CN109031315A - Distance measurement method, device, equipment and storage medium - Google Patents

Distance measurement method, device, equipment and storage medium Download PDF

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Publication number
CN109031315A
CN109031315A CN201810669995.9A CN201810669995A CN109031315A CN 109031315 A CN109031315 A CN 109031315A CN 201810669995 A CN201810669995 A CN 201810669995A CN 109031315 A CN109031315 A CN 109031315A
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signal
frequency
frequency domain
distance
present frame
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CN201810669995.9A
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CN109031315B (en
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史润宇
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Beijing Xiaomi Mobile Software Co Ltd
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Beijing Xiaomi Mobile Software Co Ltd
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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
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only

Abstract

This application discloses a kind of distance measurement method, device, equipment and storage mediums, are related to field of mobile terminals.This method comprises: passing through sonic generator to predetermined direction emission bandpass noise signal, acoustic receiver receives mixed signal, feature extraction is carried out to mixed signal and obtains space characteristics amount, sound wave interference analysis is finally carried out according to space characteristics amount, obtains the obstacle distance on predetermined direction.After the application emits sound wave by the acoustic wave device of microphone and earpiece etc, the distance between terminal and barrier are realized using sound wave interference analysis and is measured, when the front panel of terminal is not provided with range sensor, is also capable of measuring the distance between terminal and barrier.

Description

Distance measurement method, device, equipment and storage medium
Technical field
The invention relates to field of mobile terminals, in particular to a kind of distance measurement method, device, equipment and storage Medium.
Background technique
Touch screen is provided on such as mobile terminal of smart phone, tablet computer etc.By taking smart phone as an example, when with When family face is close to touch screen, touch screen can automatic distinguishing；When user face is far from touch screen, touch screen can be lighted automatically.
In the related technology, it is provided with infrared distance sensor at the top of the front panel of smart phone, the infrared distance sensor For emitting the first infrared signal in front of the front panel to smart phone, then receives and encounter user face is reflected back second Infrared signal changes according to the amplitude between the first infrared signal and the second infrared signal, user face is calculated The distance between front panel.
Summary of the invention
The embodiment of the present application provides a kind of distance measurement method, device, equipment and storage medium, can solve such as intelligence When the front panel for the mobile terminal that energy mobile phone, tablet computer etc are provided with touch screen is not provided with infrared distance sensor, obstacle The problem of the distance between object and touch screen measure.The technical solution is as follows:
According to the disclosure in a first aspect, provide a kind of distance measurement method, applied to be provided with sonic generator and In the terminal of acoustic receiver, which comprises
By sonic generator to predetermined direction emission bandpass noise signal；
Mixed signal is received by acoustic receiver, mixed signal includes bandpass noise signal；
Feature extraction is carried out to mixed signal and obtains space characteristics amount；
Sound wave interference analysis is carried out according to space characteristics amount, obtains the obstacle distance on predetermined direction.
In an alternative embodiment, above-mentioned that sound wave interference analysis is carried out according to space characteristics amount, obtain predetermined direction On obstacle distance, comprising:
At least two frequency domain components for being located at interference position in present frame are determined according to space characteristics amount；
According to the difference of the frequency values of frequency domain components adjacent at least two frequency domain components, the frequency of adjacent frequency domain components is calculated Interval；
According to the frequency interval of adjacent frequency domain components, the obstacle distance on predetermined direction is calculated.
In an alternative embodiment, space characteristics amount includes: each frequency location difference value of present frame；
It is above-mentioned that at least two frequency domain components for being located at interference position in present frame are determined according to space characteristics amount, comprising:
Calculate the first average value of each frequency location difference value of present frame；
In each frequency component of present frame, the energy value of frequency component preset energy value lower than the first average value is determined Above target frequency component；
Target frequency component is determined as to be located at least two frequency domain components of interference position in present frame.
In an alternative embodiment, the above-mentioned frequency domain interval according to adjacent frequency domain components, is calculated predetermined direction On obstacle distance, comprising:
When the frequency interval of adjacent frequency domain components is at least two, calculate at least two frequency intervals second is average Value；
The obstacle distance on predetermined direction is obtained according to the second mean value calculation.
In an alternative embodiment, above-mentioned that barrier on predetermined direction is obtained according to second mean value calculation Distance, comprising:
The velocity of sound is obtained into division result divided by twice of the second average value, barrier division result being determined as on predetermined direction Hinder object distance.
It is in an alternative embodiment, above-mentioned that space characteristics amount is obtained to mixed signal progress feature extraction, comprising:
Extract the signal to be processed in mixed signal；
Present frame in signal to be processed is subjected to frequency domain and is converted to frequency-region signal, the frequency-region signal of present frame includes n A frequency domain components；
N frequency domain components are subjected to difference with reference to frequency domain components with n, n obtained frequency domain position difference value is determined For the space characteristics amount of present frame.
In an alternative embodiment, the signal to be processed in mixed signal described in said extracted, comprising:
Mixed signal is filtered, filtered voice signal is obtained；
Signal to be processed is obtained according to filtered voice signal.
It is in an alternative embodiment, above-mentioned that signal to be processed is obtained according to filtered voice signal, comprising:
Filtered voice signal is subjected to shift frequency processing, the voice signal after obtaining shift frequency；
Voice signal after shift frequency is subjected to down-sampled processing, will be down-sampled after voice signal be determined as letter to be processed Number.
In an alternative embodiment, the method also includes:
Feature extraction is carried out to mixed signal and obtains temporal characteristics amount；
Temporal characteristics amount input machine learning model is obtained into obstacle recognition as a result, obstacle recognition result includes close Event, far from event, without any one in event；
When it is close to event that obstacle distance, which is less than distance threshold and obstacle recognition result, determine that barrier is connecing Closely；
When obstacle distance is less than distance threshold and obstacle recognition result is far from event, determine that barrier is remote From；
When obstacle distance is greater than distance threshold, determines and barrier is not present.
In an alternative embodiment, bandpass noise signal includes any one in following signal form:
Band logical ultrasonic noise signal；
The combination noise signal of multifrequency sine signal；
The combination noise signal of band logical ultrasonic noise signal and multifrequency sine signal.
According to the second aspect of the disclosure, a kind of distance-measuring device is provided, described device includes:
Module occurs, is configured as through sonic generator to predetermined direction emission bandpass noise signal；
Receiving module is configured as receiving mixed signal by acoustic receiver, and mixed signal includes bandpass noise signal；
Extraction module is configured as obtaining space characteristics amount to mixed signal progress feature extraction；
Analysis module is configured as carrying out sound wave interference analysis according to space characteristics amount, obtains the obstacle on predetermined direction Object distance.
In an alternative embodiment, analysis module, comprising:
It determines submodule, is configured as determining at least two frequencies in present frame positioned at interference position according to space characteristics amount Domain component；
Computational submodule is configured as the difference of the frequency values according to frequency domain components adjacent at least two frequency domain components, meter Calculate the frequency interval of adjacent frequency domain components；According to the frequency interval of adjacent frequency domain components, the obstacle on predetermined direction is calculated Object distance.
In an alternative embodiment, space characteristics amount includes: each frequency location difference value of present frame；
Computational submodule is configured as calculating the first average value of each frequency location difference value of present frame；
It determines submodule, is configured as in each frequency component of present frame, determine the energy value of frequency component than Target frequency the component more than low preset energy value of one average value；Target frequency component is determined as to be located at interference position in present frame At least two frequency domain components set.
In an alternative embodiment, computational submodule is configured as when the frequency interval of adjacent frequency domain components being extremely When two few, the second average value of at least two frequency intervals is calculated；It is obtained on predetermined direction according to the second mean value calculation Obstacle distance.
In an alternative embodiment, computational submodule is configured as obtaining the velocity of sound divided by twice of the second average value To division result, obstacle distance division result being determined as on predetermined direction.
In an alternative embodiment, extraction module, comprising:
Extracting sub-module is configured as extracting the signal to be processed in mixed signal；
Transform subblock is configured as the present frame progress frequency domain in signal to be processed being converted to frequency-region signal, when The frequency-region signal of previous frame includes n frequency domain components；
Difference submodule is configured as n frequency domain components carrying out difference with reference to frequency domain components with n, by obtained n Frequency domain position difference value is determined as the space characteristics amount of present frame.
