Method, device, equipment and program product for detecting distance of obstacle in blind area

Abstract

Embodiments of the present application provide a distance detection method, device, equipment and program product for obstacles in a blind area, and relate to the technical field of ultrasonic ranging. The method comprises: performing ultrasonic ranging on obstacles in the blind area to obtain a first echo signal; and then determining the distance between the current position and the obstacles according to the time at which a level signal appears in the first echo signal and stored ranging information. Embodiments of the present application prestore ranging time and detection distance, obtain the time at which a high level signal and a low level signal appear in the first echo signal generated by ultrasonic ranging on obstacles in the blind area, and quickly calculate the distance between the current position and the obstacles by using the time and the ranging time and the detection distance. Therefore, embodiments of the present application can effectively realize distance detection on obstacles in the blind area, expand the measurement range of ultrasonic ranging, and improve the measurement accuracy and precision.

Description

Technical Field

[0001] This application relates to the field of ultrasonic ranging technology, and more specifically, to a method, apparatus, equipment, and program product for detecting the distance to obstacles in a blind zone. Background Technology

[0002] Because of its strong directivity, slow energy consumption, and long propagation distance in a medium, ultrasound is frequently used for distance measurement, such as in rangefinders and level gauges. Ultrasonic ranging is often rapid, convenient, computationally simple, and easy to control in real time, while also meeting industrial accuracy requirements. Therefore, ultrasonic ranging has been widely adopted.

[0003] In ultrasonic ranging systems, a blind zone occurs when the reference surface of the object being measured is close to the ultrasonic probe. Specifically, during the duration of the transmitted signal, if an echo occurs at a close distance, the echo signal and the transmitted signal will act on the ultrasonic probe simultaneously, producing a mixed signal. When envelope detection is performed on this mixed signal, the echo signal is much smaller than the transmitted signal, making it impossible to detect the presence of echo interference. Therefore, a blind zone exists in ranging.

[0004] For the blind zone and obstacles within it, ultrasonic ranging uses a method of marking the blind zone without processing the signals related to it. This method cannot detect the distance to obstacles within the blind zone, limiting the measurement range of ultrasonic ranging and reducing its accuracy and precision. Summary of the Invention

[0005] This application provides a method, apparatus, device, and program product for detecting the distance to obstacles in blind spots, which can solve the problem of not being able to detect the distance to obstacles in blind spots. To achieve this objective, this application provides the following solutions.

[0006] According to one aspect of the embodiments of this application, a method for detecting the distance of an obstacle in a blind zone is provided. The method includes: performing ultrasonic ranging on the obstacle in the blind zone to obtain a first echo signal; determining the distance between the current position and the obstacle based on the time of occurrence of a level signal in the first echo signal and stored ranging information, wherein the level signal includes a high-level signal and a low-level signal, and the ranging information includes ranging time and detection distance.

[0007] In one possible implementation, the ranging information is obtained through the following operation:

[0008] Ultrasonic ranging is performed on obstacles outside the blind zone to obtain the second echo signal;

[0009] Ranging information is generated based on the second echo signal.

[0010] In one possible implementation, the step of generating ranging information based on the second echo signal specifically includes:

[0011] The first time when the first high-level signal appears and the second time when the first low-level signal appears in the second echo signal are obtained. The first time difference between the second time and the first time is determined as the ranging time, and the detection distance corresponding to the ranging time is calculated.

[0012] In one possible implementation, the step of determining the distance between the current position and the obstacle based on the timing of the level signal in the first echo signal and the stored ranging information specifically includes:

[0013] Obtain the third time when the first high-level signal appears and the fourth time when the first low-level signal appears in the first echo signal, and calculate the second time difference between the fourth time and the third time;

[0014] The distance from the obstacle to the ultrasonic sensor is calculated based on the second time difference, the ranging time, and the detection distance.

[0015] In one possible implementation, the step of calculating the distance from the obstacle to the ultrasonic sensor based on the second time difference, the ranging time, and the detection distance specifically includes:

[0016] Input the second time difference, the ranging time, and the detection distance into the formula: Z = (T1 - T0) * Y / T0. Calculate the distance from the obstacle to the ultrasonic sensor using this formula, where Z is the distance from the obstacle to the ultrasonic sensor, T1 is the second time difference, T0 is the ranging time, and Y is the detection distance.

[0017] In one possible implementation, the step of performing ultrasonic ranging on obstacles within the blind zone specifically includes:

[0018] The ultrasonic sensor is activated, and the ultrasonic sensor is controlled to send ultrasonic signals to the obstacle for ultrasonic ranging.

