CN113376619A - Digital ultrasonic sensor calibration method and device - Google Patents
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Abstract
本发明公开了一种数字式超声波传感器标定方法及装置。本发明先在常温条件下调整批量生产的数字式超声波传感器的输入能量，将接收源接收的各数字式超声波传感器发出的声压标定一致，调整各数字式超声波传感器的放大倍数，将各数字式超声波传感器接收信号源发出的声压的声压级标定一致，再测试各数字式超声波传感器的探测范围，当调整数字式超声波传感器的参数使其实际探测范围匹配标准探测范围后，多次改变温湿度条件并重新测试探测范围，不断调整数字式超声波传感器的参数使其在不同温湿度条件下实际探测范围均匹配标准探测范围，实现在不同温湿度条件下标定数字式超声波传感器的发射能量及接收能力，提高不同数字式超声波传感器的性能一致性。
The invention discloses a digital ultrasonic sensor calibration method and device. The invention firstly adjusts the input energy of the mass-produced digital ultrasonic sensors under normal temperature conditions, calibrates the sound pressures emitted by the digital ultrasonic sensors received by the receiving source to be consistent, adjusts the magnification of each digital ultrasonic sensor, and converts the digital ultrasonic sensors The sound pressure level of the ultrasonic sensor receiving the sound pressure from the signal source is consistent, and then test the detection range of each digital ultrasonic sensor. After adjusting the parameters of the digital ultrasonic sensor to make the actual detection range match the standard detection range, change the temperature several times. Humidity conditions and re-test the detection range, continuously adjust the parameters of the digital ultrasonic sensor to make the actual detection range match the standard detection range under different temperature and humidity conditions, and realize the calibration of the transmission energy and reception of the digital ultrasonic sensor under different temperature and humidity conditions ability to improve the performance consistency of different digital ultrasonic sensors.
Description
Technical Field
The invention relates to the technical field of digital ultrasonic sensor calibration, in particular to a digital ultrasonic sensor calibration method and device.
Background
The digital ultrasonic sensor is widely applied to systems such as automobiles, full-automatic systems, semi-automatic systems and the like, has good storage and memory technology, electromagnetic compatibility function and small volume, and plays an important role in promoting the electronic market.
In order to ensure the quality and stability of the produced digital ultrasonic sensor, the detection range of the digital ultrasonic sensor needs to be calibrated before the digital ultrasonic sensor leaves a factory. However, the existing digital ultrasonic sensor calibration method does not fully consider the influence of different temperature and humidity conditions on the calibration result, so that the performance of the digital ultrasonic sensor under different temperature and humidity conditions is inconsistent, and the performance of the digital ultrasonic sensors in batch production is also inconsistent. Accordingly, there is a need for improved digital ultrasonic sensor calibration methods to improve the consistency of performance of different digital ultrasonic sensors.
Disclosure of Invention
The invention provides a method and a device for calibrating a digital ultrasonic sensor, which can calibrate the transmitting energy and the receiving capacity of the digital ultrasonic sensor under different temperature and humidity conditions, minimize the performance difference among the digital ultrasonic sensors produced in batch and improve the performance consistency of different digital ultrasonic sensors.
In order to solve the above technical problem, in a first aspect, an embodiment of the present invention provides a method for calibrating a digital ultrasonic sensor, including:
s1, respectively controlling each digital ultrasonic sensor to work at a target frequency, and adjusting the input energy of each digital ultrasonic sensor to make the sound pressure received by a receiving source and emitted by each digital ultrasonic sensor consistent;
s2, respectively controlling the sound pressure of the target intensity emitted by each digital ultrasonic sensor, and adjusting the amplification factor of each digital ultrasonic sensor to keep the sound pressure level of the sound pressure emitted by the signal source received by each digital ultrasonic sensor consistent;
s3, testing the detection range of each digital ultrasonic sensor respectively, and adjusting the parameters of the digital ultrasonic sensors until the parameters match the standard detection range when the actual detection range of the digital ultrasonic sensors does not match the standard detection range;
and S4, changing the temperature and humidity condition for many times and re-executing the step S3 after the actual detection range is matched with the standard detection range, and correspondingly writing the finally adjusted parameters of the digital ultrasonic sensor into the digital ultrasonic sensor.
Further, the receiving source is arranged at a first position which is at the same height as the digital ultrasonic sensor and is a preset distance away from the digital ultrasonic sensor.
