Obstacle detection method, device, terminal equipment and storage medium

Abstract

Embodiments of the present invention disclose an obstacle detection method, apparatus, terminal device, and storage medium. The method includes configuring two adjacent ultrasonic probes into a single probe module; controlling the two ultrasonic probes in each probe module to simultaneously transmit an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range, respectively, so that the ultrasonic probes receive corresponding ultrasonic reflection signals; and after the two ultrasonic probes in all probe modules have received all ultrasonic reflection signals, calculating the nearest obstacle based on the ultrasonic reflection signals received by each ultrasonic probe in each probe module and issuing an alarm. By configuring two adjacent ultrasonic probes into a single probe module and controlling the two ultrasonic probes in each probe module to simultaneously transmit an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range, the present invention solves the technical problem of slow response speed of reversing radars in the prior art.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of obstacle detection, and in particular to an obstacle detection method, apparatus, terminal device, and storage medium. Background Art

[0002] With the development of automotive technology and the economy, cars are becoming increasingly popular, and driving safety is attracting increasing attention from users. To improve driving safety, most cars are now equipped with assisted driving systems. Reversing radar is a key component of assisted driving systems. It is used to detect obstacles around the car when reversing, thereby avoiding collisions.

[0003] However, most parking sensors currently on the market use ultrasonic probes. When operating, ultrasonic probes emit ultrasonic waves at a fixed frequency to detect obstacles. However, due to co-frequency interference between ultrasonic waves, ultrasonic probes must use a self-transmitting and self-receiving method, or a self-transmitting and receiving method, to detect obstacles one by one. Each ultrasonic probe is driven to detect obstacles until the last ultrasonic probe completes its work. The distance to the nearest obstacle is then determined, an alarm is issued, and the next round of obstacle detection can begin.

[0004] However, this detection method carries the risk of co-frequency interference during the detection process. Furthermore, since ultrasonic probes are required to take turns detecting, the detection cycle is long and the response time is slow. This significantly impacts the user experience when there are multiple ultrasonic probes on a car. Summary of the Invention

[0005] The embodiments of the present invention provide an obstacle detection method, apparatus, terminal device, and storage medium, which solve the technical problem of slow response speed of reversing radar in the prior art.

[0006] In a first aspect, an embodiment of the present invention provides an obstacle detection method, comprising the following steps:

[0007] Two adjacent ultrasonic probes are set as one probe module;

[0008] Controlling the two ultrasonic probes of each probe module to simultaneously transmit an up-conversion ultrasonic signal and a down-conversion ultrasonic signal within a preset bandwidth range, so that the ultrasonic probe receives a corresponding ultrasonic reflection signal;

[0009] After the two ultrasonic probes of all probe modules have received all ultrasonic reflection signals, the nearest obstacle is calculated based on the ultrasonic reflection signals received by each ultrasonic probe in each probe module and an alarm is issued.

[0010] Preferably, the lowest frequency of the preset bandwidth range is the first frequency, and the highest frequency is the second frequency.

[0011] Preferably, the specific process of controlling the two ultrasonic probes of each probe module to simultaneously send an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range is as follows:

[0012] Simultaneously controlling one ultrasonic probe in each of the probe modules to start transmitting a first ultrasonic signal with an increasing frequency using the first frequency as the initial frequency until the frequency of the first ultrasonic signal reaches a second frequency;

[0013] At the same time, another ultrasonic probe in each of the probe modules is controlled to use the second frequency as the initial frequency to start sending a second ultrasonic signal with a decreasing frequency until the frequency of the second ultrasonic signal reaches the first frequency.

[0014] Preferably, the specific process of controlling the two ultrasonic probes of each probe module to simultaneously send an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range is as follows:

[0015] Traverse each probe module in turn. For the two ultrasonic probes of the currently traversed probe module, control one ultrasonic probe to use the first frequency as the initial frequency to start sending the first ultrasonic signal with an increasing frequency until the frequency of the first ultrasonic signal reaches the second frequency; at the same time, control the other ultrasonic probe to use the second frequency as the initial frequency to start sending the second ultrasonic signal with a decreasing frequency until the frequency of the second ultrasonic signal reaches the first frequency. After the two ultrasonic probes in the currently traversed probe module have received all the ultrasonic reflection signals, traverse the next probe module until all the probe modules are traversed.

