Distance measurement method, device, medicine box, operating equipment, electronic equipment and medium

Abstract

The present application provides a distance measurement method, device, medicine box, operating equipment, electronic equipment and medium, which relate to the field of measurement and control technology. The method includes: receiving a first digital echo signal, the first digital echo signal is obtained by processing according to the original echo signal, and the original echo signal is the echo signal of the measurement signal sent by the signal transceiver module to the target under test; parsing the first digital echo signal to obtain the spectrum information of multiple frequency points corresponding to the first digital echo signal; performing echo cancellation processing according to the spectrum information of multiple frequency points corresponding to the first digital echo signal and the spectrum information of multiple frequency points of at least one second digital echo signal before the first digital echo signal to obtain the target frequency point; determining the distance of the target under test relative to the signal transceiver module according to the frequency of the target frequency point of the first digital echo signal. By applying the embodiments of the present application, the accuracy of the distance information of the target under test relative to the signal transceiver module can be improved.

Description

Technical Field

[0001] The present application relates to the field of measurement and control technology, and specifically, to a distance measurement method, device, medicine box, operating equipment, electronic equipment and medium. Background Art

[0002] Radar level meter is a non-contact distance measuring device that can measure the distance of the measured target (such as liquid, granular objects) through electromagnetic waves, and is not affected by environmental factors such as temperature and air pressure. The measurement principle of radar level meter is to send microwave signals to the measured target through the signal transmission module, and then process the reflected echo signal to obtain the distance of the measured target relative to the signal transmission module.

[0003] However, the microwave signal emitted by the radar level meter inevitably propagates in one direction, which will cause the echo signal to contain signals generated by other objects besides the measured target. Therefore, how to improve the accuracy of the distance between the measured target and the signal transmitting module is an urgent problem to be solved. Summary of the invention

[0004] The purpose of the present application is to provide a distance measurement method, device, medicine box, operating equipment, electronic equipment and medium to address the deficiencies in the above-mentioned prior art, which can improve the accuracy of the distance of the measured target relative to the signal transceiver module.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a distance measurement method, the method comprising:

[0007] Receive a first digital echo signal, where the first digital echo signal is obtained by processing an original echo signal, where the original echo signal is an echo signal of a measurement signal sent by a signal transceiver module to a measured target;

[0008] Analyzing the first digital echo signal to obtain frequency spectrum information of multiple frequency points corresponding to the first digital echo signal;

[0009] Performing echo cancellation processing according to frequency spectrum information of multiple frequency points corresponding to the first digital echo signal and frequency spectrum information of multiple frequency points of at least one second digital echo signal before the first digital echo signal to obtain a target frequency point;

[0010] The distance of the measured target relative to the signal transceiver module is determined according to the frequency of the target frequency point of the first digital echo signal.

[0011] Optionally, performing echo cancellation processing according to spectrum information of multiple frequency points corresponding to the first digital echo signal and spectrum information of multiple frequency points of at least one second digital echo signal before the first digital echo signal to obtain a target frequency point includes:

[0012] performing cancellation processing on the frequency spectrum information of each frequency point of the first digital echo signal and the frequency spectrum information of each frequency point of the at least one second digital echo signal to obtain amplitude cancellation results of each frequency point;

[0013] Obtaining a reference amplitude of each frequency point of the first digital echo signal according to the spectrum information of each frequency point of the first digital echo signal and the first preset weight, the amplitude cancellation result of each frequency point and the second preset weight;

[0014] The target frequency point is obtained according to the reference amplitude of each frequency point of the first digital echo signal.

[0015] Optionally, the cancelling the spectrum information of each frequency point of the first digital echo signal with the spectrum information of each frequency point of the at least one second digital echo signal to obtain an amplitude cancellation result of each frequency point includes:

[0016] cancelling the frequency spectrum information of each frequency point of the first digital echo signal with the frequency spectrum information of each frequency point of the second digital echo signal preceding the first digital echo signal, to obtain a frequency spectrum cancellation result corresponding to each frequency point of the first digital echo signal;

[0017] Amplitude conversion is performed on the spectrum cancellation results corresponding to each frequency point of the first digital echo signal to obtain amplitude cancellation results of each frequency point.

[0018] Optionally, the cancelling the spectrum information of each frequency point of the first digital echo signal with the spectrum information of each frequency point of the at least one second digital echo signal to obtain an amplitude cancellation result of each frequency point includes:

[0019] Establishing a signal sequence according to the order in which the digital echo signals are received, wherein the signal sequence includes the first digital echo signal and a plurality of second digital echo signals;

[0020] performing cancellation processing on the spectrum information of each frequency point of adjacent echo signals in the signal sequence in sequence to obtain a plurality of adjacent spectrum cancellation results corresponding to each frequency point of the first data echo signal;

[0021] According to the multiple adjacent frequency spectrum cancellation results corresponding to the frequency points of the first data echo signal, the amplitude cancellation result of each frequency point is obtained.

[0022] Optionally, obtaining an amplitude cancellation result of each frequency point according to a plurality of adjacent frequency spectrum cancellation results corresponding to each frequency point of the first data echo signal includes:

[0023] Performing analog-to-value conversion on adjacent frequency spectrum cancellation results corresponding to each frequency point of the first data echo signal to obtain adjacent amplitude cancellation results corresponding to each adjacent frequency spectrum cancellation result corresponding to each frequency point;

[0024] The adjacent amplitude cancellation results corresponding to each frequency point are added together to obtain the amplitude cancellation result of each frequency point.

[0025] Optionally, obtaining a reference amplitude of each frequency point according to the spectrum information of each frequency point of the first digital echo signal and a first preset weight, an amplitude cancellation result of each frequency point and a second preset weight includes:

[0026] Respectively determine the product of the amplitude corresponding to the spectrum information of each frequency point of the first digital echo signal and the first preset weight to obtain a first weighted amplitude of each frequency point of the first digital echo signal;

[0027] Determine the product of the amplitude cancellation result of each frequency point and the second preset weight respectively to obtain a second weighted amplitude of the cancellation result of each frequency point;

[0028] The first weighted amplitude and the second weighted amplitude of each frequency point are added together to obtain a reference amplitude of each frequency point.

[0029] Optionally, obtaining the target frequency point according to the reference amplitude of each frequency point of the first digital echo signal includes:

[0030] The frequency point with the largest reference amplitude is taken as the target frequency point.

[0031] Optionally, obtaining the target frequency point according to the reference amplitude of each frequency point of the first digital echo signal includes:

[0032] The frequency point with the largest reference amplitude is taken as the reference frequency point;

[0033] The target frequency is determined according to the reference frequency and a previous reference frequency corresponding to a second digital echo signal preceding the first digital echo signal.

[0034] Optionally, determining the target frequency point according to the reference frequency point and a previous reference frequency point corresponding to a second digital echo signal preceding the first digital echo signal includes:

[0035] respectively determining a first signal frequency of the reference frequency point and a second signal frequency of a previous reference frequency point corresponding to a second digital echo signal preceding the first digital echo signal;

[0036] determining a first difference between the first signal frequency and the second signal frequency;

[0037] The target frequency is determined from the reference frequency and a previous reference frequency corresponding to a second digital echo signal preceding the first digital echo signal according to the first difference and a preset difference threshold.

[0038] Optionally, the echo cancellation processing is performed according to the spectrum information of multiple frequency points corresponding to the first digital echo signal and the spectrum information of multiple frequency points of at least one second digital echo signal before the first digital echo signal to obtain the target frequency point, and further includes:

[0039] The multiple frequency points are selected from the first digital echo signal according to the frequency spectrum information of each frequency point of the first digital echo signal and a preset amplitude threshold.