Further, the signal source is arranged at a second position which is at the same height as the digital ultrasonic sensor and is a preset distance away from the digital ultrasonic sensor.
Further, the respectively testing the detection range of each digital ultrasonic sensor, and when the actual detection range of the digital ultrasonic sensor does not match the standard detection range, adjusting the parameters of the digital ultrasonic sensor until the parameters match the standard detection range specifically includes:
placing a standard obstacle at a preset position in a shielding box, and judging whether the digital ultrasonic sensor can detect the preset position or not according to the detection result of the digital ultrasonic sensor on the standard obstacle;
if so, placing the standard barrier at the next preset position in the shielding box and judging again, otherwise, adjusting the parameters of the digital ultrasonic sensor until the digital ultrasonic sensor can detect the current preset position;
when the digital ultrasonic sensor can detect all the preset positions, determining that the actual detection range of the digital ultrasonic sensor matches the standard detection range.
Further, the step of placing the standard obstacle at a predetermined position in the shielding box, and determining whether the digital ultrasonic sensor can detect the current predetermined position according to a detection result of the digital ultrasonic sensor on the standard obstacle, specifically includes:
placing the standard barrier at a preset position in the shielding box, and rotating the tool angle of the digital ultrasonic sensor to the basic surface of the standard barrier;
and judging whether the digital ultrasonic sensor can detect the current preset position or not according to the echo received by the standard obstacle detected by the digital ultrasonic sensor.
In a second aspect, an embodiment of the present invention provides a digital ultrasonic sensor calibration apparatus, including:
the control module is used for respectively controlling each digital ultrasonic sensor to work at a target frequency and adjusting the input energy of each digital ultrasonic sensor so as to keep the sound pressure received by the receiving source and emitted by each digital ultrasonic sensor consistent;
the control module is further configured to control sound pressure of the target intensity emitted by each digital ultrasonic sensor, and adjust the amplification factor of each digital ultrasonic sensor, so that sound pressure levels of the sound pressures emitted by the signal sources received by the digital ultrasonic sensors are kept consistent;
the testing module is used for respectively testing the detection range of each digital ultrasonic sensor and adjusting the parameters of the digital ultrasonic sensors until the parameters are matched with the standard detection range when the actual detection range of the digital ultrasonic sensors is not matched with the standard detection range;
and the test module is also used for changing the temperature and humidity conditions for many times and retesting the detection range after the actual detection range is matched with the standard detection range, and correspondingly writing the finally adjusted parameters of the digital ultrasonic sensor into the digital ultrasonic sensor.
Further, the receiving source is arranged at a first position which is at the same height as the digital ultrasonic sensor and is a preset distance away from the digital ultrasonic sensor.
Further, the signal source is arranged at a second position which is at the same height as the digital ultrasonic sensor and is a preset distance away from the digital ultrasonic sensor.
Further, the respectively testing the detection range of each digital ultrasonic sensor, and when the actual detection range of the digital ultrasonic sensor does not match the standard detection range, adjusting the parameters of the digital ultrasonic sensor until the parameters match the standard detection range specifically includes:
placing a standard obstacle at a preset position in a shielding box, and judging whether the digital ultrasonic sensor can detect the preset position or not according to the detection result of the digital ultrasonic sensor on the standard obstacle;
if so, placing the standard barrier at the next preset position in the shielding box and judging again, otherwise, adjusting the parameters of the digital ultrasonic sensor until the digital ultrasonic sensor can detect the current preset position;
when the digital ultrasonic sensor can detect all the preset positions, determining that the actual detection range of the digital ultrasonic sensor matches the standard detection range.
Further, the step of placing the standard obstacle at a predetermined position in the shielding box, and determining whether the digital ultrasonic sensor can detect the current predetermined position according to a detection result of the digital ultrasonic sensor on the standard obstacle, specifically includes:
placing the standard barrier at a preset position in the shielding box, and rotating the tool angle of the digital ultrasonic sensor to the basic surface of the standard barrier;
and judging whether the digital ultrasonic sensor can detect the current preset position or not according to the echo received by the standard obstacle detected by the digital ultrasonic sensor.