In an alternative embodiment, extracting sub-module is configured as mixed signal being filtered, be filtered Voice signal after wave；Signal to be processed is obtained according to filtered voice signal.
In an alternative embodiment, extracting sub-module is configured as carrying out filtered voice signal at shift frequency Reason, the voice signal after obtaining shift frequency；Voice signal after shift frequency is subjected to down-sampled processing, will be down-sampled after voice signal It is determined as signal to be processed.
In an alternative embodiment, the device further include:
Extraction module is configured as obtaining temporal characteristics amount to mixed signal progress feature extraction；
Identification module is configured as temporal characteristics amount input machine learning model obtaining obstacle recognition as a result, obstacle Object recognition result includes close to event, separate event, without any one in event；When obstacle distance be less than distance threshold and When obstacle recognition result is close to event, determine that barrier is approaching；When obstacle distance is less than distance threshold and obstacle When object recognition result is far from event, determine that barrier is separate；When obstacle distance is greater than distance threshold, determination is not deposited In barrier.
In an alternative embodiment, bandpass noise signal includes any one in following signal form:
Band logical ultrasonic noise signal；
The combination noise signal of multifrequency sine signal；
The combination noise signal of band logical ultrasonic noise signal and multifrequency sine signal.
According to the third aspect of the disclosure, a kind of distance-measuring device is provided, which includes:
Processor；Memory for storage processor executable instruction；
Wherein, executable instruction is loaded and executed by processor to realize range measurement side described in first aspect as above Method.
According to the fourth aspect of the disclosure, a kind of computer readable storage medium is provided, in the readable storage medium storing program for executing It is stored at least one instruction, at least one instruction is loaded and executed by processor to realize described in first aspect as above Distance measurement method.
Technical solution bring beneficial effect provided by the embodiments of the present application includes at least:
By sonic generator to predetermined direction emission bandpass noise signal, acoustic receiver receives mixed signal, to mixed It closes signal progress feature extraction and obtains space characteristics amount, sound wave interference analysis is finally carried out according to space characteristics amount, is made a reservation for Obstacle distance on direction.Namely after the acoustic wave device transmitting sound wave for passing through microphone and earpiece etc, utilize sound wave interference Analysis realizes the measurement of the distance between terminal and barrier, when the front panel of terminal is not provided with range sensor, the program The correlation functions such as screen are ceased automatically when being also capable of measuring the distance between terminal and barrier, and then realizing user's communication.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment Attached drawing is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other Attached drawing.
Fig. 1 is a kind of block diagram for terminal that one exemplary embodiment of the application provides；
Fig. 2 is the flow chart for the distance measurement method that one exemplary embodiment of the application provides；
Fig. 3 is the flow chart for the distance measurement method that another exemplary embodiment of the application provides；
Fig. 4 is the flow chart for the distance measurement method that another exemplary embodiment of the application provides；
Fig. 5 is the flow chart for the distance measurement method that another exemplary embodiment of the application provides；
Fig. 6 is the flow chart for the distance measurement method that another exemplary embodiment of the application provides；
Fig. 7 is the flow chart for the distance measurement method that another exemplary embodiment of the application provides；
Fig. 8 is the flow chart for the distance measurement method that another exemplary embodiment of the application provides；
Fig. 9 is the spectrum diagram for the distance measurement method that one exemplary embodiment of the application provides；
Figure 10 is the flow chart for the distance measurement method that another exemplary embodiment of the application provides；
Figure 11 is the flow chart for the distance measurement method that another exemplary embodiment of the application provides；
Figure 12 is the block diagram for the distance-measuring device that one exemplary embodiment of the application provides；
Figure 13 is the block diagram for the distance-measuring device that another exemplary embodiment of the application provides.
Specific embodiment
To keep the purposes, technical schemes and advantages of the application clearer, below in conjunction with attached drawing to the application embodiment party Formula is described in further detail.
Fig. 1 is a kind of block diagram for terminal that one exemplary embodiment of the application provides.The terminal can be intelligent hand Machine, tablet computer, the terminal include: sonic generator 120, acoustic receiver 140, processor 160 and memory 180.
Sonic generator 120 is configured as output voice signal.Schematically, the composition of sonic generator 120 is with reference to figure 2, sonic generator 120 includes Signal generator 11, digital analog converter (Digital Analog Converter, DAC) 12 Hes Signal projector 13, signal projector 13 include but is not limited at least one of loudspeaker, earpiece and ultrasonic transmitter.Signal Driver 14 in driver 11 generates noise signal, noise signal by bandpass filter 15 filter out audible wave frequency section and time Sound wave frequency range obtains bandpass noise signal；Bandpass noise signal is converted to analog signal by digital signal by DAC12；Finally Outwardly emit above-mentioned analog signal via signal projector 13.
Optionally, any one in the noise signal of following forms: ultrasonic noise signal can be generated in driver 14；It is more Frequency sinusoidal signal；The combination noise signal of ultrasonic noise signal and multifrequency sine signal.
Acoustic receiver 140 is configured as input to voice signal.Schematically, the composition of acoustic receiver 140 is with reference to figure 3, acoustic receiver 140 includes signal receiver 16 and analog-digital converter (Analog Digital Converter, ADC) 17, Signal receiver 16 includes but is not limited to microphone.Signal receiver 16 receives directly incoming sound after sonic generator 120 emits Voice signal, the sonic generator 120 of wave receiver 140 are passed to acoustic receiver 140 after emitting after barrier reflects The mixed signal of voice signal and environmental noise；Above-mentioned mixed signal is converted to digital signal by analog signal by ADC17；Most Afterwards, above-mentioned digital signal is entered in processor 160.
The integrated operation of the usual control device of processor 160, processor 160 may include one or more components to execute Instruction, to perform all or part of the steps of the methods described above.In addition, processor 160 may include one or more modules, just Information interchange in interaction and processor 160 between processor 160 and other devices between module and/or component.Show Meaning property, may include filter 21, frequency shifter 22, down-sampled unit 23, frequency domain change in processor 160 with reference to Fig. 4 and Fig. 5 Parallel operation 24, frequency domain position difference unit 25, delay cell 26, frequency domain time difference unit 27 and characteristic quantity assembled unit 28, thing Part recognition unit 31, metrics calculation unit 32 and comprehensive recognition unit 33, the combination group that above-mentioned part passes through hardware and/or software At analyzer 200 and identifier 300, to realize the part steps of distance measurement method.
Optionally, above-mentioned frequency domain time difference unit 27, characteristic quantity assembled unit 28, event recognition unit 31 and comprehensive knowledge Other unit 33 is selectable unit (SU).
Memory 180 is configured as storing various types of data to support the operation in above-mentioned apparatus.These data Example includes the instruction of any application or method, contact data, telephone book data, message, picture, video etc..Storage Device 180 can be realized by any kind of volatibility or non-volatile memory device or their combination, as static random is deposited Access to memory (SRAM), electrically erasable programmable read-only memory (EEPROM), Erasable Programmable Read Only Memory EPROM (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, disk or light Disk.
Fig. 6 is the flow chart for the distance measurement method that another exemplary embodiment of the application provides, in the present embodiment It is applied to be illustrated for terminal shown in FIG. 1 in this way, this method comprises:
Step 101, by sonic generator to predetermined direction emission bandpass noise signal.
Optionally, the sonic generator in terminal includes Signal generator, bandpass filter, DAC and signal projector.Eventually End generates the noise signal of digital form by the driver in Signal generator, and noise signal is filtered out by bandpass filter can Wave frequency section and infrasound frequency range are listened, bandpass noise signal is obtained；Bandpass noise signal is converted to simulation by digital signal by DAC Signal；Finally emit the bandpass noise signal of above-mentioned analog signal namely sound wave form to predetermined direction via signal projector.
Schematically, predetermined direction be front panel towards either to.Wherein, bandpass noise signal includes following signal Any one in form: band logical ultrasonic noise signal；The combination noise signal of multifrequency sine signal；Band logical ultrasonic noise signal With the combination noise signal of multifrequency sine signal.
Step 102, mixed signal is received by acoustic receiver, mixed signal includes bandpass noise signal.
