Underwater distance measurement method and device, storage medium, product and vehicle

Abstract

The invention relates to an underwater distance measuring device and device, a storage medium, a product and a vehicle, and the underwater distance measuring device comprises a temperature sensor which is used for collecting the temperature data of water; the ultrasonic sensor is used for sending an ultrasonic signal and receiving an echo signal reflected by the ultrasonic signal after the ultrasonic signal encounters an obstacle; the temperature sensor and the ultrasonic sensor are respectively connected with the temperature sensor and the ultrasonic sensor and are used for sending the temperature data and the echo signal according to the temperature data and the echo signal; and determining the obstacle distance between the obstacle and the underwater distance measuring device. According to the invention, the accuracy of the obstacle distance between the obstacle and the underwater distance measuring device measured in water can be higher.

Description

Technical Field

[0001] The present application relates to the field of electronic technology, and in particular to an underwater ranging method, device, storage medium, product and vehicle. Background Art

[0002] Currently, on-vehicle ultrasonic sensors are widely used to detect obstacle distances, providing information for vehicle avoidance. However, ultrasonic sensors only operate in airborne environments. When a vehicle is immersed in water, where the ultrasonic wave propagates through water, ultrasonic sensors will not function properly. Some existing non-vehicle-based ultrasonic underwater ranging systems use two ultrasonic sensors, one transmitting and one receiving, to measure distance. However, due to the propagation characteristics of sound waves, these reflection-based ultrasonic ranging systems often deviate significantly from the actual distance measured. Summary of the Invention

[0003] The embodiments of the present application provide an underwater ranging device, which improves the accuracy of the obstacle distance measured between the obstacle and the underwater ranging device in water, so that the deviation between the measured obstacle distance and the actual distance is smaller.

[0004] To achieve the above-mentioned objectives, according to a first aspect of the present application, an underwater ranging device is provided, comprising: a temperature sensor for collecting water temperature data; an ultrasonic sensor for sending an ultrasonic signal and receiving an echo signal reflected after the ultrasonic signal encounters an obstacle; and a controller connected to the temperature sensor and the ultrasonic sensor, respectively, for determining the obstacle distance between the obstacle and the underwater ranging device based on the temperature data and the echo signal.

[0005] Optionally, the controller is configured to determine an actual physical distance corresponding to a sampling point interval based on the temperature data and a sampling frequency of the echo signal; and determine the obstacle distance based on the actual physical distance.

[0006] Optionally, the controller is further configured to use the temperature data to correct the speed of sound propagation in water to obtain a corrected sound speed; and obtain the actual physical distance based on the corrected sound speed and the sampling frequency.

[0007] Optionally, the controller is further configured to obtain a time sequence number of a set sampling value of the echo signal; and determine the obstacle distance according to the actual physical distance and the time sequence number.

[0008] Optionally, the controller is further used to perform window filtering after ADC sampling of the echo signal to obtain target filtered data; when the set sampling value is found from the target filtered data, obtain the time serial number position of the set sampling value.

[0009] Optionally, the controller is further configured to search for the set sampling value from the target filtered data; and obtain a time sequence number of the set sampling value in a time sequence of the target filtered data sorted in chronological order.

[0010] Optionally, the controller is further configured to remove leading blind area data and trailing invalid data from the target filtered data to obtain remaining filtered data; and search for the set sampling value from the remaining filtered data.

[0011] Optionally, the device further includes: a temperature sampling module, connected to the temperature sensor and the controller respectively, and configured to convert the temperature data into a voltage value.

[0012] Optionally, the device further comprises: a wave signal voltage conversion driving module, connected to the ultrasonic sensor and the controller respectively, for receiving the ultrasonic driving signal sent by the controller and sending the ultrasonic driving signal to the ultrasonic sensor.

[0013] Optionally, the device further includes: an echo signal amplification module, connected to the ultrasonic sensor and the controller respectively, and configured to amplify the echo signal.

[0014] Optionally, the device further includes: an echo signal bandpass filtering module, connected to the echo signal amplifying module and the controller respectively, and configured to filter the amplified echo signal.

[0015] Optionally, the device further includes: an echo signal shaping module, connected to the echo signal bandpass filtering module and the controller respectively, and configured to shape the filtered echo signal.