The embodiment of the invention has the following beneficial effects:
the method comprises the steps of respectively controlling each digital ultrasonic sensor to work at a target frequency, adjusting the input energy of each digital ultrasonic sensor, keeping the sound pressure received by a receiving source and sent by each digital ultrasonic sensor consistent, respectively controlling the sound pressure sent by each digital ultrasonic sensor to send out target intensity, adjusting the amplification factor of each digital ultrasonic sensor, keeping the sound pressure level of the sound pressure sent by a signal source and received by each digital ultrasonic sensor consistent, respectively testing the detection range of each digital ultrasonic sensor, adjusting the parameters of the digital ultrasonic sensors until the standard detection range is matched when the actual detection range of the digital ultrasonic sensors is not matched with the standard detection range, and changing the temperature and humidity condition and retesting the detection range for many times after the actual detection range is matched with the standard detection range, and correspondingly writing the finally adjusted parameters of the digital ultrasonic sensor into the digital ultrasonic sensor to finish calibration. Compared with the prior art, the embodiment of the invention firstly adjusts the input energy of the digital ultrasonic sensors produced in batch under the normal temperature condition, calibrates the sound pressure received by the receiving source and emitted by each digital ultrasonic sensor to be consistent, adjusts the amplification factor of each digital ultrasonic sensor, calibrates the sound pressure level of the sound pressure received by each digital ultrasonic sensor and emitted by the signal source to be consistent, tests the detection range of each digital ultrasonic sensor, changes the temperature and humidity condition for many times and retests the detection range after adjusting the parameters of the digital ultrasonic sensors to enable the actual detection range to be matched with the standard detection range, continuously adjusts the parameters of the digital ultrasonic sensors to enable the actual detection range to be matched with the standard detection range under different temperature and humidity conditions, thereby realizing the calibration of the transmitting energy and the receiving capacity of the digital ultrasonic sensors under different temperature and humidity conditions, the performance difference among the digital ultrasonic sensors produced in batch is minimized, and the performance consistency of different digital ultrasonic sensors is improved.
Drawings
Fig. 1 is a schematic flow chart of a digital ultrasonic sensor calibration method according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a digital ultrasonic sensor calibration apparatus according to a second embodiment of the present invention.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, the step numbers in the text are only for convenience of explanation of the specific embodiments, and do not serve to limit the execution sequence of the steps.
As shown in fig. 1, a first embodiment provides a method for calibrating a digital ultrasonic sensor, including the steps of:
s1, controlling each digital ultrasonic sensor to work at a target frequency respectively, and adjusting the input energy of each digital ultrasonic sensor to keep the sound pressure received by the receiving source and emitted by each digital ultrasonic sensor consistent;
s2, respectively controlling the sound pressure of the target intensity emitted by each digital ultrasonic sensor, and adjusting the amplification factor of each digital ultrasonic sensor to keep the sound pressure level of the sound pressure emitted by the signal source received by each digital ultrasonic sensor consistent;
s3, testing the detection range of each digital ultrasonic sensor respectively, and adjusting the parameters of the digital ultrasonic sensors until the parameters match the standard detection range when the actual detection range of the digital ultrasonic sensors does not match the standard detection range;
and S4, changing the temperature and humidity conditions for multiple times and re-executing the step S3 after the actual detection range is matched with the standard detection range, and correspondingly writing the finally adjusted parameters of the digital ultrasonic sensor into the digital ultrasonic sensor.
In a preferred embodiment of this embodiment, the target frequency is any one of 40 to 60 kHz.
As an example, in step S1, for the digital ultrasonic sensors produced in mass production, each digital ultrasonic sensor is controlled to operate at a target frequency, such as 40 to 60kHz, respectively, under normal temperature conditions, and the input energy of each digital ultrasonic sensor is adjusted by adjusting the parameter of each digital ultrasonic sensor, so that the sound pressure received by the receiving source and emitted by each digital ultrasonic sensor is kept consistent. Wherein, the sound pressure is in direct proportion to the input energy.
In step S2, under normal temperature conditions, each digital ultrasonic sensor is controlled to emit sound pressure of a target intensity at a target frequency, each digital ultrasonic sensor is set to a receiving mode, and the amplification factor of each digital ultrasonic sensor is adjusted to make the sound pressure levels of the sound pressures emitted by the signal source received by the digital ultrasonic sensors consistent.
