over
Predefined value.Therefore, the phase for all part signals for including in ultrasonic signal is also turned over into corresponding value.By known
Phase shift angle, processing unit can determine the beginning and end of ultrasonic signal.
For Statistical error, before phase is turned over predefined value, can also be sent with constant phase reappearance
Ultrasonic signal.Here, can be according to the distance to environmental objects to be identified or by predefined maximum identification distance automatically
Ground defines the number of repetition of phase invariant.The duplicate mould of duplicate and phase shift of phase invariant can also be determined by code
Formula.Here, the symbol of code can be distributed respectively to the repetition of repetition and the phase shift of phase invariant.For this purpose, such as binary system generation
Code is suitable, wherein can the duplicate allocation 0 to each phase invariant and the duplicate allocation 1 to each phase shift.For
For 00111000 code, it will the repetition of two phase invariants of ultrasonic signal is obtained, followed by the repetition of three phase shifts,
Followed by the repetition of three phase invariants.It is also possible that being inserted into the predefined duration between the repetition of ultrasonic signal
Pause is sent, in transmission pause, ultrasonic transmitters do not send signal.Can after or before each repetition, predetermined
It is inserted after or before the repetition of adopted quantity, after or before each phase shift and/or after or before each mode of phase shift
Enter to send pause.Here, holding for transmission pause can be defined according to the distance to environmental objects or according to the second ultrasonic transmitters
The continuous time, so as to for example will likely interference effect minimize.It is also possible that in response to environmental objects distance change or
In response to the second ultrasonic transmitters into and out the receiving area of ultrasonic receiver, change the duration for sending pause.
In another advantageous configuration, ultrasonic transmitters and ultrasonic receiver can be fixed on the shell of delivery vehicle or
In the shell of delivery vehicle.It therefore, can be in the case where not damaging its function by the ultrasonic transmitters and ultrasonic receiver
Visually indistinctively integrate.
Detailed description of the invention
Describe the embodiment of the present invention in detail referring to the drawings.It is shown in the accompanying drawings:
Fig. 1 shows the highly simplified of the embodiment of the equipment of the echo of the ultrasonic signal for identification in conjunction with delivery vehicle
Schematic diagram；
Fig. 2 shows the ultrasonic signals encoded according to the present invention；
Fig. 3 shows the ultrasonic signal of the ultrasonic signal and phase-shift coding that encode according to the present invention；
Fig. 4 shows flow chart according to the method for the present invention.
Specific embodiment
Fig. 1 shows the component of the embodiment for the delivery vehicle 1 being equipped with according to the present invention.It is mounted on the insurance of delivery vehicle 1
3 combined data output end 4 of ultrasonic transmitters in thick stick 2 sends ultrasonic signal 5.The ultrasonic signal 5 is reflected by environmental objects 6.
Ultrasonic receiver 8 in bumper 2 of the ultrasonic signal (echo 7) reflected by environmental objects 6 by being mounted on delivery vehicle 1 is connect
It receives and processing unit 10 is transferred to by data input pin 9.In processing unit 10, the received echo 7 of institute is recognized
It is handled with analysis.Then, such as detection result can be transferred to the other systems of delivery vehicle 1 by processing unit 10.Processing
Unit 10 can also be calculated according to the period between the transmission of ultrasonic signal 5 and the reception of echo 7 to environmental objects 6 away from
From.
Ultrasonic transmitters 3 and ultrasonic receiver 8 are mounted on the bumper 2 of delivery vehicle 1 or are only in bumper
One example.As long as ultrasonic transmitters 3 and/or the function of ultrasonic receiver 8 are unrestricted, it is equally conceivable delivery vehicle
Any other position on 1 shell or in shell.
In addition, Fig. 1 shows the second ultrasonic transmitters 11, which is in other than delivery vehicle 1 or equipment
In addition.Second ultrasonic transmitters 11 send the second ultrasonic signal 12, which is received by ultrasonic receiver 8.Cause
This, the interference of the second ultrasonic signal 12 belongs to receiving and recognizing for the echo 7 of ultrasonic signal 5.Handle a kind of possibility of this interference
Property is: encoding as described above by symbol sebolic addressing to ultrasonic signal 5.The ultrasonic signal 5 so encoded has following
Signal mode: the signal mode can also retrieve in the echo 7 of the ultrasonic signal.It is desirable that the signal of ultrasonic signal 5
The echo 7 of mode or the ultrasonic signal is different from the signal mode of the second ultrasonic signal 12.Even if in the second ultrasonic signal 12
It, can also be by processing unit by ultrasonic signal 5, the known signal mode for processing unit 10 under interference effect
10 from the echo 7 of the ultrasonic signal is picked out in received ultrasonic noise.If the second ultrasonic transmitters 11 are not sent continuously
Signal, then handle interference another possibility is that: insertion sends pause, until the second ultrasonic transmitters 11 stop sending.
