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WO1989009941A1 - Procede d'identification d'objets - Google Patents

Procede d'identification d'objets Download PDF

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Publication number
WO1989009941A1
WO1989009941A1 PCT/DE1989/000207 DE8900207W WO8909941A1 WO 1989009941 A1 WO1989009941 A1 WO 1989009941A1 DE 8900207 W DE8900207 W DE 8900207W WO 8909941 A1 WO8909941 A1 WO 8909941A1
Authority
WO
WIPO (PCT)
Prior art keywords
envelope
maxima
minima
successive
signature
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DE1989/000207
Other languages
German (de)
English (en)
Inventor
Winfried Keiper
Wolfgang Rottler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO1989009941A1 publication Critical patent/WO1989009941A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Definitions

  • the invention is based on a method for identifying objects according to the type of the main claim. From DE-OS 33 35 421 a method for signal evaluation of ultrasonic echo signals is known in which, in addition to the transit time of the echo signals, the amplitude of the echo signal envelope is evaluated. The known method is used in particular for determining the relative position and the speed of gripper arms of a robot with respect to an object.
  • the temperature of the medium located between the transceiver and the object When determining object distances from transit time measurements, the temperature of the medium located between the transceiver and the object must be known. In air, for example, the runtime changes at an average temperature of 20 ° C by about 0.17% per degree of temperature change. Temperature gradients, for example caused by drafts or different heating of the objects, must therefore be largely suppressed.
  • the absolute signal level of the echo signal envelope is also dependent on the temperature of the medium between the transceiver and the object as well as the object temperature. Temperature gradients act like acoustic lenses and influence the signal level. A slight twisting of the object compared to a normal position already has a further considerable influence on the signal level of the echo signal envelope.
  • the method according to the invention has the advantage that the signature of the envelope, which is independent of the amplitude and duration, is evaluated in a signal processing arrangement.
  • a comparison of the determined signature with a target signature stored in a learning phase in a memory of the signal processing arrangement enables the identification of objects largely independently of disturbing influences such as changing environmental conditions or a slight twisting of the objects to be identified from their normal position.
  • the number of relative envelope maxima and / or the relative envelope minima is determined.
  • the relationships between successive relative envelope curve maxima and / or successive envelope curve minima are determined.
  • time relationships are determined.
  • the ratio of the transit time is formed by successive relative envelope maxima and / or minima.
  • the distances from successive maxima and / or minima are preferably evaluated.
  • object identification is possible by evaluating the half-value width of the echo signal envelope or by determining the rise time constant between a first and second relative amplitude of the envelope. Further details and advantageous further developments result from further subclaims.
  • an independent adaptation to different echo propagation time and echo amplitude ratios is provided.
  • the approximate echo runtime is determined in the signal processing arrangement, which can be hidden during the later object identification.
  • the level of the maximum echo amplitude to be expected is also determined and adjusted via a control amplifier in such a way that an analog-digital converter used, for example, operates with full utilization of the quantization levels. With these measures, the best possible temporal and value-based resolution of the ultrasound echo signal is achieved.
  • the measured amplitude and transit time shifts are also available for further control or control tasks.
  • FIG. 1 shows a block diagram of transceiver devices and of a signal processing arrangement
  • FIGS. 2 and 3 each show a signal curve of an echo signal envelope.
  • FIG. 1 shows an object 10 to be identified, which is arranged, for example, on a conveyor belt 11.
  • Ultrasound signals 14, 15 are emitted in the direction of the object 10 by a first and second ultrasound transmission device 12, 13. Echo signals 16, 17 are reflected by the object 10 and are received by a first and second receiving device 18, 19.
  • the two transmission devices 12, 13 are connected to a control part 20, which is the time period between the transmitted Ultra sound signals and the duration of the signals.
  • the control part continues to emit signals to a signal processing arrangement 21.
  • the two initial devices 18, 19 are also connected to the signal processing arrangement 21.
  • a transmitting and receiving device is sufficient.
  • An expansion by additional transmission devices with the associated reception devices is also possible.
  • the extension is indicated in FIG. 1 with the lines 22, 23 shown in broken lines.
  • the use of several transmitting and receiving devices results in a higher resolution and increases the security in the identification of the objects 10, in particular when the signals 14, 15 are emitted onto the object 10 at different angles.
  • the echo signals picked up by the receiving devices 18, 19 reach digital-analog converter 25 via control amplifiers 24.
  • a separate amplifier 24 and an analog-digital converter 25 are provided for each receiving device 18, 19.
  • the digitized signals are suitably transformed and processed in a computing unit 26.
  • the object 10 is identified on the basis of comparison operations that are carried out with data that were previously stored in a memory 27 in a learning phase. An identification is output, for example, on a display 28.
  • the control amplifier 24, the analog-digital converter 25, the computing unit 26 and the memory 27 are combined in the signal processing arrangement 21.
  • the echo signal envelope curve 30 shown in FIG. 2 arises, for example, by demodulation and subsequent formation of an amount or squaring of that applied by one of the receiving devices 18, 19 taken signal. This signal preprocessing is integrated, for example, in the receiving devices 18, 19.
  • the continuous signal curve shown in FIG. 2 is sampled in the analog-digital converter 25 at a sufficient number of support points and is output as numerical values in the sake unit 26.
  • the amplitude of the envelope curve is adapted to the permissible input voltage range of the analog-digital converter by means of the control amplifier 24.
  • the maximum amplitude 31 of the envelope curve 30 is normalized to a value of 100%.
  • the maxima 31-33 and the minima 34, 35 of the envelope curve 30 are determined in the computing unit 26.
  • the number of maxima 31-33 and / or minima 34, 35 which already enables identification of objects 10, is determined as the amplitude-independent and transit-time-dependent signature of the echo signal envelope curve 30.
  • the ratios of the relative amplitudes of successive maxima 31, 32 or 32, 33 and / or the ratios of the relative amplitude of successive minima 34, 35 are formed as a further evaluation criterion. Furthermore, it is possible to form the ratios of the relative amplitudes of successive maxima and minima 31, 34 or 32, 35 and / or the ratios of the relative amplitudes of successive minima and maxima 34, 32 or 35, 33.
  • an evaluation of time relationships can additionally be provided, which are explained in more detail with reference to FIG. 3:
  • FIG. 3 shows an envelope curve 40 which corresponds, for example, to the envelope curve 30 shown in FIG.
  • the relative amplitude of the main maximum 41 of the envelope 40 is normalized to a value of, for example, 100%.
  • the envelope 40 has further relative maxima 42, 43 and relative minima 44, 45.
  • the ratios of the time intervals 46, 47 between successive maxima 41, 42 or 42, 43 and the ratios of the time intervals 48, 49 of successive maxima and minima 41, 44 or 42, 45 and / or the ratios of the time intervals 50 are evaluated , 51 between successive minima and maxima 44, 42 and 45, 43.
  • further relationships between time intervals are possible.
  • the signal transit time 52 is calculated from the end of the ultrasound signal emitted by the transmitting devices 12, 13 to the beginning of the echo signal envelope 40, which has reached the first quantization stage 53.
  • the end of signal information passes from the control circuit 20 directly into the signal processing arrangement 21. It is also important here that the absolute value of the transit time is not included in the result, since only time relationships are formed. Relationships can be formed between the signal propagation times 54, 56, 58 to the maxima 41 - 43 and / or between the signal propagation times 55, 57 to the minima 44, 45 and between the signal propagation times 54 to 58 to the maxima 41 - 43 and minima 44, 45.
  • Another signature feature is the rise time of the echo signal envelope 40 between a first relative amplitude value 60 and a second relative amplitude value 61.
  • the signal delay 52 determined in the learning phase is hidden as dead time.
  • the advantage of this measure is one Storage space reduction, since the received envelope 30, 40 is loaded into a buffer before the evaluation and comparison operations.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

