CN107942335A - A kind of object identification method and equipment - Google Patents
A kind of object identification method and equipment Download PDFInfo
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- CN107942335A CN107942335A CN201711214792.2A CN201711214792A CN107942335A CN 107942335 A CN107942335 A CN 107942335A CN 201711214792 A CN201711214792 A CN 201711214792A CN 107942335 A CN107942335 A CN 107942335A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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Abstract
A kind of object identification method and equipment, are related to field of information processing.The embodiment of the present application can be to after object emission ultrasonic signal to be identified, and the situation of change of the ultrasonic signal reflected according to object to be identified, is determined the material and shape of object, and then identifies object.This method includes：Object identification equipment is at least one set of first ultrasonic signal of object emission to be identified；Receive the second ultrasonic signal of at least one set after at least one set of first ultrasonic signal is reflected by object to be identified；According to the material and shape of the reception parameter of the emission parameter of at least one set of first ultrasonic signal and at least one set of second ultrasonic signal, respectively definite object to be identified；According to the material and shape of object to be identified, object to be identified is identified.The application is applied to object identification.
Description
Technical field
This application involves field of information processing, more particularly to a kind of object identification method and equipment
Background technology
At present, have been able to accomplish to identify object using electronic equipment in the prior art.In general, when identifying object,
It is the shooting function by electronic equipment, obtains the image information of object, identifies that the object is specific further according to special algorithm
What is, such as is identified and determines that the object is an automobile either one tree etc..
But present inventor find, in the prior art by obtaining object image information to identify object when, at least deposit
In following technical problem：Firstth, the function of identification object can not be realized under dark surrounds.Secondth, None- identified object is true
Real, or an only flat image.
The content of the invention
The embodiment provides a kind of object identification method and equipment, mainly solving to pass through in the prior art
When obtaining object image information to identify object, object can not be identified under dark surrounds and None- identified object is
The problem of real still only flat image.
To reach above-mentioned purpose, the application adopts the following technical scheme that：
In a first aspect, the embodiment provides a kind of object identification method, including：Object identification equipment is to waiting to know
At least one set of first ultrasonic signal of other object emission；At least one set of first ultrasonic signal is received by after object to be identified reflection
The second ultrasonic signal of at least one set；According to the emission parameter and at least one set second of at least one set of first ultrasonic signal
The reception parameter of ultrasonic signal, determines the material and shape of object to be identified respectively；According to the material and shape of object to be identified
Shape, identifies object to be identified.
Second aspect, the embodiment provides a kind of object identification equipment, including：Transmitter unit, for treating
Identify at least one set of first ultrasonic signal of object emission；Receiving unit, for transmitter unit to object emission to be identified extremely
After few one group of first ultrasonic signal, at least one set after at least one set of first ultrasonic signal is reflected by object to be identified is received
Second ultrasonic signal；Determination unit, for after receiving unit receives at least one set of second ultrasonic signal, according at least one
The reception parameter of the emission parameter of the first ultrasonic signal of group and at least one set of second ultrasonic signal, determines to be identified respectively
The material and shape of object；Recognition unit, for after determination unit determines the material and shape of object to be identified, according to waiting to know
The material and shape of other object, identify object to be identified.
The third aspect, the embodiment provides a kind of object identification equipment, which includes：Communication
Interface, memory and processor, memory are used to store computer executable code, and computer executable code is used for control processor
Perform the object identification method that the embodiment of above-mentioned first aspect is provided.
Fourth aspect, the embodiment provides a kind of computer-readable storage medium, is set for saving as object identification
For computer software instructions used, set by the object identification method provided it includes the embodiment for performing above-mentioned first aspect
The program code of meter.
5th aspect, the embodiment provides a kind of computer program product, can be loaded directly into computer
In internal storage, and contain software code, computer program is loaded into via computer and can realize above-mentioned first after performing
The object identification method that the embodiment of aspect is provided.
A kind of object identification method provided by the embodiments of the present application and equipment, can be by object emission first to be identified
Ultrasonic signal, and the second ultrasonic signal reflected by object to be identified is received, and then according at least one set of first ultrasonic wave
The reception parameter of the emission parameter of signal and at least one set of second ultrasonic signal determines the material of the object to be identified respectively
Matter and shape, and then object to be identified is identified.The embodiment of the present application can be realized by object analysis to ultrasonic wave
Echo identifies object, so as to can also perceive identification surrounding environment and the effect of object under the dark surrounds of no light.
Furthermore, it is contemplated that in the prior art, when carrying out vicinity environment detection using ultrasonic wave, when being mostly the flight using ultrasonic wave
Between come carry out calculate object distance, be all for detecting object either using multiple microphones or Doppler technology etc.
