CN115015939B - Acoustic sensing system and method for increasing acoustic sensing range - Google Patents
Acoustic sensing system and method for increasing acoustic sensing range Download PDFInfo
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- 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
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- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0036—Systems modifying transmission characteristics according to link quality, e.g. power backoff arrangements specific to the receiver
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Abstract
The invention discloses an acoustic sensing system and a method for increasing an acoustic sensing range, wherein the system comprises a preprocessing module, a signal receiving-transmitting module and a post-processing module; the preprocessing module is used for selecting a signal frame, carrying out frequency domain interpolation on the signal frame to obtain a fixed-length signal frame, modulating the fixed-length signal frame into an ultrasonic signal, and uploading the ultrasonic signal to the signal receiving and transmitting module; the signal receiving and transmitting module comprises a transmitting end and a receiving end, wherein the transmitting end is used for continuously transmitting 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 (ChannelImpulseResponse, CIR) of the fixed-length signal frame, corresponding the fixed-length signal frame to the maximum perceived distance, establishing a quantitative relation and visualizing the fixed-length signal frame by drawing a CIR heat map. The sensing distance range can be flexibly adjusted by changing the length of the original sent fixed-length signal frame according to different application scene requirements, so that more accurate and larger-range sensing is realized.
Description
Technical Field
The invention belongs to the field of intelligent perception, and particularly relates to an acoustic perception system and a method for increasing an acoustic perception range.
Background
At present, the perception of the physical world has entered a new stage of ubiquitous intelligence, the Internet of things and an artificial intelligence technology together push the society to advance from everything interconnection to everything intelligent, and the intelligent wireless perception is taken as the crossing field of the Internet of things and the artificial intelligence, reflects the trend, and becomes a research hotspot and a focus of academic circles and industry. Common technical schemes for intelligent sensing include sensing by means of wireless signals, bluetooth, inertial sensors, image processing and the like. There are also studies on fusing outputs of a plurality of sensors by means of sensor fusion to improve system performance; or the wearable device is utilized to sense the common motion of the human body. These methods have advantages and disadvantages, and are limited according to the use scene. For example, fine-grained high-band wireless signal sensing often requires special hardware, such as custom chips used in Soli systems by google; the Bluetooth has low data transmission rate, and is not suitable for sensing application with high requirements on accuracy and instantaneity; the inertial sensor accumulates errors that are large and difficult to eliminate, etc.
Ultrasonic signals refer to sound waves that are beyond the sense of hearing of the human ear, with sound wave frequencies typically greater than 18KHz. The ultrasonic wave has the characteristics of good directivity, strong reflectivity, easy acquisition of concentrated acoustic energy and the like, has wide application in 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 field of intelligent perception, acoustic perception is becoming more and more popular and appreciated by people. The hardware equipment required by acoustic perception has high universality, a loudspeaker and a microphone are visible everywhere, and a plurality of intelligent terminal equipment are embedded with the loudspeaker and the microphone. In addition, the ultrasonic signal is utilized for sensing, the application scene is rich, and the interference caused by low-frequency noise and human voice in the environment is limited. However, due to serious attenuation of the space propagation energy of the ultrasonic signal, the existing acoustic sensing scheme adopts Near-Field sensing (Near-Field Sensor), so that the sensing range is smaller, and the sensing distance is shorter (usually less than 0.5 meter). In order to increase the signal strength, the prior art generally needs to additionally arrange a gain amplifying module or use equipment and an antenna with higher transmitting power, which not only increases the complexity of hardware equipment, but also increases the economic cost.
Disclosure of Invention
The invention aims to provide an acoustic sensing system capable of improving the furthest sensing distance without increasing the transmission power and upgrading and reforming the existing hardware and a method for increasing the acoustic sensing range.
The invention provides an acoustic sensing system, which comprises
The device comprises a preprocessing module, a signal receiving and transmitting module and a post-processing module;
The preprocessing module is used for selecting a signal frame, carrying out frequency domain interpolation on the signal frame to obtain a fixed-length signal frame, modulating the fixed-length signal frame into an ultrasonic signal, and uploading the ultrasonic signal to the signal receiving and transmitting module;
the signal receiving and transmitting module comprises a transmitting end and a receiving end, wherein the transmitting end is used for continuously transmitting 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 (Channel Impulse Response, CIR) of the fixed-length signal frame, corresponding the fixed-length signal frame to the maximum perceived distance, establishing a quantitative relation and visualizing the fixed-length signal frame by drawing a CIR heat map.
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 constant amplitude zero autocorrelation signal frame and transmitting the signal frame to the interpolation module;
the interpolation module is used for carrying out frequency domain interpolation on the signal frames.
