Detection Method, Device, Equipment and Storage Medium Based on Ultrasonic Sensor

Abstract

The present invention relates to the field of ultrasonic technology, and discloses a detection method, device, equipment and storage medium based on an ultrasonic sensor, which are used to improve the accuracy of the positioning area of an obstacle and reduce the collision risk with the obstacle. The method includes: selecting at least one ultrasonic sensor from a plurality of ultrasonic sensors as an active detection sensor, and determining at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor; sending an ultrasonic detection signal through the active detection sensor; obtaining the active detection result of the active detection sensor and the passive detection result of the passive detection sensor; and determining a prediction area of a target obstacle according to the active detection result and the passive detection result.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic technology, and in particular, to a detection method, device, equipment and storage medium based on an ultrasonic sensor. Background Art

[0002] With the rapid development of the intelligent transportation field, more and more vehicles adopt ultrasonic sensors for assisted driving.

[0003] The in-vehicle ultrasonic sensor converts an electrical signal into an ultrasonic signal through the inverse piezoelectric effect of a piezoelectric crystal. After the ultrasonic signal encounters a target object and reflects back, the in-vehicle ultrasonic sensor converts it into an electrical signal through the direct piezoelectric effect of the piezoelectric crystal. The distance between the ultrasonic sensor and the target object can be calculated based on the time difference and the speed of sound between the transmitted signal and the received signal.

[0004] However, the existing solutions can only detect the approximate orientation of obstacles and cannot accurately locate the area where the obstacles are located. Summary of the Invention

[0005] The present invention provides a detection method, device, equipment and storage medium based on an ultrasonic sensor, which is used to improve the accuracy of the positioning area of obstacles and reduce the collision risk with obstacles.

[0006] In a first aspect of an embodiment of the present invention, a detection method based on an ultrasonic sensor is provided, including: selecting at least one ultrasonic sensor as an active detection sensor from a plurality of ultrasonic sensors, and determining at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor; sending an ultrasonic detection signal through the active detection sensor; obtaining an active detection result of the active detection sensor and a passive detection result of the passive detection sensor; and determining a predicted area of a target obstacle according to the active detection result and the passive detection result.

[0007] In a feasible implementation manner, the determining the predicted area of the target obstacle according to the active detection result and the passive detection result includes: determining a candidate area where the target obstacle is located according to the active detection result and the passive detection result, where the candidate area includes at least one detection area; obtaining a current coordinate and a current speed of the target obstacle; determining an activity area of the target obstacle within a preset time period according to the current coordinate and the current speed; and generating the predicted area of the target obstacle according to the candidate area and the activity area.

[0008] In a feasible implementation manner, determining a candidate area where the target obstacle is located according to the active detection result and the passive detection result, the candidate area including at least one detection area, includes: when the active detection result is that a feedback signal is detected and the passive detection result is that no feedback signal is detected, determining the candidate area where the target obstacle is located as the first candidate area, where the first candidate area includes a first detection area and a second detection area of the active detection sensor; when the active detection result is that no feedback signal is detected and the passive detection result is that a feedback signal is detected, determining the candidate area where the target obstacle is located as the second candidate area, where the second candidate area includes a third detection area and a fourth detection area of the passive detection sensor; when the active detection result is that a feedback signal is detected and the passive detection result is that a feedback signal is detected, determining the candidate area where the target obstacle is located as the third candidate area, where the third candidate area includes an adjacent fifth detection area and a sixth detection area, the fifth detection area is adjacent to the first candidate area, and the sixth detection area is adjacent to the second candidate area.

[0009] In a feasible implementation manner, determining the activity area of the target obstacle within a preset time period according to the current coordinate and the current speed includes: when the current speed is less than a preset value, determining a vertical speed component of the target obstacle in the vertical direction and a horizontal speed component in the horizontal direction according to the current speed; calculating the predicted coordinate of the target obstacle according to the preset time period, the vertical speed component and the horizontal speed component; taking half of the distance between the current coordinate and the predicted coordinate as the major axis of the ellipse, and using a preset length as the minor axis to generate the activity area of the target obstacle.

[0010] In a feasible implementation manner, generating the predicted area of the target obstacle according to the candidate area and the activity area includes: calculating the distances between the center of the activity area and the active detection sensor and the passive detection sensor respectively to obtain an active measurement distance and a passive measurement distance; selecting the smaller one of the active measurement distance and the passive measurement distance as the minimum straight-line distance; determining a warning line segment perpendicular to the minimum straight-line distance on the edge of the activity area; drawing the warning line segment and the activity area in the candidate area to obtain the predicted area of the target obstacle.

[0011] In a feasible implementation manner, before selecting at least one ultrasonic sensor as the active detection sensor from multiple ultrasonic sensors, it further includes: obtaining the detection ranges of the multiple ultrasonic sensors and dividing them into multiple detection areas.

[0012] In a feasible implementation manner, obtaining the detection ranges of multiple ultrasonic sensors and dividing them into multiple detection areas includes: bisecting the detection range of each ultrasonic sensor to obtain two initial areas for each ultrasonic sensor, where the detection ranges of any two spaced ultrasonic sensors do not cross, the two spaced ultrasonic sensors are adjacent to the same ultrasonic sensor, and one initial area of any one ultrasonic sensor crosses one initial area of the adjacent ultrasonic sensor; bisecting each initial area of each ultrasonic sensor to obtain four detection areas for each ultrasonic sensor, and merging and removing duplicates from the four detection areas of each ultrasonic sensor to obtain multiple detection areas.

[0013] A second aspect of the embodiments of the present invention provides a detection device based on ultrasonic sensors, including: a selection module, configured to select at least one ultrasonic sensor from multiple ultrasonic sensors as an active detection sensor, and determine at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor; a sending module, configured to send an ultrasonic detection signal through the active detection sensor; an acquisition module, configured to acquire the active detection result of the active detection sensor and the passive detection result of the passive detection sensor; and a determination module, configured to determine a predicted area of a target obstacle according to the active detection result and the passive detection result.

