An adaptive ultrasonic object detection method, system, device and storage medium

Abstract

The present invention relates to the field of ultrasonic detection technology, and in particular to an adaptive ultrasonic object detection method, system, device and storage medium, comprising: determining an effective detection distance, selecting an ultrasonic transmitter in turn to transmit ultrasonic waves in any number of detection rounds, and driving all ultrasonic receivers to receive ultrasonic waves reflected within their effective detection distances and record the echo time of the ultrasonic waves until the last ultrasonic transmitter is traversed to obtain an echo time matrix; detecting an object to be detected according to the echo time matrix and the speed of sound, solving the problem that the existing infrared diffuse reflection object detection device is difficult to use in outdoor environments, has specific requirements on the color and background of the object to be detected, and cannot be used in occasions with heavy smoke and dust. The present invention automatically detects the object to be detected through different echo times, reduces the workload of staff, improves detection efficiency and accuracy, and effectively reduces the object misrecognition rate.

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic detection technology, and in particular to an adaptive ultrasonic object detection method, system, device and storage medium. Background Art

[0002] The infrared diffuse reflection object detection device is equipped with an infrared transmitting tube and an infrared receiving tube. It can not only emit infrared rays to the outside, but also receive infrared rays reflected back by external objects. It is widely used.

[0003] However, it cannot be applied to many scenarios due to its defects, including:

[0004] (1) It is difficult to use in outdoor environments; the outdoor sunlight intensity at noon can easily reach 2*10 5 Lux, the illumination of the infrared light part is 1 to 3 orders of magnitude higher than that of the infrared light source of the common infrared diffuse reflection detection device, resulting in the detection device being unable to distinguish the detection light beam emitted by the infrared light source reflected back from the object to be detected from such strong ambient light, making it unable to work normally.

[0005] (2) It cannot be used in places with heavy smoke and dust. The diffuse reflection object detection device relies on external reflection to detect objects. When the smoke and dust in the environment is relatively thick, the detection beam will be reflected by the particles in the smoke and dust, causing the detection device to frequently give false alarms.

[0006] (3) There are specific requirements for the color and background of the object to be detected. When the object to be detected is a transparent material with a very low reflectivity such as glass, or a material with a reflectivity almost the same as the background, it will be difficult for the diffuse reflection object detection device to separate the object to be detected from the background, resulting in missed detection problems. Summary of the invention

[0007] The present invention provides an adaptive ultrasonic object detection method, system, device and storage medium, which solve the technical problem that the existing infrared diffuse reflection object detection device is difficult to use in outdoor environments, has specific requirements on the color and background of the object to be detected, and cannot be used in places with heavy smoke and dust.

[0008] In order to solve the above technical problems, the present invention provides an adaptive ultrasonic object detection method, system, device and storage medium.

[0009] In a first aspect, the present invention provides an adaptive ultrasonic object detection method, the method is based on an ultrasonic detection device, the ultrasonic detection device includes a temperature sensor and a plurality of ultrasonic transmitters and ultrasonic receivers arranged on one side, the method includes the following steps:

[0010] According to the distance between the object to be detected and the ultrasonic detection device, the effective detection distance of each ultrasonic receiver is set;

[0011] In any number of detection rounds, an ultrasonic transmitter is selected in turn and driven to emit a number of cycles of ultrasonic waves;

[0012] Amplifying the ultrasonic echo signal received by the ultrasonic receiver, and measuring and recording the time difference between the ultrasonic echo signal and the ultrasonic transmitter transmitting the ultrasonic wave, and obtaining the echo time matrix according to the time difference;

[0013] Detecting ambient temperature data through a temperature sensor, and searching for a sound speed corresponding to the ambient temperature data according to a pre-stored sound speed table;

[0014] Obtaining a first distance matrix according to the echo time matrix and the sound speed;

[0015] Obtaining a second distance matrix according to the first distance matrix and a pre-acquired standard distance matrix;

[0016] Determining whether an object is detected according to the second distance matrix and a preset distance threshold;

[0017] The echo time is the time from the emission to the reception of the ultrasonic wave.

