CN107576965A - Obstacle detection method and device - Google Patents
Obstacle detection method and device Download PDFInfo
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- CN107576965A CN107576965A CN201710744625.2A CN201710744625A CN107576965A CN 107576965 A CN107576965 A CN 107576965A CN 201710744625 A CN201710744625 A CN 201710744625A CN 107576965 A CN107576965 A CN 107576965A
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Abstract
The embodiment of the present application discloses obstacle detection method and device.One embodiment of this method includes：Receive at least one ultrasound data that at least one ultrasonic sensor in the ultrasonic sensor array that targeted customer is worn is gathered；Determine the distance with the barrier indicated by each ultrasound data at least one ultrasound data；Based on identified distance, the control signal to each output device at least one output device is generated, wherein, output device includes vibrations motor；The each control signal generated is sent to corresponding output device.The embodiment of the present application generates control signal, it is noted that the degree of accuracy of detection of obstacles by determining the distance with barrier indicated by each ultrasound data.
Description
Technical field
The application is related to field of computer technology, and in particular to Internet technical field, more particularly to detection of obstacles side
Method and device.
Background technology
In life, the people of visual problem be present because can't see barrier, trip inconvenience.Visual problem be present
People can utilize blind-guide device auxiliary trip.But often accuracy in detection is relatively low for blind-guide device of the prior art, reliability
Difference.
The content of the invention
The purpose of the application is to propose a kind of improved obstacle detection method and device, to solve background above technology
The technical problem that part is mentioned.
In a first aspect, the embodiment of the present application provides a kind of obstacle detection method, this method includes：Receive targeted customer
At least one ultrasound data that at least one ultrasonic sensor in the ultrasonic sensor array worn is gathered；Really
The distance with barrier indicated by each ultrasound data in fixed at least one ultrasound data；Based on it is identified away from
From, the control signal to each output device at least one output device is generated, wherein, output device includes vibrations motor；
The each control signal generated is sent to corresponding output device.
In certain embodiments, this method also includes：According to pair of previously determined ultrasonic sensor and vibrations motor
It should be related to, each ultrasonic sensor at least one ultrasonic sensor is controlled at least one is determined from vibrations motor
Individual target shakes motor.
In certain embodiments, based on identified distance, generate to each output device at least one output device
Control signal, including：Motor is shaken for each target, the ultrasonic sensor institute according to corresponding to the target shakes motor
The distance with barrier indicated by the ultrasound data of collection, and default distance and the corresponding relation of vibration frequency, really
The vibration frequency of fixed target vibrations motor；Generation includes the control information of vibration frequency and is sent to target vibrations motor.
In certain embodiments, ultrasonic sensor array includes the linear array of ultrasonic sensor and is worn on target use
The ultrasonic sensor annular array on the head at family.
In certain embodiments, ultrasound data includes ultrasonic wave time of return；And determine at least one ultrasonic wave number
The distance with barrier indicated by each ultrasound data in, including：It is raw according at least one ultrasonic wave time of return
Into the distance between barrier corresponding to each ultrasonic wave time of return at least one ultrasonic wave time of return.
Second aspect, the embodiment of the present application provide a kind of obstacle detector, and the device includes：Receiving unit, match somebody with somebody
Put at least one ultrasonic sensor in the ultrasonic sensor array worn for receiving targeted customer gathered to
A few ultrasound data；Determining unit, it is configured to determine each ultrasound data institute at least one ultrasound data
The distance with barrier indicated；Generation unit, the distance based on determined by is configured to, is generated at least one output device
In each output device control signal, wherein, output device include vibrations motor；Transmitting element, it is configured to be generated
Each control signal be sent to corresponding output device.
In certain embodiments, the device also includes：Motor determining unit, it is configured to according to previously determined ultrasonic wave
The corresponding relation of sensor and vibrations motor, each ultrasonic wave at least one ultrasonic sensor is determined from vibrations motor
At least one target vibrations motor that sensor is controlled.
In certain embodiments, generation unit is further configured to：Motor is shaken for each target, according to the mesh
The distance with barrier indicated by ultrasound data that ultrasonic sensor corresponding to mark vibrations motor is gathered, and it is default
Distance and vibration frequency corresponding relation, determine the target vibrations motor vibration frequency；Generation includes the control of vibration frequency
Information processed is simultaneously sent to target vibrations motor.
