An automatic detection method, device, equipment and medium for a vehicle ultrasonic probe

Abstract

The present application discloses an automatic detection method, device, equipment and medium for vehicle ultrasonic probes. The present application belongs to the technical field of Internet of Things vehicle control. The method includes: determining the current coordinates of the obstacle through the interaction signals between the UWB anchor and the UWB tag; generating a test running trajectory of the obstacle according to the current coordinates; when the obstacle moves to the measuring point position of the test running trajectory, determining the actual position of the obstacle through the interaction signals between the UWB anchor and the UWB tag, and detecting the position of the obstacle through the ultrasonic probe; traversing all the measuring points of the test running trajectory, and determining the detection result of the ultrasonic probe according to the actual positions and detection positions of all the measuring points. According to this technical solution, by obtaining the position of the obstacle and controlling its movement to a specified position, the error of manual measurement is avoided, and the measurement accuracy and measurement efficiency are improved.

Description

Technical Field

[0001] This application belongs to the technical field of Internet of Things vehicle control, and particularly relates to an automatic detection method, device, equipment and medium for vehicle ultrasonic probes. Background Art

[0002] With the rapid development of technology, modern cars are usually equipped with reverse radars. The reverse radar uses ultrasonic signals to detect obstacles within the detection area and feeds back the distance between the vehicle's rear end and the obstacles to the driver, making parking and reversing easier and safer.

[0003] Currently, the measurement of the ultrasonic probe detection area mainly adopts manual measurement methods. Personnel are required to move the obstacle to the test point position. However, during the test process, multiple test points are often measured. The efficiency of manually moving to the test points is very low, and the moving position is inaccurate, so the measurement results are prone to errors.

[0004] Therefore, how to improve the measurement efficiency and accuracy during the test process is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0005] The embodiments of this application provide an automatic detection method, device, equipment and medium for vehicle ultrasonic probes, which solve the problems of inaccurate results and low efficiency caused by manual measurement by obtaining the obstacle position and controlling its movement to the specified position, avoiding the errors of manual measurement, and improving the measurement accuracy and efficiency.

[0006] In the first aspect, the embodiments of this application provide an automatic detection method for vehicle ultrasonic probes, and the method includes:

[0007] Determine the current coordinates of the obstacle through the interaction signals between the UWB anchor and the UWB tag;

[0008] Generate a test running trajectory for the obstacle according to the current coordinates;

[0009] When the obstacle moves to the measurement point position of the test running trajectory, determine the actual position of the obstacle through the interaction signals between the UWB anchor and the UWB tag, and detect the position of the obstacle through the ultrasonic probe;

[0010] Traverse all measurement points of the test running trajectory, and determine the detection result of the ultrasonic probe according to the actual positions and detection positions of all measurement points.

[0011] Further, generating a test running trajectory for the obstacle according to the current coordinates includes:

[0012] Obtain the detection area of the ultrasonic probe of the vehicle;

[0013] Generate a test running trajectory of the obstacle according to the detection area and the current coordinates.

[0014] Further, after generating the test running trajectory of the obstacle, the method further includes:

[0015] Obtain the detection accuracy of the ultrasonic probe of the vehicle;

[0016] Determine the positions of each measurement point in the test running trajectory according to the detection accuracy.

[0017] Further, after determining the positions of each measurement point in the test running trajectory according to the detection accuracy, the method further includes:

[0018] Send a control instruction to the driving device of the obstacle to control the obstacle to move from the current coordinates to the measurement point position of the test running trajectory.

[0019] Further, the UWB anchor points are arranged at at least three positions of the vehicle;

[0020] Determine the current coordinates of the obstacle through the interaction signals between the UWB anchor points and the UWB tags, including:

[0021] According to the UWB signals of the UWB tags in the obstacle and the UWB anchor points in the vehicle;

[0022] Determine the current coordinates of the obstacle by the three-point positioning method.

[0023] Further, before the obstacle moves to the measurement point position of the test running trajectory, the method further includes:

[0024] Identify whether the current coordinates coincide with the measurement points in the test running trajectory;

[0025] If so, obtain the actual position and the detected position of the current coordinates;

[0026] If not, move the obstacle to the first measurement point position according to the test running trajectory and start detection.