Optionally, the acoustic receiver in terminal includes signal receiver and ADC.Terminal is received mixed by signal receiver Close signal.Wherein, mixed signal includes that voice signal, the sound wave of directly incoming acoustic receiver after sonic generator emits occur The voice signal and environmental noise of acoustic receiver are passed to after device transmitting after barrier reflects；Mixed signal by ADC by Analog signal is converted to digital signal.Finally, above-mentioned digital signal is entered in processor.
Step 103, feature extraction is carried out to mixed signal and obtains space characteristics amount.
Optionally, the process that terminal obtains space characteristics amount to mixed signal progress feature extraction includes the following steps: end Extract the signal to be processed in mixed signal in end；Present frame in signal to be processed is subjected to frequency domain and is converted to frequency-region signal, The frequency-region signal of present frame includes n frequency domain components；N frequency domain components are subjected to difference with reference to frequency domain components with n, will be obtained N frequency domain position difference value be determined as the space characteristics amount of present frame.
Optionally, further include following steps when terminal extracts the signal to be processed in mixed signal:
Mixed signal is filtered by terminal, obtains filtered voice signal；According to filtered voice signal Obtain signal to be processed.The filtering processing is for filtering out audible wave frequency section and infrasound frequency range in mixed signal.At the filtering Reason can be executed by filter.
Filtered voice signal is carried out shift frequency processing by terminal, the voice signal after obtaining shift frequency；By the sound after shift frequency Sound signal carries out down-sampled processing, will be down-sampled after voice signal be determined as signal to be processed.Shift frequency processing can be by moving Frequency device executes, which can be executed by down-sampled unit.
Optionally, the mode of frequency conversion includes but is not limited to: in Fourier transformation, cosine transform and transform at least It is a kind of.
Processor in terminal carries out feature extraction to mixed signal and obtains space characteristics amount.The step is by processor Analyzer executes, and schematically, obtains mixed signal i.e. digital signal W in a step 102, by digital signal W input filter, Filter is filtered digital signal W, filters out the ring except the frequency range of the bandpass noise signal of sonic generator transmitting Border noise obtains filtered voice signal Wfilt；Filtered voice signal WfiltAfter the shift frequency of frequency shifter obtains shift frequency Voice signal Wshift；Down-sampled unit is to the voice signal W after shift frequencyshiftCarry out it is down-sampled, obtain it is down-sampled after sound Signal Wdownmix；Voice signal W after will be down-sampleddownmixFrequency-domain transform is carried out by frame by frequency domain converter, according to transformed Voice signal F acquires n frequency domain components of voice signal, then the energy value F of each frequency domain components is calculatedpow；Frequency domain position is poor Sub-unit is by above-mentioned energy value FpowWith the energy value F of frequency domain components of the clear of prerecording when closerawpowDifference is carried out, Obtain the frequency domain position difference value F of present frameposdiff；Determine the frequency domain position difference value F of present frameposdiffFor space eigenvalues Ppos。
Step 104, sound wave interference analysis is carried out according to space characteristics amount, obtains the obstacle distance on predetermined direction.
Terminal carries out sound wave interference analysis according to space characteristics amount, obtains the obstacle distance on predetermined direction, first root At least two frequency domain components for being located at interference position in present frame are determined according to space characteristics amount；Secondly according at least two frequency domains point The difference of the frequency values of adjacent frequency domain components in amount, calculates the frequency interval of adjacent frequency domain components；Finally according to adjacent frequency domain components Frequency interval, the obstacle distance on predetermined direction is calculated.
Optionally, terminal determines at least two frequency domain components for being located at interference position in present frame according to space characteristics amount When, comprising: terminal calculates the first average value of each frequency location difference value of present frame；In each frequency component of present frame In, determine the target frequency component of the energy value of frequency component preset energy value lower than the first average value or more；By target frequency Component is determined as being located at least two frequency domain components of interference position in present frame.
Optionally, terminal calculates adjacent frequency according to the difference of the frequency values of frequency domain components adjacent at least two frequency domain components The frequency domain interval of domain component, comprising: when the frequency interval of adjacent frequency domain components is at least two, between at least two frequencies of calculating Every the second average value；The obstacle distance on predetermined direction is obtained according to the second mean value calculation.
Processor in terminal carries out sound wave interference analysis according to space characteristics amount, obtain barrier on predetermined direction away from From.The step is executed by the identifier in processor, schematically, by space eigenvalues PposDistance in identifier is inputted to calculate Unit, metrics calculation unit is according to space eigenvalues PposCalculate the obstacle distance on predetermined direction.With reference to Fig. 7, distance is calculated Unit 32 includes interference position computing module 41, frequency interval computing module 42 and relative distance computing module 43.Interference position Computing module 41 is to space eigenvalues PposEach frequency component energy value FposdiffThe first average value is sought, in each of present frame In a frequency component, the target frequency component of the energy value of frequency component preset energy value R or more lower than the first average value is determined, And it is labeled as the interference position Pitf of present frame.Frequency interval computing module 42 is according to frequency component each on interference position Pitf Frequency values, the first difference of the frequency values between calculating adjacent frequency components, then seek the second average value to the difference of said frequencies value, Second average value is frequency interval Finterval.Relative distance module 43 is according to frequency interval FintervalRelative distance is acquired, it will Velocity of sound SoundSpeed is relative distance divided by the division result that twice of the second average value obtains, and relative distance is predetermined party Upward obstacle distance Dinterval。
In conclusion distance measurement method provided in this embodiment, by sonic generator to predetermined direction emission bandpass Noise signal, acoustic receiver receive mixed signal, carry out feature extraction to mixed signal and obtain space characteristics amount, final basis Space characteristics amount carries out sound wave interference analysis, obtains the obstacle distance on predetermined direction.Namely by microphone and earpiece it After the acoustic wave device transmitting sound wave of class, the distance between terminal and barrier are realized using sound wave interference analysis and is measured, end is worked as When the front panel at end is not provided with range sensor, the program is also capable of measuring the distance between terminal and barrier, and then realizes and use Automatically the correlation functions such as screen are ceased when family is conversed.
Based on exemplary embodiment shown in fig. 6, Fig. 8 and exemplary embodiment shown in Fig. 10 according to space characteristics amount into The mode of row distance measurement carries out explaination explanation；Exemplary embodiment shown in Figure 11 is special according to space characteristics amount and time simultaneously Sign amount carries out obstacle recognition and has carried out illustrating explanation, meanwhile, the moving condition identification of barrier has been carried out illustrating explanation.
Fig. 8 is the flow chart for the distance measurement method that another exemplary embodiment of the application provides, in the present embodiment It is applied to be illustrated for terminal shown in FIG. 1 in this way, this method comprises:
Step 201, by sonic generator to scheduled direction emission bandpass noise signal.
Sonic generator in terminal includes Signal generator, bandpass filter, DAC and signal projector.Terminal passes through Driver in Signal generator generates the noise signal of digital form, and noise signal filters out audible wave frequency by bandpass filter Section and infrasound frequency range, obtain bandpass noise signal；Bandpass noise signal is converted to analog signal by digital signal by DAC； Finally emit the bandpass noise signal of above-mentioned analog signal namely sound wave form to predetermined direction via signal projector.
Predetermined direction be front panel towards either to.Wherein, bandpass noise signal includes in following signal form Any one: band logical ultrasonic noise signal；The combination noise signal of multifrequency sine signal；Band logical ultrasonic noise signal and multifrequency are just The combination noise signal of string signal.
Step 202, mixed signal is received by acoustic receiver, mixed signal includes bandpass noise signal.
Acoustic receiver in terminal includes signal receiver and ADC.Terminal receives mixed signal by signal receiver. Wherein, mixed signal includes the voice signal of directly incoming acoustic receiver, sonic generator transmitting after sonic generator emits The voice signal and environmental noise of acoustic receiver are passed to after barrier reflects afterwards；Mixed signal is believed by ADC by simulation Number be converted to digital signal W；Finally, above-mentioned digital signal W is entered in processor.
Step 203, the signal to be processed in mixed signal is extracted.
Terminal extracts the signal to be processed in mixed signal, includes the following three types situation:
1, under the conditions of ambient noise is insignificant, mixed signal is determined as signal to be processed by terminal；
2, filtered voice signal is determined as signal to be processed by terminal；
3, the voice signal after terminal will be down-sampled is determined as signal to be processed.