[0014] In a feasible implementation manner, the determination module includes: a first determination unit, configured to determine a candidate area where the target obstacle is located according to the active detection result and the passive detection result, the candidate area including at least one detection area; an acquisition unit, configured to acquire the current coordinates and current speed of the target obstacle; a second determination unit, configured to determine an activity area of the target obstacle within a preset time period according to the current coordinates and the current speed; and a generation unit, configured to generate the predicted area of the target obstacle according to the candidate area and the activity area.

[0015] In a feasible implementation manner, the first determination unit is specifically configured to: when the active detection result is detecting a feedback signal and the passive detection result is not detecting a feedback signal, determine that the candidate area where the target obstacle is located is the first candidate area, where the first candidate area includes the first detection area and the second detection area of the active detection sensor; when the active detection result is not detecting a feedback signal and the passive detection result is detecting a feedback signal, determine that the candidate area where the target obstacle is located is the second candidate area, where the second candidate area includes the third detection area and the fourth detection area of the passive detection sensor; when the active detection result is detecting a feedback signal and the passive detection result is detecting a feedback signal, determine that the candidate area where the target obstacle is located is the third candidate area, where the third candidate area includes the adjacent fifth detection area and sixth detection area, the fifth detection area is adjacent to the first candidate area, and the sixth detection area is adjacent to the second candidate area.

[0016] In a feasible implementation manner, the second determination unit is specifically configured to: when the current speed is less than a preset value, determine the vertical speed component of the target obstacle in the vertical direction and the horizontal speed component in the horizontal direction according to the current speed; calculate the predicted coordinates of the target obstacle according to the preset duration, the vertical speed component and the horizontal speed component; use half of the distance between the current coordinates and the predicted coordinates as the major axis of the ellipse, and use a preset length as the minor axis to generate the activity area of the target obstacle.

[0017] In a feasible implementation manner, the generation unit is specifically configured to: calculate the distances between the center of the activity area and the active detection sensor and the passive detection sensor respectively to obtain the active measurement distance and the passive measurement distance; select the smaller one of the active measurement distance and the passive measurement distance as the minimum straight-line distance; determine a warning line segment perpendicular to the minimum straight-line distance on the edge of the activity area; draw the warning line segment and the activity area in the candidate area to obtain the predicted area of the target obstacle.

[0018] In a feasible implementation manner, the detection device based on an ultrasonic sensor further includes: an acquisition and division module, configured to acquire the detection ranges of multiple ultrasonic sensors and divide them into multiple detection areas.

[0019] In a feasible implementation manner, the obtaining and dividing module is specifically configured to: bisect the detection range of each ultrasonic sensor to obtain two initial regions of each ultrasonic sensor, where the detection ranges of any two spaced ultrasonic sensors do not cross, the two spaced ultrasonic sensors are adjacent to the same ultrasonic sensor, and one initial region of any one ultrasonic sensor crosses one initial region of an adjacent ultrasonic sensor; bisect each initial region of each ultrasonic sensor to obtain four detection regions of each ultrasonic sensor, and merge and deduplicate the four detection regions of each ultrasonic sensor to obtain a plurality of detection regions.

[0020] In a third aspect of the embodiments of the present invention, a detection device based on an ultrasonic sensor is provided. The detection device based on an ultrasonic sensor includes: a memory and at least one processor, and instructions are stored in the memory; the at least one processor calls the instructions in the memory to enable the detection device based on an ultrasonic sensor to execute the above-mentioned detection method based on an ultrasonic sensor.

[0021] In a fourth aspect of the present invention, a computer-readable storage medium is provided. Instructions are stored in the computer-readable storage medium, and when it runs on a computer, it enables the computer to execute the above-mentioned detection method based on an ultrasonic sensor.

[0022] In the technical solution provided by the embodiments of the present invention, at least one ultrasonic sensor is selected from multiple ultrasonic sensors as an active detection sensor, and at least one ultrasonic sensor adjacent to the active detection sensor is determined as a passive detection sensor; an ultrasonic detection signal is sent by the active detection sensor; an active detection result of the active detection sensor and a passive detection result of the passive detection sensor are obtained; a prediction area of a target obstacle is determined according to the active detection result and the passive detection result. In the embodiments of the present invention, by controlling the selected ultrasonic sensors to perform active detection respectively, then obtaining the active detection results of the selected ultrasonic sensors and the passive detections of the ultrasonic sensors adjacent to the selected ultrasonic sensors, and predicting the positioning area of the target obstacle according to the active detection result and the passive detection result, the accuracy of the positioning area of the obstacle is improved, and the collision risk with the obstacle is reduced. Description of the Drawings

[0023] Figure 1 It is a schematic diagram of an embodiment of the detection method based on an ultrasonic sensor in the embodiments of the present invention;

[0024] Figure 2 It is a schematic diagram of the horizontal view range of the ultrasonic sensor in the embodiments of the present invention;

[0025] Figure 3Schematic diagram of the vertical field of view of the ultrasonic sensor in the embodiment of the present invention;

[0026] Figure 4 Scene schematic diagram of the ultrasonic sensor and the target obstacle in the embodiment of the present invention;

[0027] Figure 5 Another embodiment schematic diagram of the detection method based on the ultrasonic sensor in the embodiment of the present invention;

[0028] Figure 6 Schematic diagram of the division of the field of view of the ultrasonic sensor in the embodiment of the present invention;

[0029] Figure 7 A scene schematic diagram of the prediction area in the embodiment of the present invention;

[0030] Figure 8 Another embodiment schematic diagram of the detection method based on the ultrasonic sensor in the embodiment of the present invention;

[0031] Figure 9 An embodiment schematic diagram of the detection device based on the ultrasonic sensor in the embodiment of the present invention;

[0032] Figure 10 An embodiment schematic diagram of the detection device based on the ultrasonic sensor in the embodiment of the present invention. Detailed implementation manners

[0033] The present invention provides a detection method, device, equipment and storage medium based on an ultrasonic sensor, which are used to improve the accuracy of the positioning area of an obstacle and reduce the collision risk with the obstacle.

[0034] Please refer to Figure 1 , the flowchart of the control method for simulating vehicle load provided by the embodiment of the present invention, which specifically includes:

[0035] 101. Select at least one ultrasonic sensor as the active detection sensor from multiple ultrasonic sensors, and determine at least one ultrasonic sensor adjacent to the active detection sensor as the passive detection sensor.