In certain embodiments, ultrasonic sensor array includes the linear array of ultrasonic sensor and is worn on target use
The ultrasonic sensor annular array on the head at family.
In certain embodiments, ultrasound data includes ultrasonic wave time of return；And determining unit further configures use
In：According at least one ultrasonic wave time of return, when generating each ultrasonic wave at least one ultrasonic wave time of return and returning
Between the distance between corresponding barrier.
The third aspect, the embodiment of the present application provide a kind of terminal device, including：One or more processors；Storage dress
Put, for storing one or more programs, when one or more programs are executed by one or more processors so that one or more
Individual processor is realized such as the method for any embodiment in information processing method.
Fourth aspect, the embodiment of the present application provide a kind of computer-readable recording medium, are stored thereon with computer journey
Sequence, realized when the program is executed by processor such as the method for any embodiment in information processing method.
The obstacle detection method and device that the embodiment of the present application provides, the ultrasonic wave that targeted customer is worn is received first
At least one ultrasound data that at least one ultrasonic sensor in sensor array is gathered.Determine afterwards at least one
The distance with barrier indicated by each ultrasound data in ultrasound data.Identified distance is then based on, is generated
To the control signal of each output device at least one output device, wherein, output device includes vibrations motor.Finally by institute
Each control signal of generation is sent to corresponding output device.The embodiment of the present application is by determining that each ultrasound data is signified
It is showing with barrier distance, generate control signal, it is noted that the degree of accuracy of detection of obstacles.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is that the application can apply to exemplary system architecture figure therein；
Fig. 2 is the flow chart according to one embodiment of the obstacle detection method of the application；
Fig. 3 is the schematic diagram according to an application scenarios of the obstacle detection method of the application；
Fig. 4 is the flow chart according to another embodiment of the obstacle detection method of the application；
Fig. 5 is the structural representation according to one embodiment of the obstacle detector of the application；
Fig. 6 is adapted for the structural representation of the computer system of the terminal device for realizing the embodiment of the present application.
Embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Be easy to describe, illustrate only in accompanying drawing to about the related part of invention.
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the application in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 shows the example of the embodiment of the obstacle detection method that can apply the application or obstacle detector
Sexual system framework 100.
As shown in figure 1, system architecture 100 can include terminal device 101,102,103, network 104 and server 105.
Network 104 between terminal device 101,102,103 and server 105 provide communication link medium.Network 104 can be with
Including various connection types, such as wired, wireless communication link or fiber optic cables etc..
User can be interacted with using terminal equipment 101,102,103 by network 104 with server 105, to receive or send out
Send message etc..Various telecommunication customer end applications can be installed on terminal device 101,102,103, such as instant messaging application,
Web browser applications, the application of shopping class, searching class application, JICQ, mailbox client, social platform software etc..
Terminal device 101,102,103 can be the various electronic equipments that can carry out instant messaging, can be with ultrasonic wave
Sensor and output device are communicatively coupled, and receive the ultrasound data that ultrasonic sensor is transmitted, data are divided
Analysis is handled.Afterwards, output device is sent control signals to.Terminal device 101,102,103 include but is not limited to smart mobile phone,
Tablet personal computer, E-book reader, MP3 player (Moving Picture Experts Group Audio Layer III,
Dynamic image expert's compression standard audio aspect 3), MP4 (Moving Picture Experts Group Audio Layer
IV, dynamic image expert's compression standard audio aspect 4) player, pocket computer on knee and desktop computer etc..
Server 105 can be to provide the server of various services, such as provide support to terminal device 101,102,103
Background server.
It should be noted that the obstacle detection method that is provided of the embodiment of the present application typically by terminal device 101,102,
103 are performed, and correspondingly, obstacle detector is generally positioned in terminal device 101,102,103.
It should be understood that the number of the terminal device, network and server in Fig. 1 is only schematical.According to realizing need
Will, can have any number of terminal device, network and server.
With continued reference to Fig. 2, the flow 200 of one embodiment of obstacle detection method according to the application is shown.Should
Obstacle detection method, comprise the following steps：
Step 201, at least one ultrasonic sensor in the ultrasonic sensor array that targeted customer is worn is received
At least one ultrasound data gathered.
