CN102147471A - Front obstacle detecting system and method based on ultrasonic phased array - Google Patents
Front obstacle detecting system and method based on ultrasonic phased array Download PDFInfo
- Publication number
- CN102147471A CN102147471A CN 201110048858 CN201110048858A CN102147471A CN 102147471 A CN102147471 A CN 102147471A CN 201110048858 CN201110048858 CN 201110048858 CN 201110048858 A CN201110048858 A CN 201110048858A CN 102147471 A CN102147471 A CN 102147471A
- Authority
- CN
- China
- Prior art keywords
- ultrasonic
- module
- transducer
- focus
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention provides a front obstacle detecting system and a method based on an ultrasonic phased array; and the front obstacle detecting system has the advantages of simple structure, low cost, higher stability, all-weather operation and the like and is easy to implement and adjust. The system comprises the ultrasonic phased array which is connected with a driving module and an amplification conditioning module respectively; the driving module is connected with a sequential control module; the amplification conditioning module and the sequential control module are respectively connected with an MCU (micro-controlled unit) module; during detection, the sequential control module controls each ultrasonic emission transducer to realize the focusing of ultrasonic wave beams according to different spots to be scanned in the space; the focused ultrasonic waves are reflected back when running into a barrier and are received by an ultrasonic receiving transducer; the received signals enter the MCU module after amplification conditioning and analog-to-digital conversion; the information of sectional obstacles in the front can be obtained by processing the signals with the MCU module; and accordingly, the system can provide abundant identifying information related to the shape of a front obstacle.
Description
Technical field
The present invention relates to a kind of the place ahead obstacle detection system and method based on ultrasonic phase array.
Background technology
Along with piezoelectric technology and development of electronic technology, ultrasonic phased array technology has been widely used in industrial nondestructive examination, medical treatment does not have various aspects such as wound check and underwater sound detection, detect from early stage one dimension, develop into 2D and 3D imaging, its range of application and accuracy of detection are more and more higher.Ultrasonic phase array is the array that utilizes N the ultrasonic transducer composition that is provided with according to specific distribution in the space, launch ultrasound wave packages respectively according to specific sequential and phase place, specified point (focus) in the space is gone up each ripple packet generation coherence stack (interference), ultrasound wave after the stack reflects when running into barrier, is received by ultrasonic transducer.Through signal Processing, resulting signal intensity can obviously surpass the signal on the non-focus at receiving end, thereby realizes the detection of front specific location spatial obstacle thing or obtain the positional information of barrier.Utilize the distinctive electronic scanning technique of phased array, can realize flat scanning to the barrier in the place ahead blind person or the intelligent robot walking requisite space, and,, realize the identification of barrier form by fusion to a plurality of cross sections information by means of signal processing technology.Along with the development of electronic technology and sensor technology, people constantly develop various blind-guide devices by means of up-to-date electronic technology development result.The invention of domestic and international all kinds of guide equipment is a lot of at present, the blind-guiding stick report that adopts video identification technology is arranged as Germany, the ultrasonic blind guide cane of Britain's invention, the disclosed a kind of intelligent guide vehicle that ultrasonic probe is housed of Worn type ultrasonic blind guide device, the CN1883430 patent that China such as CN200970303 patent are proposed; A kind of integrated circuit ultrasonic blind guide glasses of CN2132503 patent disclosure; The ultrasonic blind guide cane of multi-direction detecting etc.Adopt its cost of video technique very high, and do not comprise range information; Even adopt a plurality of video sensors, but it can be subjected to Effect of Environmental such as illumination, dust, sleet, temperature, thereby has limited its range of application.Sonac has the advantages that not to be subjected to above-mentioned Effect of Environmental, can round-the-clockly use.But the ultrasonic blind guide device of single probe is difficult to omnibearing detection; Even adopt a plurality of probes that are distributed in different directions; visit cane as the disclosed scan-type of CN2287937 patent; and the disclosed intelligent blind-guiding cane of CN2803345 patent has overcome above-mentioned shortcoming; but ignored protection for significant points such as blind person's head, fronts; also can't realize 2D section information accurately, thereby can't realize the barrier in human body walking space, the place ahead is described comprehensively.Such as just can't directly discerning to information such as the gully in the place ahead, steps.Therefore be necessary to develop a kind of blind-guide device that blind person's front space is carried out comprehensive detection.
