CN111273286A - Imaging device, method, electronic apparatus, and storage medium - Google Patents

Imaging device, method, electronic apparatus, and storage medium Download PDF

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Publication number
CN111273286A
CN111273286A CN202010073003.3A CN202010073003A CN111273286A CN 111273286 A CN111273286 A CN 111273286A CN 202010073003 A CN202010073003 A CN 202010073003A CN 111273286 A CN111273286 A CN 111273286A
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reflected
target
imaging
echo data
array
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CN111273286B (en
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李超
高航
吴世有
郑深
胡建民
方广有
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Institute of Electronics of CAS
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Institute of Electronics of CAS
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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
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

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  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Abstract

An imaging device applied to the technical field of three-dimensional imaging comprises: the device comprises a scanning device, a reflecting device and a calculating device, wherein the scanning device is used for transmitting broadband electromagnetic waves to the reflecting device at intervals of preset time, the reflecting device is used for rotating when the scanning device works so as to enable the broadband electromagnetic waves to be reflected at different angles and transmit the reflected broadband electromagnetic waves to a target, the scanning device is also used for receiving a plurality of reflected echoes reflected by the target through the reflecting device to obtain a plurality of groups of echo data respectively corresponding to the plurality of reflected echoes, the calculating device is used for generating two-dimensional images respectively corresponding to each group of echo data and splicing all the two-dimensional images along the rotating direction of the reflecting device to obtain a three-dimensional image of the target. The application also discloses an imaging method, electronic equipment and a storage medium, which can realize real-time imaging, reduce the complexity of data processing and shorten the data processing time.

Description

Imaging device, method, electronic apparatus, and storage medium
Technical Field
The present application relates to the field of three-dimensional imaging technologies, and in particular, to an imaging apparatus, an imaging method, an electronic device, and a storage medium.
Background
The existing millimeter wave and terahertz frequency band three-dimensional imaging equipment is mostly based on point-by-point scanning of synthetic aperture or two-dimensional array or one-dimensional array and vertical direction linear mechanical scanning thereof, the modes for obtaining echo data are complex in format, time consumption for processing the echo data is very large, and real-time imaging processing is difficult to realize even though a wk algorithm with the highest speed is used under the condition of ensuring imaging precision.
Disclosure of Invention
It is a primary object of the present application to provide an imaging apparatus, an imaging method, an electronic device, and a storage medium, which can perform real-time imaging processing and shorten data processing time.
To achieve the above object, a first aspect of embodiments of the present application provides an image forming apparatus, including:
scanning means, reflecting means and computing means;
the scanning device is used for transmitting broadband electromagnetic waves to the reflecting device every preset time length;
the reflecting device is used for rotating when the scanning device works so as to enable the broadband electromagnetic waves to be reflected at different angles and transmit the reflected broadband electromagnetic waves to a target;
the scanning device is further configured to receive multiple reflection echoes from the target after being reflected by the reflection device, and obtain multiple sets of echo data corresponding to the multiple reflection echoes respectively;
and the computing device is used for generating two-dimensional images corresponding to each group of echo data respectively, and splicing all the two-dimensional images along the rotating direction of the reflecting device to obtain a three-dimensional image of the target.
Optionally, the scanning device includes:
a transmit array and a receive array;
transmitting the broadband electromagnetic waves to the reflecting device by the transmitting array elements in the transmitting array in sequence every preset time length;
and the receiving array is used for receiving the reflected echo from the target after being reflected by the reflecting device by all the receiving array elements in the receiving array after the transmitting array elements transmit the broadband electromagnetic wave to the reflecting device, so as to obtain a plurality of groups of echo data.
Optionally, the imaging device further comprises:
a focusing device;
the focusing device is positioned between the scanning device and the reflecting device and used for focusing the broadband electromagnetic wave when the transmitting array transmits the broadband electromagnetic wave and focusing the reflection echo when the receiving array receives the reflection echo.