[0018] In a further embodiment, the step of determining whether an object is detected based on the second distance matrix and a preset distance threshold comprises:

[0019] When the number of detection rounds is equal to 1, an invalid value in the first distance matrix is ​​detected, and the element at the position corresponding to the invalid value in the second distance matrix is ​​set to 0 to obtain a third distance matrix, and it is determined whether there is an element greater than a preset distance threshold in the third distance matrix, and if so, it is determined that an object is detected;

[0020] When the number of detection rounds is greater than 1, in each round of detection, invalid values ​​in the first distance matrix are detected, and the elements at positions corresponding to the invalid values ​​in the second distance matrix are set to 0 to obtain a third distance matrix. After a number of detection rounds, a number of third distance matrices equal to the number of detection rounds are obtained, and it is determined whether there are elements greater than a preset distance threshold in all the third distance matrices. If so, it is determined that an object is detected.

[0021] In a further embodiment, the step of detecting invalid values ​​in the first distance matrix comprises:

[0022] It is determined whether the value of each element in the first distance matrix is ​​greater than the effective detection distance of the corresponding ultrasonic receiver. If it is detected that the value of an element is greater than the effective detection distance of the corresponding ultrasonic receiver, the element is set to an invalid value.

[0023] In a further implementation, the step of determining whether an object is detected based on the second distance matrix and a preset distance threshold is specifically:

[0024] When the number of detection rounds is equal to 1, it is determined whether there are at least a preset number of elements in the second distance matrix whose values ​​are greater than a preset distance threshold. If so, it is determined that an object is detected.

[0025] In a further embodiment, the step of obtaining the standard distance matrix comprises:

[0026] According to the distance between the object to be detected and the ultrasonic detection device, the effective detection distance of each ultrasonic receiver is set;

[0027] Set the initial round number, and in any initial round number, select an ultrasonic transmitter in turn to transmit ultrasonic waves, and at the same time drive all ultrasonic receivers to receive ultrasonic waves reflected within the effective detection distance and record the echo time of the ultrasonic waves, until traversing to the last ultrasonic transmitter, and obtain the initial echo time matrix, repeat this step until the initial round number is reached, and obtain a number of initial echo time matrices equal to the number of the initial round number;

[0028] Calculating the average values ​​of the elements at corresponding positions of all the initial echo time matrices to obtain an average echo time matrix;

[0029] Detecting initial ambient temperature data through a temperature sensor, and searching for an initial sound velocity corresponding to the initial ambient temperature data according to a pre-stored sound velocity table;

[0030] The average echo time matrix and the initial sound speed are multiplied to obtain a standard distance matrix.

[0031] In a second aspect, the present invention provides an adaptive ultrasonic object detection system, the system comprising an ultrasonic detection device, the ultrasonic detection device comprising a temperature sensor and a plurality of ultrasonic transmitters and ultrasonic receivers arranged on one side, the system further comprising:

[0032] A distance setting module, used to set the effective detection distance of each ultrasonic receiver according to the distance between the object to be detected and the ultrasonic detection device;

[0033] The ultrasonic driving module is used to select an ultrasonic transmitter in turn and drive it to emit a number of cycles of ultrasonic waves in any detection round number;

[0034] The ultrasonic receiving module is used to amplify the ultrasonic echo signal received by the ultrasonic receiver, and at the same time measure and record the time difference between the ultrasonic echo signal and the ultrasonic transmitter transmitting the ultrasonic wave;

[0035] A data acquisition module, used to detect ambient temperature data through a temperature sensor, and to search for a sound speed corresponding to the ambient temperature data according to a pre-stored sound speed table;

[0036] A data processing module, configured to obtain a first distance matrix according to the echo time matrix and the sound speed, and obtain a second distance matrix according to the first distance matrix and a pre-acquired standard distance matrix;

[0037] A data analysis module, used to determine whether an object is detected according to the second distance matrix and a preset distance threshold;

[0038] The echo time is the time from the emission to the reception of the ultrasonic wave.