[0040] Optionally, determining the distance of the measured target relative to the signal transceiver module according to the frequency of the target frequency point of the first digital echo signal includes:

[0041] Determining a first distance corresponding to the first digital echo signal according to the frequency of the target frequency point of the first digital echo signal;

[0042] The distance of the measured target relative to the signal transceiver module is determined according to a first distance corresponding to the first digital echo signal and a second distance corresponding to at least one second digital echo signal before the first digital echo signal.

[0043] Optionally, the parsing the first digital echo signal to obtain spectrum information of multiple frequency points corresponding to the first digital echo signal includes:

[0044] Performing a fast Fourier transform on the first digital echo signal to obtain frequency spectrum information of multiple frequency points corresponding to the first digital echo signal.

[0045] Optionally, the target to be measured is a liquid, and the method further comprises:

[0046] The liquid level height of the liquid is determined according to the distance of the liquid relative to the signal transceiver module and the installation height of the signal transceiver module.

[0047] In a second aspect, an embodiment of the present application further provides a distance measurement device, the device comprising:

[0048] A receiving module, used for receiving a first digital echo signal, wherein the first digital echo signal is obtained by processing an original echo signal, wherein the original echo signal is an echo signal of a measurement signal sent by a signal transceiver module to a measured object;

[0049] An analysis module, used for analyzing the first digital echo signal to obtain spectrum information of multiple frequency points corresponding to the first digital echo signal;

[0050] a cancellation processing module, configured to perform echo cancellation processing according to the spectrum information of multiple frequency points corresponding to the first digital echo signal and the spectrum information of multiple frequency points of at least one second digital echo signal before the first digital echo signal, so as to obtain a target frequency point;

[0051] A determination module is used to determine the distance of the measured target relative to the signal transceiver module according to the frequency of the target frequency point of the first digital echo signal.

[0052] Optionally, the cancellation processing module is specifically used to cancel the frequency spectrum information of each frequency point of the first digital echo signal with the frequency spectrum information of each frequency point of the at least one second digital echo signal to obtain the amplitude cancellation result of each frequency point; obtain the reference amplitude of each frequency point of the first digital echo signal according to the frequency spectrum information of each frequency point of the first digital echo signal and the first preset weight, the amplitude cancellation result of each frequency point and the second preset weight; obtain the target frequency point according to the reference amplitude of each frequency point of the first digital echo signal.

[0053] Optionally, the cancellation processing module is further specifically used to cancel the frequency spectrum information of each frequency point of the first digital echo signal with the frequency spectrum information of each frequency point of the second digital echo signal before the first digital echo signal to obtain the frequency spectrum cancellation results corresponding to each frequency point of the first digital echo signal; perform amplitude conversion on the frequency spectrum cancellation results corresponding to each frequency point of the first digital echo signal to obtain amplitude cancellation results of each frequency point.

[0054] Optionally, the cancellation processing module is further specifically used to establish a signal sequence according to the order of receiving digital echo signals, the signal sequence including the first digital echo signal and multiple second digital echo signals; perform cancellation processing on the frequency spectrum information of each frequency point of adjacent echo signals in the signal sequence in turn to obtain multiple adjacent frequency spectrum cancellation results corresponding to each frequency point of the first data echo signal; and obtain amplitude cancellation results of each frequency point based on the multiple adjacent frequency spectrum cancellation results corresponding to each frequency point of the first data echo signal.

[0055] Optionally, the cancellation processing module is further specifically used to perform analog-to-value conversion on each adjacent spectrum cancellation result corresponding to each frequency point of the first data echo signal to obtain adjacent amplitude cancellation results corresponding to each adjacent spectrum cancellation result corresponding to each frequency point; and add each adjacent amplitude cancellation result corresponding to each frequency point to obtain an amplitude cancellation result of each frequency point.

[0056] Optionally, the cancellation processing module is further specifically used to determine the product of the amplitude corresponding to the spectrum information of each frequency point of the first digital echo signal and the first preset weight, to obtain the first weight amplitude of each frequency point of the first digital echo signal; determine the product of the amplitude cancellation result of each frequency point and the second preset weight, to obtain the second weight amplitude of the cancellation result of each frequency point; add the first weight amplitude and the second weight amplitude of each frequency point, respectively, to obtain the reference amplitude of each frequency point.

[0057] Optionally, the cancellation processing module is further configured to use a frequency point with a maximum reference amplitude as the target frequency point.

[0058] Optionally, the cancellation processing module is further configured to use a frequency point with a maximum reference amplitude as a reference frequency point; and determine the target frequency point according to the reference frequency point and a previous reference frequency point corresponding to a second digital echo signal preceding the first digital echo signal.

[0059] Optionally, the determination module is specifically used to respectively determine the first signal frequency of the reference frequency point and the second signal frequency of the previous reference frequency point corresponding to the previous second digital echo signal of the first digital echo signal; determine a first difference between the first signal frequency and the second signal frequency; and determine the target frequency point from the reference frequency point and the previous reference frequency point corresponding to the previous second digital echo signal of the first digital echo signal based on the first difference and a preset difference threshold.

[0060] Optionally, the device further comprises: a selection module;

[0061] The selection module is used to select the multiple frequency points from the first digital echo signal according to the frequency spectrum information of each frequency point of the first digital echo signal and a preset amplitude threshold.

[0062] Optionally, the determination module is also specifically used to determine a first distance corresponding to the first digital echo signal based on the frequency of the target frequency point of the first digital echo signal; and determine the distance of the measured target relative to the signal transceiver module based on the first distance corresponding to the first digital echo signal and the second distance corresponding to at least one second digital echo signal before the first digital echo signal.

[0063] Optionally, the analysis module is specifically configured to perform fast Fourier transform on the first digital echo signal to obtain frequency spectrum information of multiple frequency points corresponding to the first digital echo signal.

[0064] Optionally, the measured target is a liquid;

[0065] Correspondingly, the determination module is further used to determine the liquid level height of the liquid according to the distance of the liquid relative to the signal transceiver module and the installation height of the signal transceiver module.

[0066] In a third aspect, an embodiment of the present application provides a distance measurement device, comprising: a controller, a storage medium and a signal transceiver module, wherein the signal transceiver module is communicatively connected to the controller, and the storage medium stores machine-readable instructions executable by the controller. When the distance measurement device is running, the controller executes the machine-readable instructions to perform the steps of the distance measurement method of the first aspect above.

[0067] In a fourth aspect, an embodiment of the present application provides a medicine box, the top of which is provided with the distance measuring device described in the third aspect, and the distance measuring device is used to measure the liquid level height of the liquid loaded in the medicine box.

[0068] In a fifth aspect, an embodiment of the present application provides a working device, in which the distance measuring device described in the third aspect is installed, and the distance measuring device is used to detect obstacles around the working device.

[0069] In a sixth aspect, an embodiment of the present application further provides an electronic device, comprising: a controller and a storage medium; the storage medium stores machine-readable instructions executable by the controller, and when the controller executes the machine-readable instructions, the steps of the distance measurement method of the first aspect above are implemented.

[0070] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the distance measurement method of the first aspect are executed.

[0071] The beneficial effects of this application are:

[0072] The embodiment of the present application provides a distance measurement method, device, medicine box, operating equipment, electronic equipment and medium, the method comprising: receiving a first digital echo signal, the first digital echo signal being obtained by processing an original echo signal, the original echo signal being an echo signal of a measurement signal sent by a signal transceiver module to a target under test; parsing the first digital echo signal to obtain frequency spectrum information of multiple frequency points corresponding to the first digital echo signal; performing echo cancellation processing according to the frequency spectrum information of multiple frequency points corresponding to the first digital echo signal and the frequency spectrum information of multiple frequency points of at least one second digital echo signal before the first digital echo signal to obtain a target frequency point; determining the distance of the target under test relative to the signal transceiver module according to the frequency of the target frequency point of the first digital echo signal.

