CN112285691B - Single-beam area detection method and device and mobile equipment - Google Patents
Single-beam area detection method and device and mobile equipment Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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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
- 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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- 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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Abstract
The embodiment of the application provides a single-beam area detection method and device and mobile equipment, and relates to the technical field of radars. The method is applied to the electronic equipment with the radar, and a plurality of detection directions are determined in advance from a single-beam transmission interval of the radar. The single beam region detection method comprises the following steps: generating and transmitting detection information; receiving the returned detection information; and shielding detection information sent in other detection directions from the returned detection information according to the detection direction to obtain target detection information so as to obtain a detection result corresponding to the detection direction. In this way, multi-directional detection based on a single radar antenna is achieved. The method is simple to realize, the algorithm is easy to maintain, the size of the radar is effectively reduced, and the method is more applicable to light-weight and miniaturized electronic equipment.
Description
Technical Field
The present application relates to the field of radar technologies, and in particular, to a method and apparatus for detecting a single beam area, and a mobile device.
Background
Radar detection technology has been widely used in various fields as a low-cost detection technology. At present, the realization of multi-angle detection is the most basic requirement of various fields on radar detection technology.
In the related art, a plurality of radar antennas are required to cooperate to realize multi-directional radar detection. However, some application scenarios have stringent requirements on the volume size of the radar. For example, if the volume of the radar installed on the unmanned aerial vehicle is too large, the radar is inconvenient to install and the flight energy consumption can be influenced. The combination of multiple antennas can certainly increase the overall structural size of the radar, and the popularization and application of the radar in specific application scenes are not utilized.
Disclosure of Invention
In view of the above, the present application aims to provide a single beam area detection method, a single beam area detection device and a mobile device, which utilize a single beam radar to realize multi-directional detection, and reduce the overall volume of the radar.
In order to achieve the above object, the technical scheme adopted by the embodiment of the application is as follows:
in a first aspect, an embodiment of the present application provides a single-beam area detection method, which is applied to an electronic device having a radar, and divides a plurality of detection directions from a single-beam transmission interval of the radar in advance; the method comprises the following steps: generating and transmitting detection information; and shielding detection information sent in other detection directions from the returned detection information according to the detection direction to obtain target detection information so as to obtain a detection result corresponding to the detection direction.
In some embodiments, for facilitating resolution of probe information emanating from a direction to be probed, the step of generating probe information comprises: determining a direction to be detected from the plurality of detection directions; and obtaining the weighting parameters corresponding to the direction to be detected, and carrying out weighting processing on the radar signals required to be sent out from the direction to be detected according to the weighting parameters so as to obtain the detection information, thereby realizing precoding on the radar signals.
In some embodiments, the step of generating probe information further includes: marking the modulated radar signal according to the target identification information of the direction to be detected, which is preset, so as to obtain the detection information; and shielding the detection information sent in other detection directions from the returned detection information according to the detection direction, wherein the detection information comprises: and shielding detection information sent in other detection directions from the returned detection information according to the target identification information to obtain target detection information.
In some embodiments, to achieve shielding of irrelevant probe information at the transmitting end, the electronic device includes a plurality of receiving ends, each receiving end corresponding to one of the probe directions; the step of shielding the detection information sent from other detection directions from the returned detection information according to the target identification information to obtain target detection information comprises the following steps: acquiring estimated propagation paths of the detection information transmitted from each detection direction to the corresponding receiving end according to the detection information with the target identification information; and according to the transmitted detection information and the estimated propagation path, analyzing the target detection information transmitted from the direction to be detected so as to shield the interference of the detection information transmitted from other detection directions.
In some embodiments, in order for a radar with a wider transmission range to meet the requirements of part of the detection direction for the detection distance. The step of obtaining the weighting parameters corresponding to the direction to be detected comprises the following steps: acquiring an effective detection distance corresponding to the direction to be detected; and acquiring the weighting parameters corresponding to the direction to be detected according to the effective detection distance.
