CN115015939A - Acoustic sensing system and method for enlarging acoustic sensing range - Google Patents
Acoustic sensing system and method for enlarging acoustic sensing range Download PDFInfo
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Abstract
The invention discloses an acoustic sensing system and a method for enlarging the acoustic sensing range, wherein the system comprises a pre-processing module, a signal transceiving module and a post-processing module; the pre-processing module is used for selecting a signal frame, performing frequency domain interpolation on the signal frame to obtain a fixed-length signal frame, modulating the signal frame into an ultrasonic signal and then uploading the ultrasonic signal to the signal transceiving module; the signal receiving and transmitting module comprises a sending end and a receiving end, the sending end is used for continuously sending the fixed-length signal frames, and the receiving end is used for receiving the fixed-length signal frames bearing the motion information of the object and uploading the fixed-length signal frames to the post-processing module; the post-processing module is used for calculating Channel Impulse Response (CIR) of the fixed-length signal frame, corresponding the fixed-length signal frame to the maximum sensing distance, establishing a quantitative relation, and visualizing the fixed-length signal frame in a CIR heat map drawing mode. The sensing distance range can be flexibly adjusted by changing the length of the originally sent fixed-length signal frame according to different application scene requirements, so that more accurate and wider-range sensing is realized.
Description
Technical Field
The invention belongs to the field of intelligent sensing, and particularly relates to an acoustic sensing system and a method for enlarging an acoustic sensing range.
Background
At present, the perception of the physical world enters a new ubiquitous intelligence stage, the internet of things and the artificial intelligence technology jointly promote the society to move from the internet of everything to the era of intelligent association of everything, and the intelligent wireless perception is used as the cross field of the internet of things and the artificial intelligence, reflects the trend and becomes a research hotspot and a focus in the academic and industrial fields. The common technical scheme of intelligent sensing comprises sensing by means of wireless signals, Bluetooth, an inertial sensor, image processing and the like. The research also has the technical scheme that the outputs of a plurality of sensors are fused in a sensor fusion mode so as to improve the system performance; or by using a wearable device, the common movement of the human body is perceived. These methods have advantages and disadvantages, and have limitations according to different use scenes. For example, fine-grained high-band wireless signal sensing often requires specialized hardware, such as custom chips used by google in Soli systems; the data transmission rate of the Bluetooth is low, so that the Bluetooth is not suitable for perception application with high requirements on accuracy and real-time performance; inertial sensors have large cumulative errors and are difficult to eliminate.
Ultrasonic signals refer to sound waves beyond the human ear, which are typically greater than 18KHz in frequency. The ultrasonic wave has the characteristics of good directivity, strong reflectivity, easy acquisition of more concentrated sound energy and the like, is widely applied to the fields of distance measurement, speed measurement, positioning and the like, and has great utilization value in the aspects of medicine, military, industry and the like. In the intelligent perception field, acoustic perception is more and more favored and valued by people. The hardware equipment needed by acoustic perception is high in universality, a loudspeaker and a microphone are visible everywhere, and the loudspeaker and the microphone are embedded into a plurality of intelligent terminal equipment. In addition, the ultrasonic signals are used for perception, the applicable scenes are rich, and the interference caused by low-frequency noise and human voice in the environment is limited. However, due to the fact that the spatial propagation energy of the ultrasonic signal is seriously attenuated, the existing acoustic sensing scheme adopts Near-Field sensing (Near-Field Sensor), the sensing range is small, and the sensing distance is short (generally less than 0.5 m). In order to increase the signal strength in the prior art, an additional gain amplification module is usually required to be arranged or a device with higher transmission power and an antenna are adopted, which not only increases the complexity of hardware devices, but also increases the economic cost.
Disclosure of Invention
The invention aims to provide an acoustic sensing system and a method for increasing the acoustic sensing range, which can improve the maximum sensing distance without increasing the transmission power and upgrading and modifying the existing hardware.
The acoustic sensing system provided by the invention comprises
The system comprises a pre-processing module, a signal receiving and transmitting module and a post-processing module;
the pre-processing module is used for selecting a signal frame, performing frequency domain interpolation on the signal frame to obtain a fixed-length signal frame, modulating the signal frame into an ultrasonic signal and then uploading the ultrasonic signal to the signal transceiving module;
the signal receiving and transmitting module comprises a sending end and a receiving end, the sending end is used for continuously sending the fixed-length signal frames, and the receiving end is used for receiving the fixed-length signal frames bearing the motion information of the object and uploading the fixed-length signal frames to the post-processing module;
the post-processing module is used for calculating Channel Impulse Response (CIR) of the fixed-length signal frame, corresponding the fixed-length signal frame to the maximum sensing distance, establishing a quantitative relation, and visualizing the fixed-length signal frame in a CIR heat map drawing mode.
