WO2021121361A1 - 距离测量方法和距离测量装置 - Google Patents

距离测量方法和距离测量装置 Download PDF

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Publication number
WO2021121361A1
WO2021121361A1 PCT/CN2020/137467 CN2020137467W WO2021121361A1 WO 2021121361 A1 WO2021121361 A1 WO 2021121361A1 CN 2020137467 W CN2020137467 W CN 2020137467W WO 2021121361 A1 WO2021121361 A1 WO 2021121361A1
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Prior art keywords
value
spectrum data
distance
obstacle
point cloud
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PCT/CN2020/137467
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English (en)
French (fr)
Inventor
丁根明
贺亚农
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华为技术有限公司
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Priority to EP20902405.8A priority Critical patent/EP4063908A4/en
Publication of WO2021121361A1 publication Critical patent/WO2021121361A1/zh
Priority to US17/842,931 priority patent/US20220326370A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S13/34—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves 
    • A61B5/0507—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves  using microwaves or terahertz waves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
    • A61B5/1072—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring distances on the body, e.g. measuring length, height or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/44—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing persons
    • G01G19/50—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing persons having additional measuring devices, e.g. for height
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/35—Details of non-pulse systems
    • G01S7/352—Receivers
    • G01S7/354—Extracting wanted echo-signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength

Definitions

  • This application relates to the field of sensor technology, and more specifically, to a distance measuring method and a distance measuring device in the field of sensor technology.
  • a height measuring device is a distance measuring device that can measure people's height.
  • the height measured by the user through the height measuring device combined with physiological parameters such as weight and body fat, comprehensively evaluates the health of the body.
  • the existing 60GHz and 77GHz millimeter wave frequency bands have a large available bandwidth.
  • the frequency modulated continuous wave (FMCW) modulation method can achieve centimeter-level ranging accuracy and speed measurement. It is currently widely used in vehicle radar for detection Obstacle distance, perceive the distance of the object.
  • FMCW frequency modulated continuous wave
  • the embodiments of the present application provide a distance measuring method and a distance measuring device, which can improve the accuracy of the measurement.
  • an embodiment of the present application provides a method for measuring height, which includes:
  • a first point cloud data set is determined, the first point cloud data set includes a plurality of first point cloud data, and the plurality of first point cloud data is used to represent the Detecting multiple obstacle points on the object under test within the detection range, each of the multiple first point cloud data includes a distance value, a velocity value, and a signal-to-noise ratio value, and each first point cloud data
  • the distance value in the point cloud data is used to indicate the distance between the obstacle point represented by each of the first point cloud data and the transmission origin of the plurality of first radar signals.
  • the rate value is used to represent the movement rate of the obstacle point represented by each first point cloud data relative to the emission origin, and the signal-to-noise ratio value in each first point cloud data is used to represent each The noise at the obstacle point represented by the first point cloud data;
  • each first point cloud data included in the target data set cluster the first point cloud data included in the target data set to obtain at least one category, wherein the at least one category corresponds to At least one obstacle, and obstacle points included in each category in the at least one category constitute an obstacle corresponding to each category;
  • the distance of the obstacle corresponding to each category from the emission origin is determined.
  • the embodiment of the present application only takes the measured object as a person, and the height measurement of the measured person through the distance measuring device is used as an example to introduce, but the embodiment of the present application is not limited to this.
  • the measured object before receiving multiple first echo signals generated within the detection range of multiple first radar signals transmitted in the first time period, the measured object needs to be prepared for measurement first, that is, the measured object The target obstacle set at the end farthest from the emission origin is slightly shaken.
  • the person under test needs to stretch his palm out of his forehead and shake slightly.
  • the first point cloud data set is deleted according to the signal-to-noise ratio value and the rate value of each first point cloud data included in the first point cloud data set.
  • Noise to obtain the target data set including: according to the signal-to-noise ratio value and the rate value of each first point cloud data included in the first point cloud data set, and the preset signal-to-noise ratio threshold and rate threshold, to Denoising is performed on the first point cloud data set to obtain the target data set, and the velocity threshold is determined according to the velocity of the target obstacle in the at least one obstacle.
  • the first point cloud data in the distance measurement method of the embodiment of the present application extracts reflectors with velocity information.
  • the radar can identify small vibrations. Obstacles, such as the micro-vibration of the torso in a static state, and the first point cloud data formed by such a vibrating object interferes with the distance measurement of the target obstacle and needs to be filtered. Therefore, the interference can be filtered by the rate threshold.
  • the distance measurement method in the embodiment of the present application detects the micro-jitter of the target obstacle.
  • the echo signal strength generated by such micro-jitter is weak and the signal-to-noise ratio is not strong. Therefore, it can be filtered by the signal-to-noise ratio threshold. In addition to noise.
  • the velocity of the target obstacle is greater than or equal to the velocity threshold.
  • At least one obstacle obtained by clustering includes the target obstacle, the target obstacle includes a first obstacle point and a second obstacle point, and the first obstacle point and the second obstacle point The distance between is less than the preset distance threshold.
  • the first point cloud data in the target first point cloud data set may be clustered by using a density-based clustering method with noise.
  • the target obstacle includes a first obstacle point and a second obstacle point, and the distance between the first obstacle point and the second obstacle point is less than a preset distance threshold.
  • the target obstacle corresponds to a target category in the at least one category
  • the distance value in each first point cloud data included in each category is determined to be
  • the distance between the obstacle corresponding to each category and the origin of the emission includes: determining the category that includes the largest number of first point cloud data in the at least one category as the target category; Each included distance value in the first point cloud data determines the distance of the target obstacle from the launch origin.
  • the at least one category includes the target category corresponding to the target obstacle.
  • the target obstacle is set on the head of the measured person, and the distance between the target obstacle and the launch origin It can be understood as the height of the tested person.
  • clustering the first point cloud data in the first point cloud data set of the target and selecting the target classification is beneficial to further eliminate the interference due to abnormal points, and the abnormal points come from Other environmental interference besides the target obstacle also comes from the signal parameter estimation error caused by the jitter of the target obstacle, such as the x, y coordinate deviation caused by the angle estimation error, and these parameters will be used in the distance measurement in the next step. Therefore, clustering can further reduce the interference of interference points and improve the accuracy of distance measurement.
  • the distance value in each first point cloud data includes a distance component value in a first direction and a second direction of the obstacle point represented by each first point cloud data
  • the first direction and the second direction are perpendicular; or, the distance value in each first point cloud data includes the obstacle point represented by each first point cloud data.
  • the distance component value in the first direction, the distance component value in the second direction, and the distance component in the third direction, the third direction being perpendicular to the first direction and the second direction, respectively.
  • the determining the first point cloud data set according to the plurality of first echo signals includes: determining the plurality of first point cloud data sets according to the plurality of first echo signals A plurality of first spectrum data sets corresponding to the echo signal, each of the plurality of first spectrum data sets includes a plurality of first spectrum data, and the plurality of first spectrum data represents the Detecting multiple obstacle points within the detection range, each of the multiple first spectrum data includes a distance value and a signal strength value, and the distance value of each first spectrum data is used to represent each The distance between the obstacle point represented by the first spectrum data and the transmission origin, and the signal strength value of each first spectrum data is used to indicate that the obstacle point represented by each first spectrum data is The reflection intensity of the first radar signal corresponding to the first spectrum data, wherein the multiple distance values included in each first spectrum data group are the same; according to the distance value and the signal in each first spectrum data group The intensity value determines the first point cloud data set.
  • the method before the determining the first point cloud data set according to the distance value and the signal strength value in each of the first spectrum data, the method further includes: receiving a second point cloud data set. Multiple second echo signals generated within the detection range from multiple second radar signals transmitted in a time period, the end time of the second time period is no later than the end time of the first time period; according to The plurality of second echo signals determine a plurality of second spectrum data groups corresponding to the plurality of second echo signals, and each second spectrum data group of the plurality of second spectrum data groups includes a plurality of Second spectrum data, the plurality of second spectrum data represents the plurality of obstacle points within the detection range, and each second spectrum data in the plurality of second spectrum data includes a distance value and a signal strength
  • the distance value of each second spectrum data is used to indicate the distance between the obstacle point represented by each second spectrum data and the transmission origin, and the signal strength value of each second spectrum data is used Is the reflection intensity of the obstacle point represented by each second spectrum data to the second radar signal corresponding to each second spectrum
  • the distance measuring device may first determine whether the position of the measured object satisfies Measurement conditions: When the position of the measured object meets the measurement conditions, the distance measurement is performed. When the position of the measured object does not meet the measurement conditions, the distance measurement function can be suspended to save energy.
  • the determining whether the position of the measured object satisfies the measurement condition according to the distance value and the signal strength value in each second spectrum data includes: The signal intensity value corresponding to each of the multiple distance values included in the second spectrum data group is normalized to obtain the normalization corresponding to each of the multiple distance values included in each second spectrum data group. A signal strength value; according to the normalized signal strength value corresponding to the same distance value in the plurality of second spectrum data sets, the variance value of the signal strength value corresponding to each distance value in the plurality of distance values is determined ; According to the variance value of the signal intensity value corresponding to each of the multiple distance values, it is determined whether the position of the measured object meets the measurement condition.
  • the end time of the second time period is not later than the end time of the first time period, which may include: the end time of the second time period is earlier than the end time of the first time period; Alternatively, the end time of the second time period is equal to the end time of the first time period, which is not limited in the embodiment of the present application.
  • the duration of the second time period and the duration of the first time period may be the same or different, which is not limited in the embodiment of the present application.
  • the determining whether the position of the measured object meets the measurement condition according to the variance value of the signal strength value corresponding to each of the multiple distance values includes: When the number of variance values of the signal intensity value corresponding to each of the plurality of distance values that is greater than the variance threshold is greater than or equal to the number threshold, it is determined that the position of the measured object meets the measurement condition; or, When the number of variance values of the signal intensity value corresponding to each of the multiple distance values that is greater than the variance threshold is less than the number threshold, it is determined that the position of the measured object does not satisfy the measurement condition .
  • the distance measurement device provided by the embodiment of the present application, it is not necessary to use external sensors such as a human infrared sensor or a pressure sensor to determine whether the distance measurement function can be activated, thereby simplifying the measurement device and reducing power consumption and cost.
  • external sensors such as a human infrared sensor or a pressure sensor
  • Method 1 Count the variance of the instantaneous height value measured in each frame of consecutive frames within 1s in case Then the average of the instantaneous height values measured in each frame within the 1s is taken as the final height value of the measured person.
  • ⁇ th1 is a preset first variance threshold
  • the value range of the first variance threshold is the first threshold range.
  • Method 2 Count the variance of the instantaneous height value obtained in each frame of consecutive frame moments in multiple seconds in case The histogram distribution is used to extract the height value interval with the most concentrated distribution, and then the average value of the height values included in the interval is used as the final height value of the measured person.
  • ⁇ th2 is a preset second variance threshold
  • the value range of the second variance threshold is the second threshold range
  • the second threshold range is greater than the first threshold range.
  • an embodiment of the present application also provides a distance measurement method, which includes:
  • each first spectrum data group of the plurality of first spectrum data groups It includes a plurality of first spectrum data, the plurality of first spectrum data represents a plurality of obstacle points on the measured object within the detection range, and each of the plurality of first spectrum data includes The distance value and the signal strength value, the distance value of each first spectrum data is used to indicate the distance between the obstacle point represented by each first spectrum data and the transmission origin of the plurality of first radar signals, so The signal strength value of each first spectrum data is used to represent the signal reflection strength at the obstacle point represented by each first spectrum data, wherein the multiple distance values included in each first spectrum data group the same;
  • the distance between the target obstacle on the measured object and the emission origin is determined, and the target obstacle It is composed of at least one obstacle point, and the signal reflection intensity at the obstacle points with different motion states is different.
  • the target obstacle is set on the top of the measured person's head, and the distance between the target obstacle and the launch origin can be understood as the height of the measured person.
  • the variance value at the range-bin corresponding to the head height is increased. Therefore, within the range of the distance threshold, search for the distance value corresponding to the furthest peak of the Range-FFT variance curve spectrum with a value greater than or equal to the variance threshold as the current instantaneous height value; or the maximum distance value with the variance greater than or equal to the variance threshold as the current instantaneous value Height value.
  • the distance value of the target obstacle on the measured object is determined according to the variance value of the signal strength value corresponding to each distance value included in the plurality of first spectrum data sets.
  • the distance of the origin of the emission includes: determining the distance between the target obstacle and the emission according to the variance value of the signal strength value corresponding to each distance value included in the plurality of first spectrum data sets and the first variance threshold.
  • the distance from the origin, the first variance threshold is determined according to the signal strength at the at least one obstacle point constituting the target obstacle.
  • each first spectrum data group includes Before the normalized signal strength value corresponding to each distance value of, the method further includes: receiving multiple second echo signals generated within the detection range from multiple second radar signals transmitted in the second time period , The end time of the second time period is no later than the end time of the first time period; according to the plurality of second echo signals, the plurality of second echo signals corresponding to the plurality of second echo signals are determined
  • a spectrum data group each of the plurality of second spectrum data groups includes a plurality of second spectrum data, and the plurality of second spectrum data represents the plurality of obstacles within the detection range Point, each of the plurality of second spectrum data includes a distance value and a signal strength value, and the distance value of each second spectrum data is used to indicate each second spectrum data
  • the indicated obstacle point is the distance from the emission origin, the signal strength value of each second spectrum data is used to indicate the signal reflection strength at the obstacle point indicated by each second spectrum data,
  • the determining whether the position of the measured object satisfies the measurement condition according to the distance value and the signal strength value in each second spectrum data includes: The signal intensity value corresponding to each distance value included in the second spectrum data group is normalized to obtain the normalized signal intensity value corresponding to each distance value included in each second spectrum data group; Determine the normalized signal intensity value corresponding to the same distance value in the second spectrum data groups, and determine the variance value of the signal intensity value corresponding to each distance value included in the plurality of second spectrum data groups; The variance value of the signal intensity value corresponding to each distance value included in the second spectrum data group is used to determine whether the position of the measured object meets the measurement condition.
  • the condition includes: determining the measured object when the number of variance values of the signal intensity value corresponding to each distance value included in the plurality of second spectral data sets is greater than the second variance threshold value is greater than or equal to the number threshold value The position of, satisfies the measurement condition; or, when the variance value of the signal intensity value corresponding to each distance value included in the plurality of second spectrum data sets is greater than the second variance threshold and the number is less than the number threshold When it is determined that the position of the measured object does not satisfy the measurement condition.
  • an embodiment of the present application also provides a distance measurement method, which includes:
  • each first spectrum data group of the plurality of first spectrum data groups includes a plurality of first spectrum data
  • the plurality of first spectrum data represents a plurality of obstacle points within the first detection range
  • each first spectrum data in the plurality of first spectrum data includes a distance value and The signal strength value
  • the distance value of each first spectrum data is used to indicate the distance between the obstacle point represented by each first spectrum data and the first emission origin of the plurality of first radar signals
  • the The signal strength value of each first spectrum data is used to indicate the reflection strength of the obstacle point represented by each first spectrum data to the first radar signal corresponding to each first spectrum data, wherein the The multiple distance values included in each first spectrum data group are the same;
  • the signal intensity value corresponding to each of the multiple distance values included in each first spectrum data group is normalized to obtain each of the multiple distance values included in each first spectrum data group.
  • the first distance between the reference object at the fixed position and the first emission origin is determined, and the first distance is greater than that of the target.
  • the distance of the measured object from the first emission origin is determined.
  • the amplitude of each range-bin on the normalized Rang-FFT reflects the reflection intensity of the obstacle point to the radar signal
  • the amplitude of the normalized Rang-FFT is greater than the amplitude threshold.
  • the distance corresponding to the farthest wave peak can be regarded as the first distance from the reference object to the first emission origin.
  • the detection direction of the first radar signal is from the first emission origin to the reference object. Since the first distance has nothing to do with the measured object, the first radar signal does not need to be detected. The distance information of the object to be measured. Therefore, the object to be measured may be located far away from the first radar signal, or outside the detection range of the first radar signal, which is not limited in the embodiment of the present application.
  • the first distance may be the distance from the bottom of the measured person's feet to the ceiling
  • the second distance may be the distance from the top of the measured person's head to the ceiling
  • the distance between the reference object and the end of the measured object closest to the reference object may be obtained.
  • the second distance; the determining the distance of the measured object from the first emission origin according to the first distance includes: determining the distance of the measured object according to the first distance and the second distance The distance to the origin of the first emission.
  • multiple second echo signals generated within a second detection range of multiple second radar signals transmitted in the second time period may be received, and the second detection range is the same as the first detection range.
  • the detection range of a detection range is reversed; according to the plurality of second echo signals, a plurality of second spectrum data sets corresponding to the plurality of second echo signals are determined, and the plurality of second spectrum data sets
  • Each of the second spectrum data groups in includes a plurality of second spectrum data, the plurality of second spectrum data represents a plurality of obstacle points within the second detection range, and each of the plurality of second spectrum data
  • the second spectrum data includes a distance value and a signal strength value.
  • the distance value of each second spectrum data is used to indicate the distance between the obstacle point represented by each second spectrum data and the plurality of second radar signals.
  • the distance of the second transmission origin, the signal strength value of each second spectrum data is used to represent the reflection strength of the obstacle point represented by each second spectrum data to the plurality of second radar transmission signals, where ,
  • the multiple distance values included in each second spectrum data group are the same; and the signal intensity value corresponding to each of the multiple distance values included in each second spectrum data group is normalized, Obtain the normalized signal intensity value corresponding to each of the multiple distance values included in each second spectrum data group; according to the normalized signal corresponding to the same distance value in the multiple second spectrum data groups The intensity value determines the second distance.
  • the principle of the second distance determination process is similar to that of the first distance determination process, except that the second distance is the distance from the reference object to the end of the measured object closest to the reference object. Therefore, the distance measuring device needs to be placed at the end closest to the reference object, that is, the detection direction of the second radar signal is opposite to the detection direction of the first radar signal, that is, from the end closest to the reference object to the Reference.
  • the method of improving the accuracy of distance measurement introduced in the first aspect can also be used to improve the longitude of distance measurement, and the method of determining whether the position of the measured object meets the measurement conditions introduced in the first aspect can be used to determine Whether the position of the measured object meets the measurement conditions, in order to avoid repetition, I will not repeat it here.
  • Using the distance measurement method provided in the embodiments of the present application can better reflect the distribution of obstacles in the radar detection range, facilitate the setting of a unified threshold value, and improve the universality of algorithms and products.
  • an embodiment of the present application also provides a distance measuring device, which is used to execute the above-mentioned aspects or any possible implementation methods thereof.
  • the distance measuring device may include a unit for executing the above-mentioned aspects or the method in any possible implementation manner thereof.
  • an embodiment of the present application also provides a distance measuring device, which includes a processor and a transceiver, the processor and the transceiver communicate with each other through an internal connection path, and the processor is used to implement the above aspects or The method in any possible implementation.
  • an embodiment of the present application further provides a computer-readable storage medium for storing a computer program.
  • the computer program includes instructions for implementing the above-mentioned aspects or methods in any possible implementation manners thereof.
  • the embodiments of the present application also provide a computer program product containing instructions, which when run on a computer, enable the computer to implement the foregoing aspects or methods in any possible implementation manners.
  • embodiments of the present application also provide a chip device, a processor, and a communication interface.
  • the processor and the communication interface communicate with each other through an internal connection path, and the communication interface is used to communicate with an external device or an internal device.
  • the processor is used to implement the foregoing aspects or methods in any possible implementation manners.
  • FIG. 1 is a schematic block diagram of a distance measuring device 100 provided by an embodiment of the application.
  • FIG. 2 is a schematic block diagram of a distance measuring device provided by an embodiment of the application.
  • Figure 3 is a schematic block diagram of a body fat scale provided by an embodiment of the application.
  • FIG. 4 is a schematic diagram of an application scenario provided by an embodiment of the application.
  • FIG. 5 is a schematic diagram of another application scenario provided by an embodiment of the application.
  • FIG. 6 is a schematic flowchart of a distance measurement method 200 according to an embodiment of the application.
  • FIG. 7 is a schematic diagram of a radar signal provided by an embodiment of the application.
  • FIG. 8 is a schematic diagram of Range-FFT provided by an embodiment of the application.