[0073] Using the distance measurement method provided in the embodiment of the present application, a controller that is communicatively connected to the signal transceiver module performs echo cancellation processing on the spectrum information of multiple frequency points of the obtained multiple echo signals (a first digital echo signal, at least one second digital echo signal), so that it can have a canceling and suppressing effect on the echo signals of other objects with small fluctuations. The target frequency point is the echo signal formed by the reflection of the surface of the measured target. The distance of the measured target relative to the signal transceiver module obtained using the target frequency point is more closely matched with the actual distance of the measured target relative to the signal transceiver module, that is, the accuracy of the distance of the measured target relative to the signal transceiver module can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0075] Figure 1 A schematic diagram of the structure of a distance measurement device provided in an embodiment of the present application;

[0076] Figure 2 A schematic diagram of the structure of another distance measurement device provided in an embodiment of the present application;

[0077] Figure 3 A flow chart of a distance measurement method provided in an embodiment of the present application;

[0078] Figure 4 A schematic diagram of a flow chart of another distance measurement method provided in an embodiment of the present application;

[0079] Figure 5 A schematic diagram of a flow chart of another distance measurement method provided in an embodiment of the present application;

[0080] Figure 6 A schematic diagram of a flow chart of another distance measurement method provided in an embodiment of the present application;

[0081] Figure 7 A schematic diagram of a flow chart of another distance measurement method provided in an embodiment of the present application;

[0082] Figure 8 A schematic diagram of the structure of another distance measurement device provided in an embodiment of the present application;

[0083] Fig. 9 A schematic diagram of the structure of another distance measurement device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0084] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0085] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0086] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0087] Before explaining the embodiments of the present application in detail, the application scenario of the present application is first introduced. The application scenario can be specifically to use a distance measuring device to measure the distance of the measured target relative to the signal transceiver module in the distance measuring device. Among them, the measured target can be a liquid (such as pesticides, water) or a granular object (such as fertilizer). The present application does not limit the specific form of the measured target.

[0088] It should be noted that the operating equipment is equipped with a distance measuring device, which can detect the height of the target in the box installed on the operating equipment, such as the liquid level of the pesticide in the medicine box on the operating equipment, so that the liquid level of the pesticide can be accurately monitored during the process of spraying pesticide on crops by the operating equipment. The distance measuring device can also be used to detect obstacles around the operating equipment.

[0089] The specific form of the operating equipment may be a plant protection drone, an unmanned vehicle, or other equipment. It should be noted that this application does not limit this. The distance measuring device pre-installed on the operating equipment can detect obstacles around the operating equipment, and can determine the distance between the obstacle and the operating equipment. Based on the distance and the preset distance threshold, it can be determined in real time whether the operating equipment has entered the danger zone, thereby avoiding collisions between the operating equipment and obstacles during operation.

[0090] Figure 1 A schematic diagram of a distance measurement device provided in an embodiment of the present application is shown in FIG. Figure 1As shown, the distance measuring device may include a controller 100 and a signal transceiver module 101, wherein the controller 100 is in communication connection with the signal transceiver module 101. The signal transceiver module 101 may include two radio frequency circuit modules, such as a radio frequency transmitting circuit module and a radio frequency receiving circuit module, wherein the controller 100 sends a driving signal to the radio frequency transmitting circuit module in the signal transceiver module 101, and the radio frequency transmitting circuit module may convert the driving signal into a measurement signal of a preset frequency, and send the measurement signal to the measured target.

[0091] The RF receiving circuit module in the signal transceiver module 101 can receive the original echo signal corresponding to the measurement signal. The original echo signal may include an echo signal formed by reflection after the measurement signal contacts the surface of the target to be measured, an echo signal formed by refraction after the measurement signal contacts the inner wall of the box storing the target to be measured, and other types of echo signals. In other words, the original echo signal is a superimposed signal containing other signals such as a signal formed by reflection of the target to be measured, a signal formed by reflection or refraction of other objects, and a noise signal.

[0092] After the RF receiving circuit module processes the original echo signal, a first digital echo signal can be obtained, and the first digital echo signal is sent to the controller 100. The controller 100 can process the first digital echo signal in the manner of the following embodiments of the present application to obtain the distance of the measured target relative to the signal transceiver module. From the above description, it can be seen that the original echo signal is a superposition signal, and then the first digital echo signal is also a superposition signal. The controller can extract the frequency spectrum information corresponding to the echo signal formed by the surface reflection of the measured target from the first digital echo signal in the manner of the following embodiments, thereby improving the accuracy of determining the distance of the measured target relative to the signal transceiver module.

[0093] Optionally, the following combination Figure 2 A more detailed description of the distance measuring device is given, with emphasis on Figure 1 The contents of the signal transceiver module 101 are introduced. Figure 2 This is a schematic diagram of the structure of another distance measurement device provided in an embodiment of the present application. Figure 2 As shown, the distance measuring device may include a controller 100 and a signal transceiver module 101, wherein the signal transceiver module 101 may include: a signal processing unit 201, a transmitting antenna 202A, a receiving antenna 202B, and an analog-to-digital conversion unit 203, the signal processing unit 201 is respectively connected to the controller 100, the transmitting antenna 202A, the receiving antenna 202B and the analog-to-digital conversion unit 203, and the analog-to-digital conversion unit 203 is connected to the controller 100.

[0094] The signal processing unit 201 may include a transmitting unit and a receiving unit, wherein the transmitting unit may include a triangular wave generator, a voltage controlled oscillator (VCO), a power divider, and a power amplifier. The controller 100, the triangular wave generator, the voltage controlled oscillator (VCO), the power divider, and the power amplifier are connected in sequence. The triangular wave generator can provide the required modulation signal based on the driving signal sent by the controller 100. The modulation signal can be converted into a continuous high-frequency constant amplitude wave after passing through the voltage controlled oscillator. The power divider sends a part of the continuous high-frequency constant amplitude wave to the power amplifier, and the other part to the mixer mentioned below. The power amplifier is connected to the transmitting antenna 202A, and the power amplifier amplifies a part of the continuous high-frequency constant amplitude wave to obtain a signal (i.e., a measurement signal) to the target to be measured through the transmitting antenna 202A. The transmitting unit and the transmitting antenna 202A can form the above-mentioned improved RF transmitting circuit module.

[0095] The receiving unit may include the mixer, filter amplifier and analog-to-digital conversion unit 203 mentioned above, the receiving antenna 202B, the mixer, the filter amplifier and the analog-to-digital conversion unit 203 are connected in sequence, the receiving antenna 202B receives the original echo signal corresponding to the measurement signal, the mixer sends the original echo signal and another part of the continuous high-frequency constant-amplitude wave (local oscillator signal) mixed signal to the filter amplifier, the filter amplifier sends the generated intermediate frequency signal to the analog-to-digital conversion unit 203, the analog-to-digital conversion unit 203 converts the intermediate frequency signal into a discrete signal according to the preset sampling frequency (Fs), the frequency of the intermediate frequency signal (F), and the number of sampling points (N), and the discrete signal is the first digital echo signal mentioned in this application. The receiving unit and the receiving antenna 202B can constitute the above-mentioned radio frequency receiving circuit module.

[0096] After the analog-to-digital conversion unit 203 sends the first digital echo signal to the controller 100, the controller 100 can process the first digital echo signal in the manner of the following embodiments, and finally obtain the distance of the measured target relative to the signal transceiver module. When the measured target is liquid, the liquid level height of the liquid can be further obtained according to the installation height of the signal transceiver module.

[0097] Optionally, the transmitting antenna 202A and the receiving antenna 202B may be microstrip array antennas, or other types of antennas, such as horn antennas, which are not limited in the present application.

[0098] It should be noted that the signal processing process before obtaining the first digital echo signal may refer to the frequency modulated continuous wave radar (FMCW) technology, which will not be described in detail here.

[0099] The distance measurement method mentioned in the embodiment of the present application is illustrated as follows with reference to the accompanying drawings. Figure 3 1 is a flow chart of a distance measurement method provided in an embodiment of the present application. The method can be applied to the controller 100 in the distance measurement device mentioned above, such as Figure 3 As shown, the method may include:

[0100] S301. Receive a first digital echo signal.