[0019] In another possible implementation, the step of performing ultrasonic ranging on obstacles within the blind zone further includes:

[0020] Determine whether the conditions for ultrasonic ranging of obstacles in the blind zone are met based on the information obtained.

[0021] If so, ultrasonic ranging will be used to measure obstacles in the blind spot;

[0022] If not, ultrasonic ranging is performed by acquiring the ranging information or ultrasonic ranging is not performed in the blind area.

[0023] According to another aspect of the embodiments of this application, a distance detection device is provided, comprising:

[0024] The detection unit is used to perform ultrasonic ranging on obstacles in the blind zone and acquire the first echo signal;

[0025] The calculation unit is used to determine the distance between the current position and the obstacle based on the time of occurrence of the level signal in the first echo signal and the stored ranging information. The level signal includes a high level signal and a low level signal, and the ranging information includes ranging time and detection distance.

[0026] According to another aspect of the embodiments of this application, an electronic device is provided, the electronic device including a memory, a processor and a computer program stored in the memory, the processor executing the computer program to implement the steps of the method described above.

[0027] According to one aspect of the embodiments of this application, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method described above.

[0028] The beneficial effects of the technical solutions provided in this application are:

[0029] This application provides a method for detecting the distance to obstacles in a blind zone, specifically including: emitting ultrasonic waves to the obstacle in the blind zone for ultrasonic ranging, and acquiring the echo signal generated by the ultrasonic ranging; calculating the distance between the current position and the obstacle based on the occurrence times of high-level and low-level signals in the echo signal, as well as the stored ranging time and detection distance. This application pre-stores the ranging time and detection distance, acquires the occurrence times of high-level and low-level signals in the first echo signal generated by ultrasonic ranging of the obstacle in the blind zone, and uses these times and the ranging time and detection distance to quickly calculate the distance between the current position and the obstacle. Therefore, this application can effectively detect the distance to obstacles in blind zones, expand the measurement range of ultrasonic ranging, and improve the accuracy and precision of the measurement. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below.

[0031] Figure 1 A waveform diagram of the echo signal generated by the ultrasonic probe when the obstacle is not in the blind zone, provided in an embodiment of this application.

[0032] Figure 2 A waveform diagram illustrating the echo signal generated by the ultrasonic probe when the obstacle is in a blind zone, as provided in an embodiment of this application.

[0033] Figure 3 A flowchart illustrating a method for detecting the distance to obstacles in a blind zone, provided in an embodiment of this application;

[0034] Figure 4 A schematic flowchart illustrating an embodiment of a method for detecting the distance to obstacles in a blind zone provided in this application.

[0035] Figure 5 A waveform diagram of the first echo signal generated by ultrasonic ranging of an obstacle in a blind zone at a distance of a first distance from the ultrasonic sensor, provided in an embodiment of this application.

[0036] Figure 6 A waveform diagram of the first echo signal generated by ultrasonic ranging of an obstacle in the blind zone at a distance of a second distance from the ultrasonic sensor, provided in an embodiment of this application;

[0037] Figure 7 This is a schematic diagram of the distance detection device provided in the embodiments of this application;

[0038] Figure 8 This is a schematic diagram of the structure of the device for implementing ultrasonic ranging provided in the embodiments of this application;

[0039] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0040] The embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the embodiments described below with reference to the accompanying drawings are exemplary descriptions for explaining the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions of the embodiments of this application.

[0041] Those skilled in the art will understand that, unless otherwise stated, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the terms “comprising” and “including” as used in embodiments of this application mean that the corresponding feature can be implemented as the presented feature, information, data, step, operation, element, and / or component, but do not exclude implementation as other features, information, data, step, operation, element, component, and / or combinations thereof supported by the art. It should be understood that when we say that an element is “connected” or “coupled” to another element, the one element can be directly connected or coupled to the other element, or it can mean that the one element and the other element establish a connection relationship through an intermediate element. Furthermore, “connected” or “coupled” as used herein can include wireless connection or wireless coupling. The term “and / or” as used herein indicates at least one of the items defined by the term; for example, “A and / or B” indicates implementation as “A,” or implementation as “A,” or implementation as “A and B.”

[0042] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0043] In view of the technical problems or areas for improvement shown in the background art, this application proposes a method, device, medium and program product for detecting the distance of obstacles in the blind zone. This solution obtains the distance between the current position and the obstacle in the blind zone through the echo signal obtained from obstacle detection and the ranging information.