[0016] Preferably, the up-conversion bandwidths between two adjacent first ultrasonic signals are equal, and the down-conversion bandwidths between two adjacent second ultrasonic signals are equal.

[0017] Preferably, the value of the up-conversion bandwidth is equal to the value of the down-conversion bandwidth.

[0018] Preferably, the specific process of calculating the nearest obstacle and issuing an alarm based on the ultrasonic reflection signal received by each ultrasonic probe in each probe module is as follows:

[0019] Calculating the distance of the obstacle detected by each ultrasonic probe in each probe module;

[0020] Determine the distance with the smallest value from all distances and issue an alarm.

[0021] In a second aspect, an embodiment of the present invention provides an obstacle detection device, comprising a module setting module, a module control module, and a distance calculation module;

[0022] The module setting module is used to set two adjacent ultrasonic probes into one probe module;

[0023] The module control module is used to control the two ultrasonic probes of each probe module to simultaneously send an up-conversion ultrasonic signal and a down-conversion ultrasonic signal within a preset bandwidth range, so that the ultrasonic probe receives the corresponding ultrasonic reflection signal;

[0024] The distance calculation module is used to calculate the nearest obstacle and issue an alarm based on the ultrasonic reflection signal received by each ultrasonic probe in each probe module after the two ultrasonic probes of all probe modules have received all ultrasonic reflection signals.

[0025] In a third aspect, an embodiment of the present invention provides a terminal device, the terminal device including a processor and a memory;

[0026] The memory is used to store a computer program and transmit the computer program to the processor;

[0027] The processor is configured to execute an obstacle detection method as described in the first aspect according to instructions in the computer program.

[0028] In a fourth aspect, an embodiment of the present invention provides a storage medium storing computer-executable instructions, wherein the computer-executable instructions, when executed by a computer processor, are used to execute an obstacle detection method as described in the first aspect.

[0029] As described above, the embodiments of the present invention provide an obstacle detection method, apparatus, terminal device and storage medium. The method includes setting two adjacent ultrasonic probes as a probe module; controlling the two ultrasonic probes of each probe module to simultaneously send an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range, so that the ultrasonic probe receives the corresponding ultrasonic reflection signal; after the two ultrasonic probes of all probe modules have received all the ultrasonic reflection signals, the nearest obstacle is calculated based on the ultrasonic reflection signal received by each ultrasonic probe in each probe module and an alarm is issued.

[0030] The embodiment of the present invention sets two adjacent ultrasonic probes into a probe module and controls the two ultrasonic probes of each probe module to simultaneously send an up-conversion ultrasonic signal and a down-conversion ultrasonic signal within a preset bandwidth range. While reducing the impact of ultrasonic co-frequency interference, it also shortens the obstacle distance detection cycle, improves the response speed of the reversing radar, and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A flowchart of an obstacle detection method provided by an embodiment of the present invention.

[0032] Figure 2 A schematic diagram of the installation of an ultrasonic probe provided by an embodiment of the present invention.

[0033] Figure 3 Schematic diagram of the waveforms of the first ultrasonic wave and the second ultrasonic wave provided in an embodiment of the present invention.

[0034] Figure 4 A schematic structural diagram of an obstacle detection device provided in an embodiment of the present invention.

