Method, device, equipment and storage medium for determining ultrasonic detection range

Abstract

The present application discloses a method, device, equipment and storage medium for determining ultrasonic detection range, and relates to the field of ultrasonic detection technology. The method comprises: obtaining the noise generated by the ultrasonic probe when measuring distance in real time to obtain measurement noise; determining the current noise level corresponding to the ultrasonic probe based on the measurement noise and the background noise of the ultrasonic probe; and determining the current ultrasonic detection range of the ultrasonic probe based on the noise level and the mapping relationship between the noise level and the ultrasonic detection range. The current ultrasonic detection range of the ultrasonic probe is determined based on the measurement noise of the ultrasonic probe and the background noise of the ultrasonic probe, thereby obtaining an effective ultrasonic measurement range, thereby obtaining more accurate obstacle map coordinates, and real-time monitoring can automatically adjust the ultrasonic detection range according to the noise at different distances, and can detect and establish a surrounding obstacle map in real time.

Description

Technical Field

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

[0002] At present, the ultrasonic automatic parking system and low-speed driving assistance system involved in autonomous driving technology use ultrasonic detection technology. The accuracy of ultrasonic detection affects the accuracy of the vehicle's detection of surrounding obstacles. Ultrasonic waves can achieve accurate detection within the effective detection range. Exceeding the effective detection range may result in inaccurate detection or missed detection, which may lead to the risk of vehicle collision. Summary of the Invention

[0003] In view of this, the present invention aims to provide a method, device, equipment, and medium for determining ultrasonic detection range, which can obtain an effective ultrasonic measurement range and automatically adjust the ultrasonic detection range based on noise, thereby more accurately determining obstacle map coordinates. The specific scheme is as follows:

[0004] In a first aspect, the present application discloses a method for determining an ultrasonic detection range, comprising:

[0005] Acquire the noise generated by the ultrasonic probe when measuring the distance in real time to obtain the measurement noise;

[0006] Determining a current noise level of the ultrasonic probe based on the measurement noise and the background noise of the ultrasonic probe;

[0007] The current ultrasonic detection range of the ultrasonic probe is determined according to the noise level and the mapping relationship between the noise level and the ultrasonic detection range.

[0008] Optionally, determining the current ultrasonic detection range of the ultrasonic probe according to the noise level and the mapping relationship between the noise level and the ultrasonic detection range includes:

[0009] Acquiring a target parameter when the ultrasonic probe emits ultrasonic waves to measure distance, and compensating the noise level according to the target parameter to obtain a compensated noise level;

[0010] The current ultrasonic detection range of the ultrasonic probe is determined according to the compensated noise level and the mapping relationship between the noise level and the ultrasonic detection range.

[0011] Optionally, acquiring a target parameter at the moment when the ultrasonic probe transmits ultrasonic waves to measure the distance, and compensating the noise level according to the target parameter, includes:

[0012] Obtaining a power supply voltage corresponding to when the ultrasonic probe sends ultrasonic waves when measuring distance;

[0013] Determining a first compensation value corresponding to the power supply voltage according to a mapping relationship between the power supply voltage and the compensation value;

[0014] The noise level is compensated using the first compensation value.

[0015] Optionally, acquiring a target parameter at the moment when the ultrasonic probe transmits ultrasonic waves to measure the distance, and compensating the noise level according to the target parameter, includes:

[0016] Obtaining the ambient temperature corresponding to when the ultrasonic probe sends ultrasonic waves while measuring distance;

[0017] Determining a second compensation value corresponding to the ambient temperature according to a mapping relationship between the ambient temperature and the compensation value;

[0018] The noise level is compensated using the second compensation value.

[0019] Optionally, determining a current noise level corresponding to the ultrasonic probe according to the measurement noise and the background noise of the ultrasonic probe includes:

[0020] Adding the measurement noise and the background noise of the ultrasonic probe to obtain added noise;

[0021] According to a noise level classification rule, the noise level corresponding to the added noise is determined as the current noise level corresponding to the ultrasonic probe.