Selon un procédé d'identification d'objets au moyen d'une installation d'émission et de réception d'ultra-sons, au moins une caractéristique de signature, indépendante de l'amplitude et du temps de transit, de l'enveloppante du signal à ultra-sons (16, 17) réfléchi par l'objet à identifier est comparée avec une caractéristique de signature enregistrée dans une mémoire (27) d'un agencement (21) de traitement de signaux pendant une phase adaptative.
PCT/DE1989/000207 1988-04-06 1989-04-04 Procede d'identification d'objets Ceased WO1989009941A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DEP3811479.8 1988-04-06
DE19883811479 DE3811479A1 (de) 1988-04-06 1988-04-06 Verfahren zum identifizieren von objekten

Publications (1)

Publication Number Publication Date
WO1989009941A1 true WO1989009941A1 (fr) 1989-10-19

Family

ID=6351448

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE1989/000207 Ceased WO1989009941A1 (fr) 1988-04-06 1989-04-04 Procede d'identification d'objets

Country Status (3)

Country Link
DE (1) DE3811479A1 (fr)
ES (1) ES2012703A6 (fr)
WO (1) WO1989009941A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0709693A1 (fr) * 1994-10-28 1996-05-01 Siemens Aktiengesellschaft Procédé de reconnaissance d'objet
EP1079498A3 (fr) * 1999-08-20 2005-06-01 Bayerische Motoren Werke Aktiengesellschaft Machine électrique avec un rotor et un stator