[0101] The first digital echo signal is obtained by processing the original echo signal, and the original echo signal is the echo signal of the measurement signal sent by the signal transceiver module to the measured target. The first digital echo signal is a discrete signal obtained after being processed by the analog-to-digital conversion unit. For details, please refer to the above-mentioned relevant part description, which will not be described here.

[0102] S302: Analyze the first digital echo signal to obtain frequency spectrum information of multiple frequency points corresponding to the first digital echo signal.

[0103] Optionally, the controller may perform a fast Fourier transform (FFT) on the first digital echo signal to obtain spectrum information corresponding to each frequency point, and the number of frequency points may correspond to the number of sampling points (N) of the analog-to-digital conversion module, that is, when the number of sampling points (N) of the analog-to-digital conversion module is 1024, the controller may perform a fast Fourier transform on the first digital echo signal to obtain

[0104] Factor, k represents the sampling point, k = 0, 1…N-1, N / 2; N is the number of sampling points, and x(n) is the amplitude corresponding to the nth sampling point.

[0105] It can be seen that the above formula X(k) is a set of complex numbers, that is, each frequency point corresponds to a complex number, and this complex number contains the amplitude attribute and phase attribute of the frequency point. The complex number corresponding to each frequency point can be converted into a complex number form of (a+bi), where the modulus value of the complex number form is the amplitude of the frequency point. It should be noted that the specific content of the fast Fourier transform can be referred to the relevant knowledge, and will not be explained in detail here.

[0106] S303 , performing echo cancellation processing according to frequency spectrum information of multiple frequency points corresponding to the first digital echo signal and frequency spectrum information of multiple frequency points of at least one second digital echo signal before the first digital echo signal to obtain a target frequency point.

[0107] First, it should be noted that the transmitting antenna in the signal transceiver module sends the measurement signal according to the modulation period, and the receiving antenna in the signal transceiver module receives the original echo signal corresponding to the measurement signal, that is, the distance measurement device can receive multiple original echo signals within a period of operation, and there are multiple digital echo signals. In addition, the sampling parameters corresponding to the analog-to-digital conversion unit remain unchanged, and the sampling parameters include: sampling frequency (Fs), frequency of the intermediate frequency signal (F), and number of sampling points (N).

[0108] Among them, multiple frequency points of the second digital echo signal are related to the multiple frequency points corresponding to the first digital echo signal. When the multiple frequency points corresponding to the first digital echo signal are all frequency points, the multiple frequency points of the second digital echo signal are also all frequency points. When the multiple frequency points corresponding to the first digital echo signal are partial frequency points, the multiple frequency points of the second digital echo signal are also partial frequency points. For example, when the frequency points K corresponding to the first digital echo signal are 10 and 20 respectively, it is necessary to select the frequency spectrum information of the two frequency points of K of the second digital echo signal being 10 and 20 and the frequency spectrum information of the two frequency points of K of the first digital echo signal being 10 and 20 for echo cancellation processing to obtain the target frequency point.

[0109] The present application is described with the first digital echo signal corresponding to the currently received original echo signal as the dimension, and the processing process of the digital echo signals corresponding to other moments before the current moment can refer to the following description. The digital echo signals corresponding to other moments before the current moment can be called second digital echo signals. Similarly, the spectrum information of each frequency point of each second digital echo signal can be obtained by fast Fourier transform. The number of frequency points corresponding to each second digital echo signal is the same as the number of frequency points corresponding to the first digital echo signal, such as 1024.

[0110] Among them, the number of second digital echo signals participating in the echo cancellation process can be set according to actual needs, such as 1 or 2, and this application does not limit it.

[0111] Here, a second digital echo signal is used as an example for explanation. Exemplarily, the spectrum information of each frequency point in the first digital echo signal is respectively subtracted from the spectrum information of the corresponding frequency point in the second digital echo signal. For example, the complex number corresponding to the frequency point where k is 10 in the spectrum information of the first digital echo signal is subtracted from the complex number of the frequency point where k is 10 in the spectrum information of the second digital echo signal to obtain the cancellation result of the frequency point where k is 10. The echo cancellation processing process of other frequency points can refer to the above description. Finally, the frequency point with the largest amplitude in the cancellation result can be used as the target frequency point.

[0112] The following focuses on the applicant's concept of echo cancellation processing. Assuming that the measured target is stored in a box, such as a water tank, medicine box, material box, etc. on a plant protection drone or an unmanned vehicle, the distance measuring device can be installed on the top of the box. Figure 1 It can be seen from the contents of some relevant descriptions that the original echo signal is a superposition signal, that is, in addition to the echo signal formed by the surface reflection of the measured target, the original echo signal also includes some interference signals, such as the echo signal formed by the refraction of the inner wall of the box, noise signals, etc., that is, the first digital echo signal corresponding to the original echo signal is a superposition signal. The applicant has found through research that during the operation of the operating equipment (such as plant protection drones and unmanned vehicles) loaded with the measured target, the measured target is more likely to fluctuate relative to other objects, such as the inner wall of the box, and the surface fluctuation will cause the spectrum data (such as phase, frequency, amplitude) of the front and rear echo signals formed by the surface reflection of the measured target to change significantly, while the spectrum data of the front and rear echo signals formed by the refraction of the inner wall of the box will not change significantly. Based on this, the echo signals generated by other objects with little fluctuation can be filtered out through the idea of ​​echo cancellation processing, and the echo signal formed by the surface reflection of the measured target, that is, the target frequency point, is obtained. Finally, the distance of the measured target relative to the signal transceiver module in the distance measurement device is calculated according to the target frequency point, which can improve the accuracy of the calculation.

[0113] S304: Determine the distance of the measured target relative to the signal transceiver module according to the frequency of the target frequency point of the first digital echo signal.

[0114] After obtaining the target frequency of the first digital echo signal, the frequency corresponding to the target frequency can be calculated according to the following formula (f b ):

[0115] f b =k×Fs / N

[0116] Among them, Fs is the sampling frequency and N is the number of sampling points.

[0117] The frequency corresponding to the target frequency (f b ) is determined, and then the distance (R) corresponding to the target frequency point is obtained using the following formula:

[0118]

[0119] Among them, B sweep Indicates the modulation bandwidth corresponding to the measured signal, T B is the modulation time corresponding to the measured signal, and c represents the speed of light.

[0120] The distance (R) is used to indicate the distance between the distance measuring device and the surface of the target to be measured, that is, the distance between the target to be measured and the signal transceiver module in the distance measuring device.

[0121] To sum up, in the distance measurement method provided in the real-time example of the present application, the controller that is communicatively connected to the signal transceiver module performs echo cancellation processing on the spectrum information of multiple frequency points of the obtained multiple echo signals (a first digital echo signal, at least one second digital echo signal), so that it can have a canceling and suppressing effect on the echo signals of other objects with small fluctuations. The target frequency point is the echo signal formed by the reflection of the surface of the measured target. The distance of the measured target relative to the signal transceiver module obtained using the target frequency point is more matched with the actual distance of the measured target relative to the signal transceiver module, that is, this can improve the accuracy of the distance of the measured target relative to the signal transceiver module.

[0122] Optionally, when the target to be measured is a liquid, for example, the liquid may be water in a water tank of a plant protection UAV or an unmanned vehicle, or pesticides in a medicine box. In this scenario, the method may further include: determining the liquid level of the liquid based on the distance of the liquid relative to the signal transceiver module and the installation height of the signal transceiver module.

[0123] The distance of the liquid relative to the signal transceiver module can refer to the above process of solving the distance of the measured object relative to the signal transceiver module, which will not be described here. After obtaining the distance of the liquid relative to the signal transceiver module, the difference between the installation height of the signal transceiver module and the distance can be used as the liquid level height of the measured object.

