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1. WO2020107176 - OBSTACLE DETECTION METHOD AND DEVICE

Publication Number WO/2020/107176
Publication Date 04.06.2020
International Application No. PCT/CN2018/117505
International Filing Date 26.11.2018
IPC
G01S 15/08 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO 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
15Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
02using reflection of acoustic waves
06Systems determining position data of a target
08Systems for measuring distance only
G01S 15/93 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO 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
15Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
88Sonar systems specially adapted for specific applications
93for anti-collision purposes
G01S 7/52 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO 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
7Details of systems according to groups G01S13/, G01S15/, G01S17/127
52of systems according to group G01S15/58
CPC
G01S 15/08
GPHYSICS
01MEASURING; TESTING
SRADIO 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
15Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
02using reflection of acoustic waves
06Systems determining the position data of a target
08Systems for measuring distance only
G01S 15/93
GPHYSICS
01MEASURING; TESTING
SRADIO 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
15Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
88Sonar systems specially adapted for specific applications
93for anti-collision purposes
G01S 7/52
GPHYSICS
01MEASURING; TESTING
SRADIO 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
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
52of systems according to group G01S15/00
Applicants
  • 华为技术有限公司 HUAWEI TECHNOLOGIES CO., LTD. [CN]/[CN]
Inventors
  • 郑佳 ZHENG, Jia
  • 李维 LI, Wei
  • 吴祖光 WU, Zuguang
  • 周鹏 ZHOU, Peng
Agents
  • 北京中博世达专利商标代理有限公司 BEIJING ZBSD PATENT & TRADEMARK AGENT LTD.
Priority Data
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) OBSTACLE DETECTION METHOD AND DEVICE
(FR) PROCÉDÉ ET DISPOSITIF DE DÉTECTION D’OBSTACLE
(ZH) 一种障碍物检测方法及装置
Abstract
(EN)
An obstacle detection method and device, relating to the technical field of ultrasonic detection and used for improving the accuracy of obstacle boundary detection. The method comprises: receiving a first echo signal from a primary sensor and a second echo signal from at least one secondary sensor (S201), the first echo signal being an echo signal, received by the primary sensor, of an ultrasonic signal sent from the primary sensor and reflected by an obstacle, and the second echo signal being an echo signal, received by the at least one secondary sensor, of the ultrasonic signal sent from the primary sensor and reflected by the obstacle; determining a first distance between the primary sensor and the obstacle according to the first echo signal of the primary sensor, and determining a second distance between the secondary sensor and the obstacle according to the second echo signal of each secondary sensor (S202); and determining the position of the obstacle according to the first distance, the second distance, the position of the primary sensor, and the detection angle of the primary sensor (S203).
(FR)
L'invention concerne un procédé et un dispositif de détection d'obstacle, se rapportant au domaine technique de la détection par ultrasons et utilisés pour améliorer la précision d'une détection de limite d'obstacle. Le procédé consiste à : recevoir un premier signal d'écho à partir d'un capteur primaire et un second signal d'écho à partir d'au moins un capteur secondaire (S201), le premier signal d'écho étant un signal d'écho, reçu par le capteur primaire, d'un signal ultrasonore envoyé à partir du capteur primaire et réfléchi par un obstacle, et le second signal d'écho étant un signal d'écho, reçu par ledit au moins un capteur secondaire, du signal ultrasonore envoyé à partir du capteur primaire et réfléchi par l'obstacle ; déterminer une première distance entre le capteur primaire et l'obstacle en fonction du premier signal d'écho du capteur primaire, et déterminer une seconde distance entre le capteur secondaire et l'obstacle en fonction du second signal d'écho de chaque capteur secondaire (S202) ; et déterminer la position de l'obstacle en fonction de la première distance, de la seconde distance, de la position du capteur primaire et de l'angle de détection du capteur primaire (S203).
(ZH)
一种障碍物检测方法及装置,涉及超声波检测技术领域,用于提高障碍物边界检测的精确度。该方法包括:接收来自主传感器的第一回波信号和来自至少一个辅传感器的第二回波信号(S201),第一回波信号为主传感器接收的在主传感器发送的超声波信号被障碍物反射后的回波信号,第二回波信号为至少一个辅传感器接收的在主传感器发送的该超声波信号被障碍物反射后的回波信号;根据主传感器的第一回波信号确定主传感器与障碍物之间的第一距离,根据每个辅传感器的第二回波信号确定该辅传感器与障碍物之间的第二距离(S202);根据第一距离、第二距离、主传感器的位置和主传感器的探测角度,确定障碍物的位置(S203)。
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