Processing unit 10 can be identified by the ultrasonic receiver 8 connecting with data input pin 9: the second ultrasonic transmitters 11 are sent
And therefore interfere or will interfere ultrasonic signal 5 echo 7 reception.Then, processing unit 10 can wait predefined hold
The continuous time, to identify: whether the second ultrasonic signal 12 is related to continuous signal.If no longer connect within the predefined duration
The second ultrasonic signal 12 is received, then processing unit 10 recognizes this point and can be in response to the identification by being connected to number
The transmission of ultrasonic signal 5 is triggered according to the ultrasonic transmitters 3 of output end 4.It therefore, can be in the interference without the second ultrasonic signal 12
In the case where influence, echo 7 is received by ultrasonic receiver 8.If although the predefined duration expires, and processing unit
10 can not recognize the transmission pause of the second ultrasonic signal 12, then still trigger the transmission of ultrasonic signal 5 and by processing list
Member 10 is attempted to recognize echo 7.If for the reliable identification of echo 7, the interference effect of the second ultrasonic signal 12
It is too big, then Trouble Report can be for example transferred to the other systems of delivery vehicle 1.
It is illustrated in Figure 2 and how ultrasonic signal 5 is encoded.As described above, first frequency 21 is distributed to code
First symbol 22, and second frequency 23 is distributed to the second symbol 24 of code.Transmitted ultrasonic signal 5 is by multiple portions
Signal 25 to 32 forms.With 23 transmitting portion signal 25 to 32 of first frequency 21 or second frequency, wherein execute frequency according to code
Rate 21,23 to part signal 25 to 32 distribution.
In example shown here, binary code 10111011 is predefined as the code.Therefore, by first frequency
21 distribute to the symbol " 1 " of the code, and second frequency 23 is distributed to the symbol " 0 " of the code.Correspondingly, it is held first
First part's signal 25 is sent with first frequency 21 on the continuous time.Next, with the second frequency on the second predefined duration
Rate 23 sends second part signal 26.After this code, it is connect on each first duration with the transmission of first frequency 21
Three part signals 27 to 29 to get off, then, with 23 transmitting portion signal 30 of second frequency on the second duration, and
Two part signals 31 and 32 are sent with first frequency 21 on the first duration.
Correspondingly, frequency obtained can also be retrieved in the ultrasonic signal (echo 7) reflected by environmental objects 6
Mode.Therefore it can also pick out the very weak echo 7 in broadband noise and/or filter out the echo from broadband noise.
Thus, it is also possible to realize the detection to very remote or very small environmental objects.
Fig. 3 shows the phase shift P when repeatedly sending substitution coding by ultrasonic signal.According to code 1101, send by
The ultrasonic signal of four part signals 33 to 36 composition.In second of transmission ultrasonic signal followed by, which is believed
Number phase turn over 180 degree.With the phase rotated of ultrasonic signal, the phase of various pieces signal 33 to 36 also correspondingly turns
It is dynamic.Even if various pieces signal 33' to 36' also continues representative code 1101 after phase shift P.
Fig. 4 shows flow chart according to the method for the present invention.In first step 100, first of ultrasonic signal 5 is sent
Sub-signal 25, first part's signal have the first static frequency 21 and the first predefined duration.Next in second step
In rapid 200, the second part signal 26 of ultrasonic signal 5 is sent, which has different from first frequency 21 the
Two static frequencies 23 and the second predefined duration.In third step 300, first frequency 21 and second frequency 23 are being used
In the case where from the ultrasonic signal reflected at environmental objects 6 is picked out in received echo 7.
Claims (10)
1. a kind of method of the echo (7) of ultrasonic signal (5) for identification, the described method comprises the following steps:
First part's signal (25) of (100) described ultrasonic signal (5) is sent, first part's signal has the first static frequency
Rate (21) and the first predefined duration；
The second part signal (26) of (200) described ultrasonic signal (5) is sent, the second part signal has the second static frequency
Rate (23) and the second predefined duration, second static frequency are different from the first frequency (21)；And
(300) described first frequency (21) and described the are used at ultrasonic signal (7) that identification is reflected at environmental objects (6)
Two frequencies (23).
2. emit the ultrasonic signal (5) by the first ultrasonic transmitters (3) according to the method described in claim 1, wherein,
And reflected ultrasonic signal (7) is received by the first ultrasonic receiver (8).
3. method according to any one of the preceding claims, wherein according to the existing identification to environmental objects (6),
Define first part's signal (25) the first predefined duration and/or the second part signal (26) it is second pre-
Define the duration of duration and/or the ultrasonic signal (5).
4. method according to any one of the preceding claims, wherein the first frequency (21) is assigned to code
First symbol (22), and the second frequency (23) is assigned to the second symbol (24) of code, wherein and the code is especially
It is PRN code or Gold code or Kasami code or another pseudo noise code.
5. method according to any one of the preceding claims, wherein when sending the ultrasonic signal (5) for the second time,
The phase of the ultrasonic signal (5) is rotated into predefined value relative to the ultrasonic signal (5) sent before.