Optionally, the generating the two-dimensional images corresponding to each group of echo data respectively includes:
acquiring the multiple groups of echo data;
inputting each group of echo data into a preset imaging formula to perform two-dimensional imaging respectively to obtain a plurality of two-dimensional images;
and establishing a cylindrical coordinate system, wherein the preset imaging formula is as follows:
Figure BDA0002376861490000021
wherein, theta0Is the rotation angle of the reflection device in the cylindrical coordinate system, and x' is the target in theta0The coordinate on the x-axis at the location, z' is the target at θ ═ θ0The coordinate on the z-axis at the location,
Figure BDA0002376861490000022
is at theta ═ theta0Reflection coefficient, x, of the object in the imaging space at the positiontIs the position coordinate of the emitting array on the x-axis, xrIs the position coordinate of the receiving array on the x-axis, k is the wavenumber of the electromagnetic wave propagation, j is an imaginary number,
Figure BDA0002376861490000023
is when y is equal to yiEcho data at a location.
A second aspect of the embodiments of the present application provides an imaging method, including:
transmitting broadband electromagnetic waves to the reflecting device through the scanning device every other preset time length;
the reflection device rotates when the scanning device works, so that the broadband electromagnetic wave is reflected at different angles, and the reflected broadband electromagnetic wave is transmitted to a target;
receiving, by the scanning device, a plurality of reflection echoes from the target after being reflected by the reflecting device, and obtaining a plurality of sets of echo data corresponding to the plurality of reflection echoes respectively;
and generating two-dimensional images corresponding to each group of echo data respectively, and splicing all the two-dimensional images along the rotating direction of the reflecting device to obtain a three-dimensional image of the target.
Optionally, the scanning device includes a transmitting array and a receiving array, and the transmitting the broadband electromagnetic wave to the reflecting device by the scanning device at every preset time interval includes:
transmitting the broadband electromagnetic waves to the reflecting device by the transmitting array elements in the transmitting array in sequence every preset time length;
the scanning device receives a plurality of reflection echoes reflected by the reflecting device from the target to obtain a plurality of groups of echo data respectively corresponding to the plurality of reflection echoes;
when the transmitting array element transmits a broadband electromagnetic wave, all receiving array elements in the receiving array receive reflected echoes from the target after being reflected by the reflecting device, and a plurality of groups of echo data are obtained.
Optionally, when the broadband electromagnetic wave is emitted, focusing the broadband electromagnetic wave by a focusing device;
focusing the reflected echo by the focusing means when the reflected echo is received.
Optionally, the generating the two-dimensional images corresponding to each group of echo data respectively includes:
acquiring the multiple groups of echo data;
inputting each group of echo data into a preset imaging formula to perform two-dimensional imaging respectively to obtain a plurality of two-dimensional images;
and establishing a cylindrical coordinate system, wherein the preset imaging formula is as follows:
Figure BDA0002376861490000031
wherein, theta0Is the rotation angle of the reflection device in the cylindrical coordinate system, and x' is the target in theta0The coordinate on the x-axis at the location, z' is the target at θ ═ θ0The coordinate on the z-axis at the location,
Figure BDA0002376861490000041
is at theta ═ theta0Reflection coefficient, x, of the object in the imaging space at the positiontIs the position coordinate of the emitting array on the x-axis, xrIs the position coordinate of the receiving array on the x-axis, k is the wavenumber of the electromagnetic wave propagation, j is an imaginary number,
Figure BDA0002376861490000042
is when y is equal to yiEcho data at a location.
A third aspect of embodiments of the present application provides an electronic device, including:
a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor implements the imaging method provided by the second aspect of the embodiments of the present application when executing the program.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing an imaging method provided by the second aspect of embodiments of the present application.