In recent years, ultrasonic phased array technology is rapidly developed at numerous areas such as industrial flaw detection, medical treatment, military affairs, to have not yet to see system simple but survey and keep away barrier in the path of guide and autonomous walking robot, is fit to the solution and the relevant report of widespread adoption.
Summary of the invention
The objective of the invention is to solve above-mentioned deficiency, provide a kind of simple in structure, cost is low, be easy to realize, be easy to adjust, have the place ahead obstacle detection system and the method based on ultrasonic phase array of advantages such as advantages of higher stability and all weather operations.
For achieving the above object, the present invention adopts following technical scheme:
Based on the place ahead obstacle detection method of ultrasonic phase array, the detection step of this method is as follows:
1) a plurality of emission ultrasonic transducers is formed ultrasonic phased array according to specific two-dimensional space distribution;
2) time-sequence control module is according to the difference of space point to be scanned, and control is respectively launched ultrasonic transducer and sent a branch of synchronous shortwave bundle constantly separately in difference, realizes the space-focusing and the scanning of ultrasonic beam;
3) ultrasound wave after the focusing reflects when running into barrier, receives by receiving ultrasonic transducer;
4) signal that receives the ultrasonic transducer reception enters the A/D modular converter after amplifying conditioning;
5) digital signal after the MCU module is changed A/D is handled, thereby forms the surface sweeping to the some focuses on the specific range cross section, the place ahead, and forms the 2D digital picture of barrier on the cross section according to echoed signal;
6) signal processing module is handled the 2D digital picture that collects, when carrier moves, MCU can constantly obtain the cross section obstacle information of front space successively, warp can form the 3D numerical characteristic of the place ahead barrier to the record and the comparison of corresponding focus obstacle information on the cross section of gathering successively; Can provide abundant identifying information to the form of the place ahead barrier in view of the above;
7) signal that returns for the barrier on the non-focus, signal processing module can be discerned by the pattern-recognition of signal and the positional information in the time window;
8) information after the identification can be notified the user by multiple mode.
In the described step 1), described ultrasonic phased array is to connect on pentagonal five summits on circumference to place five ultrasonic transducers respectively, centre bit is put a ultrasonic transducer, and it is the piezoelectric ceramic ultrasonic transducer of 40KHz, transceiver that 6 ultrasonic transducers all adopt centre frequency.
In described step 5 or the step 6), 1.5 meters at described section centre distance phased array center, bottom margin floor level 150mm, top margin floor level 1900mm, the about 1710mm of left and right sides width.
Scan method in the described step 5) is as follows:
1) section to beam scanning carries out the discretize processing, promptly section is divided into M * N discrete point, respectively each discrete point is scanned as focus then;
2) after the scanning beginning, first selected focus is focused on emission, it is poor to the flight time of receiving transducer to calculate the contiguous focus of the next one and this focus after the battery has fired;
3) if next contiguous focus is poor less than the time of reception window width of setting to the flight time of receiving transducer, then make it satisfy the requirement of time window width by time-delay;
4) select transducer successively according to certain rule, repeating step 1) and 2);
5) after this line scanning is finished the next line analyzing spot is repeated above-mentioned steps, up to having scanned all focuses.
Based on the specific region obstacle detection system of ultrasonic phase array, this system comprises ultrasonic phased array, and this array is connected with the amplification conditioning module with driver module respectively; Described driver module is connected with time-sequence control module, and the output terminal that amplifies conditioning module is connected with the A/D input end; The A/D input end is connected with the MCU module, and the MCU module is control timing control module and outputting alarm device respectively, and is connected with host computer by bus interface;
Wherein: driver module is excited the ultrasonic pulse sequence of transducer emission certain-length respectively according to different time delays by time-sequence control module; After the signal that is returned by focus converted electric signal to by receiving element, conditioning module was amplified through amplifying, after the filtering, send A/D change-over circuit, sent MCU to handle through the digital signal that the A/D change-over circuit converts to; The MCU module is controlled each transducer ultrasonic waves transmitted Shu Jinhang by time-sequence control module and driver module, thereby forms the focusing to the specific focal point on the specific range cross section, the place ahead, and forms the 2D numerical information of barrier on the cross section according to echoed signal.
It is core that described MCU module adopts the ARM single-chip microcomputer.
Described amplification conditioning module is a fixed gain amplifier.