The movement of distance, position or object, even if can identify multiple objects at the same time in some schemes, but can not all utilize ultrasonic wave
Object to be identified to be identified in itself.For example, in the prior art, it can detect whether front has using ultrasonic ranging
The distance and position of barrier and barrier, but it is not able to tell that what barrier in front of user be, such as front is one stifled
Wall, one tree or an automobile, user have no way of finding out about it.This method can only be obscured general to one barrier of user
Read, the type of object can not be clearly pointed out to user, using above there is significant limitation.And the embodiment of the present application energy
Enough realize and object is identified to the echo of ultrasonic wave by object analysis, so that can when using ultrasonic listening surrounding environment
The object of surrounding is perceived, while object can also be identified.So as to identify the object and environment of surrounding by ultrasonic wave,
The ambient image of surrounding can also be further constructed, can be seen as bat without eyes and also can determine that barrier, and energy
Or actually enough identify barrier tree, flowers and plants wall etc..This technology is in robot field, and blind person's auxiliary system
In can have very high application value.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, embodiment will be described below
Needed in attached drawing be briefly described, it should be apparent that, drawings in the following description be only the present invention some
Embodiment, for those of ordinary skill in the art, without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
A kind of flow diagram for object identification method that Fig. 1 is provided by the embodiment of the present invention；
The structural representation of transmitter and receiver in a kind of object identification equipment that Fig. 2 is provided by the embodiment of the present invention
Figure；
A kind of schematic diagram of the method for identification salient angle that Fig. 3 is provided by the embodiment of the present invention；
A kind of schematic diagram of the method for identification plane that Fig. 4 is provided by the embodiment of the present invention；
A kind of schematic diagram of the method for identification re-entrant angle that Fig. 5 is provided by the embodiment of the present invention；
A kind of transmitter that Fig. 6 is provided by the embodiment of the present invention, the virtual image schematic diagram of receiver；
Fig. 7 a- Fig. 7 b by the embodiment of the present invention provide it is a kind of to two kinds of different plants transmitting ultrasonic signals when,
By the reflection echo oscillogram of the ultrasonic signal of two kinds of plant reflections；
The echo ensembles formed around object to be identified progress circular scanning that Fig. 8 is provided by the embodiment of the present invention show
It is intended to；
A kind of flow diagram for specific identification object that Fig. 9 is provided by the embodiment of the present invention；
A kind of structure diagram for object identification equipment that Figure 10 is provided by the embodiment of the present invention；
A kind of structure diagram for object identification equipment that Figure 11 is provided by the embodiment of the present invention；
A kind of structure diagram for object identification equipment that Figure 12 is provided by the embodiment of the present invention.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
As used in this application, term " unit ", " component ", " module ", " system " etc. are intended to refer to computer phase
Entity is closed, which can be hardware, firmware, the combination of hardware and software, software or running software.
For example, component may be, but not limited to, is：In the processing that runs on a processor, processor, object, executable file, execution
Thread, program and/or computer.As an example, the application run on the computing device and the computing device can be groups
Part.One or more assemblies can reside in executory process and/or thread, and component can be located at a computer
In and/or be distributed between two or more computers.In addition, these components can be from having various data on it
Performed in the various computer-readable mediums of structure.These components can be by such as according to one or more packets
(for example, the data from a component, the component interacted with another component in local system, distributed system and/
Or interacted in a manner of signal by the network and other systems of such as internet etc) signal, with local and/or remote
The mode of journey process communicates.
Various aspects, embodiment or spy will be presented around the system that may include multiple equipment, component, module etc. in the application
Sign.It is to be understood and appreciated that each system can include other equipment, component, module etc., and/or can be simultaneously
Do not include with reference to all devices, component, module of attached drawing discussion etc..Further, it is also possible to the combination using these schemes.
In addition, in embodiments of the present invention, " exemplary " word makees example, illustration or explanation for expression.In the application
It is described as any embodiment of " example " or designing scheme is not necessarily to be construed as than other embodiments or designing scheme more preferably
Or more advantage.Specifically, using an exemplary word it is intended to that concept is presented in a concrete fashion.
In the embodiment of the present invention, information (information), signal (signal), message (message), channel
(channel) can use with sometimes, it is noted that when not emphasizing its difference, its is to be expressed be meant that it is consistent.
" (of) ", " corresponding (corresponding, relevant) " and " corresponding (corresponding) " can be mixed sometimes
With, it is noted that when not emphasizing its difference, its is to be expressed be meant that it is consistent.
The network architecture and business scenario of description of the embodiment of the present invention are in order to which more clearly the explanation present invention is implemented
The technical solution of example, does not form the restriction for technical solution provided in an embodiment of the present invention, those of ordinary skill in the art
Understand, with the differentiation of the network architecture and the appearance of new business scene, technical solution provided in an embodiment of the present invention is for similar
Technical problem, it is equally applicable.
For the ease of clearly describing the technical solution of the embodiment of the present invention, in an embodiment of the present invention, employ " the
One ", the printed words such as " second " distinguish function and the essentially identical identical entry of effect or similar item, and those skilled in the art can
To understand that the printed words such as " first ", " second " are not to be defined to quantity and execution order.
The application provides a kind of object identification method, can be applied in the object identification equipment of the application offer, Neng Gou
Object is identified under dark surrounds and in the medium application scenarios of blind person's auxiliary system.Exemplary, the present embodiment provides
Object identification equipment can apply in sniffing robot field, under dark surrounds and can not obtain in the environment of light or
Person is with image identification system scene used at the same time, detecting surrounding environment.Exemplary, such as there is serious nuclear leakage
Place in due to there are substantial amounts of nuclear radiation, camera etc. obtain vision facilities in photo-sensitive cell largely to be radiated, can not
It is normal to obtain image.Can then it use the object identification equipment in the embodiment of the present application that surrounding environment is identified at this time.
As shown in Figure 1, this method comprises the following steps：
S1, at least one set of first ultrasonic signal of object emission to be identified.
S2, receive the second ultrasonic wave of at least one set letter after at least one set of first ultrasonic signal is reflected by object to be identified
Number.
Exemplary, when to one group of first ultrasonic signal of object emission to be identified, since object to be identified may have
There is a reflecting surface to have multiple reflectings surface, therefore first ultrasonic signal may be produced after object to be identified reflection
Raw one group of second ultrasonic signal (object to be identified only has a reflecting surface at this time), it is also possible to produce multigroup second ultrasonic wave letter
Number (at this time identify object there are multiple reflectings surface).Therefore, the group number of at least one set of second ultrasonic signal, during by being embodied
The surface configuration of the group number and object to be identified of first ultrasonic wave together decides on.
