CN118731918B

CN118731918B - Ultrasonic clock synchronization calibration method and system

Info

Publication number: CN118731918B
Application number: CN202411128713.6A
Authority: CN
Inventors: 卢三龙; 曹德宽; 胡昌旦; 张家业; 李堃; 叶广丰
Original assignee: Guangzhou United Faith Intelligent Equipment Co ltd
Current assignee: Guangzhou United Faith Intelligent Equipment Co ltd
Priority date: 2024-08-16
Filing date: 2024-08-16
Publication date: 2025-01-21
Anticipated expiration: 2044-08-16
Also published as: CN119644310A; CN118731918A

Abstract

The application provides a clock synchronous calibration method and a clock synchronous calibration system based on ultrasonic waves, which are applied to automobile part processing equipment, wherein the method comprises the steps of sending target ultrasonic waves to a target object through a sender and recording first sending time of the sent target ultrasonic waves; the method comprises the steps of determining a first delay parameter according to an environment parameter of target equipment, determining a second transmission time of a receiver according to a first transmission time and the first delay parameter, controlling a target clock module to start timing according to the first working parameter by the receiver according to the second transmission time, recording a receiving time for receiving target ultrasonic waves when the receiver receives the target ultrasonic waves reflected by a target object, determining a measuring distance between automobile part machining equipment and the target object according to the receiving time and the second transmission time, obtaining an actual distance between the automobile part machining equipment and the target object, and calibrating the first working parameter by utilizing a first deviation degree between the measuring distance and the actual distance to obtain a second working parameter.

Description

Clock synchronization calibration method and system based on ultrasonic waves

Technical Field

The application relates to the technical field of automobile part processing or intelligent manufacturing, in particular to a clock synchronous calibration method and system based on ultrasonic waves.

Background

In practical application, the directionality of ultrasonic wave is strong and energy consumption is slow, and the distance of propagating in the medium is far away, therefore, ultrasonic wave is often used for measuring and location of distance, at present, ultrasonic sensor includes transmitter and receiver, ultrasonic positioning often leads to ultrasonic positioning not accurate enough because the clock between transmitter and the receiver is asynchronous, especially in the aspect of automobile parts processing, often because ultrasonic positioning is not accurate enough, lead to automobile parts yields too low, therefore, how to overcome the clock between transmitter and the receiver is asynchronous, and promote the problem of ultrasonic positioning precision and need to solve.

Disclosure of Invention

The embodiment of the application provides a clock synchronization calibration method and a clock synchronization calibration system based on ultrasonic waves, which can overcome the problem that clocks between a transmitter and a receiver are not synchronous and improve the positioning accuracy of the ultrasonic waves.

In a first aspect, an embodiment of the present application provides an ultrasonic-based clock synchronization calibration method, which is applied to an automobile part processing device, where the automobile part processing device includes an ultrasonic sensor, the ultrasonic sensor includes a transmitter and a receiver, and the receiver includes a target clock module, and the method includes:

Transmitting a target ultrasonic wave to a target object through the transmitter, and recording a first transmission time for transmitting the target ultrasonic wave;

acquiring the environmental parameters of target equipment of the automobile part processing equipment;

determining a first delay parameter according to the environmental parameter of the target equipment;

Determining a second sending time of the receiver according to the first sending time and the first delay parameter, and synchronizing the second sending time to the receiver;

Controlling the receiver to control the target clock module to start timing with a first working parameter at the second sending moment so as to wait for receiving the target ultrasonic wave;

Recording a receiving time of receiving the target ultrasonic wave when the receiver receives the target ultrasonic wave reflected by the target object;

determining a measurement distance between the automobile part machining equipment and the target object according to the receiving time and the first sending time;

acquiring the actual distance between the automobile part processing equipment and the target object;

Determining a first degree of deviation between the measured distance and the actual distance;

and calibrating the first working parameter according to the first deviation degree to obtain a second working parameter.

In a second aspect, an embodiment of the application provides an ultrasonic-based clock synchronous calibration system, which is applied to automobile part processing equipment, wherein the automobile part processing equipment comprises an ultrasonic sensor, the ultrasonic sensor comprises a transmitter and a receiver, the receiver comprises a target clock module, the system comprises a recording unit, an acquisition unit, a determination unit, a timing unit and a calibration unit,

The recording unit is used for transmitting the target ultrasonic wave to a target object through the transmitter and recording a first transmission time for transmitting the target ultrasonic wave;

the acquisition unit is used for acquiring the environmental parameters of the target equipment of the automobile part processing equipment;

The determining unit is used for determining a first time delay parameter according to the environment parameter of the target equipment, determining a second sending time of the receiver according to the first sending time and the first time delay parameter, and synchronizing the second sending time to the receiver;

The timing unit is used for controlling the receiver to control the target clock module to start timing with a first working parameter at the second sending moment so as to wait for receiving the target ultrasonic wave;

The recording unit is further used for recording the receiving time of receiving the target ultrasonic wave when the receiver receives the target ultrasonic wave reflected by the target object;

The determining unit is further used for determining a measurement distance between the automobile part processing equipment and the target object according to the receiving time and the first sending time;

The acquisition unit is also used for acquiring the actual distance between the automobile part processing equipment and the target object;

the determining unit is further configured to determine a first degree of deviation between the measured distance and the actual distance;

The calibration unit is further configured to calibrate the first working parameter according to the first deviation degree, and obtain a second working parameter.