The modulation module is used for modulating the baseband signal into an ultrasonic signal which is inaudible to human ears.
The sending 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 propagation of a fixed-length signal frame and transmitting the influence to the extraction module after representing the influence;
The extraction module is used for filtering static components from CIR and transmitting the extracted dynamic components to the calculation module;
the calculation module is used for calculating a sensing range corresponding to the fixed-length signal frame according to the dynamic component and transmitting the sensing 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 fixed-length signal frames at two adjacent moments, and filters static components.
The furthest perceived distance calculated in the calculation module is as follows: s=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 CIR obtained by calculating the cross correlation, and visualizes and displays the system perception range and the object motion information in an image form.
The invention also provides a method for increasing 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 an ultrasonic wave transmission signal frame and the maximum perception distance;
S.2, verifying the quantitative relationship;
and S.3, designing a fixed-length ultrasonic wave transmitting signal frame according to the maximum perception distance based on the quantitative relation.
The quantitative relationship is as follows: the furthest perceived distance s=0.0035 (m) ×l, where l is the sequence length of the fixed-length signal frame; the ultrasonic wave sending signal frame selects a signal frame with constant amplitude and zero autocorrelation.
When the invention is used, the preprocessing module selects the baseband signal frame, carries out frequency domain interpolation on the baseband signal frame to obtain the fixed-length signal frame, modulates the fixed-length signal frame into an ultrasonic signal which cannot be heard by human ears, and then uploads the ultrasonic signal to the signal receiving and transmitting module; the signal receiving and transmitting module continuously transmits the fixed-length signal frame, receives the fixed-length signal frame bearing the object motion information and uploads the fixed-length signal frame to the post-processing module; the post-processing module is used for calculating channel impulse response (Channel Impulse Response, CIR) of the fixed-length signal frame, corresponding the fixed-length signal frame to the maximum perceived distance, establishing a quantitative relation and visualizing the fixed-length signal frame by drawing a CIR heat map. The sensing distance range can be flexibly adjusted by changing the length of the original sent fixed-length signal frame according to different application scene requirements, so that more accurate and larger-range sensing is realized.
Drawings
Fig. 1 is a schematic diagram of a system frame in a preferred embodiment of the invention.
Fig. 2 (a) is a schematic diagram of an original ZC sequence before interpolation in the preferred embodiment.
Fig. 2 (b) is a schematic diagram showing the characteristic of zero auto-correlation of ZC sequence in the preferred embodiment.
Fig. 3 (a) is a schematic diagram of the ZC sequence after interpolation in the preferred embodiment.
Fig. 3 (b) is a schematic diagram of the FFT transformation of the ZC sequence after interpolation in the preferred embodiment.
FIG. 4 is a thermal diagram of the basic test in the preferred embodiment.
Fig. 5 is a schematic diagram of a verification test arrangement in the present preferred embodiment.
FIG. 6 is a heat map of a first verification test in the preferred embodiment.
FIG. 7 is a heat map of a second verification test in the preferred embodiment.
FIG. 8 is a heat map of a third verification test in the preferred embodiment.
Fig. 9 is a heat map of a verification test four in the present preferred embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In a first preferred embodiment, as shown in fig. 1, the acoustic sensing system disclosed in this embodiment includes a pre-processing module, a signal transceiver module, and a post-processing 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 cannot be heard by human ears, and uploading the ultrasonic signal to the signal receiving and transmitting module. The Zadoff-Chu (ZC) sequence is selected as the baseband signal in the preprocessing module. The ZC sequence is a complex sequence that has the property of constant amplitude, zero autocorrelation as a member of the CAZAC (constant amplitude zero autocorrelation ) sequence family. The constant amplitude can ensure that a signal with constant power is transmitted, zero autocorrelation refers to that the correlation value of a ZC sequence and an own (non-whole period) shift sequence is 0, and the property plays 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; helping to calculate the CIR using cross-correlation. The mathematical expression of the ZC sequence is as follows:
Where 0.ltoreq.n.ltoreq.N ZC, q is a constant, N ZC is the length of the sequence, the variable u is an integer, 0.ltoreq.u < N ZC and gcd (N ZC, u) =1. Selection of different u and N ZC may result in ZC sequences of different lengths.