[0039] In a further embodiment, the data analysis module is specifically:

[0040] When the number of detection rounds is equal to 1, an invalid value in the first distance matrix is ​​detected, and the element at the position corresponding to the invalid value in the second distance matrix is ​​set to 0 to obtain a third distance matrix, and it is determined whether there is an element greater than a preset distance threshold in the third distance matrix, and if so, it is determined that an object is detected;

[0041] When the number of detection rounds is greater than 1, in each round of detection, invalid values ​​in the first distance matrix are detected, and the elements at positions corresponding to the invalid values ​​in the second distance matrix are set to 0 to obtain a third distance matrix. After a number of detection rounds, a number of third distance matrices equal to the number of detection rounds are obtained, and it is determined whether there are elements greater than a preset distance threshold in all the third distance matrices. If so, it is determined that an object is detected.

[0042] In a further embodiment, the data analysis module is specifically:

[0043] When the number of detection rounds is equal to 1, it is determined whether there are at least a preset number of elements in the second distance matrix whose values ​​are greater than a preset distance threshold. If so, it is determined that an object is detected.

[0044] In a third aspect, the present invention further provides a computer device, comprising a processor and a memory, wherein the processor is connected to the memory, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory so that the computer device performs the steps of implementing the above method.

[0045] In a fourth aspect, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program implements the steps of the above method when executed by a processor.

[0046] The present invention provides an adaptive ultrasonic object detection method, system, device and storage medium. The method uses ultrasonic waves sent by multiple ultrasonic transmitters as control signals to automatically detect and process data of an object to be detected, thereby reducing manual intervention in the detection process. The present embodiment uses multiple ultrasonic transmitters and ultrasonic receivers to send and receive, which can adapt to various environmental conditions and realize a technical solution for non-contact object detection. Compared with the prior art, the method performs detection within an effective detection distance, which can avoid interference of objects outside the effective detection distance on the detection results, reduce the false trigger rate, and has the advantages of high precision, high detection efficiency, convenient operation and wide application range. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a schematic flow chart of an adaptive ultrasonic object detection method provided by an embodiment of the present invention;

[0048] Figure 2 is a schematic diagram of ultrasonic transmission and reception provided by an embodiment of the present invention;

[0049] Figure 3 is a block diagram of an adaptive ultrasonic object detection system provided by an embodiment of the present invention;

[0050] Figure 4 It is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0051] The following specifically illustrates the implementation mode of the present invention in conjunction with the accompanying drawings. The embodiments are provided for illustrative purposes only and cannot be understood as limiting the present invention. The accompanying drawings are provided for reference and illustration only and do not constitute a limitation on the scope of patent protection of the present invention, because many changes can be made to the present invention without departing from the spirit and scope of the present invention.

[0052] refer to Figure 1 , an embodiment of the present invention provides an adaptive ultrasonic object detection method, such as Figure 1 As shown, the method is based on an ultrasonic object ultrasonic detection device, the ultrasonic detection device includes a temperature sensor and a plurality of ultrasonic transmitters and ultrasonic receivers arranged on one side, and the method includes the following steps:

[0053] S1. According to the distance between the object to be detected and the ultrasonic detection device, set the effective detection distance of each ultrasonic receiver.

[0054] In this embodiment, the ultrasonic detection device is equipped with a plurality of ultrasonic transmitters and ultrasonic receivers arranged on one side. The ultrasonic transmitter and the ultrasonic receiver can be set as integrated transmitter-receiver detectors or separate transmitter-receiver detectors. When the ultrasonic transmitter and the ultrasonic receiver are set as separate transmitter-receiver detectors, the number m of the ultrasonic transmitters and the number n of the ultrasonic receivers can be set to the same number or different numbers.