[0044] The technical solutions of the embodiments of the present invention and the technical effects produced by the technical solutions of the present invention will be described below through several exemplary embodiments. It should be noted that the following embodiments can be referred to, learned from, or combined with each other, and the same terms, similar features, and similar implementation steps in different embodiments will not be described again.

[0045] First, let's introduce and explain several terms used in this application:

[0046] Ultrasonic ranging: An ultrasonic ranging device emits ultrasonic waves in a specific direction and starts timing simultaneously with the emission. The ultrasonic waves propagate through air, water, or other media, returning immediately upon encountering an obstacle. The ultrasonic ranging device stops timing as soon as it receives the reflected wave. Since the speed of ultrasonic wave propagation in the medium is known, the distance from the emission point to the obstacle can be calculated based on the time t recorded by the timer. Further detailed information on ultrasonic ranging can be found in relevant technical documents, and will not be elaborated upon here for simplicity.

[0047] Echo signal: The echo signal is the signal generated when the ultrasonic waves emitted by the ultrasonic ranging device are reflected or scattered back by obstacles during their propagation and are received by the ultrasonic ranging device. Further details regarding echo signals can be found in relevant technical documents, and will not be elaborated upon here for the sake of simplicity.

[0048] Ultrasonic ranging equipment includes an ultrasonic probe, a two-stage amplifier circuit, and an RC integrator circuit. After the ultrasonic probe is driven by a drive signal, due to the residual vibration of the probe itself, the received signal, after passing through the receiving amplification circuit composed of the two-stage amplifier circuit and the RC integrator circuit, requires a fixed time before the echo signal can be received. Therefore, as... Figure 1 As shown in the waveform diagram of the received ultrasonic waves, the first undulating waveform starts at position X1 and ends at position X2. This waveform is the amplified signal generated by the residual vibration at the receiving end of the ultrasonic transducer after the drive signal is generated. The second undulating waveform starts at X2, and this waveform is the echo amplified signal. In the waveform diagram, a low level indicates that there is no voltage signal on the probe, and a high level indicates that the amplifier circuit detects a voltage signal on the probe.

[0049] When the obstacle is within the blind zone, that is, when the ultrasonic wave encounters the obstacle and generates an echo within a fixed time, such as... Figure 2 As shown in the figure, the waveform between X3 and X4 is an echo signal superimposed with the residual vibration signal within a fixed time. The resulting irregular echo signal cannot be converted into a distance value based on the time difference between the ultrasonic wave transmission and the echo. Only after a normal and regular waveform is generated can the time difference between the ultrasonic wave transmission and the echo be converted into a distance value. In this case, it is difficult to detect the distance of obstacles in the blind zone.

[0050] The distance detection method, device, medium, and program products for obstacles in blind spots provided in this application are intended to solve at least one technical problem existing in the prior art.

[0051] This application provides a method for detecting the distance to obstacles in a blind spot. Optionally, this method can be applied to any electronic device, such as computer equipment, server equipment, etc. Figure 3 As shown, the method includes the following steps S101 to S102.

[0052] S101: Perform ultrasonic ranging on obstacles in the blind zone and obtain the first echo signal.

[0053] Optionally, an ultrasonic sensor is used to perform ultrasonic ranging on obstacles. The ultrasonic sensor receives the ultrasonic waves reflected or scattered by the obstacle and generates an echo signal containing information about the obstacle's location based on the received ultrasonic waves. Alternatively, ultrasonic rangefinders, ultrasonic radar, and other devices capable of using ultrasonic waves for ranging can also be used to perform ultrasonic ranging on obstacles in blind spots.

[0054] Optionally, the ultrasonic ranging environment is an underwater environment, and the obstacles within the blind zone are underwater obstacles. Ultrasonic waves are used to perform underwater ranging on the obstacles. In other embodiments, the ultrasonic ranging environment can also be air, soil, sand, or other environments suitable for ultrasonic ranging.

[0055] S102: Determine the distance between the current position and the obstacle based on the time of appearance of the level signal in the echo signal and the stored ranging information.

[0056] Optionally, after acquiring the echo signal, the echo signal is analyzed and processed to obtain the occurrence time of different level signals in the echo signal. Based on this time, a second time difference is calculated between the first high level and the first low level in the echo signal. The distance between the current position and the obstacle is obtained based on this second time difference and pre-stored ranging information. The occurrence time of the level signals includes the time of the high level and the time of the low level signal in the echo signal. The current position is the location of the device emitting the ultrasonic signal.

[0057] Optionally, the ranging information is obtained by performing ultrasonic ranging on obstacles outside the blind zone to obtain a second echo signal, and generating and storing ranging information based on the second echo signal.