[0027] In a second aspect, an automatic detection device for an ultrasonic probe of a vehicle provided by an embodiment of the present application includes:

[0028] A coordinate determination module, configured to determine the current coordinates of the obstacle through the interaction signals between the UWB anchor points and the UWB tags;

[0029] A running trajectory generation module, configured to generate a test running trajectory of the obstacle according to the current coordinates;

[0030] An actual position confirmation module, configured to determine the actual position of the obstacle through the interaction signal between the UWB anchor and the UWB tag when the obstacle moves to the measuring point position of the test running trajectory, and to detect the detection position of the obstacle through an ultrasonic probe;

[0031] A detection result determination module, configured to traverse all measuring points of the test running trajectory and determine the detection result of the ultrasonic probe according to the actual positions and detection positions of all measuring points.

[0032] Further, the running trajectory generation module includes:

[0033] A detection area acquisition unit, configured to acquire the detection area of the ultrasonic probe of the vehicle;

[0034] A running trajectory generation unit, configured to generate the test running trajectory of the obstacle according to the detection area and the current coordinates.

[0035] Further, the device further includes:

[0036] A detection accuracy acquisition unit, configured to acquire the detection accuracy of the ultrasonic probe of the vehicle;

[0037] A measuring point position confirmation unit, configured to determine the positions of each measuring point in the test running trajectory according to the detection accuracy.

[0038] Further, the device further includes:

[0039] An obstacle movement control unit, configured to send a control instruction to the driving device of the obstacle to control the obstacle to move from the current coordinates to the measuring point position of the test running trajectory.

[0040] Further, the UWB anchor is arranged at at least three positions of the vehicle;

[0041] The coordinate determination module is specifically configured to:

[0042] According to the UWB signal of the UWB tag in the obstacle and the UWB anchor in the vehicle;

[0043] Determine the current coordinates of the obstacle by the three-point positioning method.

[0044] Further, the device further includes:

[0045] A coincidence recognition module, configured to recognize whether the current coordinates coincide with the measuring points in the test running trajectory;

[0046] A current position acquisition module, if so, configured to acquire the actual position and detection position of the current coordinates;

[0047] The measuring point position reset module, if not, is used to move the obstacle to the first measuring point position according to the test running track and start detecting.

[0048] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the method described in the first aspect are implemented.

[0049] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0050] In a fifth aspect, an embodiment of the present application provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor, and the processor is used to run a program or instruction to implement the method described in the first aspect.

[0051] In the embodiment of the present application, the current coordinates of the obstacle are determined through the interaction signal between the UWB anchor and the UWB tag; according to the current coordinates, a test running track of the obstacle is generated; when the obstacle moves to the measuring point position of the test running track, the actual position of the obstacle is determined through the interaction signal between the UWB anchor and the UWB tag, and the detection position of the obstacle is detected through an ultrasonic probe; all the measuring points of the test running track are traversed, and according to the actual positions and detection positions of all the measuring points, the detection result of the ultrasonic probe is determined. In this technical solution, by obtaining the position of the obstacle and controlling its movement to a specified position, the problems such as inaccurate results and low efficiency caused by manual measurement are solved, the error of manual measurement is avoided, and the measurement accuracy and measurement efficiency are improved. Description of the Drawings

[0052] Figure 1 It is a schematic flowchart of the automatic detection method of the vehicle ultrasonic probe provided in the first embodiment of the present application;

[0053] Figure 2 It is a schematic flowchart of the automatic detection method of the vehicle ultrasonic probe provided in the second embodiment of the present application;

[0054] Figure 3 It is a schematic flowchart of the automatic detection method of the vehicle ultrasonic probe provided in the third embodiment of the present application;

[0055] Figure 4 It is a schematic structural diagram of the automatic detection device of the vehicle ultrasonic probe provided in the fourth embodiment of the present application;

[0056] Figure 5 It is a schematic structural diagram of the electronic device provided in the fifth embodiment of the present application. Specific Embodiments

[0057] In order to make the objectives, technical solutions, and advantages of the present application clearer, the following further describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for ease of description, only parts related to the present application are shown in the drawings rather than all the content. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the operations can be rearranged. When the operations are completed, the process can be terminated, but there can also be additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0058] The following will clearly describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0059] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually of the same type, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0060] The following will, with reference to the accompanying drawings, explain in detail the automatic detection method, device, equipment, and medium of the vehicle ultrasonic probe provided in the embodiments of the present application through specific embodiments and their application scenarios.