[0035] Figure 5 A schematic structural diagram of a terminal device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following description and accompanying drawings sufficiently illustrate specific embodiments of the present application to enable those skilled in the art to practice them. The examples represent only possible variations. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Portions and features of some embodiments may be included in or replace portions and features of other embodiments. The scope of the embodiments of the present application includes the entire scope of the claims, as well as all available equivalents of the claims. In this document, each embodiment may be referred to individually or collectively by the term "invention," which is merely for convenience and is not intended to automatically limit the scope of the application to any single invention or inventive concept if more than one invention is actually disclosed. In this document, relational terms such as first and second, etc., are used solely to distinguish one entity or operation from another, and do not require or imply any actual relationship or order between these entities or operations. Furthermore, the terms "comprise," "include," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, or terminal device comprising a series of elements includes not only those elements, but also other elements not explicitly listed. The various embodiments herein are described in a progressive manner, with each embodiment focusing on the differences from the other embodiments. Reference can be made to the common and similar parts between the various embodiments. For structures, products, etc. disclosed in the embodiments, the description is relatively simple because they correspond to the parts disclosed in the embodiments. For relevant parts, refer to the method description.

[0037] Example 1

[0038] like Figure 1 As shown, Figure 1This is a flowchart of an obstacle detection method provided in an embodiment of the present invention. The obstacle detection method provided in an embodiment of the present invention can be executed by an obstacle detection device, which can be implemented through software and / or hardware. The obstacle detection device can be composed of two or more physical entities, or it can be composed of a single physical entity. For example, the obstacle detection device can be a computer, a host computer, a tablet, or other device. The method includes the following steps:

[0039] Step 101: Set two adjacent ultrasonic probes as a probe module.

[0040] In this embodiment, the ultrasonic probes need to be grouped first, and two adjacent ultrasonic probes are set as one probe module. For example, Figure 2 As shown, Figure 2 There are four ultrasonic probes installed on the rear of the car, namely ultrasonic probe No. 1, ultrasonic probe No. 2, ultrasonic probe No. 3 and ultrasonic probe No. 4. The adjacent ultrasonic probe No. 1 and ultrasonic probe No. 2 are set as one probe module, and the adjacent ultrasonic probe No. 3 and ultrasonic probe No. 4 are set as another probe module.

[0041] Step 102 : Control the two ultrasonic probes of each probe module to simultaneously send an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range, so that the ultrasonic probes receive corresponding ultrasonic reflection signals.

[0042] After the ultrasonic probes are grouped, for each probe module, the two ultrasonic probes in each probe module are controlled to simultaneously send ultrasonic signals within the preset bandwidth range. Among them, one ultrasonic probe is controlled to send an up-converted ultrasonic signal within the preset bandwidth range, and the other ultrasonic probe is controlled to simultaneously send a down-converted ultrasonic signal within the preset bandwidth range. The ultrasonic signal sent by the ultrasonic probe will be reflected after contacting an obstacle to generate an ultrasonic reflection signal, and the ultrasonic probe can then receive the corresponding ultrasonic reflection signal.

[0043] In this embodiment, the lowest frequency in the preset bandwidth range is the first frequency, and the highest frequency is the second frequency. It will be appreciated that the first frequency and the second frequency can be set according to actual needs, and the specific values ​​of the first frequency and the second frequency are not limited in this embodiment. For example, in one embodiment, the first frequency is 40 kHz and the second frequency is 60 kHz.

[0044] In one embodiment, the specific process of controlling the two ultrasonic probes of each probe module to simultaneously transmit an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range is as follows:

[0045] At the same time, one ultrasonic probe in each probe module is controlled to start sending a first ultrasonic signal with an increasing frequency using the first frequency as the initial frequency until the frequency of the first ultrasonic signal reaches the second frequency.

[0046] For each probe module, one ultrasonic probe in each probe module is controlled to use the first frequency as the initial frequency and start to send the first ultrasonic signal with an increasing frequency until the frequency of the first ultrasonic signal reaches the second frequency. For example, in one embodiment, the first frequency is 40KHZ and the second frequency is 60KHZ. One ultrasonic probe in each probe module uses 40KHZ as the initial frequency and starts to send the first ultrasonic signal with an increasing frequency until the frequency of the first ultrasonic signal reaches 60KHZ. Figure 3 shown.