[0022] Optionally, after determining the current ultrasonic detection range of the ultrasonic probe according to the noise level and the mapping relationship between the noise level and the ultrasonic detection range, the method further includes:

[0023] The ultrasonic detection range is converted into a distance according to the ultrasonic detection range and configuration parameters of the ultrasonic probe.

[0024] Optionally, after determining the current ultrasonic detection range of the ultrasonic probe according to the noise level and the mapping relationship between the noise level and the ultrasonic detection range, the method further includes:

[0025] The ultrasonic detection range is adjusted using a matched filter.

[0026] In a second aspect, the present application discloses an ultrasonic detection range determination device, comprising:

[0027] A measurement noise acquisition module is used to acquire the noise generated by the ultrasonic probe when measuring the distance in real time to obtain the measurement noise;

[0028] a noise level determination module, configured to determine a current noise level corresponding to the ultrasonic probe based on the measurement noise and the background noise of the ultrasonic probe;

[0029] The ultrasonic detection range determination module is used to determine the current ultrasonic detection range of the ultrasonic probe according to the noise level and the mapping relationship between the noise level and the ultrasonic detection range.

[0030] In a third aspect, the present application discloses an electronic device, comprising:

[0031] Memory, used to store computer programs;

[0032] The processor is used to execute the computer program to implement the aforementioned method for determining the ultrasonic detection range.

[0033] In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein the computer program, when executed by a processor, implements the aforementioned method for determining an ultrasonic detection range.

[0034] In this application, the noise generated by the ultrasonic probe when measuring the distance is obtained in real time to obtain the measurement noise; based on the measurement noise and the background noise of the ultrasonic probe, the noise level currently corresponding to the ultrasonic probe is determined; based on the noise level and the mapping relationship between the noise level and the ultrasonic detection range, the current ultrasonic detection range of the ultrasonic probe is determined. It can be seen that according to the different characteristics of the noise generated by ultrasound when measuring different distances, the noise level is determined by obtaining the measurement noise and the background noise of the ultrasonic probe, and the current ultrasonic detection range of the ultrasonic probe is determined by querying the mapping relationship between the noise level and the ultrasonic detection range based on experience, thereby obtaining an effective ultrasonic measurement range. Within the effective measurement range, the distance to the obstacle can be accurately detected, so that the obstacle map coordinates can be determined more accurately, and real-time monitoring can automatically adjust the ultrasonic detection range according to the noise at different distances, and can detect and establish a surrounding obstacle map in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0036] Figure 1 A flow chart of a method for determining ultrasonic detection range provided in this application;

[0037] Figure 2 A flow chart of a specific method for determining ultrasonic detection range provided in this application;

[0038] Figure 3 A schematic diagram of the structure of an ultrasonic detection range determination device provided in this application;

[0039] Figure 4 This is a structural diagram of an electronic device provided in this application. DETAILED DESCRIPTION

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0041] In the prior art, ultrasonic automatic parking systems and low-speed driving assistance systems involved in autonomous driving technology use ultrasonic detection technology. The accuracy of ultrasonic detection affects the accuracy of the vehicle's detection of surrounding obstacles. Ultrasonic waves can accurately detect objects within their effective detection range. However, if they exceed the effective detection range, they may be inaccurate or miss detection, which may lead to the risk of vehicle collision. To overcome the above technical problems, this application proposes a method for determining ultrasonic detection range, which can obtain an effective ultrasonic measurement range and automatically adjust the ultrasonic detection range based on noise, thereby more accurately determining the coordinates of the obstacle map.

[0042] The present application discloses a method for determining an ultrasonic detection range. Figure 1 As shown, the method may include the following steps:

[0043] Step S11: Acquire the noise generated by the ultrasonic probe when measuring the distance in real time to obtain the measurement noise.

[0044] In this embodiment, the noise generated by the current ultrasonic probe during distance measurement is first obtained as measurement noise. It is understood that when ultrasonic distance detection is performed, the ultrasonic noise varies at different distances, and measurement noise at different distances can limit the ultrasonic detection range. Therefore, by defining the ultrasonic detection range based on the ultrasonic measurement noise, the accuracy of the ultrasonic detection range determination is improved. The above-mentioned method for obtaining measurement noise can be obtained using equipment such as a noise detector and is not specifically limited here.