In step S3, after the calibration is finished under the normal temperature condition, the detection range of each digital ultrasonic sensor is tested, so that the digital ultrasonic sensors detect all the predetermined positions in the standard detection range one by one, when the digital ultrasonic sensors cannot detect a predetermined position in the standard detection range, the actual detection range of the digital ultrasonic sensors is considered to be not matched with the standard detection range, the parameters of the digital ultrasonic sensors need to be adjusted until the digital ultrasonic sensors can detect the predetermined position, and then the digital ultrasonic sensors continue to detect the next predetermined position, and when the digital ultrasonic sensors can detect all the predetermined positions, the actual detection range of the digital ultrasonic sensors is considered to be matched with the standard detection range.
In step S4, after the actual detection range of the digital ultrasonic sensor matches the standard detection range, the temperature and humidity conditions are changed many times and the detection range is retested, the parameters of the digital ultrasonic sensor are continuously adjusted so that the actual detection ranges thereof match the standard detection range under different temperature and humidity conditions, and the finally adjusted parameters of the digital ultrasonic sensor are written into the digital ultrasonic sensor to complete calibration.
Considering that the difference of sound propagation speed in different temperature, humidity and media is large, in this embodiment, input energy of digital ultrasonic sensors produced in batch is adjusted under normal temperature, sound pressures emitted by the digital ultrasonic sensors received by a receiving source are calibrated to be consistent, amplification factors of the digital ultrasonic sensors are adjusted, sound pressure levels of sound pressures emitted by signal sources received by the digital ultrasonic sensors are calibrated to be consistent, detection ranges of the digital ultrasonic sensors are tested, after parameters of the digital ultrasonic sensors are adjusted to enable actual detection ranges of the digital ultrasonic sensors to be matched with standard detection ranges, temperature and humidity conditions are changed for many times and the detection ranges are retested, parameters of the digital ultrasonic sensors are continuously adjusted to enable actual detection ranges of the digital ultrasonic sensors to be matched with the standard detection ranges under different temperature and humidity conditions, so that the emission energy and the receiving capacity of the digital ultrasonic sensors under different temperature and humidity conditions are calibrated, the performance difference among the digital ultrasonic sensors produced in batch is minimized, and the performance consistency of different digital ultrasonic sensors is improved.
In a preferred embodiment, the receiving source is disposed at a first position at a same height and a predetermined distance from the digital ultrasonic sensor.
In a preferred embodiment of this embodiment, the predetermined distance is any value from 30 to 500 cm.
This embodiment is favorable to avoiding the receiving source to receive the interference when receiving the acoustic pressure that digital ultrasonic sensor sent through setting the receiving source in the first position that highly and apart from digital ultrasonic sensor default distance the same with digital ultrasonic sensor.
In a preferred embodiment, the signal source is arranged at a second position at the same height as the digital ultrasonic sensor and at a predetermined distance from the digital ultrasonic sensor.
In a preferred embodiment of this embodiment, the predetermined distance is any value from 30 to 500 cm.
In the embodiment, the signal source is arranged at the second position which is at the same height as the digital ultrasonic sensor and is away from the digital ultrasonic sensor by the preset distance, so that the signal source is prevented from being interfered when sending sound pressure to the digital ultrasonic sensor.
In a preferred embodiment, the testing the detection range of each digital ultrasonic sensor respectively, and when the actual detection range of the digital ultrasonic sensor does not match the standard detection range, adjusting the parameters of the digital ultrasonic sensor until the parameters match the standard detection range specifically includes: placing a standard barrier at a preset position in a shielding box, and judging whether the digital ultrasonic sensor can detect the current preset position according to the detection result of the digital ultrasonic sensor on the standard barrier; if so, placing the standard barrier at the next preset position in the shielding box and judging again, otherwise, adjusting the parameters of the digital ultrasonic sensor until the digital ultrasonic sensor can detect the current preset position; when the digital ultrasonic sensor can detect all the preset positions, the actual detection range of the digital ultrasonic sensor is determined to be matched with the standard detection range.
In a preferred embodiment of this embodiment, the standard barrier is a PVC pipe.
It can be understood that the detection range of the digital ultrasonic sensor is tested in the shielding box, which is beneficial to avoiding interference in the test process.