In addition, in order to avoid the crosstalk between the reflection sound wave of multigroup first ultrasonic signal, pseudo-order code can be used
Coding mode pseudo-order code is loaded into every group of first ultrasonic signal, such as pseudo-order code can be loaded into each super
On pinger.And then after the echo that i.e. each receiver is connected to after receiving reflection sound wave, filtered, absolute value
Related operation all is carried out with local pseudo-order code sequence afterwards, determines whether the reflection sound wave needed.If correlometer calculator
There is obvious spike, then it is assumed that be the echo that oneself is needed, subsequent treatment can be carried out；If correlation calculation result is smooth, then recognize
Not to be the echo of oneself needs, this data is abandoned.So one is added equivalent to each ultrasonic transmitter drive signal
A mark that can be recognized, if receive echo-signal and can just identify at once be which transmitter transmitting echo, significantly
Improve efficiency, it is suppressed that crosstalk phenomenon.
S3, the emission parameter according at least one set of first ultrasonic signal and at least one set of second ultrasonic wave
The reception parameter of signal, determines the material and shape of the object to be identified respectively.
Wherein, step S3 specifically includes the content of following steps S31 and S32：
S31, the emission parameter according at least one set of first ultrasonic signal and at least one set of second ultrasound
The reception parameter of ripple signal, determines the material of the object to be identified.
Specifically, when the emission parameter of at least one set of first ultrasonic signal includes：First acoustics parameters, the
One acoustics parameters refer to the acoustics parameters of the first ultrasonic signal described in every group at least one set of first ultrasonic signal.
The reception parameter of at least one set of second ultrasonic signal is included at least one set of second ultrasonic signal second described in every group
The acoustics parameters of ultrasonic signal.Step S31 specifically includes the content of following S311-S312：
S311, by the acoustics parameters of at least one set of first ultrasonic signal and at least one set of second ultrasonic signal
Acoustics parameters contrast, and determine the first ultrasonic wave difference function.First ultrasonic wave difference function is inputted in neutral net.
Exemplary, object identification equipment launches the ultrasonic wave of specific frequency and intensity to surrounding, then by microphone come
Receive the sound wave of reflection.When sound wave is there are during multiple reflections, using intensity it is most strong once as the back wave received.Wheat is analyzed again
The difference situation of the acoustics parameters for the reflection sound wave that gram wind receives and the acoustics parameters of transmitting sound wave, using the time for change
Amount establishes the acoustic characteristic function that these characteristic differences change over time, then by all acoustic characteristic combination of function into an acoustics
Characterisitic function array i.e. the first ultrasonic wave difference function, such as formula 1：
M (t)={ F (t), P (t), A (t) ... }
Wherein F (t) represents the acoustic characteristic function that frequency changes over time, and P (t) represents the acoustics that phase changes over time
Characterisitic function, A (t) represent the acoustic characteristic function that amplitude changes over time.By in the acoustic characteristic Function Array of above-mentioned synthesis
Input of the data as neutral net, obtain the output result of neutral net.
It should be noted that frequency, phase are use only herein in order to calculate simplicity and understand easy to read in the present embodiment
Position and three kinds of acoustics parameters of amplitude situation of change come reflect the acoustics parameters of reflection sound wave and launch sound wave sound
Learn the situation of change of characterisitic parameter.In the specific implementation, then can be reflected as needed using more acoustics parameters
The situation of change of above-mentioned acoustics parameters.The acoustics parameters being related to are more, then discrimination is higher, while calculation amount also can
It is bigger.
S312, exporting as a result, the material of the object to be identified is identified according to neutral net.
Exemplary, determine that the acoustic characteristic of the reflection sound wave of the object to be identified is joined according to the output result of neutral net
When the situation of change of the acoustics parameters of number and transmitting sound wave and the high object similarity-rough set of glass material, it is determined that this is treated
Identification object is glass material.
Optionally, in order to obtain the discrimination of higher, can be received by multiple microphones or microphone array more
Group reflection sound wave, and the corresponding acoustic characteristic Function Array of every group of reflection sound wave is combined to form a function set, and
Input using the data in this function set as neutral net.Output further according to neutral net is as a result, to thing to be identified
The material of body is identified.
In one embodiment, this method, which further includes, is trained neutral net, specifically includes following steps：
A, to the object emission first sample ultrasonic signal of known material；
B, first sample ultrasonic signal is received by the 3rd ultrasonic signal after the object reflection of known material；
C, by the acoustics parameters of first sample ultrasonic signal and the acoustics parameters pair of the 3rd ultrasonic signal
Than determining the second ultrasonic wave difference function.According to the second ultrasonic wave difference function, neutral net is trained.
In another embodiment, it is contemplated that since bulky object needs the less sound wave identification of frequency just accurate,
The sound wave identification that small object needs frequency larger is just accurate.Therefore, believe to the first ultrasonic wave of object emission to be identified
Number when, can be by the ultrasonic wave of object emission different frequency to be identified, to improve the accuracy of identification object material.Cause
This, can also include in the embodiment of the present application：
At least one set of first ultrasonic signal includes the first ultrasonic signal of at least two different predeterminated frequencies.
In the application, using when to object emission ultrasonic wave, the sound wave change of the object reflection of unlike material is different.Example
Such as, reflection of the rigid objects to sound wave is strong, and the intensity of reflection sound wave is smaller compared to transmitting sound wave change, and flexible article is to sound wave
Reflect weak, the intensity of reflection sound wave is changed greatly compared to transmitting sound wave.Exemplary, reflection of the glass object to sound wave is compared to modeling
Reflection of the material body to sound wave is with regard to stronger, the change also smaller of the intensity of reflection sound wave compared to transmitting sound wave.Fine and close object pair
The absorption of sound wave is small, and the frequency of reflection sound wave is small compared to transmitting sound wave change, and sparse object is big to wave absorption, reflection sound wave
Frequency is also larger compared to transmitting sound wave change.Exemplary, absorption of the metal material object to sound wave compares wooden object pair
The absorption smaller of sound wave, the frequency of reflection sound wave is compared to transmitting sound wave change also smaller.And then by the way that the first of sound wave will be launched
The difference input neutral net of second acoustics parameters of acoustics parameters and reflection sound wave, according to neural network algorithm,
Object to be identified is identified.