[0124] In another feasible embodiment, the difference between the height and the distance can be used as the liquid level height corresponding to the first digital echo signal. Similarly, the above method can also be used to obtain the liquid level height corresponding to the second digital echo signal before the first digital echo signal, and then the liquid level height of the measured target can be obtained based on multiple liquid level heights.

[0125] It is understandable that when the plant protection UAV is flying or the unmanned vehicle is walking, it is inevitable that the distance measuring device will shake. When the signal transceiver module in the distance measuring device shakes, the first digital echo signal will contain some interference signals in addition to the signal reflected by the liquid page. The distance measurement method adopted in the above embodiment can offset the problem of inaccurate liquid level measurement results caused by the jitter of the signal transceiver module in the distance measuring device caused by movement.

[0126] Figure 4 A flow chart of another distance measurement method provided in an embodiment of the present application. Optionally, Figure 4 As shown, the echo cancellation process is performed according to the spectrum information of multiple frequency points corresponding to the first digital echo signal and the spectrum information of multiple frequency points of at least one second digital echo signal before the first digital echo signal to obtain the target frequency point, including:

[0127] S401 . Cancel frequency spectrum information of each frequency point of a first digital echo signal with frequency spectrum information of each frequency point of at least one second digital echo signal to obtain amplitude cancellation results of each frequency point.

[0128] According to the above description, the spectrum information corresponding to each frequency point is a complex number, which can be converted into a complex number form of (a+bi), and then the modulus value of the complex number form can be used as the amplitude of each frequency point.

[0129] Assume that the first digital echo signal currently received by the controller in the distance measurement device is F0, and the second digital echo signals previously received are F1, F2, and F3 respectively. If the order of reception is followed, the sequence formed by the digital echo signals can be [F3, F2, F1, F0]. The frequency spectrum information corresponding to each frequency point of F0 can be expressed as [X0(0), X0(1), X0(2)…X0(N-1)], the frequency spectrum information corresponding to each frequency point of F1 can be expressed as [X1(0), X1(1), X1(2)…X1(N-1)], the frequency spectrum information corresponding to each frequency point of F2 can be expressed as [X2(0), X2(1), X2(2)…X2(N-1)], and the frequency spectrum information corresponding to each frequency point of F3 can be expressed as [X3(0), X3(1), X3(2)…X3(N-1)].

[0130] Optionally, the spectrum information of each frequency point of the first digital echo signal is canceled with the spectrum information of each frequency point of the second digital echo signal before the first digital echo signal to obtain the spectrum cancellation results corresponding to each frequency point of the first digital echo signal; the spectrum cancellation results corresponding to each frequency point of the first digital echo signal are amplitude converted to obtain amplitude cancellation results of each frequency point.

[0131] Among them, if echo cancellation processing is performed on two digital echo signals, that is, the first digital echo signal and the previous second digital echo signal (such as F1) are subjected to echo cancellation processing, the spectrum information of each frequency point in the first digital echo signal F0 can be subtracted from the spectrum information of the corresponding frequency point in the second digital echo signal F1 to obtain the spectrum cancellation result corresponding to each frequency point in the first digital echo signal F0. It can be understood that the spectrum cancellation result of each frequency point is a complex number, and the spectrum cancellation result of each frequency point can be expressed as: (F0-F1)=[X0(0)-X1(0), X0(1)-X1(1), X0(2)-X1(2)...X0(N-1)- X1(N-1)]. The spectrum cancellation result corresponding to each frequency point can be associated with the first digital echo signal F0 and stored, that is, the spectrum cancellation result corresponding to each frequency point can be used as the spectrum cancellation result of each frequency point of the first data echo information F0.

[0132] After the spectrum cancellation result of each frequency point is determined, the spectrum cancellation result (F0-F1) of each frequency point can be solved for the modulus value (|F0-F1|). Specifically, the spectrum cancellation result of each frequency point can be converted into a complex form (a+bi), and the modulus value of the complex form is used as the amplitude of the frequency point to obtain the amplitude cancellation result of each frequency point.

[0133] It can be understood that the cancellation result of each frequency point in the second digital echo signal F1 can be obtained through the same concept as above. Specifically, the spectrum information corresponding to each frequency point in the second digital echo signal F1 can be subtracted from the spectrum information corresponding to the frequency point in the second digital echo signal F2 to obtain the spectrum cancellation result corresponding to each frequency point in the second digital echo signal F1. After amplitude conversion, the amplitude cancellation result of each frequency point in the second digital echo signal F1 can be obtained. Similarly, other second digital echo signals can also be cancelled in the above manner, which will not be explained here.

[0134] Optionally, a signal sequence is established in the order of receiving digital echo signals, the signal sequence including a first digital echo signal and multiple second digital echo signals; the spectrum information of each frequency point of adjacent echo signals in the signal sequence is canceled in turn to obtain multiple adjacent spectrum cancellation results corresponding to each frequency point of the first data echo signal; and based on the multiple adjacent spectrum cancellation results corresponding to each frequency point of the first data echo signal, an amplitude cancellation result for each frequency point is obtained.

[0135] Optionally, the amplitude cancellation result of each frequency point can be achieved by means of the following embodiments, namely, performing analog-to-value conversion on each adjacent spectrum cancellation result corresponding to each frequency point of the first data echo signal to obtain adjacent amplitude cancellation results of each adjacent spectrum cancellation result corresponding to each frequency point; adding each adjacent amplitude cancellation result corresponding to each frequency point to obtain the amplitude cancellation result of each frequency point.

[0136] For example, assuming that echo cancellation processing is performed on three digital echo signals, that is, the first digital echo signal and two second digital echo signals (such as F1 and F2) are subjected to echo cancellation processing, the spectrum information of each frequency point in the first digital echo signal F0 can be subtracted from the spectrum information of the corresponding frequency point in the second digital echo signal F1 to obtain an adjacent spectrum cancellation result corresponding to each frequency point of the first digital echo signal F0, that is, (F0-F1)=[X0(0)-X1(0), X0(1)-X1(1), X0(2)- X1(2)...X0(N-1)-X1(N-1)], and the spectrum information amplitude of each frequency point in the second digital echo signal F2 is subtracted from the spectrum information of the corresponding frequency point in the second digital echo signal F1 to obtain another adjacent spectrum cancellation result corresponding to each frequency point of the first digital echo signal F0, that is, (F1-F2)=[X1(0)- X2(0), X1(1)-X2(1), X1(2)-X2(2)…X1(N-1)-X2(N-1)].

[0137] In a feasible embodiment, the amplitude cancellation result of each frequency point can be obtained in the following manner.

[0138] The two adjacent spectrum cancellation results corresponding to each frequency point of the first digital echo signal are respectively solved for modulus value (|F0-F1|), (|F1-F2|). Specifically, the spectrum cancellation results of each frequency point in the two adjacent spectrum cancellation results can be converted into a complex form (a+bi), and the modulus value of the complex form is used as the amplitude of the frequency point to obtain the adjacent amplitude cancellation results corresponding to each adjacent spectrum cancellation result. The corresponding frequency points in the two adjacent amplitude cancellation results corresponding to each frequency point are added (|F0-F1|)+|F1-F2|), and the amplitude cancellation results of each frequency point of the first digital echo signal F0 are obtained.

[0139] Similarly, the spectrum information of the corresponding frequency point in the second digital echo signal F2 can be subtracted from the spectrum information of each frequency point in the second digital echo signal F1 to obtain an adjacent spectrum cancellation result corresponding to the second digital echo signal F1, and the spectrum information of the corresponding frequency point in the second digital echo signal F2 can be subtracted from the spectrum information of each frequency point in the second digital echo signal F3 to obtain another adjacent spectrum cancellation result corresponding to the second digital echo signal F1. The adjacent amplitude cancellation results corresponding to these two adjacent spectrum cancellation results are added (|F1-F2|)+|F2-F3|), and the addition result is used as the amplitude cancellation result of each frequency point of the second digital echo signal F1. Other second digital echo signals can be cancelled in the above manner.