Illustratively, a standard obstacle is placed at a first preset position (x1, y1) in the shielding box, whether the digital ultrasonic sensor can detect the first preset position (x1, y1) is judged according to the detection result of the digital ultrasonic sensor on the standard obstacle, if so, the standard obstacle is placed at a second preset position (x2, y2) in the shielding box and the judgment is repeated, otherwise, the parameters of the digital ultrasonic sensor are adjusted until the digital ultrasonic sensor can detect the first preset position (x1, y 1); placing a standard obstacle at a second preset position (x2, y2) in the shielding box, judging whether the digital ultrasonic sensor can detect the second preset position (x2, y2) according to the detection result of the digital ultrasonic sensor to the standard obstacle, if so, placing the standard obstacle at a third preset position (x3, y3) in the shielding box and judging again, and if not, adjusting the parameters of the digital ultrasonic sensor until the digital ultrasonic sensor can detect the second preset position (x2, y 2); and in the same way, the standard barrier is placed at the last preset position (xn, yn) in the shielding box, whether the digital ultrasonic sensor can detect the last preset position (xn, yn) is judged according to the detection result of the digital ultrasonic sensor on the standard barrier, if not, the parameters of the digital ultrasonic sensor are adjusted until the digital ultrasonic sensor can detect the last preset position (xn, yn), and when the digital ultrasonic sensor can detect the last preset position (xn, yn), namely the digital ultrasonic sensor can detect all preset positions, the actual detection range of the digital ultrasonic sensor is determined to be matched with the standard detection range.
In the embodiment, the parameters of the digital ultrasonic sensor are continuously adjusted in the process of testing the detection range, so that the digital ultrasonic sensor can detect all the preset positions in the standard detection range under the current temperature and humidity condition, the performance difference among the digital ultrasonic sensors produced in batch can be reduced to the maximum extent, and the performance consistency of different digital ultrasonic sensors is improved.
In a preferred embodiment, the step of placing the standard obstacle at a predetermined position in the shielding box, and determining whether the digital ultrasonic sensor can detect the current predetermined position according to the detection result of the digital ultrasonic sensor on the standard obstacle includes: placing a standard barrier at a preset position in a shielding box, and rotating a tool angle of a digital ultrasonic sensor to a basic surface of the standard barrier; and judging whether the digital ultrasonic sensor can detect the current preset position or not according to the echo received by the digital ultrasonic sensor for detecting the standard barrier.
Exemplarily, a standard obstacle is placed at a first preset position (x1, y1) in a shielding box through a conveyor belt, a tooling angle of a digital ultrasonic sensor is rotated to a basic surface of the standard obstacle, an echo received by the standard obstacle is detected according to the digital ultrasonic sensor, a positioning position of the standard obstacle is determined, whether the first preset position (x1, y1) can be detected by the digital ultrasonic sensor is judged by comparing the positioning position of the standard obstacle with the first preset position (x1, y1), if yes, the standard obstacle is placed at a second preset position (x2, y2) in the shielding box through the conveyor belt and is judged again, and otherwise, parameters of the digital ultrasonic sensor are adjusted until the first preset position (x1, y1) can be detected by the digital ultrasonic sensor; placing a standard obstacle at a second preset position (x2, y2) in the shielding box through a conveyor belt, rotating a tooling angle of a digital ultrasonic sensor to a basic surface of the standard obstacle, determining the positioning position of the standard obstacle according to an echo received by the digital ultrasonic sensor when the digital ultrasonic sensor detects the standard obstacle, judging whether the digital ultrasonic sensor can detect the second preset position (x2, y2) by comparing the positioning position of the standard obstacle with the second preset position (x2, y2), placing the standard obstacle at a third preset position (x3, y3) in the shielding box through the conveyor belt if the standard obstacle can detect the second preset position (x2, y2), and adjusting the parameters of the digital ultrasonic sensor until the digital ultrasonic sensor can detect the second preset position (x2, y 2); by analogy, a standard barrier is placed at the last preset position (xn, yn) in the shielding box, the tooling angle of the digital ultrasonic sensor is rotated to the basic surface of the standard barrier, according to the echo received by the digital ultrasonic sensor detecting the standard barrier, the positioning position of the standard barrier is determined, determining whether the digital ultrasonic sensor can detect the last predetermined position (xn, yn) by comparing the location position of the standard obstacle with the last predetermined position (xn, yn), if not, adjusting the parameters of the digital ultrasonic sensor until the digital ultrasonic sensor can detect the last predetermined position (xn, yn), and the digital ultrasonic sensor can detect the last predetermined position (xn, yn), namely, when the digital ultrasonic sensor can detect all the preset positions, the actual detection range of the digital ultrasonic sensor is matched with the standard detection range.