Schematically, in the latter case, mixed signal is filtered by terminal, obtains filtered sound letter Number；Filtered voice signal is determined as signal to be processed.
In a third case, mixed signal is filtered by terminal, obtains filtered voice signal；It will filtering Voice signal afterwards carries out shift frequency processing, the voice signal after obtaining shift frequency；Voice signal after shift frequency is subjected to down-sampled place Reason, will be down-sampled after voice signal be determined as signal to be processed.
Schematically, which can be executed by the analyzer in processor, obtained mixed signal in step 202 and counted Word signal W, by digital signal W input filter, filter is filtered digital signal W, filters out sonic generator transmitting Ambient noise except the frequency range of bandpass noise signal obtains filtered voice signal Wfilt；Filtered sound letter Number WfiltVoice signal W by the shift frequency of frequency shifter, after obtaining shift frequencyshift, formula is as follows:
R=2*pi* (0:n)/fs；
B=(f0-ft)*r；
Wshift=Wfilt*exp(-j*b)；
Wherein, f0For primary frequency, ftFor target frequency, r is the phase value of voice signal, and pi is pi, fsFor sampling Rate；Down-sampled unit is to the voice signal W after shift frequencyshiftCarry out it is down-sampled, obtain it is down-sampled after voice signal Wdownmix。
Step 204, the present frame in signal to be processed is subjected to frequency domain and is converted to frequency-region signal, the frequency domain letter of present frame Number include n frequency domain components, n is positive integer.
Present frame in signal to be processed is carried out frequency domain and is converted to frequency-region signal, the frequency-region signal packet of present frame by terminal N frequency domain components are included, n is positive integer.
Optionally, the mode of frequency domain conversion includes but is not limited to: in Fourier transformation, cosine transform and transform at least It is a kind of.
Schematically, which can be executed by the analyzer in processor, will be down-sampled after voice signal Wdownmix Frequency-domain transform is carried out by frame, obtains transformed voice signal F, formula indicates are as follows:
F (1...n)=FT (Wdownmix(t=- (n-1) ... 0))；
Wherein, FT indicates frequency domain conversion regime, and as n, i.e., the F of every frame includes the frequency domain resolution after setting frequency-domain transform herein The n frequency component of F (1) ... F (n).
Optionally, in the negligible situation of ambient noise, signal to be processed can be determined as digital signal W, Digital signal W is then subjected to frequency-domain transform by frame, obtains transformed voice signal F, formula indicates are as follows:
F (1...n)=FT (W (t=- (n-1) ... 0))；
Optionally, terminal is by filtered voice signal WfiltIt is confirmed as signal to be processed, then is believed filtered sound Number WfiltFrequency-domain transform is carried out by frame, obtains transformed voice signal F, formula indicates are as follows:
F (1...n)=FT (Wfilt(t=- (n-1) ... 0)).
It further include according to the sound letter after frequency-domain transform after present frame in signal to be processed is carried out frequency domain conversion by terminal Number F seeks the energy value F of n above-mentioned frequency componentpow, formula expression are as follows:
Fpow(1...n)=RMS (F (1...n)).
Step 205, n frequency domain components are subjected to difference with reference to frequency domain components with n, n obtained frequency domain position is poor Score value is determined as the space characteristics amount of present frame.
N frequency domain components are carried out difference, the n frequency domain position difference value that will be obtained with reference to frequency domain components with n by terminal It is determined as the space characteristics amount of present frame.
Schematically, which is executed by the analyzer in processor.No object proximity terminal is prerecorded in analyzer When n frequency domain components be used as refer to frequency domain components, the energy value D with reference to frequency domain components is calculatedrawpow；To in step 204 The energy value F of the frequency component acquiredpowWith the energy value D of reference frequency domain componentsrawpowIt carries out difference and obtains the frequency domain of present frame Alternate position spike score value Fposdiff, formula is as follows:
Fposdiff(1...n)=Frawpow(1...n)-Fpow(1...n)；
Above-mentioned frequency domain position difference value FposdiffAs space characteristics amount Ppos, formula expression are as follows:
Ppos=Fposdiff。
Step 206, at least two frequency domain components for being located at interference position in present frame are determined according to space characteristics amount.
Terminal determines at least two frequency domain components for being located at interference position in present frame according to space characteristics amount, comprising:
Calculate the first average value of each frequency location difference value of present frame；In each frequency component of present frame, Determine the target frequency component of the energy value of frequency component preset energy value lower than the first average value or more；By target frequency component It is determined as being located at least two frequency domain components of interference position in present frame.
The step is executed by the identifier in processor, schematically, according to space eigenvalues PposCalculate each frequency domain components Energy value average value T, formula is as follows:
T=average (Fposdiff(1...n))；
Average value T is the first average value；The energy value F of frequency component is determined according to the first average valuepowIt is more flat than first The target frequency component of the low preset energy value R or more of mean value, it is schematically, above-mentioned labeled as the interference position Pitf of present frame Process uses following code:
Step 207, according to the difference of the frequency values of frequency domain components adjacent at least two frequency domain components, adjacent frequency domain point is calculated The frequency interval of amount.
Terminal calculates adjacent frequency domain components according to the difference of the frequency values of frequency domain components adjacent at least two frequency domain components Frequency interval.
The step is executed by the identifier in processor, and schematically, terminal is according on the interference position Pitf of present frame Each frequency component obtain the frequency values of each frequency component；Calculate the difference of the frequency values between adjacent frequency components；To above-mentioned frequency The difference of rate value seeks the second average value, and the second average value is frequency interval Finterval。
Schematically, the above process uses following code:
Step 208, according to the frequency domain interval of adjacent frequency domain components, the obstacle distance on predetermined direction is calculated.
The obstacle distance on predetermined direction is calculated according to the frequency domain interval of adjacent frequency domain components in terminal, comprising: will The velocity of sound obtains division result divided by twice of the second average value, obstacle distance division result being determined as on predetermined direction.
Schematically, which is executed by the identifier in processor, each frequency values as shown in Figure 9 it is different it is opposite away from Result of interference schematic diagram under.Color is brighter, and expression energy is stronger, and darker expression energy is weaker.In a certain specific relative distance Under, the result of interference of different frequency will will appear the case where energy power is alternately present, i.e. interference fringe.And under different distance Interference fringe spacing is different, and interference fringe spacing and relative distance are one-to-one relationship.
So by the spacing for calculating interference fringe, i.e., adjacent 2 interference positions (dark position on figure) difference on the frequency FintervalRelative distance D can be acquiredinterval, formula is as follows:
Dinterval=SoundSpeed/ (Finterval*2)；
By velocity of sound SoundSpeed divided by twice of the second average value FintervalObtained division result is relative distance, phase Adjust the distance the obstacle distance D on predetermined directioninterval。
In conclusion distance measurement method provided in this embodiment, by sonic generator to predetermined direction emission bandpass Noise signal, acoustic receiver receive mixed signal, carry out feature extraction to mixed signal and obtain space characteristics amount, final basis Space characteristics amount carries out sound wave interference analysis, obtains the obstacle distance on predetermined direction.Namely by microphone and earpiece it After the acoustic wave device transmitting sound wave of class, the distance between terminal and barrier are realized using sound wave interference analysis and is measured, end is worked as When the front panel at end is not provided with range sensor, the program is also capable of measuring the distance between terminal and barrier, and then realizes and use Automatically the correlation functions such as screen are ceased when family is conversed.
Method provided in this embodiment guarantees final measurement also by the multiple groups value to frequency domain position difference value Accuracy.
Figure 10 is the flow chart for the distance measurement method that another exemplary embodiment of the application provides, in the present embodiment It is applied to be illustrated for terminal shown in FIG. 1 in this way, this method comprises:
Step 301, by sonic generator to scheduled direction emission bandpass noise signal.
Sonic generator in terminal includes Signal generator, bandpass filter, DAC and signal projector.Terminal passes through Driver in Signal generator generates the noise signal of digital form, and noise signal filters out audible wave frequency by bandpass filter Section and infrasound frequency range, obtain bandpass noise signal；Bandpass noise signal is converted to analog signal by digital signal by DAC； Finally emit above-mentioned analog signal, namely the bandpass noise signal of sound wave form to predetermined direction via signal projector.