[0045] Step S12: determining the current noise level corresponding to the ultrasonic probe according to the measurement noise and the background noise of the ultrasonic probe.

[0046] In this embodiment, the current noise level corresponding to the ultrasonic probe is determined based on the measurement noise generated by the ultrasonic probe when measuring distance and the background noise signal of the ultrasonic probe. That is, the background noise signal of the ultrasonic probe also acts as noise and affects the detection range. Therefore, the comprehensive noise is determined by combining the measurement noise and the background noise of the ultrasonic probe, and the noise level corresponding to the comprehensive noise is determined.

[0047] In this embodiment, determining the current noise level corresponding to the ultrasonic probe based on the measurement noise and the background noise of the ultrasonic probe may include: adding the measurement noise and the background noise of the ultrasonic probe to obtain the added noise; and determining the noise level corresponding to the added noise as the current noise level corresponding to the ultrasonic probe based on a pre-configured noise level classification rule. Specifically, the measurement noise and the background noise of the ultrasonic probe are added to obtain the added noise, and then querying the pre-configured noise level classification rule to determine the noise level corresponding to the added noise, thereby obtaining the current noise level corresponding to the ultrasonic probe. The noise level classification rule is a rule for classifying noise levels based on noise range, that is, determining the range of the added noise and then determining the noise level corresponding to the range, such as level 1, level 2, ..., level n, etc., and may be further refined depending on the specific situation.

[0048] Step S13: determining the current ultrasonic detection range of the ultrasonic probe according to the noise level and the mapping relationship between the noise level and the ultrasonic detection range.

[0049] In this embodiment, after determining the noise level, the ultrasonic detection range corresponding to the current noise level is determined by querying the mapping relationship between the noise level and the ultrasonic detection range that has been constructed in advance based on experience, and the ultrasonic detection range is used as the current ultrasonic detection range of the ultrasonic probe. Specifically, based on the data from the ultrasonic probe's historical detections, that is, based on the noise during each detection and the corresponding effective detection range, the effective detection range corresponding to different noise conditions can be determined, and a mapping relationship between the noise level and the ultrasonic detection range can be generated. Moreover, corresponding mapping relationships can be constructed for different types of ultrasonic probes. Accordingly, before determining the ultrasonic detection range of the ultrasonic probe based on the noise level and the mapping relationship between the noise level and the ultrasonic detection range, the process also includes: determining the target mapping relationship between the noise level corresponding to the ultrasonic probe and the ultrasonic detection range. The above-mentioned mapping relationship can be in a tabular form or in other forms, and the specific form is not specifically limited here.

[0050] In this embodiment, after determining the current ultrasonic detection range of the ultrasonic probe based on the noise level and the pre-established mapping relationship between noise level and ultrasonic detection range, the method may further include converting the ultrasonic detection range into a distance based on the ultrasonic detection range and configuration parameters of the ultrasonic probe. Specifically, because an ultrasonic probe determines distance based on the time interval between echoes received after emitting an ultrasonic wave, the ultrasonic detection range is expressed in units of time. Once determined, it can be converted into a physical distance based on the ultrasonic parameters.

[0051] In this embodiment, after determining the current ultrasonic detection range of the ultrasonic probe based on the noise level and the pre-established mapping relationship between noise level and ultrasonic detection range, the method may further include adjusting the ultrasonic detection range using a matched filter. It will be appreciated that for signals with a large time-bandwidth product, matched filtering is equivalent to pulse compression, thereby improving the range resolution and distance measurement accuracy of radar or sonar. Therefore, limiting the ultrasonic detection range using a matched filter further improves the accuracy of the ultrasonic detection range.

