CN109387170B - Distance detection device and distance detection method thereof - Google Patents
Distance detection device and distance detection method thereof Download PDFInfo
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- CN109387170B CN109387170B CN201710690536.4A CN201710690536A CN109387170B CN 109387170 B CN109387170 B CN 109387170B CN 201710690536 A CN201710690536 A CN 201710690536A CN 109387170 B CN109387170 B CN 109387170B
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Abstract
The invention provides a distance detection device and a distance detection method thereof. And correcting the frequency value of the preset sound signal by utilizing the Doppler effect according to the relative speed between the loudspeaker and the sound receiver calculated at the previous time, performing cross correlation operation on the corrected preset sound signal and the sound signal received by the sound receiver to generate a cross correlation signal, and calculating the distance between the loudspeaker and the sound receiver according to the time corresponding to the packet amplitude peak value of the cross correlation signal and the time of the loudspeaker for outputting the packet amplitude peak value of the preset sound signal.
Description
Technical Field
The present disclosure relates to distance detection devices, and particularly to a distance detection device and a distance detection method thereof.
Background
Generally, when calculating the relative distance between the signal source and the receiver, the time difference between the signal output by the signal source and the signal received by the receiver can be obtained by calculating Cross-Correlation (Cross-Correlation) between the received signal and the original output signal at each time point, wherein the time corresponding to the maximum value of the Cross-Correlation signal is the time of receiving the signal, and the time of outputting the signal is known, so the relative distance can be calculated according to the time difference between the time of receiving the signal and the time of outputting the signal. Although the relative distance can be calculated under the condition that the distance between the receiver and the signal source is fixed, when the relative speed between the receiver and the signal source is not equal to 0, the relative distance between the receiver and the signal source cannot be accurately calculated.
Disclosure of Invention
The invention provides a distance detection device and a distance detection method thereof, which can accurately detect the relative distance between an output signal source and a receiving signal device when the relative speed of the output signal source and the receiving signal device is not equal to 0.
The distance detection device of the invention comprises a loudspeaker, a sound receiver and a processor. The loudspeaker outputs a preset sound signal in an m-th time period, the preset sound signal has time-varying amplitude and frequency, a time difference value is formed between a first low-pass filtering signal obtained after the preset sound signal is subjected to low-pass filtering and the preset sound signal, a package amplitude peak value of the preset sound signal is output by the loudspeaker at the first time, m is an integer larger than 1, and the preset sound signal output by the loudspeaker has the first frequency at the first time. The processor performs low-pass filtering on the sound signal received by the sound receiver to generate a second low-pass filtered signal, estimates a second time corresponding to the packet amplitude peak value of the preset sound signal received by the sound receiver according to the time difference and the second low-pass filtered signal, wherein the sound signal received by the sound receiver at the second time corresponds to a second frequency, the processor corrects the frequency value of the preset sound signal by utilizing the Doppler effect according to the relative velocity between the speaker and the sound receiver calculated in the previous time, and performs cross-correlation operation on the corrected preset sound signal and the sound signal received by the sound receiver, so as to generate a cross-correlation signal, and calculate the distance between the speaker and the sound receiver according to the time corresponding to the packet amplitude peak of the cross-correlation signal and the first time, so as to obtain a corrected relative distance.
In an embodiment of the invention, the processor calculates a relative velocity between the speaker and the sound receiver corresponding to the mth time period according to the corrected relative distance between the speaker and the sound receiver corresponding to the mth time period and the corrected relative distance between the speaker and the sound receiver corresponding to the m-1 th time period, and determines whether the relative velocity between the speaker and the sound receiver corresponding to the mth time period has converged within a predetermined range according to the relative velocity between the speaker and the sound receiver corresponding to the mth time period and the previously calculated relative velocity between the speaker and the sound receiver.
In an embodiment of the present invention, when a difference between the relative velocity between the speaker and the sound receiver corresponding to the m-th time period and the previously calculated relative velocity between the speaker and the sound receiver is divided by the relative velocity between the speaker and the sound receiver corresponding to the m-th time period, which is not beyond a preset range, the relative distance between the speaker and the sound receiver corresponding to the m-th time period is used as the final determined relative distance.
In an embodiment of the invention, the processor calculates the initial relative velocity between the speaker and the sound receiver by utilizing the doppler effect according to the first frequency and the second frequency.