The ZC sequence of u=64 and n ZC =127 is described in detail in this embodiment. The correlation properties of the ZC sequence are shown in FIG. 2 (a) and FIG. 2 (b), wherein the solid line in FIG. 2 (a) represents the real part of the 127-bit ZC sequence, and the dotted line represents the imaginary part of the sequence; fig. 2 (b) shows the autocorrelation coefficients thereof. To increase the perceived distance, the original 127-bit ZC sequence is subjected to frequency domain interpolation, and the frame length of the interpolated transmission signal is calculated as follows:
N′ZC＝NZCfs/B (2)
Where f s is the sample rate of the signal and B is the bandwidth of the interpolated signal. Fig. 3 (a) shows a ZC sequence with N' ZC =2048 bits after interpolation, wherein the solid line and the dotted line represent the real part and the imaginary part of the sequence, respectively; fig. 3 (b) shows the fourier transform result. In order to ensure that the modulated signal is an ultrasonic signal that is inaudible to the human ear, the carrier frequency f c selected in this embodiment is > 20kHz. The preprocessing module is used for carrying out frequency domain interpolation processing on the selected signal frames to form fixed-length signal frames, modulating the fixed-length signal frames into ultrasonic signals and then transmitting the ultrasonic signals to the signal receiving and transmitting module to serve as transmitting signal frames.
The signal receiving and transmitting module comprises a transmitting end and a receiving end, wherein the transmitting end is used for continuously transmitting 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 end selects a loudspeaker and the receiving end selects a microphone. At the transmitting end, the speaker continuously transmits the designed fixed-length signal frames. The frame of ultrasonic fixed-length signals propagates in the environment, different moving objects can be encountered in the propagation process, the motion condition of the objects can influence the ultrasonic signals, and the influence can be stored in the propagation process. At the receiving end, the microphone is used for receiving the ultrasonic fixed-length signal frame carrying the motion information of the object and transmitting the ultrasonic fixed-length signal frame to the post-processing module.
The post-processing module is used for calculating channel impulse response (Channel Impulse Response, CIR) of the fixed-length signal frame, corresponding the fixed-length signal frame to the maximum perceived distance, establishing a quantitative relation and visualizing the fixed-length signal frame by drawing a CIR heat map. The post-processing module comprises a channel impulse response module, an extraction module, a calculation module and a visualization module.
The channel impulse response (Channel Impulse Response, CIR) module can describe the influence of the channel on the signal, and the influence of the object motion on the space propagation of the ultrasonic fixed-length signal frame can be obtained by calculating CIRs under different scenes. In channel measurement, the CIR can separate frames of an ultrasonic fixed-length signal propagating in space by a similar propagation distance. Wherein Δd corresponds to a certain propagation delay range (i.e., a certain propagation distance range), commonly referred to as a tap, and the difference in propagation delays is less thanV is the propagation velocity of the acoustic signal in air (normal temperature), typically 340m/s, located in the same tap. 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. Thus, the perceived distance range s may be set by the tap number L, specifically expressed as:
where Δd is the distance corresponding to one tap and represents the propagation distance of the signal between two adjacent sampling points. f s is the sampling rate of the signal. By reasonably setting different tap numbers under different application scenes, interference caused by objects outside a certain range can be filtered, the sensing range is clear, and the sensing result is more accurate.
Since the measured CIR contains two components, one is a static component composed of a Line-of-Sight (LoS) signal from the speaker to the microphone and a reflected signal caused by a static factor in the environment (e.g., a table and chair); and secondly, a dynamic component formed by a reflected signal caused by a moving object. The influence of static factors on the ultrasonic signal space propagation is fixed, and the influence of a moving object on the ultrasonic signal space propagation is dynamically changed. In order to eliminate the influence of static components from CIR results and effectively extract the influence of dynamic components, an extraction module is arranged, the extraction module is used for differentiating continuous CIR values obtained at two adjacent moments (t-1 and t moment), the static components which are invariable are effectively filtered in the differentiating process, and the changes of the CIR dynamic components are effectively reserved. And pass the dynamic component to the computing module.
The calculating module is used for calculating the sensing range corresponding to the fixed-length signal frame according to the dynamic component. And communicates the perceived range to the visualization module.
Since the propagation velocity of the acoustic signal in air at 15 ℃ (normal temperature) is v=340 m/s, when the sampling rate of the signal f s =48 kHz, the sampling time interval isThe propagation distance Δd=v×Δt≡340 (m/s) ×0.021 (ms) =0.007 m in one sampling interval Δt of the signal. Since the signal is transmitted-reflected-received, Δd represents the round trip transmission distance of the signal between the system device and the perception object, and thus the distance between the perception object and the system device is half the signal propagation distance, Δd/2=0.0035 m, and thus the distance represented by one tap is 3.5mm. When the transmitted signal frame length is l, the perceived farthest distance is s=0.0035 (m) ×l. The length of the ZC sequence can be changed by selecting different u and N ZC in the formula (1), and the original ZC sequence can be interpolated into complex sequences with different lengths according to the formula (2). The calculation formula s=0.00035 (m) ×l is set in this calculation module. Thus, the sensing range corresponding to the transmission signal frames with different lengths can be calculated.