[0055] In this embodiment, the actual distance between the object to be measured and the ultrasonic detection device in the actual installation environment is used as the effective detection distance after adding an appropriate margin. The effective detection distance of each ultrasonic receiver is set by a button on the ultrasonic detection device or an external input device, and the set effective detection distance value is stored in a non-volatile memory in the ultrasonic detection device, wherein the external input device includes a computer and a mobile phone; by setting the effective detection distance of each ultrasonic receiver, this embodiment can avoid the situation where the detection device has a false alarm due to the movement of objects outside the effective detection distance. It should be noted that, in this embodiment, the effective detection distance of each ultrasonic receiver may be the same or different, and those skilled in the art may adjust it according to the specific implementation situation.

[0056] In this embodiment, the ultrasonic detection device is provided with a self-learning function. During the self-learning process, the ultrasonic detection device can pre-detect the positions of other objects within the effective detection distance and store their positions in a non-volatile memory. In the subsequent detection process of the object to be detected, the ultrasonic detection device can automatically ignore these objects, thereby reducing the error rate of detection.

[0057] S2. In any detection round, select an ultrasonic transmitter in turn and drive it to emit a number of cycles of ultrasonic waves.

[0058] S3. Amplify the ultrasonic echo signal received by the ultrasonic receiver, and simultaneously measure and record the time difference between the ultrasonic echo signal and the ultrasonic transmitter transmitting the ultrasonic wave, and obtain the echo time matrix according to the time difference.

[0059] like Figure 2As shown, the ultrasonic detection device starts from the first ultrasonic transmitter and drives the kth ultrasonic transmitter to transmit ultrasonic waves in sequence, wherein the value range of k is [1, m]; the time for each transmission of the ultrasonic transmitter is relatively short, and after the transmission is completed, the ultrasonic detection device simultaneously starts all ultrasonic receivers to work, and each ultrasonic receiver independently receives the ultrasonic wave reflected by the object to be tested, and uses the time from the transmission to the reception of the ultrasonic wave as the echo time. After the reception is completed, the ultrasonic detection device will drive the next ultrasonic transmitter to transmit the ultrasonic wave, and start all ultrasonic receivers to receive, and repeat the above steps until all ultrasonic transmitters have transmitted an ultrasonic wave once, and the echo time matrix T is obtained. mn , so far, the ultrasonic detection device completes a round of detection.

[0060] In this embodiment, the value of each column element in the echo time matrix represents the echo time recorded by each ultrasonic receiver when the kth ultrasonic transmitter transmits an ultrasonic wave.

[0061] S4. Detecting ambient temperature data through a temperature sensor, and searching for a sound speed corresponding to the ambient temperature data according to a pre-stored sound speed table.

[0062] S5. Obtain a first distance matrix according to the echo time matrix and the sound speed, and obtain a second distance matrix according to the first distance matrix and a pre-acquired standard distance matrix.

[0063] In one embodiment, this embodiment multiplies the sound speed by the echo time matrix to obtain a first distance matrix; this embodiment uses multiple ultrasonic receivers to simultaneously receive ultrasonic waves reflected by the object to be measured, thereby ensuring the accuracy of data processing and effectively improving the accuracy of detecting the object to be measured.

[0064] In one embodiment, the step of obtaining the standard distance matrix includes:

[0065] According to the distance between the object to be detected and the ultrasonic detection device, the effective detection distance of each ultrasonic receiver is set;

[0066] Set the initial round number, and in any initial round number, select an ultrasonic transmitter in turn to transmit ultrasonic waves, and at the same time drive all ultrasonic receivers to receive ultrasonic waves reflected within their effective detection distances and record the echo time of the ultrasonic waves, until the last ultrasonic transmitter is traversed, and an initial echo time matrix is ​​obtained, and this step is repeated until the initial round number is reached, and a number of initial echo time matrices equal to the number of the initial round number are obtained;

[0067] Calculating the average values ​​of the elements at corresponding positions of all the initial echo time matrices to obtain an average echo time matrix;

[0068] Detecting initial ambient temperature data through a temperature sensor, and searching for an initial sound velocity corresponding to the initial ambient temperature data according to a pre-stored sound velocity table;

[0069] The average echo time matrix and the initial sound speed are multiplied to obtain a standard distance matrix.