In the present embodiment, (such as the terminal shown in Fig. 1 is set the electronic equipment of obstacle detection method operation thereon
It is standby) can be by ultrasonic sensor array that wired connection mode or radio connection are worn from targeted customer
At least one ultrasonic sensor, obtain at least one ultrasound data.Not all ultrasonic sensor can be received
Collect ultrasound data, ultrasound data to indicate barrier, so, above-mentioned electronic equipment can receive ultrasonic sensor
The ultrasound data that some or all of ultrasonic sensor in array collects, to indicate barrier.Here ultrasound
Wave number evidence is that ultrasonic sensor is gathered.Each ultrasonic sensor can gather a ultrasound data, Zhi Houshi
When be sent to above-mentioned electronic equipment.Ultrasonic sensor array is formed array of being arranged by multiple ultrasonic sensors.It is super
Sonic data is the data that ultrasonic sensor collects, such as, ultrasonic wave time of return.Ultrasonic wave time of return is from super
Sonic sensor sends ultrasonic wave and started, the time returned to ultrasonic wave.Ultrasonic sensor can have various arrangement mode, than
Such as, it is annular, linear etc..
In some optional implementations of the present embodiment, it is linear that ultrasonic sensor array includes ultrasonic sensor
Array and be worn on targeted customer head ultrasonic sensor annular array.
In the present embodiment, the annular array being made up of ultrasonic sensor can be worn on the head of targeted customer, this
Sample can detect the information of the barrier from different directions, make during user's head movement and rotating in array
Detection is sensitiveer.The linear array of ultrasonic sensor being made up of ultrasonic sensor can be worn on the body of targeted customer
On, such as body back and forth or left and right both sides, accurately to be detected to barrier.
Step 202, determine indicated by each ultrasound data at least one ultrasound data with barrier away from
From.
In the present embodiment, above-mentioned electronic equipment determines at least one ultrasound that at least one ultrasonic sensor is gathered
The distance with barrier indicated by each ultrasound data of the wave number in.Herein, can be obtained by each ultrasound data
To the distance between a ultrasonic sensor and barrier.It should be noted that determined by ultrasound data between object
Distance belong to technology known in those skilled in the art, repeat no more herein.
Step 203, based on identified distance, generate the control to each output device at least one output device and believe
Number.
In the present embodiment, above-mentioned electronic equipment can be generated to extremely it is determined that after distance based on identified distance
The control signal of each output device in a few output device, to be controlled to output device.Wherein, output device bag
Include vibrations motor.In addition, output device can also be bluetooth earphone or Baffle Box of Bluetooth etc..
Specifically, shock conditions can include at least one following：Vibration frequency, vibration amplitude and shockproofness.Institute
The control signal of generation can indicate to shake the shock conditions of motor.Control signal caused by different distances can be different
's.
The shock conditions of vibrations motor and the mapping table of distance can be pre-established.So, it is determined that distance after,
Can be according to distance and above-mentioned mapping table, to determine shock conditions.Shaken further, it is also possible to predefine out by distance
The emotionally computation rule of condition, such as formula.Can so obtained distance be brought into computation rule, obtain shock conditions.
In practice, the control signal that a ultrasonic sensor is generated can be sent to an output device, also may be used
To be sent to multiple output devices.
In some optional implementations of the present embodiment, the line number of the ultrasonic sensor of ultrasound data is collected
With the ratio of total line number of ultrasonic sensor, the ratio that total line number of the motor with shaking motor is shaken with target is identical.More than
Line number replace with columns, ratio is also identical.The quantitative relation of ultrasonic sensor and vibrations motor is made herein
Limit.
Step 204, each control signal generated is sent to corresponding output device.
In the present embodiment, above-mentioned electronic equipment is after control signal is generated, each control signal that will be generated
Corresponding output device is sent to, so that output device performs control signal.The corresponding relation of control signal and output device can
To be previously determined, namely each output device perform the control signal which ultrasonic sensor is generated can be
First determine.
With continued reference to Fig. 3, Fig. 3 is a schematic diagram according to the application scenarios of the obstacle detection method of the present embodiment.
In Fig. 3 application scenarios, electronic equipment 301 receive first 10 of in the ultrasonic wave array that targeted customer is worn 302 it is super
10 ultrasound datas 303 that sonic sensor is gathered.Afterwards, above-mentioned electronic equipment 301 determines this 10 ultrasound datas
In each ultrasound data indicated by the distance 304 with barrier.Then, above-mentioned electronic equipment 301 is based on determined by
10 distances 304, generate the control signal 305 to 15 output devices, and output device includes vibrations motor.To be generated 15
Individual control signal 305 is sent to corresponding output device.