S32, the emission parameter according at least one set of first ultrasonic signal and at least one set of second ultrasound
The reception parameter of ripple signal, determines the shape of the object to be identified.
Specifically, when determining the shape of object to be identified, two methods can be included：
In one approach, object identification equipment includes at least one ultrasonic transmitter and at least one ultrasonic wave receives
Device.When every group of first ultrasonic signal at least one set of first ultrasonic signal is sent out by the pinger of diverse location
Go out；Each group of the second ultrasonic signal at least one set of second ultrasonic signal is connect by the acoustic receiver of diverse location
Receive；Emission parameter includes：The positional information of the pinger of first ultrasonic signal and launch time；Receiving parameter includes：
The positional information and receiving time of the acoustic receiver of second ultrasonic signal, step S32 comprise the following steps the content of S32a：
S32a, positional information and launch time and the second ultrasonic wave according to the pinger of the first ultrasonic signal
The positional information and receiving time of the acoustic receiver of signal, determine the shape of object to be identified.
Exemplary, as shown in Fig. 2, in object identification equipment, including two pingers T0, T1 being arranged in a row
With two acoustic receivers R0, R1, wherein T0, R0 are close to placing, and the distance of R1 and T0, R0 are d, and T1 is placed on the another of T0, R0
Side and be also d with the distance of T0, R0.Specifically, each group of the first ultrasonic wave at least one set of first ultrasonic signal
Signal is sent by pinger T0, T1, and each group of the second ultrasonic signal at least one set of second ultrasonic signal leads to
Cross acoustic receiver R0, R1 reception.If tijBe acoustic signals is issued to the time that receiver Rj receives, Ti by transmitter Ti’
And Rj ' is respectively the mirror image of transmitter and receiver.Q1, Q2, Q3, Q4 are respectively ultrasonic wave flight time t00、t01、t10、t11Institute
The length of the track of process.
As shown in figure 3, when the surface of object to be identified is salient angle, the sound wave that T1 is sent after salient angle reflects, R0 and
R1 does not receive the ultrasonic signal after reflection at all (i.e. the receiving time of the second ultrasonic signal is "None").At this point it is possible to
Judge the surface of object to be identified for salient angle.
As shown in figure 4, when the surface of object to be identified is plane, ultrasonic signal is transferred to receiver from transmitter
Time and distance are equivalent to time and the distance that ultrasonic signal is transferred to receiver from the virtual image of transmitter, i.e., such as in figure,
Ultrasonic wave is Q1 from the transmitter T0 distances for being transferred to receiver R0, and ultrasonic wave is transferred to the distance of receiver R1 from transmitter T1
For Q4.It can be seen that when the surface of object to be identified is plane, receiver can receive the ultrasonic wave after reflection, and Q1
There are certain difference between Q4.
As shown in figure 5, when the surface of object to be identified is re-entrant angle, as shown in Figure 6 since ultrasonic wave is in directive re-entrant angle two
During the face of side, it can be received by the receiver again by two secondary reflections, therefore the virtual image of transmitter and receiver is produced in opposed re-entrant
The position of rotational symmetry.As seen from Figure 5, when object to be identified is the re-entrant angle in such as figure, Q1=Q4, i.e. sound wave are passed from T1
The time that the defeated time to R1 is transferred to R0 with sound wave from T0 is equal, i.e. t00=t11.That is, when the table of object to be identified
When face is re-entrant angle, the surface of the other shapes such as the plane that compares, the difference smaller of Q1 and Q4.
Therefore, can be by setting a threshold X, the surface configuration of object to be identified is judged according to following formula is
No is re-entrant angle：
Work as t00-t11During≤X, the surface for determining object to be identified is re-entrant angle；
Work as t00-t11>During X, the surface for determining object to be identified is other shapes.
If it is determined that the surface of object to be identified neither salient angle (i.e. receiver does not receive the sound wave of reflection) nor recessed
Angle (i.e. t00-t11>X), further it can determine that blocking surfaces are plane or cylindrical surface by measuring radius, and really
The radius of cylinder when settled blocking surfaces are cylindrical surface, the wherein barrier of plane can be considered as the cylindrical surface of radius infinity
Barrier.
It should be noted that the surface to object to be identified is salient angle, re-entrant angle, plane or the judgement on cylindrical surface above
Journey, is only according to the positional information of the pinger of the first ultrasonic signal and launch time and the second ultrasound in the application
The positional information and receiving time of the acoustic receiver of ripple signal, determine that specific calculate of one kind of the shape of object to be identified is shown
Example.Those skilled in the art are readily apparent that using other reflectors and receiver when herein described method is embodied
Positional structure and other according to the positional information of the pinger of the first ultrasonic signal and launch time and second
The positional information and receiving time of the acoustic receiver of ultrasonic signal determine the mode of the shape of object to be identified, such as pass through
Increase measuring unit, that is, transmitter and receiver, and the shape for taking other measurement methods to determine object to be identified, with regard to energy
More specifical object shape is enough obtained, measuring unit is more, and obtained appearance profile is more clear.For the above the application
In be not restricted.
In another embodiment, when emission parameter includes described in every group the first surpassing at least one set of first ultrasonic signal
The acoustics parameters of acoustic signals；Receiving parameter includes the second ultrasonic wave described in every group at least one set of second ultrasonic signal
During the acoustics parameters of signal, step S32 is specifically included：
S32b, by the acoustics parameters of every group of second ultrasonic signal at least one set of second ultrasonic signal and the
The acoustics parameters contrast of four ultrasonic signals；Wherein, the 4th ultrasonic signal is to the second sample of known form object emission
After this ultrasonic signal, the ultrasonic signal that is reflected by known form object；Second specimen acoustic wave signal includes at least one set
First ultrasonic signal；According to comparing result, the shape of object to be identified is determined.