[0070] After obtaining the standard distance matrix, this embodiment stores the standard distance matrix in a non-volatile memory in the ultrasonic detection device for subsequent use.

[0071] S6. Determine whether an object is detected according to the second distance matrix and a preset distance threshold.

[0072] In one embodiment, the step of determining whether an object is detected according to the second distance matrix and a preset distance threshold comprises:

[0073] When the number of detection rounds is equal to 1, an invalid value in the first distance matrix is ​​detected, and the element at the position corresponding to the invalid value in the second distance matrix is ​​set to 0 to obtain a third distance matrix, and it is determined whether the third distance matrix has an element greater than a preset distance threshold, and if so, it is determined that an object is detected;

[0074] When the number of detection rounds is greater than 1, in each round of detection, invalid values ​​in the first distance matrix are detected, and the elements at positions corresponding to the invalid values ​​in the second distance matrix are set to 0 to obtain a third distance matrix. After the number of detection rounds, a number of third distance matrices equal to the number of detection rounds are obtained, and it is determined whether all the third distance matrices have elements greater than a preset distance threshold. If so, it is determined that an object is detected.

[0075] In this embodiment, multiple rounds of detection are set, and the third distance matrix detected in multiple rounds is judged, so as to reduce the detection error and avoid misjudgment caused by the emergence of other interference factors.

[0076] In this embodiment, the step of detecting invalid values ​​in the first distance matrix includes:

[0077] It is determined whether the value of each element in the first distance matrix is ​​greater than the effective detection distance of the corresponding ultrasonic receiver. If it is detected that the value of an element is greater than the corresponding effective detection distance, the element is set to an invalid value.

[0078] In another embodiment, the step of determining whether an object is detected according to the second distance matrix and a preset distance threshold is specifically:

[0079] When the number of detection rounds is equal to 1, it is determined whether there are at least a preset number of elements in the second distance matrix whose values ​​are greater than a preset distance threshold. If so, it is determined that an object is detected.

[0080] In this embodiment, when the number of detection rounds is equal to 1, this embodiment determines that the ultrasonic detection device detects the object to be detected by setting multiple elements when the distance is greater than the preset distance threshold. Compared with only detecting one element greater than the preset distance threshold, the detection method provided by this embodiment has higher reliability. In the above embodiment, a relatively simple application is discussed. The ultrasonic detection device only records and analyzes the first echo time received by the receiver after the ultrasonic wave is emitted by the distance transmitter within the effective detection distance. In common open environments, this simple detection method can already achieve good detection results. In another embodiment, when there is an obstacle in the measured environment and the obstacle is closer to the ultrasonic detection device than the object to be measured, the ultrasonic echo reflected by the obstacle will reach the receiver earlier than the object to be measured, thereby covering the echo reflected by the object to be measured. In this case, a method similar to the above embodiment can still be used to detect the object. The difference is that a hierarchical dimension q needs to be added to the echo time matrix. That is to say, in the receiving link, when receiving the echo, the receiver does not only receive the first echo reflected by the object, but continues to receive multiple q echoes until the distance exceeds the detection range. At the same time, the echo times of the q echoes are recorded respectively. After one round of reception is completed, the echo time matrix T can be obtained. mnq ; The subsequent data processing and judgment methods are the same as the previous embodiments. Since the obstacle is fixed, the expression of its echo time in the standard distance matrix and the first distance matrix is ​​also the same, so it will be eliminated in the comparison between the two, and the echo caused by the real object to be measured will be reflected in the elements of different hierarchical dimensions; it should be noted that the value of the above-mentioned hierarchical dimension q can be pre-set according to the use environment, or it can be automatically generated in the learning phase according to the actual number of echoes emitted each time.

[0081] The non-contact object detection method provided in this embodiment determines whether an object is detected through the echo time matrix and the sound speed at the corresponding temperature. It can not only automatically adapt to the working environment through the learning function, but also facilitate the subsequent detection of the object to be detected. It can also work in an environment with strong ambient light or thick smoke and dust, and the material and color of the object to be detected are not affected during the detection. Compared with the prior art, the embodiment of the present invention has the advantages of small error, high precision, high speed and high efficiency.