[0036] The server selects at least one ultrasonic sensor from multiple ultrasonic sensors as the active detection sensor, and determines at least one ultrasonic sensor adjacent to the active detection sensor as the passive detection sensor. The number of ultrasonic sensors is determined by the size of the vehicle and the size of the field of view of the ultrasonic sensors. Among them, the field of view of the ultrasonic sensors is pre-calibrated. The field of view of different types of ultrasonic sensors may be the same or different. In this embodiment, the ultrasonic sensors are of the same type. Therefore, the field of view of each ultrasonic sensor involved in the embodiments of the present invention is the same and has the same size of the field of view. When the detection direction of the ultrasonic sensor is set horizontally, the field of view in the horizontal direction is as shown in Figure 2 which shows an example of the detection range (Ultrasonic Sensor Field of View, USS FOV) of a complete ultrasonic sensor. Figure 3 Figure 4 is a top view schematic diagram of another detection range provided by the embodiments of the present invention, which shows the detection range of the ultrasonic sensor after rotating the detection range of the ultrasonic sensor shown in Figure 2 by 90°. At this time, the detection direction of the ultrasonic sensor is set vertically. In the embodiments of the present invention, the horizontal setting is taken as an example for illustration.

[0037] It should be noted that the height of the ultrasonic sensor on the vehicle needs to be set according to the actual situation of the vehicle, and the present invention does not make any restrictions.

[0038] It can be understood that the active detection sensor in the embodiments of the present invention is an ultrasonic sensor with the transmitting function turned on and the receiving function turned off, that is, when performing active detection, it only emits signals and does not receive signals; similarly, the passive detection sensor is an ultrasonic sensor with the transmitting function turned off and the receiving function turned on, that is, when performing passive detection, it only receives signals and does not emit signals.

[0039] 102. Send an ultrasonic detection signal through the active detection sensor.

[0040] The server controls the active detection sensor (that is, one or more selected ultrasonic sensors) to actively emit ultrasonic detection signals. When the number of ultrasonic sensors included in the active detection sensor is greater than or equal to two, there needs to be a gap of two ultrasonic sensors for passive detection between the two active detection sensors.

[0041] It is understandable that in a set of continuously arranged ultrasonic sensors, in order to ensure the uniqueness of the signal source, there need to be two passive detection ultrasonic sensors between every two actively detecting ultrasonic sensors. In this way, it can be ensured that the signals of the two actively detecting sensors do not interfere with each other, and the feedback signal received by the passive detection must be the detection signal emitted by the actively detecting sensor closest to it after being reflected by an object. For example, when there are six adjacent ultrasonic sensors, named 1-6 in sequence, 1 and 4 can be determined as the actively detecting sensors, and 2, 3, and 5 can be determined as the passive detection sensors to ensure that the ultrasonic wave emitted by the 1st actively detecting sensor is detected by the 2nd passive detection sensor and not detected by the 3rd passive detection sensor. At this time, the 6th ultrasonic sensor can turn off both the transmitting and receiving functions simultaneously; similarly, the ultrasonic wave emitted by the 4th actively detecting sensor is detected by the 3rd and 5th passive detection sensors and not detected by the 2nd passive detection sensor. Similarly, 2 and 5 can also be selected as the actively detecting sensors, and 1, 3, 4, and 6 can be determined as the passive detection sensors; or 3 and 6 can be determined as the actively detecting sensors, and 2, 4, and 5 can be determined as the passive detection sensors. At this time, the 1st ultrasonic sensor can turn off both the transmitting and receiving functions simultaneously.

[0042] It should be noted that the ultrasonic sensors in this embodiment have both transmitting and receiving functions. When used in sets on a vehicle, they need to transmit separately, otherwise the ultrasonic sensors cannot determine whether the received ultrasonic wave is emitted by themselves or other ultrasonic sensors.

[0043] 103. Obtain the active detection results of the actively detecting sensors and the passive detection results of the passive detection sensors.

[0044] The server obtains the active detection results of the actively detecting sensors and the passive detection results of the passive detection sensors. When the actively detecting sensor receives an electrical signal and emits a detection signal, it starts to receive the ultrasonic feedback signal. By the time difference Δt1 between the emitted detection signal and the received feedback signal and the speed of sound V S the distance L1 between the ultrasonic sensor U1 and the target obstacle P can be calculated, as Figure 4 shown, where L1 = Δt1 × V S / 2. This process is active detection. When the actively detecting sensor receives an electrical signal and emits a detection signal, the adjacent ultrasonic sensor can also receive the signal ultrasonic feedback signal. At this time, by the time difference Δt2 between the emitted detection signal and the received feedback signal and the speed of sound V S , the distance between the ultrasonic sensor U2 and the target obstacle P is calculated as L2, as Figure 4 shown, where L2 = Δt2 × V S-L1 = (Δt2 - Δt1 / 2) × V S , this process is passive detection.

[0045] 104. Determine the prediction area of the target obstacle according to the active detection result and the passive detection result.

[0046] Specifically, the server determines the prediction area of the target obstacle according to the active detection result and the passive detection result. The active detection result includes detecting a feedback signal and not detecting a feedback signal. Similarly, the passive detection result also includes detecting a feedback signal and not detecting a feedback signal. The active detection result and the passive detection result also include the coordinate calculation of the obstacle:

[0047] Using the principle of triangulation, according to the coordinates of U1, the coordinates of U2, L1 and L2, according to the formula L1 2 = (X1 - X n ) 2 + (Y1 - Y n ) 2 , L2 2 = (X2 - X n ) 2 + (Y2 - Y n ) 2 Calculate the current coordinates (X n , Y n ) of the target obstacle P.

[0048] In the embodiment of the present invention, by controlling the selected ultrasonic sensors to perform active detection respectively, and then obtaining the active detection results of the selected ultrasonic sensors and the passive detection of the ultrasonic sensors adjacent to the selected ultrasonic sensors, according to the active detection results and the passive detection results, the positioning area of the target obstacle is predicted, improving the accuracy of the positioning area of the obstacle and reducing the collision risk with the obstacle.