[0016] According to a second aspect of the present application, an underwater ranging method is provided, which is applied to the underwater ranging device provided in the first aspect, comprising: controlling the emission of an ultrasonic signal and acquiring water temperature data; and determining the obstacle distance between the obstacle and the underwater ranging device based on the temperature data and an echo signal reflected by the ultrasonic signal after encountering an obstacle.

[0017] Optionally, determining the obstacle distance between the obstacle and the underwater ranging device based on the temperature data and the echo signal reflected after the ultrasonic signal encounters the obstacle includes: determining the actual physical distance corresponding to the sampling point interval based on the temperature data and the sampling frequency of the echo signal; and determining the obstacle distance based on the actual physical distance.

[0018] Optionally, determining the actual physical distance corresponding to the sampling point interval based on the temperature data and the sampling frequency of the echo signal includes: using the temperature data to correct the propagation speed of sound in water to obtain a corrected sound speed; and obtaining the actual physical distance based on the corrected sound speed and the sampling frequency.

[0019] Optionally, the method further includes: obtaining the time sequence number of the set sampling value of the echo signal; and determining the obstacle distance based on the actual physical distance includes: determining the obstacle distance based on the actual physical distance and the time sequence number.

[0020] Optionally, obtaining the time serial number of the set sampling value of the echo signal includes: performing window filtering processing after ADC sampling of the echo signal to obtain target filtered data; when the set sampling value is found in the target filtered data, obtaining the time serial number of the set sampling value.

[0021] Optionally, when the set sampling value is found from the target filtering data, the time sequence number position of the set sampling value is obtained, including: finding the set sampling value from the target filtering data; and obtaining the time sequence number position of the set sampling value in the time series of the target filtering data sorted in chronological order.

[0022] Optionally, searching for the set sampling value from the target filtered data includes: removing leading blind area data and trailing invalid data from the target filtered data to obtain remaining filtered data; and searching for the set sampling value from the remaining filtered data.

[0023] Optionally, the set sampling value is the maximum sampling value in the remaining filtered data.

[0024] Optionally, the temperature data and the echo signal are acquired synchronously.

[0025] According to a third aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that when the computer program is executed by a processor, the steps of any one of the methods provided in the second aspect are implemented.

[0026] According to a fourth aspect of the present application, a computer program product is provided, comprising a computer program or instructions, which, when executed by a processor, implement the steps of any one of the methods provided in the second aspect.

[0027] According to a fifth aspect of the present application, a vehicle is provided, comprising the underwater ranging device provided in the first aspect.

[0028] In summary, in the embodiment of the present application, through the above technical solution, the temperature sensor is used to collect water temperature data; the ultrasonic sensor is used to send an ultrasonic signal and receive an echo signal reflected after the ultrasonic signal encounters an obstacle; the controller is connected to the temperature sensor and the ultrasonic sensor, respectively, and is used to determine the obstacle distance between the obstacle and the underwater ranging device based on the temperature data and the echo signal. It can be seen that the above technical solution obtains the obstacle distance through the echo signal and temperature data, and the temperature data can compensate for the speed of sound in water, so that the accuracy of the obstacle distance obtained through the temperature data is also improved, thereby improving the accuracy of the obstacle distance between the obstacle and the underwater ranging device measured in water, and thus achieving the technical effect of a smaller deviation between the measured obstacle distance and the actual distance.

[0029] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0031] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings, wherein the same drawing numbers represent the same parts in the following description.

[0032] Figure 1 is a schematic structural diagram of an underwater ranging device provided in an exemplary embodiment of the present disclosure;

[0033] Figure 2 is a flowchart of the steps of an underwater ranging method provided in an exemplary embodiment of the present disclosure;

[0034] Figure 3 is a flowchart of steps for obtaining actual physical distances corresponding to sampling point intervals provided in an exemplary embodiment of the present disclosure;

[0035] Figure 4 is a flow chart of an underwater ranging method provided in an exemplary embodiment of the present disclosure;

[0036] Figure 5 FIG. 1 is a schematic diagram of the architecture of a vehicle provided in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0038] This application provides an underwater distance measuring device, please refer to Figure 1 The underwater ranging method provided in an embodiment of the present application includes a temperature sensor 100 for collecting water temperature data; an ultrasonic sensor 200 for sending an ultrasonic signal and receiving an echo signal reflected after the ultrasonic signal encounters an obstacle; and a controller 300, connected to the temperature sensor and the ultrasonic sensor, respectively, for determining the obstacle distance between the obstacle and the underwater ranging device based on the temperature data and the echo signal.