  • FIG. 9 is a schematic diagram of a 2D-FFT processing process of a radar signal provided by an embodiment of the application.
  • FIG. 10 is a schematic diagram of a clustering process provided by an embodiment of the application.
  • FIG. 11 is a histogram of distance values provided by an embodiment of the application.
  • FIG. 12 is a schematic diagram of a normalized Range-FFT provided by an embodiment of the application.
  • FIG. 13 is a schematic diagram of the variance value of the normalized Range-FFT provided by an embodiment of the application.
  • FIG. 14 is a schematic flowchart of a distance measurement method 300 according to an embodiment of the application.
  • 15 is a schematic diagram of another normalized Range-FFT variance value provided by an embodiment of the application.
  • FIG. 16 is a schematic flowchart of a distance measurement method 400 provided by an embodiment of this application.
  • FIG. 17 is a schematic diagram of another Range-FFT provided by an embodiment of the application.
  • FIG. 18 is a schematic flowchart of a distance measuring device 500 provided by an embodiment of the application.
  • FIG. 19 is a schematic flowchart of a distance measuring device 600 provided by an embodiment of the application.
  • FIG. 20 is a schematic flowchart of a distance measuring device 700 provided by an embodiment of this application.
  • FIG. 21 is a schematic flowchart of a distance measuring device 800 provided by an embodiment of the application.
  • FIG. 1 shows a schematic block diagram of a distance measuring device 100 provided by an embodiment of the present application.
  • the device 100 includes a radar module 110, a signal processing module 120 and an output module 130.
  • the radar module 110 is used to periodically transmit radar signals.
  • the radar signals adopt a frequency-modulated continuous wave FMCW modulation method, receive echo signals generated by radar signals within the detection range, and send the received echo signals to the signal processing module 120.
  • radar signal may be millimeter waves, microwaves, or ultrasonic waves, which is not limited in the embodiment of the present application.
  • the radar module 110 may be a radar.
  • the radar module 110 can also be used to sense whether there is a measured object that meets the measurement conditions, and when it is determined that there is a measured object that meets the measurement conditions, the distance information of the measured object is measured, and the distance information is used to indicate the The distance between the measured object and the origin of the radar signal.
  • the antenna configuration of the radar may be single-transmit and single-receive, or may be a multiple-transmit and multiple-receive antenna array, which is not limited in the embodiment of the present application.
  • the signal processing module 120 is configured to receive the echo signal sent by the radar module, calculate the distance information according to the echo signal, and send the distance information to the output module 130.
  • the output module 130 is used to output the distance information.
  • the output module 130 may output the distance information in a variety of ways, which is not limited in the embodiment of the present application.
  • the output module may be a display, and the device 100 may display the distance information through the display.
  • the output module may be a speaker, and the device 100 may report the audio of the distance information through the speaker.
  • the output module may be an output interface, and the apparatus 100 may send the distance information to other measuring equipment through the output module, so that the other measuring equipment can measure other data according to the distance information.
  • the measured object is not limited to a human being, but may also be an animal, plant, or other object, which is not limited in the embodiment of the present application.
  • the distance measuring device is not limited to measuring height, but can also measure distance, for example, measuring the size or distance of the measured object, which is not limited in the embodiment of the present application.
  • the device 100 may be an independent distance measurement device, or the device 100 may be integrated on other existing measurement devices as a module that implements the distance measurement function in the measurement device, which is not limited in the embodiment of the present application. .
  • FIG. 2 shows a possible product form in which the distance measuring device is an independent distance measuring device (the module inside the distance measuring device is not shown).
  • FIG. 3 shows a possible product form in which the distance measuring device is integrated in the measuring device (the module inside the distance measuring device is not shown). The position set by the distance measuring device does not overlap with the standing position of the measured person.
  • the distance measuring device may be integrated on the body fat scale and arranged under the watch case on the upper surface of the body fat scale in front of the standing position of the measured person.
  • the distance measuring device can also be set in other positions of the standing position of the measured person on the body fat scale, which is not limited in the embodiment of the present application.
  • the y-axis in Figures 2 and 3 is the radial direction of the radar signal
  • the x-axis is the tangential direction of the radar signal
  • the z-axis is the vertical direction of the radar signal
  • the plane formed by the y-axis and the z-axis is The radar vertical plane
  • the plane formed by the x-axis and the y-axis is the radar horizontal plane
  • the distance measured in the embodiment of the present application can be understood as the distance of the measured object in the radial direction.
  • the distance measurement device provided by the embodiment of the present application is described above with reference to Figs. 1 to 3.
  • the following will take height measurement as an example, and the application scenario provided by the embodiment of the present application will be described with reference to Figs. 4 and 5.
  • the measured object is a person and the height of the measured person is measured by the distance measuring device as an example for introduction, but the embodiments of the present application are not limited to this.
  • the distance measuring device shown in Figure 2 when the distance measuring device shown in Figure 2 is used to measure height, the distance measuring device is placed on the floor in front of the measured person. When the measured person is ready to measure, place the height above the head The palm stretches out the forehead, perpendicular to the y-axis of the radar signal, and shakes the palm quickly, so that the radar signal can detect the slight shaking of the palm at the top of the head. The distance measuring device measures the distance between the palm and the origin of the radar signal. , To determine the height of the tested person.
  • the distance measuring device can also be placed in other positions around the soles of the feet of the tested person.
  • the tested person needs to stretch out his palm at a corresponding position at the height of the head and shake it slightly, which is not limited in the embodiment of the present application.
  • the measuring device when using the measuring device as shown in Fig. 3 to measure height, take the measuring device as body fat as an example.
  • the person to be tested stands on the body fat scale, and the distance measuring device is set on the body fat scale.
  • the distance measuring device In front of the sole of the person's feet, when the person under test is ready to measure, extend the palm of the forehead at the height of the head, perpendicular to the y-axis of the radar signal, and shake the palm quickly, so that the radar signal can detect the palm of the palm at the head position. Slight jitter, the distance measuring device determines the height of the measured person by measuring the distance between the palm of the hand and the origin of the radar signal.
  • the distance measuring device in the body fat scale can also be placed in other positions around the soles of the feet of the tested person.
  • the tested person needs to stretch out his palm at the corresponding position at the height of the head and shake it slightly. Not limited.
  • the measured person may also use other objects (referred to as target obstacles in the embodiment of the present application) to replace the shaking of the hand, which is not limited in the embodiment of the present application.
  • target obstacles referred to as target obstacles in the embodiment of the present application
  • the parents or friends of the tested person can stand by and stretch out their hands instead of shaking the top of the tested person's head.
  • the distance measuring device does not require auxiliary facilities such as support rods and support plates, which improves the convenience of use; in addition, the radar signal is penetrable and can be integrated under the housing of other measurement equipment without affecting product design beautiful.
  • the radar signal is a microwave radar signal
  • the measurement accuracy of centimeter level can be achieved.
  • the following will introduce a schematic flowchart of a distance measurement method 200 provided by an embodiment of the present application with reference to FIG. 6.
  • the method 200 may be executed by the distance measurement device shown in FIG. 1, and the method 200 is suitable for use in FIG. 4 or FIG. 5.
  • S210 Receive multiple first echo signals generated within a detection range of multiple first radar signals transmitted in a first time period.
  • the embodiment of the present application only takes the measured object as a person, and the height measurement of the measured person through the distance measuring device is used as an example to introduce, but the embodiment of the present application is not limited to this.
  • the measured object needs to be prepared for measurement first, that is, the target obstacle set at the end of the measured object farthest from the emission origin is slightly shaken.
  • the person under test needs to slightly shake his forehead according to the method described in the application scenario shown in FIG. 4 or FIG. 5.
  • the chirp signal can be as expression (1):
  • B is the bandwidth
  • f 0 is the fixed initial phase
  • t c is the period of the Chirp signal
  • A is the amplitude
  • ⁇ 0 is the starting frequency.
  • the first subgraph in Fig. 7 shows a schematic diagram of the chirp signal time-domain amplitude change
  • the second subgraph shows a schematic diagram of the chirp signal frequency linear change
  • the third subgraph shows K chirps within one frame time.
  • the bandwidth of the first radar signal transmitted by the distance measuring device is greater than 3 GHz
  • the number of transmitting antennas in the distance measuring device is greater than or equal to 1
  • the number of receiving antennas is greater than or equal to 1
  • the antenna radiation is 3 dB
  • the beam width requires both the horizontal plane (H-plane) and the vertical plane (E-plane) to be less than or equal to 90°, which means that the main lobe beam needs to be relatively concentrated.
  • only the first radar signal is a chirp signal for introduction.
  • the distance measuring device may also transmit other types of radar signals, which is not limited in the embodiment of the present application.
  • each of the plurality of first point cloud data includes a distance value, a velocity value, and a signal-to-noise ratio value
  • each The distance value in the first point cloud data is used to indicate the distance between the obstacle point represented by each first point cloud data and the transmission origin of the plurality of first radar signals
  • each first point cloud data The velocity value in each of the first point cloud data is used to represent the movement velocity of the obstacle point represented by the first point cloud data relative to the emission origin
  • the signal-to-noise ratio value in each first point cloud data is used to represent the Describe the noise at the obstacle point represented by each first point cloud data.
  • a plurality of first spectrum data sets corresponding to the plurality of first echo signals may be determined according to the plurality of first echo signals, and the plurality of first spectrum data sets
  • the signal strength value of the first spectrum data is used to indicate the reflection strength of the obstacle point represented by each first spectrum data to the first radar signal corresponding to each first spectrum data, wherein each The multiple distance values included in the first spectrum data group are the same; and the first point cloud data set is determined according to the distance value and the signal strength value in each of the first spectrum data.
  • r(n) is the baseband discrete sampling signal after receiving and demodulating a single chirp signal of the receiving antenna
  • n is the number of samples in a single chirp signal period.
  • Fig. 8 shows the Range-FFT, which is defined as the modulus of N 1 /2 complex numbers in the positive frequency domain of R(k)
  • the formed vector each value corresponds to a frequency point (range-bin), the range-bin range is among them Is the distance corresponding to a single range-bin, that is, the distance resolution, the maximum detection distance is
  • the Range-FFT includes N 1 /2 frequency points, and the horizontal axis value corresponding to each frequency point represents the distance between the obstacle point represented by the frequency point and the origin of the first radar signal.
  • the vertical axis value corresponding to the frequency point represents the reflection intensity of the obstacle point represented by the frequency point to the first radar signal.
  • an obstacle within the detection range of the first radar signal may be composed of at least one obstacle point.
  • K chirp signals can obtain K above-mentioned R(k) sequences, that is, K Range-FFTs, where 1 Range-FFT is called a first spectrum data group, and 1 frequency on Range-FFT The distance value and the reflection intensity value corresponding to the point are called a first spectrum data in the first spectrum data group.
  • the first sub-picture to the second sub-picture in Fig. 9 show the process of performing 1D-FFT calculation on a single chirp signal to obtain the Range-FFT.
  • the second sub-picture to the third sub-picture show the K Range-FFT buttons.
  • Row-by-row A complex number matrix composed of a complex number, each complex number in the complex number matrix (ie a grid in the third subgraph in Figure 9) includes a real part and an imaginary part, the real part represents the range-bin, and the imaginary part represents the range-bin The intensity of the signal reflection at.
  • Range-Doppler is expressed as A complex number matrix composed of complex numbers.
  • Each complex number in the complex number matrix includes a real part and an imaginary part.
  • the real part represents range-bin
  • the imaginary part represents Doppler.
  • Le rate value
  • each Doppler-bin corresponds to the rate resolution v res
  • the range of Range-Doppler rate value is:
  • a square in Range-Doppler is a complex number in a complex number matrix, and the complex number at each square corresponds to an obstacle point, where the real part of the complex number represents the distance between the obstacle points The distance value of the transmission origin of the first radar signal.
  • the imaginary part represents the Doppler rate value of the obstacle point from the transmission origin.
  • the color of the square represents the signal noise level at the obstacle point, that is, the SNR value. The darker the color represents the SNR The larger the value.
  • first point cloud data the three-dimensional information of the real and imaginary parts of the complex number at each square in the aforementioned Range-Doppler and the color of each square.
  • K ranges -The first point cloud data corresponding to all the squares on the Doppler constitute the first point cloud data set.
  • the plurality of first point cloud data represents a plurality of obstacle points on the measured object within the detection range
  • each first point cloud data of the plurality of first point cloud data includes a distance value and a velocity Value and signal-to-noise ratio value
  • the distance value in each first point cloud data is used to indicate the distance between the obstacle point represented by each first point cloud data and the emission origin
  • each first point cloud data The velocity value in is used to represent the movement velocity of the obstacle point relative to the emission origin
  • the signal-to-noise ratio value in each first point cloud data is used to represent the noise at the obstacle point.
  • the first point cloud data in the embodiment of the present application may be expressed in multiple formats, which is not limited in the embodiment of the present application.
  • the first point cloud data can be represented by format 1 in the following expression (3):
  • r is the distance value
  • v is the modulus value of the Doppler rate
  • s is the SNR value.
  • the radar of the distance measuring device has a multiple-input multiple-output (MIMO) antenna array, for example, 3 ⁇ 3 transmitting antennas and 4 receiving antennas
  • MIMO multiple-input multiple-output
  • the radar can estimate the angle of the first echo signal.
  • the horizontal two-dimensional coordinates of the data points corresponding to each grid of the Range-Doppler can be estimated. Therefore, the first point cloud
  • the data can be represented by the format 2 in the following expression (4):
  • the y-axis is the horizontal radial direction of the radar
  • the x-axis is the horizontal tangential direction of the radar
  • v is the modulus of the Doppler rate
  • s is the SNR value.
  • the radar when the radar of the distance measuring device has a MIMO antenna array, the radar can estimate the angle of the first echo signal, and the range-Doppler can be estimated according to the estimated horizontal azimuth.
  • the horizontal two-dimensional coordinates corresponding to the grid can be estimated according to the estimated vertical azimuth angle corresponding to the three-dimensional coordinates of each grid. Therefore, the first point cloud data can be represented by the following expression (5) in format three:
  • the y-axis is the horizontal radial direction of the first radar signal
  • the x-axis is the horizontal tangential direction of the first radar signal
  • the z-axis is the vertical direction of the first radar signal
  • v is the modulus of the Doppler rate
  • s is the SNR value.
  • the distance value in each first point cloud data includes the distance component value in the radial direction of the obstacle point represented by each first point cloud data and the distance value in the first radar The distance component value in the tangential direction of the signal; or, the distance value in each first point cloud data includes the distance in the radial direction of the obstacle point represented by each first point cloud data The component value, the distance component value in the tangential direction, and the distance component value in the vertical direction of the first radar signal.
  • ⁇ i 1 first point cloud data.
  • S230 Perform denoising on the first point cloud data set according to the signal-to-noise ratio value and the rate value in each first point cloud data included in the first point cloud data set to obtain a target data set.
  • the first point cloud The data set is denoised to obtain the target data set, and the velocity threshold is determined according to the velocity of the target obstacle in the at least one obstacle.
  • the velocity of the target obstacle may be equal to the velocity threshold.
  • the velocity of the target obstacle may be slightly greater than the velocity threshold.
  • the first point cloud data in the distance measurement method of the embodiment of the present application extracts reflectors with velocity information.
  • the radar can identify small vibrations. Obstacles, such as the micro-vibration of the torso in a static state, and the first point cloud data formed by such a vibrating object interferes with the distance measurement of the target obstacle and needs to be filtered. Therefore, the interference can be filtered by the rate threshold.
  • the distance measurement method in the embodiment of the present application detects the micro-jitter of the target obstacle.
  • the echo signal strength generated by such micro-jitter is weak and the signal-to-noise ratio is not strong. Therefore, it can be filtered by the signal-to-noise ratio threshold. In addition to noise.
  • the first point cloud data in the first point cloud data set with v ⁇ v th and s ⁇ s th can be filtered out, thereby reducing interference and noise, where v th is the preset rate threshold, s th is the preset noise threshold.
  • v th can take a value of 0.16 m/s
  • s th and v th can be set according to the movement rate of the target obstacle.
  • s th can be set to different values according to different platforms.
  • the first point cloud data set of the target after denoising It can be expressed by the following formula (7):
  • the denoising process in the embodiment of the present application may also perform denoising only according to the rate threshold, which is not limited in the embodiment of the present application.
  • At least one obstacle obtained by clustering includes the target obstacle, the target obstacle includes a first obstacle point and a second obstacle point, and the first obstacle point and the second obstacle point The distance between is less than the preset distance threshold.
  • multiple clustering methods may be used in the embodiment of the present application to cluster the first point cloud data in the target first point cloud data set, which is not limited in the embodiment of the present application.
  • the first point cloud data in the first point cloud data set of the target can be clustered through the density-based spatial clustering of applications with noise (DBSCAN). class.
  • the first point cloud data in different formats may be clustered according to different information, which is not limited in the embodiment of the present application.
  • the first point cloud data included in the target data set may be clustered according to the distance value in each first point cloud data included in the target data set to obtain at least one classification.
  • [r, v] can be extracted as a single first point cloud data for clustering.
  • the first point cloud data included in the target data set may be clustered according to the distance value and the velocity value in each first point cloud data included in the target data set , To obtain the at least one classification.
  • S250 Determine the distance of the obstacle corresponding to each category from the emission origin according to the distance value in each first point cloud data included in each category.
  • the at least one category includes the target category corresponding to the target obstacle.
  • the target obstacle is set on the head of the measured person, and the distance between the target obstacle and the launch origin It can be understood as the height of the tested person.
  • the target classification may be determined from the at least one classification, and obstacle points represented by each first point cloud data included in the target classification constitute the target obstacle.
  • the category that includes the largest number of first point cloud data in the at least one category may be determined as the target category.
  • the first point cloud data included in the target classification can be expressed by the following formula (8):
  • the target classification can be selected as shown by the dotted circle in FIG. 10.
  • clustering the first point cloud data in the first point cloud data set of the target and selecting the target classification is beneficial to further eliminate the interference due to abnormal points, and the abnormal points come from Other environmental interference besides the target obstacle also comes from the signal parameter estimation error caused by the jitter of the target obstacle, such as the x, y coordinate deviation caused by the angle estimation error, and these parameters will be used in the distance measurement in the next step. Therefore, clustering can further reduce the interference of interference points and improve the accuracy of distance measurement.
  • the height value of the measured person can be determined by different methods, that is, the target obstacle at the top of the measured person’s head to the launch The distance to the origin.
  • the first point cloud data included in the target classification adopts the format of the first point cloud data shown in formula (3), and the current instantaneous height value h can be expressed by formula (9):
  • w i is the weighting factor
  • r i is the distance value of the i-th first point cloud data in the target classification.
  • the first point cloud data included in the target classification adopts the format of the first point cloud data shown in formula (4) and the format of the first point cloud data shown in formula (5).
  • the current instantaneous height value h can be expressed by formula (10):
  • w i is the weighting factor
  • y i is the y-axis component of the distance value of the i-th first point cloud data in the target classification.
  • the current instantaneous height value mentioned in the embodiment of the present application refers to the height value measured according to K chirp signals in the current frame.
  • w i in the embodiment of the present application may be determined in a variety of ways, which is not limited in the embodiment of the present application.
  • the value of w i is related to the signal-to-noise ratio, such as Among them, s" i is the signal-to-noise ratio value of the i-th first point cloud data in the target classification.
  • the y-axis component of the distance value of the first point cloud data reflects the true distance in the radial direction of the radar, the first point cloud in the target classification
  • the distance value of the data is weighted on the y-axis component, which can improve the accuracy of distance measurement.
  • using the distance measurement method provided by the embodiments of the present application can effectively eliminate interference noises such as surrounding obstacles and human trunk micro-movements, effectively improve measurement accuracy, and can adapt to more complex measurement environments.
  • ⁇ th1 is a preset first variance threshold
  • the value range of the first variance threshold is the first threshold range.
  • ⁇ th2 is a preset second variance threshold
  • the value range of the second variance threshold is the second threshold range
  • the second threshold range is greater than the first threshold range.
  • the distance measuring device may first determine whether the position of the measured object satisfies Measurement conditions: When the position of the measured object meets the measurement conditions, the distance measurement is performed. When the position of the measured object does not meet the measurement conditions, the distance measurement function can be suspended to save energy.