The preprocessing module comprises a baseband signal selection module, an interpolation module and a modulation module;
the baseband signal selection module is used for selecting a signal frame with constant amplitude and zero autocorrelation and transmitting the signal frame to the interpolation module;
the interpolation module is used for carrying out frequency domain interpolation on the signal frame.
The modulation module is used for modulating the baseband signal into an ultrasonic signal which can not be heard by human ears.
The transmitting end is a loudspeaker, and the receiving end is a microphone.
The post-processing module comprises a channel impulse response module, an extraction module, a calculation module and a visualization module;
the channel impulse response module is used for describing the influence of an object on the fixed-length signal frame propagation and transmitting the influence to the extraction module after representing the influence;
the extraction module is used for filtering static components from the CIR and transmitting the extracted dynamic components to the calculation module;
the calculation module is used for calculating a perception range corresponding to the fixed-length signal frame according to the dynamic component and transmitting the perception range to the visualization module;
the visualization module is used for visualizing the system perception range and the object motion information.
The extraction module adopts a difference method to extract dynamic components, subtracts CIRs of received two adjacent time fixed-length signal frames, and filters static components.
The farthest sensing distance calculated in the calculating module is as follows: s is 0.0035(m) × l, where l is the sequence length of the fixed-length signal frame.
And the visualization module draws a heat map according to the CIR obtained by calculating the cross-correlation, and visually displays the system sensing range and the object motion information in the form of images.
The invention also provides a method for enlarging the acoustic perception range, which is carried out by adopting the acoustic perception system.
The method comprises the following steps:
s.1, calculating the quantitative relation between the sequence length of the ultrasonic wave transmission signal frame and the maximum perception distance;
s.2, verifying the quantitative relation;
and S.3, designing a fixed-length ultrasonic wave sending signal frame according to the maximum perception distance based on the quantitative relation.
The quantitative relationship is as follows: the farthest sensing distance s is 0.0035(m) x l, wherein l is the sequence length of the fixed-length signal frame; the ultrasonic wave sending signal frame is a signal frame with constant amplitude and zero autocorrelation.
When the ultrasonic signal processing device is used, a baseband signal frame is selected through the pre-processing module, frequency domain interpolation is carried out on the baseband signal frame to obtain a fixed-length signal frame, and then the fixed-length signal frame is modulated into an ultrasonic signal which can not be heard by human ears and then is uploaded to the signal transceiving module; the signal transceiver module continuously transmits the fixed-length signal frame, receives the fixed-length signal frame carrying the motion information of the object and uploads the fixed-length signal frame to the post-processing module; the post-processing module is used for calculating Channel Impulse Response (CIR) of the fixed-length signal frame, corresponding the fixed-length signal frame to the maximum sensing distance, establishing a quantitative relation, and visualizing the fixed-length signal frame in a CIR heat map drawing mode. The sensing distance range can be flexibly adjusted by changing the length of the originally sent fixed-length signal frame according to different application scene requirements, so that more accurate and wider-range sensing is realized.
Drawings
FIG. 1 is a block diagram of a system in accordance with a preferred embodiment of the present invention.
FIG. 2(a) is a diagram of the original ZC sequence before interpolation in the preferred embodiment.
FIG. 2(b) is a schematic diagram of the characteristics of zero auto-correlation of ZC sequences in the preferred embodiment.
FIG. 3(a) is a schematic view of the ZC sequence after interpolation in the preferred embodiment.
FIG. 3(b) is a schematic diagram of FFT transformation of ZC sequences after interpolation in the preferred embodiment.
FIG. 4 is a heat map of the basic test in the preferred embodiment.
Fig. 5 is a schematic diagram of a verification test arrangement in the preferred embodiment.
FIG. 6 is a heat map of validation test one in the preferred embodiment.
FIG. 7 is a heat map of validation test two in the preferred embodiment.
FIG. 8 is a heat map of validation experiment three in the preferred embodiment.
