阅读说明：本技术 一种测距方法、装置、存储介质及电子设备 (Distance measuring method, device, storage medium and electronic equipment ) 是由 毛一年 夏华夏 张茜 陈刚 刘宝旭 于 2021-04-08 设计创作，主要内容包括：本说明书公开了一种测距方法、装置、存储介质及电子设备。在获取到探测设备的第一探测值之后,根据第一探测值确定出目标设备朝向探测面的相对运动速度,由相对运动速度以及无人机自身朝向探测面方向的主动运动速度能够确定出反映出探测面高度变化程度的被动运动速度,并根据被动运动速度来对第一探测值进行筛选,从而滤除由高度变化剧烈的障碍物所返回的探测结果,实现稳定的距离测量。(The specification discloses a distance measuring method, a distance measuring device, a storage medium and electronic equipment. After the first detection value of the detection device is obtained, the relative movement speed of the target device towards the detection surface is determined according to the first detection value, the passive movement speed reflecting the height change degree of the detection surface can be determined according to the relative movement speed and the active movement speed of the unmanned aerial vehicle towards the direction of the detection surface, and the first detection value is screened according to the passive movement speed, so that the detection result returned by the obstacle with violent height change is filtered, and stable distance measurement is realized.)

1. A method of ranging, comprising:

detecting the distance between target equipment and a detection surface through detection equipment carried by the target equipment to obtain a first detection value of the detection equipment;

acquiring the movement speed of the target equipment towards the direction of the detection surface as the active movement speed of the target equipment; taking the movement speed of the target equipment towards the detection surface direction determined according to the first detection value as the relative movement speed of the target equipment;

determining the passive movement speed of the target equipment towards the direction of the detection surface according to the active movement speed and the relative movement speed of the target equipment;

and when the passive movement speed meets a preset specified condition, determining the distance between the target device and a detection surface according to the first detection value.

2. The method of claim 1, wherein determining the passive movement velocity of the target device in the direction of the detection surface comprises:

and taking the difference value of the relative movement speed of the target device and the active movement speed of the target device as the passive movement speed of the target device.

3. The method according to claim 1, wherein determining the distance between the target device and a detection surface according to the first detection value when the passive movement speed satisfies a predetermined specified condition includes:

and when the passive movement speed of the target equipment does not exceed a preset speed threshold value, determining the distance between the target equipment and a detection surface according to the first detection value.

4. The method of claim 3, wherein determining the distance between the target device and the detection surface based on the first detection values comprises:

acquiring the passive movement speed of the target equipment at each historical moment, and determining each historical moment when the passive movement speed exceeds a speed threshold;

taking the historical time closest to the current time as the reference time in all historical times when the passive movement speed exceeds the speed threshold;

judging whether the time interval between the current time and the reference time is greater than a preset time threshold value or not;

if so, determining the distance between the target equipment and the detection surface according to the first detection value;

if not, determining the distance between the target equipment and the detection surface according to the first detection value of the target equipment at each historical time between the current time and the reference time.

5. The method of claim 4, wherein determining a distance between the target device and the detection surface based on the first detection values of the target device at each historical time between the current time and the reference time comprises:

averaging the first detection values of the target equipment at the current moment and the first detection values at each historical moment after the reference moment, and taking the averaged detection values as the average detection values of the target equipment at the current moment;

and determining the distance between the target equipment and the detection surface according to the average detection value.

6. The method of any one of claims 1-5, wherein the target device is an unmanned aerial vehicle and the detection surface is the ground.

7. The method according to claim 6, wherein obtaining the moving speed of the target device toward the detection surface comprises:

and determining the movement speed of the unmanned aerial vehicle towards the direction of the detection surface according to the second detection values returned by other sensors except the detection equipment carried by the unmanned aerial vehicle.

8. The method of claim 4, wherein the target device is an unmanned aerial vehicle, the detection surface is the ground;

the duration threshold value is predetermined according to the horizontal flying speed of the unmanned aerial vehicle in the horizontal direction, wherein the greater the horizontal flying speed is, the smaller the duration threshold value is.

9. The method of claim 1, wherein the target device is an unmanned aerial vehicle, the detection surface is the ground;

determining the distance between the target device and a detection surface according to the first detection value, specifically comprising:

and acquiring attitude data of the unmanned aerial vehicle, and determining the distance between the target equipment and a detection surface according to the attitude data and the first detection value.