[0061] Embodiment 1

[0062] Figure 1 It is a schematic flowchart of the automatic detection method of the vehicle ultrasonic probe provided in Embodiment 1 of the present application. As Figure 1 shown, it specifically includes the following steps:

[0063] S101. Determine the current coordinates of the obstacle based on the interaction signals between the UWB anchor and the UWB tag.

[0064] First, the execution scenario of this solution can be a scenario for detecting the reverse radar of a vehicle. Specifically, to ensure that the coverage range of the ultrasonic probes in the reverse radar is sufficient, it is necessary to detect the coverage range of the detection area of the ultrasonic probes to avoid too large blind spots. The movement of the obstacle is controlled by the detection device so that the ultrasonic probes can complete the detection. Based on the above usage scenario, it can be understood that the execution entity of this application can be the detection device. The detection device should include a detection terminal and a detection device. The detection terminal is connected to the vehicle. The detection device includes a UWB tag and a UWB anchor. The UWB tag is placed in the obstacle, and the UWB anchor is placed in the vehicle.

[0065] The detection terminal can be a computer that issues control commands, and various signal changes are displayed on the screen. The commands issued by the detection terminal are sent to other devices, and these other devices then interpret these commands into corresponding timing signals to directly control the corresponding devices. Other devices can also read the device status data and convert it into digital signals to feedback to the detection terminal.

[0066] UWB (Ultra Wide Band) technology is a new type of wireless communication technology. During the ultra-wideband positioning process, the signals transmitted by the UWB pass through filtering out various noise interferences mixed in the electromagnetic wave transmission process to obtain signals containing useful information, and then through the central processing unit for ranging and positioning calculation and analysis. The position of the tag can be determined by receiving the UWB signals emitted by the tag and using the time difference of arrival measurement technology, and the relevant data is transmitted to the synchronization controller and the positioning engine software. A UWB anchor is usually a fixed UWB device. A UWB tag usually refers to a mobile UWB device. The anchor and the tag can exchange information to determine the distance between the two. The exact position of the tag can be determined by communicating with multiple anchors.

[0067] In this solution, the obstacle can be a PVC pipe with a diameter of φ75mm. There should be a driving device below the obstacle that can move in all directions. A UWB anchor tag is arranged above the obstacle. By moving the obstacle, the ultrasonic wave can complete the measurement. The interaction signal can be the signal interacted between the UWB anchor and the UWB tag. Specifically, the UWB anchor will send a request signal to the UWB tag to request the UWB tag to respond. After receiving the signal, the UWB tag will send a response signal to the UWB anchor. The distance between the UWB anchor and the UWB tag can be calculated through the known signal transmission speed and the obtained signal time. By using multiple UWB anchors to obtain their respective distances from the UWB tag, the coordinates of the obstacle can be located. The coordinates can be the precise (x, y) coordinates of the UWB tag relative to the vehicle, that is, the specific position of the obstacle.

[0068] S102. Generate the test running trajectory of the obstacle according to the current coordinates.

[0069] In this solution, according to the current coordinates of the obstacle, the test running trajectory of the obstacle can be generated. The test running trajectory can be the running trajectory of the obstacle. Specifically, the obstacle needs to move to a specified location and stop, start the ultrasonic radar for testing, and then move to the next test point after the test is completed. The running trajectory can be composed of coordinates. For example, if the current coordinates are (0, 0) and the test area is divided into 100 points, the test running trajectory can be (1, 0), (2, 0) all the way to (100, 100).