Fig. 9 is a heat map of validation test four in the preferred embodiment.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In a first preferred embodiment, as shown in fig. 1, the acoustic sensing system disclosed in this embodiment includes a preprocessing module, a signal transceiving module, and a postprocessing module.
The preprocessing module is used for selecting a baseband signal frame, carrying out frequency domain interpolation on the baseband signal frame to obtain a fixed-length signal frame, modulating the fixed-length signal frame into an ultrasonic signal which can not be heard by human ears, and uploading the ultrasonic signal to the signal transceiving module. The pre-processing module selects a Zadoff-Chu (ZC) sequence as a baseband signal. ZC sequences are complex sequences that are members of the CAZAC (constant amplitude zero autocorrelation) family of sequences that have the property of constant amplitude, zero autocorrelation. The constant amplitude can ensure that a signal with constant power is transmitted, and zero autocorrelation refers to the fact that the correlation value of a ZC sequence and a self (non-whole period) shift sequence is 0, and the property has an important role in positioning the starting point of a received signal; the good autocorrelation is beneficial to accurately positioning the starting point of the first frame signal in the continuous received signal frames and finding the boundary of the subsequent signal frames; it is helpful to calculate the CIR using the cross-correlation. The mathematical expression for the ZC sequence is as follows:
wherein N is more than or equal to 0 and less than or equal to N ZC Q is a constant, N ZC Is the length of the sequence, the variable u is an integer, 0 ≦ u < N ZC And gcd (N) ZC And u) is 1. Selecting different u and N ZC ZC sequences of different lengths may be generated.
In this embodiment, u is 64, N ZC The ZC sequence exemplified by 127 is explained in detail. The correlation properties of the ZC sequence are shown in FIGS. 2(a) and 2(b), in which the solid line in FIG. 2(a) represents the real part of a 127-bit ZC sequence and the dashed line represents the imaginary part of the sequence; fig. 2(b) shows the autocorrelation coefficients. In order to increase the perception distance, the frequency domain interpolation is carried out on the original 127-bit ZC sequence, and the length of a transmission signal frame after the interpolation is calculated as follows:
N′ ZC ＝N ZC f s /B (2)
wherein f is s Is the sampling rate of the signal, and B is the bandwidth of the interpolated signal. FIG. 3(a) shows N 'after interpolation' ZC A solid line and a broken line in the figure represent a real part and an imaginary part of a ZC sequence of 2048 bits, respectively; fig. 3(b) shows the fourier transform result. To ensure that the modulated signal is an inaudible ultrasonic signal, the carrier frequency f is selected in this embodiment c Is > 20 kHz. The pre-processing module forms a fixed-length signal frame after the selected signal frame is subjected to frequency domain interpolation processing, modulates the fixed-length signal frame into an ultrasonic signal and transmits the ultrasonic signal to the signal transceiving module to serve as a signal sending frame.
The signal receiving and transmitting module comprises a sending end and a receiving end, the sending end is used for continuously sending the fixed-length signal frames, and the receiving end is used for receiving the fixed-length signal frames bearing the motion information of the object and uploading the fixed-length signal frames to the post-processing module.
Wherein, the sending terminal selects a loudspeaker and the receiving terminal selects a microphone. At the sending end, the loudspeaker continuously sends the designed fixed-length signal frame. The ultrasonic fixed-length signal frame is propagated in the environment, different moving objects can be encountered in the propagation process, the motion condition of the object can affect the ultrasonic signal, and the effect can be stored in the propagation process. And at a receiving end, a microphone is used for receiving the ultrasonic fixed-length signal frame bearing the object motion information and transmitting the ultrasonic fixed-length signal frame to a post-processing module.
The post-processing module is used for calculating Channel Impulse Response (CIR) of the fixed-length signal frame, corresponding the fixed-length signal frame to the maximum sensing distance, establishing a quantitative relation, and visualizing the fixed-length signal frame in a CIR heat map drawing mode. The post-processing module comprises a channel impulse response module, an extraction module, a calculation module and a visualization module.