As can be seen from the foregoing embodiments of the present application, compared with the prior art, the imaging apparatus, the imaging method, the electronic device, and the storage medium provided by the present application utilize the one-dimensional MIMO array to perform electrical scanning, and implement real beam focusing in combination with the focusing apparatus, thereby greatly simplifying echo data, reducing the complexity of data processing, greatly shortening processing time, and implementing real-time imaging.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an imaging device according to an embodiment of the present application;
fig. 2 is a schematic flow chart of an imaging method according to an embodiment of the present application;
fig. 3 shows a hardware structure diagram of an electronic device.
Detailed Description
In order to make the purpose, features and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an imaging device according to an embodiment of the present disclosure, the imaging device mainly includes: the scanning device 10, the reflecting device 20 and the calculating device 30;
the scanning device 10 is used for transmitting broadband electromagnetic waves to the reflecting device 10 every preset time length;
a reflection device 20, which is used for rotating when the scanning device 10 is working, so as to make the broadband electromagnetic wave generate reflection of different angles, and transmit the reflected broadband electromagnetic wave to the target 100;
the scanning device 10 is further configured to receive a plurality of reflected echoes from the target 100 after being reflected by the reflecting device, and obtain a plurality of sets of echo data respectively corresponding to the plurality of reflected echoes;
and the calculating device 30 is configured to generate two-dimensional images corresponding to each group of echo data, and splice all the two-dimensional images along the rotation direction of the reflecting device 20 to obtain a three-dimensional image of the target 100.
Further, the reflecting means 10 is, for example, a mirror. The size of the reflecting means 20 is 1.2 times or more the beam width at which the beam (broadband electromagnetic wave or reflected echo) intersects with the reflecting means 20 at the maximum rotation angle.
More, the mechanical device for controlling the rotation of the reflection device 20 mainly includes a motor and a mechanical transmission structure, and the rotation of the motor drives the mechanical device to rotate through the mechanical transmission structure.
The computing device 30 may be built in the scanning device 10, or be external to the scanning device 10, which is not limited specifically.
In one embodiment of the present application, the scanning device 10 includes: a transmit array and a receive array;
the transmitting array is used for sequentially transmitting broadband electromagnetic waves to the reflecting device 20 by the transmitting array elements in the transmitting array every preset time length;
and the receiving array is used for receiving the reflected echoes from the target 100 after being reflected by the reflecting device 20 every time when the transmitting array element transmits the broadband electromagnetic wave to the reflecting device 20, so as to obtain a plurality of groups of echo data.
It will be appreciated that the transmit array includes a plurality of transmit elements and the receive array includes a plurality of receive elements.
More, keep certain interval between two adjacent array elements, and all array elements are evenly arranged. The arrangement of the transmitting array elements in the transmitting array and the receiving array elements in the receiving array is not particularly limited. Illustratively, the transmitting array is located in the middle, and the receiving array elements in the receiving array are located at both ends of the transmitting array, or the receiving array is located in the middle, and the transmitting array elements in the transmitting array are located at both ends of the receiving array, or the transmitting array and the receiving array are arranged in front and back as a single row, and the two rows are spaced by a certain distance, but the distance is far smaller than the distance of the target 100, or the transmitting and receiving positions are interchanged, and so on. In fig. 2 of the present application, the receiving array is located in the middle, and the transmitting array elements in the transmitting array are located at both ends of the receiving array.
More, control array element operating condition can adopt time sequence switch, and it mainly includes: and the PC end upper computer controls a program, and the lower computer FPGA controls to realize corresponding time sequence output and data acquisition and a driving program.
In one embodiment of the present application, the imaging apparatus further includes: a focusing device 40;
and a focusing device 40, located between the scanning device 10 and the reflection device 20, for focusing the broadband electromagnetic wave when the transmission array element transmits the broadband electromagnetic wave, and focusing the reflection echo when the reception array element receives the reflection echo.
The focusing device 40 may be a cylindrical lens, a mirror, or an f-theta lens, etc., and it is sufficient to ensure that the focusing device functions to focus.