[0052] As can be seen from the above, in this embodiment, the noise generated by the ultrasonic probe when measuring distance is obtained in real time to obtain the measurement noise; based on the measurement noise and the background noise of the ultrasonic probe, the noise level currently corresponding to the ultrasonic probe is determined; based on the noise level and the pre-established mapping relationship between the noise level and the ultrasonic detection range, the current ultrasonic detection range of the ultrasonic probe is determined. It can be seen that based on the different characteristics of the noise generated by ultrasound when measuring different distances, the noise level is determined by obtaining the measurement noise and the background noise of the ultrasonic probe, and the current ultrasonic detection range of the ultrasonic probe is determined by querying the mapping relationship between the noise level and the ultrasonic detection range pre-established based on experience, thereby obtaining an effective ultrasonic measurement range. Within the effective measurement range, the distance to the obstacle can be accurately detected, so that the obstacle map coordinates can be more accurately determined. In addition, real-time monitoring can automatically adjust the ultrasonic detection range according to the noise at different distances, and can detect and establish a surrounding obstacle map in real time.

[0053] The present application discloses a specific method for determining the ultrasonic detection range. Figure 2 As shown, the method may include the following steps:

[0054] Step S21: Acquire the noise generated by the ultrasonic probe when measuring the distance in real time to obtain the measurement noise.

[0055] Step S22: determining a current noise level corresponding to the ultrasonic probe according to the measurement noise and the background noise of the ultrasonic probe.

[0056] Step S23: acquiring target parameters at the moment when the ultrasonic probe transmits ultrasonic waves to measure distance, and compensating the noise level according to the target parameters to obtain a compensated noise level.

[0057] In this embodiment, considering that other factors may also affect the ultrasonic detection range, the target parameters at the moment the ultrasonic probe transmits ultrasonic waves to measure distance are obtained, and then the noise level is compensated based on the target parameters. The target parameters may include, but are not limited to, power supply voltage and ambient temperature. Specifically, the noise level may be compensated based on the power supply voltage, the ambient temperature, or a combination of the power supply voltage and ambient temperature.

[0058] That is, the specific process of the ultrasonic detection range determination method of this embodiment can be as follows: obtain data such as the measurement noise of the ultrasonic wave when measuring distance, the power supply voltage when sending the ultrasonic wave, the ambient temperature, and the matched filter used when sending the ultrasonic wave; calculate the basic noise level based on the obtained ultrasonic noise and the background noise signal of the ultrasonic probe; compensate for the noise level based on the power supply voltage and ambient temperature when sending the ultrasonic wave, and obtain the ultrasonic detection range by looking up the table; limit the range of ultrasonic detection according to the matched filter used, and finally realize automatic adjustment of the ultrasonic detection range based on the measurement noise.

[0059] In this embodiment, obtaining the target parameter when the ultrasonic probe transmits ultrasonic waves to measure distance and compensating the noise level based on the target parameter may include: obtaining the power supply voltage corresponding to the ultrasonic probe when transmitting ultrasonic waves to measure distance; determining a first compensation value corresponding to the power supply voltage based on a pre-established mapping relationship between power supply voltage and compensation value; and compensating the noise level using the first compensation value. Specifically, fixed compensation values ​​are assigned to different voltage ranges based on experience in advance, so that the first compensation value corresponding to the current power supply voltage can be determined by looking up a table.

[0060] In this embodiment, obtaining the target parameter at the moment the ultrasonic probe transmits ultrasonic waves to measure distance, and compensating the noise level based on the target parameter, may include: obtaining the ambient temperature corresponding to the ultrasonic probe when transmitting ultrasonic waves during distance measurement; determining a second compensation value corresponding to the ambient temperature based on a pre-established mapping relationship between ambient temperature and compensation value; and compensating the noise level using the second compensation value. Specifically, fixed compensation values ​​are assigned to different temperature ranges based on experience in advance, so that the second compensation value corresponding to the current temperature can be determined by looking up a table. The mapping relationship between ambient temperature and compensation value specifically includes compensation values ​​corresponding to different temperatures at different noise levels before noise compensation. The specific mapping relationship between ambient temperature and compensation value is as follows:

[0061] Noise_T T1 T2 T3 … Noisel Dist1 Dist4 Dist7 Dist... Noise2 Dist2 Dist5 Dist8 Dist... Noise3 Dist3 Dist6 Dist9 Dist... … Dist... Dist... Dist... Dist...

