Processing method and device, equipment and storage medium

Abstract

The invention provides a processing method and device, equipment and a storage medium. The method comprises the following steps: continuously transmitting a first frequency signal within a target time period; transmitting a second frequency sweeping signal of which the frequency continuously changes along with time in a target frequency band according to a target rule in the target time period; acquiring a first reflection signal which is reflected when the first frequency signal encounters a target object; acquiring a second reflection signal reflected by the second sweep frequency signal encountering the target object; based on the first signal and the first reflected signal, determining frequency deviation between the second swept-frequency signal and the second reflected signal; and acquiring a first target distance to the target object based on the frequency deviation, the transmitting moment of the second sweep frequency signal and the receiving moment of the second reflected signal.

Description

Technical Field

[0001] The present disclosure relates to the field of terminal ranging technology, and in particular to a processing method, device, equipment and storage medium. Background Art

[0002] Ultrasonic ranging equipment measures the distance to obstacles by transmitting signals and receiving reflected signals. It usually uses swept frequency signals, records the transmission time and analyzes the frequency spectrum characteristics of the reflected signal to determine the arrival time of the reflected signal to calculate the distance.

[0003] However, due to the influence of the Doppler effect, the superposition of the transmitted signal and the reflected signal, etc., accurate distance measurement is impossible. Summary of the invention

[0004] The present disclosure provides a processing method, an apparatus, a device and a storage medium.

[0005] According to a first aspect of the present disclosure, there is provided a processing method, comprising:

[0006] Continuously transmitting a first frequency signal within a target period of time;

[0007] Transmitting a second frequency sweep signal whose frequency changes continuously over time in a target frequency band according to a target rule during the target time period;

[0008] Acquire a first reflection signal when the first frequency signal is reflected by a target object;

[0009] Acquire a second reflection signal when the second frequency sweep signal is reflected by the target object;

[0010] Determine a frequency offset between the second frequency sweep signal and the second reflected signal based on the first signal and the first reflected signal;

[0011] A first target distance from the target object is acquired based on the frequency offset, the emission time of the second frequency sweep signal, and the reception time of the second reflected signal.

[0012] According to a second aspect of the present disclosure, a processing device is provided, the device comprising:

[0013] A sending module, used for continuously transmitting a first frequency signal within a target time period;

[0014] Transmitting a second frequency sweep signal whose frequency changes continuously over time in a target frequency band according to a target rule during the target time period;

[0015] An acquisition module, configured to acquire a first reflection signal generated when the first frequency signal is reflected by a target object;

[0016] Acquire a second reflection signal when the second frequency sweep signal is reflected by the target object;

[0017] a processing module, configured to determine a frequency offset between the second frequency sweep signal and the second reflected signal based on the first signal and the first reflected signal;

[0018] A first target distance from the target object is acquired based on the frequency offset, the emission time of the second frequency sweep signal, and the reception time of the second reflected signal.

[0019] According to a third aspect of the present disclosure, there is provided an electronic device, including:

[0020] A transmitting device, configured to continuously transmit a first frequency signal within a target period, and transmit a second frequency sweep signal whose frequency continuously changes over time within a target frequency band according to a target law within the target period;

[0021] A receiving device, configured to receive a first reflected signal generated when the first frequency signal is reflected by a target object, and a second reflected signal generated when the second frequency sweep signal is reflected by the target object;

[0022] A processing unit is used to determine the frequency offset between the second frequency sweep signal and the second reflected signal based on the first signal and the first reflected signal; and obtain a first target distance from the target object based on the frequency offset, the transmission time of the second frequency sweep signal, and the reception time of the second reflected signal.

[0023] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to cause the computer to execute the method described in the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and other objects, features and advantages of the exemplary embodiments of the present disclosure will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present disclosure are shown in an exemplary and non-limiting manner, in which:

[0025] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0026] Figure 1 A schematic diagram of a process flow of a processing method provided by an embodiment of the present disclosure is shown;

[0027] Figure 2 A schematic diagram showing a transmitting signal and a receiving signal provided by an embodiment of the present disclosure is shown;

[0028] Figure 3A schematic diagram showing a time-frequency characteristic line provided by an embodiment of the present disclosure is shown;

[0029] Figure 4 A flow chart of a distance measurement method provided by an application embodiment of the present disclosure is shown;

[0030] Figure 5 A schematic diagram showing a relationship between signal frequency and time provided by an application embodiment of the present disclosure is shown;

[0031] Figure 6 A schematic diagram showing another relationship between signal frequency and time provided by an application embodiment of the present disclosure;

[0032] Figure 7 A schematic diagram of the structure of a processing device provided by an embodiment of the present disclosure is shown;

[0033] Figure 8 A schematic structural diagram of an electronic device provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0034] In order to make the purpose, features, and advantages of the present disclosure more obvious and easy to understand, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present disclosure.

[0035] First, some terms of the related art and the embodiments of the present disclosure are explained.

[0036] When the ultrasonic device measures the distance to obstacles by itself, it has a transmitting device (referred to as Tx) and a receiving device (referred to as Rx). The signal is transmitted through Tx (referred to as S), and the signal is directly transmitted from Tx to Rx as a direct signal (referred to as Sd), and the signal is transmitted from Tx to the obstacle and reflected back to Rx as a reflected signal (referred to as Sr), that is, the signal received by Rx is the superposition of Sd and Sr. Ultrasonic ranging usually sends ultrasonic signals intermittently, and the sending timestamp is recorded as t0. Due to the limited distance between Tx and Rx, Sd will arrive at close to t0, and Sr will arrive at t1.

[0037] In the related art, a sweep frequency signal is generally transmitted, and the time t0 of the transmitted signal is recorded. After receiving the signal, the Rx determines the appearance time t1 of the reflected signal Sr by analyzing the characteristics of the spectrum, and calculates the distance between the ultrasonic device and the obstacle based on t1 and t0.

[0038] The above scheme has the following problems: if the obstacle being measured is moving, the Doppler characteristics will cause Sr to deform, changing the straight line shape of the transmitted signal into a non-straight line. If the calculation method of the straight line characteristics is still used, t1 will be calculated incorrectly; if the obstacle and the ultrasonic equipment are very close, due to the limitation of calculation accuracy, Sd and Sr will overlap, making it impossible to calculate a reliable t1, resulting in inaccurate distance measurement.

[0039] The Doppler effect means that the received frequency of a wave becomes higher when the source of the wave moves toward the observer, and the received frequency becomes lower when the source of the wave moves away from the observer.