In an embodiment of the present application, the generating the two-dimensional image corresponding to each group of echo data includes:
acquiring a plurality of groups of echo data;
inputting each group of echo data into a preset imaging formula to perform two-dimensional imaging respectively to obtain a plurality of two-dimensional images;
wherein, establishing a cylindrical coordinate system, and then the preset imaging formula:
Figure BDA0002376861490000061
wherein, theta0Is the rotation angle of the reflection device 20 in the cylindrical coordinate system, and x' is the angle θ of the target 1000The coordinate on the x-axis at the location, z' is the target 100 in θ ═ zθ0The coordinate on the z-axis at the location,
Figure BDA0002376861490000071
is at theta ═ theta0Reflection coefficient, x, of object 100 in imaging space at locationtIs the position coordinate of the emitting array on the x-axis, xrIs the position coordinate of the receiving array on the x-axis, k is the wavenumber of the electromagnetic wave propagation, j is an imaginary number,
Figure BDA0002376861490000072
is when y is equal to yiEcho data at a location.
Understandably, the reflecting device is sequentially rotated to theta ═ thetaiN is the total number of points of the sweep. The reflecting device 20 is located at the end position θ ═ θNAt this point, the imaging scan is ended. When the second imaging scan is started, the reflecting device 20 starts rotating in the opposite direction to the rotating direction at the previous scan.
Compared with the prior art, the method and the device have the advantages that the one-dimensional MIMO array is used for electric scanning, real beam focusing is realized by combining the focusing device, echo data are greatly simplified, the complexity of data processing is reduced, the processing time is greatly shortened, and real-time imaging can be realized.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating an imaging method according to an embodiment of the present disclosure, where the method is applicable to an electronic device with an image scanning function, and the electronic device includes: the method mainly comprises the following steps that electronic devices capable of performing data processing in moving, such as mobile phones, tablet computers, portable computers, intelligent watches, intelligent glasses and the like, and electronic devices capable of performing data processing in moving, such as desktop computers, all-in-one machines, intelligent televisions and the like, are adopted:
s101, transmitting broadband electromagnetic waves to a reflecting device through a scanning device every preset time;
s102, rotating the reflection device when the scanning device works to enable the broadband electromagnetic wave to be reflected at different angles, and transmitting the reflected broadband electromagnetic wave to a target;
s103, receiving a plurality of reflection echoes from the target through the scanning device to obtain a plurality of groups of echo data respectively corresponding to the plurality of reflection echoes;
s104, generating two-dimensional images corresponding to each group of echo data;
and S105, splicing all the two-dimensional images along the rotating direction of the reflecting device to obtain a three-dimensional image of the target.
In one embodiment of the present application, the scanning device includes a transmitting array and a receiving array, and step S101 includes: and the transmitting array elements in the transmitting array sequentially transmit the broadband electromagnetic waves to the reflecting device every preset time.
Step S103 includes: when the transmitting array element transmits a broadband electromagnetic wave, all receiving array elements in the receiving array receive reflected echoes from the target after being reflected by the reflecting device, and a plurality of groups of echo data are obtained.
In one embodiment of the present application, when a broadband electromagnetic wave is emitted to a target, the broadband electromagnetic wave is focused by a focusing means; when the reflected echo is received, the reflected echo is focused by a focusing means.
In one embodiment of the present application, step S104 includes:
acquiring the multiple groups of echo data;
inputting each group of echo data into a preset imaging formula to perform two-dimensional imaging respectively to obtain a plurality of two-dimensional images;
wherein, establishing a cylindrical coordinate system, and then the preset imaging formula:
Figure BDA0002376861490000081
wherein, theta0Is the rotation angle of the reflection device in the cylindrical coordinate system, and x' is the target in theta ═ theta0The coordinate on the x-axis at the location, z' is the target at θ ═ θ0The coordinate on the z-axis at the location,
Figure BDA0002376861490000082
is at theta＝θ0Reflection coefficient, x, of the object in the imaging space at the locationtIs the position coordinate of the transmit array on the x-axis, xrIs the position coordinate of the receiving array on the x-axis, k is the wavenumber of the electromagnetic wave propagation, j is an imaginary number,
Figure BDA0002376861490000083
is when y is equal to yiEcho data at a location.