  • each of the plurality of second spectrum data groups includes a plurality of second spectrum data
  • the plurality of second spectrum data represents a plurality of second spectrum data within the detection range Obstacle points
  • each second spectrum data of the plurality of second spectrum data includes a distance value and a signal strength value
  • the distance value of each second spectrum data is used to indicate the location of each second spectrum data.
  • each second spectrum data Indicates the distance between the obstacle point and the emission origin, and the signal strength value of each second spectrum data is used to indicate that the obstacle point represented by each second spectrum data affects each second spectrum data.
  • the signal strength value of each second spectrum data is used to indicate that the obstacle point represented by each second spectrum data affects each second spectrum data.
  • the multiple distance values included in each second spectrum data group are the same; according to the distance value and the signal strength value in each second spectrum data, the Whether the position of the measured object meets the measurement conditions.
  • the end time of the second time period is not later than the end time of the first time period, which may include: the end time of the second time period is earlier than the end time of the first time period; Alternatively, the end time of the second time period is equal to the end time of the first time period, which is not limited in the embodiment of the present application.
  • the duration of the second time period and the duration of the first time period may be the same or different, which is not limited in the embodiment of the present application.
  • the process of determining whether the position of the measured object meets the measurement condition can be performed before the first point cloud data is determined, that is, the buffer of the distance measuring device can be buffered according to multiple times.
  • the Range-FFT obtained from the echo signal of the chirp signal transmitted in the segment, the Range-FFT of each chirp is stored and deleted in the buffer according to the first-in-first-out rule.
  • the multiple chirp signals that is, the first (2) Radar signal
  • the Range-FFT obtained from the echo signal ie the second echo signal
  • the signal intensity value corresponding to each distance value among the multiple distance values included in each second spectrum data group may be normalized to obtain each second spectrum data group.
  • the normalized signal strength value corresponding to each distance value in the plurality of distance values included in the data group; determining the plurality of normalized signal strength values corresponding to the same distance value in the plurality of second spectrum data groups The variance value of the signal strength value corresponding to each distance value in the distance value; according to the variance value of the signal strength value corresponding to each distance value in the multiple distance values, it is determined whether the position of the measured object meets the requirements.
  • the measurement conditions is provided.
  • the P normalized Range-FFTs in the second time period can be expressed as Among them, P is the number of chirp signals in the second time period, Is the normalized Range-FFT of the i-th chirp, then for Matrix of Find the variance of each column of elements, that is, find the variance of the value on each range-bin Obtain the variance curve spectrum as Is the standard deviation of the m-th range-bin, as shown by the dotted line in Figure 13.
  • the variance value of the signal intensity value corresponding to each of the multiple distance values may be used in multiple ways, that is, the normalized amplitude corresponding to each range-bin.
  • the variance value of the value determines whether the position of the measured object meets the measurement condition, which is not limited in the embodiment of the present application.
  • the third-party difference threshold is 0.2 in FIG. 13
  • the number is greater than or equal to the number threshold
  • the number of trivariance thresholds is less than the number threshold, it is determined that the position of the measured object does not satisfy the measurement condition.
  • the variance value of the signal strength value corresponding to each of the multiple distance values is greater than the third-party difference threshold value k>k th , it is determined that the location of the measured person satisfies The measurement condition, that is, the person under test is close to the device, the effective measurement can be started, and the person under test is prompted to prepare for measurement, and the person under test can complete the preparation for measurement according to the actions described in the application scenarios in Figures 4 and 5;
  • the variance value of the signal strength value corresponding to each distance value in the distance value is greater than the third-party difference threshold value k ⁇ k th , it is determined that the position of the measured person does not meet the measurement condition, that is, the distance device of the measured person is relatively short.
  • k th is the number threshold.
  • the distance measurement device provided by the embodiment of the present application, it is not necessary to use external sensors such as a human infrared sensor or a pressure sensor to determine whether the distance measurement function can be activated, thereby simplifying the measurement device and reducing power consumption and cost.
  • external sensors such as a human infrared sensor or a pressure sensor
  • FIG. 14 shows a schematic flowchart of a distance measurement method 300 provided by an embodiment of the present application.
  • the method 300 may be executed by the distance measurement device shown in FIG. 1.
  • S310 Receive multiple first echo signals generated within a detection range of multiple first radar signals transmitted in a first time period.
  • the data group includes a plurality of first spectrum data, the plurality of first spectrum data represents a plurality of obstacle points on the measured object within the detection range, and each first spectrum in the plurality of first spectrum data
  • the data includes a distance value and a signal strength value, and the distance value of each first spectrum data is used to indicate the distance between the obstacle point represented by each first spectrum data and the transmission origin of the plurality of first radar signals ,
  • the signal strength value of each first spectrum data is used to indicate the signal reflection strength at the obstacle point represented by each first spectrum data, wherein each first spectrum data group includes a plurality of The distance value is the same.
  • S330 Perform normalization processing on the signal intensity value corresponding to each distance value included in each first spectrum data group, to obtain a normalization corresponding to each distance value included in each first spectrum data group Signal strength value.
  • S340 Determine the variance value of the signal intensity value corresponding to each distance value included in the multiple first spectral data groups according to the normalized signal intensity value corresponding to the same distance value in the multiple first spectral data groups .
  • S350 Determine the distance between the target obstacle on the measured object and the emission origin according to the variance value of the signal strength value corresponding to each distance value included in the plurality of first spectrum data sets, and the target The obstacle is composed of at least one obstacle point, and the signal reflection intensity at the obstacle points with different motion states is different.
  • the target obstacle is set on the top of the measured person's head, and the distance between the target obstacle and the launch origin can be understood as the height of the measured person.
  • the distance of the target obstacle may be determined according to the variance value of the signal strength value corresponding to each distance value included in the plurality of first spectrum data sets and the first variance threshold.
  • the first variance threshold is determined according to the signal strength at the at least one obstacle point constituting the target obstacle.
  • the variance value at the range-bin corresponding to the head height is increased. Therefore, search for the distance value corresponding to the furthest peak value on the Range-FFT variance curve spectrum with a value greater than or equal to the variance threshold within the range of the distance threshold, such as d 0 in Figure 15, as the current instantaneous height value; or the variance is greater than or equal to this
  • the maximum distance value of the variance threshold, such as d 1 in Fig. 15, is used as the current instantaneous height value.
  • the distance threshold can be considered to be set to a value higher than the height of the measured person and lower than or equal to the height of the ceiling, such as 2.5m.
  • the variance threshold can be set to include the variance value caused by the height of the palm shaking. , For example 0.2.
  • method for improving the accuracy of height measurement introduced in method 200 and the method for judging whether there is a measured object that meets the measurement conditions described in method 200 can also be used in method 300. In order to avoid repetition, it is not here. Go into details again.
  • FIG. 16 shows a schematic flowchart of a distance measurement method 400 provided by an embodiment of the present application.
  • the method 400 may be executed by the distance measurement device shown in FIG. 1.
  • S410 Receive multiple first echo signals generated within a first detection range from multiple first radar signals transmitted in a first time period.
  • each first spectrum data group of the plurality of first spectrum data groups includes a plurality of first spectrum data
  • the plurality of first spectrum data represents a plurality of obstacle points within the first detection range
  • each first spectrum data in the plurality of first spectrum data includes a distance Value and signal strength value
  • the distance value of each first spectrum data is used to indicate the distance between the obstacle point represented by each first spectrum data and the first emission origin of the plurality of first radar signals
  • the signal strength value of each first spectrum data is used to indicate the reflection strength of the obstacle point represented by each first spectrum data to the first radar signal corresponding to each first spectrum data, wherein,
  • the multiple distance values included in each first spectrum data group are the same.
  • S430 Perform normalization processing on the signal intensity value corresponding to each of the multiple distance values included in each first spectrum data group to obtain the multiple distance values included in each first spectrum data group The normalized signal strength value corresponding to each distance value in.
  • S440 Determine a first distance between a reference object at a fixed position and the first emission origin according to the normalized signal strength value corresponding to the same distance value in the plurality of first spectrum data sets, and the first distance It is greater than the distance between the measured object and the first emission origin.
  • FIG. 17 shows the normalized signal intensity value corresponding to the same distance value in the plurality of second spectrum data groups, that is, the normalized Range-FFT, because the normalized Range-FFT of each range-bin
  • the amplitude reflects the reflection intensity of the radar signal from the obstacle point. Therefore, in the normalized Rang-FFT, the distance corresponding to the farthest peak whose amplitude is greater than the amplitude threshold (for example, the amplitude threshold is 0.2) can be regarded as the reference The first distance between the object and the first emission origin.
  • the first distance between the reference object and the first emission origin is measured, and the detection direction of the first radar signal is from the first emission origin.
  • the first radar signal does not need to detect the distance information of the measured object. Therefore, the measured object can be located far away from the first radar signal, or outside the detection range of the first radar signal This embodiment of the application does not limit this.
  • the first distance may be the distance from the bottom of the measured person's feet to the ceiling
  • the second distance may be the distance from the top of the measured person's head to the ceiling
  • S450 Determine the distance of the measured object from the first emission origin according to the first distance.
  • a second distance from the reference object to the end of the measured object closest to the reference object may be acquired; and the distance from the measured object may be determined according to the first distance.
  • the distance of the first emission origin includes: determining the distance of the measured object from the first emission origin according to the first distance and the second distance.
  • multiple second echo signals generated within a second detection range of multiple second radar signals transmitted in the second time period may be received, and the second detection range is the same as the first detection range.
  • the detection range of a detection range is reversed; according to the plurality of second echo signals, a plurality of second spectrum data sets corresponding to the plurality of second echo signals are determined, and the plurality of second spectrum data sets
  • Each of the second spectrum data groups in includes a plurality of second spectrum data, the plurality of second spectrum data represents a plurality of obstacle points within the second detection range, and each of the plurality of second spectrum data
  • the second spectrum data includes a distance value and a signal strength value.
  • the distance value of each second spectrum data is used to indicate the distance between the obstacle point represented by each second spectrum data and the plurality of second radar signals.
  • the distance of the second transmission origin, the signal strength value of each second spectrum data is used to represent the reflection strength of the obstacle point represented by each second spectrum data to the plurality of second radar transmission signals, where ,
  • the multiple distance values included in each second spectrum data group are the same; and the signal intensity value corresponding to each of the multiple distance values included in each second spectrum data group is normalized, Obtain the normalized signal intensity value corresponding to each of the multiple distance values included in each second spectrum data group; according to the normalized signal corresponding to the same distance value in the multiple second spectrum data groups The intensity value determines the second distance.
  • the principle of the second distance determination process is similar to that of the first distance determination process, except that the second distance is the distance from the reference object to the end of the measured object closest to the reference object. Therefore, the distance measuring device needs to be placed at the end closest to the reference object, that is, the detection direction of the second radar signal is opposite to the detection direction of the first radar signal, that is, from the end closest to the reference object to the Reference.
  • the method 400 adopts the method introduced in method 200 to improve the accuracy of distance measurement, and the method introduced in method 200 determines whether there is a measured object that satisfies the measurement conditions. In order to avoid repetition, it will not be repeated here. .
  • Using the distance measurement method provided in the embodiments of the present application can better reflect the distribution of obstacles in the radar detection range, facilitate the setting of a unified threshold value, and improve the universality of algorithms and products.
  • the distance measurement method provided by the embodiment of the present application is described above, and the distance measurement device provided by the embodiment of the present application will be described in detail below with reference to FIG. 18 to FIG. 21.
  • FIG. 18 shows a schematic block diagram of a distance measuring device 500 provided by an embodiment of the present application.
  • the device 500 includes:
  • the receiving unit 510 is configured to receive multiple first echo signals generated within the detection range of multiple first radar signals transmitted in the first time period;
  • the processing unit 520 is configured to determine a first point cloud data set according to the multiple first echo signals, where the first point cloud data set includes multiple first point cloud data, and the multiple first point clouds
  • the data is used to represent a plurality of obstacle points on the measured object within the detection range, and each first point cloud data in the plurality of first point cloud data includes a distance value, a speed value, and a signal-to-noise ratio value,
  • the distance value in each first point cloud data is used to indicate the distance between the obstacle point represented by each first point cloud data and the transmission origin of the plurality of first radar signals.
  • the velocity value in one point cloud data is used to indicate the movement velocity of the obstacle point represented by each first point cloud data relative to the emission origin, and the signal-to-noise ratio value in each first point cloud data It is used to represent the noise at the obstacle point represented by each first point cloud data; according to the signal-to-noise ratio value and the rate value in each first point cloud data included in the first point cloud data set, Performing denoising on the first point cloud data set to obtain a target data set; according to the distance value in each first point cloud data included in the target data set, the first point cloud data included in the target data set Perform clustering to obtain at least one category, wherein the at least one category corresponds to at least one obstacle, and the obstacle points included in each category in the at least one category constitute the obstacle corresponding to each category; The distance value in each first point cloud data included in each category determines the distance of the obstacle corresponding to each category from the emission origin.
  • the processing unit 520 is specifically configured to calculate the signal-to-noise ratio value and the rate value in each first point cloud data included in the first point cloud data set and the preset signal-to-noise ratio threshold value and the rate threshold value. Denoising the first point cloud data set to obtain the target data set, and the velocity threshold is determined according to the velocity of the target obstacle in the at least one obstacle.
  • the velocity of the target obstacle is greater than or equal to the velocity threshold.
  • the target obstacle includes a first obstacle point and a second obstacle point, and the distance between the first obstacle point and the second obstacle point is less than a preset distance threshold.
  • the target obstacle corresponds to a target category in the at least one category
  • the processing unit 520 is specifically configured to: determine the category that includes the largest number of first point cloud data in the at least one category as The target classification; determining the distance of the target obstacle from the emission origin according to the distance value in each first point cloud data included in the target classification.
  • the distance value in each first point cloud data includes a distance component value in the first direction and a distance component value in the second direction of the obstacle point represented by each first point cloud data ,
  • the first direction and the second direction are perpendicular; or, the distance value in each first point cloud data includes that the obstacle point represented by each first point cloud data is in the first direction
  • the upward distance component value, the distance component value in the second direction, and the distance component in the third direction, the third direction being perpendicular to the first direction and the second direction, respectively.
  • the processing unit 520 is specifically configured to: determine, according to the plurality of first echo signals, a plurality of first spectrum data sets corresponding to the plurality of first echo signals, and the plurality of first echo signals
  • Each first spectrum data group in the spectrum data group includes a plurality of first spectrum data
  • the plurality of first spectrum data represents a plurality of obstacle points within the detection range
  • the plurality of first spectrum data Each first spectrum data includes a distance value and a signal strength value. The distance value of each first spectrum data is used to indicate the distance between the obstacle point represented by each first spectrum data and the transmission origin.
  • the signal strength value of each first spectrum data is used to indicate the reflection strength of the obstacle point represented by each first spectrum data to the first radar signal corresponding to each first spectrum data, where The multiple distance values included in each first spectrum data group are the same; and the first point cloud data set is determined according to the distance value and the signal strength value in each first spectrum data.
  • the receiving unit 510 is further configured to receive in a second time period before the first point cloud data set is determined according to the distance value and the signal strength value in each of the first spectrum data Multiple second echo signals generated within the detection range by multiple second radar signals transmitted, and the end time of the second time period is no later than the end time of the first time period; the processing unit 520 is further configured to determine, according to the plurality of second echo signals, a plurality of second spectrum data groups corresponding to the plurality of second echo signals, and each second spectrum data group in the plurality of second spectrum data groups
  • the spectrum data group includes a plurality of second spectrum data, the plurality of second spectrum data represents a plurality of obstacle points within the detection range, and each second spectrum data in the plurality of second spectrum data includes a distance value
  • the signal strength value the distance value of each second spectrum data is used to indicate the distance between the obstacle point represented by each second spectrum data and the transmission origin, the signal of each second spectrum data
  • the intensity value is used to indicate the reflection intensity of the obstacle point represented by each second spectrum data
  • the processing unit 520 is further configured to perform normalization processing on the signal intensity value corresponding to each distance value among the multiple distance values included in each second spectrum data group, to obtain each of the second spectrum data sets.
  • the normalized signal strength value corresponding to each of the multiple distance values included in the second spectrum data group; and the normalized signal strength value corresponding to the same distance value in the multiple second spectrum data groups is determined
  • the variance value of the signal intensity value corresponding to each of the multiple distance values according to the variance value of the signal intensity value corresponding to each of the multiple distance values, it is determined whether the position of the measured object is Meet the measurement conditions.
  • the processing unit 520 is specifically configured to: when the variance value of the signal intensity value corresponding to each of the multiple distance values is greater than the variance threshold, the number is greater than or equal to the number threshold, determining the The position of the measured object satisfies the measurement condition; or, when the variance value of the signal intensity value corresponding to each of the multiple distance values is greater than the variance threshold and the number is less than the variance threshold, it is determined The position of the measured object does not satisfy the measurement condition.
  • the device 500 here is embodied in the form of a functional unit.
  • the term "unit” here can refer to application specific integrated circuits (ASICs), electronic circuits, processors used to execute one or more software or firmware programs (such as shared processors, proprietary processors, or groups). Processor, etc.) and memory, merge logic circuits and/or other suitable components that support the described functions.
  • ASICs application specific integrated circuits
  • the device 500 may be specifically the distance measuring device in the above method 200 embodiment, and the device 500 may be used to execute each process and/or corresponding to the distance measuring device in the above method 200. Or steps, in order to avoid repetition, I will not repeat them here.
  • FIG. 19 shows a schematic block diagram of a distance measuring device 600 provided by an embodiment of the present application.
  • the device 600 includes:
  • the receiving unit 610 is configured to receive multiple first echo signals generated within the detection range of multiple first radar signals transmitted in the first time period;
  • the processing unit 620 is configured to determine, according to the plurality of first echo signals, a plurality of first spectrum data groups corresponding to the plurality of first echo signals, each of the plurality of first spectrum data groups
  • a first spectrum data group includes a plurality of first spectrum data, the plurality of first spectrum data represents a plurality of obstacle points on the measured object within the detection range, and each of the plurality of first spectrum data
  • the first spectrum data includes a distance value and a signal strength value, and the distance value of each first spectrum data is used to indicate the distance between the obstacle point represented by each first spectrum data and the plurality of first radar signals
  • the distance to the origin of the emission, the signal strength value of each first spectrum data is used to represent the signal reflection strength at the obstacle point represented by each first spectrum data, wherein each first spectrum data group
  • the multiple distance values included are the same; the signal intensity value corresponding to each distance value included in each first spectrum data group is normalized to obtain each distance included in each first spectrum data group Value corresponding to the normalized signal strength value; according to the
  • the processing unit 620 is specifically configured to determine the target obstacle according to the variance value of the signal strength value corresponding to each distance value included in the plurality of first spectrum data sets and the first variance threshold.
  • the first variance threshold is determined according to the signal strength at the at least one obstacle point constituting the target obstacle.
  • the receiving unit 610 is further configured to perform normalization processing on the signal intensity value corresponding to each distance value included in each first spectrum data group to obtain each first spectrum data group.
  • the processing unit 620 is further configured to determine that the multiple second echo signals correspond to the multiple second echo signals.
  • Each of the plurality of second spectrum data sets includes a plurality of second spectrum data, and the plurality of second spectrum data represents the detection range
  • a plurality of obstacle points, each of the second spectrum data in the plurality of second spectrum data includes a distance value and a signal strength value, and the distance value of each second spectrum data is used to represent each of the second spectrum data
  • the distance between the obstacle point represented by the second spectrum data and the emission origin, the signal intensity value of each second spectrum data is used to represent the signal reflection intensity at the obstacle point represented by each second
  • the processing unit 620 is further configured to perform normalization processing on the signal intensity value corresponding to each distance value included in each second spectrum data group, to obtain that each second spectrum data group includes The normalized signal strength value corresponding to each distance value of the plurality of second spectrum data sets; and the normalized signal strength value corresponding to the same distance value in the plurality of second spectrum data sets determines that each of the plurality of second spectrum data sets includes The variance value of the signal intensity value corresponding to each distance value; according to the variance value of the signal intensity value corresponding to each distance value included in the plurality of second spectrum data sets, it is determined whether the position of the measured object meets the requirements The measurement conditions.
  • the processing unit 620 is specifically configured to: when the number of variance values of the signal strength values corresponding to each distance value included in the plurality of second spectral data sets is greater than the second variance threshold is greater than or equal to the number Threshold, it is determined that the position of the measured object satisfies the measurement condition; or, when the variance of the signal strength value corresponding to each distance value included in the plurality of second spectrum data sets is greater than the second When the number of variance thresholds is less than the number threshold, it is determined that the position of the measured object does not satisfy the measurement condition.