[0039] In some embodiments, the underwater ranging device can be used as a separate device or integrated into a vehicle, and this specification does not impose any specific limitations.

[0040] In some embodiments, the underwater ranging device further includes a temperature sampling module 101 , which is connected to the temperature sensor 100 and the controller 300 , respectively, and is used to convert temperature data into a voltage value.

[0041] Specifically, the temperature sampling module 101 is used to convert the temperature data collected by the temperature sensor 100 into a corresponding voltage value after receiving the temperature data; then the converted voltage value is converted into a temperature digital signal through an analog to digital converter (ADC), and finally the temperature digital signal is sent to the controller 300.

[0042] In some embodiments, the underwater ranging device further includes a wave signal transformer driving module 201 , which is connected to the ultrasonic sensor 200 and the controller 300 respectively, and is used to receive the ultrasonic driving signal sent by the controller 300 and send the ultrasonic driving signal to the ultrasonic sensor 200 .

[0043] In one example, the controller 300 is connected to the wave signal transformer driving module 201, which receives the ultrasonic driving signal from the control module, amplifies the ultrasonic driving signal, and drives the ultrasonic sensor 200 to vibrate and generate sound waves to propagate forward.

[0044] Specifically, after receiving the ultrasonic driving signal, the ultrasonic signal voltage conversion driving module 201 adjusts and converts the power supply voltage according to the ultrasonic driving signal, and then supplies power to the ultrasonic sensor 200 .

[0045] In some embodiments, the underwater ranging device further includes an echo signal amplifying module 202 , which is connected to the ultrasonic sensor 200 and the controller 300 , respectively, and is used to amplify the echo signal.

[0046] Specifically, the echo signal amplifying module 202 may be used to isolate the transmitted driving high voltage signal, and receive and amplify the echo signal reflected after the ultrasonic signal encounters an obstacle.

[0047] In some embodiments, the underwater ranging device further includes an echo signal bandpass filtering module 203 , which is connected to the echo signal amplifying module 202 and the controller 300 , respectively, and is configured to filter the amplified echo signal.

[0048] Specifically, the echo signal bandpass filtering module 203 can be used for frequency selection to reduce interference from clutter.

[0049] In some embodiments, the underwater ranging device further includes an echo signal shaping module 204 connected to the echo signal bandpass filtering module 203 and the controller 300 , respectively, for shaping the filtered echo signal.

[0050] Specifically, the echo signal shaping module 204 may be used to shape the voltage value of the filtered echo signal into the ADC sampling voltage range of the controller 300 , and then perform ADC conversion so that the controller 300 receives the echo signal converted into a digital signal.

[0051] In one example, the ultrasonic sensor 200 is an integrated transmitter and receiver. The front end of the echo signal amplification module 202 is connected to the ultrasonic sensor 200 and the wave signal transformer drive module 201, and the back end is connected to the echo signal bandpass filter module 203. The echo signal bandpass filter module 203 is connected to the echo signal shaping module 204. Finally, the echo signal shaping module 204 converts the voltage value through ADC and sends it to the controller 300.

[0052] In some embodiments, the controller 300 uses pulse width modulation (PWM) to adjust the transmission drive signal, and when an echo signal is received, calculates the obstacle distance using the echo signal and temperature data.

[0053] In some embodiments, the underwater ranging device further includes a power supply 400, which is used to supply power to each module of the underwater ranging device.

[0054] In some embodiments, when the underwater ranging device is applied to a vehicle, the controller 300 may also be connected to a vehicle computing unit of the vehicle to send the obstacle distance to the vehicle computing unit so that the obstacle distance is involved in vehicle control.

[0055] In some embodiments, the controller 300 is configured to determine the actual physical distance corresponding to the sampling point interval according to the temperature data and the sampling frequency of the echo signal; and determine the obstacle distance according to the actual physical distance.