[0140] It should be noted that the more the second digital echo signals involved in the echo cancellation process are, the easier it is to filter out the echo signals of other objects with small fluctuations, which can improve the accuracy of later determination of the target frequency point.

[0141] S402: Obtain a reference amplitude of each frequency point according to the spectrum information of each frequency point of the first digital echo signal and the first preset weight, the amplitude cancellation result of each frequency point and the second preset weight.

[0142] It can be seen from the above description that no matter how many second digital echo signals are used for cancellation processing, the first digital echo signal will correspond to the spectrum information of each frequency point and the amplitude cancellation result of each frequency point, that is, the amplitude corresponding to each frequency point of the first digital echo signal includes: the amplitude in the spectrum information and the amplitude in the amplitude cancellation result. The first preset weight and the second preset weight can be set according to actual needs, and this application does not limit them.

[0143] For example, here, two digital echo signals are used for echo cancellation processing as an example for explanation. Assuming that the first digital echo signal F0 includes 3 frequency points: {4, 10, 12}, the amplitudes corresponding to these 3 frequency points are {2000, 4000, 3000}, after the first digital echo signal F0 and the second digital echo signal F1 are canceled, the amplitude cancellation results of each frequency point {4, 10, 12} are obtained as: {1000, 2000, 2000}. Here, frequency point 4 is used as an example for explanation, assuming that the first preset weight is w1 and the second preset weight is w2, and then the reference amplitude of frequency point 4 in the first digital echo signal can be obtained by the formula (2000*w1+1000*w2).

[0144] S403 . Obtain a target frequency point according to a reference amplitude of each frequency point of the first digital echo signal.

[0145] Continuing with the above example, the reference amplitudes corresponding to frequency point 4, frequency point 10, and frequency point 12 can be calculated respectively, and the three reference amplitudes can be compared, and the frequency point corresponding to the maximum reference amplitude can be used as the target frequency point, that is, the target frequency point is the frequency point in the first digital echo signal. Optionally, the frequency point corresponding to the maximum reference amplitude can be combined with the frequency point of the maximum reference amplitude corresponding to the second digital echo signal to determine the target frequency point.

[0146] Optionally, the spectrum information of each frequency point of the first digital echo signal is canceled with the spectrum information of each frequency point of at least one second digital echo signal. After obtaining the amplitude cancellation results of each frequency point in the first digital echo signal, the amplitude cancellation results of each frequency point can be compared respectively, and the frequency point with the largest amplitude in the amplitude cancellation results can be used as the target frequency point.

[0147] Optionally, Figure 5 A flow chart of another distance measurement method provided in an embodiment of the present application. Figure 5 As shown, the target frequency point is obtained according to the reference amplitude of each frequency point of the first digital echo signal, including:

[0148] S501. Use the frequency point with the largest reference amplitude as the reference frequency point.

[0149] S502: Determine a target frequency point according to a reference frequency point and a previous reference frequency point corresponding to a second digital echo signal preceding the first digital echo signal.

[0150] The reference frequency point corresponding to the first digital echo signal may refer to the process of the target frequency point in the first digital echo signal, which will not be further described here.

[0151] The process of solving the previous reference frequency corresponding to the second digital echo signal before the first digital echo signal can also refer to the process of determining the target frequency in the first digital echo signal. Take the echo cancellation processing of two digital echo signals as an example for explanation. Continuing with the above example, since the reference frequency corresponding to the first digital echo signal F0 is related to the second digital echo signal, and the previous reference frequency corresponding to the second digital echo signal F1 is related to the second digital echo signal F2, the reference frequency and the previous reference frequency may be two completely different frequency points. After obtaining the reference frequency and the previous reference frequency, the target frequency can be determined according to the frequency characteristics of the frequency.

[0152] Optionally, the above-mentioned method of obtaining a reference amplitude of each frequency point according to the spectrum information of each frequency point of the first digital echo signal and the first preset weight, the amplitude cancellation result of each frequency point and the second preset weight includes: respectively determining the product of the amplitude corresponding to the spectrum information of each frequency point of the first digital echo signal and the first preset weight to obtain the first weighted amplitude of each frequency point of the first digital echo signal; respectively determining the product of the amplitude cancellation result of each frequency point and the second preset weight to obtain the second weighted amplitude of the cancellation result of each frequency point; and respectively adding the first weighted amplitude and the second weighted amplitude of each frequency point to obtain the reference amplitude of each frequency point.

[0153] Continuing with the above example, taking frequency point 4 in the first digital echo signal, the first weight amplitude of frequency point 4 is (2000*w1), the second weight amplitude of the amplitude cancellation result of frequency point 4 is (1000*w2), and the result of (2000*w1+1000*w2) is the reference amplitude of frequency point 4. The reference amplitudes of other frequency points are similar and will not be explained here.

[0154] Figure 6 A flow chart of another distance measurement method provided in an embodiment of the present application. Figure 6As shown, the target frequency is determined according to the reference frequency and the previous reference frequency corresponding to the second digital echo signal before the first digital echo signal, including:

[0155] S601: Determine a first signal frequency at a reference frequency point and a second signal frequency at a previous reference frequency point corresponding to a second digital echo signal preceding a first digital echo signal.

[0156] Among them, after the reference frequency point and the previous reference frequency point are determined, according to the frequency corresponding to the above-mentioned calculation frequency point (f b ) formula respectively calculates the first signal frequency of the reference frequency point and the second signal frequency of the first reference frequency point.

[0157] S602: Determine a first difference between a first signal frequency and a second signal frequency.

[0158] S603: Determine a target frequency point from the reference frequency point and a previous reference frequency point corresponding to a second digital echo signal preceding the first digital echo signal according to the first difference and a preset difference threshold.

[0159] The first signal frequency is subtracted from the second signal frequency to obtain a first difference, and the first difference is compared with a preset difference threshold. If the first difference is less than the preset difference threshold, the reference frequency point corresponding to the first digital echo signal is used as the target frequency point. If the first difference is greater than or equal to the preset difference threshold, the previous reference frequency point corresponding to the second digital echo signal before the first digital echo signal is used as the target frequency point.

[0160] This can avoid the large deviation of the echo signal formed by the reflection of the measured target surface in the adjacent digital echo signal due to external factors.

[0161] Optionally, the above-mentioned echo cancellation processing is performed according to the spectrum information of multiple frequency points corresponding to the first digital echo signal and the spectrum information of multiple frequency points of at least one second digital echo signal before the first digital echo signal to obtain the target frequency point, and also includes: selecting multiple frequency points from the first digital echo signal according to the spectrum information of each frequency point of the first digital echo signal and a preset amplitude threshold.

[0162] Among them, after the first digital echo signal is subjected to fast Fourier transform, a large number of frequency points will be generated. The spectrum information of each frequency point can be first converted into a corresponding amplitude, and the amplitude corresponding to each frequency point can be compared with a preset amplitude threshold. The frequency points less than the preset amplitude threshold can be eliminated, and the frequency points greater than or equal to the preset amplitude threshold can be used as the frequency points for subsequent echo cancellation processing, which can improve the speed of the echo cancellation processing.

[0163] Figure 7A flow chart of another distance measurement method provided in an embodiment of the present application. Figure 7 As shown, the above-mentioned determining the distance of the measured target relative to the signal transceiver module according to the frequency of the target frequency point of the first digital echo signal includes:

[0164] S701: Determine a first distance corresponding to a first digital echo signal according to a target frequency point of a first digital echo signal.

[0165] S702: Determine the distance of the measured target relative to the signal transceiver module according to a first distance corresponding to the first digital echo signal and a second distance corresponding to at least one second digital echo signal before the first digital signal.