6. according to the method described in claim 5, wherein, before by the predefined value of the phase rotation, repeatedly sending
The ultrasonic signal (5), wherein especially before repeatedly sending the ultrasonic signal (5), insertion has third is predefined to hold
The transmission pause of continuous time, wherein preferably define the third predefined duration according to the second ultrasonic transmitters (11).
7. a kind of equipment of the echo (7) of ultrasonic signal (5) for identification, the equipment include:
Data input pin (9)；
Data output end (4)；
Processing unit (10)；
Wherein, data output end (4) setting is for combining ultrasonic transmitters (3) to send the first of the ultrasonic signal (5)
The second part signal (26) of part signal (25) and the ultrasonic signal (5), first part's signal have the first static state
There are the second static frequency (23) and second to predefine for frequency (21) and the first predefined duration, the second part signal
Duration, second static frequency are different from the first frequency (21), wherein data input pin (9) setting is used
In the ultrasonic signal (7) for combining ultrasonic receiver (8) to receive the reflection at environmental objects (6), wherein the processing unit (10)
Be arranged at ultrasonic signal (7) that identification is reflected at environmental objects (6) using the first frequency (21) and described the
Two frequencies (23).
8. equipment according to claim 7, wherein the equipment is permanently mounted in delivery vehicle (1), wherein institute
State ultrasonic transmitters (3) and the ultrasonic receiver (8) be especially fixed on the shell of the delivery vehicle (1) --- especially protect
On dangerous thick stick (2).
9. a kind of computer program, the computer program setting is according to any one of claim 1 to 6 for implementing
Method.
10. a kind of machine readable storage medium, is stored with computer according to claim 9 on said storage
Program.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102018206649.3 | 2018-04-30 | ||
| DE102018206649.3A DE102018206649A1 (en) | 2018-04-30 | 2018-04-30 | Signal coding of ultrasonic sensors with spreading codes to increase the range |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110412582A true CN110412582A (en) | 2019-11-05 |
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ID=68205637
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910360280.XA Pending CN110412582A (en) | 2018-04-30 | 2019-04-30 | The method and apparatus of the echo of ultrasonic signal for identification |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2019197046A (en) |
| CN (1) | CN110412582A (en) |
| DE (1) | DE102018206649A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110865378A (en) * | 2019-11-08 | 2020-03-06 | 广州赛特智能科技有限公司 | Anti-crosstalk ultrasonic distance measuring device, system and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IL256108B (en) * | 2017-12-04 | 2021-02-28 | Elbit Systems Ltd | System and method for detecting usage condition and authentication of an article of manufacture |
| US11733377B2 (en) | 2018-05-07 | 2023-08-22 | Texas Instruments Incorporated | Time of flight and code signature detection for coded ultrasonic transmission |
| US11644555B2 (en) | 2018-07-27 | 2023-05-09 | Texas Instruments Incorporated | Threshold generation for coded ultrasonic sensing |
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| WO2000008484A1 (en) * | 1998-08-06 | 2000-02-17 | Volkswagen Aktiengesellschaft | Method and device for detecting objects, especially used as a parking assistance device in a motor vehicle |
| DE102009031955A1 (en) * | 2009-06-08 | 2010-12-16 | Technische Universität Dresden | Method for determination of spatial position of located unit, involves generating pseudo noise code sequence in transmitter and mixing pseudo noise code sequence with ultrasonic carrier signal in transmitter |
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| DE102010033210A1 (en) * | 2010-08-03 | 2012-02-09 | Valeo Schalter Und Sensoren Gmbh | Method for operating an ultrasonic sensor of a driver assistance system in a motor vehicle, driver assistance system and motor vehicle |
| DE102010033383A1 (en) * | 2010-08-05 | 2012-02-09 | Valeo Schalter Und Sensoren Gmbh | Method and device for generating a measurement signal for vehicle environment detection and associated device for vehicle environment detection |
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- 2018-04-30 DE DE102018206649.3A patent/DE102018206649A1/en active Pending
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- 2019-04-09 JP JP2019074350A patent/JP2019197046A/en not_active Withdrawn
- 2019-04-30 CN CN201910360280.XA patent/CN110412582A/en active Pending
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| WO2000008484A1 (en) * | 1998-08-06 | 2000-02-17 | Volkswagen Aktiengesellschaft | Method and device for detecting objects, especially used as a parking assistance device in a motor vehicle |
| DE102009031955A1 (en) * | 2009-06-08 | 2010-12-16 | Technische Universität Dresden | Method for determination of spatial position of located unit, involves generating pseudo noise code sequence in transmitter and mixing pseudo noise code sequence with ultrasonic carrier signal in transmitter |
| CN107102290A (en) * | 2011-04-07 | 2017-08-29 | 索尼特技术公司 | System and method, transmitter unit and acceptor unit for sending information |
| EP2639790A1 (en) * | 2012-03-15 | 2013-09-18 | MT Robot AG | Driverless vehicle with at least one ultrasound sensor and method for operating the same |
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| Publication number | Publication date |
|---|---|
| JP2019197046A (en) | 2019-11-14 |
| DE102018206649A1 (en) | 2019-10-31 |
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