  • the device 600 here is embodied in the form of a functional unit.
  • the term "unit” here can refer to ASICs, electronic circuits, processors for executing one or more software or firmware programs (such as shared processors, proprietary processors, or group processors, etc.) and memory, combined logic circuits, and / Or other suitable components that support the described functions.
  • the device 600 may be specifically the distance measuring device in the above method 300 embodiment, and the device 600 may be used to execute each process and/or corresponding to the distance measuring device in the above method 300. Or steps, in order to avoid repetition, I will not repeat them here.
  • FIG. 20 shows a distance measuring device 700 provided by an embodiment of the present application.
  • the device 700 may be the device 500 described in FIG. 18, or the device 700 may include the device 500 in FIG. 18.
  • the device 500 may adopt the hardware architecture shown in FIG. 20.
  • the apparatus 700 may include a processor 710 and a transceiver 720, and the processor 710 and the transceiver 720 communicate with each other through an internal connection path.
  • the relevant functions implemented by the processing unit 520 in FIG. 18 may be implemented by the processor 710, and the relevant functions implemented by the receiving unit 510 may be implemented by the processor 710 controlling the transceiver 720.
  • the processor 710 may include one or more processors, such as one or more central processing units (central processing units, CPUs).
  • processors such as one or more central processing units (central processing units, CPUs).
  • CPUs central processing units
  • the CPU may be a single-core CPU, or It can be a multi-core CPU.
  • the transceiver 720 is used to transmit and receive signals.
  • the transceiver may include a transmitter and a receiver, the transmitter is used to send radar signals, and the receiver is used to receive radar signals.
  • the device 700 may further include a memory 730, and the processor 710, the transceiver 720, and the memory 730 communicate with each other through an internal connection path.
  • the memory 730 includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable memory (erasable read only memory, EPROM), and read-only memory.
  • RAM random access memory
  • ROM read-only memory
  • EPROM erasable read only memory
  • read-only memory erasable read only memory
  • CD-ROM compact disc
  • the memory 730 is used to store program codes and data of the device, and may be a separate device or integrated in the processor 710.
  • the processor 710 is configured to control the transceiver 720 to transmit radar signals and receive echo signals.
  • the transceiver 720 is configured to transmit radar signals and receive echo signals.
  • FIG. 20 only shows a simplified design of the device 700.
  • the device 700 may also include other necessary components, including but not limited to any number of transceivers, processors, controllers, memories, etc., and all the management devices that can implement the application are protected by the application. Within range.
  • the device 700 may be replaced with a chip device for implementing related functions of the processor in the device.
  • the chip device can be a field programmable gate array, a dedicated integrated chip, a system chip, a central processing unit, a network processor, a digital signal processing circuit, a microcontroller, and a programmable controller or other integrated chips for realizing related functions.
  • the chip may optionally include one or more memories, which are used to store program codes. When the codes are executed, the processor realizes corresponding functions.
  • FIG. 21 shows a distance measuring device 800 provided by an embodiment of the present application.
  • the device 800 may be the device 600 described in FIG. 19, or the device 800 may include the device 600 described in FIG. 19.
  • the device 600 may adopt the hardware architecture shown in FIG. 21.
  • the device 800 may include a processor 810 and a transceiver 820, and the processor 810 and the transceiver 820 communicate with each other through an internal connection path.
  • the related functions implemented by the processing unit 620 in FIG. 19 may be implemented by the processor 810, and the related functions implemented by the receiving unit 610 may be implemented by the processor 810 controlling the transceiver 820.
  • the processor 810 may include one or more processors, for example, one or more CPUs.
  • the processor may be a single-core CPU or a multi-core CPU.
  • the transceiver 820 is used to transmit and receive signals.
  • the transceiver may include a transmitter and a receiver, the transmitter is used to send radar signals, and the receiver is used to receive radar signals.
  • the device 800 may further include a memory 830, and the processor 810, the transceiver 820, and the memory 830 communicate with each other through an internal connection path.
  • the memory 830 includes but is not limited to RAM, ROM, EPROM, and CD-ROM.
  • the memory 830 is used to store related instructions and data.
  • the memory 830 is used to store program codes and data of the device, and may be a separate device or integrated in the processor 810.
  • the processor 810 is used to control the transceiver to transmit radar signals and receive echo signals.
  • the transceiver to transmit radar signals and receive echo signals.
  • FIG. 21 only shows a simplified design of the device 800.
  • the device 800 may also include other necessary components, including but not limited to any number of transceivers, processors, controllers, memories, etc., and all the management devices that can implement the application are protected by the application. Within range.
  • the device 800 may be replaced with a chip device for implementing related functions of the processor in the device.
  • the chip device can be a field programmable gate array, a dedicated integrated chip, a system chip, a central processing unit, a network processor, a digital signal processing circuit, a microcontroller, and a programmable controller or other integrated chips for realizing related functions.
  • the chip may optionally include one or more memories for storing program codes. When the codes are executed, the processor realizes corresponding functions.
  • the size of the sequence number of the above-mentioned processes does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not correspond to the embodiments of the present application.
  • the implementation process constitutes any limitation.
  • the disclosed system, device, and method can be implemented in other ways.
  • the device embodiments described above are merely illustrative, for example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of the present application essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

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Abstract

一种距离测量方法和装置（100），其中方法包括：接收第一时间段内发射的多个第一雷达信号在探测范围内产生的多个第一回波信号（S210）；根据该多个第一回波信号，确定第一点云数据集（S220）；根据该第一点云数据集中包括的每个第一点云数据中的信噪比值和速率值，对该第一点云数据集进行去噪，得到目标数据集（S230），运动状态不同的障碍点处的噪声和速率不同；根据目标数据集中包括的每个第一点云数据中的距离值，对目标数据集中包括的第一点云数据进行聚类，得到至少一个分类，该至少一个分类对应至少一个障碍物（S240）；根据该至少一个分类中的每个分类中包括的每个第一点云数据中的距离值，确定该每个分类对应的障碍物距该发射原点的距离（S250）。距离测量方法和装置（100）能够提高距离测量的精确度。

Description

距离测量方法和距离测量装置
本申请要求于2019年12月18日递交的申请号为201911311965.1、申请名称为“距离测量方法和距离测量装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及传感器技术领域，并且更具体地，涉及传感器技术领域中的距离测量方法和距离测量装置。
背景技术
随着社会的发展和科技的进步，传感器技术在距离测量中的应用越来越广泛。例如，身高测量装置是一种能够测量人们的身高的测距装置，用户通过身高测量装置测量得到的身高，并结合体重、体脂等生理参数，综合评估身体的健康情况。
现有60GHz及77GHz的毫米波频段具有较大可用带宽，采用调频连续波(frequency modulated continuous wave，FMCW)调制方式可实现厘米级测距精度，同时可进行测速，目前广泛应用于车载雷达来检测障碍物距离，感知物体的远近。
然而，采用现有的不同频段的雷达信号测距方法进行目标测距时，由于雷达信号易受周边环境中的障碍物影响，从而导致检测到错误目标的距离，因此，测量精度较低。
发明内容
本申请实施例提供一种距离测量方法和距离测量装置，能够提高测量的精确度。
第一方面，本申请实施例提供一种身高测量方法，该方法包括：
接收第一时间段内发射的多个第一雷达信号在探测范围内产生的多个第一回波信号；
根据所述多个第一回波信号，确定第一点云数据集，所述第一点云数据集包括多个第一点云数据，所述多个第一点云数据用于表示所述探测范围内的被测对象上的多个障碍点，所述多个第一点云数据中的每个第一点云数据包括距离值、速率值和信噪比值，所述每个第一点云数据中的距离值用于表示所述每个第一点云数据所表示的障碍点距所述多个第一雷达信号的发射原点的距离，所述每个第一点云数据中的速率值用于表示所述每个第一点云数据所表示的障碍点相对于所述发射原点的运动速率，所述每个第一点云数据中的信噪比值用于表示所述每个第一点云数据所表示的障碍点处的噪声；
根据所述第一点云数据集中包括的每个第一点云数据中的信噪比值和速率值，对所述第一点云数据集进行去噪，得到目标数据集；
根据所述目标数据集中包括的每个第一点云数据中的距离值，对所述目标数据集中包括的第一点云数据进行聚类，得到至少一个分类，其中，所述至少一个分类对应至少一个障碍物，所述至少一个分类中的每个分类包括的障碍点构成所述每个分类对应的障碍物；
根据所述每个分类包括的每个第一点云数据中的距离值，确定所述每个分类对应的障碍物距所述发射原点的距离。
需要说明的是，本申请实施例中所述的“第一”、“第二”等仅用于区分不同时间段内的相同术语，除非特别说明，否则都与数量、类型等无关。
还需要说明的是，本申请实施例仅以被测对象为人，通过距离测量装置对被测人进行身高测量为例进行介绍，但本申请实施例不限于此。
需要说明的是，在接收第一时间段内发射的多个第一雷达信号在探测范围内产生的多个第一回波信号之前，被测对象处需要先进行测量准备，即对被测对象上距所述发射原点最远的一端处设置的目标障碍物进行微抖动。
例如，以身高测量为例，被测人需要将手掌伸出额头微抖动。
需要说明的是，由于运动状态不同的障碍点处的速率不同，因此，构成被测人头顶处抖动的目标障碍物的障碍点处的速率与周围其他障碍点的速率不同。
在一种可能的实现方式中，所述根据所述第一点云数据集中包括的每个第一点云数据中的信噪比值和速率值，对所述第一点云数据集进行去噪，得到目标数据集，包括：根据所述第一点云数据集中包括的每个第一点云数据中的信噪比值和速率值以及预设的信噪比阈值和速率阈值，对所述第一点云数据集进行去噪，得到所述目标数据集，所述速率阈值是根据所述至少一个障碍物中的目标障碍物的速率确定的。
需要说明的是，本申请实施例的距离测量方法中的第一点云数据提取的是具有速率信息的反射体，当雷达的速率分辨率达0.08m/s时，则雷达可识别微小震动的障碍物，比如身体静态下躯干的微震动，而此类震动物体形成的第一点云数据对目标障碍物的距离测量具有干扰而需要被滤除，因此，可以通过速率阈值滤除干扰。
同时，本申请实施例的距离测量方法中检测的是目标障碍物的微抖动，这样的微抖动产生的回波信号强度较弱，信噪比不强，因此，可以通过信噪比阈值来滤除噪声。
在一种可能的实现方式中，所述目标障碍物的速率大于或等于所述速率阈值。
需要说明的是，聚类得到的至少一个障碍物中包括该目标障碍物，所述目标障碍物包括第一障碍点和第二障碍点，且所述第一障碍点与所述第二障碍点之间的距离小于预设的距离阈值。
可选地，可以通过具有噪声的基于密度的聚类方法对该目标第一点云数据集中的第一点云数据进行聚类。
在一种可能的实现方式中，所述目标障碍物包括第一障碍点和第二障碍点，所述第一障碍点与所述第二障碍点之间的距离小于预设的距离阈值。
在一种可能的实现方式中，所述目标障碍物对应所述至少一个分类中的目标分类，所述根据所述每个分类包括的每个第一点云数据中的距离值，确定与所述每个分类对应的障碍物距所述发射原点的距离，包括：将所述至少一个分类中包括第一点云数据的数量最多的分类，确定为所述目标分类；根据所述目标分类中包括的每个第一点云数据中的距离值，确定所述目标障碍物距所述发射原点的距离。
需要说明的是，所述至少一个分类中包括所述目标障碍物对应的目标分类，以身高测量为例，该目标障碍物设置于被测人头顶处，该目标障碍物距该发射原点的距离可以理解为该被测人的身高。
采用本申请实施例所述的距离测量方法，对目标第一点云数据集中的第一点云数据进行聚类并选取目标分类之后有利于进一步消除由于异常点的干扰，而这异常点来自于目标障碍物以外的其他环境干扰，也来自于对目标障碍物抖动产生的信号参数估计误差，如角度估计误差导致的x,y坐标偏差，而这些参数将用于下一步骤中的距离测量，因此，通过聚类能进一步消减干扰点的干扰，提高距离测量的精确度。