[0166] After the target frequency of the first digital echo signal is determined, the first height corresponding to the first digital echo signal can be obtained by the process described in step S304. Similarly, the controller can also obtain the second heights corresponding to other second digital echo signals. After the distance measuring device measures the preset time, the distances corresponding to each digital echo signal can be extracted according to the preset number information of the digital echo signal. These distances can be averaged, and the height obtained by the average processing is used as the distance of the measured target relative to the signal transceiver module.

[0167] Figure 8 A schematic diagram of the structure of another distance measurement device provided in an embodiment of the present application. Figure 8 As shown, the device is applied to a controller in a distance measuring device, and the distance measuring device includes: a controller and a signal transceiver module, and the signal transceiver module is communicatively connected with the controller; the device includes:

[0168] The receiving module 801 is used to receive a first digital echo signal;

[0169] The analysis module 802 is used to analyze the first digital echo signal to obtain frequency spectrum information of multiple frequency points corresponding to the first digital echo signal;

[0170] The cancellation processing module 803 is used to perform echo cancellation processing according to the spectrum information of multiple frequency points corresponding to the first digital echo signal and the spectrum information of multiple frequency points of at least one second digital echo signal before the first digital echo signal to obtain the target frequency point;

[0171] The determination module 804 is used to determine the distance of the measured target relative to the signal transceiver module according to the frequency of the target frequency point of the first digital echo signal.

[0172] Optionally, the cancellation processing module 803 is specifically used to cancel the frequency spectrum information of each frequency point of the first digital echo signal with the frequency spectrum information of each frequency point of at least one second digital echo signal to obtain the amplitude cancellation result of each frequency point; obtain the reference amplitude of each frequency point of the first digital echo signal according to the frequency spectrum information of each frequency point of the first digital echo signal and the first preset weight, the amplitude cancellation result of each frequency point and the second preset weight; obtain the target frequency point according to the reference amplitude of each frequency point of the first digital echo signal.

[0173] Optionally, the cancellation processing module 803 is further specifically used to cancel the spectrum information of each frequency point of the first digital echo signal with the spectrum information of each frequency point of the second digital echo signal before the first digital echo signal to obtain the spectrum cancellation results corresponding to each frequency point of the first digital echo signal; perform amplitude conversion on the spectrum cancellation results corresponding to each frequency point of the first digital echo signal to obtain the amplitude cancellation results of each frequency point.

[0174] Optionally, the cancellation processing module 803 is also specifically used to establish a signal sequence according to the reception order of the digital echo signals, the signal sequence including a first digital echo signal and multiple second digital echo signals; sequentially perform cancellation processing on the spectrum information of each frequency point of adjacent echo signals in the signal sequence to obtain multiple adjacent spectrum cancellation results corresponding to each frequency point of the first data echo signal; and obtain an amplitude cancellation result for each frequency point based on the multiple adjacent spectrum cancellation results corresponding to each frequency point of the first data echo signal.

[0175] Optionally, the cancellation processing module 803 is further specifically used to perform analog-to-value conversion on each adjacent spectrum cancellation result corresponding to each frequency point of the first data echo signal to obtain adjacent amplitude cancellation results corresponding to each adjacent spectrum cancellation result corresponding to each frequency point; and add each adjacent amplitude cancellation result corresponding to each frequency point to obtain an amplitude cancellation result of each frequency point.

[0176] Optionally, the cancellation processing module 803 is also specifically used to determine the product of the amplitude corresponding to the spectrum information of each frequency point of the first digital echo signal and the first preset weight, to obtain the first weight amplitude of each frequency point of the first digital echo signal; determine the product of the amplitude cancellation result of each frequency point and the second preset weight, to obtain the second weight amplitude of the cancellation result of each frequency point; add the first weight amplitude and the second weight amplitude of each frequency point, respectively, to obtain the reference amplitude of each frequency point.

[0177] Optionally, the offset processing module 803 is further configured to use the frequency point with the largest reference amplitude as the target frequency point.

[0178] Optionally, the cancellation processing module 803 is further configured to use the frequency point with the largest reference amplitude as the reference frequency point; and determine the target frequency point according to the reference frequency point and a previous reference frequency point corresponding to a second digital echo signal before the first digital echo signal.

[0179] Optionally, the determination module 804 is specifically used to respectively determine the first signal frequency of the reference frequency point and the second signal frequency of the previous reference frequency point corresponding to the previous second digital echo signal of the first digital echo signal; determine the first difference between the first signal frequency and the second signal frequency; and determine the target frequency point from the reference frequency point and the previous reference frequency point corresponding to the previous second digital echo signal of the first digital echo signal based on the first difference and a preset difference threshold.

[0180] Optionally, the device further comprises: a selection module;

[0181] The selection module is used to select multiple frequency points from the first digital echo signal according to the frequency spectrum information of each frequency point of the first digital echo signal and a preset amplitude threshold.

[0182] Optionally, the determination module 804 is also specifically used to determine a first distance corresponding to the first digital echo signal based on the frequency of the target frequency point of the first digital echo signal; and determine the distance of the measured target relative to the signal transceiver module based on a first reference liquid level height corresponding to the first digital echo signal and a second distance corresponding to at least one second digital echo signal before the first digital echo signal.

[0183] Optionally, the analyzing module 802 is specifically configured to perform a fast Fourier transform on the first digital echo signal to obtain frequency spectrum information of multiple frequency points corresponding to the first digital echo signal.

[0184] Optionally, the target to be measured is a liquid;

[0185] Correspondingly, the determination module 802 is further used to determine the liquid level height of the liquid according to the distance of the liquid relative to the signal transceiver module and the installation height of the signal transceiver module.

[0186] The above-mentioned device is used to execute the method provided by the aforementioned embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0187] The above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more microprocessors (DSP), or one or more field programmable gate arrays (FPGA). For another example, when a module is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0188] Fig. 9 A schematic diagram of the structure of another distance measurement device provided in an embodiment of the present application is shown in FIG. Fig. 9 As shown, the distance measurement device may include: a controller 901, a storage medium 902, a signal transceiver module 101 and a bus 903, the storage medium 902 stores machine-readable instructions executable by the controller 901, when the distance measurement device is running, the controller 901 communicates with the storage medium 902 through the bus 903, and the controller 901 executes the machine-readable instructions to perform the steps of the above method embodiment. The specific implementation method and technical effect are similar and will not be repeated here.

[0189] Optionally, the present application embodiment provides a medicine box, the top of which is provided with Fig. 9 The distance measuring device shown is used to measure the liquid level height of the liquid in the medicine box. The specific content can be referred to the above-mentioned relevant part description, which will not be described here.

[0190] Optionally, an embodiment of the present application provides an electronic device, including: a controller and a storage medium; the storage medium stores machine-readable instructions executable by the controller, and when the controller executes the machine-readable instructions, the steps of the above method embodiment are implemented.

[0191] Optionally, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method embodiment are executed.

[0192] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, 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 indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0193] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0194] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0195] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), disk or optical disk and other media that can store program codes.

[0196] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0197] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A distance measurement method, characterized in that: The method comprises: Receive a first digital echo signal, where the first digital echo signal is obtained by processing an original echo signal, where the original echo signal is an echo signal of a measurement signal sent by a signal transceiver module to a measured target; Analyzing the first digital echo signal to obtain frequency spectrum information of multiple frequency points corresponding to the first digital echo signal; Performing echo cancellation processing according to frequency spectrum information of multiple frequency points corresponding to the first digital echo signal and frequency spectrum information of multiple frequency points of at least one second digital echo signal before the first digital echo signal to obtain a target frequency point; Determining the distance of the measured target relative to the signal transceiver module according to the frequency of the target frequency point of the first digital echo signal; The method of performing echo cancellation processing according to the spectrum information of multiple frequency points corresponding to the first digital echo signal and the spectrum information of multiple frequency points of at least one second digital echo signal before the first digital echo signal to obtain the target frequency point includes: performing cancellation processing on the frequency spectrum information of each frequency point of the first digital echo signal and the frequency spectrum information of each frequency point of the at least one second digital echo signal to obtain amplitude cancellation results of each frequency point; Obtaining a reference amplitude of each frequency point of the first digital echo signal according to the spectrum information of each frequency point of the first digital echo signal and the first preset weight, the amplitude cancellation result of each frequency point and the second preset weight; The target frequency point is obtained according to the reference amplitude of each frequency point of the first digital echo signal.

