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外文原文原文出处传感器文摘布拉福德1993年第13页ULTRASONICRANGINGSYSTEMDESIGNPUBLICATIONTITLESENSORREVIEWBRADFORD1993VOL13ABSTRACTULTRASONICRANGINGTECHNOLOGYHASWIDEUSINGWORTHINMANYFIELDS，SUCHASTHEINDUSTRIALLOCALE，VEHICLENAVIGATIONANDSONARENGINEERINGNOWITHASBEENUSEDINLEVELMEASUREMENT，SELFGUIDEDAUTONOMOUSVEHICLESFIELDWORKROBOTSAUTOMOTIVENAVIGATION，AIRANDUNDERWATERTARGETDETECTION，IDENTIFICATION，SOLOCATIONANDSOONTHEREISANIMPORTANTPRACTICINGMEANINGTOLEARNTHERANGINGTHEORYANDWAYSDEEPLYTOIMPROVETHEPRECISIONOFTHEULTRASONICRANGINGSYSTEMINHAND，SATISFYTHEREQUESTOFTHEENGINEERINGPERSONNELFORTHERANGINGPRECISION，THEBOUNDANDTHEUSAGE，APORTABLEULTRASONICRANGINGSYSTEMBASEDONTHESINGLECHIPPROCESSORWASDEVELOPEDKEYWORDSULTRASOUNDR，RANGINGSYSTEM，SINGLECHIPPROCESSOR1INTRODUCTIVEWITHTHEDEVELOPMENTOFSCIENCEANDTECHNOLOGYTHEIMPROVEMENTOFPEOPLESSTANDARDOFLIVINGSPEEDINGUPTHEDEVELOPMENTANDCONSTRUCTIONOFTHECITYURBANDRAINAGESYSTEMHAVEGREATLYDEVELOPEDTHEIRSITUATIONISCONSTANTLYIMPROVINGHOWEVERDUETOHISTORICALREASONSMANYUNPREDICTABLEFACTORSINTHESYNTHESISOFHERTIMETHECITYDRAINAGESYSTEMINPARTICULARDRAINAGESYSTEMOFTENLAGSBEHINDURBANCONSTRUCTIONTHEREFORETHEREAREOFTENGOODBUILDINGEXCAVATIONHASBEENBUILDINGFACILITIESTOUPGRADETHEDRAINAGESYSTEMPHENOMENONITBROUGHTTOTHECITYSEWAGEANDITISCLEARTOTHECITYSEWAGEANDDRAINAGECULVERTINTHESEWAGETREATMENTSYSTEMCOMFORTISVERYIMPORTANTTOPEOPLESLIVESMOBILEROBOTSDESIGNEDTOCLEARTHEDRAINAGECULVERTANDTHEAUTOMATICCONTROLSYSTEMFREESEWAGECULVERTCLEARGUARANTEEROBOTTHEROBOTISDESIGNEDTOCLEARTHECULVERTSEWAGETOTHECORECONTROLSYSTEMISTHECORECOMPONENTOFTHEDEVELOPMENTOFULTRASONICRANGEFINDERTHEREFOREITISVERYIMPORTANTTODESIGNAGOODULTRASONICRANGEFINDER2APRINCIPLEOFULTRASONICDISTANCEMEASUREMENT21THEPRINCIPLEOFPIEZOELECTRICULTRASONICGENERATORPIEZOELECTRICULTRASONICGENERATORISTHEUSEOFPIEZOELECTRICCRYSTALRESONATORSTOWORKULTRASONICGENERATORTHEINTERNALSTRUCTUREASSHOWNITHASTWOPIEZOELECTRICCHIPANDARESONANCEPLATEWHENITSTWOPLUSPULSESIGNALTHEFREQUENCYEQUALTOTHEINTRINSICPIEZOELECTRICOSCILLATIONFREQUENCYCHIPTHECHIPWILLHAPPENPIEZOELECTRICRESONANCEANDPROMOTETHEDEVELOPMENTOFPLATEVIBRATIONRESONANCEULTRASOUNDISGENERATEDCONVERSELYIFTHETWOARENOTINTERELECTRODEVOLTAGEWHENTHEBOARDRECEIVEDULTRASONICRESONANCEITWILLBEFORVIBRATIONSUPPRESSIONOFPIEZOELECTRICCHIPTHEMECHANICALENERGYISCONVERTEDTOELECTRICALSIGNALSTHENITBECOMESTHEULTRASONICRECEIVERTHETRADITIONALWAYTODETERMINETHEMOMENTOFTHEECHOSARRIVALISBASEDONTHRESHOLDINGTHERECEIVEDSIGNALWITHAFIXEDREFERENCETHETHRESHOLDISCHOSENWELLABOVETHENOISELEVELWHEREASTHEMOMENTOFARRIVALOFANECHOISDEFINEDASTHEFIRSTMOMENTTHEECHOSIGNALSURPASSESTHATTHRESHOLDTHEINTENSITYOFANECHOREFLECTINGFROMANOBJECTSTRONGLYDEPENDSONTHEOBJECTSNATURESIZEANDDISTANCEFROMTHESENSORFURTHERTHETIMEINTERVALFROMTHEECHOSSTARTINGPOINTTOTHEMOMENTWHENITSURPASSESTHETHRESHOLDCHANGESWITHTHEINTENSITYOFTHEECHOASACONSEQUENCEACONSIDERABLEERRORMAYOCCUREVENTWOECHOESWITHDIFFERENTINTENSITIESARRIVINGEXACTLYATTHESAMETIMEWILLSURPASSTHETHRESHOLDATDIFFERENTMOMENTSTHESTRONGERONEWILLSURPASSTHETHRESHOLDEARLIERTHANTHEWEAKERSOITWILLBECONSIDEREDASBELONGINGTOANEAREROBJECT22THEPRINCIPLEOFULTRASONICDISTANCEMEASUREMENTULTRASONICTRANSMITTERINADIRECTIONTOLAUNCHULTRASOUNDINTHEMOMENTTOLAUNCHTHEBEGINNINGOFTIMEATTHESAMETIMETHESPREADOFULTRASOUNDINTHEAIROBSTACLESONHISWAYTORETURNIMMEDIATELYTHEULTRASONICREFLECTEDWAVERECEIVEDBYTHERECEIVERIMMEDIATELYSTOPTHECLOCKULTRASOUNDINTHEAIRASTHEPROPAGATIONVELOCITYOF340M/SACCORDINGTOTHETIMERRECORDSTHETIMETWECANCALCULATETHEDISTANCEBETWEENTHELAUNCHDISTANCEBARRIERSTHATISS340T/23ULTRASONICRANGINGSYSTEMFORTHESECONDCIRCUITDESIGNSYSTEMISCHARACTERIZEDBYSINGLECHIPMICROCOMPUTERTOCONTROLTHEUSEOFULTRASONICTRANSMITTERANDULTRASONICRECEIVERSINCETHELAUNCHFROMTIMETOTIMESINGLECHIPSELECTIONOF8751ECONOMICTOUSEANDTHECHIPHAS4KOFROMTOFACILITATEPROGRAMMINGCIRCUITSCHEMATICDIAGRAMSHOWNINFIGURE2FIGURE1CIRCUITPRINCIPLEDIAGRAM3140KHZULTRASONICPULSEGENERATEDWITHTHELAUNCHRANGINGSYSTEMUSINGTHEULTRASONICSENSOROFPIEZOELECTRICCERAMICSENSORSUCM40ITSOPERATINGVOLTAGEOFTHEPULSESIGNALIS40KHZWHICHBYTHESINGLECHIPIMPLEMENTATIONOFTHEFOLLOWINGPROCEDURESTOGENERATEPUZELMOV14H12HULTRASONICFIRINGCONTINUED200MSHERECPLP10OUTPUT40KHZSQUAREWAVENOPNOPNOPDJNZ14HHERERETRANGINGINFRONTOFSINGLECHIPTERMINATIONCIRCUITP10INPUTPORTSINGLECHIPIMPLEMENTATIONOFTHEABOVEPROCEDURETHEP10PORTINA40KHZPULSEOUTPUTSIGNALAFTERAMPLIFICATIONTRANSISTORTTHEDRIVETOLAUNCHTHEFIRSTULTRASONICUCM40TISSUED40KHZULTRASONICPULSEANDTHECONTINUEDLAUNCHOF200MSRANGINGTHERIGHTANDTHELEFTSIDEOFTHECIRCUITRESPECTIVELYTHENINPUTPORTP11ANDP12THEWORKINGPRINCIPLEANDCIRCUITINFRONTOFTHESAMELOCATION32RECEPTIONANDPROCESSINGOFULTRASONICUSEDTORECEIVETHEFIRSTLAUNCHOFTHEFIRSTPAIRUCM40RTHEULTRASONICPULSEMODULATIONSIGNALINTOANALTERNATINGVOLTAGETHEOPAMPAMPLIFICATIONIC1AANDAFTERPOLARIZATIONIC1BTOIC2IC2ISLOCKEDLOOPWITHAUDIODECODERCHIPLM567INTERNALVOLTAGECONTROLLEDOSCILLATORCENTERFREQUENCYOFF01/11R8C3CAPACITORC4DETERMINETHEIRTARGETBANDWIDTHR8CONDITIONINGINTHELAUNCHOFTHECARRIERFREQUENCYONTHELM567INPUTSIGNALISGREATERTHAN25MVTHEOUTPUTFROMTHEHIGHJUMP8FEETINTOALOWLEVELASINTERRUPTREQUESTSIGNALSTOTHESINGLECHIPPROCESSINGR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