在一种可能的实现方式中，所述每个第一点云数据中的距离值包括所述每个第一点云数据所表示的障碍点在第一方向上的距离分量值和第二方向上的距离分量值，所述第一方向和所述第二方向垂直；或，所述每个第一点云数据中的距离值包括所述每个第一点云数据所表示的障碍点在所述第一方向上的距离分量值、所述第二方向上的距离分量值和第三方向上的距离分量，所述第三方向分别与所述第一方向和所述第二方向垂直。
在一种可能的实现方式中，所述根据所述多个第一回波信号，确定第一点云数据集，包括：根据所述多个第一回波信号，确定所述多个第一回波信号对应的多个第一频谱数据组，所述多个第一频谱数据组中的每个第一频谱数据组包括多个第一频谱数据，所述多个第一频谱数据表示所述探测范围内的多个障碍点，所述多个第一频谱数据中的每个第一频谱数据包括距离值和信号强度值，所述每个第一频谱数据的距离值用于表示所述每个第一频谱数据所表示的障碍点距所述发射原点的距离，所述每个第一频谱数据的信号强度值用于表示所述每个第一频谱数据所表示的障碍点对所述每个第一频谱数据所对应的第一雷达信号的反射强度，其中，所述每个第一频谱数据组包括的多个距离值相同；根据所述每个第一频谱数据中的距离值和信号强度值，确定所述第一点云数据集。
在一种可能的实现方式中，在所述根据所述每个第一频谱数据中的距离值和信号强度值，确定所述第一点云数据集之前，所述方法还包括：接收第二时间段内发射的多个第二雷达信号在所述探测范围内产生的多个第二回波信号，所述第二时间段的结束时刻不晚于所述第一时间段的结束时刻；根据所述多个第二回波信号，确定所述多个第二回波信号对应的多个第二频谱数据组，所述多个第二频谱数据组中的每个第二频谱数据组包括多个第二频谱数据，所述多个第二频谱数据表示所述探测范围内的所述多个障碍点，所述多个第二频谱数据中的每个第二频谱数据包括距离值和信号强度值，所述每个第二频谱数据的距离值用于表示所述每个第二频谱数据所表示的障碍点距所述发射原点的距离，所述每个第二频谱数据的信号强度值用于表示所述每个第二频谱数据所表示的障碍点对所述每个第二频谱数据所对应的第二雷达信号的反射强度，其中，所述每个第二频谱数据组包括的多个距离值相同；根据所述每个第二频谱数据中的距离值和信号强度值，确定所述被测对象的位置是否满足测量条件；当确定所述被测对象的位置满足所述测量条件时，确定所述第一点云数据集。
需要说明的是，在根据所述每个第一频谱数据中的距离值和信号强度值，确定所述第一点云数据集之前，该距离测量装置可以先判断该被测对象的位置是否满足测量条件，当该被测对象的位置满足测量条件时，再进行距离测量，当该被测对象的位置不满足测量条件时，可以暂停距离测量功能，以节省能耗。
在一种可能的实现方式中，所述根据所述每个第二频谱数据中的距离值和信号强度值，确定所述被测对象的位置是否满足测量条件，包括：对所述每个第二频谱数据组包括的多个距离值中每个距离值对应的信号强度值进行归一化处理，得到所述每个第二频谱数 据组包括的多个距离值中每个距离值对应的归一化信号强度值；根据所述多个第二频谱数据组中相同距离值对应的归一化信号强度值，确定所述多个距离值中每个距离值对应的信号强度值的方差值；根据所述多个距离值中每个距离值对应的信号强度值的方差值，确定所述被测对象的位置是否满足所述测量条件。
可选地，所述第二时间段的结束时刻不晚于所述第一时间段的结束时刻，可以包括：所述第二时间段的结束时刻早于所述第一时间段的结束时刻；或者，所述第二时间段的结束时刻等于所述第一时间段的结束时刻，本申请实施例对此不作限定。
可选地，所述第二时间段的时长与所述第一时间段的时长可以相同也可以不同，本申请实施例对此不作限定。
在一种可能的实现方式中，所述根据所述多个距离值中每个距离值对应的信号强度值的方差值，确定所述被测对象的位置是否满足所述测量条件，包括：当所述多个距离值中每个距离值对应的信号强度值的方差值中大于方差阈值的数量大于或等于数量阈值时，确定所述被测对象的位置满足所述测量条件；或，当所述多个距离值中每个距离值对应的信号强度值的方差值中大于所述方差阈值的数量小于所述数量阈值时，确定所述被测对象的位置不满足所述测量条件。
采用本申请实施例提供的距离测量装置，无需借助外部传感器如人体红外传感器、压力传感器来判定是否可启动距离测量功能，从而简化了测量装置，降低功耗与成本。
需要说明的是，以身高测量为例，由于通过上述第一方面中所述的方法得到的瞬时身高值受噪声干扰、抬手、落手、躯干微动等影响导致瞬时值变化较大，因此，可以通过以下两种方法提高测量得到的身高值的精确度和稳定性。
方法一：统计1s时间内连续帧时刻中每帧测量得到的瞬时高度值的方差
Figure PCTCN2020137467-appb-000001
如果
Figure PCTCN2020137467-appb-000002
则将这1s内的每帧测量得到的瞬时高度值的平均值作为被测人的最终身高值。其中，σ th1为预设的第一方差阈值，该第一方差阈值的取值范围为第一阈值范围。
方法二：统计多秒时间内连续帧时刻中每帧得到的瞬时高度值的方差
Figure PCTCN2020137467-appb-000003
如果
Figure PCTCN2020137467-appb-000004
利用直方图分布提取分布最集中的身高值区间，然后将该区间内包括的身高值的平均值作为被测人的最终身高值。其中，σ th2为预设的第二方差阈值，该第二方差阈值的取值范围为第二阈值范围，且该第二阈值范围大于该第一阈值范围。
第二方面，本申请实施例还提供一种距离测量方法，该方法包括：
接收第一时间段内发射的多个第一雷达信号在探测范围内产生的多个第一回波信号；
根据所述多个第一回波信号，确定与所述多个第一回波信号对应的多个第一频谱数据组，所述多个第一频谱数据组中的每个第一频谱数据组包括多个第一频谱数据，所述多个第一频谱数据表示所述探测范围内的被测对象上的多个障碍点，所述多个第一频谱数据中的每个第一频谱数据包括距离值和信号强度值，所述每个第一频谱数据的距离值用于表示所述每个第一频谱数据所表示的障碍点距所述多个第一雷达信号的发射原点的距离，所述每个第一频谱数据的信号强度值用于表示所述每个第一频谱数据所表示的障碍点处的信号反射强度，其中，所述每个第一频谱数据组包括的多个距离值相同；
对所述每个第一频谱数据组包括的每个距离值对应的信号强度值进行归一化处理，得到所述每个第一频谱数据组包括的每个距离值对应的归一化信号强度值；
根据所述多个第一频谱数据组中相同距离值对应的归一化信号强度值，确定所述多个 第一频谱数据组包括的每个距离值对应的信号强度值的方差值；
根据所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值，确定所述被测对象上的目标障碍物距所述发射原点的距离，所述目标障碍物由至少一个障碍点构成，运动状态不同的障碍点处的信号反射强度不同。
需要说明的是，以身高测量为例，该目标障碍物设置于被测人头顶处，该目标障碍物距该发射原点的距离可以理解为该被测人的身高。
需要说明的是，以身高测量为例，由于测量准备的时候，用户伸出手掌在头顶处微动，增大了头顶高度对应的range-bin处的方差值。因此，在距离阈值范围内搜索Range-FFT方差曲线谱上值大于等于方差阈值的最远波峰值所对应的距离值作为当前瞬时身高值；或方差大于等于该方差阈值的最大距离值作为当前瞬时身高值。
在一种可能的实现方式中，所述根据所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值，确定所述被测对象上的目标障碍物距所述发射原点的距离，包括：根据所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值和第一方差阈值，确定所述目标障碍物距所述发射原点的距离，所述第一方差阈值是根据构成所述目标障碍物的所述至少一个障碍点处的信号强度确定的。
在一种可能的实现方式中，在所述对所述每个第一频谱数据组包括的每个距离值对应的信号强度值进行归一化处理，得到所述每个第一频谱数据组包括的每个距离值对应的归一化信号强度值之前，所述方法还包括：接收第二时间段内发射的多个第二雷达信号在所述探测范围内产生的多个第二回波信号，所述第二时间段的结束时刻不晚于所述第一时间段的结束时刻；根据所述多个第二回波信号，确定所述多个第二回波信号对应的多个第二频谱数据组，所述多个第二频谱数据组中的每个第二频谱数据组包括多个第二频谱数据，所述多个第二频谱数据表示所述探测范围内的所述多个障碍点，所述多个第二频谱数据中的所述每个第二频谱数据包括距离值和信号强度值，所述每个第二频谱数据的距离值用于表示所述每个第二频谱数据所表示的障碍点距所述发射原点的距离，所述每个第二频谱数据的信号强度值用于表示所述每个第二频谱数据所表示的障碍点处的信号反射强度，其中，所述每个第二频谱数据组包括的多个距离值相同；根据所述每个第二频谱数据中的距离值和信号强度值，确定所述被测对象的位置是否满足测量条件；当确定所述被测对象的位置满足所述测量条件时，对所述每个第一频谱数据组包括的每个距离值对应的信号强度值进行归一化处理。
在一种可能的实现方式中，所述根据所述每个第二频谱数据中的距离值和信号强度值，确定所述被测对象的位置是否满足测量条件，包括：对所述每个第二频谱数据组包括的每个距离值对应的信号强度值进行归一化处理，得到所述每个第二频谱数据组包括的每个距离值对应的归一化信号强度值；根据所述多个第二频谱数据组中相同距离值对应的归一化信号强度值，确定所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值；根据所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值，确定所述被测对象的位置是否满足所述测量条件。
在一种可能的实现方式中，所述根据所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值，确定所述被测对象的位置是否满足所述测量条件，包括：当所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值中大于第二方差阈值 的数量大于或等于数量阈值时，确定所述被测对象的位置满足所述测量条件；或，当所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值中大于所述第二方差阈值的数量小于所述数量阈值时，确定所述被测对象的位置不满足所述测量条件。
第三方面，本申请实施例还提供一种距离测量方法，该方法包括：
接收第一时间段内发射的多个第一雷达信号在第一探测范围内产生的多个第一回波信号；
根据所述多个第一回波信号，确定与所述多个第一回波信号对应的多个第一频谱数据组，所述多个第一频谱数据组中的每个第一频谱数据组包括多个第一频谱数据，所述多个第一频谱数据表示所述第一探测范围内的多个障碍点，所述多个第一频谱数据中的每个第一频谱数据包括距离值和信号强度值，所述每个第一频谱数据的距离值用于表示所述每个第一频谱数据所表示的障碍点距所述多个第一雷达信号的第一发射原点的距离，所述每个第一频谱数据的信号强度值用于表示所述每个第一频谱数据所表示的障碍点对所述每个第一频谱数据所对应的第一雷达信号的反射强度，其中，所述每个第一频谱数据组包括的多个距离值相同；
对所述每个第一频谱数据组包括的多个距离值中每个距离值对应的信号强度值进行归一化处理，得到所述每个第一频谱数据组包括的多个距离值中每个距离值对应的归一化信号强度值；
根据所述多个第一频谱数据组中相同距离值对应的归一化信号强度值，确定固定位置的参照物到所述第一发射原点之间的第一距离，所述第一距离大于被测对象到所述第一发射原点之间的距离；
根据所述第一距离，确定被测对象距所述第一发射原点的距离。
需要说明的是，由于该归一化Rang-FFT上每个range-bin的幅值反映的是障碍点对雷达信号的反射强度，因此，归一化Rang-FFT中幅值大于幅值阈值的最远波峰所对应的距离可以被认为是参照物到该第一发射原点之间的第一距离。
需要说明的是，测量第一距离时，第一雷达信号的探测方向为由所述第一发射原点至所述参照物，由于该第一距离与被测对象无关，第一雷达信号无需探测被测对象的距离信息，因此，被测对象可以位于距第一雷达信号较远的位置，或者第一雷达信号的探测范围外，本申请实施例对此不作限定。
例如，以身高测量为例，第一距离可以为被测人脚底至天花板之间的距离，第二距离可以为被测人头顶至天花板之间的距离。
可选地，在根据所述第一距离，确定被测对象距所述第一发射原点的距离之前，可以获取所述参照物至所述被测对象距所述参照物最近的一端之间的第二距离；所述根据所述第一距离，确定被测对象距所述第一发射原点的距离，包括：根据所述第一距离和所述第二距离，确定所述被测对象距所述第一发射原点的距离。
在一种可能的实现方式中，可以接收第二时间段内发射的多个第二雷达信号在第二探测范围内产生的多个第二回波信号，所述第二探测范围与所述第一探测范围的探测反向相反；根据所述多个第二回波信号，确定与所述多个第二回波信号对应的多个第二频谱数据组，所述多个第二频谱数据组中的每个第二频谱数据组包括多个第二频谱数据，所述多个第二频谱数据表示所述第二探测范围内的多个障碍点，所述多个第二频谱数据中的每个第 二频谱数据包括距离值和信号强度值，所述每个第二频谱数据的距离值用于表示所述每个第二频谱数据所表示的障碍点距所述多个第二雷达信号的第二发射原点的距离，所述每个第二频谱数据的信号强度值用于表示所述每个第二频谱数据所表示的障碍点对所述多个第二雷达发射信号的反射强度，其中，所述每个第二频谱数据组包括的多个距离值相同；对所述每个第二频谱数据组包括的多个距离值中每个距离值对应的信号强度值进行归一化处理，得到所述每个第二频谱数据组包括的多个距离值中每个距离值对应的归一化信号强度值；根据所述多个第二频谱数据组中相同距离值对应的归一化信号强度值，确定所述第二距离。
需要说明的是，第二距离的确定过程与第一距离的确定过程的原理类似，其区别仅在于，第二距离是参照物到被测对象的距所述参照物最近的一端之间的距离，因此，需要将距离测量装置放置于距所述参照物最近的一端，即第二雷达信号的探测方向与第一雷达信号的探测方向相反，即由距所述参照物最近的一端至所述参照物。
还需要说明，还可以采用第一方面中介绍的提高距离测量的精确度的方法，提高距离测量的经度，以及采用第一方面中介绍的判断被测对象的位置是否满足测量条件的方法，判断被测对象的位置是否满足测量条件，为避免重复，此处不再赘述。
采用本申请实施例提供的距离测量方法，能更好的反应雷达探测范围内障碍物的分布，便于统一门限值得设定，提高了算法及产品的普适性。
第四方面，本申请实施例还提供一种距离测量装置，用于执行上述各方面或其任意可能的实现方式中的方法。具体地，距离测量装置可以包括用于执行上述各方面或其任意可能的实现方式中的方法的单元。
第五方面，本申请实施例还提供一种距离测量装置，该装置包括处理器和收发器，该处理器和该收发器之间通过内部连接通路互相通信，该处理器用于实现上述各方面或其任意可能的实现方式中的方法。
第七方面，本申请实施例还提供一种计算机可读存储介质，用于存储计算机程序，该计算机程序包括用于实现上述各个方面或其任意可能的实现方式中的方法的指令。
第八方面，本申请实施例还提供一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机实现上述各个方面或其任意可能的实现方式中的方法。
第九方面，本申请实施例还提供一种芯片装置，处理器和通信接口，该处理器与该通信接口之间通过内部连接通路互相通信，该通信接口用于与外部器件或内部器件进行通信，该处理器用于实现上述各个方面或其任意可能的实现方式中的方法。
附图说明
图1为本申请实施例提供的距离测量装置100的示意性框图；
图2为本申请实施例提供的距离测量设备的示意性框图；
图3为本申请实施例提供的体脂称的示意性框图；
图4为本申请实施例提供的应用场景的示意图；
图5为本申请实施例提供的另一应用场景的示意图；
图6为本申请实施例提供的距离测量方法200的示意性流程图；
图7为本申请实施例提供的雷达信号示意图；
图8为本申请实施例提供的Range-FFT示意图；
图9为本申请实施例提供的雷达信号2D-FFT处理过程示意图；
图10为本申请实施例提供的聚类过程示意图；
图11为本申请实施例提供的距离值的直方图；
图12为本申请实施例提供的归一化Range-FFT示意图；
图13为本申请实施例提供的归一化Range-FFT的方差值示意图；
图14为本申请实施例提供的距离测量方法300的示意性流程图；
图15为本申请实施例提供的另一归一化Range-FFT的方差值示意图；
图16为本申请实施例提供的距离测量方法400的示意性流程图；
图17为本申请实施例提供的另一Range-FFT示意图；
图18为本申请实施例提供的距离测量装置500的示意性流程图；
图19为本申请实施例提供的距离测量装置600的示意性流程图；
图20为本申请实施例提供的距离测量装置700的示意性流程图；
图21为本申请实施例提供的距离测量装置800的示意性流程图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。
图1示出了本申请实施例提供的距离测量装置100的示意性框图，如图1所示，该装置100包括雷达模块110、信号处理模块120和输出模块130。
该雷达模块110，用于周期性发射雷达信号，雷达信号采用调频连续波FMCW的调制方式，接收雷达信号在探测范围内产生的回波信号，并将接收到的回波信号发送至信号处理模块120。
需要说明的是，上述雷达信号可以为毫米波、微波或超声波，本申请实施例对此不作限定。
可选地，该雷达模块110可以为雷达。
可选地，该雷达模块110还可以用于感应是否存在满足测量条件的被测对象，当确定存在满足测量条件的被测对象时，测量被测对象的距离信息，该距离信息用于指示该被测对象与雷达信号的发射原点之间的距离。
可选地，该雷达的天线配置可以为单发单收，或者可以为多发多收天线阵列，本申请实施例对此不作限定。
该信号处理模块120，用于接收该雷达模块发送的回波信号，根据该回波信号计算该距离信息，并向输出模块130发送该距离信息。
该输出模块130，用于输出该距离信息。
可选地，该输出模块130可以通过多种方式输出该距离信息，本申请实施例对此不作限定。
在一种可能的实现方式中，该输出模块可以为显示器，装置100可以通过该显示器显示该距离信息。
在另一种可能的实现方式中，该输出模块可以为音箱，装置100可以通过该音箱报出该距离信息的音频。
在又一种可能的实现方式中，该输出模块可以为输出接口，装置100可以通过该输出模块向其它测量设备发送该距离信息，以便于其它测量设备根据该距离信息测量其他数据。
可选地，该被测对象不限于是人，还可以为动物、植物、或其他物体，本申请实施例对此不作限定。
可选地，该距离测量装置不限于测量身高，还可以测量距离，例如，测量被测对象的尺寸或远近等，本申请实施例对此不作限定。
可选地，该装置100可以为独立的距离测量设备，或者，该装置100可以集成在现有其它测量设备上，作为该测量设备中实现距离测量功能的模块，本申请实施例对此不作限定。
在一种可能的实现方式中，图2示出了该距离测量装置为独立的距离测量设备的一种可能的产品形态(距离测量装置内部的模块未示出)。
在另一种可能的实现方式中，以测量身高为例，图3示出了该距离测量装置集成在测量设备中的一种可能的产品形态(距离测量装置内部的模块未示出)，该距离测量装置设置的位置与被测人站立的位置不重叠。
例如，该距离测量装置可以集成在体脂称上，并设在在被测人站立位置的前方该体脂称的上表面的表壳下。
可选地，该距离测量装置还可以设置在体脂称上被测人站立位置的其他方位，本申请实施例对此不作限定。
需要说明的是，图2和图3中的y轴为雷达信号的径向方向，x轴为雷达信号的切向方向，z轴为雷达信号的垂直方向，y轴和z轴构成的平面为雷达垂直平面，x轴和y轴构成的平面为雷达水平平面，本申请实施例中测量的距离可以理解为被测对象在径向方向上的距离。
上面结合图1至图3介绍了本申请实施例提供的距离测量装置，下面将以测量身高为例，结合图4和图5介绍本申请实施例提供的应用场景。
需要说明的是，本申请实施例中仅以该被测对象为人，通过该距离测量装置测量该被测人的身高为例进行介绍，但本申请实施例不限于此。
还需要说明的是，在进行身高测量之前，被测人需要按照首先进行测量准备。
例如，如图4所示，当使用如图2所示的距离测量设备测量身高时，该距离测量设备放置于被测人的前方地板上，当被测人准备测量时，在头顶高度处将手掌伸出前额头，与雷达信号的y轴垂直，快速地微微抖动手掌，使得雷达信号能够检测到头顶位置处手掌的微抖动，该距离测量装置通过测量手掌到雷达信号的发射原点之间的距离，确定被测人的身高。
可选地，该距离测量设备还可以放置于被测人脚底周围的其他方位，被测人需要在头顶高度处相应位置伸出手掌，并微微抖动，本申请实施例对此不作限定。
又例如，如图5所示，当使用如图3所述的测量设备测量身高时，以该测量设备为体脂称为例，被测人站在体脂称上，距离测量装置设置在被测人的脚底的前方，当被测人准备测量时，在头顶高度处将手掌伸出前额头，与雷达信号的y轴垂直，快速地微微抖动手掌，使得雷达信号能够检测到头顶位置处手掌的微抖动，该距离测量装置通过测量手掌到 雷达信号的发射原点之间的距离，确定被测人的身高。
可选地，该体脂称中的距离测量装置还可以放置于被测人脚底周围的其他方位，被测人需要在头顶高度处相应位置伸出手掌，并微微抖动，本申请实施例对此不作限定。
可选地，在图4或图5的应用场景中，被测人还可以用其他物体(本申请实施例中称为目标障碍物)代替手部的抖动，本申请实施例对此不作限定。
例如，采用一把尺子或一本书在头顶高度处伸出头部并微微抖动。
又例如，被测人的家长或朋友可以站在旁边伸出手代替被测人在其头顶处抖动。
采用本申请实施例提供的距离测量装置，无需支撑杆、支撑板等辅助设施，提高使用的便捷性；此外，雷达信号具有穿透性，可集成在其它测量设备的外壳下，不影响产品设计美观。
此外，当该雷达信号为微波雷达信号时，可达厘米级的测量精度。
下面将结合图6介绍本申请实施例提供的距离测量方法200的示意性流程图，该方法200可以由图1所示的距离测量装置执行，且该方法200适用于如图4或图5中所示的应用场景。
S210，接收第一时间段内发射的多个第一雷达信号在探测范围内产生的多个第一回波信号。
需要说明的是，本申请实施例中所述的“第一”、“第二”等仅用于区分不同时间段内的相同术语，除非特别说明，否则都与数量、类型等无关。
还需要说明的是，本申请实施例仅以被测对象为人，通过距离测量装置对被测人进行身高测量为例进行介绍，但本申请实施例不限于此。
需要说明的是，在S210之前，被测对象处需要先进行测量准备，即对被测对象上距所述发射原点最远的一端处设置的目标障碍物进行微抖动。