[0070] S103. When the obstacle moves to the measuring point position of the test running trajectory, determine the actual position of the obstacle through the interaction signal between the UWB anchor and the UWB tag, and detect the detection position of the obstacle through the ultrasonic probe.

[0071] In this solution, after the obstacle moves according to the test running trajectory, the coordinates of the obstacle need to be obtained again through the UWB anchor and the UWB tag. Compare the current coordinates with the required measuring point position to be moved to. If the comparison result is consistent, it means that the obstacle has moved to the measuring point position; start whether the ultrasonic probe can detect the position of the obstacle and record the detection result. The ultrasonic probe is a device that uses an ultrasonic sensor to detect the distance of the obstacle closest to the vehicle and can emit a siren to warn the driver. If the comparison result is inconsistent, it means that the obstacle has not moved to the measuring point position, and re - movement can be selected.

[0072] S104. Traverse all the measuring points of the test running trajectory, and determine the detection result of the ultrasonic probe according to the actual positions and detection positions of all the measuring points.

[0073] Traversal means to visit each node in a tree (or graph) once along a certain search route. The operations performed on visiting a node depend on the specific application problem. The specific access operations may be to check the value of the node, update the value of the node, etc. In this solution, traversal is a loop test step until the ultrasonic wave has measured all the test points. Specifically, after the obstacle reaches the specified test point, the actual coordinates are obtained through the UWB tag and the UWB anchor, and it is determined whether the coordinates are consistent. If the coordinates are consistent, the ultrasonic probe is activated to test the obstacle. The test results are recorded. The above steps are looped until the ultrasonic probe has detected the last detection point, and the detection results are printed. The printed result can be an envelope diagram of the detection area of the ultrasonic probe. Among them, the envelope diagram can be a table, with the vertical axis distance of the ultrasonic wave to the obstacle as the column, the horizontal axis distance of the ultrasonic wave as the row, and the detection result of the ultrasonic wave in this area corresponding to each cell.

[0074] Based on the above embodiments, optionally, generating the test running trajectory of the obstacle according to the current coordinates includes:

[0075] Obtain the detection area of the ultrasonic probe of the vehicle;

[0076] Generate the test running trajectory of the obstacle according to the detection area and the current coordinates.

[0077] In this solution, the detection area of the ultrasonic probe can be the area to be detected that requires the ultrasonic probe. Specifically, different vehicle models are equipped with different types of ultrasonic probes, that is, the detection ranges are also different. It is necessary to determine the detection area according to the vehicle model. After determining the detection area, the test running trajectory of the obstacle is generated by combining the current coordinates of the obstacle with the detection area. For example, the detection area is set as a square of 10*10 cm. At this time, the obstacle is at the position of (-1, 0) outside the square. Then, the overall path is determined according to the current position. For example, from (-1, 0) to (100, 100), the obstacle can first move horizontally, that is, the coordinates move from (-1, 0) to (10, 0). When reaching the boundary of the detection area, change to another direction and move down one grid (10, 1), and then move left to the end, that is, from (10, 1) to (0, 1), and so on until reaching the last grid.

[0078] In the embodiments of the present application, by obtaining the detection area and the current coordinates of the obstacle, the running trajectory of the obstacle is generated. This avoids problems such as low efficiency of manually moving the obstacle and inaccurate detection results, and improves the detection efficiency and detection accuracy.

[0079] Based on the above embodiments, optionally, before the obstacle moves to the measurement point position of the test running trajectory, the method further includes:

[0080] Identify whether the current coordinate coincides with the measurement point in the test running trajectory;

[0081] If so, obtain the actual position and detection position of the current coordinate;

[0082] If not, move the obstacle to the position of the first measurement point according to the test running trajectory and start detection.

[0083] In this solution, it is detected whether the current coordinate coincides with the measurement point in the test running trajectory. If so, the position is obtained. If not, detection starts from the position of the first measurement point. Specifically, it is detected whether the obstacle is within the area to be measured. If the obstacle is within the area to be measured, the current coordinate of the obstacle is obtained. If the current coordinate is the same as the coordinate of the point to be measured, ultrasonic waves are activated for detection. If the obstacle is not within the point to be measured, it is necessary to move to the position of the first point to be measured, then obtain whether the current coordinate is the same as the coordinate of the point to be measured, and perform subsequent detection.