In an embodiment of the invention, the processor performs a fourier transform operation on the audio signal received by the audio receiver within a time period centered on the second time to obtain the second frequency.
In an embodiment of the invention, the processor further performs an interpolation operation according to a plurality of frequency domain signals obtained after performing the fourier transform operation to obtain the second frequency.
In an embodiment of the invention, the time difference is a difference between a third time corresponding to a packet amplitude peak of the first low-pass filtered signal and the first time.
In an embodiment of the invention, the speaker and the sound receiver are disposed in a space, and a time length of each time period for outputting the predetermined sound signal is equal to a time length required for transmitting a farthest relative distance in the space between the speaker and the sound receiver.
In an embodiment of the invention, the low-pass filtering is infinite impulse response filtering.
In an embodiment of the invention, the cross correlation operation is a fast cross correlation operation.
The invention also provides a distance detection method of the distance detection device, the distance detection device comprises a loudspeaker and a sound receiver, the loudspeaker is used for outputting a preset sound signal, the preset sound signal has time-varying amplitude and frequency, a time difference value is formed between a first low-pass filtering signal obtained after the preset sound signal is subjected to low-pass filtering and the preset sound signal, a packet amplitude peak value of the preset sound signal is output by the loudspeaker at the first time, the preset sound signal output by the loudspeaker has the first frequency at the first time, and the distance detection method of the distance detection device comprises the following steps. Outputting a preset sound signal in an mth period, wherein m is an integer greater than 1. The sound signal received by the sound receiver is low-pass filtered to produce a second low-pass filtered signal. And estimating a second time corresponding to the sound receiver receiving the packet amplitude peak value of the preset sound signal according to the time difference and the second low-pass filtering signal, wherein the sound signal received by the sound receiver at the second time corresponds to a second frequency. And correcting the frequency value of the preset sound signal by utilizing the Doppler effect according to the relative speed between the loudspeaker and the sound receiver calculated in the previous time. And performing cross correlation operation on the modified preset sound signal and the sound signal received by the sound receiver to generate a cross correlation signal. And calculating the distance between the loudspeaker and the sound receiver according to the time corresponding to the packet amplitude peak value of the cross correlation signal and the first time so as to obtain a corrected relative distance.
In an embodiment of the invention, the distance detecting method of the distance detecting apparatus includes the following steps. And calculating the relative speed between the loudspeaker and the sound receiver corresponding to the mth time period according to the corrected relative distance between the loudspeaker and the sound receiver corresponding to the mth time period and the corrected relative distance between the loudspeaker and the sound receiver corresponding to the m-1 time period. And judging whether the relative speed between the loudspeaker and the sound receiver corresponding to the mth time period is converged within a preset range or not according to the relative speed between the loudspeaker and the sound receiver corresponding to the mth time period and the relative speed between the loudspeaker and the sound receiver calculated in the previous time.
In an embodiment of the present invention, when a difference between the relative velocity between the speaker and the sound receiver corresponding to the m-th time period and the previously calculated relative velocity between the speaker and the sound receiver is divided by the relative velocity between the speaker and the sound receiver corresponding to the m-th time period, which is not beyond a preset range, the relative distance between the speaker and the sound receiver corresponding to the m-th time period is used as the final determined relative distance.
In an embodiment of the invention, the distance detecting method of the distance detecting apparatus includes calculating an initial relative velocity between the speaker and the sound receiver by using a doppler effect according to the first frequency and the second frequency.
In an embodiment of the invention, the distance detecting method of the distance detecting apparatus includes performing a fourier transform operation on the sound signal received by the sound receiver within a time period centered on the second time to obtain the second frequency.
In an embodiment of the invention, the distance detecting method of the distance detecting apparatus includes performing an interpolation operation according to a plurality of frequency domain signals obtained after performing a fourier transform operation to obtain the second frequency.
In an embodiment of the invention, the time difference is a difference between a third time corresponding to a packet amplitude peak of the first low-pass filtered signal and the first time.
In an embodiment of the invention, the speaker and the sound receiver are disposed in a space, and a time length of each time period for outputting the predetermined sound signal is equal to a time length required for transmitting a farthest relative distance in the space between the speaker and the sound receiver.
In an embodiment of the invention, the low-pass filtering is infinite impulse response filtering.
In an embodiment of the invention, the cross correlation operation is a fast cross correlation operation.