Specifically, Surface Structures it is complicated, have the object of multiple reflectings surface, the signal that each reflective surface is returned can
It can at the same time appear in an echo, therefore possibly the shape of object can not be known using the method for above-mentioned steps S31
Not.And then in the present embodiment, using after ultrasonic wave is reflected by object of different shapes, the reflection wave strength of reflected sonic signals
Can be according to the different and different principles of body form, by that will be waited to know with the acoustics parameters such as time duration
The sound of the acoustics parameters of second ultrasonic signal of other object and the 4th ultrasonic signal reflected by known form object
Learn characterisitic parameter to be contrasted, and then determine the shape of object to be identified.
Exemplary, it is anti-by two kinds of plants when showing such as Fig. 7 a- Fig. 7 b to two kinds of different plant transmitting ultrasonic signals
The reflection echo oscillogram for the ultrasonic signal penetrated.Wherein Fig. 7 a are the waveform of the reflection echo of the yellow angle orchid with larger blade
Figure, Fig. 7 b are the oscillogram with compared with vanelets and the reflection echo of the intensive leaflet Chinese rose of leaf, and wherein transverse axis represents reflection
The duration of echo, the longitudinal axis represent the amplitude of sound wave.As can be seen that since blade is compared with the leaflet moon in the reflection echo of yellow angle orchid
The blade bigger in season, so the reflected intensity of reflection echo is big, i.e., the width of the echo after the reflection that ultrasonic wave passes through different leaves
Value is overall larger.And the blade of leaflet Chinese rose is smaller, therefore echo strength is small, but since leaf is intensive so that reflection echo continues
Time is longer.Thus, it will be seen that contained in the acoustics parameters such as the intensity of echo-signal, amplitude and duration
The shape facility of object.And then by the way that the echo-signal of object to be identified and the echo-signal of known form object are contrasted
It can identify the different shape of object.
Specifically, by the acoustics parameters of every group of second ultrasonic signal at least one set of second ultrasonic signal and
When the acoustics parameters of 4th ultrasonic signal are contrasted, it can also use and first obtain by the way of directly contrasting
Take corresponding 4th ultrasonic signal of a variety of known form objects, the method for recycling machine learning, by object pair to be identified
The acoustic characteristic ginseng for the second ultrasonic signal of at least one set the 4th ultrasonic signal corresponding with a variety of known form materials answered
Number compares, and then determines the shape of object to be identified.
Further, it is contemplated that an infrasonic echo-signal can only reflect the situation in one face of object, in order to more preferable
Identify object, object identification equipment to object emission ultrasonic wave to be identified and can obtain echo-signal from different directions, then right
The echo-signal of multiple directions is analyzed, so as to more accurately identify object.Therefore further included in the present embodiment：
Object identification equipment sets the direction of object identification equipment；
According to the comparing result of at least two directions, the shape of object to be identified is determined.
Exemplary, as shown in figure 8, to carry out circular scanning from around object to be identified, i.e., around repeatedly hair to be identified
Penetrate the first ultrasonic signal and receive the echo ensembles schematic diagram formed after the second ultrasonic signal after reflection.Wherein, three
Reference axis is respectively time, amplitude and position.And then the echo data in the figure can be utilized, object to be identified is known
Not.So, by analyzing the echo-signal of multiple directions, therefore object can be more accurately identified.
S4, material and shape according to object to be identified, identify object to be identified.
Specifically, thing to be identified according to the material and shape of object to be identified, can be identified by the method for deep learning
Body.
Exemplary, Fig. 9 is a kind of flow diagram of specific identification object of the embodiment of the present application.Object is known first
Other equipment can store first ultrasonic signal to the first ultrasonic signal of object emission to be identified, then equipment.It
After receive echo, i.e. the second ultrasonic signal.If not receiving echo, the first ultrasonic signal is re-emitted；If receive
Echo then gathers sonic data, and specifically the first ultrasonic signal and the second ultrasonic signal are acquired.Then extraction sound
Wave property, that is, extract the acoustics parameters of the first ultrasonic signal and the second ultrasonic signal.Then two-way is divided to perform.All the way
Using the content of above-mentioned steps S31, contrast launches and receives wave property, establishes characteristic variations set, and then identifies object material.
For another way first with the content of above-mentioned steps S32a, judgment object general outline, recycles the content of above-mentioned steps S32b to judge
Body form details.Object identification equipment can also be from different directions to the first ultrasonic wave of object emission in one implementation
Signal, and echo i.e. the second ultrasonic signal is received, according to the second ultrasonic wave of at least one set received from least two directions
Signal, determines the shape details of object to be identified.The final judgement according to definite object material and shape, passes through machine learning
Method, is identified object.A kind of object identification method provided by the embodiments of the present application and equipment, can be by to be identified
The first ultrasonic signal of object emission, and the second ultrasonic signal reflected by object to be identified is received, and then according at least one
The reception parameter of the emission parameter of the first ultrasonic signal of group and at least one set of second ultrasonic signal determines described treat respectively
Identify the material and shape of object, and then object to be identified is identified.
The embodiment of the present application can be realized identifies object by object analysis to the echo of ultrasonic wave, so that in no light
Also identification surrounding environment and the effect of object can be perceived under the dark surrounds of line.Furthermore, it is contemplated that in the prior art, utilizing
Mostly it is the distance for using the flight time of ultrasonic wave calculate object when ultrasonic wave carries out vicinity environment detection, no matter
Be all be the distance for detecting object, position or object using multiple microphones or Doppler technology etc. movement, even if
It can identify multiple objects at the same time in some schemes, but object to be identified can not all be known in itself using ultrasonic wave
Not.For example, in the prior art, can using ultrasonic ranging come detect front whether have the distance of barrier and barrier and
Position, but it is not able to tell that what barrier in front of user be, such as front is a wall, one tree or an automobile, is used
Family has no way of finding out about it.The concept to one barrier of user that this method can only obscure, can not clearly refer to user
Go out the type of object, using above there is significant limitation.And the embodiment of the present application can be realized by object analysis to super
The echo of sound wave identifies object, so as to can perceive the object of surrounding when using ultrasonic listening surrounding environment, at the same time
Object can also be identified, this technology can have very high in robot field, and in blind person's auxiliary system
Application value.