[0047] At the same time, another ultrasonic probe in each probe module is controlled to use the second frequency as the initial frequency and start sending a second ultrasonic signal with a decreasing frequency until the frequency of the second ultrasonic signal reaches the first frequency.

[0048] When one ultrasonic probe in each probe module is controlled to send a first ultrasonic signal, it is necessary to simultaneously control another ultrasonic probe in each probe module to start sending a second ultrasonic signal with a decreasing frequency using the second frequency as the initial frequency until the frequency of the second ultrasonic signal reaches the first frequency. For example, in one embodiment, another ultrasonic probe in each probe module starts sending a second ultrasonic signal with a decreasing frequency using 60KHZ as the initial frequency until the frequency of the second ultrasonic signal reaches 40KHZ. Figure 3 shown.

[0049] It needs to be further explained that in Figure 3 In the figure, curve S represents the energy curve of the ultrasonic probe when it is working. When the frequency of the transmitted ultrasonic wave is consistent with the resonant frequency of the ultrasonic probe, the energy of the sound wave is the largest, that is, Figure 3 f in res .

[0050] In another embodiment, the specific process of controlling the two ultrasonic probes of each probe module to simultaneously transmit an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range is as follows:

[0051] Traverse each probe module in turn. For the two ultrasonic probes of the currently traversed probe module, control one ultrasonic probe to use the first frequency as the initial frequency to start sending the first ultrasonic signal with increasing frequency until the frequency of the first ultrasonic signal reaches the second frequency; at the same time, control the other ultrasonic probe to use the second frequency as the initial frequency to start sending the second ultrasonic signal with decreasing frequency until the frequency of the second ultrasonic signal reaches the first frequency. After the two ultrasonic probes in the currently traversed probe module have received all the ultrasonic reflection signals, traverse the next probe module until all probe modules are traversed.

[0052] In another embodiment, there is another method for controlling the ultrasonic probe of each probe module to transmit ultrasonic signals. That is, each probe module is traversed in sequence, and for the currently traversed probe module, the two ultrasonic probes in the probe module are controlled to simultaneously transmit an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range, respectively. That is, one ultrasonic probe is controlled to start transmitting a first ultrasonic signal with an increasing frequency using a first frequency as an initial frequency until the frequency of the first ultrasonic signal reaches a second frequency; and simultaneously, the other ultrasonic probe is controlled to start transmitting a second ultrasonic signal with a decreasing frequency using the second frequency as an initial frequency until the frequency of the second ultrasonic signal reaches the first frequency.

[0053] If the ultrasonic probe of the currently traversed probe module receives the ultrasonic reflection signal reflected back by all ultrasonic signals within the preset bandwidth range, the next probe module can be traversed until all probe modules are traversed.

[0054] On the basis of the above embodiment, the up-conversion bandwidths between two adjacent first ultrasonic signals are equal, and the down-conversion bandwidths between two adjacent second ultrasonic signals are equal.

[0055] In this embodiment, the upconversion bandwidths between two adjacent first ultrasonic signals are equal, and the downconversion bandwidths between two adjacent second ultrasonic signals are equal. For example, in one embodiment, the upconversion bandwidth is 1 kHz, and the downconversion bandwidth is 2 kHz. If the initial frequency of the first first ultrasonic signal is 40 kHz, the frequency of the second first ultrasonic signal is 41 kHz, and the frequency of the Nth first ultrasonic signal is 40 kHz + (N-1) kHz. If the initial frequency of the first second ultrasonic signal is 60 kHz, the frequency of the second first ultrasonic signal is 58 kHz, and the frequency of the Nth first ultrasonic signal is 60 kHz - 2 (N-1) kHz.

[0056] Based on the above embodiment, the value of the up-conversion bandwidth is equal to the value of the down-conversion bandwidth.

[0057] In this embodiment, the up-conversion bandwidth and the down-conversion bandwidth are equal. For example, in one embodiment, if the up-conversion bandwidth is 1 kHz, the down-conversion bandwidth is also 1 kHz. It is understood that the up-conversion bandwidth and the down-conversion bandwidth can be set according to actual needs and are not specifically limited in this embodiment.