The Channel Impulse Response (CIR) module can describe the influence of the Channel on the signal, and the influence of the object motion on the spatial propagation of the ultrasonic fixed-length signal frame can be obtained by calculating the CIRs under different scenes. In channel measurements, the CIR can separate frames of ultrasound fixed-length signals propagating in space by similar propagation distances. Where Δ d corresponds to a certain propagation delay range (i.e. a certain propagation distance range), usually called tap (tap), and the difference between the propagation delays is smaller than
V is the propagation velocity of the acoustic signal in air (room temperature), typically 340 m/s. The number of taps corresponds to the spatial propagation distance of the ultrasonic signal, and a smaller number of taps represents a closer signal propagation distance, whereas a larger number of taps represents a farther ultrasonic spatial propagation distance. Therefore, the sensing distance range s can be set by the number of taps L, which is specifically expressed as:
where Δ d is the distance corresponding to one tap, and represents the propagation distance of the signal between two adjacent sampling points. f. of s Is the sampling rate of the signal. By reasonably setting different tap quantities in different application scenes, the interference caused by objects outside a certain range can be filtered, the sensing range is clear, and the sensing result is more accurate.
The measured CIR includes two components, namely a static component formed by a direct path (LoS) signal from a loudspeaker to a microphone and a reflected signal caused by static factors (such as tables and chairs) in the environment; the second is the dynamic component formed by the reflected signal caused by the moving object. The influence of static factors on the spatial propagation of the ultrasonic signals is fixed, and the influence of a moving object on the spatial propagation of the ultrasonic signals is dynamically changed. In order to eliminate the influence of static components from the CIR result and effectively extract the influence of dynamic components, an extraction module is arranged, the extraction module carries out difference on continuous CIR values obtained at two adjacent moments (t-1 and t moments), the static components which are invariable are effectively filtered in the difference process, and the change of the CIR dynamic components is effectively reserved. And passes the dynamic component to the calculation module.
And the calculation module is used for calculating the corresponding perception range of the fixed-length signal frame according to the dynamic component. And passes the perception range to a visualization module.
Because the propagation speed v of the acoustic signal in the air at 15 ℃ (normal temperature) is 340m/s, when the sampling rate f of the signal is s Sample time interval of 48kHz
Within one sampling interval Δ t of the signal, the propagation distance Δ d ≈ v × Δ t ≈ 340(m/s) × 0.021(ms) ≈ 0.007 m. Since the signal is sent-reflected-received, Δ d represents the round-trip transmission distance between the system equipment and the perception object, and therefore the distance between the perception object and the system equipment is half of the signal propagation distance, and Δ d/2 is 0.0035m, so that one tap represents 3.5 mm. When the length of the transmitted signal frame is l, the perception is realizedThe maximum distance of (d) is 0.0035(m) × l. Selecting different u and N in formula (1) ZC The length of the ZC sequence can be changed and the original ZC sequence can be interpolated into complex sequences of different lengths according to equation (2). Therefore, the calculation module sets the calculation formula s to 0.00035(m) × l. Therefore, the perception ranges corresponding to the transmission signal frames with different lengths can be calculated.
And the visualization module draws a heat map according to the CIR obtained by calculating the cross-correlation, and visually displays elements such as a system sensing range, object motion information and the like in an image form. The system is used for visualizing the perception range, and the visualization module is displayed in a heat map mode to visualize the related information of the moving object. The abscissa of the CIR heatmap is time, which shows the motion time of the target object; the ordinate is distance, which shows the relative distance between the target object and the system equipment and the self-movement distance of the object, the change of colors at different positions in the heat map shows the change of the CIR intensity, the larger the color value is, the larger the CIR intensity is, the stronger the signal energy is, and the movement trend of the object is represented by the distribution of the heat map images. After the ultrasonic signals reflected by the moving object are received by the microphone and are subsequently processed, the CIR intensity of the corresponding moving area is shown to be large and obvious change can occur in the heat map.
In this embodiment, during the basic test, an experimenter holds a rectangular plastic plate (the plastic plate is a moving object) with a length of 0.3 m and a width of 0.2 m, and moves the plastic plate once before and after 0.8 m away from the transceiver device, the moving distance is 0.2 m, and the system draws a heat map shown in fig. 4 according to the CIR measurement result. As can be seen from fig. 4, the distance between the moving object and the transceiver device decreases from 0.8 m to 0.6 m in 2 s to 3 s, which indicates that the object gradually approaches the transceiver device during the time period. Within 3-5 seconds, the CIR intensity is minimal (close to 0) and unchanged, and the object is stationary. The distance between the object and the transceiver device increases from 0.6 m to 0.8 m in 5-6 seconds, indicating that the object is gradually away from the transceiver device during this time period. The heat map drawn by the visualization module is shown in fig. 4.
To further verify this quantitative relationship in this example, the inventors performed multiple experiments.
