Proximity sensing systems and methods

• US 9,921,057 B2
• Filed: 11/20/2015
• Issued: 03/20/2018
• Est. Priority Date: 04/11/2014
• Status: Active Grant

• Current Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Original Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Inventors: Zhou, Wancheng, Huang, Liming
• Primary Examiner(s): Williams, Hezron E
• Assistant Examiner(s): MILLER, ROSE MARY
• Application Number:
  US14/948,230
• Publication Number:
  US 20160076882A1
• Time in Patent Office: 851 Days
• Field of Search: 73602, 73631
• CPC Class Codes: G01B 17/00 Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
• CPC Class Codes: G01S 15/93 for anti-collision purposes
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 7/524 Transmitters
• CPC Class Codes: G01S 7/527 Extracting wanted echo signals Doppler systems G01S15/50
• CPC Class Codes: G01S 7/5273 using digital techniques
• CPC Class Codes: G01S 7/529 Gain of receiver varied automatically during pulse-recurrence period for seismic signals G01V1/245

Abstract

Methods, systems and device are provided for improving the range and accuracy of proximity measurement such as in ultrasonic sensing systems. In particular, the blind zone caused by reverberation signals can be reduced or eliminated by attenuating signals received during the time period corresponding to the blind zone without. In an implementation, an attenuator circuit is selected by a switch to process received signals during the blind zone time period and deselected by the switch after the time zone time period. Additionally, the accuracy and range of the measurement can be improved by varying the gain provided to the received signals based on the varying measuring distance. In an implementation, a gain-adjustable amplifier is controlled by a gain control signal to provide incremental gain as time increases.

Claims

1. An ultrasonic sensing system, comprising:

an attenuator circuit connectable to an ultrasonic receiver via a switch and configured to attenuate ultrasonic signals received by the ultrasonic receiver, wherein the ultrasonic signals comprise a reverberation signal and an echo signal; and

a controller configured to control the switch so as to electrically couple the attenuator circuit with the ultrasonic receiver during a predetermined period of time after a transmission of an ultrasonic signal and electrically decouple the attenuator circuit from the ultrasonic receiver prior to and after the predetermined period of time.

2. The system of claim 1, wherein the predetermined period of time corresponds to a blind zone time period for the ultrasonic sensing system.

3. The system of claim 1, wherein the attenuator circuit is configured to provide an amount of attenuation selected based at least in part on a previously measured amplitude of a reverberation signal or an echo signal.

4. The system of claim 1, further comprising a gain-adjustable amplifier operably coupled to the controller and configured to amplify the echo signal.

5. The system of claim 4, wherein the controller is further configured to vary a gain of the gain-adjustable amplifier based at least in part on a value of a timer that corresponds to a measuring distance.

6. The system of claim 4, wherein the controller is further configured to vary a gain of the gain-adjustable amplifier based at least in part on previously measured data.

7. The system of claim 4, wherein the controller is further configured to control the switch to electrically couple the gain-adjustable amplifier with the ultrasonic receiver after the predetermined period of time has elapsed.

8. The system of claim 4, further comprising a comparator coupled to the gain-adjustable amplifier and configured to compare an output of the gain-adjustable amplifier with a predetermined threshold value.

9. The system of claim 8, further comprising an analog-to-digital converter (ADC) coupled to the gain-adjustable amplifier and configured to convert the output of the gain-adjustable amplifier to a digital value.

10. The system of claim 9, wherein the controller is further configured to determine an occurrence of a peak amplitude of a received ultrasonic signal using the comparator and the ADC.

11. A method for operating an ultrasonic sensing system, comprising:

determining whether an ultrasonic signal detected by an ultrasonic receiver occurs within a predetermined period of time after termination of a transmission of an ultrasonic signal, wherein the detected ultrasonic signal comprises a reverberation signal and an echo signal;

in response to a determination that the detected ultrasonic signal occurs within the predetermined period of time, electrically coupling the ultrasonic receiver with an attenuator circuit so as to attenuate the reverberation signal; and

electrically decoupling the ultrasonic receiver from the attenuator circuit when the predetermined period of time has elapsed.

12. The method of claim 11, wherein the predetermined period of time corresponds to a blind zone time period for the ultrasonic sensing system.

13. The method of claim 11, wherein the attenuator circuit is configured to provide an amount of attenuation selected based at least in part on a previously measured amplitude of a reverberation signal or an echo signal.

14. The method of claim 11, further comprising amplifying the echo signal with aid of a gain-adjustable amplifier.

15. The method of claim 14, further comprising varying a gain of the gain-adjustable amplifier based at least in part on a value of a timer that corresponds to a measuring distance.

16. The method of claim 14, further comprising varying a gain of the gain-djustable amplifier based at least in part on previously measured data.

17. The method of claim 14, further comprising electrically coupling the gain-adjustable amplifier with the ultrasonic receiver after the predetermined period of time has elapsed.

18. The method of claim 14, further comprising comparing an output of the gain-adjustable amplifier with a predetermined threshold value with aid of a comparator.

19. The method of claim 18, further comprising converting the output of the gain-adjustable amplifier to a digital value with aid of an analog-to-digital converter (ADC).

20. The method of claim 19, further comprising determining an occurrence of a peak amplitude of a received ultrasonic signal using the comparator and the ADC.