Predetermined direction be front panel towards either to.Wherein, bandpass noise signal includes in following signal form Any one: band logical ultrasonic noise signal；The combination noise signal of multifrequency sine signal；Band logical ultrasonic noise signal and multifrequency are just The combination noise signal of string signal.
Step 302, mixed signal is received by acoustic receiver, mixed signal includes bandpass noise signal.
Acoustic receiver in terminal includes signal receiver and ADC.Terminal receives mixed signal by signal receiver. Wherein, mixed signal includes the voice signal of directly incoming acoustic receiver, sonic generator transmitting after sonic generator emits The voice signal and environmental noise of acoustic receiver are passed to after barrier reflects afterwards；Mixed signal is believed by ADC by simulation Number be converted to digital signal W；Finally, above-mentioned digital signal W is entered in processor.
Step 303, mixed signal is filtered, obtains filtered voice signal.
The mixed signal is filtered by terminal, obtains filtered voice signal.
The step is executed by the analyzer in processor, schematically, obtains mixed signal i.e. number letter in step 302 Number W, by digital signal W input filter, filter is filtered digital signal W, filters out the band logical of sonic generator transmitting Ambient noise except the frequency range of noise signal obtains filtered voice signal Wfilt。
Step 304, signal to be processed is obtained according to filtered voice signal.
Terminal obtains signal to be processed according to filtered voice signal, comprising:
Filtered voice signal is determined as signal to be processed.
Optionally, terminal obtains signal to be processed according to filtered voice signal, further includes:
Filtered voice signal is subjected to shift frequency processing, the voice signal after obtaining shift frequency；By the sound letter after shift frequency Number carry out down-sampled processing, will be down-sampled after voice signal be determined as signal to be processed.
The step is executed by the analyzer in processor, schematically, filtered voice signal WfiltBy frequency shifter Shift frequency obtain the voice signal W after shift frequencyshift, formula is as follows:
R=2*pi* (0:n)/fs；
B=(f0-ft)*r；
Wshift=Wfilt*exp(-j*b)；
Wherein, f0For primary frequency, ftFor target frequency, r is the phase value of voice signal, and pi is pi, fsFor sampling Rate；Down-sampled unit is to the voice signal W after shift frequencyshiftCarry out it is down-sampled, obtain it is down-sampled after voice signal Wdownmix。
Terminal will be down-sampled after voice signal WdownmixIt is determined as signal to be processed；
Or, by filtered voice signal WfiltIt is determined as signal to be processed.
Step 305, the present frame in signal to be processed is subjected to frequency domain and is converted to frequency-region signal, the frequency domain letter of present frame Number include n frequency domain components, n is positive integer.
Present frame in signal to be processed is carried out frequency domain and is converted to frequency-region signal, the frequency-region signal packet of present frame by terminal N frequency domain components are included, n is positive integer.
Optionally, the mode of frequency domain conversion includes but is not limited to: in Fourier transformation, cosine transform and transform at least It is a kind of.
The step by processor analyzer execute, schematically, will be down-sampled after voice signal Wdownmix press Frame carries out frequency-domain transform, obtains transformed voice signal F, and formula indicates are as follows:
F (1...n)=FT (Wdownmix(t=- (n-1) ... 0))；
Wherein, FT indicates frequency domain conversion regime；
Or, by filtered voice signal WfiltFrequency-domain transform is carried out by frame, obtains transformed voice signal F, formula It indicates are as follows:
F (1...n)=FT (Wfilt(t=- (n-1) ... 0))；
Wherein, FT indicates frequency domain conversion regime；As n, i.e., the F of every frame includes frequency domain resolution after setting frequency-domain transform herein The n frequency component of F (1) ... F (n)；According to the energy value F for seeking n above-mentioned frequency componentpow, formula expression are as follows:
Fpow(1...n)=RMS (F (1...n)).
Step 306, n frequency domain components are subjected to difference with reference to frequency domain components with n, n obtained frequency domain position is poor Score value is determined as the space characteristics amount of present frame.
N frequency domain components are carried out difference, the n frequency domain position difference value that will be obtained with reference to frequency domain components with n by terminal It is determined as the space characteristics amount of present frame.
The step is executed by the analyzer in processor, schematically, n frequency domain components when prerecording is without object proximity As reference frequency domain components, the energy value D with reference to frequency domain components is calculatedrawpow；To the frequency component acquired in step 204 Energy value FpowWith the energy value D of reference frequency domain componentsrawpowIt carries out difference and obtains the frequency domain position difference value of present frame Fposdiff, formula is as follows:
Fposdiff(1...n)=Frawpow(1...n)-Fpow(1...n)；
Above-mentioned frequency domain position difference value FposdiffAs space characteristics amount Ppos, formula expression are as follows:
Ppos=Fposdiff。
Step 307, the first average value of each frequency location difference value of present frame is calculated.
Terminal calculates the first average value of each frequency location difference value of present frame.
The step is executed by the identifier in processor, schematically, according to space eigenvalues PposCalculate each frequency domain components Energy value average value T, formula is as follows:
T=average (Fposdiff(1...n))；
Average value T is the first average value.
Step 308, in each frequency component of present frame, determine that the energy value of frequency component is lower than the first average value pre- If target frequency component more than energy value.
Terminal determines the energy value F of frequency component according to the first average valuepowPreset energy value R lower than the first average value with On target frequency component.
Step 309, target frequency component is determined as being located at least two frequency domain components of interference position in present frame.
Terminal label target frequency component is the interference position Pitf of present frame.
Schematically, step 308 is with process shown in step 309 using shown in following code:
Step 310, according to the difference of the frequency values of frequency domain components adjacent at least two frequency domain components, adjacent frequency domain point is calculated The frequency interval of amount.
Terminal calculates adjacent frequency domain components according to the difference of the frequency values of frequency domain components adjacent at least two frequency domain components Frequency interval, comprising:
The frequency values of each frequency component are obtained according to each frequency component on the interference position Pitf of present frame；It calculates adjacent The difference of frequency values between frequency component；
After terminal calculates the difference of the frequency values between adjacent frequency components, 311 are entered step, adjacent frequency domain components are calculated Frequency interval.
Step 311, when the frequency interval of adjacent frequency domain components is at least two, the of at least two frequency intervals is calculated Two average values.
Second average value is asked to the difference of frequency values in step 310, the second average value is frequency interval Finterval。
Schematically, step 310 and process shown in step 311 are as follows using code:
Step 312, the obstacle distance on preset direction is obtained according to the second mean value calculation.
The obstacle distance on predetermined direction is calculated according to the frequency domain interval of adjacent frequency domain components in terminal, comprising:
The velocity of sound is obtained into division result divided by twice of second average value, the division result is determined as described pre- Determine the obstacle distance on direction.
Schematically, which is executed by the identifier in processor, each frequency values as shown in Figure 9 it is different it is opposite away from Result of interference schematic diagram under.Color is brighter, and expression energy is stronger, and darker expression energy is weaker.In a certain specific relative distance Under, the result of interference of different frequency will will appear the case where energy power is alternately present, i.e. interference fringe.And under different distance Interference fringe spacing is different, and interference fringe spacing and relative distance are one-to-one relationship.
So by the spacing for calculating interference fringe, i.e., adjacent 2 interference positions (dark position on figure) difference on the frequency FintervalRelative distance D can be acquiredinterval, formula is as follows:
Dinterval=SoundSpeed/ (Finterval*2)；
The division result that velocity of sound SoundSpeed is obtained divided by twice of the second average value is relative distance, relative distance Obstacle distance D as on predetermined directioninterval。
In conclusion distance measurement method provided in this embodiment, by sonic generator to predetermined direction emission bandpass Noise signal, acoustic receiver receive mixed signal, carry out feature extraction to mixed signal and obtain space characteristics amount, final basis Space characteristics amount carries out sound wave interference analysis, obtains the obstacle distance on predetermined direction, realizes between terminal and barrier Range measurement be also capable of measuring the distance between terminal and barrier when the front panel of terminal is not provided with range sensor.
Method provided in this embodiment guarantees the accuracy of data by the multiple groups value to frequency domain position difference value, also By being averaged twice, it is ensured that the accuracy of calculating.In addition, terminal mixed signal is filtered filtered out it is lengthy and jumbled Noise signal, shift frequency and drop are adopted frequency and are handled, and data volume is reduced, and simplify and calculate.