Based on the above, the embodiment of the invention corrects the frequency value of the preset audio signal by utilizing the doppler effect according to the previously calculated relative velocity between the speaker and the audio receiver, performs the cross-correlation operation on the corrected preset audio signal and the audio signal received by the audio receiver to generate the cross-correlation signal, and calculates the distance between the speaker and the audio receiver according to the time corresponding to the packet amplitude peak of the cross-correlation signal and the time when the speaker outputs the packet amplitude peak of the preset audio signal. Therefore, when the relative speed of the loudspeaker and the sound receiver is not equal to 0, the relative distance between the loudspeaker and the sound receiver can be accurately detected.
In order to make the aforementioned and other features and advantages of the invention more comprehensible, embodiments accompanied with figures are described in detail below.
Drawings
Fig. 1 is a schematic diagram of a distance detection apparatus according to an embodiment of the invention.
Fig. 2A is a waveform diagram of a preset sound signal output by a speaker according to an embodiment of the invention.
Fig. 2B is a waveform diagram of an audio signal received by an audio receiver according to an embodiment of the invention.
Fig. 3 is a flowchart of a distance detection method of a distance detection apparatus according to an embodiment of the invention.
Description of the reference numerals
102: loudspeaker
104: sound receiver
106: processor with a memory having a plurality of memory cells
s (t): presetting a sound signal
t _ Tx, t _ Max, t _ Tx _ IIR, t _ Rx _ IIR: time of day
t 1: time difference
TA, TC, TN: length of time
Tx _ IIR: a first low-pass filtered signal
Rx _ IIR: second low-pass filtered signal
R1: distance between two adjacent plates
y (t): sound signal
S302 to S312C: distance detection method steps of distance detection device
Detailed Description
Fig. 1 is a schematic diagram of a distance detection apparatus according to an embodiment of the invention, and fig. 1 is referred to. The distance detecting device includes a speaker 102, a sound receiver 104, and a processor 106, wherein the processor 106 is coupled to the sound receiver 104. The speaker 102 is configured to output a predetermined audio signal having a time-varying amplitude and frequency, that is, the predetermined audio signal may correspond to different amplitudes and frequencies at different time points. Further, the speaker 102 may output a preset sound signal every other time period, for example, in the embodiment, the preset sound signal s (t) may be represented by the following formula:
s(t)＝A(t)·cos[2π·f(t)·t](1)
where t is time, A (t) is the amplitude of the predetermined audio signal s (t), and f (t) is the frequency of the predetermined audio signal s (t). The time length of each time interval can be set to, for example, the time length of the predetermined sound signal s (t) plus the time required for the predetermined sound signal s (t) to transmit the farthest relative distance between the speaker 102 and the sound receiver 104 in the usage space, so as to ensure that the sound receiver 104 can receive the predetermined sound signal s (t) emitted by the speaker 102 in each time interval.
In addition, the sound receiver 104 is configured to receive sound signals, and the processor 106 is configured to perform signal processing on the preset sound signals s (t) and the sound signals received by the sound receiver 104. The Processor 106 may include, for example, a Central Processing Unit (CPU), or other Programmable general purpose or special purpose Microprocessor (Microprocessor), Digital Signal Processor (DSP), controller, Application Specific Integrated Circuit (ASIC), Programmable Logic Device (PLD), or other similar Device or combination thereof. In addition, the processor 106 may be configured with a volatile storage medium such as a Random Access Memory (RAM) or a Read Only Memory (ROM), and the processor 106 may be integrated with the sound receiver 104 in the same electronic device (e.g., a portable electronic device) or configured separately from the sound receiver 104 in different electronic devices. In some embodiments, the processor 106 may also communicate signals with the speaker 102 and the sound receiver 104 via a network or other means in a wired or wireless manner.
Further, the processor 106 may perform related transmission with the speaker 102, for example, by network transmission, to obtain a time point at which the speaker 102 outputs the predetermined sound signal s (t), wherein the predetermined sound signal s (t) is subjected to low-pass filtering (for example, infinite impulse response filtering is performed on the predetermined sound signal s (t), but not limited thereto), and a time difference exists between the obtained first low-pass filtered signal and the predetermined sound signal s (t). For example, fig. 2A is a waveform diagram of a predetermined audio signal output by a speaker according to an embodiment of the invention. In fig. 2A, the peak amplitude value of the packet of the predetermined audio signal s (t) corresponds to the time t _ Tx, and the peak amplitude value of the first low-pass filtered signal Tx _ IIR (shown by the dashed line) obtained by low-pass filtering the predetermined audio signal s (t) corresponds to the time t _ Tx _ IIR, so that the time difference t1 between the first low-pass filtered signal Tx _ IIR and the predetermined audio signal s (t) is equal to t _ Tx _ IIR-t _ Tx.
