CN108267740B - Information processing method, ultrasonic device, mobile device, and storage medium - Google Patents
Information processing method, ultrasonic device, mobile device, and storage medium Download PDFInfo
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- 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
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- 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
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Abstract
The embodiment of the invention discloses an ultrasonic side distance measurement method, an ultrasonic device, mobile equipment and a storage medium, wherein the method comprises the following steps: detecting an ultrasonic signal emitted by a second ultrasonic device before starting ultrasonic ranging; determining a distance measurement parameter of ultrasonic distance measurement of the first ultrasonic device according to a detection result of the ultrasonic signal; and carrying out ultrasonic ranging according to the ranging parameters.
Description
Technical Field
The present invention relates to the field of information technology, and in particular, to an information processing method, an ultrasound apparatus, a mobile device, and a storage medium.
Background
Ultrasonic ranging: the distance between the ultrasonic device and the obstacle is measured by using the ultrasonic wave as a medium through the emission of the ultrasonic wave and the detection of the ultrasonic wave reflected by the obstacle.
Ultrasonic ranging is widely used, and when there is only one ultrasonic device in a space, the ultrasonic device can accurately measure a distance, but when 2 or more than 2 ultrasonic devices are included in a space, the ultrasonic devices may interfere with each other, resulting in an abnormal distance measurement.
As shown in fig. 1, the ultrasonic wave emitted from the ultrasonic device 1 is received by the ultrasonic device 2, and the ultrasonic device 2 erroneously recognizes that the ultrasonic wave emitted by itself is a reflected wave returned after encountering an obstacle, and at this time, it is obviously problematic to perform distance measurement based on the reflected wave. Therefore, how to solve the problem of accurate distance measurement of ultrasonic devices in the same mutually interfered space is a problem to be solved urgently in the prior art.
Disclosure of Invention
In view of the above, embodiments of the present invention are directed to providing an information processing method, an ultrasound apparatus, a mobile device, and a storage medium, so as to solve the problem of low accuracy of ultrasonic ranging.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in a first aspect, the present embodiment provides an information processing method, applied to a first ultrasound apparatus, including:
detecting an ultrasonic signal emitted by a second ultrasonic device before starting ultrasonic ranging;
determining a distance measurement parameter of ultrasonic distance measurement of the first ultrasonic device according to a detection result of the ultrasonic signal;
and carrying out ultrasonic ranging according to the ranging parameters.
Optionally, the detecting an ultrasonic signal emitted by the second ultrasonic device before initiating the ultrasonic ranging includes:
detecting the ultrasonic signal for a first period of time before initiating ultrasonic ranging;
and if the ultrasonic signal is detected in the first time period, continuously detecting the ultrasonic signal in a second time period, wherein the second time period is later than the first time period.
Optionally, the determining, according to the detection result of the ultrasonic signal, a ranging parameter of the ultrasonic ranging of the first ultrasonic device includes at least one of:
if the ultrasonic signal is not detected in a first time period, determining to start the ultrasonic ranging after the first time period;
determining to initiate the ultrasonic ranging at a second frequency according to a first frequency of the ultrasonic signal detected within the first time period, wherein the first frequency is different from the second frequency.
Optionally, the performing ultrasonic ranging according to the ranging parameter includes:
sending a ranging signal of ultrasonic waves according to the ranging parameters, and recording the transmitting parameters of the ranging signal, wherein the transmitting parameters at least comprise: the time of transmission of the ranging signal;
acquiring a detection signal, and recording a receiving parameter of the detection signal, wherein the receiving parameter at least comprises: a reception time of the detection signal;
calculating a distance between the first ultrasonic device and a reflector that reflects the ranging signal based on the transmission time, the reception time of a feedback signal returned based on the ranging signal in the detection signal, and a propagation velocity of an ultrasonic wave.
Optionally, the recording the transmission parameters of the ranging signal further includes:
recording a third frequency of the ranging signal;
the recording of the receiving parameters of the detection signals further comprises;
recording a fourth frequency of the detection signal;
the method further comprises the following steps:
matching the third frequency and the fourth frequency;
and if the third frequency is matched with the fourth frequency, determining that the currently acquired detection signal is a feedback signal returned based on the ranging signal.