[0084] In the embodiment of the present application, by detecting whether the current coordinate coincides with the coordinate of the point to be measured, detecting whether the obstacle is within the area of the point to be measured, and planning the test running trajectory according to the recognition result, the automatic control of the movement of the obstacle is realized.

[0085] In the embodiment of the present application, through the interaction signal between the UWB anchor and the UWB tag, the current coordinate of the obstacle is determined; according to the current coordinate, the test running trajectory of the obstacle is generated; when the obstacle moves to the measurement point position of the test running trajectory, the actual position of the obstacle is determined through the interaction signal between the UWB anchor and the UWB tag, and the detection position of the obstacle is detected through the ultrasonic probe; all the measurement points of the test running trajectory are traversed, and according to the actual position and detection position of all the measurement points, the detection result of the ultrasonic probe is determined. This technical solution solves the problems of inaccurate results and low efficiency caused by manual measurement by obtaining the position of the obstacle and controlling its movement to the specified position, avoids the error of manual measurement, and improves the measurement accuracy and measurement efficiency.

[0086] Embodiment Two

[0087] Figure 2 It is a schematic flow chart of the automatic detection method for the vehicle ultrasonic probe provided in Embodiment Two of the present application. This solution makes a better improvement to the above embodiment. Specifically, the improvement is: after generating the test running trajectory of the obstacle, the method further includes: obtaining the detection accuracy of the ultrasonic probe of the vehicle; determining the positions of each measurement point in the test running trajectory according to the detection accuracy. As Figure 2 shown, it specifically includes the following steps:

[0088] S1021, obtain the detection accuracy of the ultrasonic probe of the vehicle.

[0089] In this solution, the detection accuracy can be the range that the ultrasonic probe can detect. Specifically, the detection distance of the ultrasonic probe is from 0.3 to 1.5 meters. The shorter the detection distance, the more accurate the probe. The working principle of the ultrasonic probe is as follows: Under the control of the controller, the sensor emits ultrasonic signals. When encountering an obstacle, an echo signal is generated. After the sensor receives the echo signal, the controller performs data processing to determine the position of the obstacle. The detection range varies according to different technical specifications of vehicle manufacturers and needs to be determined in combination with the vehicle model and technical specifications.

[0090] S1022. Determine the positions of each measurement point in the test running trajectory according to the detection accuracy.

[0091] In this solution, the obtained detection is segmented. Specifically, the detection area is segmented into a preset number of grids. The preset number of grids is determined by the detection range, and the detection range is proportional to the number of grids. For example, if the detection range is 10 cm * 10 cm, the detection range can be segmented into 100 small grids. If the detection range is 10 cm * 12 cm, the detection range can be segmented into 120 small grids, and coordinates such as (0, 1) are set for each small grid.

[0092] Based on the above embodiments, optionally, after determining the positions of each measurement point in the test running trajectory according to the detection accuracy, the method further includes:

[0093] Send a control instruction to the driving device of the obstacle to control the obstacle to move from the current coordinate to the measurement point position of the test running trajectory.

[0094] In this solution, the driving device can be a device that controls the movement of the obstacle. The driving device can be an omnidirectional wheel trolley that can precisely control the movement of the obstacle. Specifically, the detection terminal sends a control instruction to the driving device to make the trolley move in a specified direction and finally move to the specified coordinate.

[0095] In the embodiments of the present application, by using the driving device to control the movement of the trolley, the automatic control of the movement of the obstacle is realized, and the test efficiency and test accuracy are improved.

[0096] In the embodiments of the present application, the above embodiments are improved. The specific improvement is as follows: After generating the test running trajectory of the obstacle, the method further includes: obtaining the detection accuracy of the ultrasonic probe of the vehicle; determining the positions of each measurement point in the test running trajectory according to the detection accuracy. By obtaining the detection accuracy of the ultrasonic probe, the detection range that the ultrasonic probe needs to detect can be determined, and the detection range can be divided, improving the detection accuracy of the ultrasonic probe.