[0040] Doppler effect calculation formula: f'=(v0+v2) / (v0-v1)*f, where v0 represents the speed of sound, v1 represents the speed of device A moving toward object B, and v2 represents the speed of object B moving toward device A; f' represents the observed frequency, and f represents the original emission frequency from the medium.

[0041] Let k = (v0 + v2) / (v0 - v1), the Doppler effect calculation formula is expressed as f' = k*f, where k represents the frequency shift rate.

[0042] Figure 1 A schematic diagram of a processing method provided by an embodiment of the present disclosure is shown. Figure 1 As shown, the processing method is applied to an electronic device, and the method includes:

[0043] Step 101, continuously transmitting a first frequency signal within a target period;

[0044] Step 102, transmitting a second frequency sweep signal whose frequency changes continuously over time in a target frequency band according to a target rule within the target time period;

[0045] Step 103: obtaining a first reflection signal when the first frequency signal is reflected by a target object;

[0046] Step 104: obtaining a second reflection signal when the second frequency sweep signal is reflected by the target object;

[0047] Step 105: Determine a frequency offset between the second frequency sweep signal and the second reflected signal based on the first signal and the first reflected signal;

[0048] Step 106: Acquire a first target distance from the target object based on the frequency offset, the emission time of the second frequency sweep signal, and the reception time of the second reflected signal.

[0049] It should be noted that the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders. As long as the expected results of the technical solution disclosed in the present disclosure can be achieved, the above steps 101 to 106 are not limited in order.

[0050] In some embodiments, the electronic device has a signal sending device, a signal receiving device and a processing device, the signal sending device is used to send a first frequency signal and a second swept frequency signal, the signal receiving device is used to receive a first reflected signal and a second reflected signal, and the processing device is used to perform correlation processing based on the first signal, the first reflected signal, the second swept frequency signal, and the second reflected signal to obtain a first target distance.

[0051] The target period refers to the specific time period during which the electronic device transmits the signal, that is, the device continues to transmit the signal within this time range; in this way, the electronic device can receive the reflected signal and perform corresponding processing to obtain the target distance. The target period can also represent the period during which the electronic device performs ranging.

[0052] It should be noted that the specific duration of the target period is not limited in the embodiments of the present disclosure. The target period can be adjusted according to external factors or user needs. For example, the target period is set based on user needs. For another example, when the electronic device detects the presence of a target object or obstacle and determines that a distance measurement is required, the target period can be set by itself, or the target period can be automatically extended or shortened based on demand to meet the measurement requirements. If the signal transmitted by the electronic device is periodic, the target period can also be one or more cycles.

[0053] The frequency signal is a continuous single-frequency signal with a fixed single-frequency frequency. The first frequency signal may be one or a group of continuous single-frequency signals.

[0054] A frequency sweep signal is an electrical signal or electromagnetic wave signal whose frequency changes continuously over time within a predetermined range according to a specific law. The frequency change law of the frequency sweep signal includes but is not limited to linear change, logarithmic change and other forms. From a mathematical expression, taking linear frequency sweep as an example, its instantaneous frequency f(t) can be expressed as f(t)=f+pt, where f is the initial frequency, p is the frequency sweep rate (in Hz / s), and t is the time variable. Its phase It can be obtained by integrating the instantaneous frequency. The corresponding swept frequency signal expression is x(t)=Acos(2π(ft+1 / 2kt 2 )), A is the signal amplitude.

[0055] The target law refers to a specific pattern or law of the change of the signal frequency, such as the way the frequency changes over time. The change can be linear, where the frequency increases linearly over time. In this case, the frequency changes linearly at a constant rate over time, that is, the frequency increases or decreases by a fixed value every period of time. The rate determines the rate of change of the frequency. If the rate is large, the frequency changes faster; if the rate is small, the frequency changes slowly.

[0056] Combination Figure 2 As shown in the figure, Sd represents the direct signal, i.e., the signal that directly reaches the signal receiving device from the signal sending device; Sr represents the reflected signal, i.e., the signal reflected back to the signal receiving device after encountering the target object. t0 represents the time when the signal sending device transmits the signal, and t1 represents the time when the signal receiving device receives the reflected signal.

[0057] Correspondingly, for the transmission and reception of the above signals, a time-frequency spectrum diagram can be obtained, wherein S1 represents the first frequency signal, S1-Sd represents the direct signal of the first frequency signal, and S1-Sr represents the reflected signal of the first frequency signal; S0 represents the second swept frequency signal, S0-Sd represents the direct signal of the second swept frequency signal, and S0-Sd represents the reflected signal of the second swept frequency signal; the broken line represents the frequency offset caused by the Doppler effect, and Sr' corresponding to the dotted line part represents the signal frequency that should be obtained if the Doppler effect does not occur.

[0058] In this way, the electronic device sends different signals through the signal sending device, receives the corresponding reflected signals through the signal receiving device, and uses the processing device to comprehensively analyze and process these signals, so as to accurately calculate the distance between the electronic device and the target object. Specifically, since the first frequency signal is used to determine whether an offset occurs, the electronic device can calibrate the second frequency sweep signal according to the frequency offset determined by the first frequency signal, so even if there is a Doppler effect (movement of the electronic device or the target object), accurate transmission time and reception time can be obtained, thereby obtaining reliable distance data.

[0059] In some embodiments, acquiring a second reflected signal reflected by the target object when the second frequency sweep signal is reflected by the target object comprises:

[0060] Convert the second frequency sweep signal based on the frequency offset to obtain a second time-frequency feature;

[0061] The time-frequency feature of the received reflection signal is matched with the second time-frequency feature to obtain a second reflection signal whose time-frequency feature matches the second time-frequency feature.

[0062] Specifically, since the first reflected signal and the second swept-frequency signal are both signals sent by the electronic device to the target object, if a frequency offset is generated due to the Doppler effect, the frequency offsets are consistent. Therefore, the frequency offset determined based on the first signal and the first reflected signal can also reflect the frequency offset between the second swept-frequency signal and the second reflected signal; thus, the frequency offset between the second swept-frequency signal and the second reflected signal can be determined based on the first signal and the first reflected signal.

[0063] In one example, the second swept frequency signal is converted based on the frequency offset to obtain a second time-frequency feature, which means that the original second swept frequency signal can be distorted based on the frequency offset to determine the characteristics of the reflected signal that should be received at each moment if the frequency offset is used, that is, the second time-frequency feature (the time-frequency feature is as follows Figure 2 The second time-frequency feature at each moment is compared with the time-frequency feature of the received reflected signal to obtain the time-frequency feature of the reflected signal consistent with the second time-frequency feature, that is, to obtain an accurate second reflected signal. In this way, an accurate second reflected signal can be obtained, and the first target distance can be calculated based on the receiving time of the second reflected signal and the transmitting time of the second sweep signal.