Optionally, the recording the transmission parameters of the ranging signal further includes:
recording the emission power of the detection signal;
the recording of the transmission parameters of the ranging signal further comprises:
recording the receiving power of the ranging signal;
the method further comprises the following steps:
comparing the received power and the transmitted power;
and when the receiving power is not greater than the transmitting power, determining the acquired detection signal as a feedback signal returned based on the ranging signal.
Optionally, the method further comprises:
and when the receiving power is greater than the transmitting power, determining that the currently acquired detection signal contains an ultrasonic signal sent by the second ultrasonic device.
Optionally, the method further comprises:
and if the currently acquired detection signal is determined to contain the ultrasonic signal transmitted by the second ultrasonic device, suspending the ultrasonic ranging of the first ultrasonic device or adjusting the signal frequency of the ranging signal transmitted by the first ultrasonic device.
In a second aspect, an embodiment of the present invention provides an ultrasound apparatus, which is a first ultrasound apparatus, including:
a detection unit for detecting an ultrasonic signal emitted by the second ultrasonic device before starting ultrasonic ranging;
and the determining unit is used for determining the distance measuring parameters of the ultrasonic distance measuring of the first ultrasonic device according to the detection result of the ultrasonic signal.
In a third aspect, an embodiment of the present invention provides a mobile device, including:
an ultrasonic device for executing the information processing method provided by one or more of the above technical solutions;
and the information processing method is connected with the ultrasonic device and used for adjusting the movement parameters of the mobile equipment according to the distance between the ultrasonic device and the reflector.
In a fourth aspect, an embodiment of the present invention provides a computer storage medium, where a computer program is stored, and the computer program is executed by a processor, and is capable of implementing an information processing method according to one or more previous technical solutions.
According to the information processing method, the ultrasonic device, the mobile equipment and the storage medium provided by the embodiment of the invention, before the ultrasonic ranging is started, the ultrasonic waves emitted by other ultrasonic devices are detected to determine whether other ultrasonic devices interfere the ultrasonic ranging of the ultrasonic devices, so that the problem of poor ranging accuracy is caused. So, can in time be according to the ultrasonic wave to other ultrasonic wave device launches the detection, realize the ultrasonic ranging's of self ranging parameter in time adjustment etc. confirm, according to the ultrasonic ranging's that this kind of mode was confirmed ranging parameter, can avoid other ultrasonic wave device to self ultrasonic ranging's interference as far as to promote ultrasonic ranging's accuracy nature.
Drawings
FIG. 1 is a schematic diagram of ultrasonic devices interfering with each other;
fig. 2 is a schematic flowchart of an information processing method according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of an information processing method according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an ultrasound apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a mobile device according to an embodiment of the present invention;
fig. 6 is a schematic flowchart of an information processing method according to an embodiment of the present invention;
fig. 7 is a schematic view of ultrasonic emission of an ultrasonic device according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail with reference to the drawings and the specific embodiments of the specification.
As shown in fig. 2, the present embodiment provides an information processing method applied to a first ultrasonic apparatus, including:
step S110: detecting an ultrasonic signal emitted by a second ultrasonic device before starting ultrasonic ranging;
step S120: determining a distance measurement parameter of ultrasonic distance measurement of the first ultrasonic device according to a detection result of the ultrasonic signal;
step S130: and carrying out ultrasonic ranging according to the ranging parameters.
The first ultrasonic apparatus provided in the present embodiment may be a sensor or a combination of sensors that perform measurement by using ultrasonic waves, and may be mounted on various mobile devices, for example, on a vehicle or on a movable robot. The vehicle can be a fuel gas vehicle, an electric vehicle, a hybrid vehicle, a manned vehicle or a truck and the like. The mobile robot may be: a ground-based robot including a mobile chassis, or an airborne robot that can fly or slide in the air.
The first ultrasonic device can calculate the distance between the first ultrasonic device and a reflector through the sending of ultrasonic waves and the receiving of reflected waves of the ultrasonic waves transmitted by the first ultrasonic device, so that the first ultrasonic device can be used for route planning and the like, and the collision between a vehicle or a movable robot and the reflector is avoided. The reflector is an obstacle that may prevent the mobile device from moving.