[0056] In the embodiments of this specification, in order to obtain a higher accuracy of the actual physical distance, the temperature data and the echo signal are usually obtained synchronously.

[0057] In some embodiments, the controller 300 is further configured to use the temperature data to correct the speed of sound propagation in water to obtain a corrected sound speed; and to obtain the actual physical distance based on the corrected sound speed and the sampling frequency.

[0058] In some embodiments, the controller 300 is further configured to obtain a time sequence number of a set sampling value of the echo signal; and determine the obstacle distance according to the actual physical distance and the time sequence number.

[0059] In some embodiments, the controller 300 is further configured to perform window filtering after ADC sampling of the echo signal to obtain target filtered data; and when a set sampling value is found in the target filtered data, obtain the time sequence number of the set sampling value.

[0060] In some embodiments, the controller 300 is further configured to search for a set sampling value from the target filtered data; and obtain a time sequence number of the set sampling value in a time sequence of the target filtered data sorted in chronological order.

[0061] In some embodiments, the controller 300 is further configured to remove the leading blind area data and the trailing invalid data from the target filtered data to obtain the remaining filtered data; and search for the set sampling value from the remaining filtered data.

[0062] In the embodiment of this specification, the set sampling value is a sampling value that is ranked first in the descending order of the sampling values ​​in the echo signal, for example, any one of the top 10, top 5, and top 3 sampling values. Preferably, the set sampling value can be the maximum sampling value in the remaining filtered data.

[0063] In the embodiment of this description, the specific implementation method of the controller 300 determining the obstacle distance can refer to the description of the underwater ranging method below, and for the sake of brevity of the description, it will not be repeated here.

[0064] Based on the above technical solution, after receiving the temperature data and the echo signal, the controller can first use the temperature data to compensate for the sound speed in the water when measuring the distance. Since the sound speed in the fluid medium is most affected by the temperature, after the sound speed in the water is corrected by the temperature data, the accuracy of the corrected sound speed in the water is higher, and the accuracy of the obstacle distance calculated by the corrected sound speed in the water will also be improved, thereby improving the accuracy of the obstacle distance between the obstacle and the underwater ranging device measured in the water, and thus achieving the technical effect of a smaller deviation between the obstacle distance measured in the water and the actual distance.

[0065] This application also provides an underwater ranging method, which is applied to the above-mentioned underwater ranging device. Figure 2 The underwater ranging method provided in the embodiment of the present application includes steps S100 to S200, which are described in detail below.

[0066] Step S100, controlling the emission of ultrasonic signals and acquiring water temperature data;

[0067] Step S200 , determining the obstacle distance between the obstacle and the underwater ranging device based on the temperature data and the echo signal reflected by the ultrasonic signal after encountering the obstacle.

[0068] In some embodiments, when controlling the ultrasonic sensor to transmit an ultrasonic signal, the operating frequency of the ultrasonic sensor used is used as a preset value for the frequency of the transmitted pulse signal. For example, the time length T1 of the transmitted pulse signal, the echo signal sampling frequency f, and the echo signal sampling window time length T2 can be set.

[0069] In one example, the controller can issue a PWM control signal based on a set transmission frequency. The PWM signal converter module receives the control signal and, based on the control signal, converts the power supply voltage to supply voltage to the ultrasonic sensor. After a transmission time of T1, the transmission drive signal is turned off. In this way, the controller can control the ultrasonic sensor to transmit ultrasonic information.

[0070] In some embodiments, when the underwater ranging device is applied to a vehicle and the vehicle is traveling in a flooded environment, water temperature data is collected in real time through a temperature sensor, and each collected temperature data is accompanied by a time tag.

[0071] In some embodiments, an ultrasonic sensor transmits an ultrasonic signal, and the sound wave is reflected after encountering an obstacle; the reflected echo signal generates a corresponding voltage signal after passing through the ultrasonic sensor, and the voltage signal is amplified, hardware filtered, and signal shaped, and sent to the controller for ADC sampling, so that the controller obtains the echo signal converted into a digital signal; at the same time, the water temperature signal is collected, and the temperature signal is converted into a corresponding voltage through a temperature sampling module, and is also sent to the controller for ADC sampling, so that the controller obtains the temperature data converted into a digital signal.