In a third aspect, an embodiment of the present application provides an automotive part machining apparatus, including a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for performing the steps in the first aspect of the embodiment of the present application.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform part or all of the steps described in the first aspect of the embodiments of the present application.

In a fifth aspect, embodiments of the present application provide a computer program product, wherein the computer program product comprises a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the first aspect of the embodiments of the present application. The computer program product may be a software installation package.

The embodiment of the application has the following beneficial effects:

It can be seen that the ultrasonic-based clock synchronization calibration method and system described in the embodiments of the present application are applied to an automobile part processing device, the automobile part processing device includes an ultrasonic sensor, the ultrasonic sensor includes a transmitter and a receiver, the receiver includes a target clock module, the transmitter transmits the target ultrasonic wave to a target object, and records a first transmission time of the transmission target ultrasonic wave, obtain a target device environment parameter of the automobile part processing device, determine a first delay parameter according to the target device environment parameter, determine a second transmission time of the receiver according to the first transmission time and the first delay parameter, synchronize the second transmission time to the receiver, control the receiver to start timing with a first operation parameter with the second transmission time control target clock module, so as to wait for receiving the target ultrasonic wave, when the receiver receives the target ultrasonic wave reflected by the target object, record a receiving time of the target ultrasonic wave, determine a measurement distance between the automobile part processing device and the target object according to the receiving time, obtain a first deviation degree between the measurement distance and the actual distance, determine a first transmission time of the measurement distance and the actual distance, synchronize the second transmission time to the receiver, control the receiver to start timing with the second transmission time, and the transmission time of the receiver can be synchronized with the first operation parameter, and the receiver can realize that the transmission time is more accurate when the transmission time is synchronized when the receiver starts to receive the transmission time is synchronized with the first operation parameter, and the transmission time is triggered, and the working parameters of the receiver are calibrated according to the deviation between the actual distance and the measured distance of the ultrasonic wave, so that the clock of the receiver is more accurate, the clock between the transmitter and the receiver can be overcome to be asynchronous, the ultrasonic positioning precision of the automobile part processing equipment can be improved, and the automobile part yield is improved.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a clock synchronization calibration method based on ultrasonic waves according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of an apparatus for processing automobile parts according to an embodiment of the present application;

fig. 3 is a functional unit composition block diagram of an ultrasonic-based clock synchronization calibration device according to an embodiment of the present application.

Detailed Description

The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to the list of steps or elements but may include, in one possible example, other steps or elements not listed or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The automobile part machining equipment according to the embodiment of the application can comprise, but is not limited to, automobile part machining equipment, ultrasonic welding drilling equipment, ultrasonic ranging equipment and the like, and is not limited herein.

In an example, taking an automobile part processing machine as an example, in practical application, an ultrasonic technology is often required to be used for positioning, for example, a certain position is required to be drilled, and then accurate drilling is required to be performed on the position, and the drilling precision determines the processing precision of the automobile part processing machine.

According to the embodiment of the application, when the transmitter transmits the ultrasonic signal, the transmitting time is recorded, the transmitting time is compensated based on the equipment environment, the accurate synchronous transmitting time is obtained, the receiver starts to time according to the synchronous transmitting time, the power consumption of the receiver can be reduced, in addition, the clock synchronization between the transmitter and the receiver is realized, and then the working parameters of the receiver are calibrated according to the deviation between the actual distance and the measured distance of the ultrasonic wave, so that the clock of the receiver is more accurate, the clock dyssynchrony between the transmitter and the receiver can be overcome, the ultrasonic positioning precision of the automobile part processing equipment can be improved, and the automobile part yield is further improved. For example, because ultrasonic positioning accuracy is improved, accurate drilling is achieved, and the yield of automobile parts is guaranteed.

Referring to fig. 1, fig. 1 is a flow chart of an ultrasonic-based clock synchronization calibration method according to an embodiment of the present application, as shown in the drawing, applied to an automobile part processing device, where the automobile part processing device includes an ultrasonic sensor, the ultrasonic sensor includes a transmitter and a receiver, and the receiver includes a target clock module, and the ultrasonic-based clock synchronization calibration method includes:

101. and transmitting the target ultrasonic wave to a target object through the transmitter, and recording a first transmission time for transmitting the target ultrasonic wave.

In an embodiment of the application, the automobile part processing equipment can comprise an ultrasonic sensor, wherein the ultrasonic sensor comprises a transmitter and a receiver, and the receiver comprises a target clock module. The transmitter is used for transmitting ultrasonic waves, and the receiver is used for receiving reflected ultrasonic waves.

Wherein the target object may be understood as an object to be measured. The preset position of the target object may be preset or the system defaults. The preset position may be understood as a point or a coordinate.

In a specific implementation, the transmitter may transmit the target ultrasonic wave to a preset position of the target object, and record a first transmission time of transmitting the target ultrasonic wave. Because the transmitter and the receiver comprise a clock, a certain error exists under the normal condition of the clocks of the transmitter and the receiver, in order to ensure the clock synchronism of ultrasonic ranging, the first transmitting time can be synchronized to the receiver, and the receiver starts to time at the first transmitting time, so that the problem of the clock non-synchronization between the transmitter and the receiver is solved.