The processor 106 may perform low-pass filtering (for example, performing low-pass filtering similar to the low-pass filtering performed on the predetermined audio signal s (t)) on the audio signal received by the audio receiver 104 to generate a second low-pass filtered signal, and the processor 106 estimates a second time corresponding to the packet amplitude peak of the predetermined audio signal s (t) received by the audio receiver 104 according to the time difference and the second low-pass filtered signal. For example, fig. 2B is a schematic waveform diagram of an audio signal received by an audio receiver according to an embodiment of the invention. In fig. 2B, the amplitude peak of the second low-pass filtered signal Rx _ IIR (shown by the dashed line) obtained by low-pass filtering the audio signal y (t) received by the audio receiver 104 corresponds to the time t _ Rx _ IIR, and the processor 106 may subtract the time difference t1 from the time t _ Rx _ IIR to estimate the time t _ Max corresponding to the packet amplitude peak of the predetermined audio signal received by the audio receiver 104.
It is assumed that in the present embodiment, the speaker 102 outputs the predetermined audio signal s (t) in the mth time period, where m is an integer greater than 1, and the predetermined audio signal s (t) corresponds to the time t _ Tx and the frequency f _ TMax at the peak of the packet amplitude of the predetermined audio signal s (t), and the predetermined audio signal y (t) received by the audio receiver 104 corresponds to the frequency f _ TMax at the time t _ Max. The frequency f _ RMax can be obtained, for example, by the processor 106 performing a fourier transform operation on the audio signal y (T) received by the audio receiver 104 within a time duration T _ C based on the time T _ Max (e.g., centered on the time T _ Max, but not limited thereto). The frequency f _ RMax may be, for example, a frequency value of a frequency domain signal of the sound signal y (t) having a maximum amplitude in a frequency domain, but not limited thereto. In some embodiments, the processor 106 may further perform an interpolation operation (for example, but not limited to, a polynomial interpolation operation) according to the frequency domain signals obtained after performing the fourier transform operation, so as to obtain a more accurate frequency f _ RMax. The time duration T _ C may be set to a time duration corresponding to the predetermined audio signal s (T) having a packet amplitude smaller than the predetermined value, i.e., only the portion of the predetermined audio signal s (T) having a larger packet amplitude is used to compare the frequency values, so as to improve the accuracy of the calculation frequency and reduce the amount of computation by the processor 106.
The processor 106 may modify the frequency value of the predetermined audio signal s (t) according to the previously calculated relative velocity between the speaker 102 and the audio receiver 104 by utilizing the doppler effect, for example, the processor 106 modifies the frequency f (t) of the predetermined audio signal s (t) according to the following formula:
where f' (t) is the corrected frequency,
is the initial relative velocity between the loudspeaker 102 and the sound receiver 104 at the k-1 st order of the mth period, c is the speed of sound, and k is a positive integer. The modified preset sound signal x (t) can be represented by the following formula:
the initial relative velocity between the speaker 102 and the sound receiver 104 (the relative velocity when k equals to 1) can be calculated by the processor 106 according to the frequency f _ RMax and the frequency f _ TMax, for example, according to the following sub-calculation.
Wherein
Is the initial relative velocity between the loudspeaker 102 and the sound receiver 104 for the mth time period. The processor 106 may perform a cross-correlation operation on the modified predetermined audio signal x (t) and the audio signal y (t) received by the audio receiver 104 to generate a cross-correlation signal, wherein the cross-correlation operation may be, for example, a fast cross-correlation operation, but is not limited thereto. The processor 106 may calculate the distance R1 between the speaker 102 and the audio receiver 104 according to the time corresponding to the packet amplitude peak of the cross-correlation signal and the time t _ Tx corresponding to the packet amplitude peak of the predetermined audio signal s (t).