In this embodiment, the first ultrasonic device, instead of simultaneously starting the emission of the ultrasonic wave and the detection of the ultrasonic wave upon activation, starts the detection of the ultrasonic wave first, and detects the ultrasonic wave within a spatial range in which it is located, which may be a spatial region that interferes with the detection of its own microwave signal.
In step S120, a ranging parameter of the first ultrasonic ranging is determined according to a detection result of the ultrasonic detection transmitted by the second ultrasonic device. In this embodiment, the ranging parameters may be various parameters for starting ultrasonic ranging, such as time parameter, ultrasonic frequency, initial ranging direction, and the like.
For example, the first ultrasonic device is mounted on a vehicle or a movable robot, and the vehicle or the movable robot can be called as a mobile device. The mobile equipment needs to move to a destination A, and the destination is reached by combining the position of the mobile equipment, wherein the mobile equipment comprises a route A and a route B; according to the route selection strategy, a route A with the shortest travel is selected to go to a destination A, in the process of going to the destination A, an obstacle on a corresponding route needs to be detected through ultrasonic distance measurement and the like, ultrasonic waves are detected along the extending direction of the route A at the initial position of the route A, other equipment is found to emit the ultrasonic waves, and then in order to reach the destination as soon as possible, in the case that the route of the route B is not far away from that of the route A, or in the case that the time difference of reaching through the route A and the route B is small, the initial direction of the ultrasonic distance measurement can be adjusted, so that the initial direction is changed from the extending direction of the route A to the extending direction of the route B.
For example, the second ultrasonic device may be an apparatus other than the first ultrasonic device that emits ultrasonic waves.
In this embodiment, if the ultrasonic waves emitted by other ultrasonic devices are detected, in order to reduce the interference of the ultrasonic waves emitted by other ultrasonic devices with the ranging of the first ultrasonic device, thereby causing the accuracy of the measured distance to be low, in this embodiment, the mutual interference with the second ultrasonic device can be avoided by changing the original ranging parameters, thereby ensuring the accuracy of the ranging of the first ultrasonic device.
Optionally, the method further comprises:
and if the ultrasonic signal is detected, continuously detecting the ultrasonic signal.
If the ultrasonic signals emitted by other ultrasonic devices are detected, the ultrasonic signals emitted by other ultrasonic devices are continuously detected, so that the ultrasonic ranging of the first ultrasonic device can be started when the ultrasonic signals emitted by other ultrasonic devices are not detected in step S120.
Optionally, the step S110 may include:
detecting the ultrasonic signal for a first period of time before initiating ultrasonic ranging;
and if the ultrasonic signal is detected in the first time period, continuously detecting the ultrasonic signal in a second time period, wherein the second time period is later than the first time period.
In this embodiment, the first time period may be an actual time period corresponding to a randomly determined random time period, or may be a predetermined time period determined according to a predetermined time period.
And continuously detecting ultrasonic signals emitted by other ultrasonic devices in the first time period, and starting ultrasonic side ranging after the first time period elapses if the ultrasonic signals are not detected in the first time period.
In some embodiments, the ultrasound apparatus may carry a priority indication in the ultrasound signal transmitted by itself according to the priority of its own service, extract the priority indication from the ultrasound after detecting the ultrasound indication in step S110, and temporarily stop the starting of the ultrasound ranging if the detected ultrasound priority of the other device is higher than its own priority. For example, after waiting for a random duration, whether to start ultrasonic ranging is determined based on the ultrasonic detection result again, if the priority of the ultrasonic ranging is higher than the priorities of other devices, an ultrasonic signal carrying a priority indication of the priority of the ultrasonic ranging is broadcast first, and after the ultrasonic signal is broadcast or an opposite side response signal is received, the ultrasonic ranging of the ultrasonic ranging is started, so that interference is reduced. In this embodiment, the priority waiting time may be a random time, which is equivalent to reducing the avoidance time with the same length and then interfering with each other again by random necessity.
Optionally, the step S120 includes at least one of:
if the ultrasonic signal is not detected in a first time period, determining to start the ultrasonic ranging after the first time period;
determining to initiate the ultrasonic ranging at a second frequency according to a first frequency of the ultrasonic signal detected within the first time period, wherein the first frequency is different from the second frequency.