The method that above-described embodiment of the application provides by determine indicated by each ultrasound data with barrier
Distance, generate control signal, it is noted that the degree of accuracy of detection of obstacles.
With further reference to Fig. 4, it illustrates the flow 400 of another of obstacle detection method embodiment.The barrier
The flow 400 of detection method, comprises the following steps：
Step 401, at least one ultrasonic sensor in the ultrasonic sensor array that targeted customer is worn is received
At least one ultrasound data gathered.
In the present embodiment, terminal device can be by wired connection mode or radio connection from targeted customer institute
At least one ultrasonic sensor in the ultrasonic sensor array of wearing, obtains at least one ultrasound data.It is not
All ultrasound datas gathered can be indicated barrier, so, above-mentioned terminal device can receive ultrasound
The ultrasound data that some or all of ultrasonic sensor in wave sensor array collects, to refer to barrier
Show.Here ultrasound data is that ultrasonic sensor is gathered.Each ultrasonic sensor can gather a ultrasound
Wave number evidence, it is sent to above-mentioned electronic equipment in real time afterwards.Ultrasonic sensor array is by multiple ultrasonic sensors arrangement institute
The array of formation.Ultrasound data is the data that ultrasonic sensor collects, such as, ultrasonic wave time of return.
Step 402, according at least one ultrasonic wave time of return, generate each at least one ultrasonic wave time of return
The distance between barrier corresponding to ultrasonic wave time of return.
In the present embodiment, ultrasound data includes ultrasonic wave time of return.Above-mentioned terminal device can be according to ultrasonic wave
Time of return, generate the distance between barrier corresponding to each ultrasonic wave time of return.By ultrasonic wave time of return and
The transmission speed of the ultrasonic wave obtained in advance, the transmission range of ultrasonic wave can be obtained.The transmission range is ultrasonic sensor
Twice of the distance between barrier, thus by transmission range can obtain between ultrasonic sensor and barrier away from
From.
Step 403, it is true from vibrations motor according to the corresponding relation of previously determined ultrasonic sensor and vibrations motor
At least one target vibrations motor that each ultrasonic sensor in fixed at least one ultrasonic sensor is controlled.
In the present embodiment, corresponding pass of the above-mentioned terminal device according to previously determined ultrasonic sensor with vibrations motor
System, from vibrations motor, it is determined that the target vibrations motor that each ultrasonic sensor is controlled.Herein, each ultrasonic wave passes
Sensor can control more than one to shake motor, so, the quantity for the target vibrations motor that each ultrasonic sensor is controlled
Can be more than one or two.
Step 404, motor is shaken for each target, the ultrasonic sensor institute according to corresponding to the target shakes motor
The distance with barrier indicated by the ultrasound data of collection, and default distance and the corresponding relation of vibration frequency, really
The vibration frequency of fixed target vibrations motor.
In the present embodiment, different distances can correspond to different vibration frequencies.Above-mentioned terminal device is for each
Target shakes motor, indicated by the ultrasound data that is gathered of ultrasonic sensor according to corresponding to the target shakes motor with
The distance of barrier, and default distance and the corresponding relation of vibration frequency, determine the vibration frequency of target vibrations motor.
Step 405, motor is shaken for each target, generation includes the control information of vibration frequency and is sent to the mesh
Mark vibrations motor.
In the present embodiment, motor is shaken for each target, above-mentioned terminal device generation includes the control of vibration frequency
Information processed, and it is sent to target vibrations motor.So that above-mentioned terminal device receives control information, and according to control information
In above-mentioned vibration frequency shaken.
The present embodiment can shake motor according to vibration frequency control targe, realize the accurate control to target vibrations motor
System.
With further reference to Fig. 5, as the realization to method shown in above-mentioned each figure, this application provides a kind of detection of obstacles
One embodiment of device, the device embodiment is corresponding with the embodiment of the method shown in Fig. 2, and the device specifically can apply to
In various electronic equipments.