[0058] In one embodiment, during ultrasonic ranging, ultrasonic ranging is performed on obstacles outside the blind zone. Ranging information is obtained based on the ranging results. This ranging information includes ranging time and detection distance. The ranging time represents the duration of residual vibration generated by the ultrasonic probe, and the detection distance represents the distance from the boundary opposite the ultrasonic probe to the ultrasonic probe during non-blind zone detection. For example... Figure 1 As shown, when measuring the distance to an obstacle outside the blind zone, the time when the first high-level signal appears in the echo signal can be recorded as X1, and the time when the first low-level signal appears after the first high-level signal can be recorded as X2. The shortest time for a ranging signal, T0 = X2 - X1, can be calculated. T0 is recorded as the ranging time. Based on the ranging time and the propagation speed of the ultrasonic wave in the current environment, the distance obtained from the non-blind zone ranging can be calculated. After calculating the ranging time and the detection distance, the ranging time and the detection distance can be stored.

[0059] Optionally, the ranging information is obtained by detecting obstacles in the non-blind zone before the device performs obstacle detection in the blind zone. In other scenarios, it can also be input by the user into the device before obstacle detection. There are various ways to obtain ranging information, which can be set according to the actual environment or user needs, and are not limited here. When detecting obstacles in the blind zone, the device can also detect information that may cause changes in the blind zone range, such as the current environment and the type of ultrasonic ranging device being used. Based on this information, the device type, etc., the device selects the ranging information corresponding to the stored ranging information, and calculates the distance from the current position to the obstacle using this ranging information when detecting obstacles in the blind zone.

[0060] Compared to existing technologies, the solution provided in this application can be used to perform ultrasonic ranging by emitting ultrasonic waves to obstacles in blind zones, and to obtain the first echo signal generated by the ultrasonic ranging. Based on the occurrence times of the high-level and low-level signals in the first echo signal, as well as the stored ranging time and detection distance, the distance between the current position and the obstacle is calculated. In this application embodiment, the ranging time and detection distance are pre-stored, and the occurrence times of the high-level and low-level signals in the first echo signal generated by ultrasonic ranging of obstacles in blind zones are obtained. These times, along with the ranging time and detection distance, are used to quickly calculate the distance between the current position and the obstacle. Therefore, this application embodiment can effectively detect the distance to obstacles in blind zones, expand the measurement range of ultrasonic ranging, and improve the accuracy and precision of the measurement.

[0061] Furthermore, the distance detection method for obstacles in the blind zone of this application can be applied to underwater ultrasonic ranging. In an underwater ultrasonic ranging environment, this application can increase the acquisition range of distance signals of obstacles in the blind zone and obtain the distance between the obstacle and the current position, thereby improving the range of underwater ranging and avoiding collisions with obstacles, thus protecting the safety of the underwater ranging equipment.

[0062] This application provides one possible implementation method, such as... Figure 4 As shown, Figure 4 This is a schematic flowchart illustrating an embodiment of a method for detecting the distance to obstacles in a blind zone, provided in this application. (Combined with...) Figure 4 The distance detection method for obstacles within the blind zone of this application is further explained.

[0063] S210: Perform ultrasonic ranging on obstacles in the blind zone and obtain the first echo signal.

[0064] S220: Obtain the third time when the first high-level signal appears in the first echo signal and the fourth time when the first low-level signal appears, as well as the second time difference between the fourth time and the third time. Calculate the distance from the obstacle to the ultrasonic sensor based on the second time difference, the ranging time, and the detection distance.

[0065] In an optional embodiment, the ultrasonic ranging device is an ultrasonic sensor. The steps for ultrasonic ranging of obstacles in the blind zone specifically include: activating the ultrasonic sensor and controlling the ultrasonic sensor to send ultrasonic signals to the obstacle for ultrasonic ranging. The electronic device activating the ultrasonic sensor can be mounted on the ultrasonic sensor or set up independently of it. Data transmission between the electronic device and the ultrasonic sensor is conducted via wired or wireless communication.

[0066] Optionally, when performing ultrasonic ranging on obstacles within the blind zone, it can be first determined whether the conditions for ultrasonic ranging of obstacles within the blind zone are met, such as the presence of obstacles within the blind zone, the existence of a blind zone, the target being detected being within the blind zone, or a significant difference between the echo signal obtained through ultrasonic ranging and the echo signal obtained from ultrasonic ranging of obstacles outside the blind zone. Therefore, the steps for performing ultrasonic ranging on obstacles within the blind zone also include: determining whether the conditions for ultrasonic ranging of obstacles within the blind zone are met based on the acquired information; if so, performing ultrasonic ranging on obstacles within the blind zone; if not, performing ultrasonic ranging by acquiring ranging information or not performing ultrasonic ranging on the blind zone.