[0082] It should be noted that the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0083] In one embodiment, Figure 3 As shown, this embodiment provides an adaptive ultrasonic object detection system, the system includes an ultrasonic detection device, the ultrasonic detection device includes a temperature sensor and a plurality of ultrasonic transmitters and ultrasonic receivers arranged on one side, and the system also includes:

[0084] The distance setting module 101 is used to set the effective detection distance of each ultrasonic receiver according to the distance between the object to be detected and the ultrasonic detection device;

[0085] The ultrasonic driving module 102 is used to select an ultrasonic transmitter in turn and drive it to emit a plurality of cycles of ultrasonic waves in any detection round number;

[0086] The ultrasonic receiving module 103 is used to amplify the ultrasonic echo signal received by the ultrasonic receiver, and at the same time measure and record the time difference between the ultrasonic echo signal and the ultrasonic transmitter transmitting the ultrasonic wave;

[0087] The data acquisition module 104 is used to detect the ambient temperature data through the temperature sensor, and to search the sound speed corresponding to the ambient temperature data according to the pre-stored sound speed table;

[0088] A data processing module 105 is used to obtain a first distance matrix according to the echo time matrix and the sound speed, and obtain a second distance matrix according to the first distance matrix and a pre-acquired standard distance matrix;

[0089] A data analysis module 106, configured to determine whether an object is detected according to the second distance matrix and a preset distance threshold;

[0090] In this embodiment, the echo time is the time from the emission to the reception of the ultrasonic wave.

[0091] In one embodiment, the data analysis module 106 is specifically:

[0092] When the number of detection rounds is equal to 1, an invalid value in the first distance matrix is ​​detected, and the element at the position corresponding to the invalid value in the second distance matrix is ​​set to 0 to obtain a third distance matrix, and it is determined whether there is an element greater than a preset distance threshold in the third distance matrix, and if so, it is determined that an object is detected;

[0093] When the number of detection rounds is greater than 1, in each round of detection, invalid values ​​in the first distance matrix are detected, and the elements at positions corresponding to the invalid values ​​in the second distance matrix are set to 0 to obtain a third distance matrix. After a number of detection rounds, a number of third distance matrices equal to the number of detection rounds are obtained, and it is determined whether there are elements greater than a preset distance threshold in all the third distance matrices. If so, it is determined that an object is detected.

[0094] In another embodiment, the data analysis module 106 is specifically:

[0095] When the number of detection rounds is equal to 1, it is determined whether there are at least a preset number of elements in the second distance matrix whose values ​​are greater than a preset distance threshold. If so, it is determined that an object is detected.

[0096] For the specific definition of an adaptive ultrasonic object detection system, please refer to the above-mentioned definition of an adaptive ultrasonic object detection method, which will not be repeated here. A person of ordinary skill in the art can appreciate that the various modules and steps described in conjunction with the embodiments disclosed in this application can be implemented in hardware, software, or a combination of both. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0097] The present application provides an adaptive ultrasonic object detection system, which automatically realizes the detection of the object to be detected through a distance detection module, a device control module, a data acquisition module, a data processing module and a data analysis module, without the need for human operation, thereby improving the detection efficiency. Compared with the prior art, the embodiment of the present invention can more accurately judge the situation of the object to be detected by setting a plurality of ultrasonic transmitters and ultrasonic receivers without adding other sensor information, thereby effectively improving the detection accuracy, and has the advantages of light device, low cost, strong practicality, and easy operation.

[0098] Figure 4 A computer device provided by an embodiment of the present invention includes a memory, a processor and a transceiver, which are connected via a bus; the memory is used to store a set of computer program instructions and data, and can transmit the stored data to the processor, and the processor can execute the program instructions stored in the memory to perform the steps of the above method.

[0099] The memory may include a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories; the processor may be a central processing unit, a microprocessor, an application-specific integrated circuit, a programmable logic device, or a combination thereof. By way of example but not limitation, the programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0100] Additionally, the memory may be a physically separate unit or may be integrated with the processor.