And the visualization module draws a heat map according to CIR obtained by calculating the cross correlation, and visualizes and displays elements such as a system perception range, object motion information and the like in an image form. The visual module is used for visualizing the perception range, displaying the perception range in a thermal graphic mode and visualizing the related information of the moving object. The abscissa of the CIR heat map is time, indicating the movement time of the target object; the ordinate is the distance, which indicates the relative distance between the target object and the system equipment and the motion distance of the object, the color change of different positions in the heat map indicates the change of CIR intensity, the larger the color value is, the larger the CIR intensity is, the stronger the signal energy is, and the motion trend of the object is represented by the distribution of the heat map image. After the ultrasonic signals reflected by the moving object are received by the microphone and are subjected to subsequent processing, the CIR intensity of the corresponding moving area is shown to be large in a heat map and can be obviously changed.
In this embodiment, during the basic test, the 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 back and forth once at a distance of 0.8 m from the transceiver device, the moving distance is 0.2 m, and the system draws the 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 transceiving equipment decreases from 0.8 meters to 0.6 meters in 2 seconds to 3 seconds, indicating that the object gradually approaches the transceiving equipment during the period of time. Within 3 seconds to 5 seconds, the CIR intensity is extremely small (near 0) and unchanged, and the object is stationary. The distance between the object and the transceiver device increases from 0.6 meters to 0.8 meters in 5 seconds to 6 seconds, which means that the object is gradually far away from the transceiver device in this period of time. The thermal diagram 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 of x m from the transceiver (speaker and microphone) (referred to herein as an initial point), an experimenter holds a rectangular plastic plate having a length of 30 cm and a width of 20 cm, and moves the plastic plate back and forth a certain distance at a comfortable speed per se, and moves back and forth twice each time within a detection time, each time being spaced 2 to 4 seconds. To perceive different distance ranges, the transmitted signal frame length l is changed. Fig. 6 to 9 show the results of the system sensing the movement of the plastic sheet when l=512, x=0.8, l=1024, x=2, l=2048, x=4 and l=2048, x=6, respectively. The process can be realized 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.
As shown in fig. 6, the ZC sequence with u=19 and n ZC =63 is selected as the baseband signal, and is interpolated to l=512, and the maximum perceived distance s=0.0035 (m) ×512≡1.7m. The experimenter holds the plastic plate with the initial position being 0.8 meters away from the transceiver. According to fig. 6, the plastic sheet moves forward within 2-3 seconds, with a distance from the transceiver device of from 0.8 meters to 0.6 meters, moving forward by 0.2 meters (the direction of movement being relative to the transceiver device); within 3 seconds to 5 seconds, the device is kept stationary and has no movement; the plastic plate moves backward within 5-6 seconds, the distance from the transceiver device is changed from 0.6 meters to 0.8 meters, and the plastic plate moves backward by 0.2 meters, and returns to the initial point. The above operation was repeatedly performed within 8 seconds to 12 seconds, and the same results were obtained.
As shown in fig. 7, the second verification test shows that the baseband signal selects a ZC sequence of u=64 and n ZC =127, and interpolates the ZC sequence to l=1024, and the maximum perceived distance s=0.0035 (m) ×1024×3.5m. The experimenter holds the plastic plate with the initial position being 2 meters away from the transceiver device. According to fig. 7, the plastic plate moves forward within 1-3 seconds, with a distance from the transceiver device of from 2 meters to 1.6 meters, moving forward by 0.4 meters; within 3 seconds to 6 seconds, the device is kept stationary and has no movement; the plastic plate moves backward within 6-8 seconds, the distance from the transceiver device is changed from 1.6 meters to2 meters, and the plastic plate moves backward by 0.4 meters, and returns to the initial point. The above operation was repeatedly performed within 12 seconds to 19 seconds, and the same results were obtained.
As shown in fig. 8, the ZC sequence with u=64 and n ZC =127 is selected as the baseband signal, and is interpolated to l=2048, and the maximum perceived distance s=0.0035 (m) ×2048≡7m. The experimenter holds the plastic plate with the initial position being 4 meters away from the transceiver. According to fig. 8, the plastic sheet moves forward within 3-4 seconds, with a distance from the transceiver device of from 4 meters to 3.6 meters, moving forward by 0.4 meters; within 4 seconds to 6 seconds, the device is kept stationary and has no movement; the plastic plate moves backward 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 backward by 0.4 meters, and returns to the initial point. The above operation was repeatedly performed within 13 seconds to 19 seconds, and the same results were obtained.