[0067] The acquired information can be user-inputted information about the area where the obstacle is located or the location information of the blind zone, or waveform information of the echo signal. The waveform state information between the first high-level signal and the first low-level signal in the waveform information is used to determine whether the obstacle is in the blind zone. Alternatively, it can be a user-input command to detect obstacles within the blind zone, based on which ultrasonic ranging is performed on the obstacles within the blind zone. In other embodiments, the acquired information can also be images, laser scan information, and other information including obstacle information that can determine whether the conditions for ultrasonic ranging of obstacles within the blind zone are met.

[0068] Furthermore, the electronic device performing this distance detection method can also store the relative position and distance between the preset target and the ultrasonic sensor, calculate the real-time distance between the preset target and the obstacle based on the relative position, distance and the distance from the obstacle to the ultrasonic sensor, and send the real-time distance information to the designated object.

[0069] Among them, such as Figure 5 , Figure 6 As shown, Figure 5 A waveform diagram of the first echo signal generated by ultrasonic ranging of an obstacle in a blind zone at a distance of a first distance from the ultrasonic sensor, provided in an embodiment of this application. Figure 6 This application embodiment provides a waveform diagram of the first echo signal generated by ultrasonic ranging of an obstacle in a blind zone at a distance of a second distance from the ultrasonic sensor. The second distance is greater than the first distance. Figure 5, Figure 6 It can be seen that the magnitude of the second time difference in the first echo signal generated by obstacles at different distances is different. Therefore, the distance from the obstacle to the ultrasonic sensor can be calculated using this second time difference.

[0070] Optionally, the distance from the obstacle to the ultrasonic sensor can be calculated using a preset formula. Specifically, the step of calculating the distance from the obstacle to the ultrasonic sensor based on the second time difference, ranging time, and detection distance includes: inputting the second time difference, ranging time, and detection distance into the formula: Z = (T1 - T0) * Y / T0, and calculating the distance from the obstacle to the ultrasonic sensor using the formula, where Z is the distance from the obstacle to the ultrasonic sensor, T1 is the second time difference, T0 is the ranging time, and Y is the detection distance.

[0071] After obtaining the distance from the obstacle to the current location (the object emitting and receiving ultrasonic waves), the system can transmit this distance information or perform corresponding operations based on it. Optionally, the system can pre-store the information transmission targets. After detecting an obstacle within the blind zone, the system detects the distance from the obstacle to the current location and transmits this distance information to the information transmission targets using a preset transmission method. The system can also pre-store the operations to be performed for different distances (such as moving the ultrasonic sensor, triggering an alarm, or changing the movement direction of related equipment). After obtaining the distance between the current location and the obstacle, the system will select and execute the appropriate operation based on the magnitude of the distance, the level of danger, and the distance range.

[0072] To better understand the implementation process of the distance detection method for obstacles within blind spots, embodiments of this application also provide examples of devices that perform this distance detection method, see details below. Figure 8 . Figure 8 A schematic diagram of a device for realizing a distance detection method for obstacles in a blind zone is shown. Optionally, the device corresponding to this schematic diagram can be any device with ultrasonic ranging function, such as an ultrasonic sensor, an ultrasonic rangefinder, or an ultrasonic radar.

[0073] In this example, the device includes an ultrasonic transducer 11, a transmitting circuit 12, a receiving circuit 14, and a controller 13. The ultrasonic transducer 11 is electrically connected to the controller 13 via the transmitting circuit 12 and the receiving circuit 14. When an ultrasonic signal needs to be emitted, the controller 13 transmits an electrical signal controlling the ultrasonic transducer 11 to emit the ultrasonic signal through the transmitting circuit 12. Upon receiving the electrical signal, the ultrasonic transducer 11 converts electrical energy into an ultrasonic signal and emits it. It receives the echo generated by the reflection or scattering of the ultrasonic signal, uses this echo to generate a first echo signal, and transmits the first echo signal to the controller 13 through the receiving circuit 14. The controller 13 calculates the distance between the obstacle and the ultrasonic transducer 11 based on the echo signal. The controller 13 can be, but is not limited to, a microcontroller, CPU, SOC, and various personal computers, laptops, smartphones, tablets, servers, and portable wearable devices. Furthermore, the controller 13, transmitting circuit 12, and receiving circuit 14 can be partially or entirely integrated into the ultrasonic transducer 11.