[0097] Embodiment III

[0098] Figure 3 This is a flow chart of the automatic detection method of the vehicle ultrasonic probe provided in the third embodiment of the present application. This solution makes a better improvement on the above embodiment, and the specific improvement is: the UWB anchor point is set at at least three positions of the vehicle; the current coordinates of the obstacle are determined by the interactive signal between the UWB anchor point and the UWB tag, including: according to the UWB signal of the UWB tag in the obstacle and the UWB anchor point in the vehicle; the current coordinates of the obstacle are determined by the three-point positioning method. Figure 3 As shown, the specific steps include:

[0099] S1011, based on the UWB tag in the obstacle and the UWB signal of the UWB anchor point in the vehicle.

[0100] In this solution, the UWB tag and the UWB anchor point can measure the distance. Specifically, assuming that the time when the UWB anchor point sends a signal is t0 and the time when the signal is received is t1, the distance between the UWB anchor point and the UWB tag is:

[0101]

[0102] The three anchor points can calculate three distances d1, d2 and d3.

[0103] S1012, determining the current coordinates of the obstacle by a three-point positioning method.

[0104] The three-point positioning method requires the use of three fixed points to calculate a moving point. Specifically, by measuring the distance between the UWB anchor point and the UWB tag, using it as the radius of the three circles, drawing a graph, and finally finding the intersection of the three circles, the intersection is the UWB tag, to achieve the positioning effect.

[0105] In this solution, three-point positioning is used to obtain the coordinates of the obstacle. Specifically, three distances d1, d2, and d3 are calculated through three anchor points. Assume that the position of the UWB tag is (x, y), and the coordinates of the three UWB anchor points are known to be (x1, y1), (x2, y2), and (x3, y3). By combining the equations:

[0106]

[0107]

[0108]

[0109] According to the above equation, the value of the UWB anchor point coordinates (x, y) can be solved.

[0110] In the embodiments of the present application, improvements are made to the above embodiments. The specific improvements are as follows: The UWB anchors are arranged at at least three positions of the vehicle; the current coordinates of the obstacle are determined through the interaction signals between the UWB anchors and the UWB tags, including: according to the UWB tags in the obstacle and the UWB signals of the UWB anchors in the vehicle; the current coordinates of the obstacle are determined by the three-point positioning method. By calculating the coordinates of the UWB anchors using the three-point positioning method, the coordinates of the obstacle can be obtained, so as to control the movement of the driving device and detect whether the driving device reaches the specified detection location, improving the accuracy of the automatic detection of the ultrasonic probe.

[0111] Embodiment 4

[0112] Figure 4 It is a schematic structural diagram of an automatic detection device for a vehicle ultrasonic probe provided in Embodiment 4 of the present application. As Figure 4 shown, it specifically includes the following:

[0113] A coordinate determination module 401, configured to determine the current coordinates of the obstacle through the interaction signals between the UWB anchor and the UWB tag;

[0114] A running trajectory generation module 402, configured to generate a test running trajectory of the obstacle according to the current coordinates;

[0115] An actual position confirmation module 403, configured to determine the actual position of the obstacle through the interaction signals between the UWB anchor and the UWB tag when the obstacle moves to the measurement point position of the test running trajectory, and detect the detection position of the obstacle through the ultrasonic probe;

[0116] A detection result determination module 404, configured to traverse all measurement points of the test running trajectory and determine the detection result of the ultrasonic probe according to the actual positions and detection positions of all measurement points.

[0117] Further, the running trajectory generation module includes:

[0118] A detection area acquisition unit, configured to acquire the detection area of the ultrasonic probe of the vehicle;

[0119] A running trajectory generation unit, configured to generate a test running trajectory of the obstacle according to the detection area and the current coordinates.

[0120] Further, the device further includes:

[0121] A detection accuracy acquisition unit, configured to acquire the detection accuracy of the ultrasonic probe of the vehicle;

[0122] A measurement point position confirmation unit, configured to determine the positions of each measurement point in the test running trajectory according to the detection accuracy.