[0101] It can be understood by those skilled in the art that Figure 4The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have the same component arrangement.

[0102] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0103] An adaptive ultrasonic object detection method, system, computer device and storage medium provided by an embodiment of the present invention, wherein the adaptive ultrasonic object detection method detects the object to be detected by emitting and receiving ultrasonic waves within the effective detection distance of an ultrasonic receiver, and obtains multiple echo times, which can not only ensure that the ultrasonic detection device is within a reasonable detection range and avoid the error caused by moving objects outside the effective detection distance, thereby greatly improving the detection accuracy, but also can make up for the problem that the transmitted signal is susceptible to interference and attenuation. The ultrasonic detection device provided by an embodiment of the present invention has stable and reliable performance, is easy to produce and install, and can be widely used in life and industry.

[0104] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., an SSD), etc.

[0105] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods.

[0106] The above-mentioned embodiments only express several preferred implementation modes of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in the technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be regarded as the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be based on the protection scope of the claims.

Claims

1. An adaptive ultrasonic object detection method, the method is based on an ultrasonic detection device, the ultrasonic detection device includes a temperature sensor and a plurality of ultrasonic transmitters and ultrasonic receivers arranged on one side, characterized in that: The following steps are involved: According to the distance between the object to be detected and the ultrasonic detection device, the effective detection distance of each ultrasonic receiver is set; In any number of detection rounds, an ultrasonic transmitter is selected in turn and driven to emit a number of cycles of ultrasonic waves; Amplifying the ultrasonic echo signal received by the ultrasonic receiver, and measuring and recording the time difference between the ultrasonic echo signal and the ultrasonic transmitter transmitting the ultrasonic wave, and obtaining the echo time matrix according to the time difference; Detecting ambient temperature data through a temperature sensor, and searching for a sound speed corresponding to the ambient temperature data according to a pre-stored sound speed table; Obtaining a first distance matrix according to the echo time matrix and the sound speed, and obtaining a second distance matrix according to the first distance matrix and a pre-acquired standard distance matrix; Determining whether an object is detected according to the second distance matrix and a preset distance threshold; Among them, the echo time is the time from the transmission to the reception of the ultrasonic wave; The step of obtaining the standard distance matrix includes: According to the distance between the object to be detected and the ultrasonic detection device, the effective detection distance of each ultrasonic receiver is set; Set the initial round number, and in any initial round number, select an ultrasonic transmitter in turn to transmit ultrasonic waves, and at the same time drive all ultrasonic receivers to receive ultrasonic waves reflected within the effective detection distance and record the echo time of the ultrasonic waves, until traversing to the last ultrasonic transmitter, and obtain the initial echo time matrix, repeat this step until the initial round number is reached, and obtain a number of initial echo time matrices equal to the number of the initial round number; Calculating the average values ​​of the elements at corresponding positions of all the initial echo time matrices to obtain an average echo time matrix; Detecting initial ambient temperature data through a temperature sensor, and searching for an initial sound velocity corresponding to the initial ambient temperature data according to a pre-stored sound velocity table; Multiplying the average echo time matrix and the initial sound speed to obtain a standard distance matrix; The step of determining whether an object is detected according to the second distance matrix and a preset distance threshold comprises: When the number of detection rounds is equal to 1, invalid values ​​in the first distance matrix are detected, and elements at positions corresponding to the invalid values ​​in the second distance matrix are set to 0 to obtain a third distance matrix, and it is determined whether there are elements in the third distance matrix that are greater than a preset distance threshold, and if so, it is determined that an object is detected; or, when the number of detection rounds is equal to 1, it is determined whether there are at least a preset number of elements in the second distance matrix that have values ​​greater than a preset distance threshold, and if so, it is determined that an object is detected; When the number of detection rounds is greater than 1, in each round of detection, invalid values ​​in the first distance matrix are detected, and the elements at positions corresponding to the invalid values ​​in the second distance matrix are set to 0 to obtain a third distance matrix. After a number of detection rounds, a number of third distance matrices equal to the number of detection rounds are obtained, and it is determined whether there are elements greater than a preset distance threshold in all the third distance matrices. If so, it is determined that an object is detected.