Ultrasound transducer array by planar alignment sends one group of ultrasonic beam that focuses on spatial focal point, as near focus if any barrier, then the echo that this barrier produced can be received the transducer reception, through signal amplification, filtering, conditioning, send into the A/D change-over circuit then and convert digital signal to, by signal Processing, identification, promptly whether there is barrier to exist near this focus of decidable.After all focuses of the place ahead particular cross section (scanning plane) are all finished above-mentioned scanning, can declare the situation (promptly forming the 2D image) of knowing these all barriers of scanning plane.Along with this device constantly moves ahead at carrier (user or intelligent robot), then can form the 3D information of the place ahead barrier according to the 2D image in several spaces that constantly obtain according to certain intervals, can provide abundanter identifying information to the form of the place ahead barrier in view of the above, as supplying current path, stair, gully etc.Information after the identification can be notified the user by multiple mode.
Beneficial effect: the present invention has following several outstanding features:
1 system architecture is simple, and cost is low, but all weather operations is easy to realize.Ultrasound wave itself is to environmental factors such as smog, light, dust, steam and insensitive, but thereby all weather operations.At blind person's guide and intelligent robot should be used for say, need not the spatial obstacle thing distributed more details is provided, therefore the present invention is lower to the discretize calibration of preceding square section, thereby reduced requirement to circuit, adopting the ARM single-chip microcomputer is core, makes full use of resource on the sheet, has reduced peripheral circuit, reduce system complexity and cost, improved the reliability of system.
2 ultrasonic phase arrays that adopt limited cheap ultrasonic transducer to form are sensor; the characteristics that phased array can realize directional scanning have been made full use of; realized identification to orientation, distance and the form of spatial obstacle thing; solved other homogeneous system the obstacle that can't discern; as gully, the path that can pass through, stair etc., more fully protection and more detailed obstacle information are provided to the blind person.
3 for the disaster relief or military intelligent robot, often can't choose track route in advance, the path that needs robot autonomous selection to pass through, thereby need survey and discern the cavity in the barrier of the place ahead, to determine track route.The present invention can realize above-mentioned functions with minimum cost, relies on the expansion of storer and the feedback of the speed of travel, can also make robot have the search of optimizing the path and returns navigation feature automatically.
4 after tested, has 3 transducers to participate in emission and can realize preferably that signal receives.The present invention has adopted 5 transmitting transducers, and therefore as because of unexpected system still can operate as normal when causing 1 to 2 transducer fails, thereby has improved the robustness of system.
Description of drawings
Fig. 1 is an example of the present invention system chart;
Fig. 2 focus ultrasonic synoptic diagram;
Fig. 3 ultrasonic phase array planimetric map;
Fig. 4 is that the present invention scans sectional schematic diagram;
Fig. 5 is the scanning plane synoptic diagram of discretize;
Fig. 6 tail chain scanning algorithm process flow diagram;
The state transition graph of Fig. 7 finite state machine;
Fig. 8 (a) is the original signal data that obtain from focus;
Fig. 8 (b) is the signal waveforms of Fig. 8 (a) after detection and Filtering Processing;
The original signal data of Fig. 8 (c) for obtaining from other barriers (non-focus);
Fig. 8 (d) is the signal waveforms of Fig. 8 (c) after detection and Filtering Processing.
Embodiment
The invention will be further described below in conjunction with drawings and Examples:
As shown in Figure 1, specific region obstacle detection system based on ultrasonic phase array, this system comprises the array of being made up of according to specific space distribution ultrasonic transducer, in the present embodiment, adopted the circular array of simplifying, connect in promptly on circumference on pentagonal five summits and place five transducers respectively, centre bit is put a transducer, sees for details shown in Figure 3; This array is connected with driver module, and driver module is excited the ultrasonic pulse sequence of transducer emission certain-length respectively according to different time delays by time-sequence control module; Time-sequence control module is controlled by MCU, it is core that MCU adopts the STM32F103 single-chip microcomputer of ST company, difference according to space point to be scanned (focus), the control supersonic array is according to the difference of each transducer distance focal point flight time, constantly send a branch of synchronous narrow beam (pulses in 3 cycles) separately in difference, thereby the wavefront that guarantees each wave beam arrives in advance simultaneously and focuses, and realizes the focusing of ultrasonic beam in focus, sees Fig. 1,2 for details.Amplify conditioning module, after the signal that is returned by focus converts electric signal to by receiving element, through amplifying, after the filtering, sending A/D change-over circuit; Emission can be used identical transducer with reception, and after battery has fired, each transducer changes accepting state over to, also can adopt different transducers to realize.Adopted multiple single mode of operation of receiving in the present embodiment; Send MCU to handle through the digital signal that the A/D change-over circuit converts to; The MCU module is controlled each transducer ultrasonic waves transmitted Shu Jinhang by time-sequence control module and driver module, thereby forms the focusing to the specific focal point on the specific range cross section, the place ahead, and forms the 2D numerical information of barrier on the cross section according to echoed signal; Signal processing module is realized by the software among the MCU, is specifically finished the processing of digital signal time domain or transform domain.Wherein time domain is handled processing such as comprising the determining of detection, focal position, threshold test, zero crossing detection, and the signal after the detection is as Fig. 8 (b) with (d), Fig. 8 (a) and (c) be predetection original signal; Transform domain is handled can adopt wavelet transformation etc.The final functions such as extraction of barrier characteristic information and identification that realize; Scan by all focuses on the pair cross-section successively, can form the 2D numerical information of cross section barrier; When blind person's (or intelligent robot) in when walking, MCU can scan with the continuous pair cross-section of fixed intervals (such as 100ms), can be by the comparison of corresponding focus echo information on the different cross section, form the 3D numerical information of front space barrier, thereby provide foundation for the identification and the routing of barrier form; Obstacle information can link to each other with multiple information output apparatus by fieldbus or other versabus modes, as sends to oscillatory type touch duckweed, pin type touch-screen, host computer or out of Memory output unit.