10. A distance measuring device, characterized in that, the device specifically includes:

the detection module is used for detecting the distance between the target equipment and a detection surface through the detection equipment carried by the target equipment to obtain a first detection value of the detection equipment;

the first speed module is used for acquiring the movement speed of the target equipment towards the direction of the detection surface as the active movement speed of the target equipment; taking the movement speed of the target equipment towards the detection surface direction determined according to the first detection value as the relative movement speed of the target equipment;

the second speed module is used for determining the passive movement speed of the target equipment towards the direction of the detection surface according to the active movement speed and the relative movement speed of the target equipment;

and the distance determining module is used for determining the distance between the target equipment and a detection surface according to the first detection value when the passive movement speed meets a preset specified condition.

11. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1 to 9.

12. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of claims 1 to 9 when executing the program.

Technical Field

The present disclosure relates to the field of distance measurement technologies, and in particular, to a distance measuring method, a distance measuring device, a storage medium, and an electronic device.

Background

At present, ranging technology has been applied in more and more fields, and is more common, and the radar of carrying on the vehicle can provide supplementary for the driver through surveying the distance between obstacle and the vehicle around.

In some applications, when the detection device detects the detection surface, the returned detection result may include an abnormal detection result that affects the detection effect. For example, in the scenario shown in fig. 1, the radar mounted on the vehicle detects the detection surfaces on both sides of the vehicle, and determines the position of the vehicle under the road coordinate system according to the detection result returned by the radar in real time, where the required detection result is the distance between each of both sides of the vehicle and the edge of the road. However, in a real environment, there are often some obstacles on the roadside, and the detection result returned by the roadside obstacle affects the detection of the distance between the vehicle and the edge of the road, and may be regarded as an abnormal detection result.

For another example, the ground altitude of an unmanned aerial vehicle (hereinafter referred to as an unmanned aerial vehicle) can be used for observing the flight state of the unmanned aerial vehicle, and particularly has a great flight guidance effect on the unmanned aerial vehicle in a low-altitude flight state, and it is common that the end of a takeoff phase and a landing phase of the unmanned aerial vehicle can be judged through the ground altitude, and the ground-imitating flight of the unmanned aerial vehicle is realized under the guidance of ground altitude data. As shown in fig. 2A, the drone flies in the arrow direction, the ground is shown by the curve below the drone, the ground height of the drone is the distance between the drone and the ground in the vertical ground plane direction, and at the time of T1, T2, and T3, the ground height of the drone is h1, h2, and h3, respectively.

The ground environment in the real environment is complex, the ground is often covered with grasses, trees and the like, a large number of high buildings, telegraph poles and the like exist in the city, fig. 2B shows a scene when trees are contained on the ground, and according to a detection signal returned by the trees, the ground height detected by the unmanned aerial vehicle at the time of T2 is h 2', and the detection result can influence the detection of the ground height of the unmanned aerial vehicle and can also be regarded as an abnormal detection result.

How to filter the abnormal detection result so as to stably measure the distance is a problem to be solved.

Disclosure of Invention

The present specification provides a ranging method, a ranging apparatus, a storage medium, and an electronic device, which partially solve the above problems in the prior art.

The technical scheme adopted by the specification is as follows:

the present specification provides a ranging method, including:

detecting the distance between target equipment and a detection surface through detection equipment carried by the target equipment to obtain a first detection value of the detection equipment;

acquiring the movement speed of the target equipment towards the direction of the detection surface as the active movement speed of the target equipment; taking the movement speed of the target equipment towards the detection surface direction determined according to the first detection value as the relative movement speed of the target equipment;

determining the passive movement speed of the target equipment towards the direction of the detection surface according to the active movement speed and the relative movement speed of the target equipment;

when the passive movement speed meets a preset specified condition, determining the distance between the target equipment and a detection surface according to the first detection value

Optionally, determining a passive movement speed of the target device towards the detection surface direction specifically includes:

and taking the difference value of the relative movement speed of the target device and the active movement speed of the target device as the passive movement speed of the target device.

Optionally, when the passive movement speed satisfies a preset specified condition, determining a distance between the target device and a detection surface according to the first detection value, specifically including:

and when the passive movement speed of the target equipment does not exceed a preset speed threshold value, determining the distance between the target equipment and a detection surface according to the first detection value.