As shown in fig. 5, at a distance x meters from the transceiver (speaker and microphone) (which is referred to as an initial point), an experimenter holds a rectangular plastic plate with a length of 30 cm and a width of 20 cm, moves the plastic plate back and forth at a comfortable speed for a certain distance, and moves back and forth twice within the detection time, with an interval of 2-4 seconds each time. In order to perceive different distance ranges, the length l of the transmitted signal frame is changed. Fig. 6 to 9 show the results of the system sensing the motion of the plastic plate when l is 512, x is 0.8, l is 1024, x is 2, l is 2048, x is 4, and l is 2048, x is 6, respectively. The process can be realized only by software programming without upgrading or modifying hardware transceiver equipment, and a simple and feasible solution is provided for increasing the sensing distance and flexibly adjusting the sensing range.
Verification test one, as shown in fig. 6, the baseband signal selects u ═ 19, N ZC The ZC sequence of 63 is interpolated to l 512 and the maximum perceived distance s is 0.0035(m) × 512 ≈ 1.7 m. The experimenter holds the plastic plate with an initial position 0.8 m away from the transceiver. According to fig. 6, the plastic plate moves forward within 2-3 seconds, the distance from the transceiver device is changed from 0.8 meter to 0.6 meter, and the plastic plate moves forward by 0.2 meter (the moving direction is relative to the transceiver device); keeping still and no movement within 3-5 seconds; the plastic plate moves backwards within 5-6 seconds, the distance from the transceiver device is changed from 0.6 meter to 0.8 meter, and the plastic plate moves backwards by 0.2 meter and returns to the initial point. The above-described actions are repeated within 8 seconds to 12 seconds, and the same result is obtained.
Verification test two, as shown in fig. 7, the baseband signal is selected to have u equal to 64 and N equal to N ZC The ZC sequence of 127 is interpolated to l 1024, and the maximum perceived distance s is 0.0035(m) × 1024 ≈ 3.5 m. The experimenter holds the plastic plate with an initial position 2 meters away from the transceiver. According to fig. 7, the plastic plate moves forward within 1-3 seconds, the distance from the transceiver is changed from 2 meters to 1.6 meters, and the plastic plate moves forward by 0.4 meter; keeping still and not moving within 3-6 seconds; the plastic plate moves backwards within 6-8 seconds, the distance from the transceiver device changes from 1.6 meters to 2 meters, and moves backwards by 0.4 meter, and returns to the initial point. The above-described actions are repeated once within 12 seconds to 19 seconds, and the same result is obtained.
Verification test three, as shown in fig. 8, the baseband signal is selected to have u equal to 64 and N equal to N ZC The ZC sequence of 127 is interpolated to l 2048 and the maximum perceived distance s 0.0035(m) × 2048 ≈ 7 m. The experimenter holds the plastic plate with an initial position 4 meters away from the transceiver. According to fig. 8, the plastic plate moves forward within 3-4 seconds, the distance from the transceiver is changed from 4 meters to 3.6 meters, and the plastic plate moves forward by 0.4 meter; keeping still and no movement within 4-6 seconds; the plastic plate moves backwards within 6 seconds to 8.5 seconds, the distance from the transceiver device is changed from 3.6 meters to 4 meters, and the plastic plate moves backwards by 0.4 meter and returns to the initial point. The above-described actions are repeated within 13 seconds to 19 seconds, and the same result is obtained.
Verification test four, as shown in fig. 9, the baseband signal u is 64, N ZC The ZC sequence of 127 is interpolated to l 2048 and the maximum perceived distance s 0.0035(m) × 2048 ≈ 7 m. The experimenter holds the plastic plate with a hand, and the initial position is 6 meters away from the transceiver. According to fig. 9, the plastic plate moves forward within 2-4 seconds, the distance from the transceiver device is changed from 6 meters to 5.5 meters, and the plastic plate moves forward by 0.5 meter; keeping still and no movement within 4-6 seconds; the plastic plate moves backwards within 6-8 seconds, the distance from the transceiver device changes from 5.5 meters to 6 meters, and moves backwards by 0.5 meter, and returns to the initial point. The above-described actions are repeatedly performed once within 12 seconds to 20 seconds, and the same result is obtained.