[0072] In some embodiments, after the echo signal and temperature data are acquired in step S100, step S200 may include the following steps:

[0073] Step S300: determining the actual physical distance corresponding to the sampling point interval according to the temperature data and the sampling frequency of the echo signal;

[0074] Step S400: Determine the obstacle distance according to the actual physical distance.

[0075] In some embodiments, when obtaining the actual physical distance, step S300 may include the following sub-steps: Figure 3 As shown:

[0076] Step S301: using temperature data to correct the speed of sound propagation in water to obtain a corrected speed of sound;

[0077] Step S302: Acquire the actual physical distance according to the corrected sound speed and sampling frequency.

[0078] In some embodiments, since the speed of sound in water is proportional to the water temperature, as the water temperature increases, the speed of sound in water also increases. Therefore, when using temperature data to correct the speed of sound in water, the speed of sound in water can be first obtained, denoted by C. A corrected speed of sound value can then be obtained based on the temperature data. Finally, the corrected speed of sound can be obtained based on the speed of sound in water and the corrected speed of sound value.

[0079] In some embodiments, the speed of sound propagation in water may be any value between 1400 m / s and 1480 m / s. Preferably, the speed of sound propagation in water may be 1450 m / s.

[0080] In some examples, when obtaining a sound velocity correction value based on temperature data, a function can be set to obtain the sound velocity correction value. For example, the temperature data is represented by Temp, the sound velocity correction value is represented by X, and the function can be set as X = k1×Temp-k2×Temp 2, where k1 and k2 can be set according to actual needs. For example, k1 can be 3.92, 4.21, and 4.6, and k2 can be 0.028, 0.037, and 0.042, for example.

[0081] Specifically, when k1 is 4.21 and k2 is 0.042, X = 4.21 × Temp - 0.037 × Temp 2 .

[0082] In some examples, the sum of the speed of sound propagation in water and the sound speed correction value can be used as the corrected sound speed, or the product of the sum of the speed of sound propagation in water and the sound speed correction value and a weight can be used as the corrected sound speed. This specification does not impose any specific restrictions.

[0083] In this way, the speed of sound propagation in water is corrected using temperature data, so that the deviation between the obtained corrected sound speed and the actual sound speed in water is smaller, and the accuracy of the corrected sound speed is higher.

[0084] In some embodiments, step S400 may include the following sub-steps:

[0085] Step S401: obtaining the time difference of the sampling interval according to the sampling frequency of the echo signal;

[0086] Step S402: Acquire the actual physical distance based on the time difference and the corrected speed of sound.

[0087] In some examples, the product of the time difference and the corrected sound speed can be used as the actual physical distance, or the product of the time difference, the corrected sound speed and the weight can be used as the actual physical distance, and this specification does not impose any specific limitation.

[0088] Specifically, when the product of the time difference and the corrected sound speed can be used as the actual physical distance, if the actual physical distance is represented by S1, it can be determined

[0089]

[0090] In this embodiment, the actual physical distance is determined based on the time difference of the sampling interval and the corrected sound speed, and the time difference is constant, while the corrected sound speed is more accurate after being corrected by temperature data, thereby improving the accuracy of the actual physical distance.

[0091] In some embodiments, after obtaining the actual physical distance, the obstacle distance can be determined by multiplying the actual physical distance by a weight. Alternatively, the obstacle distance can be determined by summing the actual physical distance and a distance correction value. In this case, the weight and distance correction value can be set according to actual needs and are not specifically limited in this specification.

[0092] In some embodiments, in order to further improve the accuracy of the obtained obstacle distance, the underwater ranging method provided by this application may further include:

[0093] Step S500: obtaining the time sequence number of the set sampling value of the echo signal;

[0094] At this time, step S200 can determine the obstacle distance based on the actual physical distance and the time sequence number.

[0095] Specifically, when obtaining the time sequence number, step S500 may further include the following steps:

[0096] Step S501: After performing ADC sampling on the echo signal, performing window filtering processing to obtain target filtered data;

[0097] Step S502: when a set sampling value is found in the target filtering data, the time sequence number of the set sampling value is obtained.