In conjunction with Fig. 1, the present invention is a core with the embedded system, is the guide obstacle avoidance system that can realize the section in the place ahead of advancing is implemented scanning that sensor makes up with the ultrasonic phase array.This system can realize barrier scanning probe, channel recognition, imaging function, but and realizing route memory, recalls guiding and relevant information output function.
In conjunction with Fig. 1, when when not high, by the discretize calibration that reduces pair cross-section, the structure of simplifying phased array, total system being simplified to the resolution requirement of spatial obstacle thing, the major function of its realization has:
(1) hyperacoustic emission, Data Receiving, data processing, storage and information output function.
(2) identification of barrier or passage, scan image form, signal amplifies, graphical information is exported and data storage function.
(3) ultrasonic emitting time-delay, the phase control that transmits, signals collecting, the time windowing process of received signal, the coordinate setting and the real-time information output function of picture signal.
(4) to intelligent robot, by remembering the acquired obstacle information and the parameter of travelling (speed, direction etc.), but realizing route record and recall guiding function.
In conjunction with Fig. 3, the TCF40-18TR1 piezoelectric ceramic ultrasonic transducer that it is 40KHz, transceiver that described phased array adopts 6 centre frequencies is formed the circular array of simplification, under the control of tfi module, trigger (realizing that emission focuses on), synchronous triggering (phase place that control transmits) and regularly emission (scanning is implemented in different cross sections) by time-delay, form scan function different focuses and different section.Transducer is can be as required independent respectively or launch ultrasound wave simultaneously, forms the wave beam that spatial focal point focuses on.
In conjunction with Fig. 4, the section that the present invention scanned is the rectangle plane with a certain distance from array.1.5 meters at the section centre distance phased array center that present embodiment adopts, bottom margin floor level 150mm, top margin floor level 1900mm, the about 1710mm of left and right sides width (can adjust as required) sees Fig. 4 for details.
In conjunction with Fig. 5, the present invention at first carries out discretize to scanning plane and handles, and promptly section is divided into M * N discrete point, respectively each discrete point is scanned as focus then.Under the prerequisite of travel speed less than 1.5 meter per seconds of this device medium, according to different demands, the focus number of each profile scanning can select as required that (the focus number is many more, the circuit complexity of its time-sequence control module and accuracy requirement are also just high more, thereby cost is also high more), adopted in the present embodiment high * wide be 5 * 5, totally 25 focuses see Fig. 5 for details.By calculate each transmitting transducer to focus and focus to the flight time of accepting transducer, reasonably plan scan mode, can be with less numbers of transducers, and the focal plane error that can tolerate (under the prerequisite that 1.5 meter per seconds are at the uniform velocity advanced＜7cm), realize profile scanning.