Verification test four, as shown in fig. 9, the baseband signal selects a ZC sequence of u=64 and n ZC =127, interpolates it to l=2048, and the maximum perceived distance s=0.0035 (m) ×2048≡7m. The experimenter holds the plastic plate with the initial position being 6 meters away from the transceiver. According to fig. 9, the plastic sheet moves forward within 2-4 seconds, the distance from the transceiver device is changed from 6 meters to 5.5 meters, and the plastic sheet moves forward by 0.5 meters; within 4 seconds to 6 seconds, the device is kept stationary and has no movement; the plastic plate moves backward within 6-8 seconds, the distance from the transceiver device is changed from 5.5 meters to 6 meters, and the plastic plate moves backward by 0.5 meters, and returns to the initial point. The above-described operations were repeatedly performed within 12 seconds to 20 seconds, and the same results were 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 transmission signal frame and the maximum perceived distance, wherein the furthest perceived distance s=0.0035 (m) x l;
S.2, verifying quantitative relation;
s.3, designing a fixed-length ultrasonic wave transmission signal frame according to the maximum perception distance based on a quantitative relation; the ultrasonic wave sends the signal frame to select the signal frame of the constant amplitude, zero autocorrelation.
The invention can sense a certain space range by using universal and low-cost loudspeaker and microphone equipment, and the sensing result comprises the comprehensive information of the motion time, the motion distance and the motion trend of the object, and is clearly displayed by a visual result. The whole system can increase the sensing distance by changing the length of the transmitted signal frame, and the technology can be realized by only software programming without additionally modifying or upgrading the existing hardware; the whole set of system software and hardware technology is simple to realize, the available information is rich, and the transplanting and the expanding application are convenient. Provides a new scheme for acoustic-based remote intelligent perception, and has the advantages of simple technology and low economic cost.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, or alternatives falling within the spirit and principles of the invention.
Claims (7)
1. An acoustic sensing system, characterized by: comprising
The device comprises a preprocessing module, a signal receiving and transmitting module and a post-processing module;
The preprocessing module is used for selecting a signal frame, carrying out frequency domain interpolation on the signal frame to obtain a fixed-length signal frame, modulating the fixed-length signal frame into an ultrasonic signal, and uploading the ultrasonic signal to the signal receiving and transmitting module;
the signal receiving and transmitting module comprises a transmitting end and a receiving end, wherein the transmitting end is used for continuously transmitting 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 (Channel Impulse Response, CIR) of the fixed-length signal frame, corresponding the fixed-length signal frame to the maximum perceived distance, establishing a quantitative relation, and visualizing the fixed-length signal frame by drawing a CIR heat map;
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 propagation of a fixed-length signal frame and transmitting the influence to the extraction module after representing the influence;
The extraction module is used for filtering static components from CIR and transmitting the extracted dynamic components to the calculation module;
the calculation module is used for calculating a sensing range corresponding to the fixed-length signal frame according to the dynamic component and transmitting the sensing 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 fixed-length signal frames at two adjacent moments, and filters static components;
The furthest perceived distance calculated in the calculation module is as follows: In/> For the sequence length of the fixed length signal frames.
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 constant amplitude zero autocorrelation signal frame and transmitting the signal frame to the interpolation module;
The interpolation module is used for carrying out frequency domain interpolation on the signal frames;
the modulation module is used for modulating the baseband signal into an ultrasonic signal which is inaudible to human ears.
3. An acoustic sensing system according to claim 1, wherein: the sending end is a loudspeaker, and the receiving end is a microphone.
4. An acoustic sensing system according to claim 1, wherein: and the visualization module draws a heat map according to CIR obtained by calculating the cross correlation, and visualizes and displays the system perception range and the object motion information in an image form.
5. A method of increasing the range of acoustic perception, characterized in that the method is performed with an acoustic perception system as claimed in any one of claims 1-4.
6. The method of claim 5, wherein the method comprises the steps of:
s.1, calculating the quantitative relation between the sequence length of an ultrasonic wave transmission signal frame and the maximum perception distance;
S.2, verifying the quantitative relationship;
and S.3, designing a fixed-length ultrasonic wave transmitting signal frame according to the maximum perception distance based on the quantitative relation.
7. The method of claim 6, wherein: the quantitative relationship is as follows: distance of furthest perceptionIn/>The sequence length of the fixed-length signal frames; the ultrasonic wave sending signal frame selects a signal frame with constant amplitude and zero autocorrelation.
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