For example, the corrected relative distance of the kth order of the mth period
Can be represented by the following formula:
the processor 106 may calculate the relative velocity between the speaker 102 and the sound receiver 104 corresponding to the mth time period according to the corrected relative distance between the speaker 102 and the sound receiver 104 corresponding to the mth time period and the corrected relative distance between the speaker 102 and the sound receiver 104 corresponding to the m-1 th time period. For example, the relative velocity of the kth order of the mth period
Can be represented by the following formula:
where Td is the time length of each period, Rm-1The calculated relative distance for the (m-1) th session. The processor 106 may obtain the initial relative velocity
Thereafter, the phase between the speaker 102 and the sound receiver 104 starts to be recursively calculated according to the above equations (2), (3), (5), and (6)The velocity is adjusted until the relative velocity converges to a specified value. For example, the processor 106 may determine the relative velocity between the speaker 102 and the sound receiver 104 corresponding to the mth time period (the relative velocity of the kth order of the mth time period)
) And the relative velocity between the speaker 102 and the sound receiver 104 calculated in the previous time (the relative velocity of the k-1 st order of the m-th period)
) It is determined whether the relative velocity between the speaker 102 and the sound receiver 104 corresponding to the m-th time period has converged within a predetermined range. For example, the processor 106 may determine whether the relative velocity has converged according to the following equation:
wherein THV is a predetermined threshold value when
Represents the corrected relative distance of the kth order of the mth time period calculated by the processor 106 when the absolute value of (a) converges to the preset range of-THV and THV
The accuracy of (a) is met, and it can be used as the m-th period to finally determine the relative distance. Similarly, the relative velocity of the kth order of the mth period
It can also be used as the final determined relative velocity for the mth period. In addition, the final determined relative acceleration a between the speaker 102 and the sound receiver 104 for the m-th time periodmAs shown in the following formula:
am＝(vm-vm-1)/Td (8)
fig. 3 is a flowchart of a distance detection method of a distance detection apparatus according to an embodiment of the invention, please refer to fig. 3. In this embodiment, the distance detecting device includes a speaker and a sound receiver, the preset sound signal output by the speaker has a time-varying amplitude and frequency, a time difference exists between a first low-pass filtered signal obtained by low-pass filtering the preset sound signal and the preset sound signal, a packet amplitude peak of the preset sound signal is output by the speaker at a first time, and the preset sound signal output by the speaker has a first frequency at the first time, wherein the low-pass filtering process may be, for example, an infinite impulse response filtering process, but not limited thereto. As can be seen from the above embodiments, the distance detection method of the distance detection apparatus may include at least the steps of first outputting a preset sound signal in an m-th period (step S302), where m is an integer greater than 1. In addition, the time length of each period for outputting the preset sound signal may be, for example, equal to the time length required for the preset sound signal to transfer the farthest relative distance that can be configured in the space where the speaker and the sound receiver are located.
Then, the sound signal received by the sound receiver is low-pass filtered to generate a second low-pass filtered signal (step S304). Then, a second time corresponding to the packet amplitude peak of the predetermined audio signal received by the audio receiver is estimated according to the time difference and the second low-pass filtered signal (step S306), wherein the audio signal received by the audio receiver at the second time corresponds to a second frequency, the second frequency can be obtained by performing a fourier transform operation on the audio signal received by the audio receiver within an off-time period centered on the second time, for example, in some embodiments, an interpolation operation can be further performed according to a plurality of frequency domain signals obtained after performing the fourier transform operation to obtain the second frequency. The time difference may be, for example, a difference between a third time corresponding to the packet amplitude peak of the first low-pass filtered signal and the first time. Then, the frequency value of the preset audio signal is modified by utilizing the doppler effect according to the previously calculated relative velocity between the speaker and the audio receiver (step S308), and the modified preset audio signal and the audio signal received by the audio receiver are subjected to a cross-correlation operation to generate a cross-correlation signal (step S310), wherein the cross-correlation operation may be, for example, a fast cross-correlation operation, but not limited thereto. Then, the distance between the speaker and the sound receiver is calculated according to the time corresponding to the packet amplitude peak of the cross-correlation signal and the first time to obtain a corrected relative distance (step S312).