In conjunction with Fig. 3, in view of majority is that the purpose application is less demanding to the spatial resolution of barrier to keep away barrier, then desired number of scan points and sweep velocity are lower.For simplified system designs, present embodiment has adopted multiple single mode of operation of receiving.Under this pattern, the position of each profile scanning point is fixed, if to each focus all adopt emission, receive this complete scanning sequence and finish after method for scanning successively again, it is oversize then to have scanned the required time of section, can't guarantee that all scanned focuses all are near the same plane.For reducing the required time of scanning, mode that the present invention has adopted a kind of " tail chain scanning ", aloft fly the required time before promptly making full use of ultrasound waves, the echo that makes each focus arrives receiving transducer successively by the width of given time window, thereby can reduce the required time of scanning effectively.By calculate each transmitting transducer to focus and focus to the flight time of accepting transducer, according to the length of the flight time path of making rational planning for, scanned all 25 required times of focus and be lower than 50 milliseconds.
In conjunction with Fig. 6, the time window width that is adopted in the present embodiment is 1.5ms, the signal of being gathered spatially corresponding the scope of each about 250mm before and after the focus.For the return signal that guarantees each focus arrives receiving transducer in proper order according to the width of time window, the tail chain scan mode algorithm that is adopted as shown in Figure 6, scanning algorithm is as follows:
1) after the scanning beginning, selected first focus (as the F13 among Fig. 5) is focused on emission, it is poor with the flight time of this focus then to calculate next contiguous focus (as F12) as battery has fired;
2) if contiguous focus to the poor window time less than 1.5ms of the flight time of receiving transducer, then makes it satisfy the requirement of time window width by time-delay;
3) according to the transducer of selecting successively shown in Figure 5, such as F13, F12, F11, F14, F15, repeating step 1) and 2);
4) after this line scanning is finished the next line analyzing spot is repeated above-mentioned steps, up to having scanned all focuses.
In fact because of the swept-focus position can not change, so this algorithm need not to calculate in real time to finish, and makes form after fully can calculated in advance finishing, and utilizes lookup table mode to realize scanning.Present embodiment adopts the finite state machine of CPLD to realize functions such as ultrasonic signal generation, beam scanning, phase control and emission periodic Control, and its state exchange is seen shown in Figure 7.Principle of work is the form according to calculated in advance, obtains the startup moment of the pairing 40KHz pulse producer of each ultrasonic transducer by the counting to the CPLD major clock, thereby starts emission process one time.After each battery has fired, the pulse producer zero clearing enters the standby condition of emission next time.CPLD also sends frame synchronizing signal and focus synchronizing signal to MCU simultaneously, is used for the signal processing module focusing and realizes the location.
In conjunction with Fig. 1,, thereby multi-way switch and external high-speed a/d circuit have been cancelled because the present invention has adopted multiple single receipts pattern; Adopt time window that signal is gathered, so it amplifies conditioning module and can be reduced to fixed gain amplifier, and do not need as many ultrasonic signal amplifiers, to design AGC or TGC circuit.
In conjunction with Fig. 1 as can be seen, the module that its A/D change-over circuit can use MCU to carry is not higher than in the carrier rate travel under the prerequisite of 1.5m/s, and sampled point is not (such as 9 points) under the too many prerequisite, and its time-sequence control module can be existing by the PIO cause for gossip of MCU.In the present embodiment, for guaranteeing higher spatial resolution, adopt the EPM1270T144C5 CPLD of the MAX II of A Ertela ALTERA company series to build a state machine, realized functions such as ultrasonic signal generation, sequential control, state exchange, phase control.
In conjunction with Fig. 1, whether the form of its barrier identification (as stair, gully etc.) or front channel (as the path) can not hinder current function, are realized by the signal that collects is handled by the software among the MCU.For carriers such as intelligent robot, parameters such as travel speed can obtain by feedback, thereby can pass through store path information, but also realizing route record and recall guiding function.
System involved in the present invention is an embedded system, and this system can constitute an independently blind guiding system with the outside output module of necessity, also can be used as a module by bus interface, with the collaborative work of Study of Intelligent Robot Control system.Above-mentioned implementation is a kind of embodiment of the present invention, for those skilled in the art, on method disclosed by the invention basis, be easy to realize various types of improvement and distortion, therefore such scheme is a kind of embodiment, and does not have restrictive meaning.