As shown in fig. 2, a second embodiment provides a digital ultrasonic sensor calibration apparatus, including: the control module 21 is configured to control each digital ultrasonic sensor to operate at a target frequency, and adjust input energy of each digital ultrasonic sensor, so that sound pressures received by the receiving source and emitted by the digital ultrasonic sensors are kept consistent; the control module 21 is further configured to control sound pressure of the target intensity emitted by each digital ultrasonic sensor, and adjust the amplification factor of each digital ultrasonic sensor, so that the sound pressure levels of the sound pressures emitted by the signal sources received by the digital ultrasonic sensors are kept consistent; the test module 22 is configured to test the detection range of each digital ultrasonic sensor, and adjust the parameters of the digital ultrasonic sensor until the actual detection range of the digital ultrasonic sensor does not match the standard detection range; the testing module 22 is further configured to change the temperature and humidity conditions and retest the detection range for a plurality of times after the actual detection range matches the standard detection range, and write the finally adjusted parameters of the digital ultrasonic sensor into the digital ultrasonic sensor correspondingly.
In a preferred embodiment of this embodiment, the target frequency is any one of 40 to 60 kHz.
Illustratively, for digital ultrasonic sensors produced in mass production, the control module 21 controls each digital ultrasonic sensor to operate at a target frequency, such as 40 to 60kHz, respectively, under normal temperature conditions, and adjusts the input energy of each digital ultrasonic sensor by adjusting the parameters of each digital ultrasonic sensor, so as to keep the sound pressure received by the receiving source and emitted by each digital ultrasonic sensor consistent. Wherein, the sound pressure is in direct proportion to the input energy.
Under the condition of normal temperature, the control module 21 respectively controls each digital ultrasonic sensor to emit sound pressure with target intensity at a target frequency, sets each digital ultrasonic sensor to be in a receiving mode, and adjusts the amplification factor of each digital ultrasonic sensor, so that the sound pressure levels of the sound pressures emitted by the signal source received by the digital ultrasonic sensors are kept consistent.
Through the test module 22, after the calibration is finished under the normal temperature condition, the detection range of each digital ultrasonic sensor is respectively tested, so that the digital ultrasonic sensors detect all the preset positions in the standard detection range one by one, when the digital ultrasonic sensors cannot detect a certain preset position in the standard detection range, the actual detection range of the digital ultrasonic sensors is considered to be not matched with the standard detection range, the parameters of the digital ultrasonic sensors need to be adjusted until the digital ultrasonic sensors can detect the preset position, then the digital ultrasonic sensors continue to detect the next preset position, and when the digital ultrasonic sensors can detect all the preset positions, the actual detection range of the digital ultrasonic sensors is considered to be matched with the standard detection range.
Through the test module 22, after the actual detection range of the digital ultrasonic sensor matches the standard detection range, the temperature and humidity conditions are changed for many times and the detection range is retested, the parameters of the digital ultrasonic sensor are continuously adjusted to enable the actual detection range to match the standard detection range under different temperature and humidity conditions, and finally adjusted parameters of the digital ultrasonic sensor are written into the digital ultrasonic sensor to complete calibration.
Considering that the difference of sound propagation speed in different temperature, humidity and media is large, in this embodiment, input energy of digital ultrasonic sensors produced in batch is adjusted under normal temperature, sound pressures emitted by the digital ultrasonic sensors received by a receiving source are calibrated to be consistent, amplification factors of the digital ultrasonic sensors are adjusted, sound pressure levels of sound pressures emitted by signal sources received by the digital ultrasonic sensors are calibrated to be consistent, detection ranges of the digital ultrasonic sensors are tested, after parameters of the digital ultrasonic sensors are adjusted to enable actual detection ranges of the digital ultrasonic sensors to be matched with standard detection ranges, temperature and humidity conditions are changed for many times and the detection ranges are retested, parameters of the digital ultrasonic sensors are continuously adjusted to enable actual detection ranges of the digital ultrasonic sensors to be matched with the standard detection ranges under different temperature and humidity conditions, so that the emission energy and the receiving capacity of the digital ultrasonic sensors under different temperature and humidity conditions are calibrated, the performance difference among the digital ultrasonic sensors produced in batch is minimized, and the performance consistency of different digital ultrasonic sensors is improved.
In a preferred embodiment, the receiving source is disposed at a first position at a same height and a predetermined distance from the digital ultrasonic sensor.
In a preferred embodiment of this embodiment, the predetermined distance is any value from 30 to 500 cm.