Understandably, the reflecting device is sequentially rotated to theta ═ thetaiN is the total number of points of the sweep. The reflecting device is located at an end position thetaNAt this point, the imaging scan is ended. When the second imaging scan is started, the reflecting device starts rotating in the opposite direction to the rotating direction in the previous scan.
The present application also provides an electronic device, including: scanning device, reflection device, memory, processor and computer program stored on the memory and executable on the processor, which when executed by the processor implements the imaging method as described in the foregoing embodiment of fig. 1.
An embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium may be disposed in the electronic device in each of the above embodiments, and the computer-readable storage medium may be a storage unit disposed in the main control chip and the data acquisition chip in each of the above embodiments. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the imaging method described in the foregoing embodiments shown in fig. 1 to 2.
For example, the electronic device may be any of various types of computer system apparatuses that are mobile or portable and perform wireless communication. In particular, the electronic apparatus may be a mobile phone or a smart phone (e.g., iPhone-based, Android-based phone), a portable game device (e.g., Nintendo DS, playstatio portable, Gameboy Advance, iPhone), a laptop, a PDA, a portable internet appliance, a music player, and a data storage device, other handheld devices, and a head-mounted device (HMD) such as a watch, a headset, a pendant, a headset, etc., and other wearable devices (e.g., electronic glasses, electronic clothes, an electronic bracelet, an electronic necklace, an electronic tattoo, an electronic device, or a smart watch).
The electronic apparatus may also be any of a number of electronic devices including, but not limited to, cellular phones, smart phones, other wireless communication devices, personal digital assistants, audio players, other media players, music recorders, video recorders, cameras, other media recorders, radios, medical devices, vehicle transportation equipment, calculators, programmable remote controllers, pagers, laptop computers, desktop computers, printers, netbook computers, Personal Digital Assistants (PDAs), Portable Multimedia Players (PMPs), moving picture experts group (MPEG-1 or MPEG-2) audio layer 3(MP3) players, portable medical devices, and digital cameras and combinations thereof.
As shown in fig. 3, the electronic device 11 may include control circuitry, which may include storage and processing circuitry 31. The storage and processing circuitry 31 may include memory, such as hard drive memory, non-volatile memory (e.g., flash memory or other electronically programmable erase limit memory used to form solid state drives, etc.), volatile memory (e.g., static or dynamic random access memory, etc.), and so on, and embodiments of the present application are not limited thereto. Processing circuitry in the storage and processing circuitry 31 may be used to control the operation of the electronic device 11. The processing circuitry may be implemented based on one or more microprocessors, microcontrollers, digital signal processors, baseband processors, power management units, audio codec chips, application specific integrated circuits, display driver integrated circuits, and the like.
The storage and processing circuitry 31 may be used to run software in the electronic device 11, such as an Internet browsing application, a Voice Over Internet Protocol (VOIP) telephone call application, an email application, a media playing application, operating system functions, and so forth. Such software may be used to perform control operations such as, for example, camera-based image capture, ambient light measurement based on an ambient light sensor, proximity sensor measurement based on a proximity sensor, information display functionality based on status indicators such as status indicator lights of light emitting diodes, touch event detection based on a touch sensor, functionality associated with displaying information on multiple (e.g., layered) displays, operations associated with performing wireless communication functions, operations associated with collecting and generating audio signals, control operations associated with collecting and processing button press event data, and other functions in the electronic device 11, and the like, without limitation of the embodiments of the present application.
The electronic device 11 may also include input-output circuitry 42. The input-output circuit 42 may be used to enable the electronic device 11 to enable input and output of data, i.e., to allow the electronic device 11 to receive data from an external device and also to allow the electronic device 11 to output data from the electronic device 11 to an external device. The input-output circuitry 42 may further include the sensor 32. The sensors 32 may include ambient light sensors, optical and capacitive based proximity sensors, touch sensors (e.g., optical based touch sensors and/or capacitive touch sensors, where the touch sensors may be part of a touch display screen or may be used independently as a touch sensor structure), acceleration sensors, and other sensors, among others.