Optionally, determining a distance between the target device and the detection surface according to the first detection value specifically includes:

acquiring the passive movement speed of the target equipment at each historical moment, and determining each historical moment when the passive movement speed exceeds a speed threshold;

taking the historical time closest to the current time as the reference time in all historical times when the passive movement speed exceeds the speed threshold;

judging whether the time interval between the current time and the reference time is greater than a preset time threshold value or not;

if so, determining the distance between the target equipment and the detection surface according to the first detection value;

if not, determining the distance between the target equipment and the detection surface according to the first detection value of the target equipment at each historical time between the current time and the reference time.

Optionally, determining a distance between the target device and the detection surface according to the first detection value of the target device at each historical time between the current time and the reference time, specifically including:

averaging the first detection values of the target equipment at the current moment and the first detection values at each historical moment after the reference moment, and taking the averaged detection values as the average detection values of the target equipment at the current moment;

and determining the distance between the target equipment and the detection surface according to the average detection value.

Optionally, the target device is an unmanned aerial vehicle, and the detection surface is the ground.

Optionally, the obtaining of the movement speed of the target device itself toward the detection surface direction specifically includes:

and determining the movement speed of the unmanned aerial vehicle towards the direction of the detection surface according to the second detection values returned by other sensors except the detection equipment carried by the unmanned aerial vehicle.

Optionally, the target device is an unmanned aerial vehicle, and the detection surface is the ground;

the duration threshold value is predetermined according to the horizontal flying speed of the unmanned aerial vehicle in the horizontal direction, wherein the greater the horizontal flying speed is, the smaller the duration threshold value is.

Optionally, the target device is an unmanned aerial vehicle, and the detection surface is the ground;

determining the distance between the target device and a detection surface according to the first detection value, specifically comprising:

and acquiring attitude data of the unmanned aerial vehicle, and determining the distance between the target equipment and a detection surface according to the attitude data and the first detection value.

This specification provides a range unit, and the device specifically includes:

the detection module is used for detecting the distance between the target equipment and a detection surface through the detection equipment carried by the target equipment to obtain a first detection value of the detection equipment;

the first speed module is used for acquiring the movement speed of the target equipment towards the direction of the detection surface as the active movement speed of the target equipment; taking the movement speed of the target equipment towards the detection surface direction determined according to the first detection value as the relative movement speed of the target equipment;

the second speed module is used for determining the passive movement speed of the target equipment towards the direction of the detection surface according to the active movement speed and the relative movement speed of the target equipment;

and the distance determining module is used for determining the distance between the target equipment and a detection surface according to the first detection value when the passive movement speed meets a preset specified condition.

The present specification provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above-described ranging method.

The present specification provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above-mentioned ranging method when executing the program.

The technical scheme adopted by the specification can achieve the following beneficial effects:

in the distance measurement method provided by the specification, after a first detection value of a detection device is acquired, a relative movement speed of a target device towards a detection surface is determined according to the first detection value, a passive movement speed reflecting the height change degree of the detection surface can be determined according to the relative movement speed and an active movement speed of an unmanned aerial vehicle towards the direction of the detection surface, and the first detection value is screened according to the passive movement speed, so that a detection result returned by an obstacle with severe height change is filtered, and stable distance measurement is realized.

Drawings

The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:

FIG. 1 is a schematic illustration of a vehicle range finding provided herein;

fig. 2A is a schematic view of a measurement of the ground height of an unmanned aerial vehicle provided in the present specification;

fig. 2B is a schematic view of another drone to ground height measurement provided herein;

fig. 3 is a schematic flow chart of a distance measuring method in the present specification;

FIG. 4 is a schematic diagram of a ranging method of the present disclosure;

fig. 5 is a schematic view of a distance measuring device provided in the present specification;

fig. 6 is a schematic structural diagram of an electronic device corresponding to fig. 3 provided in this specification.

Detailed Description

Based on the recognition of the above problems, the present specification provides a ranging method, which is used for filtering out abnormal detection results by calculating the passive movement speed of the target device towards the detection surface, so as to realize stable ranging of the detection surface.