[0098] In step S501 , after performing ADC sampling on the echo signal, a sampled digital echo signal is obtained, and then window smoothing filtering is performed, that is, the sampled values ​​are added and averaged, and the balanced filtered data is used as the digital echo signal.

[0099] In one embodiment, if y t is the average value of the window after smoothing filtering at time t, then Among them, g t is the true value at sampling time t, g t-i is the true value at sampling time ti, y t+i is the true value at sampling time t+i, and N is the number of data in the set sliding window.

[0100] Specifically, when obtaining the time sequence number, the set sampling value can be found from the target filtered data; and the time sequence number of the set sampling value is obtained in the time sequence of the target filtered data sorted in chronological order. For example, the 10 filtered data in the target filtered data can be time-sorted in chronological order, and the time sequence numbers corresponding to the 1st to 10th filtered data are 1-10 in sequence. For example, the time sequence number of the 5th filtered data is 5, and the time sequence number of the 8th filtered data is 8.

[0101] In some embodiments, the set sampling value can be directly obtained from the target filtering data, wherein the set sampling value is a sampling value ranked higher in the sampling values ​​in the echo signal arranged from large to small, for example, it can be any one of the top 10, top 5 and top 3 sampling values.

[0102] In some embodiments, when obtaining the set sampling value, in order to make the obtained set sampling value more accurate, the front blind area data and the tail invalid data can be eliminated from the target filtered data to obtain the remaining filtered data; and the set sampling value is searched from the remaining filtered data.

[0103] Specifically, the front blind area data and the tail invalid data can be set according to actual needs. For example, in actual application, through testing, it is found that the front blind area data is the first 5 data and the tail invalid data is the last 8 data. After removing the first 5 data and the last 8 data, the remaining filtered data is obtained.

[0104] In some embodiments, the set sampling value may be the maximum sampling value in the remaining filtered data.

[0105] For example, taking the maximum sampling value as an example, first obtain the front blind area data k blind and the trailing invalid data k invalid , remove the front blind area data and the tail invalid data, that is, from the sampling data from the kth blind bits to k invalid Find the maximum value between the two bits of data and record the time sequence number K of the maximum value in the remaining filtered data. max ; N is the total number of ADC sampling data, and its value is calculated by the echo signal sampling window time length T2 and the sampling frequency, that is,

[0106] In some embodiments, after the actual physical distance and the time sequence number bits are acquired, the product of the actual physical distance and the time sequence number bits is used as the determined obstacle distance.

[0107] Specifically, if the actual physical distance is represented by S1, and the time sequence number of the set sampling value is represented by K max Expressed as follows, the obstacle distance S2=S1×K max .

[0108] Specifically, when the sampling value is set to the maximum sampling value in the remaining filtered data, the obstacle distance from the underwater ranging sensor can be calculated by multiplying the actual physical distance corresponding to the sampling point interval and the time sequence number where the maximum sampling value is located. When the actual physical distance obtained by correcting the sound speed through temperature data is more accurate, the accuracy of the obstacle distance obtained based on the actual physical distance will also be improved, thereby achieving the technical effect of a smaller deviation between the obstacle distance measured in water and the actual spacing.

[0109] In some embodiments, to improve the accuracy of the calculated obstacle distance, the temperature data and the echo signal can be acquired synchronously. That is, the temperature data can be acquired simultaneously with the echo signal, and the synchronization of the temperature data and the echo signal can be ensured by means of a timestamp.

[0110] The following combination Figure 4 , the above underwater ranging method is explained with a specific embodiment, such as Figure 4 , the process of the underwater ranging method may include the following steps:

[0111] S30, setting ultrasonic related parameters;

[0112] In order to make the ultrasonic transmission and reception signals better, it is necessary to pre-set the ultrasonic related parameters. For example, the ultrasonic related parameters can be set to set the transmission signal frequency of the pulse signal, the transmission pulse signal time length T1, the echo signal sampling frequency f and the echo signal sampling window time length T2, etc.