[0064] Specifically, the transmission time is known, denoted as t0, and the first target distance can be calculated according to the following formula: D0=v0*(t1-t0) / 2; wherein D0 represents the first target distance, t1 represents the receiving time of the second reflected signal, and v0 represents the speed of sound.

[0065] In another example, the accurate second reflection signal may be determined based on the amplitude sum or energy sum on the time-frequency characteristic line as an indicator.

[0066] Combination Figure 3 Specifically, assuming that the second frequency sweep signal is denoted as S0, which is a straight line in the time interval Ti=[0,T], the frequency interval Fi=[F1,F2], and the time-frequency characteristic line is denoted as Fi=Fun(Ti); if the detection time starting point is t1, in the detection time interval Ti'=[t1,t1+T], the time-frequency characteristic line should be located at Fi'=Fun(Ti'-t1), and the two-dimensional line between Ti' and Fi' is the time-frequency characteristic line detected at time t1, denoted as Sr'(t1). However, due to the Doppler effect, the actual time-frequency characteristic line Sr has a frequency offset at time t (denoted as k(t)), causing the time-frequency characteristic line to become Fi'=Fun(Ti'-t1)*k(Ti').

[0067] Therefore, in a detection interval, with different times tj as starting points, the amplitude sum or energy sum on the detected time-frequency characteristic line Sr'(tj) (the multiple dotted lines in the figure are the time-frequency characteristic lines of different detection intervals) can be used as an indicator to determine a detection interval with a maximum value of the indicator. The time-frequency characteristic line of the detection interval is the real time-frequency characteristic line Sr, and the time t1 when it appears is also the time when the second swept-frequency signal is received. In this way, a reliable estimate of the time when the second swept-frequency signal is received can be made.

[0068] In this way, by obtaining an accurate second reflected signal, the first target distance is calculated according to the reception time of the second reflected signal and the transmission time of the second frequency sweep signal, thereby eliminating the error caused by the Doppler effect and improving the calculation accuracy.

[0069] In some embodiments, acquiring a second reflected signal reflected by the target object when the second frequency sweep signal is reflected by the target object comprises:

[0070] converting the received reflected signal based on the frequency offset to obtain a virtual reflected signal;

[0071] The time-frequency characteristics of the virtual reflection signal are matched with the time-frequency characteristics of the second frequency sweep signal to obtain a second reflection signal having the time-frequency characteristics of the corresponding virtual reflection signal and the time-frequency characteristics of the second frequency sweep signal.

[0072] Specifically, the received reflected signal is converted based on the frequency offset to obtain a virtual reflected signal, which means that the received reflected signal can be corrected according to the frequency offset to obtain a corrected reflected signal, that is, a virtual reflected signal. Then, it is determined whether the time-frequency characteristics of the corrected reflected signal match the time-frequency characteristics of the originally transmitted second swept frequency signal. If the time-frequency characteristics of the corrected reflected signal match the time-frequency characteristics of the originally transmitted second swept frequency signal, it is considered that the received reflected signal is an accurate second reflected signal.

[0073] Here, if the Doppler effect occurs and a frequency offset is generated, after determining the frequency offset k(t), the reverse operation can be performed to correct it, and the corrected signal is matched with the second swept-frequency signal. If the corrected signal is a straight line and matches the second swept-frequency signal, it can be considered to be the second reflected signal.

[0074] In this way, an accurate second reflected signal can be obtained, and then the reception time of the second reflected signal can be determined, and the first target distance can be calculated according to the reception time of the second reflected signal and the transmission time of the second frequency sweep signal, thereby eliminating the error caused by the Doppler effect and improving the calculation accuracy. The specific calculation is as shown in the above formula D0=v0*(t1-t0) / 2, which will not be elaborated here.

[0075] In some embodiments, the method further comprises:

[0076] If the distance to the target object satisfies a first distance condition, obtaining a third reflection signal of the first frequency signal reflected by the target object;

[0077] Determine energy attenuation information based on the transmission energy of the first frequency signal, the reception energy of the first reflected signal, and the first target distance;

[0078] Obtaining a second target distance from the target object based on the reflected energy of the first frequency signal, the received energy of the third reflected signal, and the energy attenuation information;

[0079] The third reflection signal is acquired at a time later than the first reflection signal.

[0080] Specifically, the first distance condition may be that the current distance is less than a distance Dmin, and Dmin may be determined based on actual needs, experimental tests, and the like.

[0081] The first distance condition may also be that the distance is gradually decreasing, and the current distance is less than the distance Dmin. The current distance may be based on the distance determined last time. The distance is gradually decreasing may be determined based on the distances determined last several times, such as the distances determined last several times are gradually decreasing.

[0082] Specifically, determining the energy attenuation information based on the transmission energy of the first frequency signal, the reception energy of the first reflected signal, and the first target distance may include: when the distance between the electronic device and the target object is the first target distance, detecting the reception energy of the first reflected signal; and determining the energy attenuation information based on the transmission energy of the first frequency signal and the reception energy of the first reflected signal.

[0083] Here, the energy attenuation information is the information required by the ultrasonic energy attenuation algorithm, and the ultrasonic energy attenuation formula can be recorded as E=F(D). The energy of the signal will decay during the propagation process, and can usually be expressed using a certain form of attenuation formula, such as E=F(D), where E represents the energy of the signal, D represents the propagation distance, and F(D) is an attenuation function related to the distance. The parameters of the ultrasonic energy attenuation formula are determined based on the energy attenuation information. Here, E(t)=F(D(t)) when D(t)=the first target distance is used as a benchmark to infer the energy attenuation information to establish the ultrasonic energy attenuation formula.

[0084] In this way, the energy of the reflected signal can be used to calculate the propagation distance of the ultrasonic wave, that is, through the known ultrasonic energy attenuation formula, the propagation distance can be reversed according to the energy of the received reflected signal.

[0085] It should be noted that the energy attenuation information can also be determined based on prior information, such as the emission energy of the first frequency signal, the microphone frequency response, etc., as a basis for the formula to establish the ultrasonic energy attenuation formula. The method for establishing the ultrasonic energy attenuation formula is not limited here.