2. The adaptive ultrasonic object detection method according to claim 1, characterized in that: The step of detecting invalid values ​​in the first distance matrix comprises: It is determined whether the value of each element in the first distance matrix is ​​greater than the effective detection distance of the corresponding ultrasonic receiver. If it is detected that the value of an element is greater than the effective detection distance of the corresponding ultrasonic receiver, the element is set to an invalid value.

3. An adaptive ultrasonic object detection system, the system comprising an ultrasonic detection device, the ultrasonic detection device comprising a temperature sensor and a plurality of ultrasonic transmitters and ultrasonic receivers arranged on one side, characterized in that: The system further comprises: A distance setting module, used to set the effective detection distance of each ultrasonic receiver according to the distance between the object to be detected and the ultrasonic detection device; The ultrasonic driving module is used to select an ultrasonic transmitter in turn and drive it to emit a number of cycles of ultrasonic waves in any detection round number; The ultrasonic receiving module is used to amplify the ultrasonic echo signal received by the ultrasonic receiver, and at the same time measure and record the time difference between the ultrasonic echo signal and the ultrasonic transmitter transmitting the ultrasonic wave, and obtain the echo time matrix according to the time difference; A data acquisition module, used to detect ambient temperature data through a temperature sensor, and to search for a sound speed corresponding to the ambient temperature data according to a pre-stored sound speed table; A data processing module, configured to obtain a first distance matrix according to the echo time matrix and the sound speed, and obtain a second distance matrix according to the first distance matrix and a pre-acquired standard distance matrix; A data analysis module, used to determine whether an object is detected according to the second distance matrix and a preset distance threshold; Among them, the echo time is the time from the transmission to the reception of the ultrasonic wave; The process of obtaining the standard distance matrix includes: According to the distance between the object to be detected and the ultrasonic detection device, the effective detection distance of each ultrasonic receiver is set; Set the initial round number, and in any initial round number, select an ultrasonic transmitter in turn to transmit ultrasonic waves, and at the same time drive all ultrasonic receivers to receive ultrasonic waves reflected within the effective detection distance and record the echo time of the ultrasonic waves, until traversing to the last ultrasonic transmitter, and obtain the initial echo time matrix, repeat this step until the initial round number is reached, and obtain a number of initial echo time matrices equal to the number of the initial round number; Calculating the average values ​​of the elements at corresponding positions of all the initial echo time matrices to obtain an average echo time matrix; Detecting initial ambient temperature data through a temperature sensor, and searching for an initial sound velocity corresponding to the initial ambient temperature data according to a pre-stored sound velocity table; Multiplying the average echo time matrix and the initial sound speed to obtain a standard distance matrix; The data analysis module is specifically: When the number of detection rounds is equal to 1, invalid values ​​in the first distance matrix are detected, and elements at positions corresponding to the invalid values ​​in the second distance matrix are set to 0 to obtain a third distance matrix, and it is determined whether there are elements in the third distance matrix that are greater than a preset distance threshold, and if so, it is determined that an object is detected; or, when the number of detection rounds is equal to 1, it is determined whether there are at least a preset number of elements in the second distance matrix that have values ​​greater than a preset distance threshold, and if so, it is determined that an object is detected; When the number of detection rounds is greater than 1, in each round of detection, invalid values ​​in the first distance matrix are detected, and the elements at positions corresponding to the invalid values ​​in the second distance matrix are set to 0 to obtain a third distance matrix. After a number of detection rounds, a number of third distance matrices equal to the number of detection rounds are obtained, and it is determined whether there are elements greater than a preset distance threshold in all the third distance matrices. If so, it is determined that an object is detected.

4. A computer device, characterized in that: The computer device comprises a processor and a memory, wherein the processor is connected to the memory, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the computer device executes the method according to any one of claims 1 to 2.

5. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 2 is implemented.

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