The distance measurement method provided by the specification can be used for distance measurement of any target device to a detection surface, for the sake of simplicity, the following part of the specification takes the target device as an unmanned aerial vehicle and the ground as the detection surface as an example for description, and in this embodiment, when the unmanned aerial vehicle is flying, the detected distance is the ground height between the unmanned aerial vehicle and the ground. Wherein, unmanned aerial vehicle can be for the delivery unmanned aerial vehicle in delivery field, especially can be applied to takeaway delivery.

In the following part of this specification, the area with gentle height change is regarded as the ground in this specification, and in fig. 2B, the ground is shown by a chain line, and the height change of the tree shown in fig. 2B is severe, so the tree shown in fig. 2B is taken as an obstacle on the ground. It should be noted that the height of the ground may be greater than, equal to, or less than the horizon, which is not limited in this specification.

The ground height measured in the embodiment of the present specification is the distance between the drone and the ground surface on which the drone approaches along the direction perpendicular to the ground plane, so in fig. 2B, the actual ground height of the drone at time T2 should be h2, and the probe result returned by the tree covered on the ground is h 2', which is the abnormal probe result to be filtered.

In order to make the objects, technical solutions and advantages of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below with reference to the specific embodiments of the present disclosure and the accompanying drawings. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present specification without any creative effort belong to the protection scope of the present specification.

The technical solutions provided by the embodiments of the present description are described in detail below with reference to the accompanying drawings.

S300: the method comprises the steps of detecting the distance between target equipment and a detection surface through detection equipment carried by the target equipment, and obtaining a first detection value of the detection equipment.

The main body of the ranging method provided by this specification may be an electronic device or a server, and the following description is given by taking an example of the execution of the unmanned aerial vehicle itself.

The unmanned aerial vehicle is provided with the detection device capable of measuring distance, the embodiment of the specification does not limit the detection device to adopt which technology to measure distance, and the detection device can be an ultrasonic sensor, a laser sensor and a Time of Flight (TOF) distance sensor by way of example only. This specification embodiment also does not restrict the quantity of the last detecting device of installing of unmanned aerial vehicle, and unmanned aerial vehicle can only install a detecting device, realizes the measurement to the height of ground according to the detection result that this detecting device returned, also can install a plurality of detecting device, combines the detection result that a plurality of detecting device returned to measure. This specification embodiment does not do the restriction to the mode that detection equipment installed on unmanned aerial vehicle yet, and detection equipment can be fixed on unmanned aerial vehicle to survey with arbitrary detection angle fixed mutually with unmanned aerial vehicle self throughout, detection equipment can also adjust the direction for unmanned aerial vehicle in surveying the in-process, for example can rotationally carry on unmanned aerial vehicle.

For the sake of simplicity, in the following part of this specification, an example is described in which the detection device with only one fixed angle is installed on the drone, generally speaking, the detection direction of the detection device may be a preset angle with the yaw axis direction, and for example only, the detection direction of the detection device may be along the yaw axis direction and toward the lower side of the body of the drone, so as to implement the detection of the ground height.

In the embodiment of the present specification, the first detection value output by the detection device may be a distance (i.e. a length) or other physical quantity capable of calculating the distance, for example, the first detection value may be a time difference between sending a detection signal and receiving the detection signal, and the distance may be calculated according to a velocity of the detection signal and used as a detection result. In the following part of the present description, the first detection value is taken as an example for explanation.

S302: acquiring the movement speed of the target equipment towards the direction of the detection surface as the active movement speed of the target equipment; and taking the movement speed of the target equipment towards the detection surface direction determined according to the first detection value as the relative movement speed of the target equipment.

S304: and determining the passive movement speed of the target equipment towards the direction of the detection surface according to the active movement speed and the relative movement speed of the target equipment.

Based on the thought, the detection result returned by the obstacle with violent height change is filtered out through the height change degree, the detection result returned by the ground with gentle height change is reserved, and the more accurate measurement of the ground height can be realized. In the distance measurement method provided by this specification, it is not necessary to model the environment in advance, and therefore the change situation of the ground altitude cannot be directly obtained, but it can be understood that, in the flight process of the unmanned aerial vehicle, the change situation of the ground altitude can be reflected in the first detection value of the detection device.

As shown in fig. 2A, when the drone flies parallel to the ground plane, the first detection values h1 to h3 obtained by the detection device at times T1 to T3 are all related to only the height of the ground or the obstacle at the position where the drone approaches at times T1 to T3, and assuming that the first detection values collected by the detection device are continuous functions in time series, the component of the first derivative of the first detection values obtained by differentiating the first detection values in the direction perpendicular to the ground plane can reflect the degree of the change in height, that is, the greater the absolute value of the component of the first derivative of the first detection values in the direction perpendicular to the ground plane at a certain time, the steeper the change in the ground or the obstacle at the position where the drone approaches at that time.