[0086] Correspondingly, obtaining a second target distance from the target object based on the reflected energy of the first frequency signal, the received energy of the third reflected signal, and the energy attenuation information includes:

[0087] Determine the ultrasonic energy attenuation formula using the energy attenuation information;

[0088] Based on the reflected energy of the first frequency signal and the received energy of the third reflected signal, an ultrasonic energy attenuation formula is applied to calculate a second target distance from the target object.

[0089] Thus, an auxiliary measurement method for the distance between an electronic device and a target object is provided according to the ultrasonic energy attenuation formula. By utilizing the energy attenuation characteristics of ultrasonic signals during propagation, the actual distance between the device and the target can be accurately estimated under various environmental conditions. This method can be used as a supplementary auxiliary measurement method to effectively improve the accuracy and reliability of distance measurement.

[0090] In some embodiments, the method further comprises:

[0091] If the distance to the target object satisfies a second distance condition, obtaining a relative moving speed to the target object;

[0092] A third target distance from the target object is obtained based on the relative moving speed and the first target moving distance.

[0093] Specifically, the second distance condition may be that the current distance is greater than a distance Dmax, and Dmax may be determined based on actual needs, experimental tests, and the like.

[0094] The second distance condition may also be that the distance gradually increases, and the current distance is greater than the distance Dmax. The current distance may be based on the distance determined last time. The distance gradually increases may be determined based on the distances determined several times previously.

[0095] Here, obtaining a third target distance from the target object based on the relative moving speed and the first target moving distance includes:

[0096] The moving distance is determined according to the following formula: ΔD = Σv*t = D(T2)-D(T1), where ΔD represents the moving distance of the first target, v represents the relative moving speed, and t represents the moving time; T1 and T2 represent the starting time and the ending time of the moving, and ΔD is actually the integration of the relative speed v(t) over time [T1, T2];

[0097] The third target distance is determined according to the following formula: D1=D(t-1)+ΔD, where D1 represents the current third target distance, and D(t-1) represents the first target moving distance, that is, the distance between the electronic device and the target object calculated last time.

[0098] Here, the method of obtaining the relative movement speed with respect to the target object can be determined based on actual conditions. For example, if both the electronic device and the target object have sensors, the speeds of the electronic device and the target object can be determined based on the sensors, thereby calculating the relative movement speed.

[0099] For another example, the movement of the electronic device and / or the target object can be calculated. Specifically, the first frequency signal (denoted as S1) can be a single-frequency signal group, including M continuous single-frequency signals of different frequencies, the frequency fs1i period of each single-frequency signal S1i is Ci, and the period of the first frequency signal is the least common multiple of C=Ci. When each frequency amplitude remains unchanged, different phase groups will make the overall time domain maximum value of the C periodic signal different. Modifying different phase groups can make the time domain maximum value smaller, thereby increasing the frequency amplitude to a higher value. Through frequency domain detection, it can be found that the direct signal of S1 (denoted as Sd, that is, from the signal sending device directly to the signal receiving device) is a relatively stable result over a long period of time. The reflected signal of S1 (denoted as Sr) does not shift in frequency when it is stationary and remains S1i. Doppler effect will occur when it moves. The ki(t) of different transmitting frequencies at the same time is relatively consistent, and the change of k(t) with time is relatively smooth. The credible range of k(t) is derived based on k(t-1) in time, and the mean, weighted mean, or statistical method of ki(t) obtained from different frequencies S1i in the frequency domain, or direct calculation based on the frequency domain amplitude, can obtain a reliable k(t).

[0100] Based on the above characteristics, the relative movement rate can be determined. When moving, k(t)≠1 and k(t) can be calculated. Sd and Sr of S1 are superimposed on fs1i in the spectrum. Based on prior information, such as knowing that the electronic device remains stationary, v1=0 is determined, or knowing that the target object remains stationary, v2=0 is determined; using the Doppler effect formula f'=(v0+v2) / (v0-v1)*f or k(t)=(v0+v2) / (v0-v1), the relative movement rate can be calculated.

[0101] Thus, an auxiliary measurement method based on moving speed is provided, which can be used as a supplementary auxiliary measurement method and can effectively improve the accuracy and reliability of distance measurement.

[0102] Generally speaking, the auxiliary measurement method can be applied to the case where the distance between the electronic device and the target object exceeds a certain interval. Assume that the interval is [Dmin, Dmax]. The range of the interval can be determined through experiments. If the method of calculating the first target distance outside the interval may result in errors, other auxiliary methods can be used, such as the auxiliary measurement method based on the moving speed and the auxiliary measurement method based on the ultrasonic energy attenuation formula. In this way, the distance measurement capability is expanded.

[0103] In some embodiments, the method further comprises:

[0104] Determine energy attenuation information based on the transmission energy of the first frequency signal, the reception energy of the first reflected signal, and the first target distance;

[0105] If the distance to the target object satisfies a third distance condition, obtaining a direct signal of the first frequency signal transmitted through the electronic device;

[0106] A fourth target distance from the target object is obtained based on the first frequency signal, the direct signal, and the energy attenuation information.

[0107] Here, based on the transmission energy of the first frequency signal, the reception energy of the first reflected signal, and the first target distance, determining the energy attenuation information may include: taking E(t)=F(D(t)) when D(t)=the first target distance as a reference, calculating the energy attenuation information to establish an ultrasonic energy attenuation formula. The details have been explained in the above description and will not be repeated here.

[0108] It should be noted that the energy attenuation information can also be determined based on prior information, such as the emission energy of the first frequency signal, the microphone frequency response, etc., as a basis for the formula to establish the ultrasonic energy attenuation formula. The method for establishing the ultrasonic energy attenuation formula is not limited here.

[0109] Here, the distance from the target object satisfies the third distance condition and may be greater than the distance Dmax. Considering that when the ultrasonic wave propagates too far (such as greater than Dmax), the energy of the reflected signal Sr of the first frequency signal becomes very weak, at this time, the Sr component of Sd and Sr superimposed on the transmission frequency of the first frequency signal (denoted as fs1) ​​is very small, and the amplitude and phase of the direct signal S1d_s at this time can be recorded, and the direct signal S1d_s can be estimated and updated by smoothing, Kalman filtering or Wiener filtering.

[0110] Since the direct signal S1d_s is relatively stable, the reflected signal can be estimated based on the first frequency signal and the direct signal during subsequent ranging, as shown in the formula Sr(t) = S1(t) - S1d_s, where Sr(t) represents the reflected signal Sr received at time t for S1, S1(t) represents the signal detected at the transmission frequency of S1 at time t, and S1d_s represents the estimated direct signal.

[0111] Then, the energy of Sr(t) is calculated based on the amplitude of Sr(t), and then the distance D3 is calculated using the ultrasonic energy attenuation formula E = F(D).