Claims (7)
1. based on the place ahead obstacle detection method of ultrasonic phase array, it is characterized in that the detection step of this method is as follows:
1) a plurality of emission ultrasonic transducers is formed ultrasonic phased array according to specific two-dimensional space distribution;
2) time-sequence control module is according to the difference of space point to be scanned, and control is respectively launched ultrasonic transducer and sent a branch of synchronous shortwave bundle constantly separately in difference, realizes the space-focusing and the scanning of ultrasonic beam;
3) ultrasound wave after the focusing reflects when running into barrier, receives by receiving ultrasonic transducer;
4) signal that receives the ultrasonic transducer reception enters the A/D modular converter after amplifying conditioning;
5) digital signal after the MCU module is changed A/D is handled, thereby forms the surface sweeping to the some focuses on the specific range cross section, the place ahead, and forms the 2D digital picture of barrier on the cross section according to echoed signal;
6) signal processing module is handled the 2D digital picture that collects, when carrier moves, MCU can constantly obtain the cross section obstacle information of front space successively, warp can form the 3D numerical characteristic of the place ahead barrier to the record and the comparison of corresponding focus obstacle information on the cross section of gathering successively; Can provide abundant identifying information to the form of the place ahead barrier in view of the above;
7) signal that returns for the barrier on the non-focus, signal processing module can be discerned by the pattern-recognition of signal and the positional information in the time window;
8) information after the identification can be notified the user by multiple mode.
2. the specific region obstacle detection method based on ultrasonic phase array as claimed in claim 1, it is characterized in that, in the step 1), described ultrasonic phased array is to connect on pentagonal five summits on circumference to place five ultrasonic transducers respectively, centre bit is put a ultrasonic transducer, and it is the piezoelectric ceramic ultrasonic transducer of 40KHz, transceiver that 6 ultrasonic transducers all adopt centre frequency.
3. the specific region obstacle detection method based on ultrasonic phase array as claimed in claim 1 is characterized in that, in described step 5 or the step 6), 1.5 meters at described section centre distance phased array center, bottom margin floor level 150mm, top margin floor level 1900mm, the about 1710mm of left and right sides width.
4. the place ahead obstacle detection method based on ultrasonic phase array as claimed in claim 1 is characterized in that the scan method in the described step 5) is as follows:
1) section to beam scanning carries out the discretize processing, promptly section is divided into M * N discrete point, respectively each discrete point is scanned as focus then;
2) after the scanning beginning, first selected focus is focused on emission, it is poor to the flight time of receiving transducer to calculate the contiguous focus of the next one and this focus after the battery has fired;
3) if next contiguous focus is poor less than the time of reception window width of setting to the flight time of receiving transducer, then make it satisfy the requirement of time window width by time-delay;
4) select transducer successively according to certain rule, repeating step 1) and 2);
5) after this line scanning is finished the next line analyzing spot is repeated above-mentioned steps, up to having scanned all focuses.
5. the specific region obstacle detection system based on ultrasonic phase array as claimed in claim 1 is characterized in that this system comprises ultrasonic phased array, and this array is connected with the amplification conditioning module with driver module respectively; Described driver module is connected with time-sequence control module, and the output terminal that amplifies conditioning module is connected with the A/D input end; The A/D input end is connected with the MCU module, and the MCU module is control timing control module and outputting alarm device respectively, and is connected with host computer by bus interface;
Wherein: driver module is excited the ultrasonic pulse sequence of transducer emission certain-length respectively according to different time delays by time-sequence control module; After the signal that is returned by focus converted electric signal to by receiving element, conditioning module was amplified through amplifying, after the filtering, send A/D change-over circuit, sent MCU to handle through the digital signal that the A/D change-over circuit converts to; The MCU module is controlled each transducer ultrasonic waves transmitted Shu Jinhang by time-sequence control module and driver module, thereby forms the focusing to the specific focal point on the specific range cross section, the place ahead, and forms the 2D numerical information of barrier on the cross section according to echoed signal.
6. the specific region obstacle detection system based on ultrasonic phase array as claimed in claim 5 is characterized in that, it is core that described MCU module adopts the ARM single-chip microcomputer.