For example, in step S312, a relative velocity between the speaker and the sound receiver corresponding to the mth time period may be calculated according to the corrected relative distance between the speaker and the sound receiver corresponding to the mth time period and the corrected relative distance between the speaker and the sound receiver corresponding to the m-1 th time period (step S312A), wherein the initial relative velocity between the speaker and the sound receiver may be calculated according to the first frequency and the second frequency by utilizing the doppler effect. Then, it is determined whether the relative velocity between the speaker and the sound receiver corresponding to the mth time period has converged within the predetermined range according to the relative velocity between the speaker and the sound receiver corresponding to the mth time period and the previously calculated relative velocity between the speaker and the sound receiver (step S312B). If the distance is within the predetermined range, the relative distance between the speaker and the sound receiver corresponding to the m-th time interval is used as the final determined relative distance (step S312C). On the contrary, if the signal does not converge to the predetermined range, the process returns to step S308, and the frequency value of the predetermined sound signal is adjusted according to the latest calculated relative velocity, and the subsequent step of calculating the relative distance is continued until the result that the relative distance can be finally determined is obtained.
In summary, the embodiments of the present invention correct the frequency value of the predetermined audio signal by utilizing the doppler effect according to the previously calculated relative velocity between the speaker and the audio receiver, perform the cross-correlation operation on the corrected predetermined audio signal and the audio signal received by the audio receiver to generate the cross-correlation signal, and calculate the distance between the speaker and the audio receiver according to the time corresponding to the packet amplitude peak of the cross-correlation signal and the time when the speaker outputs the packet amplitude peak of the predetermined audio signal. Therefore, when the relative speed of the loudspeaker and the sound receiver is not equal to 0, the relative distance between the loudspeaker and the sound receiver can be accurately detected.
Although the present invention has been described with reference to the above embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention.
Claims (20)
1. A distance detection device comprising:
a speaker, configured to output a preset sound signal in an mth time period, where the preset sound signal has a time-varying amplitude and frequency, a time difference exists between a first low-pass filtered signal obtained by low-pass filtering the preset sound signal and the preset sound signal, and a packet amplitude peak of the preset sound signal is output by the speaker at a first time, where m is an integer greater than 1, where the preset sound signal output by the speaker has the first frequency at the first time;
a sound receiver; and
a processor, performing the low-pass filtering on the sound signal received by the sound receiver to generate a second low-pass filtered signal, estimating a second time corresponding to a packet amplitude peak value of the preset sound signal received by the sound receiver according to the time difference and the second low-pass filtered signal, wherein the sound signal received by the sound receiver at the second time corresponds to a second frequency, correcting the frequency value of the preset sound signal by using the doppler effect according to a previously calculated relative velocity between the speaker and the sound receiver, performing a cross-correlation operation on the corrected preset sound signal and the sound signal received by the sound receiver to generate a cross-correlation signal, and calculating a distance between the speaker and the sound receiver according to the time corresponding to the packet amplitude peak value of the cross-correlation signal and the first time, to obtain a corrected relative distance.
2. The distance detection device according to claim 1, wherein the processor calculates a relative velocity between the speaker and the sound receiver corresponding to the m-th time period from the corrected relative distance between the speaker and the sound receiver corresponding to the m-th time period and a corrected relative distance between the speaker and the sound receiver corresponding to the m-1 th time period, and determines whether the relative velocity between the speaker and the sound receiver corresponding to the m-th time period has converged into a predetermined range or not from the relative velocity between the speaker and the sound receiver corresponding to the m-th time period and the previously calculated relative velocity between the speaker and the sound receiver.
3. The distance detection apparatus according to claim 2, wherein when the difference between the relative velocity between the speaker and the sound receiver corresponding to the m-th time period and the previously calculated relative velocity between the speaker and the sound receiver divided by the relative velocity between the speaker and the sound receiver corresponding to the m-th time period does not exceed the preset range, the relative distance between the speaker and the sound receiver corresponding to the m-th time period is taken as the final determined relative distance.
4. The distance detection device according to any one of claims 1 to 3, wherein the processor calculates an initial relative velocity between the speaker and the sound receiver using the Doppler effect from the first frequency and the second frequency.
5. The distance detection apparatus according to any one of claims 1 to 3, wherein the processor performs a Fourier transform operation on the sound signal received by the sound receiver for a time length centered on the second time to obtain the second frequency.
6. The distance detecting device as claimed in claim 5, wherein the processor further performs an interpolation operation according to a plurality of frequency domain signals obtained after performing a Fourier transform operation to obtain the second frequency.
7. The distance detection apparatus according to any one of claims 1 to 3, wherein the time difference is a difference between a third time corresponding to the packet amplitude peak of the first low-pass filtered signal and the first time.