[0112] In this way, an auxiliary measurement method for the distance between an electronic device and a target object according to the ultrasonic energy attenuation formula is provided. By utilizing the characteristic of ultrasonic signal energy attenuation during propagation, the actual distance between the device and the target can be accurately estimated under various environmental conditions. This method can be used as a supplementary auxiliary measurement method, effectively improving the accuracy and reliability of distance measurement.

[0113] In some embodiments, the method further includes:

[0114] Determine a distance result based on the first target distance in combination with at least one of the second target distance, the third target distance, and the fourth target distance.

[0115] Here, considering that the second swept-frequency signal is intermittently transmitted, the time interval Δt = t2 - t1 between two adjacent transmission times t1 and t2. The energy emitted by the device is E. According to the ultrasonic energy attenuation formula E = F(D), due to environmental noise, the sensitivity of the hardware device, the noise floor (Noise_th), and the algorithm robustness parameter (factor), when F(2*Dmax) < Noise_th*factor, the energy attenuates to an undetectable level. Additionally, through testing in the actual usage environment, it can be found that within the distance Dmin, Sr and Sd overlap, and t1 cannot be determined either. Therefore, a method of joint consideration is provided, that is, combining the first target distance with at least one of the second target distance, the third target distance, and the fourth target distance for comprehensive calculation to determine the distance result.

[0116] The comprehensive consideration can be determined based on combining the previously determined distance, frequency offset, etc. It can also be combined with weight calculation, such as determining the weights of the first target distance, the second target distance, the third target distance, and the fourth target distance for weighted calculation.

[0117] Specifically, the method may further include:

[0118] Based on the distances and frequency offsets determined N times previously, determine the weight of the first target distance, the weight of the second target distance, the weight of the third target distance, and the weight of the fourth target distance; N is greater than or equal to 1;

[0119] Accordingly, determining a distance result according to the first target distance in combination with at least one of the second target distance, the third target distance, and the fourth target distance includes:

[0120] A distance result is determined based on the first target distance in combination with at least one of the second target distance, the third target distance, and the fourth target distance, and weights of at least two of the first target distance, the second target distance, the third target distance, and the fourth target distance.

[0121] Here, an example of a weight determination method is provided. According to prior experience, the confidence factors c0, c1, c2, and c3 are set for the schemes of measuring the first target distance (denoted as D0), the second target distance (denoted as D1), the third target distance (denoted as D2), and the fourth target distance (denoted as D3) respectively through the previous distance D(t-1), the transmission energy, and the frequency offset k(t). For example, if c0 is set within the distance interval [Dmin, Dmax], the confidence is very high. Outside the interval [Dmin, Dmax], the execution degree drops rapidly. The confidence is set according to the distance only when the reflection of D0 is detected within the time interval Δt of the intermittent transmission of D0. When it is not detected, the confidence is 0. For c2 and c4, the closer the distance and the greater the energy, the higher the confidence factor. The confidence factor of c2 is higher when the frequency offset k(t)≠1, and the confidence factor of c4 is higher when the frequency offset k(t)=1; the confidence factor of c1 is lower when the frequency offset k(t)≈1 or the energy distribution is more ambiguous. In this way, for each ranging method, the confidence formula is set according to the limitations of the ranging method. Set the probabilities p0, p1, p2, and p3, with the initial p0=1, and initially set the probabilities p1, p2, p3, and the initial parameters in the formulas D1, D2, and D3. Considering that the environment will not change much within a certain period of time, initialize according to the last calculation result, or obtain time, location, temperature, humidity, altitude and other information through the Internet or locally to obtain initial parameters, or compare similar conditions at the previous startup to initialize.

[0122] In the distance interval [Dmin, Dmax], at the moment when the reflection of D0 is detected within the time interval Δt of the intermittent emission of D0, the indicators are set according to the errors of D1, D2, D3 and D0. Within a period of time, D1, D2, D3 can calculate the actual accuracy a1, a2, a3 based on the comparison results with D0, and update the probabilities p1, p2, p3 according to the accuracy and the current confidence factors c1, c2, c3. For example, p(t) = p(t-1) + alpha(c(t))*(a(t)-p(t-1)), p(t) is smoothed to a(t), and the smoothing is fast when the current confidence factor is high, and the smoothing is slow or even not updated when the confidence factor is low.

[0123] The weight is obtained by the weighted average of p and c: wi = pi*ci / (Σpj*cj); pj and cj represent p and j corresponding to the corresponding target distance to be considered, which can be one or more of the second target distance, the third target distance, and the fourth target distance;

[0124] Determining a distance result based on the first target distance in combination with at least one of the second target distance, the third target distance, and the fourth target distance may include: D(t)=w1*(D(t-1)+ΔD)+w2*D2+w3*D3.

[0125] It should be noted that if there are multiple transmitting devices transmitting S0 and S1 respectively, or a single transmitting S0 and S1 are superimposed, S = S0*a0+S1*a1, different initial probabilities pi and confidence levels ci can be set according to their transmission energies. If there are multiple receiving devices, positioning can be performed based on the ranging results of multiple devices to obtain the direction information of the target object.

[0126] Figure 4 A flow chart of a distance measurement method provided by an application embodiment of the present disclosure is shown; Figure 4 As shown, the method includes:

[0127] Step 401: transmit signals S1 and S0, and receive reflected signal Sr when S1 and S0 encounter obstacles.

[0128] Among them, S1 is the frequency signal, and S0 is the swept frequency signal. When the signal is detected in the frequency domain, ideally the direct signal Sd and the reflected signal Sr are both thin lines. In practice, due to the calculation accuracy or the large reflection area of ​​the obstacle, a frequency band of a certain width is formed. The frequency f where the maximum value max(magi) is located can be used as the frequency involved in the calculation according to the energy distribution, or the weighted summation calculation f=Σmagi*fi / Σmagi can be used to improve the accuracy of the calculation. By performing time-frequency transformation on the transmitted and received signals, a time-frequency frequency domain diagram can be obtained, including amplitude and phase.

[0129] Step 402: Use the frequency offset of S1 to correct the reflected signal of S0, determine the target Sr of S0, and calculate the distance D0 according to the transmission time of S0 and the reception time of the target Sr.