Of course, limited by the technical conditions, the probe device cannot realize the return of the probe result continuously in time series, in practical applications, a probe period is usually preset for the probe device, the probe device performs the probe in the probe period, and the return of the probe result in the probe period is performed in the probe period.

Can confirm the speed of unmanned aerial vehicle towards ground according to first detection value, it is specific, can acquire historical first detection value to forward the difference according to the detection cycle, thereby regard the speed of unmanned aerial vehicle towards ground with the first order difference that obtains, unmanned aerial vehicle's relative motion speed promptly, it is required to explain that the direction of unmanned aerial vehicle's relative motion speed is the same with the direction of first detection value.

It can be understood that when the drone itself flies in parallel relative to the ground plane (as shown in the time period T1-T3 in fig. 2A), the relative movement speed of the drone only represents the variation degree of the altitude, while in the time period T2-T3 in fig. 2B, the drone itself does not fly horizontally relative to the ground plane, but there is a flying speed perpendicular to the ground plane direction, and at this time, the relative movement speed of the drone reflects both the variation degree of the altitude and the flying speed of the drone itself in the direction perpendicular to the ground plane.

Therefore, in this specification, the movement speed of the unmanned aerial vehicle in the direction toward the detection surface in the movement speed of the unmanned aerial vehicle flying with the self-power source as power can be obtained, and the movement speed can be used as the active movement speed of the unmanned aerial vehicle, and the passive movement speed of the unmanned aerial vehicle can be solved according to the active movement speed of the unmanned aerial vehicle and the relative movement speed obtained in the above process.

After the influence of the speed of the unmanned aerial vehicle in the direction perpendicular to the ground plane is eliminated, the obtained speed component of the passive moving speed in the direction perpendicular to the ground plane only reflects the height change of the ground or the obstacle, namely, the larger the absolute value of the component of the passive moving speed in the direction perpendicular to the ground plane at a certain moment is, the steeper the height change of the ground or the obstacle at the position where the unmanned aerial vehicle approaches at the moment is.

Of course, under the condition that the requirement for precision is low, the passive movement speed itself can reflect the degree of change in altitude, that is, the larger the absolute value of the passive movement speed at a certain moment is, the steeper the change of the ground or the obstacle at the position where the unmanned aerial vehicle approaches at that moment is, and for the sake of brevity, the following part of this specification will be described by taking this as an example.

S306: and when the passive movement speed meets a preset specified condition, determining the distance between the target device and a detection surface according to the first detection value.

Based on the above-mentioned characteristics of the passive movement speed, it may be determined whether to determine the ground height of the drone from the first detection value returned by the detection device at a certain time instant according to the passive movement speed at that time instant.

Specifically, a speed threshold value may be preset, when the passive movement speed of the unmanned aerial vehicle exceeds the preset speed threshold value, the detection result is considered to be returned by an obstacle above the ground, and the first detection value is filtered out, and when the passive movement speed of the unmanned aerial vehicle does not exceed the preset speed threshold value, the detection result is considered to be returned by the ground, so that the ground height of the unmanned aerial vehicle can be determined according to the first detection value at the moment, and further, the first detection value can be directly used as the ground height of the unmanned aerial vehicle.

Based on the method shown in fig. 3, after the first detection value of the detection device is obtained, the relative movement speed of the target device towards the detection surface is determined according to the first detection value, the passive movement speed reflecting the height change degree of the detection surface can be determined according to the relative movement speed and the active movement speed of the unmanned aerial vehicle towards the detection surface, and the first detection value is screened according to the passive movement speed, so that the detection result returned by the obstacle with severe height change is filtered, and stable distance measurement is realized.

In the foregoing, the present specification exemplarily proposes that the relative movement speed can be determined directly from the first detection values by means of difference, but since the first detection values actually returned by the detection device in real environment contain much noise, the relative movement speed directly determined by difference has a large error due to the characteristic that the difference is sensitive to noise.