The ultrasonic wave may be a signal with a frequency greater than 20kHz, and in this embodiment, if the ultrasonic wave emitted by another ultrasonic device is detected. In order to avoid mutual interference, after the first frequency is determined in the first time period, the ultrasonic wave used in the ultrasonic ranging of the first ultrasonic device is defined as a second frequency, and the second frequency is different from the first frequency. For example, it can be determined whether the currently received or detected ultrasonic wave is a reflected signal of the ultrasonic wave signal transmitted by itself by coherent detection.
Obviously, in the present embodiment, the distance measurement parameters of the ultrasonic waves are determined by determining the frequency of the ultrasonic waves.
As shown in fig. 3, the step S130 may include:
step S101: sending a ranging signal of ultrasonic waves according to the ranging parameters, and recording the transmitting parameters of the ranging signal, wherein the transmitting parameters at least comprise: the time of transmission of the ranging signal; for example, the ranging parameters include: the starting time of the ultrasonic ranging, the frequency of the ultrasonic wave used, and/or the initial direction of the transmitted ultrasonic wave.
Step S102: acquiring a detection signal, and recording a receiving parameter of the detection signal, wherein the receiving parameter at least comprises: a reception time of the detection signal;
step S103: calculating a distance between the first ultrasonic device and a reflector that reflects the ranging signal based on the transmission time, the reception time of the detection signal returned based on the ranging signal, and a propagation velocity of the ultrasonic wave.
For example, an ultrasonic wave is transmitted in a certain direction by an ultrasonic transmitter, timing is started at the same time as the transmission time, the ultrasonic wave immediately returns when hitting an obstacle while propagating in the air, and the timing is stopped immediately when the ultrasonic receiver receives a reflected wave. The propagation speed of the ultrasonic wave in the air is v, and the distance S between the transmitting point and the obstacle can be calculated according to the time difference Deltat recorded by the timer for measuring the transmitting echo and the receiving echo, namely S is v Deltat/2.
If the first ultrasonic device is applied to the mobile equipment, the mobile equipment can timely adjust the moving direction and/or the moving speed of the mobile equipment according to the distance between the mobile equipment and the obstacle and the moving direction of the mobile equipment, so that the collision between the mobile equipment and the obstacle is avoided.
In some embodiments, the step S130 further includes:
transmitting a ranging signal of ultrasonic waves according to the ranging parameters;
starting a timer;
detecting the returned ultrasonic signal;
based on the timing of the timer and the propagation speed of the ultrasonic wave in the transmission medium, the distance between the first ultrasonic device and the obstacle is calculated, and the reflecting object is various objects reflecting the ultrasonic wave, such as the obstacle in the moving direction of the mobile equipment.
The transmission medium may be air or other transmission medium that propagates ultrasonic signals, and in other embodiments, if the first ultrasonic device moves in a specific environment, the transmission medium may be air or other gas or liquid other than air. For example, if the first ultrasonic device is operating below the water surface, the transmission medium may be water.
Optionally, the step S102 further includes:
recording a third frequency of the ranging signal;
the step S103 further includes;
recording a fourth frequency of the detection signal;
the method further comprises the following steps:
and matching the third frequency and the fourth frequency to determine whether the currently acquired detection signal is a feedback signal returned based on the ranging signal, for example, when the third frequency and the fourth frequency are matched, determining that the acquired detection signal is the feedback signal returned based on the ranging signal.
In some embodiments, the matching of the third frequency and the fourth frequency indicates that the currently detected ultrasonic signal is formed by reflecting the self-emitted ranging signal, and the determination of the currently detected detection signal can be used for calculating the distance between the currently detected detection signal and the reflecting object. If the third frequency is not matched with the fourth frequency, the ultrasonic signal is a detection signal formed by reflecting the ultrasonic signal which is not emitted by the ultrasonic signal per se by a reflector.
The step S102 further includes:
recording the received power of the detection signal.
The step S103 further includes:
recording the transmitting power of the ranging signal;
the method further comprises the following steps:
and determining whether the currently acquired detection signal is a feedback signal returned based on the ranging signal based on the received power and the transmitted power, for example, whether the received power is not greater than the transmitted power, and determining whether the currently acquired detection signal is a feedback signal returned based on the ranging signal.