7. the specific region obstacle detection system based on ultrasonic phase array as claimed in claim 5 is characterized in that described amplification conditioning module is a fixed gain amplifier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110048858A CN102147471B (en) | 2011-03-01 | 2011-03-01 | Front obstacle detecting system and method based on ultrasonic phased array |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110048858A CN102147471B (en) | 2011-03-01 | 2011-03-01 | Front obstacle detecting system and method based on ultrasonic phased array |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102147471A true CN102147471A (en) | 2011-08-10 |
| CN102147471B CN102147471B (en) | 2012-10-03 |
Family
ID=44421837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110048858A Expired - Fee Related CN102147471B (en) | 2011-03-01 | 2011-03-01 | Front obstacle detecting system and method based on ultrasonic phased array |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102147471B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102999986A (en) * | 2013-01-07 | 2013-03-27 | 山东师范大学 | Embedded invasion detection system and detection method based on ultraphonic phase array |
| CN103366485A (en) * | 2012-04-01 | 2013-10-23 | 西门子公司 | Fire behavior detector with obstacle detector and obstacle detection method |
| CN104013436A (en) * | 2014-06-12 | 2014-09-03 | 苏州森斯凌传感技术有限公司 | Ultrasonic probe detection system based on pulse modulation |
| CN104013427A (en) * | 2014-06-12 | 2014-09-03 | 苏州森斯凌传感技术有限公司 | Pulse regulation ultrasonic detecting system with wireless intelligent host computer control function |
| CN105147503A (en) * | 2015-07-30 | 2015-12-16 | 苏州玄禾物联网科技有限公司 | Ultrasonic-phased-array-based reminding method of crutch for blind person |
| CN105911554A (en) * | 2016-06-06 | 2016-08-31 | 清华大学 | Target identification method based on ultrasonic sensor array |
| CN108307767A (en) * | 2018-01-12 | 2018-07-24 | 山东师范大学 | Detection of obstacles obstacle avoidance system and method suitable for full-automatic weeder |
| CN108594243A (en) * | 2018-06-21 | 2018-09-28 | 首都医科大学附属北京儿童医院 | Auxiliary sensing device suitable for defect of visual field patient |
| CN108693249A (en) * | 2018-04-24 | 2018-10-23 | 上海大学 | A kind of system and method using boulder in front of ultrasonic phased array technology detection shield |
| CN109387825A (en) * | 2017-08-11 | 2019-02-26 | 德克萨斯仪器股份有限公司 | Pumping signal sequence for ultrasonic transducer |
| CN109828029A (en) * | 2019-03-28 | 2019-05-31 | 深圳中凯剑无损检测设备科技有限公司 | A kind of ultrasonic phase array detection system and method based on initial data |
| CN110234563A (en) * | 2017-04-28 | 2019-09-13 | 深圳市元征科技股份有限公司 | A kind of automatic running method and device of rescue vehicle |
| CN112630764A (en) * | 2020-11-30 | 2021-04-09 | 中铁第四勘察设计院集团有限公司 | Pile bottom karst detection method, device and system, electronic equipment and storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4849764A (en) * | 1987-08-04 | 1989-07-18 | Raytheon Company | Interference source noise cancelling beamformer |
| CN101017154A (en) * | 2006-02-07 | 2007-08-15 | 哈尔滨工业大学 | Ultrasonic phased array inspection instrument |
| CN101846654A (en) * | 2009-06-16 | 2010-09-29 | 北京理工大学 | Ultrasonic phased array imaging system |
-
2011
- 2011-03-01 CN CN201110048858A patent/CN102147471B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4849764A (en) * | 1987-08-04 | 1989-07-18 | Raytheon Company | Interference source noise cancelling beamformer |
| CN101017154A (en) * | 2006-02-07 | 2007-08-15 | 哈尔滨工业大学 | Ultrasonic phased array inspection instrument |
| CN101846654A (en) * | 2009-06-16 | 2010-09-29 | 北京理工大学 | Ultrasonic phased array imaging system |
Non-Patent Citations (1)
| Title |
|---|
| 《无损检测》 20020228 钟志民等 超声相控阵技术的发展及应用 第24卷, 第02期 * |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103366485A (en) * | 2012-04-01 | 2013-10-23 | 西门子公司 | Fire behavior detector with obstacle detector and obstacle detection method |
| CN103366485B (en) * | 2012-04-01 | 2016-05-18 | 西门子瑞士有限公司 | There is fire case detector and the disorder detection method of obstacle detector |
| CN102999986B (en) * | 2013-01-07 | 2014-11-19 | 山东师范大学 | Method for detecting embedded invasion detection system based on ultraphonic phase array |
| CN102999986A (en) * | 2013-01-07 | 2013-03-27 | 山东师范大学 | Embedded invasion detection system and detection method based on ultraphonic phase array |
| CN104013436A (en) * | 2014-06-12 | 2014-09-03 | 苏州森斯凌传感技术有限公司 | Ultrasonic probe detection system based on pulse modulation |