[0062] For example, assuming the current ultrasonic measurement noise is Noise, the ultrasonic basic noise floor is LowNoise, the power supply voltage during transmission is Power, the ambient temperature is T, and the matched filter used during transmission is LongCodes. The noise level is NoiseLevel = Noise + LowNoise. After noise level compensation based on the power supply voltage Power and ambient temperature T, the noise level is NoiseLevel = NoiseLevel + compensation value.

[0063] Step S24: determining the current ultrasonic detection range of the ultrasonic probe according to the compensated noise level and the pre-established mapping relationship between the noise level and the ultrasonic detection range.

[0064] Finally, the ultrasonic detection range of the ultrasonic probe is determined based on the compensated noise level and the pre-established mapping relationship between the noise level and the ultrasonic detection range. Therefore, with current ultrasonic detection distance, measurement noise at different distances can limit the ultrasonic detection range, resulting in inaccurate or missed detection of surrounding obstacles when using automatic parking or low-speed driving assistance functions, which can lead to collision risks. In this embodiment, by obtaining measurement noise and conducting multiple repeated experiments under external environments with different temperatures and noise levels, an effective ultrasonic measurement range is determined. The distance to obstacles can be accurately detected within the effective measurement range, thereby obtaining more accurate obstacle map coordinates.

[0065] Among them, the specific processes of the above-mentioned steps S21 and S22 can refer to the corresponding contents disclosed in the above-mentioned embodiments, and will not be repeated here.

[0066] As can be seen from the above, in this embodiment, the noise generated by the ultrasonic probe when measuring distance is obtained in real time to obtain the measurement noise; based on the measurement noise and the background noise of the ultrasonic probe, the current noise level corresponding to the ultrasonic probe is determined; the target parameters at the moment when the ultrasonic probe transmits ultrasonic waves to measure distance are obtained, and the noise level is compensated according to the target parameters to obtain the compensated noise level; based on the compensated noise level and the pre-established mapping relationship between the noise level and the ultrasonic detection range, the current ultrasonic detection range of the ultrasonic probe is determined. It can be seen that considering that the power supply voltage and ambient temperature will also have an impact on the ultrasonic detection range, the power supply voltage and ambient temperature at the moment when the ultrasonic probe transmits ultrasonic waves to measure distance are obtained, and then the noise level is compensated according to the power supply voltage and ambient temperature, so as to improve the accuracy of the noise level and thereby improve the accuracy of the ultrasonic measurement range.

[0067] Accordingly, the present application also discloses an ultrasonic detection range determination device, see Figure 3 As shown, the device includes:

[0068] The measurement noise acquisition module 11 is used to acquire the noise generated by the ultrasonic probe when measuring the distance in real time to obtain the measurement noise;

[0069] A noise level determination module 12 is configured to determine a current noise level corresponding to the ultrasonic probe based on the measurement noise and the background noise of the ultrasonic probe;

[0070] The ultrasonic detection range determination module 13 is configured to determine the current ultrasonic detection range of the ultrasonic probe according to the noise level and the mapping relationship between the noise level and the ultrasonic detection range.

[0071] As can be seen from the above, in this embodiment, the noise generated by the ultrasonic probe when measuring distance is obtained in real time to obtain the measurement noise; based on the measurement noise and the background noise of the ultrasonic probe, the noise level currently corresponding to the ultrasonic probe is determined; based on the noise level and the pre-established mapping relationship between the noise level and the ultrasonic detection range, the current ultrasonic detection range of the ultrasonic probe is determined. It can be seen that based on the different characteristics of the noise generated by ultrasound when measuring different distances, the noise level is determined by obtaining the measurement noise and the background noise of the ultrasonic probe, and the current ultrasonic detection range of the ultrasonic probe is determined by querying the mapping relationship between the noise level and the ultrasonic detection range pre-established based on experience, thereby obtaining an effective ultrasonic measurement range. Within the effective measurement range, the distance to the obstacle can be accurately detected, so that the obstacle map coordinates can be more accurately determined. In addition, real-time monitoring can automatically adjust the ultrasonic detection range according to the noise at different distances, and can detect and establish a surrounding obstacle map in real time.