例如，以身高测量为例，被测人需要按照图4或图5中所示的应用场景中所述方法，将手伸出额头微抖动。
例如，该距离测量装置在一帧时间内周期性发射K个chirp信号(K＝64～128)，帧率大于等于20Hz，即帧周期可设置为50～100ms。其中，chirp信号可以如表达式(1)：
x(t)＝A cos(2πf(t)t+Φ 0)       (1)
其中，
Figure PCTCN2020137467-appb-000005
B为带宽，f 0为固定初始相位，t c为Chirp信号周期，A为幅值，Φ 0为起始频率。
图7中第1个子图示出了chirp信号时域幅值变化的示意图，第2个子图示出了chirp信号频率线性变化的示意图，第3个子图示出了一帧时间内的K个chirp信号的时域幅值变化的示意图。
需要说明的是，本申请实施例中，所述距离测量装置发射的第一雷达信号的带宽大于3GHz，所述距离测量装置中发射天线数大于等于1，接收天线数大于等于1，天线辐射3dB波束宽度要求水平平面(H-plane)和垂直平面(E-plane)都小于等于90°，也就是说主瓣波束需要比较集中。
可选地，本申请实施例中仅以第一雷达信号为chirp信号为例进行介绍，该距离测量装置还可以发射其它类型的雷达信号，本申请实施例对此不作限定。
S220，根据所述多个第一回波信号，确定第一点云数据集，所述第一点云数据集包括多个第一点云数据，所述多个第一点云数据用于表示所述探测范围内的被测对象上的多个障碍点，所述多个第一点云数据中的每个第一点云数据包括距离值、速率值和信噪比值，所述每个第一点云数据中的距离值用于表示所述每个第一点云数据所表示的障碍点距所述多个第一雷达信号的发射原点的距离，所述每个第一点云数据中的速率值用于表示所述每个第一点云数据所表示的障碍点相对于所述发射原点的运动速率，所述每个第一点云数据中的信噪比值用于表示所述每个第一点云数据所表示的障碍点处的噪声。
在一种可能的实现方式中，可以根据所述多个第一回波信号，确定所述多个第一回波信号对应的多个第一频谱数据组，所述多个第一频谱数据组中的每个第一频谱数据组包括多个第一频谱数据，所述多个第一频谱数据表示所述探测范围内的多个障碍点，所述多个第一频谱数据中的每个第一频谱数据包括距离值和信号强度值，所述每个第一频谱数据的距离值用于表示所述每个第一频谱数据所表示的障碍点距所述发射原点的距离，所述每个第一频谱数据的信号强度值用于表示所述每个第一频谱数据所表示的障碍点对所述每个第一频谱数据所对应的第一雷达信号的反射强度，其中，所述每个第一频谱数据组包括的多个距离值相同；根据所述每个第一频谱数据中的距离值和信号强度值，确定所述第一点云数据集。
例如，假设r(n)为接收天线单个chirp信号的接收解调后的基带离散采样信号，n为单个chirp信号周期内采样数，通过如下公式(2)对r(n)做N 1点快速傅里叶变换(fast fourier transformation，FFT)计算，即1维(1D)-FFT计算，得到Range-FFT(也称为距离谱)R(k)。
R(k)＝FFT(r(n),N 1),N 1≥n 1        (2)
需要说明的是，图8示出了该Range-FFT，该Range-FFT定义为R(k)正频域N 1/2个复数的模值
Figure PCTCN2020137467-appb-000006
构成的向量，每个值对应一个频点(range-bin)，range-bin范围为
Figure PCTCN2020137467-appb-000007
其中
Figure PCTCN2020137467-appb-000008
为单个range-bin对应的距离，也即距离分辨率，最大探测距离为
Figure PCTCN2020137467-appb-000009
如图8所示，Range-FFT中包括N 1/2个频点，每个频点对应的横轴值表示该频点所表示的障碍点距第一雷达信号的发射原点的距离，每个频点对应的纵轴值表示该频点表示的障碍点对第一雷达信号的反射强度。其中，第一雷达信号探测范围内的一个障碍物可以由至少一个障碍点构成。
也就是说，K个chirp信号可以得到K个上述R(k)序列，即K个Range-FFT，其中，1个Range-FFT称为一个第一频谱数据组，Range-FFT上的1个频点对应的距离值和反射强度值称为第一频谱数据组中的1个第一频谱数据。
例如，图9中第1个子图至第2个子图示出了单个chirp信号进行1D-FFT计算得到Range-FFT的过程，第2个子图至第3个子图示出了K个Range-FFT按行排列得到的
Figure PCTCN2020137467-appb-000010
个复数构成的复数矩阵，该复数矩阵中的每个复数(即图9中第3个子图中的一格)包括实部和虚部，实部表示range-bin，虚部表示该range-bin处的信号反射强度。
然后，对K个R(k)序列中的每一个R(k)序列里面同一range-bin上的K个值构成的序列进行第2个维度的FFT计算，即2维(2D)-FFT计算，得到Range-Doppler(也称为距离多普勒速率谱)。
在一种可能的实现方式中，图9中第3个子图至第4个子图示出了对K个Range-FFT中的每一列再做一次N 2点FFT计算，即2D-FFT计算，得到的Range-Doppler的过程。其中，Range-Doppler表示为
Figure PCTCN2020137467-appb-000011
个复数构成的复数矩阵，该复数矩阵中的每个复数(即图9中第4个子图中的一格)包括实部和虚部，实部表示range-bin，虚部表示Doppler(多普勒)速率值，每格Doppler-bin对应速率分辨率v res，则Range-Doppler的速率值范围为：
Figure PCTCN2020137467-appb-000012
如图9中第4个子图所示，Range-Doppler中的一个方格为复数矩阵中的一个复数，每个方格处的复数对应一个障碍点，其中，复数的实部表示该障碍点距第一雷达信号的发射原点的距离值，虚部表示该障碍点距该发射原点的Doppler速率值，该方格的颜色表示该障碍点处的信号噪声大小，即SNR值，颜色越深表示SNR值越大。
需要说明的是，上述Range-Doppler中的每个方格处的复数的实部、虚部和该每个方格的颜色三个维度的信息被称为一个第一点云数据，K个Range-Doppler上的所有方格对应的第一点云数据构成第一点云数据集。
也就是说，该多个第一点云数据表示该探测范围内的被测对象上的多个障碍点，该多个第一点云数据中的每个第一点云数据包括距离值、速率值和信噪比值，该每个第一点云数据中的距离值用于表示该每个第一点云数据所表示的障碍点距该发射原点的距离，该每个第一点云数据中的速率值用于表示该障碍点相对于该发射原点的运动速率，该每个第一点云数据中的信噪比值用于表示该障碍点处的噪声。
可选地，本申请实施例中的第一点云数据可以通过多种格式表示，本申请实施例对此不作限定。
在一种可能的实现方式中，该第一点云数据可以通过如下表达式(3)中的格式一表示：
α＝[r,v,s]            (3)
其中，r为距离值，v为Doppler速率的模值，s为SNR值。
在另一种可能的实现方式中，当该距离测量装置的雷达具有多输入多输出(multiple-input multiple-output，MIMO)天线阵列时，例如，3个发射天线，4个接收天线的3×4MIMO天线阵列时，该雷达可进行第一回波信号的角度估计，根据估计的水平方位角可估算出Range-Doppler各个方格对应的数据点的水平二维坐标该，因此，第一点云数据可以通过如下表达式(4)中的格式二表示：
α＝[x,y,v,s]           (4)
其中，y轴为雷达的水平径向，x轴为雷达的水平切向，v为Doppler速率的模值，s为SNR值。
在又一种可能的实现方式中，当该距离测量装置的雷达具有MIMO天线阵列时，该雷达可进行第一回波信号的角度估计，根据估计的水平方位角可估算出Range-Doppler各个方格对应的水平二维坐标，根据估计的垂直方位角可估算出各方格对应的三维坐标，因此，第一点云数据可以通过如下表达式(5)中的格式三表示：
α＝[x,y,z,v,s]           (5)
其中，y轴为第一雷达信号的水平径向，x轴为第一雷达信号的水平切向，z轴为第一雷达信号的垂直方向，v为Doppler速率的模值，s为SNR值。
也就是说，所述每个第一点云数据中的距离值包括所述每个第一点云数据所表示的障碍点在所述径向方向上的距离分量值和在所述第一雷达信号的切向方向上的距离分量值；或，所述每个第一点云数据中的距离值包括所述每个第一点云数据所表示的障碍点在所述径向方向上的距离分量值、在所述切向方向上的距离分量值和在所述第一雷达信号的垂直方向上的距离分量值。
因此，K个Range-Doppler上的第一点云数据集
Figure PCTCN2020137467-appb-000013
可以通过如下表达式(6)表示：
Figure PCTCN2020137467-appb-000014
其中，α i表示1个第一点云数据。
S230，根据所述第一点云数据集中包括的每个第一点云数据中的信噪比值和速率值，对所述第一点云数据集进行去噪，得到目标数据集。
需要说明的是，由于运动状态不同的障碍点处的速率不同，因此，构成被测人头顶处抖动的目标障碍物的障碍点处的速率与周围其他障碍点的速率不同。
可选地，根据所述第一点云数据集中包括的每个第一点云数据中的信噪比值和速率值以及预设的信噪比阈值和速率阈值，对所述第一点云数据集进行去噪，得到所述目标数据集，所述速率阈值是根据所述至少一个障碍物中的目标障碍物的速率确定的。
在一种可能的实现方式中，所述目标障碍物的速率可以等于所述速率阈值。
在另一种可能的实现方式中，所述目标障碍物的速率可以略大于所述速率阈值。
需要说明的是，本申请实施例的距离测量方法中的第一点云数据提取的是具有速率信息的反射体，当雷达的速率分辨率达0.08m/s时，则雷达可识别微小震动的障碍物，比如身体静态下躯干的微震动，而此类震动物体形成的第一点云数据对目标障碍物的距离测量具有干扰而需要被滤除，因此，可以通过速率阈值滤除干扰。
同时，本申请实施例的距离测量方法中检测的是目标障碍物的微抖动，这样的微抖动产生的回波信号强度较弱，信噪比不强，因此，可以通过信噪比阈值来滤除噪声。
综上所述，可以将第一点云数据集中v≤v th且s≥s th的第一点云数据滤除掉，从而减少干扰和噪声，其中，v th为预设的速率阈值，s th为预设的噪声阈值。
例如，v th可以取值为0.16m/s，s th和v th可以根据目标障碍物的运动速率设置，此外，s th可以依不同平台而设置不同值。
经过去噪后的目标第一点云数据集
Figure PCTCN2020137467-appb-000015
可以通过如下公式(7)表示：
Figure PCTCN2020137467-appb-000016
可选地，本申请实施例中的去噪过程也可以仅根据速率阈值进行去噪，本申请实施例对此不作限定。
S240，根据所述目标数据集中包括的每个第一点云数据中的距离值，对所述目标数据集中包括的第一点云数据进行聚类，得到至少一个分类，其中，所述至少一个分类对应至少一个障碍物，所述至少一个分类中的每个分类包括的障碍点构成所述每个分类对应的障碍物。
需要说明的是，聚类得到的至少一个障碍物中包括该目标障碍物，所述目标障碍物包括第一障碍点和第二障碍点，且所述第一障碍点与所述第二障碍点之间的距离小于预设的距离阈值。
也就是说，从目标第一点云数据集
Figure PCTCN2020137467-appb-000017
中提取各第一点云数据特征量进行聚类。
可选地，本申请实施例中可以采用多种聚类方法，对目标第一点云数据集中的第一点云数据进行聚类，本申请实施例对此不作限定。
在一种可能的实现方式中，可以通过具有噪声的基于密度的聚类方法(density-based spatial clustering of applications with noise，DBSCAN)对该目标第一点云数据集中的第一点云数据进行聚类。
可选地，不同格式的第一点云数据，可以根据不同的信息进行聚类，本申请实施例对此不作限定。
在一种可能的实现方式中，可以根据所述目标数据集中包括的每个第一点云数据中的距离值，对所述目标数据集中包括的第一点云数据进行聚类，得到至少一个分类。
也就是说，对于公式(3)所示的第一点云数据的格式一，可以提取[r,v]作为单个第一点云数据进行聚类。
在另一种可能的实现方式中，可以根据所述目标数据集中包括的每个第一点云数据中的距离值和速率值，对所述目标数据集中包括的第一点云数据进行聚类，得到所述至少一个分类。
也就是说，对于公式(4)所示的第一点云数据的格式二和公式(5)所示的第一点云数据的格式三，可以提取[x,y]或[x,y,v]作为单个第一点云数据进行聚类。
S250，根据所述每个分类包括的每个第一点云数据中的距离值，确定所述每个分类对应的障碍物距所述发射原点的距离。
需要说明的是，所述至少一个分类中包括所述目标障碍物对应的目标分类，以身高测量为例，该目标障碍物设置于被测人头顶处，该目标障碍物距该发射原点的距离可以理解为该被测人的身高。
可选地，可以从所述至少一个分类中确定所述目标分类，所述目标分类中包括的每个第一点云数据所表示的障碍点构成所述目标障碍物。
在一种可能的实现方式中，可以将所述至少一个分类中包括第一点云数据的数量最多的分类，确定为所述目标分类。
可选地，目标分类中包括的第一点云数据可以通过如下公式(8)表示：
Figure PCTCN2020137467-appb-000018
例如，以DBSCAN算法为例，该算法的关键参数ε-领域取值为0.8，核心对象样本点最小数MinPts取值为5时，该目标分类的选取可以如图10中虚线圆圈所示。
采用本申请实施例所述的距离测量方法，对目标第一点云数据集中的第一点云数据进行聚类并选取目标分类之后有利于进一步消除由于异常点的干扰，而这异常点来自于目标障碍物以外的其他环境干扰，也来自于对目标障碍物抖动产生的信号参数估计误差，如角度估计误差导致的x,y坐标偏差，而这些参数将用于下一步骤中的距离测量，因此，通过聚类能进一步消减干扰点的干扰，提高距离测量的精确度。
可选地，以身高测量为例，根据目标分类中包括的第一点云数据的不同格式，可以通 过不同的方法确定被测人的身高值，即被测人头顶处的目标障碍物至发射原点的距离。
在一种可能的实现方式中，目标分类中包括的第一点云数据采用公式(3)所示的第一点云数据的格式一时，当前瞬时身高值h可以通过公式(9)表示：
Figure PCTCN2020137467-appb-000019
其中，w i为加权因子，
Figure PCTCN2020137467-appb-000020
r i为目标分类中第i个第一点云数据的距离值。
在另一种可能的实现方式中，目标分类中包括的第一点云数据采用公式(4)所示的第一点云数据的格式二和公式(5)所示的第一点云数据的格式三时，当前瞬时身高值h可以通过公式(10)表示：
Figure PCTCN2020137467-appb-000021
其中，w i为加权因子，
Figure PCTCN2020137467-appb-000022
y i为目标分类中第i个第一点云数据的距离值在y轴的分量。
需要说明的是，本申请实施例中所述的当前瞬时高度值指根据当前1帧内的K个chirp信号测量得到的身高值。
可选地，本申请实施例中的w i可以通过多种方式确定，本申请实施例对此不作限定。
在一种可能的实现方式中，各w i取值相等，即w i＝1/m。
在另一种可能的实现方式中，该w i的取值与信噪比相关，如
Figure PCTCN2020137467-appb-000023
其中，s” i为目标分类中第i个第一点云数据的信噪比值。
采用本申请实施例提供的距离测量方法，由于第一点云数据的距离值在y轴的分量反应的是真实的雷达径向方向的距离，因此，通过对目标分类中每个第一点云数据的距离值在y轴的分量进行加权，能够提高距离测量的精确度。
此外，采用本申请实施例提供的距离测量方法，能够有效消除周边障碍物、人体躯干微动等干扰噪声，有效提高测量精度，同时可适应更加复杂的测量环境。
此外，当进行身高测量时，可满足大人在旁边为小孩测量身高的需求，提高了实用性。
需要说明的是，以身高测量为例，由于通过上述S210～S250得到的瞬时身高值受噪声干扰、抬手、落手、躯干微动等影响导致瞬时值变化较大，因此，可以通过以下两种方法提高测量得到的身高值的精确度和稳定性。
方法一：
统计1s时间内连续帧时刻中每帧测量得到的瞬时高度值的方差
Figure PCTCN2020137467-appb-000024
如果
Figure PCTCN2020137467-appb-000025
则将这1s内的每帧测量得到的瞬时高度值的平均值作为被测人的最终身高值。其中，σ th1为预设的第一方差阈值，该第一方差阈值的取值范围为第一阈值范围。
方法二：
统计多秒时间内连续帧时刻中每帧得到的瞬时高度值的方差
Figure PCTCN2020137467-appb-000026
如果
Figure PCTCN2020137467-appb-000027
利用直方图分布提取分布最集中的身高值区间，如图11中虚线圈区间，然后将该区间内包括的身高值的平均值作为被测人的最终身高值。其中，σ th2为预设的第二方差阈值，该第二方差阈值的取值范围为第二阈值范围，且该第二阈值范围大于该第一阈值范围。
通过上述方法一和方法二，能够消除人体大幅度晃动等干扰下的无效测量值，提高了测量精度与测量稳定性。
需要说明的是，在根据所述每个第一频谱数据中的距离值和信号强度值，确定所述第一点云数据集之前，该距离测量装置可以先判断该被测对象的位置是否满足测量条件，当该被测对象的位置满足测量条件时，再进行距离测量，当该被测对象的位置不满足测量条件时，可以暂停距离测量功能，以节省能耗。
在一种可能的实现方式中，可以通过以下方式判断被测对象的位置是否满足测量条件：接收第二时间段内发射的多个第二雷达信号在所述探测范围内产生的多个第二回波信号，所述第二时间段的结束时刻不晚于所述第一时间段的结束时刻；根据所述多个第二回波信号，确定所述多个第二回波信号对应的多个第二频谱数据组，所述多个第二频谱数据组中的每个第二频谱数据组包括多个第二频谱数据，所述多个第二频谱数据表示所述探测范围内的多个障碍点，所述多个第二频谱数据中的每个第二频谱数据包括距离值和信号强度值，所述每个第二频谱数据的距离值用于表示所述每个第二频谱数据所表示的障碍点距所述发射原点的距离，所述每个第二频谱数据的信号强度值用于表示所述每个第二频谱数据所表示的障碍点对所述每个第二频谱数据所对应的第二雷达信号的反射强度，其中，所述每个第二频谱数据组包括的多个距离值相同；根据所述每个第二频谱数据中的距离值和信号强度值，确定所述被测对象的位置是否满足测量条件。
可选地，所述第二时间段的结束时刻不晚于所述第一时间段的结束时刻，可以包括：所述第二时间段的结束时刻早于所述第一时间段的结束时刻；或者，所述第二时间段的结束时刻等于所述第一时间段的结束时刻，本申请实施例对此不作限定。
可选地，所述第二时间段的时长与所述第一时间段的时长可以相同也可以不同，本申请实施例对此不作限定。
在一种可能的实现方式中，判定被测对象的位置是否满足测量条件的过程可以在确定该第一点云数据之前执行，也就是说，该距离测量装置的缓存中可以缓存根据多个时间段内发射的chirp信号的回波信号得到的Range-FFT，每个chirp的Range-FFT按先进先出法则在缓存中存储与删除，当根据第二时间段内的多个chirp信号(即第二雷达信号)得到的回波信号(即第二回波信号)得到的Range-FFT判断被测对象的位置满足测量条件时，则继续根据第一时间段内的多个第一回波信号确定第一点云数据并进行距离测量。
可选地，本申请实施例中，可以通过多种方式，根据所述每个第二频谱数据中的距离值和信号强度值，确定所述被测对象的位置是否满足测量条件，本申请实施例对此不作限定。
在一种可能的实现方式中，可以对所述每个第二频谱数据组包括的多个距离值中每个距离值对应的信号强度值进行归一化处理，得到所述每个第二频谱数据组包括的多个距离值中每个距离值对应的归一化信号强度值；根据所述多个第二频谱数据组中相同距离值对应的归一化信号强度值，确定所述多个距离值中每个距离值对应的信号强度值的方差值；根据所述多个距离值中每个距离值对应的信号强度值的方差值，确定所述被测对象的位置是否满足所述测量条件。
需要说明的是，上述根据该多个第二回波信号，确定所述多个第二回波信号对应的多个第二频谱数据组，即根据第二时间段内发射的P个chirp信号得到P个Range-FFT的过程可以参考上述对多个第一回波信号的处理，为避免重复此处不再赘述。
在一种可能的实现方式中，对P个每个Range-FFT进行归一化处理的过程包括：步骤 1，查找Range-FFT中最大幅值α max＝max(α i),
Figure PCTCN2020137467-appb-000028
步骤2，对该Range-FFT中各range-bin上的幅值除以最大值得到当前帧时刻归一化Range-FFT，
Figure PCTCN2020137467-appb-000029
如图12所示。
然后，对P个归一化处理后的Range-FFT中每个range-bin上的幅值求取方差，得到每个range-bin对应的归一化幅值的方差值。
在一种可能的实现方式中，该第二时间段内P个归一化Range-FFT可表示为
Figure PCTCN2020137467-appb-000030
其中，P为第二时间段内的chirp信号的个数，
Figure PCTCN2020137467-appb-000031
为第i个chirp的归一化Range-FFT，则
Figure PCTCN2020137467-appb-000032
为
Figure PCTCN2020137467-appb-000033
的矩阵，对
Figure PCTCN2020137467-appb-000034
的每一列元素求方差，即对每一个range-bin上的值求取方差
Figure PCTCN2020137467-appb-000035
得到方差曲线谱为
Figure PCTCN2020137467-appb-000036
为第m个range-bin的标准差，如图13中虚线所示。
可选地，本申请实施例中，可以通过多种方式，根据所述多个距离值中每个距离值对应的信号强度值的方差值，即每个range-bin对应的归一化幅值的方差值，确定所述被测对象的位置是否满足所述测量条件，本申请实施例对此不作限定。
在一种可能的实现方式中，当所述多个距离值中每个距离值对应的信号强度值的方差值中大于第三方差阈值(如图13中的第三方差阈值为0.2)的数量大于或等于数量阈值时，确定所述被测对象的位置满足所述测量条件；或，当所述多个距离值中每个距离值对应的信号强度值的方差值中大于所述第三方差阈值的数量小于所述数量阈值时，确定所述被测对象的位置不满足所述测量条件。