102. And acquiring the environmental parameters of the target equipment of the automobile part processing equipment.

In the embodiment of the present application, the target device environment parameter may include a target hardware environment parameter, and/or a target software environment parameter, and the like, which is not limited herein. The target hardware environment parameter reflects the hardware configuration environment of the automobile part processing equipment, and the target software environment parameter reflects the software configuration environment of the automobile part processing equipment.

The target hardware environment parameter may include at least one of a processing capability parameter of the processor, a memory size, and the like, which are not limited herein. The target software environment parameters may include at least one of operating system type, software operational efficiency, disk usage, memory usage, etc., without limitation.

103. And determining a first delay parameter according to the environment parameter of the target equipment.

In a specific implementation, a mapping relation between preset equipment environment parameters and time delay parameters can be stored in advance, and further, a first time delay parameter corresponding to the target equipment environment parameters can be determined based on the mapping relation, so that a time delay parameter corresponding to the actual equipment environment parameters can be obtained, and the clock synchronization accuracy of ultrasonic waves can be improved.

Optionally, the target device environment parameters include a target hardware environment parameter and a target software environment parameter, and the step 103 of determining a first delay parameter according to the target device environment parameter may include the following steps:

31. determining a target data transmission path length between the transmitter and the receiver;

32. determining a first data transmission rate corresponding to the target hardware environment parameter;

33. determining a second data transmission rate corresponding to the target software environment parameter;

34. determining a target data transmission rate according to the first data transmission rate and the second data transmission rate;

35. and determining the first delay parameter according to the target data transmission path length and the target data transmission rate.

In the embodiment of the application, the target data transmission path length between the transmitter and the receiver can be determined, the mapping relation between the preset hardware environment parameter and the data transmission rate can be stored in advance, furthermore, the first data transmission path length/target data transmission rate corresponding to the target hardware environment parameter can be determined based on the mapping relation, furthermore, the mapping relation between the preset software environment parameter and the data transmission rate can be stored in advance, further, the second data transmission rate corresponding to the target software environment parameter can be determined based on the mapping relation, then the target data transmission rate can be determined according to the first data transmission rate and the second data transmission rate, namely, the first data transmission rate and the second data transmission rate can be subjected to weighted operation to obtain the target data transmission rate, finally, the first delay parameter can be determined according to the target data transmission path length and the target data transmission rate, namely, the first delay parameter=the target data transmission path length/target data transmission rate, so that the actual data transmission rate can be determined by combining the actual hardware environment and the software parameters, the data transmission path length between the transmitter and the receiver can be determined based on the actual delay, thereby, the first transmission time and the accurate synchronization time delay can be guaranteed, namely, the accurate synchronization time can be guaranteed.

104. And determining a second sending time of the receiver according to the first sending time and the first delay parameter, and synchronizing the second sending time to the receiver.

In a specific implementation, the second sending time=the first sending time+the first delay parameter, and then the second sending time is synchronized to the receiver, so that the first sending time is compensated, and the accurate synchronous sending time, namely the second sending time, is obtained, which is helpful for guaranteeing the clock synchronous calibration accuracy of the ultrasonic wave.

105. And controlling the receiver to control the target clock module to start timing with the first working parameter at the second sending moment so as to wait for receiving the target ultrasonic wave.

In the embodiment of the application, the receiver can be in the dormant state before the second sending moment is not received, so that the power consumption of the device can be reduced.

The first operating parameter may include at least one of an operating current, an operating voltage, an operating power, a clock operating frequency, a clock duty cycle, a clock edge, a clock stability, and the like, without limitation.

In the specific implementation, the receiver can be controlled to start timing by the second sending time control target clock module with the first working parameter so as to wait for receiving the target ultrasonic wave, so that the power consumption of the equipment can be reduced, and the clock synchronization calibration accuracy of the ultrasonic wave can be ensured.

106. Recording the receiving time of the target ultrasonic wave when the receiver receives the target ultrasonic wave reflected by the target object.

In a specific implementation, when the receiver receives the target ultrasonic wave reflected by the target object, the receiving time of the target ultrasonic wave can be recorded.

107. And determining the measured distance between the automobile part machining equipment and the target object according to the receiving time and the first sending time.

In the embodiment of the present application, the measurement distance= (receiving time-first transmitting time) ×ultrasonic propagation rate/2, so that the measurement distance is obtained, and the accuracy of the measurement distance is only the accuracy of the receiving time.

108. And acquiring the actual distance between the automobile part machining equipment and the target object.

In the embodiment of the application, the target object can be a calibration object, and the actual distance between the automobile part processing equipment and the target object can be a known quantity. Furthermore, the actual distance between the automobile part processing equipment and the target object can be directly obtained.

109. A first degree of deviation between the measured distance and the actual distance is determined.

Wherein first deviation= (measured distance-actual distance)/actual distance. The first degree of deviation reflects not only the direction of deviation but also the magnitude of the deviation, which can be understood as being larger or smaller.

110. And calibrating the first working parameter according to the first deviation degree to obtain a second working parameter.