[0130] In one example, using the frequency offset of S1 to correct the reflected signal of S0 may include:

[0131] According to the Doppler effect formula, the frequency offset rate at time t is calculated as k(t)=fs1_dop(t) / fs1, where fs1 is the frequency of S1, and fs1_dop is the frequency offset caused by the Doppler effect of S1, that is, the reflected signal Sr of S1, that is, S1-Sr;

[0132] Correct the reflected signal of S0 (i.e. S0-Sr) according to k(t) and estimate the appearance time t1 of the target Sr of S0;

[0133] Determine the emission time t0 of S0, and calculate the distance D0 = v0*(t1-t0) / 2 based on t0 and t1, where v0 represents the speed of sound.

[0134] Specifically, assuming that S0 is a straight line in the time interval Ti = [0, T], the frequency interval Fi = [F1, F2], and the time-frequency characteristic line is expressed as Fi = Fun (Ti), if the detection time starting point is t1, in the detection time interval Ti' = [t1, t1 + T], the time-frequency characteristic line should be located at Fi' = Fun (Ti'-t1), and the two-dimensional line between Ti' and Fi' is the time-frequency characteristic line Sr' (t1) detected at time t1. Due to the Doppler effect, the actual time-frequency characteristic line Sr, the frequency deviation k (t) occurring at time t, will cause the time-frequency characteristic line to become Fi' = Fun (Ti'-t1) * k (Ti').

[0135] Therefore, the time-frequency characteristic line of each interval can be compared with the time-frequency characteristic line of the received reflection signal to obtain the reflection signal with the same time-frequency characteristic line, that is, to obtain the accurate target Sr. Alternatively, in a detection interval, different times tj can be used as starting points, and the amplitude sum or energy sum on the detected time-frequency characteristic line Sr'(tj) can be used as an indicator to determine a detection interval with the maximum value of the indicator. The time-frequency characteristic line of the detection interval is the real time-frequency characteristic line Sr, that is, the target Sr, and the time of its appearance is t1.

[0136] In another example, another method for determining the receiving time of the target Sr is provided. Assuming that a time-receiving frequency spectrum diagram is obtained, the amplitude of the frequency f' received at time t is recorded as Mag(t,f'). Due to the Doppler frequency shift k(t), the transmitting frequency f = f' / k(t), and the spectrum diagram under the time-transmitting frequency coordinate (t,f) is converted, and the amplitude Mag(t,f') = Mag(t,f*k(t)). In the time-transmitting frequency spectrum diagram coordinate (t,f), a straight line is determined using a straight line detection method, and the time point corresponding to the starting frequency F1 corresponding to S0 on the straight line is determined as t1.

[0137] Step 403, determine the moving distance ΔD, and calculate the distance D1 according to the moving distance;

[0138] Wherein, determining the moving distance ΔD includes: determining the relative moving speed v(t), integrating v(t) over time [T1, T2] to obtain the moving distance ΔD=Σv*t=D(T2)-D(T1).

[0139] Calculating the current distance D1 according to the moving distance includes: calculating the current distance according to the formula D1=D(t-1)+ΔD, wherein D(t-1) represents the distance calculated last time.

[0140] The method for determining the relative moving speed has been explained in the above description and will not be elaborated here.

[0141] Step 404: Acquire the first ultrasonic energy, and calculate the distance D2 using the ultrasonic energy attenuation formula.

[0142] Here, the first ultrasonic energy is determined by the signal portion where the reflected signal Sr and the direct signal Sd do not overlap, that is, Figure 5 In the portion marked with a thick line, k(t)≠1 of S1.

[0143] Specifically, the ultrasonic energy attenuation formula is recorded as E=F(D). When applied, the formula can be used based on prior information, such as the emission energy, microphone frequency response and other information, to infer D(t')=D2 from the detected energy E(t'); or, based on the calculated E(t)=F(D(t)) when D(t)=D0 as a reference, the ultrasonic energy attenuation formula E=F(D) can be inferred from the detected energy E(t'). In this way, the ultrasonic energy attenuation formula E=F(D) that can be used in the current scenario is obtained.

[0144] After receiving the reflected signal Sr of S0, the square of the amplitude of Sr is calculated to obtain the first ultrasonic energy, and the distance D2 is calculated using the ultrasonic energy attenuation formula.

[0145] Step 405: Acquire the second ultrasonic energy and calculate the distance D3 using the ultrasonic energy attenuation formula.

[0146] Here, the second ultrasonic energy is determined based on the signal portion where the reflected signal Sr overlaps with the direct signal Sd, that is, Figure 6 In the portion marked with a thick line, k(t)=1 of S1 at this time.

[0147] Specifically, when the ultrasonic propagation distance exceeds Dmax, the energy of the reflected signal will be too weak to be detected. At this time, the Sr component in the signal Sd+Sr superimposed on the frequency fs1 is very small. The amplitude and phase of the direct signal at this time can be recorded as S1d_s, and S1d_s can be estimated and updated using methods such as smoothing, Kalman filtering or Wiener filtering.

[0148] Since S1d_s is relatively stable, the reflected signal Sr(t) of S1 received at time t can be calculated based on S1d_s, Sr(t) = S1(t) - S1d_s, where Sr(t) represents the reflected signal Sr for S1 received at time t, S1(t) represents the signal detected at the transmission frequency of S1 at time t, and S1d_s represents the estimated direct signal; the energy of Sr(t) is taken as the second ultrasonic energy, denoted as E_Sr(t); then, the ultrasonic energy attenuation formula E = F(D) is applied to calculate the distance D3 based on E_Sr(t).

[0149] Step 406: Perform joint calculation based on D0, D1, D2, and D3 to determine the current distance.

[0150] Specifically, a joint calculation can be performed based on the weight and previous distance information. For example, if the distance is within the interval [Dmin, Dmax], the current distance is determined based on D0; if the distance is outside the interval [Dmin, Dmax], the current distance can be determined based on D1, D2, and D3.

[0151] A method for determining the weights of D1, D2, and D3 is provided. First, based on prior experience, confidence factors c0, c1, c2, and c3 are set for D0, D1, D2, and D3 by using the previous distance D(t-1), transmission energy, and frequency deviation k(t). For example, if c0 is set within the distance interval [Dmin, Dmax], the confidence is very high. Outside the interval [Dmin, Dmax], the execution rate drops rapidly. The confidence is set according to the distance when the reflection of D0 is detected within the time interval Δt of the intermittent transmission of D0. When it is not detected, the confidence is 0. For c2 and c3, the closer the distance and the greater the energy, the higher the confidence factor. The confidence factor of c2 is higher when the frequency deviation k(t)≠1, and the confidence factor of c3 is higher when the frequency deviation k(t)=1; the confidence factor of c1 is lower when the frequency deviation k(t)≈1 or the energy distribution is more blurred. In this way, for each ranging method, a confidence formula is set according to the limitations of the ranging method. Set p0 = 1, and initially set the probabilities p1, p2, p3 and the initial parameters in the D1, D2, D3 formulas. Considering that the environment will not change much within a certain period of time, it can be initialized based on the calculation results of the last startup; or obtain the time, location, temperature, humidity, altitude and other information through the Internet or local to obtain the initial parameters, or compare with similar conditions at the previous startup to get the calculation results for initialization.