[0072] In some specific embodiments, the ultrasonic detection range determination module 13 may specifically include:

[0073] a compensation unit, configured to obtain a target parameter at the moment when the ultrasonic probe transmits ultrasonic waves to measure the distance, and compensate the noise level according to the target parameter to obtain a compensated noise level;

[0074] The ultrasonic detection range determining unit is configured to determine the current ultrasonic detection range of the ultrasonic probe according to the compensated noise level and the mapping relationship between the noise level and the ultrasonic detection range.

[0075] In some specific embodiments, the compensation unit may include:

[0076] A power supply voltage acquisition unit, configured to acquire a power supply voltage corresponding to the ultrasonic probe when transmitting ultrasonic waves during distance measurement;

[0077] a first compensation unit, configured to determine a first compensation value corresponding to the power supply voltage according to a mapping relationship between the power supply voltage and the compensation value;

[0078] The noise level is compensated using the first compensation value.

[0079] In some specific embodiments, the compensation unit may include:

[0080] An ambient temperature acquisition unit, configured to acquire the ambient temperature corresponding to when the ultrasonic probe sends ultrasonic waves while measuring the distance;

[0081] A second compensation unit is configured to determine a second compensation value corresponding to the ambient temperature according to a mapping relationship between the ambient temperature and the compensation value;

[0082] The noise level is compensated using the second compensation value.

[0083] In some specific embodiments, the noise level determination module 12 may specifically include:

[0084] a noise adding unit, configured to add the measurement noise and the background noise of the ultrasonic probe to obtain added noise;

[0085] The noise level determining unit is configured to determine, according to a noise level classification rule, the noise level corresponding to the added noise as the current noise level corresponding to the ultrasonic probe.

[0086] In some specific embodiments, the ultrasonic detection range determination device may specifically include:

[0087] A unit conversion unit is used to convert the ultrasonic detection range into a distance according to the ultrasonic detection range and the configuration parameters of the ultrasonic probe.

[0088] In some specific embodiments, the ultrasonic detection range determination device may specifically include:

[0089] An adjustment unit is used to adjust the ultrasonic detection range using a matched filter.

[0090] Furthermore, the present application also discloses an electronic device, see Figure 4 The contents in the drawings should not be considered as any limitation on the scope of use of the present application.

[0091] Figure 4This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps of the ultrasonic detection range determination method disclosed in any of the aforementioned embodiments.

[0092] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device. The communication protocol it follows is any communication protocol that can be applied to the technical solution of this application and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world. Its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0093] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or CD, etc. The resources stored thereon include an operating system 221, a computer program 222 and data 223 including measurement noise, etc. The storage method can be temporary storage or permanent storage.

[0094] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, so as to enable the processor 21 to calculate and process the massive data 223 in the memory 22. The operating system 221 can be Windows Server, NetWare, Unix, Linux, etc. In addition to including a computer program capable of performing the ultrasonic detection range determination method performed by the electronic device 20 as disclosed in any of the aforementioned embodiments, the computer program 222 can further include computer programs capable of performing other specific tasks.

[0095] Furthermore, an embodiment of the present application also discloses a computer storage medium, in which computer executable instructions are stored. When the computer executable instructions are loaded and executed by a processor, the steps of the ultrasonic detection range determination method disclosed in any of the aforementioned embodiments are implemented.

[0096] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. Reference can be made to the descriptions of the identical or similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and the relevant parts can be referred to the descriptions of the methods.