[0049] Please refer to Figure 5 , another flowchart of the detection method based on ultrasonic sensors provided by the embodiment of the present invention, specifically including:

[0050] 501. Select at least one ultrasonic sensor as the active detection sensor from multiple ultrasonic sensors, and determine at least one ultrasonic sensor adjacent to the active detection sensor as the passive detection sensor.

[0051] The server selects at least one ultrasonic sensor from multiple ultrasonic sensors as the active detection sensor, and determines at least one ultrasonic sensor adjacent to the active detection sensor as the passive detection sensor. The number of ultrasonic sensors is determined by the size of the vehicle and the size of the field of view of the ultrasonic sensors. Among them, the field of view of the ultrasonic sensors is pre-calibrated. The field of view of different types of ultrasonic sensors may be the same or different. In this embodiment, the ultrasonic sensors are of the same type. Therefore, the field of view of each ultrasonic sensor involved in the embodiments of the present invention is the same, with the same size of the field of view. When the detection direction of the ultrasonic sensor is set horizontally, the field of view in the horizontal direction is as Figure 2 shown, which shows an example of the detection range (Ultrasonic Sensor Field of View, USS FOV) of a complete ultrasonic sensor. Figure 3 is a top view schematic diagram of another detection range provided by the embodiments of the present invention, which shows Figure 2 the detection range of the ultrasonic sensor after rotating the detection range of the ultrasonic sensor shown in Figure 90°, and at this time the detection direction of the ultrasonic sensor is set vertically. In the embodiments of the present invention, the horizontal setting is taken as an example for description.

[0052] It should be noted that the height of the ultrasonic sensor on the vehicle needs to be set according to the actual situation of the vehicle, and the present invention does not make any restrictions.

[0053] 502. Send an ultrasonic detection signal through the active detection sensor.

[0054] The server actively emits an ultrasonic detection signal by controlling the active detection sensor (that is, one or more selected ultrasonic sensors). When the number of ultrasonic sensors included in the active detection sensor is greater than or equal to two, there needs to be a gap of two ultrasonic sensors for passive detection between the two active detection sensors.

[0055] It can be understood that in a group of continuously arranged ultrasonic sensors, to ensure the uniqueness of the signal source, there need to be two passive detection ultrasonic sensors between every two active detection ultrasonic sensors. In this way, it can be ensured that the signals of the two active detection sensors will not interfere with each other, and the feedback signal received by the passive detection must be the detection signal emitted by the active detection sensor closest to it after being reflected by an object.

[0056] It should be noted that the ultrasonic sensor in this embodiment has both the functions of transmitting and receiving. When used in a set on a vehicle, they need to be separated for transmission, otherwise the ultrasonic sensor cannot determine whether the received ultrasonic wave is emitted by itself or other ultrasonic sensors.

[0057] 503. Obtain the active detection results of the active detection sensor and the passive detection results of the passive detection sensor.

[0058] The server obtains the active detection results of the active detection sensor and the passive detection results of the passive detection sensor. When the active detection sensor receives an electrical signal and emits a detection signal, it starts to receive an ultrasonic feedback signal. By the time difference Δt1 between the emitted detection signal and the received feedback signal and the speed of sound V S The distance L1 between the ultrasonic sensor U1 and the target obstacle P can be calculated, as Figure 4 shown, where L1 = Δt1 × V S / 2. This process is active detection. When the active detection sensor receives an electrical signal and emits a detection signal, the adjacent ultrasonic sensor can also receive the ultrasonic feedback signal. At this time, by the time difference Δt2 between the emitted detection signal and the received feedback signal and the speed of sound V S , the distance between the ultrasonic sensor U2 and the target obstacle P is calculated as L2, as Figure 4 shown, where L2 = Δt2 × V S -L1 = (Δt2 - Δt1 / 2) × V S . This process is passive detection.

[0059] 504. Determine the candidate area where the target obstacle is located according to the active detection result and the passive detection result. The candidate area includes at least one detection area.

[0060] Specifically, when the active detection result is that a feedback signal is detected and the passive detection result is that no feedback signal is detected, the server determines that the candidate area where the target obstacle is located is the first candidate area, where the first candidate area includes the first detection area and the second detection area of the active detection sensor; when the active detection result is that no feedback signal is detected and the passive detection result is that a feedback signal is detected, the server determines that the candidate area where the target obstacle is located is the second candidate area, where the second candidate area includes the third detection area and the fourth detection area of the passive detection sensor; when the active detection result is that a feedback signal is detected and the passive detection result is that a feedback signal is detected, the server determines that the candidate area where the target obstacle is located is the third candidate area, where the third candidate area includes the adjacent fifth detection area and sixth detection area, the fifth detection area is adjacent to the first candidate area, and the sixth detection area is adjacent to the second candidate area.

[0061] For example, as Figure 6As shown in the figure, assume that at this time, U1 performs active detection, U2 performs passive detection, U0 is on the right side of U1, and U3 is on the left side of U2. When U1 detects a feedback signal and U2 does not detect a feedback signal, the server determines that the candidate area where the target obstacle P is located is the first candidate area, where the first candidate area includes the first detection area V1R and the second detection area V0L of the active detection sensor; when U1 does not detect a feedback signal and U2 detects a feedback signal, the server determines that the candidate area where the target obstacle P is located is the second candidate area, where the second candidate area includes the third detection area V2L and the fourth detection area V3R of the passive detection sensor; when U1 detects a feedback signal and U2 detects a feedback signal, the server determines that the candidate area where the target obstacle P is located is the third candidate area, where the third candidate area includes the adjacent fifth detection area V1L and the sixth detection area V2R, the fifth detection area V1L is adjacent to the first candidate area, and the sixth detection area V2R is adjacent to the second candidate area.

[0062] 505. Obtain the current coordinates and current speed of the target obstacle.

[0063] The server obtains the current coordinates and current speed of the target obstacle. Specifically, the server uses the principle of triangulation. According to the coordinates of U1, the coordinates of U2, L1, and L2, according to the formula L1 2 =(X1 - X n ) 2 +(Y1 - Y n ) 2 , L2 2 =(X2 - X n ) 2 +(Y2 - Y n ) 2 calculate the current coordinates (X n , Y n ) of the target obstacle P. The server calculates the current speed of the target obstacle through multiple measurements.