On the other hand, based on above-mentioned object identification method, the embodiment of the present application also provides a kind of object identification equipment.Example
Property, object identification equipment provided in this embodiment can be installed on sniffing robot, to that under dark surrounds and can not obtain
Take in the environment of light or with image identification system scene used at the same time, being detected to surrounding environment.
Specifically, as shown in Figure 10, which includes transmitter unit 101, receiving unit 102, determines list
Member 103 and recognition unit 104.Wherein：
Transmitter unit 101, at least one set of first ultrasonic signal of object emission to be identified；
Receiving unit 102, for believing in the transmitter unit 101 at least one set of first ultrasonic wave of object emission to be identified
After number, at least one set of first ultrasonic signal is received by the second ultrasonic wave of at least one set after the object reflection to be identified
Signal；
Determination unit 103, for after the receiving unit 102 receives at least one set of second ultrasonic signal, root
Reception according to the emission parameter and at least one set of second ultrasonic signal of at least one set of first ultrasonic signal is joined
Number, determines the material and shape of the object to be identified respectively；
Recognition unit 104, for after the material and shape that the determination unit 103 determines the object to be identified, root
According to the material and shape of the object to be identified, the object to be identified is identified.
Optionally, wherein the emission parameter includes described in every group the first surpassing at least one set of first ultrasonic signal
The acoustics parameters of acoustic signals；The reception parameter includes at least one set of second ultrasonic signal described in every group the
The acoustics parameters of two ultrasonic signals；
Determination unit 103, specifically for by the acoustics parameters of at least one set of first ultrasonic signal with it is at least one set of
The acoustics parameters contrast of second ultrasonic signal, determines the first ultrasonic wave difference function；By the first ultrasonic wave difference
In function input neutral net；According to the output of the neutral net as a result, the material of the object to be identified is identified.
Optionally, transmitter unit 101, are additionally operable to the object emission first sample ultrasonic signal to known material；
Receiving unit 102, is additionally operable to the object emission first sample ultrasonic signal to known material in transmitter unit 101
Afterwards, first sample ultrasonic signal is received by the 3rd ultrasonic signal after the object reflection of known material；
Determination unit 103, is additionally operable to after receiving unit 102 receives the 3rd ultrasonic signal, by first sample ultrasonic wave
The acoustics parameters of signal and the acoustics parameters of the 3rd ultrasonic signal contrast, and determine the second ultrasonic wave difference function；
According to the second ultrasonic wave difference function, neutral net is trained.
Optionally, at least one set of first ultrasonic signal includes the first ultrasound of at least two different predeterminated frequencies
Ripple signal.
Optionally, transmitter unit 101 includes at least one ultrasonic transmitter；Receiving unit 102 includes at least one super
Acoustic receiver；The ultrasound that first ultrasonic signal described in every group at least one set of first ultrasonic signal passes through diverse location
Wave launcher is sent；Every group of second ultrasonic signal at least one set of second ultrasonic signal passes through the super of diverse location
Acoustic receiver receives；Emission parameter includes：The positional information of the corresponding ultrasonic transmitter of first ultrasonic signal and transmitting
Time；Receiving parameter includes：The positional information and receiving time of the corresponding ultrasonic receiver of second ultrasonic signal；
Determination unit 103, specifically for being believed according to the position of the corresponding ultrasonic transmitter of first ultrasonic signal
The positional information and receiving time of breath ultrasonic receiver corresponding with launch time and second ultrasonic signal, determine
The shape of the object to be identified.
Optionally, wherein emission parameter includes the first ultrasonic wave described in every group at least one set of first ultrasonic signal
The acoustics parameters of signal；Receiving parameter includes the second ultrasonic wave described in every group at least one set of second ultrasonic signal
The acoustics parameters of signal；
Determination unit 103, has and is used for the sound of every group of second ultrasonic signal at least one set of second ultrasonic signal
Learn the acoustics parameters contrast of characterisitic parameter and the 4th ultrasonic signal；Wherein, the 4th ultrasonic signal is to known form
After object emission the second specimen acoustic wave signal, the ultrasonic signal after being reflected by known form object；Second specimen acoustic wave
Signal includes at least one set of first ultrasonic signal；According to comparing result, the shape of object to be identified is determined.
Optionally, equipment further includes：Control unit 105；
Control unit 105, for setting the direction of object identification equipment；
Determination unit 103, specifically for control unit 105 set object identification equipment direction after, according at least two
The comparing result of a direction, determines the shape of object to be identified.
Since the object identification equipment in the embodiment of the present application can be applied to implement above method embodiment, its
It can be obtained technique effect and also refer to above method embodiment, details are not described herein for the embodiment of the present application.
In the case of using integrated unit, attached drawing 11 shows object identification equipment involved in above-described embodiment
A kind of possible structure diagram.Object identification equipment 110 includes：Processing module 1101 and communication module 1102.Handle mould
The action that block 1101 is used for object identification equipment is controlled management, for example, processing module 1101 is used to support object identification
Equipment performs the process S1-S4 in Fig. 1 and/or other processes for techniques described herein.Communication module 1102 is used for
Support object identification equipment and the communication of other entity devices, object identification equipment 110 can also include memory module 1103, use
In the program code and data of storage object identification equipment 110.