As shown in figure 5, the obstacle detector 500 of the present embodiment includes：Receiving unit 501, determining unit 502, life
Into unit 503 and transmitting element 504.Wherein, receiving unit 501, it is configured to receive the ultrasonic wave biography that targeted customer is worn
At least one ultrasound data that at least one ultrasonic sensor in sensor array is gathered；Determining unit 502, configuration are used
In it is determined that the distance with barrier indicated by each ultrasound data at least one ultrasound data；Generation unit 503,
The distance based on determined by is configured to, generates the control signal to each output device at least one output device, wherein,
Output device includes vibrations motor；Transmitting element 504, each control signal for being configured to be generated are sent to corresponding defeated
Go out device.
In the present embodiment, receiving unit 501 can be used by wired connection mode or radio connection from target
At least one ultrasonic sensor in the ultrasonic sensor array that family is worn, obtains at least one ultrasound data.And
Not every ultrasonic sensor can be collected into ultrasound data, ultrasound data to indicate barrier, so, connect
The ultrasonic wave number that some or all of ultrasonic sensor in ultrasonic sensor array collects can be received by receiving unit 501
According to indicate barrier.Here ultrasound data is that ultrasonic sensor is gathered.Each ultrasonic sensor can
To gather a ultrasound data, receiving unit 501 is sent in real time afterwards.Ultrasonic sensor array is by multiple ultrasonic waves
The array that sensor arrangement is formed.Ultrasound data is the data that ultrasonic sensor collects, such as, ultrasonic wave returns
Time.Ultrasonic sensor can have various arrangement mode, such as, it is annular, linear etc..
In the present embodiment, determining unit 502 determines at least one ultrasound that at least one ultrasonic sensor is gathered
The distance with barrier indicated by each ultrasound data of the wave number in.Herein, can be obtained by each ultrasound data
To the distance between a ultrasonic sensor and barrier.
In the present embodiment, generation unit 503 can be generated to extremely it is determined that after distance based on identified distance
The control signal of each output device in a few output device, to be controlled to output device.Wherein, output device bag
Include vibrations motor.In addition, output device can also be bluetooth earphone or Baffle Box of Bluetooth etc..
In the present embodiment, transmitting element 504 sends out each control signal generated after control signal is generated
Corresponding output device is given, so that output device performs control signal.The corresponding relation of control signal and output device, namely
Each output device performs the control signal which ultrasonic sensor is generated, and can be previously determined.
In some optional implementations of the present embodiment, device also includes：Motor determining unit, is configured to basis
The corresponding relation of previously determined ultrasonic sensor and vibrations motor, at least one supersonic sensing is determined from vibrations motor
At least one target vibrations motor that each ultrasonic sensor in device is controlled.
In some optional implementations of the present embodiment, generation unit is further configured to：For each mesh
Mark vibrations motor, indicated by the ultrasound data that is gathered of ultrasonic sensor according to corresponding to the target shakes motor with barrier
Hinder the distance of thing, and default distance and the corresponding relation of vibration frequency, determine the vibration frequency of target vibrations motor；It is raw
Into the control information including vibration frequency and it is sent to target vibrations motor.
In some optional implementations of the present embodiment, it is linear that ultrasonic sensor array includes ultrasonic sensor
Array and be worn on targeted customer head ultrasonic sensor annular array.
In some optional implementations of the present embodiment, ultrasound data includes ultrasonic wave time of return；And really
Order member is further configured to：According at least one ultrasonic wave time of return, generate at least one ultrasonic wave time of return
Each ultrasonic wave time of return corresponding to the distance between barrier.
Below with reference to Fig. 6, it illustrates suitable for for realizing the computer system 600 of the terminal device of the embodiment of the present application
Structural representation.Terminal device shown in Fig. 6 is only an example, to the function of the embodiment of the present application and should not use model
Shroud carrys out any restrictions.
As shown in fig. 6, computer system 600 includes CPU (CPU) 601, it can be read-only according to being stored in
Program in memory (ROM) 602 or be loaded into program in random access storage device (RAM) 603 from storage part 608 and
Perform various appropriate actions and processing.In RAM 603, also it is stored with system 600 and operates required various programs and data.
CPU 601, ROM 602 and RAM 603 are connected with each other by bus 604.Input/output (I/O) interface 605 is also connected to always
Line 604.