In the embodiment of the application, a mapping relation between a preset deviation degree and an adjustment parameter can be stored in advance, further, a target adjustment parameter corresponding to the first deviation degree can be determined based on the mapping relation, and then, a first working parameter is calibrated according to the target adjustment parameter to obtain a second working parameter, which is specifically as follows:

second operating parameter= (1+ target adjustment parameter) ×first operating parameter

I.e. during specific ranging, the receiver can be controlled to start timing with the second working parameter by controlling the target clock module with the second sending moment, so as to wait for receiving the ultrasonic wave.

Therefore, the working parameters of the target clock module of the receiver can be dynamically adjusted based on the deviation degree, so that the adjusted working parameters are closer to the actual situation, and the ultrasonic ranging accuracy is improved.

Optionally, the step 110 of calibrating the first operating parameter according to the first deviation to obtain a second operating parameter may include the following steps:

a1, determining a first adjusting parameter corresponding to the first deviation degree;

A2, adjusting the first working parameter according to the first adjusting parameter to obtain a reference working parameter;

a3, acquiring a plurality of historical working parameters of the target clock module, wherein each historical working parameter corresponds to one deviation degree;

A4, obtaining the maximum value and the minimum value in the plurality of historical working parameters;

a5, fitting according to the plurality of historical working parameters and the deviation degree corresponding to each historical working parameter to obtain a fitting straight line and a fitting curve;

a6, intercepting the fitting curve according to the maximum value and the minimum value to obtain a fitting curve segment;

A7, determining extreme points of the fitting curve segment to obtain a plurality of extreme points;

a8, determining a target mean square error according to the extreme points;

a9, obtaining a target slope corresponding to the fitting straight line;

a10, determining a first fine tuning parameter corresponding to the target mean square error;

a11, determining a second fine tuning parameter corresponding to the target slope;

a12, fine tuning the reference working parameter according to the first fine tuning parameter and the second fine tuning parameter to obtain the second working parameter.

In the embodiment of the present application, a mapping relationship between a preset deviation degree and an adjustment parameter may be stored in advance, and further, a first adjustment parameter corresponding to the first deviation degree may be determined based on the mapping relationship, and then, adjustment is performed according to the first adjustment parameter pair, so as to obtain a reference working parameter, that is, a reference working parameter= (1+the first adjustment parameter) ×the first working parameter. I.e. the first operating parameter is initially calibrated taking into account the actual degree of deviation, an over-calibration or under-calibration may occur due to lack of consideration of the own properties of the target clock module.

Of course, a plurality of historical operating parameters of the target clock module may also be obtained, where each historical operating parameter corresponds to a deviation, and the historical operating parameters may include at least one of an operating current, an operating voltage, an operating power, a clock operating frequency, a clock duty cycle, a clock edge, a clock stability, and the like, which are not limited herein. The historical working parameters reflect the self attribute of the target clock module, and further, the maximum value and the minimum value in the historical working parameters can be obtained, fitting is carried out according to the historical working parameters and the deviation degree corresponding to each historical working parameter, a fitting straight line and a fitting curve are obtained, the transverse axes of the fitting straight line and the fitting curve are the working parameters, and the vertical axes of the fitting straight line and the fitting curve are the deviation degrees.

Furthermore, the fitting curve can be intercepted according to the maximum value and the minimum value to obtain a fitting curve section, the extreme points of the fitting curve section are determined to obtain a plurality of extreme points, the extreme points reflect the deviation degree of the target clock module, the target mean square error is determined according to the extreme points, the target mean square error reflects the working stability of the target clock module, the target slope corresponding to the fitting straight line can be obtained, and the slope reflects the attenuation trend of the target clock module.

In a specific implementation, a mapping relationship between a preset mean square error and a trimming parameter may be stored in advance, and then, a first trimming parameter corresponding to a target mean square error may be determined based on the mapping relationship, and a mapping relationship between a preset slope and the trimming parameter may be also preset, and then, a second trimming parameter corresponding to a target slope may be determined based on the mapping relationship, and then, a reference working parameter is trimmed according to the first trimming parameter and the second trimming parameter, so as to obtain a second working parameter, that is, a second working parameter=the reference working parameter (1+the first trimming parameter) ×1+the second trimming parameter), that is, on one hand, a corresponding fitting curve section is generated based on a historical working condition of the target clock module, the working stability of the target clock module is evaluated based on the fitting curve section, and the working parameter is dynamically compensated based on the working stability, on the other hand, a corresponding fitting straight line is generated based on the historical working condition of the target clock module, so as to determine an attenuation condition of the target clock module based on the straight line, and perform corresponding compensation based on the attenuation condition, so that the working condition of the target clock module is closer to an ideal condition, that the adjusted working parameter is closer to the actual ranging condition, and the ultrasonic ranging accuracy is facilitated.

Optionally, the determining the first adjustment parameter corresponding to the first deviation in the step A1 may include the following steps:

A11, determining a reference adjustment parameter corresponding to the first deviation degree;

A12, acquiring a first position and a first signal intensity of a target interference source;

A13, acquiring a second position of the target object, a third position of the transmitter and transmitting power;

a14, constructing a first vector according to the first position, the first signal intensity and the second position;

A15, constructing a second vector according to the third position, the transmitting power and the second position;

A16, acquiring a first modulus value of the second vector;

a17, determining a combined vector between the first vector and the second vector;

a18, obtaining a second module value of the sum vector;

a19, determining a target ratio between the second module value and the first module value;

a20, determining a target compensation parameter corresponding to the target ratio;

a21, compensating the reference adjusting parameter according to the target compensating parameter to obtain the first adjusting parameter.