Figure 11 is the flow chart for the distance measurement method that another exemplary embodiment of the application provides, in the present embodiment It is applied to be illustrated for terminal shown in FIG. 1 in this way, this method comprises:
Step 401, by sonic generator to scheduled direction emission bandpass noise signal.
Sonic generator in terminal includes Signal generator, bandpass filter, DAC and signal projector.Terminal passes through Driver in Signal generator generates the noise signal of digital form, and noise signal filters out audible wave frequency by bandpass filter Section and infrasound frequency range, obtain bandpass noise signal；Bandpass noise signal is converted to analog signal by digital signal by DAC； Finally emit the bandpass noise signal of above-mentioned analog signal namely sound wave form to predetermined direction via signal projector.
Predetermined direction be front panel towards either to.Wherein, bandpass noise signal includes in following signal form Any one: band logical ultrasonic noise signal；The combination noise signal of multifrequency sine signal；Band logical ultrasonic noise signal and multifrequency are just The combination noise signal of string signal.
Step 402, mixed signal is received by acoustic receiver, mixed signal includes bandpass noise signal.
Acoustic receiver in terminal includes signal receiver and ADC.Terminal receives mixed signal by signal receiver. Wherein, mixed signal includes the voice signal of directly incoming acoustic receiver, sonic generator transmitting after sonic generator emits The voice signal and environmental noise of acoustic receiver are passed to after barrier reflects afterwards；Mixed signal is believed by ADC by simulation Number be converted to digital signal W；Finally, above-mentioned digital signal W is entered in processor.
Step 403, feature extraction is carried out to mixed signal and obtains space characteristics amount and temporal characteristics amount.
Terminal carries out feature extraction to mixed signal and obtains space characteristics amount, includes the following steps:
Terminal extracts the signal to be processed in mixed signal；Present frame in signal to be processed is carried out frequency domain to be converted to Frequency-region signal, the frequency-region signal of present frame include n frequency domain components；N frequency domain components are poor with reference to frequency domain components progress with n Point, n obtained frequency domain position difference value is determined as to the space characteristics amount of present frame.
Optionally, further include following steps when terminal extracts the signal to be processed in mixed signal:
Mixed signal is filtered by terminal, obtains filtered voice signal；According to filtered voice signal Obtain signal to be processed.The filtering processing is for filtering out audible wave frequency section and infrasound frequency range in mixed signal.At the filtering Reason can be executed by filter.
Filtered voice signal is carried out shift frequency processing by terminal, the voice signal after obtaining shift frequency；By the sound after shift frequency Sound signal carries out down-sampled processing, will be down-sampled after voice signal be determined as signal to be processed.Shift frequency processing can be by moving Frequency device executes, which can be executed by down-sampled unit.
Optionally, the mode of frequency conversion includes but is not limited to: in Fourier transformation, cosine transform and transform at least It is a kind of.
Meanwhile terminal carries out feature extraction to mixed signal and obtains temporal characteristics amount.
The step is executed by the analyzer in processor, schematically, extraction process with reference to shown in Fig. 8 of space characteristics amount In step 203, step 204 and step 205.
Schematically, with reference to Fig. 4, while terminal extracts space characteristics amount, by delay cell 26 to present frame to past M The energy value F of the frequency domain components of framepow 0...Fpow -MIt is saved, M is positive integer；Frequency domain time difference unit 27 is according to current Frame to past M frame frequency domain components energy value Fpow 0...Fpow -MIt carries out Difference Calculation and obtains frequency domain time difference value Ftimediff, Formula is as follows:
Ftimediff 1=Fpow(t=i)-Fpow(t=i-1)；
Above-mentioned formula indicates the single order frequency domain time difference value of the i-th frame；
Ftimediff N=Fpow(t=i)-Fpow(t=i-N)；
Above-mentioned formula indicates the N rank frequency domain time difference value of the i-th frame；Wherein, i be i≤0 integer, N be N≤M+i just Integer；If being the single order frequency domain time difference value F of present frame when i=0timediff 1With N rank frequency domain time difference value Ftimediff N。
Characteristic quantity combines single 28 for frequency domain time difference value FtimediffWith frequency domain position difference value FposdiffIt is combined To time characteristic quantity Ptime.Wherein, temporal characteristics amount can use the following two kinds form PtimeIn any one, it is as follows:
Form 1:Ptimeinclude(Ftimediff 1(t=0...-M) &Fposdiff)；
Form 2:Ptimeinclude(Ftimediff (1...N)(t=0) &Fposdiff)。
Step 404, temporal characteristics amount input machine learning model is obtained into obstacle recognition result.
Temporal characteristics amount input machine learning model is obtained obstacle recognition as a result, obstacle recognition result includes by terminal Close to event, separate event, without any one in event.
Optionally, which is pre- to first pass through multiple samples and be trained to obtain.The sample includes difference Barrier close to/far from terminal when the collected sample time characteristic quantity of institute and corresponding sample event, the sample event package It includes close to event, separate event, without any one in event.The sample further include: acquired when clear is close to terminal The sample time characteristic quantity arrived and corresponding sample event.
Step 405, sound wave interference analysis is carried out according to space characteristics amount, obtains the obstacle distance on predetermined direction.
Step 206, step 207 and step 208 of the detailed process of the step with reference to Fig. 8 during shown.
Step 406, according to obstacle distance and obstacle recognition result disturbance in judgement object moving condition.
Terminal is according to obstacle distance and obstacle recognition result disturbance in judgement object moving condition.Optionally, terminal judges Whether obstacle distance is less than distance threshold, according to the size relation and barrier knowledge between obstacle distance and distance threshold The result type disturbance in judgement object moving condition of other result.
Optionally, distance threshold is the maximum effective distance of terminal recognition barrier, when between terminal and barrier away from When from being greater than distance threshold, then barrier is not present；
When the distance between terminal and barrier are less than distance threshold, then barrier exists, according to obstacle recognition knot The transfer state of fruit disturbance in judgement object.
When it is close to event that obstacle distance, which is less than distance threshold and obstacle recognition result, 407 are entered step；
When obstacle distance is less than distance threshold and obstacle recognition result is far from event, 408 are entered step；
When obstacle distance is greater than distance threshold, 409 are entered step.
Step 407, when it is close to event that obstacle distance, which is less than distance threshold and obstacle recognition result, obstacle is determined Object is approaching.
Step 408, when obstacle distance is less than distance threshold and obstacle recognition result is far from event, obstacle is determined Object is separate.
Step 409, it when obstacle distance is greater than distance threshold, determines and barrier is not present.
In conclusion distance measurement method provided in this embodiment, by sonic generator to predetermined direction emission bandpass Noise signal, acoustic receiver receive mixed signal, carry out feature extraction to mixed signal and obtain space characteristics amount, final basis Space characteristics amount carries out sound wave interference analysis, obtains the obstacle distance on predetermined direction, realizes between terminal and barrier Range measurement be also capable of measuring the distance between terminal and barrier when the front panel of terminal is not provided with range sensor.
In addition, method provided in this embodiment, accurately has identified obstacle according to space characteristics amount and temporal characteristics amount The moving condition that object whether there is and barrier is close/separate.
Figure 12 is the block diagram for the distance-measuring device that one exemplary embodiment of the application provides.The device can pass through Software, hardware or both be implemented in combination with as electronic equipment all or part of, described device includes:
Module 501 occurs, is configured as through sonic generator to predetermined direction emission bandpass noise signal；
Receiving module 502 is configured as receiving mixed signal by acoustic receiver, and mixed signal includes bandpass noise letter Number；
Extraction module 503 is configured as obtaining space characteristics amount to mixed signal progress feature extraction；
Analysis module 504 is configured as carrying out sound wave interference analysis according to space characteristics amount, obtains the barrier on predetermined direction Hinder object distance.
In an alternative embodiment, analysis module 504, comprising:
It determines submodule 55, is configured as being determined according to space characteristics amount in present frame positioned at at least two of interference position Frequency domain components；
Computational submodule 54 is configured as the difference of the frequency values according to frequency domain components adjacent at least two frequency domain components, Calculate the frequency interval of adjacent frequency domain components；According to the frequency interval of adjacent frequency domain components, the barrier on predetermined direction is calculated Hinder object distance.