2. The method according to claim 1, characterized in that The cancelling the spectrum information of each frequency point of the first digital echo signal with the spectrum information of each frequency point of the at least one second digital echo signal to obtain amplitude cancellation results of each frequency point includes: cancelling the frequency spectrum information of each frequency point of the first digital echo signal with the frequency spectrum information of each frequency point of the second digital echo signal preceding the first digital echo signal, to obtain a frequency spectrum cancellation result corresponding to each frequency point of the first digital echo signal; Amplitude conversion is performed on the spectrum cancellation results corresponding to each frequency point of the first digital echo signal to obtain amplitude cancellation results of each frequency point.

3. The method according to claim 1, characterized in that The cancelling the spectrum information of each frequency point of the first digital echo signal with the spectrum information of each frequency point of the at least one second digital echo signal to obtain amplitude cancellation results of each frequency point includes: Establishing a signal sequence according to the order in which the digital echo signals are received, wherein the signal sequence includes the first digital echo signal and a plurality of second digital echo signals; performing cancellation processing on the spectrum information of each frequency point of adjacent echo signals in the signal sequence in sequence to obtain a plurality of adjacent spectrum cancellation results corresponding to each frequency point of the first digital echo signal; According to the multiple adjacent frequency spectrum cancellation results corresponding to the frequency points of the first digital echo signal, the amplitude cancellation result of each frequency point is obtained.

4. The method according to claim 3, characterized in that The obtaining the amplitude cancellation result of each frequency point according to the multiple adjacent frequency spectrum cancellation results corresponding to each frequency point of the first digital echo signal includes: Performing analog-to-value conversion on adjacent frequency spectrum cancellation results corresponding to each frequency point of the first digital echo signal respectively, to obtain adjacent amplitude cancellation results of adjacent frequency spectrum cancellation results corresponding to each frequency point; The adjacent amplitude cancellation results corresponding to each frequency point are added together to obtain the amplitude cancellation result of each frequency point.

5. The method according to claim 1, characterized in that The obtaining of the reference amplitude of each frequency point according to the spectrum information of each frequency point of the first digital echo signal and the first preset weight, the amplitude cancellation result of each frequency point and the second preset weight includes: Respectively determine the product of the amplitude corresponding to the spectrum information of each frequency point of the first digital echo signal and the first preset weight to obtain a first weighted amplitude of each frequency point of the first digital echo signal; Determine the product of the amplitude cancellation result of each frequency point and the second preset weight respectively to obtain a second weighted amplitude of the cancellation result of each frequency point; The first weighted amplitude and the second weighted amplitude of each frequency point are added together to obtain a reference amplitude of each frequency point.

6. The method according to claim 1, characterized in that The obtaining the target frequency point according to the reference amplitude of each frequency point of the first digital echo signal includes: The frequency point with the largest reference amplitude is taken as the target frequency point.

7. The method according to claim 1, characterized in that The obtaining the target frequency point according to the reference amplitude of each frequency point of the first digital echo signal includes: The frequency point with the largest reference amplitude is taken as the reference frequency point; The target frequency is determined according to the reference frequency and a previous reference frequency corresponding to a second digital echo signal preceding the first digital echo signal.

8. The method according to claim 7, characterized in that The determining the target frequency point according to the reference frequency point and a previous reference frequency point corresponding to a second digital echo signal preceding the first digital echo signal comprises: respectively determining a first signal frequency of the reference frequency point and a second signal frequency of a previous reference frequency point corresponding to a second digital echo signal preceding the first digital echo signal; determining a first difference between the first signal frequency and the second signal frequency; The target frequency is determined from the reference frequency and a previous reference frequency corresponding to a second digital echo signal preceding the first digital echo signal according to the first difference and a preset difference threshold.

9. The method according to any one of claims 1 to 8, characterized in that: The method further comprises: performing echo cancellation processing according to the spectrum information of multiple frequency points corresponding to the first digital echo signal and the spectrum information of multiple frequency points of at least one second digital echo signal before the first digital echo signal to obtain the target frequency point; The multiple frequency points are selected from the first digital echo signal according to the frequency spectrum information of each frequency point of the first digital echo signal and a preset amplitude threshold.

10. The method according to any one of claims 1 to 8, characterized in that: The determining, according to the frequency of the target frequency point of the first digital echo signal, the distance of the measured target relative to the signal transceiver module comprises: Determining a first distance corresponding to the first digital echo signal according to the frequency of the target frequency point of the first digital echo signal; The distance of the measured target relative to the signal transceiver module is determined according to a first distance corresponding to the first digital echo signal and a second distance corresponding to at least one second digital echo signal before the first digital echo signal.

11. The method according to any one of claims 1 to 8, characterized in that: The step of parsing the first digital echo signal to obtain frequency spectrum information of a plurality of frequency points corresponding to the first digital echo signal includes: Performing a fast Fourier transform on the first digital echo signal to obtain frequency spectrum information of multiple frequency points corresponding to the first digital echo signal.

12. The method according to any one of claims 1 to 8, characterized in that: The measured target is a liquid, and the method further comprises: The liquid level height of the liquid is determined according to the distance of the liquid relative to the signal transceiver module and the installation height of the signal transceiver module.

13. A distance measuring device, characterized in that: The device comprises: A receiving module, used for receiving a first digital echo signal, wherein the first digital echo signal is obtained by processing an original echo signal, wherein the original echo signal is an echo signal of a measurement signal sent by a signal transceiver module to a measured object; An analysis module, used for analyzing the first digital echo signal to obtain spectrum information of multiple frequency points corresponding to the first digital echo signal; a cancellation processing module, configured to perform echo cancellation processing according to the spectrum information of multiple frequency points corresponding to the first digital echo signal and the spectrum information of multiple frequency points of at least one second digital echo signal before the first digital echo signal, so as to obtain a target frequency point; A determination module, configured to determine the distance of the measured target relative to the signal transceiver module according to the frequency of the target frequency point of the first digital echo signal; The cancellation processing module is specifically used to cancel the frequency spectrum information of each frequency point of the first digital echo signal with the frequency spectrum information of each frequency point of the at least one second digital echo signal to obtain the amplitude cancellation result of each frequency point; obtain the reference amplitude of each frequency point of the first digital echo signal according to the frequency spectrum information of each frequency point of the first digital echo signal and the first preset weight, the amplitude cancellation result of each frequency point and the second preset weight; obtain the target frequency point according to the reference amplitude of each frequency point of the first digital echo signal.

14. A distance measuring device, characterized in that: include: A controller, a storage medium and a signal transceiver module, wherein the signal transceiver module is communicatively connected to the controller, the storage medium stores machine-readable instructions executable by the controller, and when the distance measuring device is running, the controller executes the machine-readable instructions to perform the steps of the distance measurement method as described in any one of claims 1 to 12.

15. A medicine box, characterized in that: The top of the medicine box is provided with the distance measuring device according to claim 14, and the distance measuring device is used to measure the liquid level height of the liquid loaded in the medicine box.

16. An operating device, characterized in that: The distance measuring device according to claim 14 is installed in the working equipment, and the distance measuring device is used to detect obstacles around the working equipment.

17. An electronic device, characterized in that: include: A controller and a storage medium; the storage medium stores machine-readable instructions executable by the controller, and when the controller executes the machine-readable instructions, the steps of the distance measurement method according to any one of claims 1 to 12 are implemented.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by the controller, the steps of the distance measurement method according to any one of claims 1 to 12 are executed.

Images