In this embodiment, the transmission power of the ranging signal is also recorded, and since the ultrasonic signal is transmitted in the transmission medium with signal attenuation, there is no signal enhancement. In this way, if the currently detected receiving power of the ultrasonic wave is higher than the transmitting power, it is obvious that there is superposition of the ultrasonic waves transmitted by other ultrasonic devices, so that the power of the ultrasonic wave detected by the first ultrasonic device is higher than the transmitting power of the copy wave transmitted by the first ultrasonic device, and therefore the interference can be considered to be received at this time, and the currently detected detection signal cannot be used for calculating the distance between the first ultrasonic device and the reflector; otherwise, the currently detected detection signal may be deemed to be an ultrasonic wave that can be used for distance calculation for ultrasonic ranging.
For example, the determining whether the currently acquired detection signal is a feedback signal returned based on the ranging signal based on the received power and the transmission power includes:
and when the receiving power is greater than the transmitting power, determining that the currently acquired detection signal contains an ultrasonic signal sent by the second ultrasonic device.
In some embodiments, the method further comprises:
suspending the ultrasonic ranging of the first ultrasonic device if it is determined that the currently acquired detection signal contains an ultrasonic signal transmitted by the second ultrasonic device;
in some embodiments, the method further comprises:
and if the currently acquired detection signal is determined to contain the ultrasonic signal transmitted by the second ultrasonic device, adjusting the signal frequency of the ranging signal transmitted by the first ultrasonic device.
If the received power is greater than the transmitting power, on one hand, to continue the ultrasonic detection, and on the other hand, to ensure the accuracy of the ultrasonic ranging, in the embodiment of the present invention, the signal frequency of the ranging signal of the first ultrasonic wave is changed to avoid the frequency of the ultrasonic wave transmitted by the second ultrasonic device, or the ultrasonic ranging of the first ultrasonic device is suspended, and after waiting for a predetermined time period or a random time period, the ultrasonic ranging is restarted or resumed. In other embodiments, the moving route of the mobile device may be re-planned, another route different from the current route is selected as the advancing direction of the mobile device, and the ultrasonic wave emitting direction of the ultrasonic ranging is adjusted according to the currently selected route.
In some embodiments, after step S120 is executed, if the first ultrasonic device finds that the second ultrasonic device is transmitting ultrasonic waves, the first ultrasonic device and the second ultrasonic device may perform negotiation using the ultrasonic waves as carriers, so as to avoid each other through negotiation, thereby improving the accuracy of ultrasonic ranging of each other.
As shown in fig. 4, the present embodiment provides an ultrasonic apparatus, which is a first ultrasonic apparatus, including:
a detection unit 110 for detecting an ultrasonic signal emitted by the second ultrasonic device before starting ultrasonic ranging;
a determining unit 120, configured to determine a ranging parameter of the ultrasonic ranging of the first ultrasonic device according to a detection result of the ultrasonic signal;
and a distance measuring unit 130 for performing ultrasonic distance measurement according to the distance measuring parameters.
In this embodiment, the detecting unit 110 may include: ultrasonic detection sensors and/or ultrasonic emission sensors may be used for detection and/or reception of ultrasonic waves.
In this embodiment, the determining unit 120 may correspond to a processor. The processor may include: one or more processing chips or circuits, such as a central processing unit, a microprocessor, a digital signal processor, an application processor, a programmable array, an application specific integrated circuit, etc., may be implemented by execution of a computer program, a software application, or a specific functional component in an operating system to perform the determining of the ranging parameters.
If the ultrasonic device carries out ultrasonic ranging according to the determined ranging parameters, the interference of a second ultrasonic device or other ultrasonic devices can be avoided or reduced, and therefore more accurate ultrasonic ranging is achieved.
Optionally, the detecting unit 110 is configured to detect the ultrasonic signal in a first time period before starting the ultrasonic ranging; and for continuing to detect the ultrasonic signal during a second time period if the ultrasonic signal is detected during the first time period, wherein the second time period is later than the first time period.
Further, the determining unit 120 may be configured to determine to start the ultrasonic ranging after a first time period if the ultrasonic signal is not detected within the first time period;
the ranging unit 130 may be configured to determine to start the ultrasonic ranging at a second frequency according to a first frequency of the ultrasonic signal detected in the first time period, where the first frequency is different from the second frequency.