[0113] S40, controlling the sending of ultrasonic signals;

[0114] After setting the ultrasonic related parameters through step S30, the controller can send a PWM control signal according to the set transmission frequency. The wave signal transformer drive module receives the PWM control signal and converts the power supply voltage according to the PWM control signal to supply voltage to the ultrasonic sensor. After the transmission time T1, the transmission drive signal is turned off.

[0115] S50, receiving an echo signal;

[0116] Specifically, since the ultrasonic sensor is integrated with a receiver, after transmitting an ultrasonic signal, it can receive an echo signal reflected by the ultrasonic signal after encountering an obstacle.

[0117] S60, filtering the echo signal;

[0118] Specifically, since the received echo signal contains interference, noise, etc., it is necessary to filter the echo signal to improve the accuracy of the echo signal.

[0119] S70, searching the filtered echo signal for the time sequence number of the maximum sampling value;

[0120] Specifically, after filtering the echo signal, target filtered data is obtained; and when the maximum sampling value is found in the target filtered data, the time sequence number of the maximum sampling value is obtained.

[0121] Among them, when finding the maximum sampling value from the target filtered data, in order to make the obtained maximum sampling value more accurate, the front blind area data and the tail invalid data can be first removed from the target filtered data, and then the maximum sampling value can be found from the remaining filtered data after the data is removed.

[0122] S80: Calculate the obstacle distance based on the time sequence number, water temperature data, and sampling frequency.

[0123] The temperature data is collected by a temperature sensor, and the temperature data and the echo signal are collected synchronously.

[0124] Specifically, after acquiring temperature data, the speed of sound in water is corrected using this data, resulting in a more accurate corrected speed of sound. The corrected speed of sound and the sampling frequency are then used to calculate the actual physical distance between sampling intervals. This calculated physical distance is then multiplied by the time sequence number to determine the obstacle distance.

[0125] In some embodiments, after the obstacle distance is acquired, the obstacle distance may be sent to the vehicle computing unit so that the obstacle distance is involved in vehicle control.

[0126] Based on the above underwater ranging method, after controlling the emission of ultrasonic signals and obtaining water temperature data, the temperature data can be used to compensate for the speed of sound in the water. Since the speed of sound in the fluid medium is most affected by temperature, after correcting the speed of sound in the water using the temperature data, the accuracy of the corrected speed of sound in the water is higher, and the accuracy of the obstacle distance calculated using the corrected speed of sound in the water is also improved. This improves the accuracy of the obstacle distance between the obstacle and the underwater ranging device measured in the water, thereby achieving the technical effect of a smaller deviation between the obstacle distance measured in the water and the actual distance.

[0127] An embodiment of the present application further provides a computer-readable storage medium having instructions stored thereon. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned underwater ranging method.

[0128] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0129] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0130] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0132] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0133] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0134] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology for information storage. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated communication signals and carrier waves.

[0135] In addition, according to the embodiment of the present application, Figure 5 As shown, a vehicle 50 is also provided, which can include the underwater ranging device described above, and is used to accurately obtain the distance between underwater obstacles and the vehicle while traveling in water. In this embodiment, the vehicle can be a fuel vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., which is not specifically limited in this disclosure.

[0136] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0137] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0138] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0139] The above are merely preferred embodiments of the present application and do not constitute any form of limitation to the present application. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. An underwater ranging device, characterized in that: include: Temperature sensor, used to collect water temperature data; An ultrasonic sensor is used to send an ultrasonic signal and receive an echo signal reflected by the ultrasonic signal after encountering an obstacle; A controller is connected to the temperature sensor and the ultrasonic sensor respectively, and is used to determine the obstacle distance between the obstacle and the underwater ranging device according to the temperature data and the echo signal.

2. The device according to claim 1, wherein The controller is configured to determine an actual physical distance corresponding to a sampling point interval based on the temperature data and a sampling frequency of the echo signal; and determine the obstacle distance based on the actual physical distance.

3. The device according to claim 2, wherein The controller is further configured to use the temperature data to correct the propagation speed of sound in water to obtain a corrected sound speed; and to obtain the actual physical distance based on the corrected sound speed and the sampling frequency.

4. The device according to claim 2, wherein The controller is further configured to obtain a time sequence number of a set sampling value of the echo signal; and determine the obstacle distance according to the actual physical distance and the time sequence number.