Input-output circuitry 42 may also include one or more displays, such as display 14. The display 14 may include one or a combination of liquid crystal displays, organic light emitting diode displays, electronic ink displays, plasma displays, displays using other display technologies. The display 14 may include an array of touch sensors (i.e., the display 14 may be a touch display screen). The touch sensor may be a capacitive touch sensor formed by a transparent touch sensor electrode (e.g., an Indium Tin Oxide (ITO) electrode) array, or may be a touch sensor formed using other touch technologies, such as acoustic wave touch, pressure sensitive touch, resistive touch, optical touch, and the like, and the embodiments of the present application are not limited thereto.
The electronic device 11 may also include an audio component 36. The audio component 36 may be used to provide audio input and output functionality for the electronic device 11. Audio components 36 in electronic device 11 may include speakers, microphones, buzzers, tone generators, and other components for generating and detecting sound.
The communication circuitry 38 may be used to provide the electronic device 11 with the ability to communicate with external devices. The communication circuit 38 may include analog and digital input-output interface circuits, and wireless communication circuits based on radio frequency signals and/or optical signals. The wireless communication circuitry in communication circuitry 38 may include radio-frequency transceiver circuitry, power amplifier circuitry, low noise amplifiers, switches, filters, and antennas. For example, the wireless Communication circuitry in Communication circuitry 38 may include circuitry to support Near Field Communication (NFC) by transmitting and receiving Near Field coupled electromagnetic signals. For example, the communication circuitry 38 may include a near field communication antenna and a near field communication transceiver. The communications circuitry 38 may also include a cellular telephone transceiver and antenna, a wireless local area network transceiver circuit and antenna, and the like.
The electronic device 11 may further include a battery, a power management circuit, and other input-output units 41. The input-output unit 41 may include buttons, joysticks, click wheels, scroll wheels, touch pads, keypads, keyboards, cameras, light emitting diodes and other status indicators, etc.
A user may enter commands through input-output circuitry 42 to control the operation of electronic device 11, and may use output data of input-output circuitry 42 to enable receipt of status information and other outputs from electronic device 11.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In view of the above description of the imaging device, the imaging method, the electronic device and the storage medium provided in the present application, those skilled in the art will recognize that changes may be made in the embodiments and applications without departing from the spirit of the present application, and therefore the disclosure should not be interpreted as limiting the scope of the present application.

Claims (10)

1. An image forming apparatus, comprising:
scanning means, reflecting means and computing means;
the scanning device is used for transmitting broadband electromagnetic waves to the reflecting device every preset time length;
the reflecting device is used for rotating when the scanning device works so as to enable the broadband electromagnetic waves to be reflected at different angles and transmit the reflected broadband electromagnetic waves to a target;
the scanning device is further configured to receive multiple reflection echoes from the target after being reflected by the reflection device, and obtain multiple sets of echo data corresponding to the multiple reflection echoes respectively;
and the computing device is used for generating two-dimensional images corresponding to each group of echo data respectively, and splicing all the two-dimensional images along the rotating direction of the reflecting device to obtain a three-dimensional image of the target.
2. The imaging apparatus of claim 1, wherein the scanning apparatus comprises:
a transmit array and a receive array;
transmitting the broadband electromagnetic waves to the reflecting device by the transmitting array elements in the transmitting array in sequence every preset time length;
and the receiving array is used for receiving the reflected echo from the target after being reflected by the reflecting device by all the receiving array elements in the receiving array after the transmitting array elements transmit the broadband electromagnetic wave to the reflecting device, so as to obtain a plurality of groups of echo data.
3. The imaging apparatus according to claim 1 or 2, characterized by further comprising:
a focusing device;
the focusing device is positioned between the scanning device and the reflecting device and used for focusing the broadband electromagnetic wave when the transmitting array transmits the broadband electromagnetic wave and focusing the reflection echo when the receiving array receives the reflection echo.