[0074] When executing the distance detection method, the controller 13 controls the ultrasonic transducer 11 to perform ultrasonic ranging on obstacles in the blind zone through the transmitting circuit 12, acquiring the first echo signal transmitted by the ultrasonic transducer 11 through the receiving circuit 14. The distance between the current position and the obstacle is determined based on the time of appearance of the level signal in the first echo signal and the stored ranging information. The level signal includes high-level and low-level signals, and the ranging information includes ranging time and detection distance.

[0075] Optionally, after acquiring the first echo signal, the controller 13 calculates the distance between its current position and the obstacle using pre-stored ranging information. The ranging information is obtained through the following operations: ultrasonic ranging is performed on the obstacle outside the blind zone to obtain a second echo signal; ranging information is then generated and stored based on the second echo signal.

[0076] In an optional embodiment, the step of generating and storing ranging information based on the second echo signal specifically includes: obtaining the first time when the first high-level signal appears and the second time when the first low-level signal appears in the second echo signal, determining the first time difference between the second time and the first time as the ranging time, and calculating the detection distance corresponding to the ranging time.

[0077] Furthermore, the step of determining the distance between the current position and the obstacle based on the time of occurrence of the level signal in the echo signal and the stored ranging information specifically includes: acquiring the third time when the first high-level signal appears in the first echo signal and the fourth time when the first low-level signal appears, as well as the second time difference between the fourth time and the third time; and calculating the distance from the obstacle to the ultrasonic sensor based on the second time difference, the ranging time, and the detection distance.

[0078] Specifically, the controller 13 calculates the distance from the obstacle to the ultrasonic sensor based on the second time difference, the ranging time, and the detection distance, including:

[0079] The controller 13 inputs the second time difference, ranging time, and detection distance into the formula: Z = (T1 - T0) * Y / T0. The distance from the obstacle to the ultrasonic transducer 11 is calculated using the formula, where Z is the distance from the obstacle to the ultrasonic sensor, T1 is the time difference, T0 is the ranging time, and Y is the detection distance. The distance from the obstacle to the ultrasonic transducer 11 is obtained by inputting the information into the formula.

[0080] Optionally, when the controller 13 determines to perform ultrasonic ranging on obstacles in the blind zone, the steps of performing ultrasonic ranging on obstacles in the blind zone specifically include: starting the ultrasonic transducer 11 and controlling the ultrasonic transducer 11 to send ultrasonic signals to the obstacle for ultrasonic ranging.

[0081] Furthermore, distance detection can be performed on obstacles within the blind zone under specific conditions, thereby distinguishing them from the detection of obstacles outside the blind zone and avoiding interference between the two. Specifically, the steps for ultrasonic ranging of obstacles within the blind zone also include: determining whether the conditions for ultrasonic ranging of obstacles within the blind zone are met based on the acquired information; if so, ultrasonic ranging is performed on the obstacles within the blind zone; if not, ultrasonic ranging is performed by acquiring ranging information or ultrasonic ranging is not performed on the blind zone.

[0082] Specifically, when the same obstacle is at different distances within the blind zone, the duration of the first high-level signal in the amplified first echo signal is different. The controller 13 collects the signal duration and calculates the distance from the obstacle in the blind zone to the ultrasonic transducer 11 by comparing the duration of the high-level signal collected with the duration of the first high-level signal measured when not in the blind zone.

[0083] like Figure 1 As shown, the controller 13 calculates the duration of the high-level signal after acquisition and the duration of the high-level signal measured when not in the blind zone, including: recording the time of the first high-level signal in the normal ranging signal (the ranging signal generated by ranging of obstacles outside the blind zone) as X1, recording the time of the first low-level signal after the high-level signal as X2, calculating the shortest time T0 of a normal ranging signal = X2 - X1, and recording the blind zone distance that can be detected by each normal ranging signal as Y.

[0084] When there are obstacles in the blind spot, such as Figure 2As shown, the time corresponding to the first high-level signal is recorded as X3, and the time of the first low-level signal following the high-level signal is recorded as X4. The time when the ultrasonic wave corresponding to the echo signal is in the blind zone is calculated as T1 = X4 - X3. The ratio of T1 to T0 is calculated, and the distance Z of the measured obstacle in the blind zone from the ultrasonic transducer 11 is calculated using the formula Z = (T1 - T0) * Y / T0. After calculating the distance Z, the calculation result is output.

[0085] This application also provides a distance detection device, which can be integrated into an ultrasonic ranging device or set up independently of the device, communicating with the device and using the connected device to measure the distance to obstacles in the blind zone. Figure 7 As shown, the distance detection device 400 in this embodiment includes a detection unit 301, a calculation unit 302, and a storage unit 303.