In the embodiment of the application, a mapping relation between the preset deviation degree and the adjustment parameter can be stored in advance, and further, the reference adjustment parameter corresponding to the first deviation degree can be determined based on the mapping relation.

In a specific implementation, when an interference source exists in the environment, a first position and a first signal strength of a target interference source can be obtained, the interference source in the environment can be known in advance, and corresponding parameters can be measured. Further, a second position of the target object, and a third position of the transmitter, the transmit power, may be acquired.

Then, a first vector can be constructed according to the first position, the first signal strength and the second position, wherein the vector direction of the first vector is that the first position points to the second position, and the modulus value of the first vector is that the first signal strength/the distance between the first position and the second position. The second vector may also be configured according to the third position, the transmission power, and the second position, and specifically, the second signal strength corresponding to the transmission power may be determined, where the vector direction of the second vector is that the third position points to the second position, and the modulus value of the second vector=the second signal strength/the actual distance.

Furthermore, a first module value of the second vector can be obtained, a combined vector between the first vector and the second vector is determined, a second module value of the combined vector is obtained, a target ratio between the second module value and the first module value is determined, the ratio reflects the influence degree of an interference source on ultrasonic measurement, different compensation parameters can be set according to different influence degrees, and further, a mapping relation between a preset ratio and the compensation parameters can be stored in advance, further, a target compensation parameter corresponding to the target ratio can be determined based on the mapping relation, and then a reference adjustment parameter is compensated according to the target compensation parameter, so that a first adjustment parameter, namely a first adjustment parameter= (1+target compensation parameter), is obtained.

Of course, under the condition that a plurality of interference sources exist in the environment, similar strategies can be adopted for compensation, so that the working condition of the target clock module is more close to an ideal condition, the adjusted working parameters are more close to the actual condition, and the ultrasonic ranging accuracy is improved.

Optionally, the method further comprises the following steps:

b1, acquiring target working environment parameters of the receiver;

B2, determining the first working parameter corresponding to the target working environment parameter.

In the embodiment of the application, the target working environment parameters can comprise at least one of working temperature, working current, working voltage, working power and the like, and are not limited herein.

In a specific implementation, the target working environment parameter of the receiver can be obtained, the mapping relation between the preset working environment parameter and the working parameter of the target clock module can be stored in advance, and further, the first working parameter corresponding to the target working environment parameter can be determined based on the mapping relation, so that the depth adaptation between the working environment parameter of the receiver and the working parameter of the target clock module can be obtained, and the clock accuracy of the receiver can be guaranteed.

Optionally, in step 110, after calibrating the first operating parameter according to the first deviation, the second operating parameter may further include the following steps:

c1, acquiring a first signal-to-noise ratio and a first energy value of the target ultrasonic wave;

c2, determining a second signal-to-noise ratio and a second energy value of the target ultrasonic wave received by the receiver;

c3, determining a second deviation degree between the second energy value and the first energy value;

c4, determining a third deviation degree between the second signal-to-noise ratio and the first signal-to-noise ratio;

C5, when the second deviation degree is smaller than a first preset threshold value and the third deviation degree is smaller than a second preset threshold value, maintaining the second working parameter;

C6, when the second deviation degree is greater than or equal to a first preset threshold value or the third deviation degree is greater than or equal to a second preset threshold value, determining a target average value in the second deviation degree and the third deviation degree, determining a first optimization parameter corresponding to the target average value, and optimizing the second working parameter according to the first optimization parameter to obtain a third working parameter;

And C7, when the second deviation degree is larger than or equal to a first preset threshold value and the third deviation degree is larger than or equal to a second preset threshold value, determining a target maximum value in the second deviation degree and the third deviation degree, determining a second optimization parameter corresponding to the target maximum value, and optimizing the second working parameter according to the second optimization parameter to obtain a fourth working parameter.

In the embodiment of the application, because the ultrasonic wave has the phenomena of reflection, absorption and the like, the signal to noise ratio and the energy of the transmitted and received ultrasonic wave have some differences, and the differences reflect the influence of environmental noise and surrounding environment to a certain extent.

Specifically, a first signal-to-noise ratio and a first energy value of the target ultrasonic wave may be obtained, a second signal-to-noise ratio and a second energy value of the target ultrasonic wave received by the receiver may be determined, and a second deviation degree between the second energy value and the first energy value may be determined, where the second deviation degree= (first energy value-second energy value)/the first energy value, and the second deviation degree reflects an influence degree of the environment absorbing the ultrasonic wave. And determining a third deviation between the second signal-to-noise ratio and the first signal-to-noise ratio, wherein the third deviation is = (first signal-to-noise ratio-second signal-to-noise ratio)/the second signal-to-noise ratio, and the third deviation reflects the influence of the environmental noise.

The first preset threshold value and the second preset threshold value can be preset or default in the system.

In the specific implementation, when the second deviation degree is smaller than the first preset threshold value and the third deviation degree is smaller than the second preset threshold value, the influence of environmental noise and surrounding environment is described, the second working parameters can be kept, namely, the working parameters of the target clock module of the receiver can be dynamically adjusted only based on the deviation degree, other optimization is not performed, the adjusted working parameters can be closer to the actual situation, and the improvement of the ultrasonic ranging accuracy is facilitated.