The ranging unit 130 may be specifically configured to send a ranging signal of an ultrasonic wave, and record transmission parameters of the ranging signal, where the transmission parameters at least include: the time of transmission of the ranging signal; acquiring a detection signal, and recording a receiving parameter of the detection signal, wherein the receiving parameter at least comprises: a reception time of the detection signal; calculating a distance between the first ultrasonic device and a reflector that reflects the ranging signal based on the transmission time, the reception time of the detection signal returned based on the ranging signal, and a propagation velocity of the ultrasonic wave.
Optionally, the ranging unit may be configured to record a third frequency of the ranging signal; recording a fourth frequency of the detection signal;
the ultrasonic device further includes:
and the judging unit is used for matching the third frequency and the fourth frequency and determining whether the currently acquired detection signal is a feedback signal returned based on the ranging signal.
Optionally, the ranging unit 130 may be configured to record a transmission power of the detection signal and record a reception power of the ranging signal;
the determining unit may be further configured to determine whether the currently acquired detection signal is a feedback signal returned based on the ranging signal, based on the received power and the transmission power.
The determining unit may be further configured to determine that the currently acquired detection signal includes an ultrasonic signal sent by the second ultrasonic device when the received power is greater than the transmitting power, for example, determine that the currently acquired detection signal is a feedback signal formed based on the ranging signal if the received power is not greater than the transmitting power.
The distance measuring unit 130 may be further configured to suspend the ultrasonic distance measurement of the first ultrasonic device or adjust a signal frequency of the distance measuring signal transmitted by the first ultrasonic device if it is determined that the currently acquired detection signal includes an ultrasonic signal transmitted by the second ultrasonic device.
As shown in fig. 5, the present embodiment provides a mobile device, including:
an ultrasonic device 210 for executing the information processing method provided by one or more of the above technical solutions;
and an information processing method 220, connected to the ultrasonic device 210, for adjusting the movement parameter of the mobile device according to the distance between the mobile device and the reflecting object measured by the ultrasonic device 210.
The ultrasonic device 210 may be used for ultrasonic ranging by transmission and detection of ultrasonic waves.
In this embodiment, the information processing method 220 may be a moving structure connected to the ultrasonic device 210, and may implement timely adjustment of moving parameters according to the ultrasonic distance obtained by ultrasonic ranging, so as to avoid the problems of collision and the like. The movement parameters may include: the mobile device can be a ground mobile device or an air mobile device or a mobile device in liquid.
On the front end face of the mobile device, which is a face facing the moving direction of the mobile device, the ultrasonic device 210 or the transmitting sensor and the detecting sensor of the ultrasonic device 210 are provided.
The present embodiment also provides a computer storage medium, where a computer program is stored, and after being executed by a processor, the computer program can implement the information processing method according to one or more of the foregoing technical solutions.
Several specific examples are provided below in connection with any of the embodiments described above:
example 1:
the present example provides an information processing method including:
before ranging, the sensor monitors a random time length, and when determining that no other equipment in the space interferes, the ranging is triggered. If other equipment signals are found, after the other equipment signals are ended, monitoring a period of random time again until no other equipment interference is determined, and triggering self ranging. For example, before each ranging, the sensor listens for a period of time T1 before transmitting its ranging signal when it is determined that no other sensor data is currently being received. In order to avoid two sensors to simultaneously trigger the transmission signal after listening for a period of time, the listening time T1 is a random number within a range. If the ultrasonic signals of other robots are found to exist currently, the ultrasonic signals of the robots are transmitted after the transmission of the other robots is completed.
For example, as shown in fig. 6, the present example provides an information processing method including:
step S1: the ultrasonic sensor is turned on to receive and monitors for a random time;
step S2: and judging whether the ultrasonic signals transmitted by other sensors are received, if so, returning to the step S1, and if so, entering the step S3.
Step S3: the ultrasonic sensor transmits a signal to start ultrasonic ranging.