[0123] Further, the device further includes:

[0124] An obstacle movement control unit, configured to send a control instruction to the driving device of the obstacle to control the obstacle to move from the current coordinate to the measurement point position of the test running trajectory.

[0125] Further, the UWB anchors are arranged at at least three positions of the vehicle;

[0126] The coordinate determination module is specifically configured to:

[0127] According to the UWB signal of the UWB tag in the obstacle and the UWB anchor in the vehicle;

[0128] Determine the current coordinate of the obstacle by the three-point positioning method.

[0129] Further, the device further includes:

[0130] A coincidence recognition module, configured to recognize whether the current coordinate coincides with the measurement point in the test running trajectory;

[0131] A current position acquisition module, if so, configured to acquire the actual position and the detection position of the current coordinate;

[0132] A measurement point position reset module, if not, configured to move the obstacle to the first measurement point position according to the test running trajectory and start detection.

[0133] In the embodiment of the present application, the coordinate determination module is configured to determine the current coordinate of the obstacle through the interaction signal between the UWB anchor and the UWB tag; the running trajectory generation module is configured to generate the test running trajectory of the obstacle according to the current coordinate; the actual position confirmation module is configured to determine the actual position of the obstacle through the interaction signal between the UWB anchor and the UWB tag when the obstacle moves to the measurement point position of the test running trajectory, and detect the detection position of the obstacle through the ultrasonic probe; the detection result determination module is configured to traverse all the measurement points of the test running trajectory and determine the detection result of the ultrasonic probe according to the actual position and the detection position of all the measurement points. By obtaining the position of the obstacle and controlling its movement to the specified position, the problems of inaccurate results and low efficiency caused by manual measurement are solved, the error of manual measurement is avoided, and the measurement accuracy and measurement efficiency are improved.

[0134] The automatic detection device for the vehicle ultrasonic probe in the embodiments of the present application can be a device, or a component, an integrated circuit, or a chip in a terminal. This device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a handheld computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. The non-mobile electronic device can be a server, a Network Attached Storage (NAS), a personal computer (PC), a television (TV), a teller machine, or a self-service machine, etc. The embodiments of the present application do not make specific limitations.

[0135] The automatic detection device for the vehicle ultrasonic probe in the embodiments of the present application can be a device with an operating system. This operating system can be the Android operating system, the iOS operating system, or other possible operating systems. The embodiments of the present application do not make specific limitations.

[0136] The automatic detection device for the vehicle ultrasonic probe provided by the embodiments of the present application can implement Figures 1 to 3 each process implemented by the method embodiments. To avoid repetition, it will not be elaborated here.

[0137] Embodiment Five

[0138] Figure 5 is a schematic structural diagram of the electronic device provided by Embodiment Five of the present application. As Figure 5 shown, the embodiments of the present application also provide an electronic device 500, including a processor 501, a memory 502, a program or instruction stored on the memory 502 and executable on the processor 501. When the program or instruction is executed by the processor 501, it implements each process of the above-mentioned method embodiment for automatically detecting the vehicle ultrasonic probe and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0139] It should be noted that the electronic device in the embodiments of the present application includes the above-mentioned mobile electronic devices and non-mobile electronic devices.

[0140] Embodiment Six

[0141] Embodiment 6 of the present application further provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, it implements each process of the above-mentioned embodiment of the automatic detection method for vehicle ultrasonic probes and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0142] Wherein, the processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk or optical disc, etc.

[0143] Embodiment 7

[0144] Another embodiment of the present application provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run a program or instruction to implement each process of the above-mentioned embodiment of the automatic detection method for vehicle ultrasonic probes and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0145] It should be understood that the chip mentioned in the embodiment of the present application may also be referred to as a system-level chip, system chip, chip system or system-on-chip, etc.

[0146] It should be noted that in this article, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0147] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0148] The embodiments of the present application have been described above in conjunction with the accompanying drawings. However, the present application is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them fall within the protection scope of the present application.