The embodiments of the present disclosure provide another way, a Tracking Differentiator (TD) is used to solve the relative motion speed:

in the above formula, the first and second carbon atoms are,for the first detection value at the k-th time, the tracking differentiator for the input random noise-containing signalAre respectively output pairObtained by filteringAnd differential signal thereofThat is, the output signalFor input signalPerforms tracking to output a signalThen do not exceedTracking speed tracking ofA derivative of (a)Is a pair signalThe noise contained in (a) has a filtering factor of a filtering action, wherein,andis a pre-set parameter of the process,in order to detect the detection period of the device,this is not described in detail in this specification in order to track the prior art functional representation of a differentiator.

It can be seen that the differential signal output by the differentiator is trackedThe relative motion speed of the drone can also be taken as the relative motion speed of the drone, and further, a differential signal of the first detection value can also be obtained in other manners, for example, the relative motion speed of the drone can be obtained through any filter capable of differentiating the signal, which is not limited in this specification.

In the flying process of the unmanned aerial vehicle, the active movement speed of the unmanned aerial vehicle perpendicular to the ground plane direction is important flight data of the unmanned aerial vehicle, and can be calculated by any prior art. For example, generally, an unmanned aerial vehicle is equipped with an accelerometer, and the active movement velocity of the unmanned aerial vehicle in the direction perpendicular to the ground plane can be calculated by the accelerometer and other sensors capable of measuring the height mounted on the unmanned aerial vehicle. The calculation of the active movement speed can be realized only according to one sensor for height measurement, and when the unmanned aerial vehicle is provided with a plurality of other sensors (except detection equipment) capable of height measurement, the confidence of each second detection value returned by each sensor can be judged, and the active movement speed of the unmanned aerial vehicle can be calculated according to the fusion of each measurement data. The description does not give more details about how to specifically calculate the active movement speed of the unmanned aerial vehicle.

As described above, when the passive movement speed of the drone satisfies the preset specified condition, the detection result may be considered to be returned by the ground with a relatively gentle altitude change, so as to directly update the ground altitude with the first detection value. Furthermore, the credibility or the non-credibility of the first detection value can be judged according to the signal returned once, and only when the passive movement speed of the unmanned aerial vehicle meets the preset specified condition in the past period of time, the detection result at the current moment is regarded as the credible detection result, and the ground altitude is updated according to the first detection value of the detection device.

The observation period of the ground height measurement may be re-entered each time the passive movement speed solved according to the first detection value exceeds the speed threshold, specifically, the time when the detection device acquires the first detection value may be used as a reference time, and observation may be performed from the reference time for a preset time threshold, during the observation period, if the passive movement speed solved again according to the first detection value exceeds the speed threshold, a new observation period may be started, and the time when the first detection value is acquired again may be used as the reference time of the new observation period. If the passive movement speed solved according to the first detection value acquired each time during the observation period does not exceed the speed threshold, the change of the height of the ground in the past period is relatively smooth, that is, the observation period is ended, it can be considered that the detection result obtained by the detection equipment after the observation period is ended is the detection result returned by the ground, and the ground height can be updated according to the first detection value of the detection equipment after the observation period is ended.

After each acquisition of the detection result returned by the detection device and a determination that the passive movement velocity calculated from the first detection value does not exceed a preset velocity threshold, it is also necessary to determine whether the observation period has ended, specifically, the passive movement speed of the target device at each historical moment can be acquired, each historical moment when the passive movement speed exceeds a speed threshold is determined, and in each historical moment when the passive movement speed exceeds the speed threshold, taking the history time nearest to the current time as a reference time, judging whether the time interval between the current time and the reference time is greater than a preset time length threshold value or not, if so, and determining the distance between the target equipment and the detection surface according to the first detection value, and if not, determining the distance between the target equipment and the detection surface according to the first detection value of the target equipment at each historical time between the current time and the reference time.

When determining the ground height of the unmanned aerial vehicle according to the first detection values, the first detection values may be directly used as the ground height of the unmanned aerial vehicle, and the first detection values may further be subjected to data processing, and the ground height may be determined according to a result obtained by the data processing. Of course, since there is a lag in data update on the forward average, in one embodiment of the present specification, the first probe values are not averaged after the observation period is over, and the ground altitude of the drone is determined from the average probe values only during the observation period, and further, in one embodiment of the present specification, the ground altitude at the end of the observation period is updated only from the average probe values, and no update of the ground altitude is performed before the end of the observation period.