This embodiment is favorable to avoiding the receiving source to receive the interference when receiving the acoustic pressure that digital ultrasonic sensor sent through setting the receiving source in the first position that highly and apart from digital ultrasonic sensor default distance the same with digital ultrasonic sensor.
In a preferred embodiment, the signal source is arranged at a second position at the same height as the digital ultrasonic sensor and at a predetermined distance from the digital ultrasonic sensor.
In a preferred embodiment of this embodiment, the predetermined distance is any value from 30 to 500 cm.
In the embodiment, the signal source is arranged at the second position which is at the same height as the digital ultrasonic sensor and is away from the digital ultrasonic sensor by the preset distance, so that the signal source is prevented from being interfered when sending sound pressure to the digital ultrasonic sensor.
In a preferred embodiment, the testing the detection range of each digital ultrasonic sensor respectively, and when the actual detection range of the digital ultrasonic sensor does not match the standard detection range, adjusting the parameters of the digital ultrasonic sensor until the parameters match the standard detection range specifically includes: placing a standard barrier at a preset position in a shielding box, and judging whether the digital ultrasonic sensor can detect the current preset position according to the detection result of the digital ultrasonic sensor on the standard barrier; if so, placing the standard barrier at the next preset position in the shielding box and judging again, otherwise, adjusting the parameters of the digital ultrasonic sensor until the digital ultrasonic sensor can detect the current preset position; when the digital ultrasonic sensor can detect all the preset positions, the actual detection range of the digital ultrasonic sensor is determined to be matched with the standard detection range.
In a preferred embodiment of this embodiment, the standard barrier is a PVC pipe.
It can be understood that the detection range of the digital ultrasonic sensor is tested in the shielding box, which is beneficial to avoiding interference in the test process.
Illustratively, a standard obstacle is placed at a first preset position (x1, y1) in the shielding box, whether the digital ultrasonic sensor can detect the first preset position (x1, y1) is judged according to the detection result of the digital ultrasonic sensor on the standard obstacle, if so, the standard obstacle is placed at a second preset position (x2, y2) in the shielding box and the judgment is repeated, otherwise, the parameters of the digital ultrasonic sensor are adjusted until the digital ultrasonic sensor can detect the first preset position (x1, y 1); placing a standard obstacle at a second preset position (x2, y2) in the shielding box, judging whether the digital ultrasonic sensor can detect the second preset position (x2, y2) according to the detection result of the digital ultrasonic sensor to the standard obstacle, if so, placing the standard obstacle at a third preset position (x3, y3) in the shielding box and judging again, and if not, adjusting the parameters of the digital ultrasonic sensor until the digital ultrasonic sensor can detect the second preset position (x2, y 2); and in the same way, the standard barrier is placed at the last preset position (xn, yn) in the shielding box, whether the digital ultrasonic sensor can detect the last preset position (xn, yn) is judged according to the detection result of the digital ultrasonic sensor on the standard barrier, if not, the parameters of the digital ultrasonic sensor are adjusted until the digital ultrasonic sensor can detect the last preset position (xn, yn), and when the digital ultrasonic sensor can detect the last preset position (xn, yn), namely the digital ultrasonic sensor can detect all preset positions, the actual detection range of the digital ultrasonic sensor is determined to be matched with the standard detection range.
In the embodiment, the parameters of the digital ultrasonic sensor are continuously adjusted in the process of testing the detection range, so that the digital ultrasonic sensor can detect all the preset positions in the standard detection range under the current temperature and humidity condition, the performance difference among the digital ultrasonic sensors produced in batch can be reduced to the maximum extent, and the performance consistency of different digital ultrasonic sensors is improved.
In a preferred embodiment, the step of placing the standard obstacle at a predetermined position in the shielding box, and determining whether the digital ultrasonic sensor can detect the current predetermined position according to the detection result of the digital ultrasonic sensor on the standard obstacle includes: placing a standard barrier at a preset position in a shielding box, and rotating a tool angle of a digital ultrasonic sensor to a basic surface of the standard barrier; and judging whether the digital ultrasonic sensor can detect the current preset position or not according to the echo received by the digital ultrasonic sensor for detecting the standard barrier.