5. The device according to claim 4, characterized in that The controller is further configured to perform window filtering after ADC sampling of the echo signal to obtain target filtered data; and when the set sampling value is found in the target filtered data, obtain the time sequence number of the set sampling value.

6. The device according to claim 5, characterized in that The controller is further configured to search for the set sampling value from the target filtering data; and obtain a time sequence number of the set sampling value in a time sequence of the target filtering data sorted in chronological order.

7. The device according to claim 6, characterized in that The controller is further configured to remove the front blind area data and the rear invalid data from the target filtered data to obtain the remaining filtered data; and search for the set sampling value from the remaining filtered data.

8. The device according to any one of claims 1 to 7, characterized in that Also includes: The temperature sampling module is connected to the temperature sensor and the controller respectively, and is used to convert the temperature data into a voltage value.

9. The device according to any one of claims 1 to 7, characterized in that Also includes: The wave signal voltage conversion driving module is connected to the ultrasonic sensor and the controller respectively, and is used to receive the ultrasonic driving signal sent by the controller and send the ultrasonic driving signal to the ultrasonic sensor.

10. The device according to claim 9, wherein Also includes: The echo signal amplifying module is connected to the ultrasonic sensor and the controller respectively, and is used to amplify the echo signal.

11. The device according to claim 10, wherein Also includes: The echo signal bandpass filtering module is connected to the echo signal amplifying module and the controller respectively, and is used to filter the amplified echo signal.

12. The device according to claim 11, wherein Also includes: The echo signal shaping module is connected to the echo signal bandpass filtering module and the controller respectively, and is used to shape the echo signal after filtering.

13. An underwater ranging method, characterized in that: Applicable to the underwater ranging device as claimed in claims 1 to 6, comprising: Control the emission of ultrasonic signals and obtain water temperature data; The obstacle distance between the obstacle and the underwater ranging device is determined according to the temperature data and the echo signal reflected after the ultrasonic signal encounters the obstacle.

14. The method according to claim 13, wherein The determining of the obstacle distance between the obstacle and the underwater ranging device based on the temperature data and the echo signal reflected by the ultrasonic signal after encountering the obstacle includes: Determining an actual physical distance corresponding to an interval between sampling points according to the temperature data and a sampling frequency of the echo signal; The obstacle distance is determined according to the actual physical distance.

15. The method according to claim 14, wherein Determining the actual physical distance corresponding to the sampling point interval according to the temperature data and the sampling frequency of the echo signal includes: Using the temperature data, the speed of sound propagation in water is corrected to obtain a corrected speed of sound; The actual physical distance is obtained according to the corrected sound speed and the sampling frequency.

16. The method according to claim 14, wherein Also includes: Get the time sequence number of the set sampling value of the echo signal; The determining the obstacle distance according to the actual physical distance includes: The obstacle distance is determined according to the actual physical distance and the time sequence number.

17. The method according to claim 16, wherein The time sequence number of the set sampling value of the acquired echo signal includes: After ADC sampling is performed on the echo signal, a window filtering process is performed to obtain target filtered data; When the set sampling value is found in the target filtering data, the time sequence number of the set sampling value is obtained.

18. The method according to claim 17, wherein When the set sampling value is found from the target filtered data, obtaining the time sequence number of the set sampling value includes: Find the set sampling value from the target filtering data; In the time sequence of the target filtering data sorted in chronological order, the time sequence number of the set sampling value is obtained.

19. The method according to claim 18, wherein The step of finding the set sampling value from the target filtered data includes: Eliminating the front blind area data and the tail invalid data from the target filtered data to obtain the remaining filtered data; The set sampling value is searched from the remaining filtered data.

20. The method according to claim 19, wherein The set sampling value is the maximum sampling value in the remaining filtered data.

21. The method according to any one of claims 14 to 20, wherein: The temperature data and the echo signal are acquired synchronously.

22. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed by a processor, the steps of the method according to any one of claims 13 to 21 are implemented.

23. A computer program product, characterized in that The method comprises a computer program or instructions, which implement the steps of the method according to any one of claims 13 to 21 when executed by a processor.

24. A vehicle, characterized in that: Comprising the underwater ranging device as described in any one of claims 13-21.

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