[0152] In the distance interval [Dmin, Dmax], at the moment when the reflection of D0 is detected within the time interval Δt of the intermittent emission of D0, the indicators are set according to the errors of D1, D2, D3 and D0. Within a period of time, D1, D2, D3 can calculate the actual accuracy a1, a2, a3 based on the comparison results with D0, and update the probabilities p1, p2, p3 according to the accuracy and the current confidence factors c1, c2, c3. For example, p(t) = p(t-1) + alpha(c(t))*(a(t)-p(t-1)), p(t) is smoothed to a(t), and the smoothing is fast when the current confidence factor is high, and the smoothing is slow or even not updated when the confidence factor is low.

[0153] The weight wi=pi*ci / (Σpj*cj) is obtained based on the weighted average of p and c, and the distance result is calculated according to the following formula: D(t)=w1*(D(t-1)+ΔD)+w2*D2+w3*D3.

[0154] In addition, if there are multiple transmitting devices transmitting S0 and S1 respectively, or a single transmitting S0 and S1 are superimposed, S = S0*a0+S1*a1, different initial probabilities pi and confidence levels ci can be set according to their transmission energies. If there are multiple receiving devices, positioning can be performed based on the ranging results of multiple devices to obtain the direction information of the obstacle.

[0155] Figure 6 A schematic diagram of the structure of a processing device provided by an embodiment of the present disclosure is shown; Figure 6 As shown, the processing device includes:

[0156] A sending module, used for continuously transmitting a first frequency signal within a target time period;

[0157] Transmitting a second frequency sweep signal whose frequency changes continuously over time in a target frequency band according to a target rule during the target time period;

[0158] An acquisition module, configured to acquire a first reflection signal generated when the first frequency signal is reflected by a target object;

[0159] Acquire a second reflection signal when the second frequency sweep signal is reflected by the target object;

[0160] a processing module, configured to determine a frequency offset between the second frequency sweep signal and the second reflected signal based on the first signal and the first reflected signal;

[0161] A first target distance from the target object is acquired based on the frequency offset, the emission time of the second frequency sweep signal, and the reception time of the second reflected signal.

[0162] In some embodiments, the acquisition module is used to convert the second frequency sweep signal based on the frequency offset to obtain a second time-frequency feature;

[0163] The time-frequency feature of the received reflection signal is matched with the second time-frequency feature to obtain a second reflection signal whose time-frequency feature matches the second time-frequency feature.

[0164] In some embodiments, the acquisition module is used to convert the received reflection signal based on the frequency offset to obtain a virtual reflection signal;

[0165] The time-frequency characteristics of the virtual reflection signal are matched with the time-frequency characteristics of the second frequency sweep signal to obtain a second reflection signal having the time-frequency characteristics of the corresponding virtual reflection signal and the time-frequency characteristics of the second frequency sweep signal.

[0166] In some embodiments, the processing module is further configured to obtain a third reflection signal for the first frequency signal reflected by the target object if the distance to the target object satisfies a first distance condition;

[0167] Determine energy attenuation information based on the transmission energy of the first frequency signal, the reception energy of the first reflected signal, and the first target distance;

[0168] Obtaining a second target distance from the target object based on the reflected energy of the first frequency signal, the received energy of the third reflected signal, and the energy attenuation information;

[0169] The third reflection signal is acquired at a time later than the first reflection signal.

[0170] In some embodiments, the processing module is further configured to obtain a relative moving speed with respect to the target object if the distance to the target object satisfies a second distance condition;

[0171] A third target distance from the target object is obtained based on the relative moving speed and the first target moving distance.

[0172] In some embodiments, the processing module is further used to determine energy attenuation information based on the transmission energy of the first frequency signal, the reception energy of the first reflected signal, and the first target distance;

[0173] If the distance to the target object satisfies a third distance condition, obtaining a direct signal of the first frequency signal transmitted through the electronic device;

[0174] A fourth target distance from the target object is obtained based on the first frequency signal, the direct signal, and the energy attenuation information.

[0175] In some embodiments, the processing module is further used to determine a distance result based on the first target distance in combination with at least one of the second target distance, the third target distance, and the fourth target distance.

[0176] In some embodiments, the processing module is further used to determine the weight of the first target distance, the weight of the second target distance, the weight of the third target distance, and the weight of the fourth target distance based on the distances and frequency offsets determined N times before; N is greater than or equal to 1;

[0177] Correspondingly, the processing module is used to determine the distance result based on the first target distance, combined with at least one of the second target distance, the third target distance, and the fourth target distance, and the weights of at least two of the first target distance, the second target distance, the third target distance, and the fourth target distance.

[0178] It is understandable that when the processing device provided in the above embodiment implements the corresponding processing method, the above processing can be assigned to different program modules as needed to complete all or part of the processing described above. In addition, the device provided in the above embodiment and the embodiment of the corresponding method belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0179] An embodiment of the present disclosure provides an electronic device, including:

[0180] A transmitting device, configured to continuously transmit a first frequency signal within a target period, and transmit a second frequency sweep signal whose frequency continuously changes over time within a target frequency band according to a target law within the target period;

[0181] A receiving device, configured to receive a first reflected signal generated when the first frequency signal is reflected by a target object, and a second reflected signal generated when the second frequency sweep signal is reflected by the target object;

[0182] A processing unit is used to determine the frequency offset between the second frequency sweep signal and the second reflected signal based on the first signal and the first reflected signal; and obtain a first target distance from the target object based on the frequency offset, the transmission time of the second frequency sweep signal, and the reception time of the second reflected signal.

[0183] It can be understood that the electronic device provided in the above embodiments and the embodiments of the corresponding methods belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be repeated here.

[0184] An embodiment of the present disclosure provides a computer-readable storage medium storing executable instructions, wherein executable instructions are stored. When the executable instructions are executed by a processor, the processor will be triggered to execute the processing method provided by the embodiment of the present disclosure.

[0185] In some embodiments, the computer-readable storage medium may be a ferroelectric random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disk, or a CD-ROM; it may also be various devices including one or any combination of the above memories.

[0186] In some embodiments, executable instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, model, subroutine or other unit suitable for use in a computing environment.