Exemplarily, a standard obstacle is placed at a first preset position (x1, y1) in a shielding box through a conveyor belt, a tooling angle of a digital ultrasonic sensor is rotated to a basic surface of the standard obstacle, an echo received by the standard obstacle is detected according to the digital ultrasonic sensor, a positioning position of the standard obstacle is determined, whether the first preset position (x1, y1) can be detected by the digital ultrasonic sensor is judged by comparing the positioning position of the standard obstacle with the first preset position (x1, y1), if yes, the standard obstacle is placed at a second preset position (x2, y2) in the shielding box through the conveyor belt and is judged again, and otherwise, parameters of the digital ultrasonic sensor are adjusted until the first preset position (x1, y1) can be detected by the digital ultrasonic sensor; placing a standard obstacle at a second preset position (x2, y2) in the shielding box through a conveyor belt, rotating a tooling angle of a digital ultrasonic sensor to a basic surface of the standard obstacle, determining the positioning position of the standard obstacle according to an echo received by the digital ultrasonic sensor when the digital ultrasonic sensor detects the standard obstacle, judging whether the digital ultrasonic sensor can detect the second preset position (x2, y2) by comparing the positioning position of the standard obstacle with the second preset position (x2, y2), placing the standard obstacle at a third preset position (x3, y3) in the shielding box through the conveyor belt if the standard obstacle can detect the second preset position (x2, y2), and adjusting the parameters of the digital ultrasonic sensor until the digital ultrasonic sensor can detect the second preset position (x2, y 2); by analogy, a standard barrier is placed at the last preset position (xn, yn) in the shielding box, the tooling angle of the digital ultrasonic sensor is rotated to the basic surface of the standard barrier, according to the echo received by the digital ultrasonic sensor detecting the standard barrier, the positioning position of the standard barrier is determined, determining whether the digital ultrasonic sensor can detect the last predetermined position (xn, yn) by comparing the location position of the standard obstacle with the last predetermined position (xn, yn), if not, adjusting the parameters of the digital ultrasonic sensor until the digital ultrasonic sensor can detect the last predetermined position (xn, yn), and the digital ultrasonic sensor can detect the last predetermined position (xn, yn), namely, when the digital ultrasonic sensor can detect all the preset positions, the actual detection range of the digital ultrasonic sensor is matched with the standard detection range.
In summary, the embodiments of the present invention have the following beneficial effects:
the method comprises the steps of respectively controlling each digital ultrasonic sensor to work at a target frequency, adjusting the input energy of each digital ultrasonic sensor, keeping the sound pressure received by a receiving source and sent by each digital ultrasonic sensor consistent, respectively controlling the sound pressure sent by each digital ultrasonic sensor to send out target intensity, adjusting the amplification factor of each digital ultrasonic sensor, keeping the sound pressure level of the sound pressure sent by a signal source and received by each digital ultrasonic sensor consistent, respectively testing the detection range of each digital ultrasonic sensor, adjusting the parameters of the digital ultrasonic sensors until the standard detection range is matched when the actual detection range of the digital ultrasonic sensors is not matched with the standard detection range, and changing the temperature and humidity condition and retesting the detection range for many times after the actual detection range is matched with the standard detection range, and correspondingly writing the finally adjusted parameters of the digital ultrasonic sensor into the digital ultrasonic sensor to finish calibration. The embodiment of the invention firstly adjusts the input energy of the digital ultrasonic sensors produced in batch under the normal temperature condition, calibrates the sound pressure emitted by each digital ultrasonic sensor received by a receiving source to be consistent, adjusts the amplification factor of each digital ultrasonic sensor, calibrates the sound pressure level of the sound pressure emitted by each digital ultrasonic sensor receiving signal source to be consistent, tests the detection range of each digital ultrasonic sensor, changes the temperature and humidity condition for many times and retests the detection range after adjusting the parameters of the digital ultrasonic sensors to ensure that the actual detection range thereof is matched with the standard detection range, continuously adjusts the parameters of the digital ultrasonic sensors to ensure that the actual detection range thereof is matched with the standard detection range under different temperature and humidity conditions, thereby realizing the calibration of the transmitting energy and the receiving capacity of the digital ultrasonic sensors under different temperature and humidity conditions, the performance difference among the digital ultrasonic sensors produced in batch is minimized, and the performance consistency of different digital ultrasonic sensors is improved.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that all or part of the processes of the above embodiments may be implemented by hardware related to instructions of a computer program, and the computer program may be stored in a computer readable storage medium, and when executed, may include the processes of the above embodiments. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Claims (10)
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