[0064] 506. Determine the activity area of the target obstacle within a preset time period according to the current coordinates and current speed.

[0065] Specifically, when the current speed of the target obstacle is less than the preset value, the server determines the vertical speed component of the target obstacle in the vertical direction and the horizontal speed component in the horizontal direction according to the current speed; the server calculates the predicted coordinates of the target obstacle according to the preset time period, the vertical speed component, and the horizontal speed component; the server takes half of the distance between the current coordinates and the predicted coordinates as the major axis of the ellipse, and uses the preset length as the minor axis of the ellipse to generate the activity area of the target obstacle.

[0066] 507. Generate the predicted area of the target obstacle according to the candidate area and the activity area.

[0067] Specifically, the server calculates the distances between the center of the active area and the active detection sensor and the passive detection sensor respectively to obtain the active measurement distance and the passive measurement distance; the server selects the smaller one of the active measurement distance and the passive measurement distance as the minimum straight-line distance; the server determines a warning line segment perpendicular to the minimum straight-line distance on the edge of the active area; the server draws the warning line segment and the active area in the candidate area to obtain the predicted area of the target obstacle.

[0068] For example, as Figure 7 shown, the active area of the target obstacle is an elliptical area, and the distance to U1 is closer. Therefore, in the direction perpendicular to the straight-line distance between the target obstacle and U1, a warning line segment is drawn within the candidate area, and then the warning line segment L, the active area, and the current detection area V1L are drawn as a whole.

[0069] In the embodiment of the present invention, by controlling the selected ultrasonic sensors to perform active detection respectively, and then obtaining the active detection results of the selected ultrasonic sensors and the passive detection of the ultrasonic sensors adjacent to the selected ultrasonic sensors, and predicting the positioning area of the target obstacle according to the active detection results and the passive detection results, the accuracy of the positioning area of the obstacle is improved, and the collision risk with the obstacle is reduced.

[0070] Please refer to Figure 8 , another flowchart of the detection method based on ultrasonic sensors provided by the embodiment of the present invention, specifically including:

[0071] 801. Obtain the detection ranges of multiple ultrasonic sensors and divide them into multiple detection areas.

[0072] Specifically, the server bisects the detection range of each ultrasonic sensor to obtain two initial areas for each ultrasonic sensor. Among them, the detection ranges of any two spaced ultrasonic sensors do not cross, two spaced ultrasonic sensors are adjacent to the same ultrasonic sensor, and one initial area of any one ultrasonic sensor crosses one initial area of the adjacent ultrasonic sensor; the server bisects each initial area of each ultrasonic sensor to obtain four detection areas for each ultrasonic sensor, and merges and de-duplicates the four detection areas of each ultrasonic sensor to obtain multiple detection areas. For example, as Figure 6As shown in FIGS. 6 or 7, the two initial regions of U1 are named U1L and U1R. After U1R is bisected, a first detection region V1R and a second detection region V0L are obtained; the two initial regions of U2 are named U2L and U2R. After U2L is bisected, a third detection region V2L and a fourth detection region V3R are obtained; the detection regions after bisecting U2R and U1L overlap, and are named a fifth detection region V1L and a sixth detection region V2R. Among them, the fifth detection region V1L is adjacent to the first detection region V1R in the first candidate region, and the sixth detection region V2R is adjacent to the third detection region V2L in the second candidate region.

[0073] It should be noted that in this embodiment, the FOV of the ultrasonic sensor can be divided into 4 parts, and each part is used as a detection region, so as to determine which specific divided region it is located in, and realize more accurate regional positioning.

[0074] 802. Select at least one ultrasonic sensor as an active detection sensor among multiple ultrasonic sensors, and determine at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor.

[0075] The server selects at least one ultrasonic sensor as an active detection sensor among multiple ultrasonic sensors, and determines at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor. The number of ultrasonic sensors is determined by the size of the vehicle and the size of the field of view of the ultrasonic sensor. Among them, the field of view of the ultrasonic sensor is pre-calibrated. The field of view of different types of ultrasonic sensors may be the same or different. In this embodiment, the ultrasonic sensors are of the same type. Therefore, the field of view of each ultrasonic sensor involved in the embodiments of the present invention is the same, with the same field of view size. When the detection direction of the ultrasonic sensor is set horizontally, the field of view in the horizontal direction is as Figure 2 shown, which shows an example of the detection range (Ultrasonic Sensor Field of View, USS FOV) of a complete ultrasonic sensor. Figure 3 This is a top view schematic diagram of another detection range provided by the embodiment of the present invention, which shows Figure 2 the detection range of the ultrasonic sensor after rotating the detection range of the ultrasonic sensor shown in FIG. 90°, and at this time the detection direction of the ultrasonic sensor is set vertically. In the embodiments of the present invention, the horizontal setting is taken as an example for description.

[0076] It should be noted that the height of the ultrasonic sensor on the vehicle needs to be set according to the actual situation of the vehicle, and the present invention does not make any restrictions.

[0077] 803. Send an ultrasonic detection signal through the active detection sensor.

[0078] The server actively emits ultrasonic detection signals by controlling the active detection sensors (i.e., one or more selected ultrasonic sensors). When the number of ultrasonic sensors included in the active detection sensors is greater than or equal to two, there needs to be a gap of two ultrasonic sensors for passive detection between two active detection sensors.

[0079] It can be understood that in a group of continuously arranged ultrasonic sensors, to ensure the uniqueness of the signal source, there need to be two passive detection ultrasonic sensors between every two active detection ultrasonic sensors. In this way, it can be ensured that the signals of two active detection sensors will not interfere with each other, and the feedback signal received by passive detection must be the detection signal emitted by the active detection sensor closest to it after being reflected by an object.

[0080] It should be noted that the ultrasonic sensors in this embodiment have both transmission and reception functions. When used in sets on a vehicle, they need to be separated for transmission, otherwise the ultrasonic sensor cannot determine whether the received ultrasonic wave is emitted by itself or by other ultrasonic sensors.

[0081] 804. Obtain the active detection results of the active detection sensors and the passive detection results of the passive detection sensors.