For example, as shown in fig. 7, the robot 1 and the robot 2 having the ultrasonic devices mounted thereon, the robot 1 and the robot 2 mutually detect whether or not the other side transmits an ultrasonic signal, the frequency of the ultrasonic signal, and the like, and in fig. 7, by adjusting the frequency of the ultrasonic signal of one or both of the robots, the ultrasonic signals transmitted by the robot 1 and the robot 2 are different and the ultrasonic signals having different frequencies are represented by different lines as shown in fig. 7.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may be separately used as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (9)
1. An information processing method applied to a first ultrasonic apparatus, comprising:
detecting an ultrasonic signal emitted by a second ultrasonic device before starting ultrasonic ranging;
determining a ranging parameter of ultrasonic ranging of the first ultrasonic device according to a detection result of the ultrasonic signal, wherein the ranging parameter comprises: an initial direction of the emitted ultrasound; the initial direction is: the mobile equipment carrying the first ultrasonic device goes to one of two lines of a destination from the position of the mobile equipment without detecting the extending direction of the line of the ultrasonic signal emitted by the second ultrasonic wave;
and carrying out ultrasonic ranging according to the ranging parameters.
2. The method of claim 1, wherein said performing ultrasonic ranging according to the ranging parameter comprises:
sending a ranging signal of ultrasonic waves according to the ranging parameters, and recording the transmitting parameters of the ranging signal, wherein the transmitting parameters at least comprise: the time of transmission of the ranging signal;
acquiring a detection signal, and recording a receiving parameter of the detection signal, wherein the receiving parameter at least comprises: a reception time of the detection signal;
calculating a distance between the first ultrasonic device and a reflector that reflects the ranging signal based on the transmission time, the reception time of a feedback signal returned based on the ranging signal in the detection signal, and a propagation velocity of an ultrasonic wave.
3. The method of claim 2,
the recording of the transmission parameters of the ranging signal further comprises:
recording a third frequency of the ranging signal;
the recording of the receiving parameters of the detection signals further comprises;
recording a fourth frequency of the detection signal;
the method further comprises the following steps:
matching the third frequency and the fourth frequency;
and if the third frequency is matched with the fourth frequency, determining that the currently acquired detection signal is a feedback signal returned based on the ranging signal.
4. The method of claim 2,
the recording of the transmission parameters of the ranging signal further comprises:
recording the emission power of the detection signal;
the recording of the transmission parameters of the ranging signal further comprises:
recording the receiving power of the ranging signal;
the method further comprises the following steps:
comparing the received power and the transmitted power;
and when the receiving power is not greater than the transmitting power, determining the acquired detection signal as a feedback signal returned based on the ranging signal.
5. The method of claim 4,
the method further comprises the following steps:
and when the receiving power is greater than the transmitting power, determining that the currently acquired detection signal contains an ultrasonic signal sent by the second ultrasonic device.
6. The method of claim 5, wherein the first and second light sources are selected from the group consisting of,
the method further comprises the following steps:
and if the currently acquired detection signal is determined to contain the ultrasonic signal transmitted by the second ultrasonic device, suspending the ultrasonic ranging of the first ultrasonic device or adjusting the signal frequency of the ranging signal transmitted by the first ultrasonic device.
7. An ultrasound device, the ultrasound device being a first ultrasound device comprising:
a detection unit for detecting an ultrasonic signal emitted by the second ultrasonic device before starting ultrasonic ranging;
a determining unit, configured to determine a ranging parameter of ultrasonic ranging of the first ultrasonic device according to a detection result of the ultrasonic signal, where the ranging parameter includes: an initial direction of the emitted ultrasound; the initial direction is: the mobile equipment carrying the first ultrasonic device goes to one of two lines of a destination from the position of the mobile equipment without detecting the extending direction of the line of the ultrasonic signal emitted by the second ultrasonic wave;
and the distance measuring unit is used for carrying out ultrasonic distance measurement according to the distance measuring parameters.
8. A mobile device, comprising:
an ultrasonic device for performing the information processing method provided in any one of the preceding claims 1 to 6;
and the information processing method is connected with the ultrasonic device and used for adjusting the movement parameters of the mobile equipment according to the distance between the ultrasonic device and the reflector.
9. A computer storage medium storing a computer program capable of implementing the information processing method provided in any one of the preceding claims 1 to 6 when executed by a processor.
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| CN109901172A (en) * | 2019-03-28 | 2019-06-18 | 如皋忠广电子技术有限公司 | Ultrasonic ranging method, device and the electronic equipment adjusted based on frequency |
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