例如，以身高测量为例，当所述多个距离值中每个距离值对应的信号强度值的方差值中大于第三方差阈值的数量k>k th时，确定被测人的位置满足测量条件，即被测人已靠近装置，可以开始有效测量，并提示被测人准备测量，被测人可以按照图4和图5中应用场景所述的动作完成准备测量；当所述多个距离值中每个距离值对应的信号强度值的方差值中大于所述第三方差阈值的数量k≤k th时，确定被测人的位置不满足测量条件，即被测人距离装置较远，可以提醒被测人靠近；当所述多个距离值中每个距离值对应的信号强度值的方差值中大于所述第三方差阈值的数量k＝0时，确定当前探测区域中无人，可以停止距离测量或进入休眠。其中，k th为数量阈值。
采用本申请实施例提供的距离测量装置，无需借助外部传感器如人体红外传感器、压力传感器来判定是否可启动距离测量功能，从而简化了测量装置，降低功耗与成本。
图14示出了本申请实施例提供的距离测量方法300的示意性流程图，该方法300可以由图1所示的距离测量装置执行。
S310，接收第一时间段内发射的多个第一雷达信号在探测范围内产生的多个第一回波信号。
S320，根据所述多个第一回波信号，确定与所述多个第一回波信号对应的多个第一频谱数据组，所述多个第一频谱数据组中的每个第一频谱数据组包括多个第一频谱数据，所述多个第一频谱数据表示所述探测范围内的被测对象上的多个障碍点，所述多个第一频谱 数据中的每个第一频谱数据包括距离值和信号强度值，所述每个第一频谱数据的距离值用于表示所述每个第一频谱数据所表示的障碍点距所述多个第一雷达信号的发射原点的距离，所述每个第一频谱数据的信号强度值用于表示所述每个第一频谱数据所表示的障碍点处的信号反射强度，其中，所述每个第一频谱数据组包括的多个距离值相同。
S330，对所述每个第一频谱数据组包括的每个距离值对应的信号强度值进行归一化处理，得到所述每个第一频谱数据组包括的每个距离值对应的归一化信号强度值。
S340，根据所述多个第一频谱数据组中相同距离值对应的归一化信号强度值，确定所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值。
需要说明的是，上述S310～340的实现过程可以参考上述方法200中的相应介绍，为避免重复，此处不再赘述。
S350，根据所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值，确定所述被测对象上的目标障碍物距所述发射原点的距离，所述目标障碍物由至少一个障碍点构成，运动状态不同的障碍点处的信号反射强度不同。
需要说明的是，以身高测量为例，该目标障碍物设置于被测人头顶处，该目标障碍物距该发射原点的距离可以理解为该被测人的身高。
在一种可能的实现方式中，可以根据所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值和第一方差阈值，确定所述目标障碍物距所述发射原点的距离，所述第一方差阈值是根据构成所述目标障碍物的所述至少一个障碍点处的信号强度确定的。
需要说明的是，以身高测量为例，由于测量准备的时候，用户伸出手掌在头顶处微动，增大了头顶高度对应的range-bin处的方差值。因此，在距离阈值范围内搜索Range-FFT方差曲线谱上值大于等于方差阈值的最远波峰值所对应的距离值，例如图15中的d 0，作为当前瞬时身高值；或方差大于等于该方差阈值的最大距离值，例如图15中的d 1，作为当前瞬时身高值。
需要说明的是，该距离阈值可以考虑设置为高于被测人身高且低于或等于天花板的高度的值，例如2.5m，该方差阈值可以设为能够包含手掌抖动所在高度引起的方差值，例如0.2。
还需要说明，方法300中也可以采用方法200中介绍的提高身高测量的精确度的方法，以及方法200中介绍的判断是否存在满足测量条件的被测对象的方法，为避免重复，此处不再赘述。
图16示出了本申请实施例提供的距离测量方法400的示意性流程图，该方法400可以由图1所示的距离测量装置执行。
S410，接收第一时间段内发射的多个第一雷达信号在第一探测范围内产生的多个第一回波信号。
S420，根据所述多个第一回波信号，确定与所述多个第一回波信号对应的多个第一频谱数据组，所述多个第一频谱数据组中的每个第一频谱数据组包括多个第一频谱数据，所述多个第一频谱数据表示所述第一探测范围内的多个障碍点，所述多个第一频谱数据中的每个第一频谱数据包括距离值和信号强度值，所述每个第一频谱数据的距离值用于表示所述每个第一频谱数据所表示的障碍点距所述多个第一雷达信号的第一发射原点的距离，所述每个第一频谱数据的信号强度值用于表示所述每个第一频谱数据所表示的障碍点对所 述每个第一频谱数据所对应的第一雷达信号的反射强度，其中，所述每个第一频谱数据组包括的多个距离值相同。
S430，对所述每个第一频谱数据组包括的多个距离值中每个距离值对应的信号强度值进行归一化处理，得到所述每个第一频谱数据组包括的多个距离值中每个距离值对应的归一化信号强度值。
需要说明的是，上述S410～430的实现过程可以参考上述方法200中的相应介绍，为避免重复，此处不再赘述。
S440，根据所述多个第一频谱数据组中相同距离值对应的归一化信号强度值，确定固定位置的参照物到所述第一发射原点之间的第一距离，所述第一距离大于被测对象到所述第一发射原点之间的距离。
图17示出了所述多个第二频谱数据组中相同距离值对应的归一化信号强度值，即归一化Range-FFT，由于该归一化Rang-FFT上每个range-bin的幅值反映的是障碍点对雷达信号的反射强度，因此，归一化Rang-FFT中幅值大于幅值阈值(幅值阈值例如为0.2)的最远波峰所对应的距离可以被认为是参照物到该第一发射原点之间的第一距离。
需要说明的是，方法S410～S440的实现过程中，测量的是所述参照物距所述第一发射原点之间的第一距离，第一雷达信号的探测方向为由所述第一发射原点至所述参照物。由于该第一距离与被测对象无关，第一雷达信号无需探测被测对象的距离信息，因此，被测对象可以位于距第一雷达信号较远的位置，或者第一雷达信号的探测范围外，本申请实施例对此不作限定。
例如，以身高测量为例，第一距离可以为被测人脚底至天花板之间的距离，第二距离可以为被测人头顶至天花板之间的距离。
S450，根据所述第一距离，确定被测对象距所述第一发射原点的距离。
可选地，在S450之前，可以获取所述参照物至所述被测对象距所述参照物最近的一端之间的第二距离；所述根据所述第一距离，确定被测对象距所述第一发射原点的距离，包括：根据所述第一距离和所述第二距离，确定所述被测对象距所述第一发射原点的距离。
在一种可能的实现方式中，可以接收第二时间段内发射的多个第二雷达信号在第二探测范围内产生的多个第二回波信号，所述第二探测范围与所述第一探测范围的探测反向相反；根据所述多个第二回波信号，确定与所述多个第二回波信号对应的多个第二频谱数据组，所述多个第二频谱数据组中的每个第二频谱数据组包括多个第二频谱数据，所述多个第二频谱数据表示所述第二探测范围内的多个障碍点，所述多个第二频谱数据中的每个第二频谱数据包括距离值和信号强度值，所述每个第二频谱数据的距离值用于表示所述每个第二频谱数据所表示的障碍点距所述多个第二雷达信号的第二发射原点的距离，所述每个第二频谱数据的信号强度值用于表示所述每个第二频谱数据所表示的障碍点对所述多个第二雷达发射信号的反射强度，其中，所述每个第二频谱数据组包括的多个距离值相同；对所述每个第二频谱数据组包括的多个距离值中每个距离值对应的信号强度值进行归一化处理，得到所述每个第二频谱数据组包括的多个距离值中每个距离值对应的归一化信号强度值；根据所述多个第二频谱数据组中相同距离值对应的归一化信号强度值，确定所述第二距离。
需要说明的是，第二距离的确定过程与第一距离的确定过程的原理类似，其区别仅在 于，第二距离是参照物到被测对象的距所述参照物最近的一端之间的距离，因此，需要将距离测量装置放置于距所述参照物最近的一端，即第二雷达信号的探测方向与第一雷达信号的探测方向相反，即由距所述参照物最近的一端至所述参照物。
还需要说明，方法400中采用方法200中介绍的提高距离测量的精确度的方法，以及方法200中介绍的判断是否存在满足测量条件的被测对象的方法，为避免重复，此处不再赘述。
采用本申请实施例提供的距离测量方法，能更好的反应雷达探测范围内障碍物的分布，便于统一门限值得设定，提高了算法及产品的普适性。
上面介绍了本申请实施例提供的距离测量方法，下面将结合图18至图21详细介绍本申请实施例提供的距离测量装置。
图18示出了本申请实施例提供的距离测量装置500的示意性框图。该装置500包括：
接收单元510，用于接收第一时间段内发射的多个第一雷达信号在探测范围内产生的多个第一回波信号；
处理单元520，用于根据所述多个第一回波信号，确定第一点云数据集，所述第一点云数据集包括多个第一点云数据，所述多个第一点云数据用于表示所述探测范围内的被测对象上的多个障碍点，所述多个第一点云数据中的每个第一点云数据包括距离值、速率值和信噪比值，所述每个第一点云数据中的距离值用于表示所述每个第一点云数据所表示的障碍点距所述多个第一雷达信号的发射原点的距离，所述每个第一点云数据中的速率值用于表示所述每个第一点云数据所表示的障碍点相对于所述发射原点的运动速率，所述每个第一点云数据中的信噪比值用于表示所述每个第一点云数据所表示的障碍点处的噪声；根据所述第一点云数据集中包括的每个第一点云数据中的信噪比值和速率值，对所述第一点云数据集进行去噪，得到目标数据集；根据所述目标数据集中包括的每个第一点云数据中的距离值，对所述目标数据集中包括的第一点云数据进行聚类，得到至少一个分类，其中，所述至少一个分类对应至少一个障碍物，所述至少一个分类中的每个分类包括的障碍点构成所述每个分类对应的障碍物；根据所述每个分类包括的每个第一点云数据中的距离值，确定所述每个分类对应的障碍物距所述发射原点的距离。
可选地，所述处理单元520具体用于根据所述第一点云数据集中包括的每个第一点云数据中的信噪比值和速率值以及预设的信噪比阈值和速率阈值，对所述第一点云数据集进行去噪，得到所述目标数据集，所述速率阈值是根据所述至少一个障碍物中的目标障碍物的速率确定的。
可选地，所述目标障碍物的速率大于或等于所述速率阈值。
可选地，所述目标障碍物包括第一障碍点和第二障碍点，所述第一障碍点与所述第二障碍点之间的距离小于预设的距离阈值。
可选地，所述目标障碍物对应所述至少一个分类中的目标分类，所述处理单元520具体用于：将所述至少一个分类中包括第一点云数据的数量最多的分类，确定为所述目标分类；根据所述目标分类中包括的每个第一点云数据中的距离值，确定所述目标障碍物距所述发射原点的距离。
可选地，所述每个第一点云数据中的距离值包括所述每个第一点云数据所表示的障碍点在第一方向上的距离分量值和第二方向上的距离分量值，所述第一方向和所述第二方向 垂直；或，所述每个第一点云数据中的距离值包括所述每个第一点云数据所表示的障碍点在所述第一方向上的距离分量值、所述第二方向上的距离分量值和第三方向上的距离分量，所述第三方向分别与所述第一方向和所述第二方向垂直。
可选地，所述处理单元520具体用于：根据所述多个第一回波信号，确定所述多个第一回波信号对应的多个第一频谱数据组，所述多个第一频谱数据组中的每个第一频谱数据组包括多个第一频谱数据，所述多个第一频谱数据表示所述探测范围内的多个障碍点，所述多个第一频谱数据中的每个第一频谱数据包括距离值和信号强度值，所述每个第一频谱数据的距离值用于表示所述每个第一频谱数据所表示的障碍点距所述发射原点的距离，所述每个第一频谱数据的信号强度值用于表示所述每个第一频谱数据所表示的障碍点对所述每个第一频谱数据所对应的第一雷达信号的反射强度，其中，所述每个第一频谱数据组包括的多个距离值相同；根据所述每个第一频谱数据中的距离值和信号强度值，确定所述第一点云数据集。
可选地，所述接收单元510还用于在所述根据所述每个第一频谱数据中的距离值和信号强度值，确定所述第一点云数据集之前，接收第二时间段内发射的多个第二雷达信号在所述探测范围内产生的多个第二回波信号，所述第二时间段的结束时刻不晚于所述第一时间段的结束时刻；所述处理单元520还用于根据所述多个第二回波信号，确定所述多个第二回波信号对应的多个第二频谱数据组，所述多个第二频谱数据组中的每个第二频谱数据组包括多个第二频谱数据，所述多个第二频谱数据表示所述探测范围内的多个障碍点，所述多个第二频谱数据中的每个第二频谱数据包括距离值和信号强度值，所述每个第二频谱数据的距离值用于表示所述每个第二频谱数据所表示的障碍点距所述发射原点的距离，所述每个第二频谱数据的信号强度值用于表示所述每个第二频谱数据所表示的障碍点对所述每个第二频谱数据所对应的第二雷达信号的反射强度，其中，所述每个第二频谱数据组包括的多个距离值相同；根据所述每个第二频谱数据中的距离值和信号强度值，确定所述被测对象的位置是否满足测量条件；当确定所述被测对象的位置满足所述测量条件时，确定所述第一点云数据集。
可选地，所述处理单元520还用于对所述每个第二频谱数据组包括的多个距离值中每个距离值对应的信号强度值进行归一化处理，得到所述每个第二频谱数据组包括的多个距离值中每个距离值对应的归一化信号强度值；根据所述多个第二频谱数据组中相同距离值对应的归一化信号强度值，确定所述多个距离值中每个距离值对应的信号强度值的方差值；根据所述多个距离值中每个距离值对应的信号强度值的方差值，确定所述被测对象的位置是否满足所述测量条件。
可选地，所述处理单元520具体用于：当所述多个距离值中每个距离值对应的信号强度值的方差值中大于方差阈值的数量大于或等于数量阈值时，确定所述被测对象的位置满足所述测量条件；或，当所述多个距离值中每个距离值对应的信号强度值的方差值中大于所述方差阈值的数量小于所述数量阈值时，确定所述被测对象的位置不满足所述测量条件。
应理解，这里的装置500以功能单元的形式体现。这里的术语“单元”可以指应用特有集成电路(application specific integrated circuit，ASIC)、电子电路、用于执行一个或多个软件或固件程序的处理器(例如共享处理器、专有处理器或组处理器等)和存储器、合并 逻辑电路和/或其它支持所描述的功能的合适组件。在一个可选例子中，本领域技术人员可以理解，装置500可以具体为上述方法200实施例中的距离测量装置，装置500可以用于执行上述方法200中与距离测量装置对应的各个流程和/或步骤，为避免重复，在此不再赘述。
图19示出了本申请实施例提供的距离测量装置600的示意性框图。该装置600包括：
接收单元610，用于接收第一时间段内发射的多个第一雷达信号在探测范围内产生的多个第一回波信号；
处理单元620，用于根据所述多个第一回波信号，确定与所述多个第一回波信号对应的多个第一频谱数据组，所述多个第一频谱数据组中的每个第一频谱数据组包括多个第一频谱数据，所述多个第一频谱数据表示所述探测范围内的被测对象上的多个障碍点，所述多个第一频谱数据中的每个第一频谱数据包括距离值和信号强度值，所述每个第一频谱数据的距离值用于表示所述每个第一频谱数据所表示的障碍点距所述多个第一雷达信号的发射原点的距离，所述每个第一频谱数据的信号强度值用于表示所述每个第一频谱数据所表示的障碍点处的信号反射强度，其中，所述每个第一频谱数据组包括的多个距离值相同；对所述每个第一频谱数据组包括的每个距离值对应的信号强度值进行归一化处理，得到所述每个第一频谱数据组包括的每个距离值对应的归一化信号强度值；根据所述多个第一频谱数据组中相同距离值对应的归一化信号强度值，确定所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值；根据所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值，确定所述被测对象上的目标障碍物距所述发射原点的距离，所述目标障碍物由至少一个障碍点构成，运动状态不同的障碍点处的信号反射强度不同。
可选地，所述处理单元620具体用于根据所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值和第一方差阈值，确定所述目标障碍物距所述发射原点的距离，所述第一方差阈值是根据构成所述目标障碍物的所述至少一个障碍点处的信号强度确定的。
可选地，所述接收单元610还用于在所述对所述每个第一频谱数据组包括的每个距离值对应的信号强度值进行归一化处理，得到所述每个第一频谱数据组包括的每个距离值对应的归一化信号强度值之前，接收第二时间段内发射的多个第二雷达信号在所述探测范围内产生的多个第二回波信号，所述第二时间段的结束时刻不晚于所述第一时间段的结束时刻；所述处理单元620还用于根据所述多个第二回波信号，确定所述多个第二回波信号对应的多个第二频谱数据组，所述多个第二频谱数据组中的每个第二频谱数据组包括多个第二频谱数据，所述多个第二频谱数据表示所述探测范围内的多个障碍点，所述多个第二频谱数据中的所述每个第二频谱数据包括距离值和信号强度值，所述每个第二频谱数据的距离值用于表示所述每个第二频谱数据所表示的障碍点距所述发射原点的距离，所述每个第二频谱数据的信号强度值用于表示所述每个第二频谱数据所表示的障碍点处的信号反射强度，其中，所述每个第二频谱数据组包括的多个距离值相同；根据所述每个第二频谱数据中的距离值和信号强度值，确定所述被测对象的位置是否满足测量条件；所述处理单元620具体用于当确定所述被测对象的位置满足所述测量条件时，对所述每个第一频谱数据组包括的每个距离值对应的信号强度值进行归一化处理。
可选地，所述处理单元620还用于对所述每个第二频谱数据组包括的每个距离值对应 的信号强度值进行归一化处理，得到所述每个第二频谱数据组包括的每个距离值对应的归一化信号强度值；根据所述多个第二频谱数据组中相同距离值对应的归一化信号强度值，确定所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值；根据所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值，确定所述被测对象的位置是否满足所述测量条件。
可选地，所述处理单元620具体用于：当所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值中大于第二方差阈值的数量大于或等于数量阈值时，确定所述被测对象的位置满足所述测量条件；或，当所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值中大于所述第二方差阈值的数量小于所述数量阈值时，确定所述被测对象的位置不满足所述测量条件。
应理解，这里的装置600以功能单元的形式体现。这里的术语“单元”可以指ASIC、电子电路、用于执行一个或多个软件或固件程序的处理器(例如共享处理器、专有处理器或组处理器等)和存储器、合并逻辑电路和/或其它支持所描述的功能的合适组件。在一个可选例子中，本领域技术人员可以理解，装置600可以具体为上述方法300实施例中的距离测量装置，装置600可以用于执行上述方法300中与距离测量装置对应的各个流程和/或步骤，为避免重复，在此不再赘述。
图20示出了本申请实施例提供的距离测量装置700，该装置700可以为图18中所述的装置500，或该装置700可以包括图18中的装置500。该装置500可以采用如图20所示的硬件架构。该装置700可以包括处理器710和收发器720，该处理器710和该收发器720通过内部连接通路互相通信。图18中的处理单元520所实现的相关功能可以由该处理器710来实现，接收单元510所实现的相关功能可以由该处理器710控制该收发器720来实现。
该处理器710可以包括是一个或多个处理器，例如包括一个或多个中央处理单元(central processing unit，CPU)，在处理器是一个CPU的情况下，该CPU可以是单核CPU，也可以是多核CPU。
该收发器720用于发送和接收信号。该收发器可以包括发射器和接收器，发射器用于发送雷达信号，接收器用于接收雷达信号。
可选地，该装置700还可以包括存储器730，该处理器710、该收发器720和该存储器730通过内部连接通路互相通信。
该存储器730包括但不限于是随机存取存储器(random access memory，RAM)、只读存储器(read-only memory，ROM)、可擦除可编程存储器(erasable programmable read only memory，EPROM)、只读光盘(compact disc read-only memory，CD-ROM)，该存储器730用于存储相关指令及数据。
存储器730用于存储装置的程序代码和数据，可以为单独的器件或集成在处理器710中。
具体地，该处理器710用于控制收发器720发射雷达信号以及接收回波信号。具体可参见方法实施例中的描述，在此不再赘述。
可以理解的是，图20仅仅示出了装置700的简化设计。在实际应用中，装置700还可以分别包含必要的其他元件，包含但不限于任意数量的收发器、处理器、控制器、存储 器等，而所有可以实现本申请的管理设备都在本申请的保护范围之内。
在一种可能的设计中，装置700可以被替换为芯片装置，用于实现装置中处理器的相关功能。该芯片装置可以为实现相关功能的现场可编程门阵列，专用集成芯片，系统芯片，中央处理器，网络处理器，数字信号处理电路，微控制器，还可以采用可编程控制器或其他集成芯片。该芯片中，可选的可以包括一个或多个存储器，用于存储程序代码，当该代码被执行时，使得处理器实现相应的功能。
图21示出了本申请实施例提供的距离测量装置800，该装置800可以为图19中所述的装置600，或该装置800可以包括图19中所述的装置600。该装置600可以采用如图21所示的硬件架构。该装置800可以包括处理器810和收发器820，该处理器810和该收发器820通过内部连接通路互相通信。图19中的处理单元620所实现的相关功能可以由该处理器810来实现，接收单元610所实现的相关功能可以由该处理器810控制该收发器820来实现。
该处理器810可以包括是一个或多个处理器，例如包括一个或多个CPU，在处理器是一个CPU的情况下，该CPU可以是单核CPU，也可以是多核CPU。
该收发器820用于发送和接收信号。该收发器可以包括发射器和接收器，发射器用于发送雷达信号，接收器用于接收雷达信号。
可选地，该装置800还可以包括存储器830，该处理器810、该收发器820和该存储器830通过内部连接通路互相通信。
该存储器830包括但不限于是RAM、ROM、EPROM、CD-ROM，该存储器830用于存储相关指令及数据。
存储器830用于存储装置的程序代码和数据，可以为单独的器件或集成在处理器810中。
具体地，该处理器810用于控制收发器发射雷达信号以及接收回波信号。具体可参见方法实施例中的描述，在此不再赘述。
可以理解的是，图21仅仅示出了装置800的简化设计。在实际应用中，装置800还可以分别包含必要的其他元件，包含但不限于任意数量的收发器、处理器、控制器、存储器等，而所有可以实现本申请的管理设备都在本申请的保护范围之内。