In an alternative embodiment, space characteristics amount includes: each frequency location difference value of present frame；
Computational submodule 54 is configured as calculating the first average value of each frequency location difference value of present frame；
It determines submodule 55, is configured as in each frequency component of present frame, determine the energy value ratio of frequency component Target frequency the component more than low preset energy value of first average value；Target frequency component is determined as to be located at interference in present frame At least two frequency domain components of position.
In an alternative embodiment, computational submodule 54, the frequency interval for being configured as working as adjacent frequency domain components are When at least two, the second average value of at least two frequency intervals is calculated；It is obtained on predetermined direction according to the second mean value calculation Obstacle distance.
In an alternative embodiment, computational submodule 54 are configured as the velocity of sound divided by twice of the second average value Division result is obtained, obstacle distance division result being determined as on predetermined direction.
In an alternative embodiment, extraction module 503, comprising:
Extracting sub-module 51 is configured as extracting the signal to be processed in mixed signal；
Transform subblock 52 is configured as the present frame progress frequency domain in signal to be processed being converted to frequency-region signal, The frequency-region signal of present frame includes n frequency domain components；
Difference submodule 53 is configured as n frequency domain components carrying out difference, the n that will be obtained with reference to frequency domain components with n A frequency domain position difference value is determined as the space characteristics amount of present frame.
In an alternative embodiment, extracting sub-module 51 are configured as mixed signal being filtered, obtain Filtered voice signal；Signal to be processed is obtained according to filtered voice signal.
In an alternative embodiment, extracting sub-module 51 are configured as filtered voice signal carrying out shift frequency Processing, the voice signal after obtaining shift frequency；Voice signal after shift frequency is subjected to down-sampled processing, will be down-sampled after sound letter Number it is determined as signal to be processed.
In an alternative embodiment, the device further include:
Extraction module 503 is configured as obtaining temporal characteristics amount to mixed signal progress feature extraction；
Identification module 505 is configured as temporal characteristics amount input machine learning model obtaining obstacle recognition as a result, barrier Hindering object recognition result includes close to event, separate event, without any one in event；When obstacle distance is less than distance threshold And obstacle recognition result determines that barrier is approaching when being close to event；When obstacle distance is less than distance threshold and barrier When hindering object recognition result for far from event, determine that barrier is separate；When obstacle distance is greater than distance threshold, determine not There are barriers.
In an alternative embodiment, bandpass noise signal includes any one in following signal form: band logical is super Infrasonic noise signal；The combination noise signal of multifrequency sine signal；The combination of band logical ultrasonic noise signal and multifrequency sine signal is made an uproar Acoustical signal.
In conclusion distance-measuring device provided in this embodiment, by sonic generator to predetermined direction emission bandpass Noise signal, acoustic receiver receive mixed signal, carry out feature extraction to mixed signal and obtain space characteristics amount, final basis Space characteristics amount carries out sound wave interference analysis, obtains the obstacle distance on predetermined direction, realizes between terminal and barrier Range measurement be also capable of measuring the distance between terminal and barrier when the front panel of terminal is not provided with range sensor.
In addition, device provided in this embodiment can by the calculating and identification to time characteristic quantity and space characteristics amount Accurate disturbance in judgement object whether there is and whether existing barrier is occurring close/separate event.
Figure 13 is the block diagram for the distance-measuring device that another exemplary embodiment of the application provides.For example, device 600 It can be mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, Medical Devices, Body-building equipment, personal digital assistant etc..
Referring to Fig.1 3, device 600 may include following one or more components: processing component 602, memory 604, power supply Component 606, multimedia component 608, audio component 610, input/output (I/O) interface 612, sensor module 614, Yi Jitong Believe component 616.
The integrated operation of the usual control device 600 of processing component 602, such as with display, telephone call, data communication, phase Machine operation and record operate associated operation.Processing component 602 may include that one or more processors 618 refer to execute It enables, to perform all or part of the steps of the methods described above.In addition, processing component 602 may include one or more modules, just Interaction between processing component 602 and other assemblies.For example, processing component 602 may include multi-media module, it is more to facilitate Interaction between media component 608 and processing component 602.
Memory 604 is configured as storing various types of data to support the operation in device 600.These data are shown Example includes the instruction of any application or method for operating on device 600, contact data, and telephone book data disappears Breath, picture, video etc..Memory 604 can be by any kind of volatibility or non-volatile memory device or their group It closes and realizes, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM) is erasable to compile Journey read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash Device, disk or CD.
Power supply module 606 provides electric power for the various assemblies of device 600.Power supply module 606 may include power management system System, one or more power supplys and other with for device 600 generate, manage, and distribute the associated component of electric power.
Multimedia component 608 includes the screen of one output interface of offer between device 600 and user.In some realities It applies in example, screen may include liquid crystal display (LCD) and touch panel (TP).If screen includes touch panel, screen can To be implemented as touch screen, to receive input signal from the user.Touch panel include one or more touch sensors with Sense the gesture on touch, slide, and touch panel.Touch sensor can not only sense the boundary of a touch or slide action, and And also detect duration and pressure relevant to touch or slide.In some embodiments, multimedia component 608 includes One front camera and/or rear camera.It is such as in a shooting mode or a video mode, preceding when device 600 is in operation mode It sets camera and/or rear camera can receive external multi-medium data.Each front camera and rear camera can Be a fixed optical lens system or have focusing and optical zoom capabilities.
Audio component 610 is configured as output and/or input audio signal.For example, audio component 610 includes a Mike Wind (MIC), when device 600 is in operation mode, when such as call mode, recording mode, and voice recognition mode, microphone is matched It is set to reception external audio signal.The received audio signal can be further stored in memory 604 or via communication set Part 616 is sent.In some embodiments, audio component 610 further includes a loudspeaker, is used for output audio signal.
I/O interface 612 provides interface between processing component 602 and peripheral interface module, and above-mentioned peripheral interface module can To be keyboard, click wheel, button etc..These buttons may include, but are not limited to: home button, volume button, start button and lock Determine button.
Sensor module 614 includes one or more sensors, and the state for providing various aspects for device 600 is commented Estimate.For example, sensor module 614 can detecte the state that opens/closes of device 600, the relative positioning of component, such as component For the display and keypad of device 600, sensor module 614 can be with the position of 600 1 components of detection device 600 or device Set change, the existence or non-existence that user contacts with device 600, the temperature in 600 orientation of device or acceleration/deceleration and device 600 Variation.Sensor module 614 may include proximity sensor, be configured to detect without any physical contact near The presence of object.Sensor module 614 can also include optical sensor, such as CMOS or ccd image sensor, for answering in imaging With middle use.In some embodiments, which can also include acceleration transducer, gyro sensor, magnetic Sensor, pressure sensor or temperature sensor.
Communication component 616 is configured to facilitate the communication of wired or wireless way between device 600 and other equipment.Device 600 can access the wireless network based on communication standard, such as Wi-Fi, 2G, 3G or 4G or their combination.It is exemplary at one In embodiment, communication component 616 receives broadcast singal or broadcast correlation from external broadcasting management system via broadcast channel Information.In one exemplary embodiment, communication component 616 further includes near-field communication (NFC) module, to promote short range communication. For example, radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra wide band (UWB) skill can be based in NFC module Art, bluetooth (BT) technology and other technologies are realized.
In the exemplary embodiment, device 600 can be believed by one or more application specific integrated circuit (ASIC), number Number processor (DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), controller, microcontroller, microprocessor or other electronic components are realized, for executing above-mentioned distance measurement method.
In the exemplary embodiment, a kind of non-transitorycomputer readable storage medium including instruction, example are additionally provided It such as include the memory 604 of instruction, above-metioned instruction can be executed by the processor 618 of device 600 to complete above-mentioned range measurement side Method.For example, non-transitorycomputer readable storage medium can be ROM, random access memory (RAM), CD-ROM, tape, Floppy disk and optical data storage devices etc..
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to its of the disclosure Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by following Claim is pointed out.
It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and And various modifications and changes may be made without departing from the scope thereof.The scope of the present disclosure is only limited by the accompanying claims.