4. The imaging apparatus of claim 3, wherein the generating of the two-dimensional image corresponding to each set of echo data comprises:
acquiring the multiple groups of echo data;
inputting each group of echo data into a preset imaging formula to perform two-dimensional imaging respectively to obtain a plurality of two-dimensional images;
and establishing a cylindrical coordinate system, wherein the preset imaging formula is as follows:
Figure FDA0002376861480000021
wherein, theta0Is the rotation angle of the reflection device in the cylindrical coordinate system, and x' is the target in theta0The coordinate on the x-axis at the location, z' is the target at θ ═ θ0The coordinate on the z-axis at the location,
Figure FDA0002376861480000022
is at theta ═ theta0Reflection coefficient, x, of the object in the imaging space at the positiontIs the position coordinate of the emitting array on the x-axis, xrIs the position coordinate of the receiving array on the x-axis, k is the wavenumber of the electromagnetic wave propagation, j is an imaginary number,
Figure FDA0002376861480000023
is when y is equal to yiEcho data at a location.
5. An imaging method, comprising:
transmitting broadband electromagnetic waves to the reflecting device through the scanning device every other preset time length;
the reflection device rotates when the scanning device works, so that the broadband electromagnetic wave is reflected at different angles, and the reflected broadband electromagnetic wave is transmitted to a target;
receiving, by the scanning device, a plurality of reflection echoes from the target after being reflected by the reflecting device, and obtaining a plurality of sets of echo data corresponding to the plurality of reflection echoes respectively;
and generating two-dimensional images corresponding to each group of echo data respectively, and splicing all the two-dimensional images along the rotating direction of the reflecting device to obtain a three-dimensional image of the target.
6. The imaging method according to claim 5, wherein the scanning device includes a transmitting array and a receiving array, and the transmitting the broadband electromagnetic wave to the reflecting device by the scanning device every predetermined time period includes:
transmitting the broadband electromagnetic waves to the reflecting device by the transmitting array elements in the transmitting array in sequence every preset time length;
the scanning device receives a plurality of reflection echoes reflected by the reflecting device from the target to obtain a plurality of groups of echo data respectively corresponding to the plurality of reflection echoes;
when the transmitting array element transmits a broadband electromagnetic wave, all receiving array elements in the receiving array receive reflected echoes from the target after being reflected by the reflecting device, and a plurality of groups of echo data are obtained.
7. The imaging method according to claim 6, characterized in that when a broadband electromagnetic wave is emitted, the broadband electromagnetic wave is focused by a focusing means;
focusing the reflected echo by the focusing means when the reflected echo is received.
8. The imaging method according to any one of claims 5 to 7, wherein the generating of the two-dimensional image corresponding to each set of echo data comprises:
acquiring the multiple groups of echo data;
inputting each group of echo data into a preset imaging formula to perform two-dimensional imaging respectively to obtain a plurality of two-dimensional images;
and establishing a cylindrical coordinate system, wherein the preset imaging formula is as follows:
Figure FDA0002376861480000031
wherein, theta0Is the rotation angle of the reflection device in the cylindrical coordinate system, and x' is the target in theta0The coordinate on the x-axis at the location, z' is the target at θ ═ θ0The coordinate on the z-axis at the location,
Figure FDA0002376861480000032
is at theta ═ theta0Reflection coefficient, x, of the object in the imaging space at the positiontIs the position coordinate of the emitting array on the x-axis, xrIs the position coordinate of the receiving array on the x-axis, k is the wavenumber of the electromagnetic wave propagation, j is an imaginary number,
Figure FDA0002376861480000033
is when y is equal to yiEcho data at a location.
9. An electronic device, comprising: scanning device, reflection device, memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor realizes the steps of the imaging method according to any one of claims 5 to 8 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the imaging method as claimed in any one of claims 5 to 8.
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