In addition, when the ground height is determined according to the first detection value or the average detection value, since the heading angle, the pitch angle and the roll angle of the unmanned aerial vehicle in the flying process change constantly, the detection direction of the detection device mounted at the fixed position of the unmanned aerial vehicle is not always fixed vertically to the ground, in this embodiment of the present specification, the distance perpendicular to the ground plane can be determined as the ground height of the unmanned aerial vehicle according to the attitude data of the unmanned aerial vehicle, when the unmanned aerial vehicle flies in the attitude as shown in fig. 4, the first detection value output by the detection device with the detection direction facing the lower side direction along the yaw axis of the unmanned aerial vehicle is h1, and at this time, the ground height h2 perpendicular to the ground plane of the unmanned aerial vehicle can be determined according to the attitude data of the unmanned aerial vehicle and the pytha.

When the measurement of the height of the ground is performed by means of an observation period, a fixed value may be set as a duration threshold, but since the observation period is to judge whether the ground is gentle within a certain range, but not in a period of time that the unmanned aerial vehicle has navigated, therefore, the time length threshold value can be determined according to the flying speed of the unmanned aerial vehicle along the horizontal direction, when the flying speed of the unmanned aerial vehicle in the horizontal direction is larger, the time required for the unmanned aerial vehicle to travel the same route is shorter, so that it is possible to set the shorter the duration threshold value is, i.e., the ground of the same range is approached and the observation period is ended in a relatively smaller period of time, whereas the shorter the flight speed of the drone in the horizontal direction, the longer the time required for the drone to travel the same course, it is therefore possible to set a longer time threshold, i.e. a relatively longer time period is required to reach the same range of terrain and end the observation period.

When the method is used for setting the duration threshold, the duration threshold is dynamic, and the embodiment of the present specification further provides another way for setting the duration threshold, that is, the duration threshold is determined according to the rated maximum flying speed of each unmanned aerial vehicle, when the rated maximum flying speed of the unmanned aerial vehicle is higher, the unmanned aerial vehicle can finish the observation period by using a smaller time to approach the ground in the same range, and when the rated flying speed of the unmanned aerial vehicle is lower, the unmanned aerial vehicle can only finish the observation period by using a longer time to approach the ground in the same range. Still further, the duration threshold may also be set solely based on the rated maximum horizontal airspeed.

The distance measuring method provided by the present specification is described above only with the target device being an unmanned aerial vehicle and the detection surface being the ground, and when the target device is another device capable of actively moving and achieving distance measurement, such as a vehicle, stable distance measurement can be achieved according to the distance measuring method provided by the present specification, and only the scheme corresponding to the unmanned aerial vehicle needs to be replaced by the corresponding prior art, for example, the unmanned aerial vehicle calculates the active movement speed according to an accelerometer and a barometer, and when the vehicle performs distance measurement according to the distance measuring method provided by the present specification, the measurement of the active movement speed is achieved according to signals returned by a yaw rate sensor and a lateral accelerometer, and the distance measuring method provided by the present specification is achieved according to the measured active movement speed.

Based on the same idea, the distance measuring method provided by the embodiments of the present specification further provides a corresponding device, a storage medium, and an electronic apparatus.

The present specification provides a corresponding ranging apparatus, as shown in fig. 5, the apparatus comprising: the device comprises a detection module, a first speed module, a second speed module and a distance determination module, wherein:

a detection module 500, configured to detect, by a detection device carried by a target device, a distance between the target device and a detection surface, and obtain a first detection value of the detection device;

a first speed module 502, configured to obtain a moving speed of the target device itself in a direction toward the detection surface, as an active moving speed of the target device; taking the movement speed of the target equipment towards the detection surface direction determined according to the first detection value as the relative movement speed of the target equipment;

a second speed module 504, configured to determine a passive movement speed of the target device in the direction toward the detection plane according to the active movement speed and the relative movement speed of the target device;

a distance determining module 506, configured to determine, according to the first detection value, a distance between the target device and a detection surface when the passive movement speed satisfies a preset specified condition.

Optionally, the second speed module 504 is specifically configured to use a difference between the relative movement speed of the target device and the active movement speed of the target device as the passive movement speed of the target device.

Optionally, the distance determining module 506 is specifically configured to determine the distance between the target device and the detection surface according to the first detection value when the passive movement speed of the target device does not exceed a preset speed threshold.