I/O interfaces 605 are connected to lower component：Importation 606 including keyboard, mouse etc.；Including such as liquid crystal
Show the output par, c 607 of device (LCD) etc. and loudspeaker etc.；Storage part 608 including hard disk etc.；And including such as LAN
The communications portion 609 of the NIC of card, modem etc..Communications portion 609 performs via the network of such as internet
Communication process.Driver 610 is also according to needing to be connected to I/O interfaces 605.Detachable media 611, such as disk, CD, magneto-optic
Disk, semiconductor memory etc., it is arranged on as needed on driver 610, in order to the computer program root read from it
Part 608 is stored according to needing to be mounted into.
Especially, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiment of the disclosure includes a kind of computer program product, it includes being carried on computer-readable medium
On computer program, the computer program include be used for execution flow chart shown in method program code.In such reality
To apply in example, the computer program can be downloaded and installed by communications portion 609 from network, and/or from detachable media
611 are mounted.When the computer program is performed by CPU (CPU) 601, perform what is limited in the present processes
Above-mentioned function.It should be noted that the computer-readable medium of the application can be computer-readable signal media or calculating
Machine readable storage medium storing program for executing either the two any combination.Computer-readable recording medium for example can be --- but it is unlimited
In system, device or the device of --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or it is any more than combination.Calculate
The more specifically example of machine readable storage medium storing program for executing can include but is not limited to：Electrically connecting, be portable with one or more wires
Formula computer disk, hard disk, random access storage device (RAM), read-only storage (ROM), erasable programmable read only memory
(EPROM or flash memory), optical fiber, portable compact disc read-only storage (CD-ROM), light storage device, magnetic memory device or
The above-mentioned any appropriate combination of person.In this application, computer-readable recording medium can be any includes or storage program
Tangible medium, the program can be commanded execution system, device either device use or it is in connection.And in this Shen
Please in, computer-readable signal media can include in a base band or as carrier wave a part propagation data-signal, its
In carry computer-readable program code.The data-signal of this propagation can take various forms, and include but is not limited to
Electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer-readable
Any computer-readable medium beyond storage medium, the computer-readable medium can send, propagate or transmit for by
Instruction execution system, device either device use or program in connection.The journey included on computer-readable medium
Sequence code can be transmitted with any appropriate medium, be included but is not limited to：Wirelessly, electric wire, optical cable, RF etc., or it is above-mentioned
Any appropriate combination.
Flow chart and block diagram in accompanying drawing, it is illustrated that according to the system of the various embodiments of the application, method and computer journey
Architectural framework in the cards, function and the operation of sequence product.At this point, each square frame in flow chart or block diagram can generation
The part of one module of table, program segment or code, the part of the module, program segment or code include one or more use
In the executable instruction of logic function as defined in realization.It should also be noted that marked at some as in the realization replaced in square frame
The function of note can also be with different from the order marked in accompanying drawing generation.For example, two square frames succeedingly represented are actually
It can perform substantially in parallel, they can also be performed in the opposite order sometimes, and this is depending on involved function.Also to note
Meaning, the combination of each square frame and block diagram in block diagram and/or flow chart and/or the square frame in flow chart can be with holding
Function as defined in row or the special hardware based system of operation are realized, or can use specialized hardware and computer instruction
Combination realize.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard
The mode of part is realized.Described unit can also be set within a processor, for example, can be described as：A kind of processor bag
Include receiving unit, determining unit, generation unit and transmitting element.Wherein, the title of these units not structure under certain conditions
The paired restriction of the unit in itself, for example, receiving unit is also described as " receiving the ultrasonic wave that targeted customer is worn to pass
The unit at least one ultrasound data that at least one ultrasonic sensor in sensor array is gathered ".
As on the other hand, present invention also provides a kind of computer-readable medium, the computer-readable medium can be
Included in device described in above-described embodiment；Can also be individualism, and without be incorporated the device in.Above-mentioned calculating
Machine computer-readable recording medium carries one or more program, when said one or multiple programs are performed by the device so that should
Device：At least one ultrasonic sensor received in the ultrasonic sensor array that targeted customer is worn is gathered at least
One ultrasound data；Determine indicated by each ultrasound data at least one ultrasound data with barrier away from
From；Based on identified distance, the control signal to each output device at least one output device is generated, wherein, output
Device includes vibrations motor；The each control signal generated is sent to corresponding output device.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.People in the art
Member should be appreciated that invention scope involved in the application, however it is not limited to the technology that the particular combination of above-mentioned technical characteristic forms
Scheme, while should also cover in the case where not departing from foregoing invention design, carried out by above-mentioned technical characteristic or its equivalent feature
The other technical schemes for being combined and being formed.Such as features described above has similar work(with (but not limited to) disclosed herein
The technical scheme that the technical characteristic of energy is replaced mutually and formed.