[0187] By way of example, executable instructions may be deployed to be executed on one computing device, or on multiple computing devices located at one site, or on multiple computing devices distributed across multiple sites and interconnected by a communication network.

[0188] An embodiment of the present disclosure provides a computer program product, which includes a computer program / instructions. When the computer program / instructions are executed by a processor, the processing method described in the present disclosure is implemented.

[0189] Figure 8 The structure diagram of an electronic device provided by the embodiment of the present disclosure is shown in FIG. Figure 8 As shown, the electronic device 80 includes: a processor 801 and a memory 802 for storing a computer program that can be run on the processor; when the processor 801 is used to run the computer program, it executes the processing method provided by the embodiment of the present disclosure.

[0190] In actual application, the electronic device 80 may further include: at least one network interface 803. The various components in the electronic device 80 are coupled together via a bus system 804. It is understood that the bus system 804 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 804 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Figure 8 In the figure, various buses are marked as bus system 804. There may be at least one processor 801. The network interface 803 is used for wired or wireless communication between the electronic device 80 and other devices.

[0191] The memory 802 in the embodiment of the present disclosure is used to store various types of data to support the operation of the electronic device 80 .

[0192] The method disclosed in the above embodiment of the present disclosure can be applied to the processor 801, or implemented by the processor 801. The processor 801 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 801 or the instruction in the form of software. The above processor 801 can be a general processor, a digital signal processor (DSP, DiGital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 801 can implement or execute the disclosed methods, steps and logic block diagrams in the embodiment of the present disclosure. The general processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiment of the present disclosure can be directly embodied as a hardware decoding processor to execute, or the hardware and software modules in the decoding processor can be combined to execute. The software module can be located in a storage medium, which is located in the memory 802. The processor 801 reads the information in the memory 802 and completes the steps of the above method in combination with its hardware.

[0193] In some embodiments, the electronic device 80 can be implemented by one or more application specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD), field programmable gate array (FPGA), general processor, controller, microcontroller (MCU), microprocessor, or other electronic components to execute the aforementioned method.

[0194] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0195] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0196] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A processing method comprising: Continuously transmitting a first frequency signal within a target period of time; Transmitting a second frequency sweep signal whose frequency changes continuously over time in a target frequency band according to a target rule during the target time period; Acquire a first reflection signal when the first frequency signal is reflected by a target object; Acquire a second reflection signal when the second frequency sweep signal is reflected by the target object; Determine a frequency offset between the second frequency sweep signal and the second reflected signal based on the first signal and the first reflected signal; A first target distance from the target object is acquired based on the frequency offset, the emission time of the second frequency sweep signal, and the reception time of the second reflected signal.

2. The method according to claim 1, wherein obtaining a second reflected signal caused by the second frequency sweep signal being reflected by the target object comprises: Convert the second frequency sweep signal based on the frequency offset to obtain a second time-frequency feature; The time-frequency feature of the received reflection signal is matched with the second time-frequency feature to obtain a second reflection signal whose time-frequency feature matches the second time-frequency feature.

3. The method according to claim 1, wherein obtaining a second reflected signal caused by the second frequency sweep signal being reflected by the target object comprises: converting the received reflected signal based on the frequency offset to obtain a virtual reflected signal; The time-frequency characteristics of the virtual reflection signal are matched with the time-frequency characteristics of the second frequency sweep signal to obtain a second reflection signal having the time-frequency characteristics of the corresponding virtual reflection signal and the time-frequency characteristics of the second frequency sweep signal.

4. The method according to claim 1, further comprising: If the distance to the target object satisfies a first distance condition, obtaining a third reflection signal of the first frequency signal reflected by the target object; Determine energy attenuation information based on the transmission energy of the first frequency signal, the reception energy of the first reflected signal, and the first target distance; Obtaining a second target distance from the target object based on the reflected energy of the first frequency signal, the received energy of the third reflected signal, and the energy attenuation information; The third reflection signal is acquired at a time later than the first reflection signal.

5. The method according to claim 1, further comprising: If the distance to the target object satisfies a second distance condition, obtaining a relative moving speed to the target object; A third target distance from the target object is obtained based on the relative moving speed and the first target moving distance.

6. The method according to claim 1, further comprising: Determine energy attenuation information based on the transmission energy of the first frequency signal, the reception energy of the first reflected signal, and the first target distance; If the distance to the target object satisfies a third distance condition, obtaining a direct signal of the first frequency signal transmitted through the electronic device; A fourth target distance from the target object is obtained based on the first frequency signal, the direct signal, and the energy attenuation information.

7. The method according to claim 1, further comprising: A distance result is determined according to the first target distance in combination with at least one of the second target distance, the third target distance, and the fourth target distance.

8. The method according to claim 7, further comprising: Based on the distances and frequency offsets determined N times previously, determine a weight of a first target distance, a weight of a second target distance, a weight of a third target distance, and a weight of a fourth target distance; N is greater than or equal to 1; Accordingly, determining a distance result according to the first target distance in combination with at least one of the second target distance, the third target distance, and the fourth target distance includes: A distance result is determined based on the first target distance in combination with at least one of the second target distance, the third target distance, and the fourth target distance, and weights of at least two of the first target distance, the second target distance, the third target distance, and the fourth target distance.

9. A processing device, comprising: A sending module, used for continuously transmitting a first frequency signal within a target time period; Transmitting a second frequency sweep signal whose frequency changes continuously over time in a target frequency band according to a target rule during the target time period; An acquisition module, configured to acquire a first reflection signal generated when the first frequency signal is reflected by a target object; Acquire a second reflection signal when the second frequency sweep signal is reflected by the target object; a processing module, configured to determine a frequency offset between the second frequency sweep signal and the second reflected signal based on the first signal and the first reflected signal; A first target distance from the target object is acquired based on the frequency offset, the emission time of the second frequency sweep signal, and the reception time of the second reflected signal.

10. An electronic device comprising: A transmitting device, configured to continuously transmit a first frequency signal within a target period, and transmit a second frequency sweep signal whose frequency continuously changes over time within a target frequency band according to a target law within the target period; A receiving device, configured to receive a first reflected signal generated when the first frequency signal is reflected by a target object, and a second reflected signal generated when the second frequency sweep signal is reflected by the target object; a processing unit, configured to determine a frequency offset between the second frequency sweep signal and the second reflected signal based on the first signal and the first reflected signal; A first target distance from the target object is acquired based on the frequency offset, the emission time of the second frequency sweep signal, and the reception time of the second reflected signal.

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