[0149] The above is only the preferred embodiment of the present application and the technical principles applied. The present application is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments and substitutions that can be made by those skilled in the art will not depart from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments. Without departing from the concept of the present application, it can also include more other equivalent embodiments, and the scope of the present application is determined by the scope of the claims.

Claims

1. An automatic detection method for a vehicle ultrasonic probe, characterized in that The method is executed by a detection device, which is connected to a vehicle and also connected to an obstacle; UWB anchors are provided on the vehicle, and UWB tags are provided on the obstacle; the method includes: Determine the current coordinates of the obstacle through the interaction signals of the UWB anchors and the UWB tags; Generate a test running trajectory of the obstacle according to the current coordinates; Obtain the detection accuracy of the ultrasonic probe of the vehicle; Determine the positions of each measurement point in the test running trajectory according to the detection accuracy; When the obstacle moves to the measurement point position of the test running trajectory, determine the actual position of the obstacle through the interaction signals of the UWB anchors and the UWB tags, and detect the detection position of the obstacle through the ultrasonic probe; Traverse all the measurement points of the test running trajectory, and determine the detection result of the ultrasonic probe according to the actual positions and detection positions of all the measurement points.

2. The method according to claim 1, characterized in that, Generating a test running trajectory of the obstacle according to the current coordinates includes: Obtain the detection area of the ultrasonic probe of the vehicle; Generate a test running trajectory of the obstacle according to the detection area and the current coordinates.

3. The method according to claim 1, characterized in that After determining the positions of each measurement point in the test running trajectory according to the detection accuracy, the method further includes: Send a control instruction to the driving device of the obstacle to control the obstacle to move from the current coordinates to the measurement point position of the test running trajectory.

4. The method according to claim 1, characterized in that The UWB anchors are arranged at at least three positions of the vehicle; Determining the current coordinates of the obstacle through the interaction signals of the UWB anchors and the UWB tags includes: According to the UWB signals of the UWB tags in the obstacle and the UWB anchors in the vehicle; Determine the current coordinates of the obstacle by the three-point positioning method.

5. The method according to claim 1, characterized in that Before the obstacle moves to the measurement point position of the test running trajectory, the method further includes: Identify whether the current coordinates coincide with the measurement points in the test running trajectory; If so, obtain the actual position and detection position of the current coordinates; If not, move the obstacle to the first measurement point position according to the test running trajectory and start detection.

6. An automatic detection device for a vehicle ultrasonic probe, characterized in that, The device is configured in a detection device, which is connected to a vehicle and also connected to an obstacle; UWB anchors are provided on the vehicle, and UWB tags are provided on the obstacle; the device includes: A coordinate determination module, configured to determine the current coordinates of the obstacle through the interaction signals of the UWB anchors and the UWB tags; A running trajectory generation module, configured to generate a test running trajectory of the obstacle according to the current coordinates; A detection accuracy acquisition unit, configured to obtain the detection accuracy of the ultrasonic probe of the vehicle; A measurement point position confirmation unit, configured to determine the positions of each measurement point in the test running trajectory according to the detection accuracy; An actual position confirmation module, configured to determine the actual position of the obstacle through the interaction signals of the UWB anchors and the UWB tags when the obstacle moves to the measurement point position of the test running trajectory, and detect the detection position of the obstacle through the ultrasonic probe; A detection result determination module is configured to traverse all measurement points of the test running trajectory and determine the detection result of the ultrasonic probe according to the actual positions and detection positions of all measurement points.

7. The device according to claim 6, characterized in that, The running trajectory generation module includes: A detection area acquisition unit configured to acquire the detection area of the ultrasonic probe of the vehicle; A running trajectory generation unit configured to generate the test running trajectory of the obstacle according to the detection area and the current coordinates.

8. An electronic device, characterized in that, It includes a processor, a memory, and a program or instruction stored on the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the automatic detection method for the vehicle ultrasonic probe as described in any one of claims 1-5 are implemented.

9. A readable storage medium, characterized in that, A program or instruction is stored on the readable storage medium. When the program or instruction is executed by the processor, the steps of the automatic detection method for the vehicle ultrasonic probe as described in any one of claims 1-5 are implemented.

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