Wherein, processing module 1101 can be processor or controller, such as can be central processing unit (Central
Processing Unit, CPU), general processor, digital signal processor (Digital Signal Processor, DSP),
Application-specific integrated circuit (Application-Specific Integrated Circuit, ASIC), field programmable gate array
It is (Field Programmable Gate Array, FPGA) or other programmable logic device, transistor logic, hard
Part component or its any combination.It can realize or perform and patrol with reference to the disclosure of invention is described various exemplary
Collect square frame, module and circuit.The processor can also be the combination for realizing computing function, such as include one or more micro- places
Manage device combination, combination of DSP and microprocessor etc..Communication module 1102 can be transceiver, transmission circuit or communication interface
Deng.Memory module 1103 can be memory.
When processing module 1101 is processor, communication module 1102 is communication interface, when memory module 1103 is memory,
Object identification equipment involved by the embodiment of the present invention can be the object identification equipment shown in attached drawing 12.
Refering to shown in attached drawing 12, which includes：Processor 1201, communication interface 1202, memory
1203 and bus 1204.Wherein, communication interface 1202, processor 1201 and memory 1203 are interconnected by 1204 phase of bus
Connect；Bus 1204 can be Peripheral Component Interconnect standard (Peripheral Component Interconnect, PCI) bus
Or expanding the industrial standard structure (Extended Industry Standard Architecture, EISA) bus etc..It is described total
Line can be divided into address bus, data/address bus, controlling bus etc..For ease of representing, only represented in attached drawing 12 with a thick line, but
It is not offered as only a bus or a type of bus.
It can be realized in a manner of hardware with reference to the step of described method of the disclosure of invention or algorithm, also may be used
Realized in a manner of being to perform software instruction by processor.The embodiment of the present invention also provides a kind of storage medium, which is situated between
Matter can include memory 1203, above-mentioned it includes performing for the computer software instructions used in storing substance identification equipment
The program code designed by business handling method provided in embodiment.Specifically, software instruction can be by corresponding software mould
Block forms, and software module can be stored on random access memory (Random Access Memory, RAM), flash memory, read-only
Memory (Read Only Memory, ROM), Erasable Programmable Read Only Memory EPROM (Erasable Programmable
ROM, EPROM), Electrically Erasable Programmable Read-Only Memory (Electrically EPROM, EEPROM), register, hard disk, movement
In the storage medium of hard disk, read-only optical disc (CD-ROM) or any other form well known in the art.A kind of exemplary deposits
Storage media is coupled to processor, so as to enable a processor to from the read information, and can be write to the storage medium
Information.Certainly, storage medium can also be the part of processor.Pocessor and storage media can be located in ASIC.Separately
Outside, which can be located in core network interface equipment.Certainly, pocessor and storage media can also be used as discrete assembly to exist
In core network interface equipment.
The embodiment of the present invention also provides a kind of computer program, which can be loaded directly into memory 1203
In, and contain software code, which is loaded into via computer and can realize that above-described embodiment is provided after performing
Business handling method.
Those skilled in the art are it will be appreciated that in said one or multiple examples, work(described in the invention
It is able to can be realized with hardware, software, firmware or their any combination.When implemented in software, can be by these functions
It is stored in computer-readable medium or is transmitted as one or more instructions on computer-readable medium or code.
Computer-readable medium includes computer storage media and communication media, and wherein communication media includes being easy to from a place to another
Any medium of one place transmission computer program.It is any that storage medium can be that universal or special computer can access
Usable medium.
Above-described embodiment, has carried out the purpose of the present invention, technical solution and beneficial effect further
Describe in detail, it should be understood that the foregoing is merely the embodiment of the present invention, be not intended to limit the present invention
Protection domain, all any modification, equivalent substitution, improvement and etc. on the basis of technical scheme, done should all
It is included within protection scope of the present invention.
Claims (13)
- A kind of 1. object identification method, it is characterised in that including：Object identification equipment is at least one set of first ultrasonic signal of object emission to be identified；At least one set of first ultrasonic signal is received by the second ultrasonic wave of at least one set after the object reflection to be identified Signal；According to the emission parameter of at least one set of first ultrasonic signal and at least one set of second ultrasonic signal Parameter is received, determines the material and shape of the object to be identified respectively；According to the material and shape of the object to be identified, the object to be identified is identified.
- 2. method according to claim 1, it is characterised in that wherein described emission parameter includes at least one set of described the first surpass The acoustics parameters of first ultrasonic signal described in every group in acoustic signals；The reception parameter includes at least one set of institute State the acoustics parameters of the second ultrasonic signal described in every group in the second ultrasonic signal；The emission parameter according at least one set first ultrasonic signal and at least one set of second ultrasound The reception parameter of ripple signal, determines the material of the object to be identified, including：By the acoustics parameters of at least one set of first ultrasonic signal and at least one set of second ultrasonic signal Acoustics parameters contrast, and determine the first ultrasonic wave difference function；The first ultrasonic wave difference function is inputted in neutral net；According to the output of the neutral net as a result, the material of the object to be identified is identified.
- 3. method according to claim 2, it is characterised in thatAt least one set of first ultrasonic signal includes the first ultrasonic signal of at least two different predeterminated frequencies.
- 4. according to method any one of claim 1-3, it is characterised in that wherein described emission parameter includes at least one set The acoustics parameters of first ultrasonic signal described in every group in first ultrasonic signal；The reception parameter is included at least The acoustics parameters of second ultrasonic signal described in every group in second ultrasonic signal described in one group；The emission parameter and at least one set of second ultrasonic wave according at least one set of first ultrasonic signal is believed Number reception parameter, determine the shape of the object to be identified, including：By the acoustics parameters of every group of second ultrasonic signal at least one set of second ultrasonic signal and the 4th ultrasound The acoustics parameters contrast of ripple signal；Wherein, the 4th ultrasonic signal is to the second sample of known form object emission After ultrasonic signal, by the ultrasonic signal of known form object reflection；The second specimen acoustic wave signal is included extremely First ultrasonic signal described in one group few；According to comparing result, the shape of the object to be identified is determined.