[0058] Step 103: After the two ultrasonic probes of all probe modules have received all ultrasonic reflection signals, the nearest obstacle is calculated based on the ultrasonic reflection signals received by each ultrasonic probe in each probe module and an alarm is issued.

[0059] After the two ultrasonic probes of all probe modules receive the ultrasonic reflection signals reflected back from all ultrasonic signals within the preset bandwidth range, the nearest obstacle can be calculated based on the ultrasonic reflection signals received by each ultrasonic probe in each probe module and an alarm can be issued.

[0060] Based on the above embodiment, the specific process of calculating the nearest obstacle and issuing an alarm based on the ultrasonic reflection signal received by each ultrasonic probe in each probe module in step 103 is performed by steps 1031 and 1032, which are specifically as follows:

[0061] Step 1031: Calculate the distance of the obstacle detected by each ultrasonic probe in each probe module.

[0062] First, based on all ultrasonic reflection signals received by each ultrasonic probe in each probe module, the distance to the obstacle detected by each ultrasonic probe is calculated.

[0063] Step 1032: Determine the distance with the smallest value from all distances and issue an alarm.

[0064] Afterwards, based on the distance of the obstacle detected by each ultrasonic probe, the distance with the smallest value is determined from all the distances and an alarm is issued.

[0065] As described above, an embodiment of the present invention provides an obstacle detection method, including setting two adjacent ultrasonic probes as a probe module; controlling the two ultrasonic probes of each probe module to simultaneously send an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range, so that the ultrasonic probe receives the corresponding ultrasonic reflection signal; after the two ultrasonic probes of all probe modules have received all the ultrasonic reflection signals, the nearest obstacle is calculated based on the ultrasonic reflection signal received by each ultrasonic probe in each probe module and an alarm is issued.

[0066] The embodiment of the present invention sets two adjacent ultrasonic probes into a probe module and controls the two ultrasonic probes of each probe module to simultaneously send an up-conversion ultrasonic signal and a down-conversion ultrasonic signal within a preset bandwidth range. While reducing the impact of ultrasonic co-frequency interference, it also shortens the obstacle distance detection cycle, improves the response speed of the reversing radar, and improves the user experience.

[0067] Example 2

[0068] like Figure 4 As shown, Figure 4 Schematic diagram of the structure of an obstacle detection device provided by an embodiment of the present invention, the obstacle detection device includes a module setting module 201, a module control module 202 and a distance calculation module 203;

[0069] The module setting module 201 is used to set two adjacent ultrasonic probes into one probe module;

[0070] The module control module 202 is used to control the two ultrasonic probes of each probe module to simultaneously send an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range, so that the ultrasonic probes receive corresponding ultrasonic reflection signals;

[0071] The distance calculation module 203 is used to calculate the nearest obstacle and issue an alarm based on the ultrasonic reflection signals received by each ultrasonic probe in each probe module after the two ultrasonic probes of all probe modules have received all ultrasonic reflection signals.

[0072] Based on the above embodiment, the lowest frequency of the preset bandwidth range is the first frequency, and the highest frequency is the second frequency.

[0073] Based on the above embodiment, the module control module 202 is used to control the two ultrasonic probes of each probe module to simultaneously send an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range. Specifically:

[0074] It is used to simultaneously control one ultrasonic probe in each probe module to use the first frequency as the initial frequency to start sending a first ultrasonic signal with an increasing frequency until the frequency of the first ultrasonic signal reaches a second frequency; and simultaneously control another ultrasonic probe in each probe module to use the second frequency as the initial frequency to start sending a second ultrasonic signal with a decreasing frequency until the frequency of the second ultrasonic signal reaches the first frequency.