In addition, when the second deviation degree is greater than or equal to the first preset threshold value, or the third deviation degree is greater than or equal to the second preset threshold value, it is indicated that the influence of the environmental noise and the surrounding environment is relatively greater, then the target mean value in the second deviation degree and the third deviation degree can be determined, then the first optimization parameter corresponding to the target mean value is determined according to the mapping relation between the preset mean value and the optimization parameter, and the second working parameter is optimized according to the first optimization parameter to obtain the third working parameter, namely, the third working parameter= (1+the first optimization parameter) = the second working parameter.

And when the second deviation degree is greater than or equal to the first preset threshold value and the third deviation degree is greater than or equal to the second preset threshold value, the influence of the environmental noise and the surrounding environment is severe, the target maximum value in the second deviation degree and the third deviation degree can be determined, then the second optimization parameter corresponding to the target maximum value is determined based on the mapping relation according to the mapping relation between the preset maximum value and the optimization parameter, and then the second working parameter is optimized according to the second optimization parameter to obtain a fourth working parameter, namely the fourth working parameter= (1+the second optimization parameter) = (the second working parameter), and the working parameter of the target clock module of the receiver can be dynamically adjusted again due to the fact that the influence of the environmental noise and the surrounding environment is severe, so that the adjusted working parameter is closer to the actual situation, and the ultrasonic ranging accuracy is improved.

It can be seen that the ultrasonic-based clock synchronization calibration method described in the embodiment of the application is applied to an automobile part processing device, the automobile part processing device comprises an ultrasonic sensor, the ultrasonic sensor comprises a transmitter and a receiver, the receiver comprises a target clock module, the transmitter transmits target ultrasonic waves to a target object, and records a first transmission time of transmitting the target ultrasonic waves, the environmental parameters of the target device of the automobile part processing device are acquired, a first delay parameter is determined according to the environmental parameters of the target device, a second transmission time of the receiver is determined according to the first transmission time and the first delay parameter, the second transmission time is synchronized to the receiver, the receiver is controlled to start timing with the first working parameter by controlling the target clock module with the second transmission time, so as to wait for receiving the target ultrasonic waves, when the receiver receives the target ultrasonic waves reflected by the target object, the receiver records the receiving time of receiving the target ultrasonic waves, the measurement distance between the automobile part processing device and the target object is determined according to the receiving time and the second transmission time, the actual distance between the automobile part processing device and the target object is acquired, the first deviation degree between the measurement distance and the actual distance is determined, the second transmission time is calibrated according to the first deviation degree, the first transmission time and the first deviation degree is calculated, the power consumption can be reduced when the first transmission time is calculated, the receiver is synchronized with the working time is calculated, and the receiver is synchronized when the receiver is started, and the working time is calculated, and can be synchronized, and the working parameters of the receiver are calibrated according to the deviation between the actual distance and the measured distance of the ultrasonic wave, so that the clock of the receiver is more accurate, the clock between the transmitter and the receiver can be overcome to be asynchronous, the ultrasonic positioning precision of the automobile part processing equipment can be improved, and the automobile part yield is improved.

In accordance with the foregoing embodiments, referring to fig. 2, fig. 2 is a schematic structural diagram of an automotive part processing apparatus according to an embodiment of the present application, as shown in the drawing, including a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, in the embodiment of the present application, the automotive part processing apparatus further includes an ultrasonic sensor, the ultrasonic sensor includes a transmitter and a receiver, the receiver includes a target clock module, and the programs include instructions for executing the following steps:

Controlling the receiver to control the target clock module to start timing of a first working parameter at the second sending moment so as to wait for receiving the target ultrasonic wave;

Optionally, the target device environment parameters include a target hardware environment parameter and a target software environment parameter, and the program includes instructions for executing the following steps in the aspect of determining the first delay parameter according to the target device environment parameter:

determining a target data transmission path length between the transmitter and the receiver;

determining a first data transmission rate corresponding to the target hardware environment parameter;

determining a second data transmission rate corresponding to the target software environment parameter;

Determining a target data transmission rate according to the first data transmission rate and the second data transmission rate;

and determining the first delay parameter according to the target data transmission path length and the target data transmission rate.

Optionally, in said calibrating said first operating parameter according to said first degree of deviation to obtain a second operating parameter, the program comprises instructions for:

Determining a first adjustment parameter corresponding to the first degree of deviation;

Adjusting the first working parameter according to the first adjusting parameter to obtain a reference working parameter;

acquiring a plurality of historical working parameters of the target clock module, wherein each historical working parameter corresponds to one deviation degree;

Obtaining a maximum value and a minimum value in the plurality of historical operating parameters;

fitting according to the plurality of historical working parameters and the deviation degree corresponding to each historical working parameter to obtain a fitting straight line and a fitting curve;

Intercepting the fitting curve according to the maximum value and the minimum value to obtain a fitting curve segment;

determining extreme points of the fitting curve segment to obtain a plurality of extreme points;

determining a target mean square error according to the plurality of extreme points;

obtaining a target slope corresponding to the fitting straight line;

Determining a first fine tuning parameter corresponding to the target mean square error;

Determining a second trim parameter corresponding to the target slope;

And carrying out fine adjustment on the reference working parameter according to the first fine adjustment parameter and the second fine adjustment parameter to obtain the second working parameter.