[0086] The detection unit 301 is used to perform ultrasonic ranging on obstacles in the blind zone and obtain the first echo signal.

[0087] The calculation unit 302 is used to determine the distance between the current position and the obstacle based on the time of appearance of the level signal in the first echo signal and the stored ranging information. The level signal includes a high level signal and a low level signal, and the ranging information includes ranging time and detection distance.

[0088] Optionally, the storage unit 303 is used to store ranging information, which is obtained through the following operation:

[0089] The detection unit 301 performs ultrasonic ranging on obstacles outside the blind zone and obtains a second echo signal; the calculation unit 302 receives the second echo signal transmitted by the detection unit 301 and generates ranging information based on the second echo signal.

[0090] Optionally, the step of the calculation unit 302 generating ranging information based on the second echo signal specifically includes: obtaining the first time when the first high-level signal appears and the second time when the first low-level signal appears in the second echo signal, determining the first time difference between the second time and the first time as the ranging time, and calculating the detection distance corresponding to the ranging time.

[0091] In one embodiment, the distance detection device 400 performs ultrasonic ranging using an ultrasonic sensor. The step of determining the distance between the current position and the obstacle based on the time of occurrence of the level signal in the first echo signal and the stored ranging information specifically includes: the calculation unit 302 acquiring the third time when the first high-level signal appears and the fourth time when the first low-level signal appears in the first echo signal, and calculating the second time difference between the fourth time and the third time; and calculating the distance from the obstacle to the ultrasonic sensor based on the second time difference, the ranging time, and the detection distance.

[0092] In one embodiment, the step of calculating the distance from the obstacle to the ultrasonic sensor based on the second time difference, ranging time, and detection distance specifically includes: the calculation unit 302 inputs the second time difference, ranging time, and detection distance into the formula: Z = (T1 - T0) * Y / T0, and calculates the distance from the obstacle to the ultrasonic sensor using the formula, where Z is the distance from the obstacle to the ultrasonic sensor, T1 is the second time difference, T0 is the ranging time, and Y is the detection distance.

[0093] Furthermore, the steps for ultrasonic ranging of obstacles in the blind zone specifically include: the detection unit 301 activates the ultrasonic sensor and controls the ultrasonic sensor to send ultrasonic signals to the obstacle for ultrasonic ranging.

[0094] Optionally, the step of ultrasonic ranging of obstacles in the blind zone further includes: the calculation unit 302 determining whether the ultrasonic ranging conditions for obstacles in the blind zone are met based on the acquired information; if so, the detection unit 301 performs ultrasonic ranging of obstacles in the blind zone; if not, the detection unit 301 is controlled to perform ultrasonic ranging or not to perform ultrasonic ranging of the blind zone by acquiring ranging information.

[0095] This application provides an electronic device, including a memory, a processor, and a computer program stored in the memory. The processor executes the computer program to implement a method for detecting the distance to obstacles in a blind zone. Compared with existing technologies, this method can emit ultrasonic waves to measure the distance to obstacles in the blind zone, acquire a first echo signal generated by the ultrasonic ranging, and calculate the distance between the current position and the obstacle based on the occurrence times of high-level and low-level signals in the first echo signal, as well as the stored ranging time and detection distance. This application pre-stores the ranging time and detection distance, acquires the occurrence times of high-level and low-level signals in the first echo signal generated by ultrasonic ranging of obstacles in the blind zone, and uses these times and the ranging time and detection distance to quickly calculate the distance between the current position and the obstacle. Therefore, this application can effectively detect the distance to obstacles in the blind zone, expand the measurement range of ultrasonic ranging, and improve the accuracy and precision of the measurement.

[0096] It should be noted that, in the optional embodiments of this application, the data involved (such as the first echo signal, the second echo signal, ranging information, the distance between the current position and the obstacle, etc.) requires the permission or consent of the user when the above embodiments of this application are applied to specific products or technologies. Furthermore, the collection, use, and processing of the relevant data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. In other words, if the embodiments of this application involve data related to the user, this data must be obtained with the user's authorization and consent, and in accordance with the relevant laws, regulations, and standards of the country and region.

[0097] In one alternative embodiment, an electronic device is provided, such as Figure 9 As shown, Figure 9 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of this application.

[0098] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0099] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the figure, but this does not indicate that there is only one bus or one type of bus.

[0100] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation herein.