在一种可能的设计中，装置800可以被替换为芯片装置，用于实现装置中处理器的相关功能。该芯片装置可以为实现相关功能的现场可编程门阵列，专用集成芯片，系统芯片，中央处理器，网络处理器，数字信号处理电路，微控制器，还可以采用可编程控制器或其他集成芯片。该芯片中，可选的可以包括一个或多个存储器，用于存储程序代码，当所述代码被执行时，使得处理器实现相应的功能。
应理解，在本申请的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本 申请的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应所述以权利要求的保护范围为准。

Claims (33)

  1. 一种距离测量方法，其特征在于，包括：
    接收第一时间段内发射的多个第一雷达信号在探测范围内产生的多个第一回波信号；
    根据所述多个第一回波信号，确定第一点云数据集，所述第一点云数据集包括多个第一点云数据，所述多个第一点云数据用于表示所述探测范围内的被测对象上的多个障碍点，所述多个第一点云数据中的每个第一点云数据包括距离值、速率值和信噪比值，所述每个第一点云数据中的距离值用于表示所述每个第一点云数据所表示的障碍点距所述多个第一雷达信号的发射原点的距离，所述每个第一点云数据中的速率值用于表示所述每个第一点云数据所表示的障碍点相对于所述发射原点的运动速率，所述每个第一点云数据中的信噪比值用于表示所述每个第一点云数据所表示的障碍点处的噪声；
    根据所述第一点云数据集中包括的每个第一点云数据中的信噪比值和速率值，对所述第一点云数据集进行去噪，得到目标数据集；
    根据所述目标数据集中包括的每个第一点云数据中的距离值，对所述目标数据集中包括的第一点云数据进行聚类，得到至少一个分类，其中，所述至少一个分类对应至少一个障碍物，所述至少一个分类中的每个分类包括的障碍点构成所述每个分类对应的障碍物；
    根据所述每个分类包括的每个第一点云数据中的距离值，确定所述每个分类对应的障碍物距所述发射原点的距离。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述第一点云数据集中包括的每个第一点云数据中的信噪比值和速率值，对所述第一点云数据集进行去噪，得到目标数据集，包括：
    根据所述第一点云数据集中包括的每个第一点云数据中的信噪比值和速率值以及预设的信噪比阈值和速率阈值，对所述第一点云数据集进行去噪，得到所述目标数据集，所述速率阈值是根据所述至少一个障碍物中的目标障碍物的速率确定的。
  3. 根据权利要求2所述的方法，其特征在于，所述目标障碍物的速率大于或等于所述速率阈值。
  4. 根据权利要求2或3所述的方法，其特征在于，所述目标障碍物包括第一障碍点和第二障碍点，所述第一障碍点与所述第二障碍点之间的距离小于预设的距离阈值。
  5. 根据权利要求2至4中任一项所述的方法，其特征在于，所述目标障碍物对应所述至少一个分类中的目标分类，所述根据所述每个分类包括的每个第一点云数据中的距离值，确定与所述每个分类对应的障碍物距所述发射原点的距离，包括：
    将所述至少一个分类中包括第一点云数据的数量最多的分类，确定为所述目标分类；
    根据所述目标分类中包括的每个第一点云数据中的距离值，确定所述目标障碍物距所述发射原点的距离。
  6. 根据权利要求1至5中任一项所述的方法，其特征在于，
    所述每个第一点云数据中的距离值包括所述每个第一点云数据所表示的障碍点在第一方向上的距离分量值和第二方向上的距离分量值，所述第一方向和所述第二方向垂直；或，
    所述每个第一点云数据中的距离值包括所述每个第一点云数据所表示的障碍点在所 述第一方向上的距离分量值、所述第二方向上的距离分量值和第三方向上的距离分量，所述第三方向分别与所述第一方向和所述第二方向垂直。
  7. 根据权利要求1至6中任一项所述的方法，其特征在于，所述根据所述多个第一回波信号，确定第一点云数据集，包括：
    根据所述多个第一回波信号，确定所述多个第一回波信号对应的多个第一频谱数据组，所述多个第一频谱数据组中的每个第一频谱数据组包括多个第一频谱数据，所述多个第一频谱数据表示所述探测范围内的多个障碍点，所述多个第一频谱数据中的每个第一频谱数据包括距离值和信号强度值，所述每个第一频谱数据的距离值用于表示所述每个第一频谱数据所表示的障碍点距所述发射原点的距离，所述每个第一频谱数据的信号强度值用于表示所述每个第一频谱数据所表示的障碍点对所述每个第一频谱数据所对应的第一雷达信号的反射强度，其中，所述每个第一频谱数据组包括的多个距离值相同；
    根据所述每个第一频谱数据中的距离值和信号强度值，确定所述第一点云数据集。
  8. 根据权利要求7所述的方法，其特征在于，在所述根据所述每个第一频谱数据中的距离值和信号强度值，确定所述第一点云数据集之前，所述方法还包括：
    接收第二时间段内发射的多个第二雷达信号在所述探测范围内产生的多个第二回波信号，所述第二时间段的结束时刻不晚于所述第一时间段的结束时刻；
    根据所述多个第二回波信号，确定所述多个第二回波信号对应的多个第二频谱数据组，所述多个第二频谱数据组中的每个第二频谱数据组包括多个第二频谱数据，所述多个第二频谱数据表示所述探测范围内的所述多个障碍点，所述多个第二频谱数据中的每个第二频谱数据包括距离值和信号强度值，所述每个第二频谱数据的距离值用于表示所述每个第二频谱数据所表示的障碍点距所述发射原点的距离，所述每个第二频谱数据的信号强度值用于表示所述每个第二频谱数据所表示的障碍点对所述每个第二频谱数据所对应的第二雷达信号的反射强度，其中，所述每个第二频谱数据组包括的多个距离值相同；
    根据所述每个第二频谱数据中的距离值和信号强度值，确定所述被测对象的位置是否满足测量条件；
    当确定所述被测对象的位置满足所述测量条件时，确定所述第一点云数据集。
  9. 根据权利要求8所述的方法，其特征在于，所述根据所述每个第二频谱数据中的距离值和信号强度值，确定所述被测对象的位置是否满足测量条件，包括：
    对所述每个第二频谱数据组包括的多个距离值中每个距离值对应的信号强度值进行归一化处理，得到所述每个第二频谱数据组包括的多个距离值中每个距离值对应的归一化信号强度值；
    根据所述多个第二频谱数据组中相同距离值对应的归一化信号强度值，确定所述多个距离值中每个距离值对应的信号强度值的方差值；
    根据所述多个距离值中每个距离值对应的信号强度值的方差值，确定所述被测对象的位置是否满足所述测量条件。
  10. 根据权利要求9所述的方法，其特征在于，所述根据所述多个距离值中每个距离值对应的信号强度值的方差值，确定所述被测对象的位置是否满足所述测量条件，包括：
    当所述多个距离值中每个距离值对应的信号强度值的方差值中大于方差阈值的数量大于或等于数量阈值时，确定所述被测对象的位置满足所述测量条件；或，
    当所述多个距离值中每个距离值对应的信号强度值的方差值中大于所述方差阈值的数量小于所述数量阈值时，确定所述被测对象的位置不满足所述测量条件。
  11. 一种距离测量方法，其特征在于，包括：
    接收第一时间段内发射的多个第一雷达信号在探测范围内产生的多个第一回波信号；
    根据所述多个第一回波信号，确定与所述多个第一回波信号对应的多个第一频谱数据组，所述多个第一频谱数据组中的每个第一频谱数据组包括多个第一频谱数据，所述多个第一频谱数据表示所述探测范围内的被测对象上的多个障碍点，所述多个第一频谱数据中的每个第一频谱数据包括距离值和信号强度值，所述每个第一频谱数据的距离值用于表示所述每个第一频谱数据所表示的障碍点距所述多个第一雷达信号的发射原点的距离，所述每个第一频谱数据的信号强度值用于表示所述每个第一频谱数据所表示的障碍点处的信号反射强度，其中，所述每个第一频谱数据组包括的多个距离值相同；
    对所述每个第一频谱数据组包括的每个距离值对应的信号强度值进行归一化处理，得到所述每个第一频谱数据组包括的每个距离值对应的归一化信号强度值；
    根据所述多个第一频谱数据组中相同距离值对应的归一化信号强度值，确定所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值；
    根据所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值，确定所述被测对象上的目标障碍物距所述发射原点的距离，所述目标障碍物由至少一个障碍点构成，运动状态不同的障碍点处的信号反射强度不同。
  12. 根据权利要求11所述的方法，其特征在于，所述根据所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值，确定所述被测对象上的目标障碍物距所述发射原点的距离，包括：
    根据所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值和第一方差阈值，确定所述目标障碍物距所述发射原点的距离，所述第一方差阈值是根据构成所述目标障碍物的所述至少一个障碍点处的信号强度确定的。
  13. 根据权利要求11或12所述的方法，其特征在于，在所述对所述每个第一频谱数据组包括的每个距离值对应的信号强度值进行归一化处理，得到所述每个第一频谱数据组包括的每个距离值对应的归一化信号强度值之前，所述方法还包括：
    接收第二时间段内发射的多个第二雷达信号在所述探测范围内产生的多个第二回波信号，所述第二时间段的结束时刻不晚于所述第一时间段的结束时刻；
    根据所述多个第二回波信号，确定所述多个第二回波信号对应的多个第二频谱数据组，所述多个第二频谱数据组中的每个第二频谱数据组包括多个第二频谱数据，所述多个第二频谱数据表示所述探测范围内的所述多个障碍点，所述多个第二频谱数据中的所述每个第二频谱数据包括距离值和信号强度值，所述每个第二频谱数据的距离值用于表示所述每个第二频谱数据所表示的障碍点距所述发射原点的距离，所述每个第二频谱数据的信号强度值用于表示所述每个第二频谱数据所表示的障碍点处的信号反射强度，其中，所述每个第二频谱数据组包括的多个距离值相同；
    根据所述每个第二频谱数据中的距离值和信号强度值，确定所述被测对象的位置是否满足测量条件；
    当确定所述被测对象的位置满足所述测量条件时，对所述每个第一频谱数据组包括的 每个距离值对应的信号强度值进行归一化处理。
  14. 根据权利要求13所述的方法，其特征在于，所述根据所述每个第二频谱数据中的距离值和信号强度值，确定所述被测对象的位置是否满足测量条件，包括：
    对所述每个第二频谱数据组包括的每个距离值对应的信号强度值进行归一化处理，得到所述每个第二频谱数据组包括的每个距离值对应的归一化信号强度值；
    根据所述多个第二频谱数据组中相同距离值对应的归一化信号强度值，确定所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值；
    根据所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值，确定所述被测对象的位置是否满足所述测量条件。
  15. 根据权利要求14所述的方法，其特征在于，所述根据所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值，确定所述被测对象的位置是否满足所述测量条件，包括：
    当所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值中大于第二方差阈值的数量大于或等于数量阈值时，确定所述被测对象的位置满足所述测量条件；或，
    当所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值中大于所述第二方差阈值的数量小于所述数量阈值时，确定所述被测对象的位置不满足所述测量条件。
  16. 一种距离测量装置，其特征在于，包括：
    接收单元，用于接收第一时间段内发射的多个第一雷达信号在探测范围内产生的多个第一回波信号；
    处理单元，用于根据所述多个第一回波信号，确定第一点云数据集，所述第一点云数据集包括多个第一点云数据，所述多个第一点云数据用于表示所述探测范围内的被测对象上的多个障碍点，所述多个第一点云数据中的每个第一点云数据包括距离值、速率值和信噪比值，所述每个第一点云数据中的距离值用于表示所述每个第一点云数据所表示的障碍点距所述多个第一雷达信号的发射原点的距离，所述每个第一点云数据中的速率值用于表示所述每个第一点云数据所表示的障碍点相对于所述发射原点的运动速率，所述每个第一点云数据中的信噪比值用于表示所述每个第一点云数据所表示的障碍点处的噪声；根据所述第一点云数据集中包括的每个第一点云数据中的信噪比值和速率值，对所述第一点云数据集进行去噪，得到目标数据集；根据所述目标数据集中包括的每个第一点云数据中的距离值，对所述目标数据集中包括的第一点云数据进行聚类，得到至少一个分类，其中，所述至少一个分类对应至少一个障碍物，所述至少一个分类中的每个分类包括的障碍点构成所述每个分类对应的障碍物；根据所述每个分类包括的每个第一点云数据中的距离值，确定所述每个分类对应的障碍物距所述发射原点的距离。
  17. 根据权利要求16所述的装置，其特征在于，所述处理单元具体用于根据所述第一点云数据集中包括的每个第一点云数据中的信噪比值和速率值以及预设的信噪比阈值和速率阈值，对所述第一点云数据集进行去噪，得到所述目标数据集，所述速率阈值是根据所述至少一个障碍物中的目标障碍物的速率确定的。
  18. 根据权利要求17所述的装置，其特征在于，所述目标障碍物的速率大于或等于 所述速率阈值。
  19. 根据权利要求17或18所述的装置，其特征在于，所述目标障碍物包括第一障碍点和第二障碍点，所述第一障碍点与所述第二障碍点之间的距离小于预设的距离阈值。
  20. 根据权利要求17至19中任一项所述的装置，其特征在于，所述目标障碍物对应所述至少一个分类中的目标分类，所述处理单元具体用于：
    将所述至少一个分类中包括第一点云数据的数量最多的分类，确定为所述目标分类；
    根据所述目标分类中包括的每个第一点云数据中的距离值，确定所述目标障碍物距所述发射原点的距离。
  21. 根据权利要求16至20中任一项所述的装置，其特征在于，
    所述每个第一点云数据中的距离值包括所述每个第一点云数据所表示的障碍点在第一方向上的距离分量值和第二方向上的距离分量值，所述第一方向和所述第二方向垂直；或，
    所述每个第一点云数据中的距离值包括所述每个第一点云数据所表示的障碍点在所述第一方向上的距离分量值、所述第二方向上的距离分量值和第三方向上的距离分量，所述第三方向分别与所述第一方向和所述第二方向垂直。
  22. 根据权利要求16至21中任一项所述的装置，其特征在于，所述处理单元还用于：
    根据所述多个第一回波信号，确定所述多个第一回波信号对应的多个第一频谱数据组，所述多个第一频谱数据组中的每个第一频谱数据组包括多个第一频谱数据，所述多个第一频谱数据表示所述探测范围内的所述多个障碍点，所述多个第一频谱数据中的每个第一频谱数据包括距离值和信号强度值，所述每个第一频谱数据的距离值用于表示所述每个第一频谱数据所表示的障碍点距所述发射原点的距离，所述每个第一频谱数据的信号强度值用于表示所述每个第一频谱数据所表示的障碍点对所述每个第一频谱数据所对应的第一雷达信号的反射强度，其中，所述每个第一频谱数据组包括的多个距离值相同；
    根据所述每个第一频谱数据中的距离值和信号强度值，确定所述第一点云数据集。
  23. 根据权利要求22所述的装置，其特征在于，
    所述接收单元还用于在所述根据所述每个第一频谱数据中的距离值和信号强度值，确定所述第一点云数据集之前，接收第二时间段内发射的多个第二雷达信号在所述探测范围内产生的多个第二回波信号，所述第二时间段的结束时刻不晚于所述第一时间段的结束时刻；
    所述处理单元还用于根据所述多个第二回波信号，确定所述多个第二回波信号对应的多个第二频谱数据组，所述多个第二频谱数据组中的每个第二频谱数据组包括多个第二频谱数据，所述多个第二频谱数据表示所述探测范围内的所述多个障碍点，所述多个第二频谱数据中的每个第二频谱数据包括距离值和信号强度值，所述每个第二频谱数据的距离值用于表示所述每个第二频谱数据所表示的障碍点距所述发射原点的距离，所述每个第二频谱数据的信号强度值用于表示所述每个第二频谱数据所表示的障碍点对所述每个第二频谱数据所对应的第二雷达信号的反射强度，其中，所述每个第二频谱数据组包括的多个距离值相同；根据所述每个第二频谱数据中的距离值和信号强度值，确定所述被测对象的位置是否满足测量条件；当确定所述被测对象的位置满足所述测量条件时，确定所述第一点云数据集。
  24. 根据权利要求23所述的装置，其特征在于，所述处理还单元还用于：
    对所述每个第二频谱数据组包括的多个距离值中每个距离值对应的信号强度值进行归一化处理，得到所述每个第二频谱数据组包括的多个距离值中每个距离值对应的归一化信号强度值；
    根据所述多个第二频谱数据组中相同距离值对应的归一化信号强度值，确定所述多个距离值中每个距离值对应的信号强度值的方差值；根据所述多个距离值中每个距离值对应的信号强度值的方差值，确定所述被测对象的位置是否满足所述测量条件。
  25. 根据权利要求24所述的装置，其特征在于，所述处理单元具体用于：
    当所述多个距离值中每个距离值对应的信号强度值的方差值中大于方差阈值的数量大于或等于数量阈值时，确定所述被测对象的位置满足所述测量条件；或，
    当所述多个距离值中每个距离值对应的信号强度值的方差值中大于所述方差阈值的数量小于所述数量阈值时，确定所述被测对象的位置不满足所述测量条件。
  26. 一种距离测量装置，其特征在于，包括：
    接收单元，用于接收第一时间段内发射的多个第一雷达信号在探测范围内产生的多个第一回波信号；
    处理单元，用于根据所述多个第一回波信号，确定与所述多个第一回波信号对应的多个第一频谱数据组，所述多个第一频谱数据组中的每个第一频谱数据组包括多个第一频谱数据，所述多个第一频谱数据表示所述探测范围内的被测对象上的多个障碍点，所述多个第一频谱数据中的每个第一频谱数据包括距离值和信号强度值，所述每个第一频谱数据的距离值用于表示所述每个第一频谱数据所表示的障碍点距所述多个第一雷达信号的发射原点的距离，所述每个第一频谱数据的信号强度值用于表示所述每个第一频谱数据所表示的障碍点处的信号反射强度，其中，所述每个第一频谱数据组包括的多个距离值相同；对所述每个第一频谱数据组包括的每个距离值对应的信号强度值进行归一化处理，得到所述每个第一频谱数据组包括的每个距离值对应的归一化信号强度值；根据所述多个第一频谱数据组中相同距离值对应的归一化信号强度值，确定所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值；根据所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值，确定所述被测对象上的目标障碍物距所述发射原点的距离，所述目标障碍物由至少一个障碍点构成，运动状态不同的障碍点处的信号反射强度不同。
  27. 根据权利要求26所述的装置，其特征在于，所述处理单元具体用于根据所述多个第一频谱数据组包括的每个距离值对应的信号强度值的方差值和第一方差阈值，确定所述目标障碍物距所述发射原点的距离，所述第一方差阈值是根据构成所述目标障碍物的所述至少一个障碍点处的信号强度确定的。
  28. 根据权利要求26或27所述的装置，其特征在于，
    所述接收单元还用于在所述对所述每个第一频谱数据组包括的每个距离值对应的信号强度值进行归一化处理，得到所述每个第一频谱数据组包括的每个距离值对应的归一化信号强度值之前，接收第二时间段内发射的多个第二雷达信号在所述探测范围内产生的多个第二回波信号，所述第二时间段的结束时刻不晚于所述第一时间段的结束时刻；
    所述处理单元还用于根据所述多个第二回波信号，确定所述多个第二回波信号对应的多个第二频谱数据组，所述多个第二频谱数据组中的每个第二频谱数据组包括多个第二频 谱数据，所述多个第二频谱数据表示所述探测范围内的多个障碍点，所述多个第二频谱数据中的所述每个第二频谱数据包括距离值和信号强度值，所述每个第二频谱数据的距离值用于表示所述每个第二频谱数据所表示的障碍点距所述发射原点的距离，所述每个第二频谱数据的信号强度值用于表示所述每个第二频谱数据所表示的障碍点处的信号反射强度，其中，所述每个第二频谱数据组包括的多个距离值相同；根据所述每个第二频谱数据中的距离值和信号强度值，确定所述被测对象的位置是否满足测量条件；当确定所述被测对象的位置满足所述测量条件时，对所述每个第一频谱数据组包括的每个距离值对应的信号强度值进行归一化处理。
  29. 根据权利要求28所述的装置，其特征在于，所述处理单元还用于：
    对所述每个第二频谱数据组包括的每个距离值对应的信号强度值进行归一化处理，得到所述每个第二频谱数据组包括的每个距离值对应的归一化信号强度值；
    根据所述多个第二频谱数据组中相同距离值对应的归一化信号强度值，确定所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值；根据所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值，确定所述被测对象的位置是否满足所述测量条件。
  30. 根据权利要求29所述的装置，其特征在于，所述处理单元具体用于：
    当所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值中大于第二方差阈值的数量大于或等于数量阈值时，确定所述被测对象的位置满足所述测量条件；或，
    当所述多个第二频谱数据组包括的每个距离值对应的信号强度值的方差值中大于所述第二方差阈值的数量小于所述数量阈值时，确定所述被测对象的位置不满足所述测量条件。
  31. 一种距离测量装置，包括处理器和收发器，所述处理器和所述收发器耦合，其特征在于，所述处理器用于执行权利要求1至15中任一项所述的方法。
  32. 一种芯片装置，包括：处理器和通信接口，所述处理器与所述通信接口之间通过内部连接通路互相通信，该通信接口用于与外部器件或内部器件进行通信，其特征在于，所述处理器用于实现上述权利要求1至15中任一项所述的方法。
  33. 一种计算机可读存储介质，用于存储计算机程序，其特征在于，所述计算机程序包括用于实现上述权利要求1至15中任一项所述的方法的指令。
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