Optionally, in the determining the first adjustment parameter corresponding to the first degree of deviation, the program includes instructions for:

determining a reference adjustment parameter corresponding to the first degree of deviation;

acquiring a first position and a first signal intensity of a target interference source;

acquiring a second position of the target object, a third position of the transmitter and transmitting power;

constructing a first vector according to the first position, the first signal strength and the second position;

constructing a second vector from the third location, the transmit power, and the second location;

acquiring a first modulus value of the second vector;

determining a sum vector between the first vector and the second vector;

obtaining a second module value of the sum vector;

Determining a target ratio between the second and first modulus values;

Determining a target compensation parameter corresponding to the target ratio;

And compensating the reference adjusting parameter according to the target compensating parameter to obtain the first adjusting parameter.

Optionally, the above program further comprises instructions for performing the steps of:

acquiring a target working environment parameter of the receiver;

And determining the first working parameter corresponding to the target working environment parameter.

It can be seen that, in the automobile parts processing equipment described in the embodiment of the application, the automobile parts processing equipment includes an ultrasonic sensor, the ultrasonic sensor includes a transmitter and a receiver, the receiver includes a target clock module, the transmitter transmits the target ultrasonic wave to the target object, and records a first transmission time for transmitting the target ultrasonic wave, the environmental parameter of the automobile parts processing equipment is acquired, a first delay parameter is determined according to the environmental parameter of the target equipment, a second transmission time of the receiver is determined according to the first transmission time and the first delay parameter, the second transmission time is synchronized to the receiver, the receiver is controlled to control the target clock module to start timing with the first working parameter by the second transmission time, so as to wait for receiving the target ultrasonic wave, when the receiver receives the target ultrasonic wave reflected by the target object, the receiving time of receiving the target ultrasonic wave is recorded, a measurement distance between the automobile parts processing equipment and the target object is determined according to the receiving time and the second transmission time, a first deviation degree between the measurement distance and the actual distance is acquired, the first working parameter is calibrated according to the first deviation degree, the second working parameter is obtained, the second working parameter is synchronized with the second working parameter is calculated, the power consumption is reduced when the second working parameter is obtained, the transmitter is synchronized with the transmission time is calculated by the second working parameter, and the transmission time is synchronized with the actual distance is calculated by the receiver, and the time is calculated by the time when the receiver is synchronized with the real time, the clock of the receiver is more accurate, so that the clock between the transmitter and the receiver can be overcome, the ultrasonic positioning precision of the automobile part processing equipment can be improved, and the yield of the automobile parts is improved.

Fig. 3 is a functional unit block diagram of an ultrasonic-based clock synchronization calibration system 300 according to an embodiment of the present application, which is applied to an automobile parts processing apparatus including an ultrasonic sensor including a transmitter and a receiver including a target clock module, the ultrasonic-based clock synchronization calibration system 300 including a recording unit 301, an acquisition unit 302, a determination unit 303, a timing unit 304, and a calibration unit 305, wherein,

The recording unit 301 is configured to send a target ultrasonic wave to a target object through the transmitter, and record a first sending time of sending the target ultrasonic wave;

The acquiring unit 302 is configured to acquire a target device environment parameter of the automobile part processing device;

The determining unit 303 is configured to determine a first delay parameter according to the environmental parameter of the target device, determine a second transmission time of the receiver according to the first transmission time and the first delay parameter, and synchronize the second transmission time to the receiver;

the timing unit 304 is configured to control the receiver to control the target clock module to start timing with the first operating parameter at the second sending time, so as to wait for receiving the target ultrasonic wave;

The recording unit 301 is further configured to record, when the receiver receives the target ultrasonic wave reflected by the target object, a receiving time of receiving the target ultrasonic wave;

The determining unit 303 is further configured to determine a measured distance between the automobile part machining device and the target object according to the receiving time and the first sending time;

the acquiring unit 302 is further configured to acquire an actual distance between the automobile part machining device and the target object;

The determining unit 303 is further configured to determine a first degree of deviation between the measured distance and the actual distance;

the calibration unit 305 is further configured to calibrate the first operating parameter according to the first deviation, to obtain a second operating parameter.

Optionally, the target device environment parameters include a target hardware environment parameter and a target software environment parameter, and the determining unit 303 is specifically configured to:

Optionally, in terms of calibrating the first operating parameter according to the first deviation, to obtain a second operating parameter, the calibration unit 305 is specifically configured to:

obtaining a target slope corresponding to the fitting straight line;

Determining a second trim parameter corresponding to the target slope;

Optionally, in the determining a first adjustment parameter corresponding to the first deviation, the calibration unit 305 is specifically configured to:

acquiring a first modulus value of the second vector;

determining a sum vector between the first vector and the second vector;

obtaining a second module value of the sum vector;

Determining a target ratio between the second and first modulus values;

Determining a target compensation parameter corresponding to the target ratio;

Optionally, the ultrasonic-based clock synchronization calibration system 300 is further specifically configured to:

acquiring a target working environment parameter of the receiver;