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4406525C2 (de) * 1994-02-28 1996-10-24 Siemens Ag Verfahren zur Bestimmung der Lage eines Objekts relativ zum Hintergrund mittels Ultraschall
ES2103639B1 (es) * 1994-05-31 1998-05-16 Consejo Superior Investigacion Procedimiento de reconocimiento y de determinacion de posicion de objetos.
FR2732118B1 (fr) * 1995-03-23 1997-04-30 Imra Europe Sa Capteur a ultrasons et procedes de detection utilisant un tel capteur
DE102007062782B4 (de) * 2006-12-27 2016-02-25 SONOTEC Dr. zur Horst-Meyer & Münch oHG Kolben- oder Molcherkennungsvorrichtung sowie Kolben- oder Molcherkennungsverfahren
DE102018221797A1 (de) * 2018-12-14 2020-06-18 Volkswagen Aktiengesellschaft Benutzerschnittstelle eines Fahrzeugs und Verfahren zur Konfiguration und Steuerung der Benutzerschnittstelle
DE102020128501A1 (de) 2020-10-29 2022-05-05 Felix Piela Verfahren und Vorrichtung zum kontaktlosen Überwachen eines zu überwachenden Raums

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3731306A (en) * 1972-01-24 1973-05-01 Us Navy Sea state analyzer using radar sea return
US4207771A (en) * 1979-03-02 1980-06-17 Western Electric Company, Inc. Method and apparatus for monitoring cracking using stress wave emission techniques
GB2059061A (en) * 1979-09-17 1981-04-15 Electric Power Res Inst Method of monitoring defects in tubular products
JPS60131484A (ja) * 1983-12-19 1985-07-13 Furuno Electric Co Ltd 海底の水深、水温測定装置
EP0241737A2 (fr) * 1986-04-14 1987-10-21 Fried. Krupp Gesellschaft mit beschränkter Haftung Procédé de reconnaissance d'objets sous-marins
US4704905A (en) * 1984-10-09 1987-11-10 Photoacoustic Technology, Inc. Automation control apparatus

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4287769A (en) * 1978-06-01 1981-09-08 Massachusetts Institute Of Technology Apparatus and method whereby wave energy is correlated with geometry of a manufactured part or the like or to positional relationships in a system
DE3335421A1 (de) * 1983-09-29 1985-04-18 Siemens AG, 1000 Berlin und 8000 München Verfahren zur signalauswertung von ultraschall-echosignalen, wie sie bei verwendung eines ultraschall-sensors an einem roboterarm auftreten
SE8306753L (sv) * 1983-12-07 1985-06-08 Asea Ab Ultraljudsmetutrustning
DE3429764A1 (de) * 1984-08-13 1986-02-20 Siemens AG, 1000 Berlin und 8000 München Vorrichtung zur untersuchung der lage und/oder kontur eines objekts mittels ultraschall

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3731306A (en) * 1972-01-24 1973-05-01 Us Navy Sea state analyzer using radar sea return
US4207771A (en) * 1979-03-02 1980-06-17 Western Electric Company, Inc. Method and apparatus for monitoring cracking using stress wave emission techniques
GB2059061A (en) * 1979-09-17 1981-04-15 Electric Power Res Inst Method of monitoring defects in tubular products
JPS60131484A (ja) * 1983-12-19 1985-07-13 Furuno Electric Co Ltd 海底の水深、水温測定装置
US4704905A (en) * 1984-10-09 1987-11-10 Photoacoustic Technology, Inc. Automation control apparatus
EP0241737A2 (fr) * 1986-04-14 1987-10-21 Fried. Krupp Gesellschaft mit beschränkter Haftung Procédé de reconnaissance d'objets sous-marins

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
IEEE Journal of Oceanic Engineering, Band OE-11, Nr. 1, Januar 1986, IEEE, (New York, US), T.K. Stanton et al.: "Sonar echo statistics as a remote-sensing tool: volume and seafloor", Seiten 79-96 *
Patent Abstracts of Japan, Band 9, Nr. 296 (P-407)(2019), 22. November 1985; & JP-A-60131484 (FURUNO DENKI K.K.) 13. Juli 1985 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0709693A1 (fr) * 1994-10-28 1996-05-01 Siemens Aktiengesellschaft Procédé de reconnaissance d'objet
EP1079498A3 (fr) * 1999-08-20 2005-06-01 Bayerische Motoren Werke Aktiengesellschaft Machine électrique avec un rotor et un stator

Also Published As

Publication number Publication date
DE3811479A1 (de) 1989-10-19
ES2012703A6 (es) 1990-04-01

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