[0101] The memory 4003 stores computer programs that execute embodiments of this application, and its execution is controlled by the processor 4001. The processor 4001 executes the computer programs stored in the memory 4003 to implement the steps shown in the foregoing method embodiments.

[0102] Among them, electronic devices can be any electronic product that can interact with users, such as personal computers, tablets, smartphones, personal digital assistants (PDAs), game consoles, interactive network television (IPTV), smart wearable devices, etc.

[0103] The electronic device may also include network devices and / or user devices. The network devices include, but are not limited to, a single network server, a server group consisting of multiple network servers, or a cloud based on cloud computing consisting of a large number of hosts or network servers.

[0104] The networks in which the electronic devices are located include, but are not limited to, the Internet, wide area networks, metropolitan area networks, local area networks, and virtual private networks (VPNs).

[0105] This application also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0106] The terms "first," "second," "third," "fourth," "1," "2," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in a sequence other than that shown in the figures or text.

[0107] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0108] The above description is only an optional implementation method for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application without departing from the technical concept of this application also fall within the protection scope of the embodiments of this application.

Claims

1. A method for detecting the distance to obstacles in a blind zone, characterized in that, include: Ultrasonic ranging is used to measure obstacles in the blind zone to obtain the first echo signal; The distance between the current position and the obstacle is determined based on the time of appearance of the level signal in the first echo signal and the stored ranging information. The level signal includes a high-level signal and a low-level signal. The ranging information includes ranging time and blind zone distance. The ranging time represents the duration of residual vibration generated by the ultrasonic probe. The step of determining the distance between the current position and the obstacle based on the time of occurrence of the level signal in the first echo signal and the stored ranging information specifically includes: Obtain the third time when the first high-level signal appears and the fourth time when the first low-level signal appears in the first echo signal, and calculate the second time difference between the fourth time and the third time; Input the second time difference, the ranging time, and the blind zone distance into the formula: Z=(T1-T0) Y / T0, the distance from the obstacle to the ultrasonic sensor is calculated using the formula, where Z is the distance from the obstacle to the ultrasonic sensor, T1 is the second time difference, T0 is the ranging time, and Y is the blind zone distance.

2. The method for detecting the distance to obstacles in a blind zone according to claim 1, characterized in that, The ranging information is obtained through the following operations: Ultrasonic ranging is performed on obstacles outside the blind zone to obtain the second echo signal; Ranging information is generated based on the second echo signal.

3. The method for detecting the distance to obstacles in a blind zone according to claim 2, characterized in that, The step of generating ranging information based on the second echo signal specifically includes: The first time when the first high-level signal appears and the second time when the first low-level signal appears in the second echo signal are obtained. The first time difference between the second time and the first time is determined as the ranging time, and the blind zone distance corresponding to the ranging time is calculated.

4. The method for detecting the distance to obstacles in a blind zone according to claim 1, characterized in that, The steps for ultrasonic ranging of obstacles in the blind zone specifically include: The ultrasonic sensor is activated, and the ultrasonic sensor is controlled to send ultrasonic signals to the obstacle for ultrasonic ranging.

5. The method for detecting the distance to an obstacle in the blind zone as described in any one of claims 1-3, characterized in that, The step of performing ultrasonic ranging on obstacles in the blind zone also includes: Determine whether the conditions for ultrasonic ranging of obstacles in the blind zone are met based on the information obtained. If so, ultrasonic ranging will be used to measure obstacles in the blind spot; If not, ultrasonic ranging is performed by acquiring the ranging information or ultrasonic ranging is not performed in the blind area.

6. A distance detection device, characterized in that, include: The detection unit is used to perform ultrasonic ranging on obstacles in the blind zone and acquire the first echo signal; The calculation unit is used to determine the distance between the current position and the obstacle based on the time of occurrence of the level signal in the first echo signal and the stored ranging information. The level signal includes a high-level signal and a low-level signal, and the ranging information includes ranging time and blind zone distance. The ranging time represents the duration of the residual vibration generated by the ultrasonic probe. The step of determining the distance between the current position and the obstacle based on the time of occurrence of the level signal in the first echo signal and the stored ranging information specifically includes: Obtain the third time when the first high-level signal appears and the fourth time when the first low-level signal appears in the first echo signal, and calculate the second time difference between the fourth time and the third time; Input the second time difference, the ranging time, and the blind zone distance into the formula: Z=(T1-T0) Y / T0, the distance from the obstacle to the ultrasonic sensor is calculated using the formula, where Z is the distance from the obstacle to the ultrasonic sensor, T1 is the second time difference, T0 is the ranging time, and Y is the blind zone distance.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1-5.

8. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-5.

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