The embodiment also provides a method for increasing the acoustic sensing range by adopting the acoustic sensing system, which comprises the following steps:
s.1, calculating a quantitative relation between the sequence length of an ultrasonic wave sending signal frame and the maximum perception distance, wherein the farthest perception distance s is 0.0035(m) multiplied by l;
s.2, verifying the quantitative relation;
s.3, designing a fixed-length ultrasonic wave sending signal frame according to the maximum sensing distance based on the quantitative relation; the ultrasonic wave sending signal frame is a signal frame with constant amplitude and zero autocorrelation.
The invention can sense a certain space range by using universal and low-cost loudspeaker and microphone equipment, the sensing result comprises the comprehensive information of the object motion time, the motion distance and the motion trend, and the visual result is clearly displayed. The whole system can increase the sensing distance by changing the length of the signal sending frame, and the technology can be realized only by software programming without additionally modifying or upgrading the existing hardware; the software and hardware technology of the whole system is simple to realize, and the available information is rich, thereby being convenient for transplantation and expanded application. A new scheme is provided for the remote intelligent sensing based on acoustics, and the method has the advantages of simple technology and low economic cost.
The present invention is not limited to the above preferred embodiments, and any modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An acoustic sensing system, characterized by: comprises that
The system comprises a pre-processing module, a signal receiving and transmitting module and a post-processing module;
the preprocessing module is used for selecting a signal frame, performing frequency domain interpolation on the signal frame to obtain a fixed-length signal frame, modulating the signal frame into an ultrasonic signal and then uploading the ultrasonic signal to the signal transceiving module;
the signal receiving and transmitting module comprises a sending end and a receiving end, the sending end is used for continuously sending the fixed-length signal frames, and the receiving end is used for receiving the fixed-length signal frames bearing the motion information of the object and uploading the fixed-length signal frames to the post-processing module;
the post-processing module is used for calculating Channel Impulse Response (CIR) of the fixed-length signal frame, corresponding the fixed-length signal frame to the maximum sensing distance, establishing a quantitative relation, and visualizing the fixed-length signal frame in a CIR heat map drawing mode.
2. An acoustic sensing system according to claim 1, wherein: the preprocessing module comprises a baseband signal selection module, an interpolation module and a modulation module;
the baseband signal selection module is used for selecting a signal frame with constant amplitude and zero autocorrelation and transmitting the signal frame to the interpolation module;
the interpolation module is used for carrying out frequency domain interpolation on the signal frame;
the modulation module is used for modulating the baseband signal into an ultrasonic signal which can not be heard by human ears.
3. An acoustic sensing system according to claim 1, wherein: the transmitting end is a loudspeaker, and the receiving end is a microphone.
4. An acoustic sensing system according to claim 1, wherein: the post-processing module comprises a channel impulse response module, an extraction module, a calculation module and a visualization module;
the channel impulse response module is used for describing the influence of an object on the fixed-length signal frame propagation and transmitting the influence to the extraction module after representing the influence;
the extraction module is used for filtering static components from the CIR and transmitting the extracted dynamic components to the calculation module;
the calculation module is used for calculating a perception range corresponding to the fixed-length signal frame according to the dynamic component and transmitting the perception range to the visualization module;
the visualization module is used for visualizing the system perception range and the object motion information.
5. An acoustic sensing system according to claim 4, wherein: the extraction module adopts a difference method to extract dynamic components, subtracts CIRs of received two adjacent time fixed-length signal frames, and filters static components.
6. An acoustic sensing system according to claim 4, wherein: the farthest sensing distance calculated in the calculating module is as follows: s is 0.0035(m) × l, where l is the sequence length of the fixed-length signal frame.
7. An acoustic sensing system according to claim 4, wherein: and the visualization module draws a heat map according to the CIR obtained by calculating the cross-correlation, and visually displays the system sensing range and the object motion information in the form of images.
8. A method of increasing the acoustic sensing range, characterized in that the method is performed using an acoustic sensing system according to any of claims 1-7.
9. The method of claim 8, wherein the method comprises the steps of:
s.1, calculating the quantitative relation between the sequence length of the ultrasonic wave transmission signal frame and the maximum perception distance;
s.2, verifying the quantitative relation;
and S.3, designing a fixed-length ultrasonic wave sending signal frame according to the maximum perception distance based on the quantitative relation.
10. The method of claim 9, wherein: the quantitative relation is as follows: the farthest sensing distance s is 0.0035(m) x l, wherein l is the sequence length of the fixed-length signal frame; the ultrasonic wave sending signal frame is a signal frame with constant amplitude and zero autocorrelation.
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