- 5. method according to claim 4, it is characterised in that the method further includes：Set the direction of the object identification equipment；According at least two towards the upper corresponding comparing result, the shape of the object to be identified is determined.
- A kind of 6. object identification equipment, it is characterised in that including：Transmitter unit, at least one set of first ultrasonic signal of object emission to be identified；Receiving unit, for, to after at least one set of first ultrasonic signal of object emission to be identified, being received in the transmitter unit At least one set of first ultrasonic signal is by the second ultrasonic signal of at least one set after the object reflection to be identified；Determination unit, for after the receiving unit receives at least one set of second ultrasonic signal, according at least one set The reception parameter of the emission parameter of first ultrasonic signal and at least one set of second ultrasonic signal, determines respectively The material and shape of the object to be identified；Recognition unit, for after the material and shape that the determination unit determines the object to be identified, waiting to know according to described The material and shape of other object, identify the object to be identified.
- 7. equipment according to claim 6, it is characterised in that wherein described emission parameter includes at least one set of described the first surpass The acoustics parameters of first ultrasonic signal described in every group in acoustic signals；The reception parameter includes at least one set of described the The acoustics parameters of second ultrasonic signal described in every group in two ultrasonic signals；The determination unit, specifically for by the acoustics parameters of at least one set of first ultrasonic signal with it is at least one set of The acoustics parameters contrast of second ultrasonic signal, determines the first ultrasonic wave difference function；By first ultrasonic wave In difference function input neutral net；According to the output of the neutral net as a result, being carried out to the material of the object to be identified Identification.
- 8. equipment according to claim 7, it is characterised in that at least one set of first ultrasonic signal includes at least two First ultrasonic signal of different predeterminated frequencies.
- 9. according to equipment any one of claim 6-8, it is characterised in that wherein described emission parameter includes at least one set The acoustics parameters of first ultrasonic signal described in every group in first ultrasonic signal；The reception parameter is included at least The acoustics parameters of second ultrasonic signal described in every group in second ultrasonic signal described in one group；The determination unit, has and is used for every group of second ultrasonic signal at least one set of second ultrasonic signal Acoustics parameters and the acoustics parameters of the 4th ultrasonic signal contrast；Wherein, the 4th ultrasonic signal is to After knowing that shaped objects launch the second specimen acoustic wave signal, by the ultrasonic signal of known form object reflection；Described Two specimen acoustic wave signals include at least one set of first ultrasonic signal；According to comparing result, the thing to be identified is determined The shape of body.
- 10. equipment according to claim 9, it is characterised in that the equipment further includes：Control unit；Described control unit, for setting the direction of the object identification equipment；The determination unit, specifically for according to towards the upper corresponding comparing result, determining described to wait to know at least two The shape of other object.
- A kind of 11. object identification equipment, it is characterised in that including：Memory, communication interface and processor, the memory and The communication interface is coupled to the processor, and the memory is used to store computer executable code, and the processor is used for Perform the computer executable code control perform claim and require 1 to 5 any one of them object identification method, the communication connects Mouth is used for the object identification equipment and the data transfer of external equipment.
- 12. a kind of computer-readable storage medium, it is characterised in that refer to for saving as the computer software used in object identification equipment Order, it includes perform claim to require the program code designed by 1 to 5 any one of them object identification method.
- 13. a kind of computer program product, it is characterised in that can be loaded directly into the internal storage of computer, and contain Software code, the computer program are loaded into via computer and can realize claim 1 to 5 any one of them after performing Object identification method.
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| CN110298289A (en) * | 2019-06-24 | 2019-10-01 | Oppo广东移动通信有限公司 | Material identification method, apparatus, storage medium and electronic equipment |
| CN110850860A (en) * | 2018-08-02 | 2020-02-28 | 苏州宝时得电动工具有限公司 | Object detection method and device for automatic mower and automatic mower |
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| CN110033608B (en) * | 2018-12-03 | 2020-12-11 | 创新先进技术有限公司 | Processing method, device, equipment, server and system for vehicle damage detection |
| CN109870698A (en) * | 2019-01-15 | 2019-06-11 | 北京百度网讯科技有限公司 | A kind of ultrasonic array detection of obstacles result processing method and system |
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| CN110298289B (en) * | 2019-06-24 | 2021-11-02 | Oppo广东移动通信有限公司 | Material identification method, device, storage medium and electronic equipment |
| CN110298289A (en) * | 2019-06-24 | 2019-10-01 | Oppo广东移动通信有限公司 | Material identification method, apparatus, storage medium and electronic equipment |
| CN112540124A (en) * | 2019-09-23 | 2021-03-23 | 杭州海康威视系统技术有限公司 | Object detection method and device, equipment and storage medium |
| CN112540124B (en) * | 2019-09-23 | 2024-06-28 | 杭州海康威视系统技术有限公司 | Object detection method and device, equipment and storage medium |
| CN110879397A (en) * | 2019-11-29 | 2020-03-13 | 安徽江淮汽车集团股份有限公司 | Obstacle recognition method, apparatus, storage medium, and device |
| CN112718389A (en) * | 2020-12-24 | 2021-04-30 | 湖南旺鑫智能装备有限公司 | Automatic glue dispenser with high precision |
| CN114879144A (en) * | 2022-05-24 | 2022-08-09 | 深圳心寰科技有限公司 | Acoustic positioning method, acoustic positioning system, readable storage medium and terminal equipment |
| CN114879144B (en) * | 2022-05-24 | 2023-04-18 | 深圳心寰科技有限公司 | Acoustic positioning method, system, readable storage medium and terminal equipment |
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