It can be seen that the ultrasonic-based clock synchronization calibration system described in the embodiment of the application is applied to an automobile part processing device, the automobile part processing device comprises an ultrasonic sensor, the ultrasonic sensor comprises a transmitter and a receiver, the receiver comprises a target clock module, the transmitter transmits target ultrasonic waves to a target object, and records a first transmission time of transmitting the target ultrasonic waves, the environmental parameters of the target device of the automobile part processing device are acquired, a first delay parameter is determined according to the environmental parameters of the target device, a second transmission time of the receiver is determined according to the first transmission time and the first delay parameter, the second transmission time is synchronized to the receiver, the receiver is controlled to start timing with the first working parameter by controlling the target clock module with the second transmission time, so as to wait for receiving the target ultrasonic waves, when the receiver receives the target ultrasonic waves reflected by the target object, the receiver records the receiving time of receiving the target ultrasonic waves, the measurement distance between the automobile part processing device and the target object is determined according to the receiving time and the second transmission time, the actual distance between the automobile part processing device and the target object is acquired, the first deviation degree between the measurement distance and the actual distance is determined, the second transmission time is calibrated according to the first deviation degree, the first transmission time and the first deviation degree is calculated, the power consumption can be reduced when the first transmission time is calculated, the receiver is synchronized with the working time is calculated, and the receiver is synchronized when the receiver is started, and the working time is calculated, and can be synchronized, and the working parameters of the receiver are calibrated according to the deviation between the actual distance and the measured distance of the ultrasonic wave, so that the clock of the receiver is more accurate, the clock between the transmitter and the receiver can be overcome to be asynchronous, the ultrasonic positioning precision of the automobile part processing equipment can be improved, and the automobile part yield is improved.

It can be understood that the functions of each program module of the ultrasonic-based clock synchronization calibration system of the present embodiment may be specifically implemented according to the method in the above method embodiment, and the specific implementation process may refer to the relevant description of the above method embodiment, which is not repeated herein.

The embodiment of the application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program makes a computer execute part or all of the steps of any one of the method embodiments described in the method embodiments, and the computer comprises an automobile part processing device.

Embodiments of the present application also provide a computer program product comprising a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform part or all of the steps of any one of the methods described in the method embodiments above. The computer program product may be a software installation package, said computer comprising an automotive parts processing device.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, such as the above-described division of units, merely a division of logic functions, and there may be additional manners of dividing in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, or may be in electrical or other forms.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a memory, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned method of the various embodiments of the present application. The Memory includes a U disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, etc. which can store the program codes.

Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable Memory, and the Memory may include a flash disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk or an optical disk, etc.

The foregoing has outlined rather broadly the more detailed description of embodiments of the application, wherein the principles and embodiments of the application are explained in detail using specific examples, the above examples being provided solely to facilitate the understanding of the method and core concepts of the application; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. An ultrasonic-based clock synchronization calibration method, characterized by being applied to an automobile part processing device, wherein the automobile part processing device comprises an ultrasonic sensor, the ultrasonic sensor comprises a transmitter and a receiver, the receiver comprises a target clock module, and the method comprises:

2. The method of claim 1, wherein the target device environment parameters include a target hardware environment parameter and a target software environment parameter, and wherein determining the first delay parameter based on the target device environment parameter comprises:

3. The method according to claim 1 or 2, wherein said calibrating said first operating parameter according to said first degree of deviation results in a second operating parameter, comprising:

obtaining a target slope corresponding to the fitting straight line;

Determining a second trim parameter corresponding to the target slope;

4. A method according to claim 3, wherein said determining a first adjustment parameter corresponding to said first degree of deviation comprises:

acquiring a first modulus value of the second vector;

determining a sum vector between the first vector and the second vector;

obtaining a second module value of the sum vector;

Determining a target ratio between the second and first modulus values;

Determining a target compensation parameter corresponding to the target ratio;

5. The method according to claim 1 or 2, characterized in that the method further comprises:

acquiring a target working environment parameter of the receiver;

6. The ultrasonic-based clock synchronous calibration system is characterized by being applied to automobile part processing equipment, wherein the automobile part processing equipment comprises an ultrasonic sensor, the ultrasonic sensor comprises a transmitter and a receiver, the receiver comprises a target clock module, the system comprises a recording unit, an acquisition unit, a determination unit, a timing unit and a calibration unit, the ultrasonic sensor comprises a transmitter and a receiver, the receiver comprises a target clock module, the system comprises a clock module, a clock module and a clock module, wherein the clock module comprises a clock module,

7. The system of claim 6, wherein the target device environment parameters include a target hardware environment parameter and a target software environment parameter, and wherein the determining unit is configured to, in determining the first latency parameter based on the target device environment parameter:

8. The system according to claim 6 or 7, wherein the calibration unit is configured to, in terms of said calibrating the first operating parameter according to the first degree of deviation, obtain a second operating parameter:

obtaining a target slope corresponding to the fitting straight line;

Determining a second trim parameter corresponding to the target slope;

9. The system according to claim 8, wherein in said determining a first adjustment parameter corresponding to said first degree of deviation, said calibration unit is specifically configured to:

acquiring a first modulus value of the second vector;

determining a sum vector between the first vector and the second vector;

obtaining a second module value of the sum vector;

Determining a target ratio between the second and first modulus values;

Determining a target compensation parameter corresponding to the target ratio;

10. The system according to claim 6 or 7, characterized in that it is further specifically adapted to:

acquiring a target working environment parameter of the receiver;