[0082] The server obtains the active detection results of the active detection sensors and the passive detection results of the passive detection sensors. After the active detection sensor receives an electrical signal and emits a detection signal, it starts to receive the ultrasonic feedback signal. By the time difference Δt1 between emitting the detection signal and receiving the feedback signal and the speed of sound V S the distance L1 between the ultrasonic sensor U1 and the target obstacle P can be calculated, as Figure 4 shown, where L1 = Δt1 × V S / 2. This process is active detection. After the active detection sensor receives an electrical signal and emits a detection signal, the adjacent ultrasonic sensor can also receive the signal ultrasonic feedback signal. At this time, by the time difference Δt2 between emitting the detection signal and receiving the feedback signal and the speed of sound V S the distance between the ultrasonic sensor U2 and the target obstacle P is calculated as L2, as Figure 4 shown, where L2 = Δt2 × V S -L1 = (Δt2 - Δt1 / 2) × V S This process is passive detection.

[0083] 805. Determine the candidate area where the target obstacle is located according to the active detection results and the passive detection results. The candidate area includes at least one detection area.

[0084] Specifically, when the active detection result is that a feedback signal is detected and the passive detection result is that no feedback signal is detected, the server determines that the candidate area where the target obstacle is located is the first candidate area, where the first candidate area includes the first detection area and the second detection area of the active detection sensor; when the active detection result is that no feedback signal is detected and the passive detection result is that a feedback signal is detected, the server determines that the candidate area where the target obstacle is located is the second candidate area, where the second candidate area includes the third detection area and the fourth detection area of the passive detection sensor; when the active detection result is that a feedback signal is detected and the passive detection result is that a feedback signal is detected, the server determines that the candidate area where the target obstacle is located is the third candidate area, where the third candidate area includes the adjacent fifth detection area and sixth detection area, the fifth detection area is adjacent to the first candidate area, and the sixth detection area is adjacent to the second candidate area.

[0085] For example, as Figure 6 shown, assume that at this time, U1 performs active detection and U2 performs passive detection. To the right of U1 is U0, and to the left of U2 is U3. When U1 detects a feedback signal and U2 does not detect a feedback signal, the server determines that the candidate area where the target obstacle P is located is the first candidate area, where the first candidate area includes the first detection area V1R and the second detection area V0L of the active detection sensor; when U1 does not detect a feedback signal and U2 detects a feedback signal, the server determines that the candidate area where the target obstacle P is located is the second candidate area, where the second candidate area includes the third detection area V2L and the fourth detection area V3R of the passive detection sensor; when U1 detects a feedback signal and U2 detects a feedback signal, the server determines that the candidate area where the target obstacle P is located is the third candidate area, where the third candidate area includes the adjacent fifth detection area V1L and sixth detection area V2R, the fifth detection area V1L is adjacent to the first candidate area, and the sixth detection area V2R is adjacent to the second candidate area.

[0086] 806. Obtain the current coordinates and current speed of the target obstacle.

[0087] The server obtains the current coordinates and current speed of the target obstacle. Specifically, the server uses the principle of triangulation positioning. Based on the coordinates of U1, the coordinates of U2, L1, and L2, according to the formula L1 2 =(X1 - X n ) 2 +(Y1 - Y n ) 2 , L2 2 =(X2 - X n ) 2 +(Y2 - Y n ) 2 calculate to obtain the current coordinates (Xn , Y n ). The server calculates the current speed of the target obstacle through multiple measurements.

[0088] 807. Determine the activity area of the target obstacle within a preset time period according to the current coordinates and the current speed.

[0089] Specifically, when the current speed of the target obstacle is less than the preset value, the server determines the vertical speed component of the target obstacle in the vertical direction and the horizontal speed component in the horizontal direction according to the current speed; the server calculates the predicted coordinates of the target obstacle according to the preset time period, the vertical speed component and the horizontal speed component; the server takes half of the distance between the current coordinates and the predicted coordinates as the major axis of the ellipse, and takes the preset length as the minor axis of the ellipse to generate the activity area of the target obstacle.

[0090] 808. Generate the predicted area of the target obstacle according to the candidate area and the activity area.

[0091] Specifically, the server calculates the distances between the center of the activity area and the active detection sensor and the passive detection sensor respectively to obtain the active measurement distance and the passive measurement distance; the server selects the smaller one of the active measurement distance and the passive measurement distance as the minimum straight-line distance; the server determines the warning line segment perpendicular to the minimum straight-line distance on the edge of the activity area; the server draws the warning line segment and the activity area in the candidate area to obtain the predicted area of the target obstacle.

[0092] For example, as Figure 7 shown, the activity area of the target obstacle is an elliptical area, and the distance to U1 is closer. Therefore, in the direction perpendicular to the straight-line distance between the target obstacle and U1, draw the warning line segment within the candidate area without exceeding it, and then draw the warning line segment L, the activity area, and the current detection area V1L as a whole.

[0093] In the embodiment of the present invention, by controlling the selected ultrasonic sensors to perform active detection respectively, and then obtaining the active detection results of the selected ultrasonic sensors and the passive detection of the ultrasonic sensors adjacent to the selected ultrasonic sensors, and predicting the positioning area of the target obstacle according to the active detection results and the passive detection results, the accuracy of the positioning area of the obstacle is improved, and the collision risk with the obstacle is reduced.

[0094] The detection method based on ultrasonic sensors in the embodiment of the present invention has been described above. Next, the detection device based on ultrasonic sensors in the embodiment of the present invention will be described. Please refer to Figure 9 , an embodiment of the detection device based on ultrasonic sensors in the embodiment of the present invention includes:

[0095] A selection module 901, configured to select at least one ultrasonic sensor from multiple ultrasonic sensors as an active detection sensor, and determine at least one ultrasonic sensor adjacent to the active detection sensor as a passive detection sensor;

[0096] A sending module 902, configured to send an ultrasonic detection signal through the active detection sensor;

[0097] An acquisition module 903, configured to acquire the active detection result of the active detection sensor and the passive detection result of the passive detection sensor;

[0098] A determination module 904, configured to determine a predicted area of a target obstacle according to the active detection result and the passive detection result.