Claims (12)
1. a kind of obstacle detection method, it is characterised in that methods described includes：
At least one ultrasonic sensor received in the ultrasonic sensor array that targeted customer is worn is gathered at least
One ultrasound data；
Determine the distance with the barrier indicated by each ultrasound data at least one ultrasound data；
Based on identified distance, the control signal to each output device at least one output device is generated, wherein, output
Device includes vibrations motor；
The each control signal generated is sent to corresponding output device.
2. obstacle detection method according to claim 1, it is characterised in that methods described also includes：
According to previously determined ultrasonic sensor with vibrations motor corresponding relation, from vibrations motor in determine described at least one
At least one target vibrations motor that each ultrasonic sensor in individual ultrasonic sensor is controlled.
3. obstacle detection method according to claim 2, it is characterised in that the distance based on determined by, generation
To the control signal of each output device at least one output device, including：
Motor is shaken for each target, the ultrasonic wave that the ultrasonic sensor according to corresponding to the target shakes motor is gathered
The distance with the barrier indicated by data, and default distance and the corresponding relation of vibration frequency, determine the target
Shake the vibration frequency of motor；Generation includes the control information of the vibration frequency and is sent to target vibrations motor.
4. obstacle detection method according to claim 1, it is characterised in that the ultrasonic sensor array includes super
The linear array of sonic sensor and be worn on the targeted customer head ultrasonic sensor annular array.
5. obstacle detection method according to claim 1, it is characterised in that the ultrasound data returns including ultrasonic wave
Return the time；And
Indicated by each ultrasound data determined at least one ultrasound data with the barrier away from
From, including：
According at least one ultrasonic wave time of return, each ultrasonic wave generated at least one ultrasonic wave time of return returns
Return the distance between described barrier corresponding to the time.
6. a kind of obstacle detector, it is characterised in that described device includes：
Receiving unit, at least one ultrasonic wave for being configured to receive in the ultrasonic sensor array that targeted customer is worn pass
At least one ultrasound data that sensor is gathered；
Determining unit, be configured to determine indicated by each ultrasound data at least one ultrasound data with institute
State the distance of barrier；
Generation unit, the distance based on determined by is configured to, is generated to each output device at least one output device
Control signal, wherein, output device includes vibrations motor；
Transmitting element, each control signal for being configured to be generated are sent to corresponding output device.
7. obstacle detector according to claim 6, it is characterised in that described device also includes：
Motor determining unit, the corresponding relation according to previously determined ultrasonic sensor and vibrations motor is configured to, from shake
At least one target that each ultrasonic sensor at least one ultrasonic sensor is controlled is determined in dynamic motor
Shake motor.
8. obstacle detector according to claim 7, it is characterised in that the generation unit further configures use
In：
Motor is shaken for each target, the ultrasonic wave that the ultrasonic sensor according to corresponding to the target shakes motor is gathered
The distance with the barrier indicated by data, and default distance and the corresponding relation of vibration frequency, determine the target
Shake the vibration frequency of motor；Generation includes the control information of the vibration frequency and is sent to target vibrations motor.
9. obstacle detector according to claim 6, it is characterised in that the ultrasonic sensor array includes super
The linear array of sonic sensor and be worn on the targeted customer head ultrasonic sensor annular array.
10. obstacle detector according to claim 6, it is characterised in that the ultrasound data includes ultrasonic wave
Time of return；And
The determining unit is further configured to：According at least one ultrasonic wave time of return, generation is described at least one super
The distance between described barrier corresponding to each ultrasonic wave time of return in sound wave time of return.
11. a kind of terminal device, including：
One or more processors；
Storage device, for storing one or more programs,
When one or more of programs are by one or more of computing devices so that one or more of processors are real
The now method as described in any in claim 1-5.
12. a kind of computer-readable recording medium, is stored thereon with computer program, it is characterised in that the program is by processor
The method as described in any in claim 1-5 is realized during execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710744625.2A CN107576965A (en) | 2017-08-25 | 2017-08-25 | Obstacle detection method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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