Optionally, the distance determining module 506 is specifically configured to obtain a passive movement speed of the target device at each historical time, and determine each historical time at which the passive movement speed exceeds a speed threshold; taking the historical time closest to the current time as the reference time in all historical times when the passive movement speed exceeds the speed threshold; judging whether the time interval between the current time and the reference time is greater than a preset time threshold value or not; if so, determining the distance between the target equipment and the detection surface according to the first detection value; if not, determining the distance between the target equipment and the detection surface according to the first detection value of the target equipment at each historical time between the current time and the reference time.

Optionally, the distance determining module 506 is specifically configured to average the first detection value of the target device at the current time and the first detection values at historical times after the reference time, and use the averaged detection value as the average detection value of the target device at the current time; and determining the distance between the target equipment and the detection surface according to the average detection value.

Optionally, the target device is an unmanned aerial vehicle, and the detection surface is the ground.

Optionally, the first speed module 502 is specifically configured to determine a moving speed of the unmanned aerial vehicle itself toward the detection surface direction according to each second detection value returned by a sensor other than a detection device mounted on the unmanned aerial vehicle.

Optionally, the target device is an unmanned aerial vehicle, and the detection surface is the ground; the duration threshold value is predetermined according to the horizontal flying speed of the unmanned aerial vehicle in the horizontal direction, wherein the greater the horizontal flying speed is, the smaller the duration threshold value is.

Optionally, the target device is an unmanned aerial vehicle, and the detection surface is the ground; the distance determining module 506 is specifically configured to obtain attitude data of the unmanned aerial vehicle, and determine a distance between the target device and a detection surface according to the attitude data and the first detection value.

The present specification also provides a computer-readable storage medium storing a computer program, which can be used to execute the ranging method provided in fig. 3.

The present specification also provides a schematic structural diagram of the electronic device shown in fig. 6. As shown in fig. 6, at the hardware level, the electronic device includes a processor, an internal bus, a memory, and a non-volatile memory, but may also include hardware required for other services. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs the computer program to implement the ranging method provided in fig. 3.

Of course, besides the software implementation, the present specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may be hardware or logic devices.

In the 90 s of the 20 th century, improvements in a technology could clearly distinguish between improvements in hardware (e.g., improvements in circuit structures such as diodes, transistors, switches, etc.) and improvements in software (improvements in process flow). However, as technology advances, many of today's process flow improvements have been seen as direct improvements in hardware circuit architecture. Designers almost always obtain the corresponding hardware circuit structure by programming an improved method flow into the hardware circuit. Thus, it cannot be said that an improvement in the process flow cannot be realized by hardware physical modules. For example, a Programmable Logic Device (PLD), such as a Field Programmable Gate Array (FPGA), is an integrated circuit whose Logic functions are determined by programming the Device by a user. A digital system is "integrated" on a PLD by the designer's own programming without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Furthermore, nowadays, instead of manually making an Integrated Circuit chip, such Programming is often implemented by "logic compiler" software, which is similar to a software compiler used in program development and writing, but the original code before compiling is also written by a specific Programming Language, which is called Hardware Description Language (HDL), and HDL is not only one but many, such as abel (advanced Boolean Expression Language), ahdl (alternate Hardware Description Language), traffic, pl (core universal Programming Language), HDCal (jhdware Description Language), lang, Lola, HDL, laspam, hardward Description Language (vhr Description Language), vhal (Hardware Description Language), and vhigh-Language, which are currently used in most common. It will also be apparent to those skilled in the art that hardware circuitry that implements the logical method flows can be readily obtained by merely slightly programming the method flows into an integrated circuit using the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an Application Specific Integrated Circuit (ASIC), a programmable logic controller, and an embedded microcontroller, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic for the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller as pure computer readable program code, the same functionality can be implemented by logically programming method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Such a controller may thus be considered a hardware component, and the means included therein for performing the various functions may also be considered as a structure within the hardware component. Or even means for performing the functions may be regarded as being both a software module for performing the method and a structure within a hardware component.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the various elements may be implemented in the same one or more software and/or hardware implementations of the present description.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

As will be appreciated by one skilled in the art, embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the description may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the description may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

This description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

The above description is only an example of the present specification, and is not intended to limit the present specification. Various modifications and alterations to this description will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification should be included in the scope of the claims of the present specification.