[0075] Based on the above embodiment, the module control module 202 is used to control the two ultrasonic probes of each probe module to simultaneously send an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range. Specifically:

[0076] It is used to traverse each probe module in turn. For the two ultrasonic probes of the currently traversed probe module, one ultrasonic probe is controlled to use the first frequency as the initial frequency to start sending the first ultrasonic signal with increasing frequency until the frequency of the first ultrasonic signal reaches the second frequency; at the same time, the other ultrasonic probe is controlled to use the second frequency as the initial frequency to start sending the second ultrasonic signal with decreasing frequency until the frequency of the second ultrasonic signal reaches the first frequency. After the two ultrasonic probes in the currently traversed probe module have received all the ultrasonic reflection signals, the next probe module is traversed until all probe modules are traversed.

[0077] On the basis of the above embodiment, the up-conversion bandwidths between two adjacent first ultrasonic signals are equal, and the down-conversion bandwidths between two adjacent second ultrasonic signals are equal.

[0078] Based on the above embodiment, the value of the up-conversion bandwidth is equal to the value of the down-conversion bandwidth.

[0079] Based on the above embodiment, the distance calculation module 203 is used to calculate the nearest obstacle and issue an alarm based on the ultrasonic reflection signal received by each ultrasonic probe in each probe module. Specifically:

[0080] Used to calculate the distance of obstacles detected by each ultrasonic probe in each probe module; determine the distance with the minimum value from all distances and issue an alarm.

[0081] Example 3

[0082] This embodiment also provides a terminal device, such as Figure 5 As shown, a terminal device 30 includes a processor 300 and a memory 301;

[0083] The memory 301 is used to store a computer program 302 and transmit the computer program 302 to the processor;

[0084] The processor 300 is configured to execute the steps in the above-mentioned obstacle detection method embodiment according to the instructions in the computer program 302 .

[0085] Exemplarily, the computer program 302 may be divided into one or more modules / units, which are stored in the memory 301 and executed by the processor 300 to implement the present application. The one or more modules / units may be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of the computer program 302 in the terminal device 30.

[0086] The terminal device 30 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device 30 may include, but is not limited to, a processor 300 and a memory 301. Those skilled in the art will understand that Figure 5 It is only an example of the terminal device 30 and does not constitute a limitation of the terminal device 30. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device 30 may also include input and output devices, network access devices, buses, etc.

[0087] The processor 300 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0088] The memory 301 may be an internal storage unit of the terminal device 30, such as a hard disk or memory of the terminal device 30. The memory 301 may also be an external storage terminal device of the terminal device 30, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 30. Furthermore, the memory 301 may include both an internal storage unit of the terminal device 30 and an external storage device. The memory 301 is used to store the computer program and other programs and data required by the terminal device 30. The memory 301 may also be used to temporarily store data that has been output or is about to be output.

[0089] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0091] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0092] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0093] 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, or the part that contributes to the prior art, or all or part of the 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 for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store computer programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0094] Example 4

[0095] An embodiment of the present invention further provides a storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, the computer-executable instructions are used to perform an obstacle detection method. The method includes the following steps:

[0096] Two adjacent ultrasonic probes are set as one probe module;

[0097] Controlling the two ultrasonic probes of each probe module to simultaneously transmit an up-conversion ultrasonic signal and a down-conversion ultrasonic signal within a preset bandwidth range, so that the ultrasonic probes receive corresponding ultrasonic reflection signals;

[0098] After the two ultrasonic probes of all probe modules have received all the ultrasonic reflection signals, the nearest obstacle is calculated based on the ultrasonic reflection signals received by each ultrasonic probe in each probe module and an alarm is issued.

[0099] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the embodiments of the present invention are not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the embodiments of the present invention. Therefore, although the embodiments of the present invention are described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments. Without departing from the concept of the embodiments of the present invention, the embodiments of the present invention may also include more other equivalent embodiments, and the scope of the embodiments of the present invention is determined by the scope of the appended claims.