[0099] Optionally, the determination module 904 includes:

[0100] A first determination unit 9041, configured to determine a candidate area where the target obstacle is located according to the active detection result and the passive detection result, where the candidate area includes at least one detection area;

[0101] An acquisition unit 9042, configured to acquire the current coordinates and the current speed of the target obstacle;

[0102] A second determination unit 9043, configured to determine an activity area of the target obstacle within a preset time period according to the current coordinates and the current speed;

[0103] A generation unit 9044, configured to generate the predicted area of the target obstacle according to the candidate area and the activity area.

[0104] Optionally, the first determination unit 9041 is specifically configured to:

[0105] When the active detection result is that a feedback signal is detected and the passive detection result is that no feedback signal is detected, determine the candidate area where the target obstacle is located as a first candidate area, where the first candidate area includes a first detection area and a second detection area of the active detection sensor;

[0106] When the active detection result is that no feedback signal is detected and the passive detection result is that a feedback signal is detected, determine the candidate area where the target obstacle is located as a second candidate area, where the second candidate area includes a third detection area and a fourth detection area of the passive detection sensor;

[0107] When the active detection result is detecting a feedback signal and the passive detection result is detecting a feedback signal, determine that the candidate area where the target obstacle is located is the third candidate area, where the third candidate area includes adjacent fifth detection areas and sixth detection areas, the fifth detection area is adjacent to the first candidate area, and the sixth detection area is adjacent to the second candidate area.

[0108] Optionally, the second determination unit 9043 is specifically configured to:

[0109] When the current speed is less than a preset value, determine the vertical speed component of the target obstacle in the vertical direction and the horizontal speed component in the horizontal direction according to the current speed;

[0110] Calculate the predicted coordinates of the target obstacle according to the preset duration, the vertical speed component, and the horizontal speed component;

[0111] Take half of the distance between the current coordinates and the predicted coordinates as the major axis of the ellipse, and use the preset length as the minor axis of the ellipse to generate the activity area of the target obstacle.

[0112] Optionally, the generation unit 9044 is specifically configured to:

[0113] Calculate the distances between the center of the activity area and the active detection sensor and the passive detection sensor respectively to obtain the active measurement distance and the passive measurement distance;

[0114] Select the smaller of the active measurement distance and the passive measurement distance as the minimum straight-line distance;

[0115] Determine a warning line segment perpendicular to the minimum straight-line distance on the edge of the activity area;

[0116] Draw the warning line segment and the activity area in the candidate area to obtain the predicted area of the target obstacle.

[0117] Optionally, the detection device based on ultrasonic sensors further includes:

[0118] An acquisition and division module 905 for acquiring the detection ranges of multiple ultrasonic sensors and dividing them into multiple detection areas.

[0119] Optionally, the acquisition and division module 905 is specifically configured to:

[0120] Bisect the detection range of each ultrasonic sensor to obtain two initial regions for each ultrasonic sensor. Among them, the detection ranges of any two spaced ultrasonic sensors do not cross, the two spaced ultrasonic sensors are adjacent to the same ultrasonic sensor, and one initial region of any one ultrasonic sensor crosses one initial region of the adjacent ultrasonic sensor.

[0121] Bisect each initial region of each ultrasonic sensor to obtain four detection regions for each ultrasonic sensor, and merge and de-duplicate the four detection regions of each ultrasonic sensor to obtain multiple detection regions.

[0122] In an embodiment of the present invention, by controlling the selected ultrasonic sensors to perform active detection respectively, then obtaining the active detection results of the selected ultrasonic sensors and the passive detection of the ultrasonic sensors adjacent to the selected ultrasonic sensors, and predicting the positioning region of the target obstacle according to the active detection results and the passive detection results, the accuracy of the positioning region of the obstacle is improved, and the collision risk with the obstacle is reduced.

[0123] Figure 10 FIG. 10 is a schematic structural diagram of a detection device based on ultrasonic sensors provided by an embodiment of the present invention. The detection device 1000 based on ultrasonic sensors may vary greatly due to configuration or performance differences, and may include one or more processors (central processing units, CPU) 1010 (for example, one or more processors) and a memory 1020, and one or more storage media 1030 for storing application programs 1033 or data 1032 (for example, one or more mass storage devices). Among them, the memory 1020 and the storage medium 1030 may be transient storage or persistent storage. The program stored in the storage medium 1030 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations on the detection device 1000 based on ultrasonic sensors. Further, the processor 1010 may be configured to communicate with the storage medium 1030 and execute a series of instruction operations in the storage medium 1030 on the detection device 1000 based on ultrasonic sensors.

[0124] The detection device 1000 based on ultrasonic sensors may further include one or more power supplies 1040, one or more wired or wireless network interfaces 1050, one or more input / output interfaces 1060, and / or one or more operating systems 1031, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art can understand. Figure 10The shown structure of the ultrasonic sensor-based detection device does not limit the ultrasonic sensor-based detection device, and it may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0125] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions run on a computer, the computer is caused to execute the steps of the ultrasonic sensor-based detection method.

[0126] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0127] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0128] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A detection method based on an ultrasonic sensor, characterized in that Including: Select at least one ultrasonic sensor from multiple ultrasonic sensors as the active detection sensor, and determine at least one ultrasonic sensor adjacent to the active detection sensor as the passive detection sensor; Send an ultrasonic detection signal through the active detection sensor; Obtain the active detection result of the active detection sensor and the passive detection result of the passive detection sensor; Determine the prediction area of the target obstacle according to the active detection result and the passive detection result; The determining the prediction area of the target obstacle according to the active detection result and the passive detection result includes: Determine the candidate area where the target obstacle is located according to the active detection result and the passive detection result, and the candidate area includes at least one detection area; Obtain the current coordinates and current speed of the target obstacle; Determine the activity area of the target obstacle within a preset time according to the current coordinates and the current speed; Generate the prediction area of the target obstacle according to the candidate area and the activity area; The determining the candidate area where the target obstacle is located according to the active detection result and the passive detection result, and the candidate area includes at least one detection area, includes: When the active detection result is detecting a feedback signal and the passive detection result is not detecting a feedback signal, determine the candidate area where the target obstacle is located as the first candidate area, where the first candidate area includes the first detection area and the second detection area of the active detection sensor; When the active detection result is not detecting a feedback signal and the passive detection result is detecting a feedback signal, determine the candidate area where the target obstacle is located as the second candidate area, where the second candidate area includes the third detection area and the fourth detection area of the passive detection sensor; When the active detection result is detecting a feedback signal and the passive detection result is detecting a feedback signal, determine the candidate area where the target obstacle is located as the third candidate area, where the third candidate area includes the adjacent fifth detection area and sixth detection area, the fifth detection area is adjacent to the first candidate area, and the sixth detection area is adjacent to the second candidate area.