Claims (22)

1. a kind of distance measurement method, which is characterized in that applied to being provided in the terminal of sonic generator and acoustic receiver, The described method includes:
By the sonic generator to predetermined direction emission bandpass noise signal；
Mixed signal is received by the acoustic receiver, the mixed signal includes bandpass noise signal；
Feature extraction is carried out to the mixed signal and obtains space characteristics amount；
Sound wave interference analysis is carried out according to the space characteristics amount, obtains the obstacle distance on the predetermined direction.
2. the method according to claim 1, wherein described carry out sound wave interference point according to the space characteristics amount Analysis, obtains the obstacle distance on the predetermined direction, comprising:
At least two frequency domain components for being located at interference position in present frame are determined according to the space characteristics amount；
According to the difference of the frequency values of adjacent frequency domain components at least two frequency domain components, the adjacent frequency domain components are calculated Frequency interval；
According to the frequency interval of the adjacent frequency domain components, the obstacle distance on the predetermined direction is calculated.
3. according to the method described in claim 2, it is characterized in that, the space characteristics amount includes: each of the present frame Frequency location difference value；
It is described that at least two frequency domain components for being located at interference position in present frame are determined according to the space characteristics amount, comprising:
Calculate the first average value of each frequency location difference value of the present frame；
In each frequency component of the present frame, determine that the energy value of the frequency component is low more pre- than first average value If target frequency component more than energy value；
The target frequency component is determined as to be located at least two frequency domain components of interference position in the present frame.
4. according to the method described in claim 2, it is characterized in that, the frequency domain interval according to the adjacent frequency domain components, The obstacle distance on the predetermined direction is calculated, comprising:
When the frequency interval of the adjacent frequency domain components is at least two, calculate at least two frequency intervals second is flat Mean value；
The obstacle distance on the predetermined direction is obtained according to second mean value calculation.
5. according to the method described in claim 4, it is characterized in that, it is described obtained according to second mean value calculation it is described pre- Determine the obstacle distance on direction, comprising:
The velocity of sound is obtained into division result divided by twice of second average value, the division result is determined as the predetermined party Upward obstacle distance.
6. method according to any one of claims 1 to 5, which is characterized in that described to be mentioned to mixed signal progress feature Obtain space characteristics amount, comprising:
Extract the signal to be processed in the mixed signal；
Present frame in the signal to be processed is subjected to frequency domain and is converted to frequency-region signal, the frequency domain letter of the present frame Number include n frequency domain components；
The n frequency domain components are subjected to difference with reference to frequency domain components with n, n obtained frequency domain position difference value is determined For the space characteristics amount of the present frame.
7. according to the method described in claim 6, it is characterized in that, the signal to be processed extracted in the mixed signal, Include:
The mixed signal is filtered, filtered voice signal is obtained；
The signal to be processed is obtained according to the filtered voice signal.
8. the method according to the description of claim 7 is characterized in that it is described obtained according to filtered voice signal it is described wait locate Manage signal, comprising:
The filtered voice signal is subjected to shift frequency processing, the voice signal after obtaining shift frequency；
Voice signal after the shift frequency is subjected to down-sampled processing, will be down-sampled after voice signal be determined as it is described to be processed Signal.
9. method according to any one of claims 1 to 5, which is characterized in that the method also includes:
Feature extraction is carried out to the mixed signal and obtains temporal characteristics amount；
Temporal characteristics amount input machine learning model is obtained into obstacle recognition as a result, the obstacle recognition result includes Close to event, separate event, without any one in event；
When the obstacle distance be less than distance threshold and the obstacle recognition result be it is described close to event when, determine described in Barrier is approaching；
When the obstacle distance is less than distance threshold and the obstacle recognition result is the separate event, described in determination Barrier is separate；
When the obstacle distance is greater than distance threshold, determines and barrier is not present.
10. method according to any one of claims 1 to 9, which is characterized in that the bandpass noise signal includes following signal Any one in form:
Band logical ultrasonic noise signal；
The combination noise signal of multifrequency sine signal；
The combination noise signal of the band logical ultrasonic noise signal and the multifrequency sine signal.
11. a kind of distance-measuring device, which is characterized in that described device includes:
Module occurs, is configured as through the sonic generator to predetermined direction emission bandpass noise signal；
Receiving module is configured as receiving mixed signal by the acoustic receiver, and the mixed signal includes bandpass noise Signal；
Extraction module is configured as obtaining space characteristics amount to mixed signal progress feature extraction；
Analysis module is configured as carrying out sound wave interference analysis according to the space characteristics amount, obtain on the predetermined direction Obstacle distance.
12. device according to claim 11, which is characterized in that the analysis module, comprising:
It determines submodule, is configured as determining at least two frequencies in present frame positioned at interference position according to the space characteristics amount Domain component；
Computational submodule is configured as the difference according to the frequency values of adjacent frequency domain components at least two frequency domain components, meter Calculate the frequency interval of the adjacent frequency domain components；According to the frequency interval of the adjacent frequency domain components, it is calculated described predetermined Obstacle distance on direction.
13. device according to claim 12, which is characterized in that the space characteristics amount includes: each of the present frame A frequency location difference value；
The computational submodule is configured as calculating the first average value of each frequency location difference value of the present frame；
The determining submodule is configured as in each frequency component of the present frame, determines the energy of the frequency component Target frequency component more than magnitude preset energy value lower than first average value；The target frequency component is determined as institute State at least two frequency domain components for being located at interference position in present frame.
14. device according to claim 12, which is characterized in that
The computational submodule is configured as calculating at least when the frequency interval of the adjacent frequency domain components is at least two Second average value of two frequency intervals；The barrier on the predetermined direction is obtained according to second mean value calculation Distance.
15. device according to claim 14, which is characterized in that
The computational submodule is configured as the velocity of sound obtaining division result divided by twice of second average value, will be described Division result is determined as the obstacle distance on the predetermined direction.
16. 1 to 15 any device according to claim 1, which is characterized in that the extraction module, comprising:
Extracting sub-module is configured as extracting the signal to be processed in the mixed signal；
Transform subblock is configured as the present frame progress frequency domain in the signal to be processed being converted to frequency-region signal, institute The frequency-region signal for stating present frame includes n frequency domain components；
Difference submodule is configured as the n frequency domain components carrying out difference with reference to frequency domain components with n, by obtained n Frequency domain position difference value is determined as the space characteristics amount of the present frame.
17. device according to claim 16, which is characterized in that
The extracting sub-module is configured as the mixed signal being filtered, obtains filtered voice signal；Root The signal to be processed is obtained according to the filtered voice signal.
18. device according to claim 17, which is characterized in that
The extracting sub-module is configured as the filtered voice signal carrying out shift frequency processing, the sound after obtaining shift frequency Sound signal；Voice signal after the shift frequency is subjected to down-sampled processing, will be down-sampled after voice signal be determined as it is described to Handle signal.
19. 1 to 15 any device according to claim 1, which is characterized in that described device further include:
The extraction module is configured as obtaining temporal characteristics amount to mixed signal progress feature extraction；
Identification module is configured as temporal characteristics amount input machine learning model obtaining obstacle recognition as a result, described Obstacle recognition result includes close to event, separate event, without any one in event；When the obstacle distance be less than away from From threshold value and the obstacle recognition result be it is described close to event when, determine that the barrier is approaching；When the obstacle Object distance determines that the barrier is remote less than distance threshold and when the obstacle recognition result is the separate event From；When the obstacle distance is greater than distance threshold, determines and barrier is not present.
20. 1 to 19 any device according to claim 1, which is characterized in that the bandpass noise signal includes following letter Any one in number form:
Band logical ultrasonic noise signal；
The combination noise signal of multifrequency sine signal；
The combination noise signal of the band logical ultrasonic noise signal and the multifrequency sine signal.
21. a kind of distance-measuring device, which is characterized in that described device includes:
Processor；For storing the memory of the processor-executable instruction；
Wherein, the executable instruction is loaded and executed by the processor to realize as described in claims 1 to 10 is any Distance measurement method.
22. a kind of computer readable storage medium, which is characterized in that be stored at least one finger in the readable storage medium storing program for executing It enables, at least one instruction is loaded and executed by processor to realize the range measurement as described in claims 1 to 10 is any Method.
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