Claims

1. An obstacle detection method, characterized in that: The following steps are involved: Two adjacent ultrasonic probes are set as one probe module; Controlling the two ultrasonic probes of each probe module to simultaneously transmit an up-conversion ultrasonic signal and a down-conversion ultrasonic signal within a preset bandwidth range, so that the ultrasonic probe receives corresponding ultrasonic reflection signals; wherein the up-conversion bandwidth between two adjacent first ultrasonic signals with increasing frequencies is equal, and the down-conversion bandwidth between two adjacent second ultrasonic signals with decreasing frequencies is equal; After the two ultrasonic probes of all probe modules have received all ultrasonic reflection signals, the nearest obstacle is calculated based on the ultrasonic reflection signals received by each ultrasonic probe in each probe module and an alarm is issued.

2. The obstacle detection method according to claim 1, characterized in that: The lowest frequency of the preset bandwidth range is the first frequency, and the highest frequency is the second frequency.

3. The obstacle detection method according to claim 2, characterized in that: The specific process of controlling the two ultrasonic probes of each probe module to simultaneously send an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range is as follows: Simultaneously controlling one ultrasonic probe in each of the probe modules to start transmitting a first ultrasonic signal with an increasing frequency using the first frequency as the initial frequency until the frequency of the first ultrasonic signal reaches a second frequency; At the same time, another ultrasonic probe in each of the probe modules is controlled to use the second frequency as the initial frequency to start sending a second ultrasonic signal with a decreasing frequency until the frequency of the second ultrasonic signal reaches the first frequency.

4. The obstacle detection method according to claim 2, characterized in that: The specific process of controlling the two ultrasonic probes of each probe module to simultaneously send an up-converted ultrasonic signal and a down-converted ultrasonic signal within a preset bandwidth range is as follows: Traverse each probe module in turn. For the two ultrasonic probes of the currently traversed probe module, control one ultrasonic probe to use the first frequency as the initial frequency to start sending the first ultrasonic signal with an increasing frequency until the frequency of the first ultrasonic signal reaches the second frequency; at the same time, control the other ultrasonic probe to use the second frequency as the initial frequency to start sending the second ultrasonic signal with a decreasing frequency until the frequency of the second ultrasonic signal reaches the first frequency. After the two ultrasonic probes in the currently traversed probe module have received all the ultrasonic reflection signals, traverse the next probe module until all the probe modules are traversed.

5. The obstacle detection method according to claim 1, characterized in that: The value of the up-conversion bandwidth is equal to the value of the down-conversion bandwidth.

6. The obstacle detection method according to claim 1, characterized in that: The specific process of calculating the nearest obstacle and issuing an alarm based on the ultrasonic reflection signal received by each ultrasonic probe in each probe module is as follows: Calculating the distance of the obstacle detected by each ultrasonic probe in each probe module; Determine the distance with the smallest value from all distances and issue an alarm.

7. An obstacle detection device, characterized in that: Including module setting module, module control module and distance calculation module; The module setting module is used to set two adjacent ultrasonic probes into one probe module; The module control module is used to control the two ultrasonic probes of each probe module to simultaneously transmit an up-conversion ultrasonic signal and a down-conversion ultrasonic signal within a preset bandwidth range, so that the ultrasonic probe receives the corresponding ultrasonic reflection signal; wherein the up-conversion bandwidth between two adjacent first ultrasonic signals with increasing frequencies is equal, and the down-conversion bandwidth between two adjacent second ultrasonic signals with decreasing frequencies is equal; The distance calculation module is used to calculate the nearest obstacle and issue an alarm based on the ultrasonic reflection signal received by each ultrasonic probe in each probe module after the two ultrasonic probes of all probe modules have received all ultrasonic reflection signals.

8. A terminal device, characterized in that: The terminal device includes a processor and a memory; The memory is used to store a computer program and transmit the computer program to the processor; The processor is configured to execute an obstacle detection method according to any one of claims 1 to 6 according to instructions in the computer program.

9. A storage medium storing computer executable instructions, characterized in that: When the computer executable instructions are executed by a computer processor, they are used to perform an obstacle detection method according to any one of claims 1 to 6.

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