2. The detection method based on an ultrasonic sensor according to claim 1, wherein, The determining the activity area of the target obstacle within a preset time according to the current coordinates and the current speed includes: When the current speed is less than the preset value, determine the vertical speed component of the target obstacle in the vertical direction and the horizontal speed component in the horizontal direction according to the current speed; Calculate the predicted coordinates of the target obstacle according to the preset time, the vertical speed component and the horizontal speed component; Take half of the distance between the current coordinates and the predicted coordinates as the major axis of the ellipse, and take the preset length as the minor axis of the ellipse to generate the activity area of the target obstacle.

3. The detection method based on an ultrasonic sensor according to claim 1, characterized in that, The generating the prediction area of the target obstacle according to the candidate area and the activity area includes: Calculate the distances between the center of the activity area and the active detection sensor and the passive detection sensor respectively to obtain the active measurement distance and the passive measurement distance; Select the smaller value between the active measurement distance and the passive measurement distance as the minimum straight-line distance; Determine a warning line segment perpendicular to the minimum straight-line distance on the edge of the active area; Draw the warning line segment and the active area in the candidate area to obtain the predicted area of the target obstacle.

4. The detection method based on an ultrasonic sensor according to any one of claims 1-3, characterized in that Before selecting at least one ultrasonic sensor as the active detection sensor from multiple ultrasonic sensors, it further includes: Obtain the detection ranges of multiple ultrasonic sensors and divide them into multiple detection areas.

5. The detection method based on an ultrasonic sensor according to claim 4, characterized in that, The obtaining the detection ranges of multiple ultrasonic sensors and dividing them into multiple detection areas includes: Bisect the detection range of each ultrasonic sensor to obtain two initial areas for each ultrasonic sensor. Among them, the detection ranges of any two spaced ultrasonic sensors do not cross, the two spaced ultrasonic sensors are adjacent to the same ultrasonic sensor, and one initial area of any one ultrasonic sensor crosses one initial area of the adjacent ultrasonic sensor; Bisect each initial area of each ultrasonic sensor to obtain four detection areas for each ultrasonic sensor, and merge and deduplicate the four detection areas of each ultrasonic sensor to obtain multiple detection areas.

6. A detection device based on an ultrasonic sensor, characterized in that, It includes: A selection module, configured to select at least one ultrasonic sensor from multiple ultrasonic sensors as the active detection sensor, and determine at least one ultrasonic sensor adjacent to the active detection sensor as the passive detection sensor; A sending module, configured to send an ultrasonic detection signal through the active detection sensor; An acquisition module, configured to acquire the active detection result of the active detection sensor and the passive detection result of the passive detection sensor; A determination module, configured to determine the predicted area of the target obstacle according to the active detection result and the passive detection result; The determination module includes: a first determination unit, configured to determine the candidate area where the target obstacle is located according to the active detection result and the passive detection result, the candidate area includes at least one detection area; an acquisition unit, configured to acquire the current coordinates and the current speed of the target obstacle; a second determination unit, configured to determine the active area of the target obstacle within a preset time period according to the current coordinates and the current speed; a generation unit, configured to generate the predicted area of the target obstacle according to the candidate area and the active area; The first determination unit is specifically configured to: when the active detection result is that a feedback signal is detected and the passive detection result is that no feedback signal is detected, determine that the candidate area where the target obstacle is located is the first candidate area, where the first candidate area includes the first detection area and the second detection area of the active detection sensor; when the active detection result is that no feedback signal is detected and the passive detection result is that a feedback signal is detected, determine that the candidate area where the target obstacle is located is the second candidate area, where the second candidate area includes the third detection area and the fourth detection area of the passive detection sensor; when the active detection result is that a feedback signal is detected and the passive detection result is that a feedback signal is detected, determine that the candidate area where the target obstacle is located is the third candidate area, where the third candidate area includes the adjacent fifth detection area and sixth detection area, the fifth detection area is adjacent to the first candidate area, and the sixth detection area is adjacent to the second candidate area.

7. The detection device based on an ultrasonic sensor according to claim 6, wherein The second determination unit is specifically configured to: when the current speed is less than a preset value, determine the vertical speed component of the target obstacle in the vertical direction and the horizontal speed component in the horizontal direction according to the current speed; calculate the predicted coordinates of the target obstacle according to the preset duration, the vertical speed component and the horizontal speed component; use half of the distance between the current coordinates and the predicted coordinates as the major axis of the ellipse, and use a preset length as the minor axis to generate the activity area of the target obstacle.

8. The detection device based on an ultrasonic sensor according to claim 6, wherein The generation unit is specifically configured to: calculate the distances between the center of the activity area and the active detection sensor and the passive detection sensor respectively to obtain the active measurement distance and the passive measurement distance; select the smaller one of the active measurement distance and the passive measurement distance as the minimum straight-line distance; determine a warning line segment perpendicular to the minimum straight-line distance on the edge of the activity area; draw the warning line segment and the activity area in the candidate area to obtain the predicted area of the target obstacle.

9. A detection device based on an ultrasonic sensor, characterized in that, The detection device based on ultrasonic sensors includes: a memory and at least one processor, instructions are stored in the memory, and the memory and the at least one processor are interconnected by a line; The at least one processor invokes the instructions in the memory so that the detection device based on ultrasonic sensors executes the method for detecting based on ultrasonic sensors according to any one of claims 1-5.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions, and when the instructions are executed by a processor, the method for detecting based on ultrasonic sensors according to any one of claims 1-5 is implemented.

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