| CN104013427A (en) * | 2014-06-12 | 2014-09-03 | 苏州森斯凌传感技术有限公司 | Pulse regulation ultrasonic detecting system with wireless intelligent host computer control function |
| CN105147503A (en) * | 2015-07-30 | 2015-12-16 | 苏州玄禾物联网科技有限公司 | Ultrasonic-phased-array-based reminding method of crutch for blind person |
| CN105911554A (en) * | 2016-06-06 | 2016-08-31 | 清华大学 | Target identification method based on ultrasonic sensor array |
| CN110234563A (en) * | 2017-04-28 | 2019-09-13 | 深圳市元征科技股份有限公司 | A kind of automatic running method and device of rescue vehicle |
| CN109387825A (en) * | 2017-08-11 | 2019-02-26 | 德克萨斯仪器股份有限公司 | Pumping signal sequence for ultrasonic transducer |
| CN109387825B (en) * | 2017-08-11 | 2023-09-08 | 德克萨斯仪器股份有限公司 | Excitation signal sequence for an ultrasound transducer |
| CN108307767A (en) * | 2018-01-12 | 2018-07-24 | 山东师范大学 | Detection of obstacles obstacle avoidance system and method suitable for full-automatic weeder |
| CN108307767B (en) * | 2018-01-12 | 2019-09-24 | 山东师范大学 | Detection of obstacles obstacle avoidance system and method suitable for full-automatic weeder |
| CN108693249A (en) * | 2018-04-24 | 2018-10-23 | 上海大学 | A kind of system and method using boulder in front of ultrasonic phased array technology detection shield |
| CN108594243B (en) * | 2018-06-21 | 2023-06-06 | 首都医科大学附属北京儿童医院 | Auxiliary sensing device suitable for vision defect patient |
| CN108594243A (en) * | 2018-06-21 | 2018-09-28 | 首都医科大学附属北京儿童医院 | Auxiliary sensing device suitable for defect of visual field patient |
| CN109828029A (en) * | 2019-03-28 | 2019-05-31 | 深圳中凯剑无损检测设备科技有限公司 | A kind of ultrasonic phase array detection system and method based on initial data |
| CN109828029B (en) * | 2019-03-28 | 2021-08-27 | 烟台中凯检测科技有限公司 | Ultrasonic phased array detection system and method based on original data |
| CN112630764A (en) * | 2020-11-30 | 2021-04-09 | 中铁第四勘察设计院集团有限公司 | Pile bottom karst detection method, device and system, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102147471B (en) | 2012-10-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102147471B (en) | Front obstacle detecting system and method based on ultrasonic phased array | |
| CN102999986B (en) | Method for detecting embedded invasion detection system based on ultraphonic phase array | |
| CN102066971B (en) | Ultrasound apparatus and method for side lobe suppression | |
| CN1997911B (en) | Distance measurement method and device using ultrasonic waves | |
| CN103576134B (en) | A kind of Full-waveform laser radar system based on coaxial two-channel data acquisition | |
| CN109212032B (en) | Interface type defect detection method based on improved multi-reflection full-focus imaging algorithm | |
| CN108415001B (en) | Photosensitive array for receiving reflected light spots of laser radar, receiving system and method | |
| CN105116406B (en) | A kind of compound rangefinder and its distance measuring method | |
| CN106249224A (en) | Multibeam forward looking sonar system and detection method | |
| CN102445694A (en) | Navigation robot obstacle detection method and system | |
| CN102053254A (en) | Laser ultrasonic detection system and detection method thereof | |
| CN106404911B (en) | True time delay single mode Lamb wave phased array system for plate structure detection | |
| CN103529442B (en) | A kind of object detection method based on geometric inversion array and device | |
| CN107238842A (en) | A kind of face battle array target search scanned imagery device and method | |
| CN114545428A (en) | Tracking ranging laser radar device and method based on single-pixel-single-photon detector | |
| CN101329397B (en) | Method and apparatus for rapidly detecting multi-wave beam | |
| CN113030982A (en) | Double-frequency ultra-high resolution sounding side-scan sonar system | |
| RU2515957C1 (en) | Complex for ultrasonic control of products and optical measurement device of complex | |
| CN213023603U (en) | Three-dimensional imaging ground penetrating radar system | |
| CN108318582A (en) | A kind of signal acquisition method for the transmission parallel detection of sandwich structure ultrasonic reflection | |
| CN109281651A (en) | A kind of ultrasonic borehole wall imaging method applied to cylinder supersonic array | |
| CN106680810B (en) | Three-dimensional target imaging radar system through walls | |
| Korba | Variable aperture sonar for mobile robots | |
| CN212872898U (en) | Laser ranging device and contact net detection equipment | |
| CN109828030B (en) | Reflector morphology extraction system and method based on sound field characteristics |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121003 Termination date: 20140301 |