8. The distance detection apparatus according to any one of claims 1 to 3, wherein the speaker and the sound receiver are arranged in a space, and a time length of each period for outputting the preset sound signal is equal to a time length required for the preset sound signal to deliver a farthest relative distance at which the speaker and the sound receiver can be arranged in the space.
9. A distance detection apparatus according to any one of claims 1 to 3, wherein said low-pass filtering is infinite impulse response filtering.
10. The distance detection apparatus according to any one of claims 1 to 3, wherein the cross-correlation operation is a fast cross-correlation operation.
11. A distance detection method of a distance detection device, the distance detection device comprising a speaker and a sound receiver, the speaker being configured to output a preset sound signal, the preset sound signal having a time-varying amplitude and frequency, a time difference being present between a first low-pass filtered signal obtained by low-pass filtering the preset sound signal and the preset sound signal, a packet amplitude peak of the preset sound signal being output by the speaker at a first time, the preset sound signal output by the speaker having a first frequency at the first time, the distance detection method of the distance detection device comprising:
outputting a preset sound signal in an mth period, m being an integer greater than 1;
performing the low pass filtering on the sound signal received by the sound receiver to generate a second low pass filtered signal;
estimating a second time corresponding to the sound receiver receiving the packet amplitude peak value of the preset sound signal according to the time difference and the second low-pass filtering signal, wherein the sound signal received by the sound receiver at the second time corresponds to a second frequency;
correcting the frequency value of the preset sound signal by utilizing the Doppler effect according to the relative speed between the loudspeaker and the sound receiver calculated at the previous time;
performing cross-correlation operation on the corrected preset sound signal and the sound signal received by the sound receiver to generate a cross-correlation signal; and
and calculating the distance between the loudspeaker and the sound receiver according to the time corresponding to the packet amplitude peak value of the cross correlation signal and the first time so as to obtain a corrected relative distance.
12. The distance detection method of the distance detection apparatus according to claim 11, comprising:
calculating a relative velocity between the speaker and the sound receiver corresponding to the mth time period according to the corrected relative distance between the speaker and the sound receiver corresponding to the mth time period and the corrected relative distance between the speaker and the sound receiver corresponding to the m-1 th time period; and
and judging whether the relative speed between the loudspeaker and the sound receiver corresponding to the mth time interval converges to a preset range or not according to the relative speed between the loudspeaker and the sound receiver corresponding to the mth time interval and the previously calculated relative speed between the loudspeaker and the sound receiver.
13. The distance detection method of a distance detection apparatus according to claim 12, wherein when a difference value between the relative speed between the speaker and the sound receiver corresponding to the m-th period and the previously calculated relative speed between the speaker and the sound receiver divided by the relative speed between the speaker and the sound receiver corresponding to the m-th period does not exceed the preset range, the relative distance between the speaker and the sound receiver corresponding to the m-th period is taken as a final determination relative distance.
14. The distance detection method of the distance detection apparatus according to any one of claims 11 to 13, comprising:
calculating an initial relative velocity between the speaker and the sound receiver using the Doppler effect according to the first frequency and the second frequency.
15. The distance detection method of the distance detection apparatus according to any one of claims 11 to 13, comprising:
and performing Fourier transform operation on the sound signal received by the sound receiver within the time length taking the second time as the center to obtain the second frequency.
16. The distance detection method of the distance detection apparatus according to any one of claims 11 to 13, comprising:
and carrying out interpolation operation according to a plurality of frequency domain signals obtained after carrying out Fourier transform operation to obtain the second frequency.
17. The method according to any one of claims 11 to 13, wherein the time difference is a difference between a third time corresponding to a packet amplitude peak of the first low-pass filtered signal and the first time.
18. The distance detection method according to any one of claims 11 to 13, wherein the speaker and the sound receiver are arranged in a space, and a time length of each period for outputting the preset sound signal is equal to a time length required for the preset sound signal to deliver a farthest relative distance in the space at which the speaker and the sound receiver can be arranged.
19. The distance detection method of the distance detection apparatus according to any one of claims 11 to 13, wherein the low-pass filtering is infinite impulse response filtering.
20. The distance detection method of the distance detection apparatus according to any one of claims 11 to 13, wherein the cross-correlation operation is a fast cross-correlation operation.
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