[0097] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0098] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0099] The above is a detailed introduction to the ultrasonic detection range determination method, device, equipment and medium provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for determining ultrasonic detection range, characterized in that: include: Acquire the noise generated by the ultrasonic probe when measuring the distance in real time to obtain the measurement noise; Determining a current noise level of the ultrasonic probe based on the measurement noise and the background noise of the ultrasonic probe; Determining the current ultrasonic detection range of the ultrasonic probe according to the noise level and the mapping relationship between the noise level and the ultrasonic detection range; the mapping relationship between the noise level and the ultrasonic detection range is generated according to the effective detection range of the ultrasonic probe under different noise conditions; The step of determining the current ultrasonic detection range of the ultrasonic probe according to the noise level and the mapping relationship between the noise level and the ultrasonic detection range includes: Acquiring a target parameter when the ultrasonic probe emits ultrasonic waves to measure distance, and compensating the noise level according to the target parameter to obtain a compensated noise level; The current ultrasonic detection range of the ultrasonic probe is determined according to the compensated noise level and the mapping relationship between the noise level and the ultrasonic detection range.

2. The method for determining ultrasonic detection range according to claim 1, wherein: The acquiring of the target parameter at the moment when the ultrasonic probe transmits the ultrasonic wave to measure the distance, and compensating the noise level according to the target parameter, includes: Obtaining a power supply voltage corresponding to when the ultrasonic probe sends ultrasonic waves when measuring distance; Determining a first compensation value corresponding to the power supply voltage according to a mapping relationship between the power supply voltage and the compensation value; The noise level is compensated using the first compensation value.

3. The method for determining ultrasonic detection range according to claim 1, wherein: The acquiring of the target parameter at the moment when the ultrasonic probe transmits the ultrasonic wave to measure the distance, and compensating the noise level according to the target parameter, includes: Obtaining the ambient temperature corresponding to when the ultrasonic probe sends ultrasonic waves while measuring distance; Determining a second compensation value corresponding to the ambient temperature according to a mapping relationship between the ambient temperature and the compensation value; The noise level is compensated using the second compensation value.

4. The method for determining ultrasonic detection range according to claim 1, wherein: Determining a current noise level of the ultrasonic probe according to the measurement noise and the background noise of the ultrasonic probe includes: Adding the measurement noise and the background noise of the ultrasonic probe to obtain added noise; According to a noise level classification rule, the noise level corresponding to the added noise is determined as the current noise level corresponding to the ultrasonic probe.

5. The method for determining ultrasonic detection range according to claim 1, wherein: After determining the current ultrasonic detection range of the ultrasonic probe according to the noise level and the mapping relationship between the noise level and the ultrasonic detection range, the method further includes: The ultrasonic detection range is converted into a distance according to the ultrasonic detection range and configuration parameters of the ultrasonic probe.

6. The method for determining ultrasonic detection range according to any one of claims 1 to 5, characterized in that: After determining the current ultrasonic detection range of the ultrasonic probe according to the noise level and the mapping relationship between the noise level and the ultrasonic detection range, the method further includes: The ultrasonic detection range is adjusted using a matched filter.

7. An ultrasonic detection range determination device, characterized in that: include: A measurement noise acquisition module is used to acquire the noise generated by the ultrasonic probe when measuring the distance in real time to obtain the measurement noise; a noise level determination module, configured to determine a current noise level corresponding to the ultrasonic probe based on the measurement noise and the background noise of the ultrasonic probe; an ultrasonic detection range determination module, configured to determine the current ultrasonic detection range of the ultrasonic probe based on the noise level and a mapping relationship between the noise level and the ultrasonic detection range; the mapping relationship between the noise level and the ultrasonic detection range is generated based on the effective detection range of the ultrasonic probe under different noise conditions; Among them, the noise level determination module is used to obtain the target parameters at the moment when the ultrasonic probe emits ultrasonic waves to measure the distance, and compensate the noise level according to the target parameters to obtain the compensated noise level; based on the compensated noise level and the mapping relationship between the noise level and the ultrasonic detection range, the current ultrasonic detection range of the ultrasonic probe is determined.

8. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the method for determining the ultrasonic detection range according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that Used to store computer programs; wherein when the computer programs are executed by a processor, the method for determining the ultrasonic detection range according to any one of claims 1 to 6 is implemented.

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