In some embodiments, to implement shielding of irrelevant probe information at the receiving terminals, the electronic device includes a plurality of receiving terminals, each receiving terminal corresponding to one of the probe directions; the step of shielding the detection information sent by other detection directions from the returned detection information according to the detection direction comprises the following steps: and shielding detection information sent by other detection directions from the returned detection information by utilizing the receiving angle resolution of the receiving end corresponding to the direction to be detected so as to reserve at least one target detection information corresponding to the direction to be detected.
In a second aspect, an embodiment of the present application provides a single-beam area detection apparatus, which is applied to an electronic device having a radar, and divides a plurality of detection directions from a single-beam emission interval of the radar in advance; the device comprises: the generation module is used for generating and transmitting the detection information; the receiving module is used for receiving the returned detection information; and the shielding module is used for shielding detection information in other detection directions from the returned detection information according to the detection direction to obtain target detection information so as to obtain a detection result corresponding to the detection direction.
In some embodiments, the generating module includes:
the acquisition submodule is used for determining a direction to be detected from the plurality of detection directions;
the processing sub-module is used for acquiring the weighting parameters corresponding to the direction to be detected and carrying out weighting processing on the radar signals which are required to be sent out from the direction to be detected according to the weighting parameters; and marking the modulated radar signal according to the target identification information of the direction to be detected, which is preset, so as to obtain the detection information.
In a third aspect, an embodiment of the present application provides a removable device, including: a processor, a storage medium, and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the removable device is running, the processor executing the machine-readable instructions to perform the steps of the single beam area detection method shown in the foregoing embodiments.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the single beam region detection method shown in the previous embodiments.
Compared with the prior art, the single beam area detection method provided by the embodiment of the application has the advantages that the detection directions are determined in advance from the single beam emission interval of the radar, when detection needs to be carried out on the detection directions in the detection directions, detection information is generated and emitted, the returned detection information is received, and the detection information in other detection directions is shielded from the returned detection information according to the detection directions, so that target detection information is obtained, and the detection result corresponding to the detection directions is obtained. The method does not need a plurality of radar transmitting antenna combinations, not only has low realization cost, but also can ensure the realization of radar detection in a plurality of directions. Therefore, the volume of the radar is effectively reduced, and the radar is convenient to popularize and apply better.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a scheme one of implementing radar multi-directional detection in the prior art.
Fig. 2 shows a second scheme of implementing radar multi-directional detection in the prior art.
Fig. 3 shows a schematic diagram of an electronic device according to an embodiment of the present application.
Fig. 4 shows one of the step flowcharts of the single beam area detection method provided by the embodiment of the present application.
Fig. 5 shows a sub-step flow chart of step S101 in fig. 4.
Fig. 6 shows another sub-step flow chart of step S101 in fig. 4.
Fig. 7 shows an exemplary diagram of setting effective detection distances corresponding to different detection areas when applied to the unmanned aerial vehicle.
Fig. 8 shows a second flowchart of a step of the single beam area detection method according to the embodiment of the present application.
Fig. 9 shows an exemplary diagram for determining the direction to be measured.
Fig. 10 shows a schematic diagram of a single beam area detecting device according to an embodiment of the present application.
Icon: 100-an electronic device; 110-memory; a 120-processor; 130-a radar transmitting end; 140-receiving end; 300-single beam area detection device; 301-a generation module; 302-a receiving module; 303-shielding module.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Radar detection technology has been widely used in various fields as a low-cost detection technology. At present, the realization of multi-angle detection is the most basic requirement of various fields on radar detection technology.
In the related art, implementing multi-directional radar detection mainly includes the following two kinds:
1. as shown in fig. 1, a plurality of radar antennas are matched, and one radar antenna corresponds to one detection direction. This approach not only increases hardware costs compared to single antenna radars, but also increases bulk. This is not suitable for mounting such a large-sized radar for lightweight devices. Further, weight reduction and miniaturization of the device have been pursued by users, and even if the volume of the radar to be mounted is not clearly required, users prefer a radar of a small volume.
In addition, if multiple antennas are used simultaneously, the complexity of the circuit design is increased.
2. As shown in fig. 2, a strong new antenna is used, and the deflection of the main lobe of the antenna is realized by using a phase shifter through the principle of a phased array, so that the detection of a plurality of areas is realized. Although only one antenna is used in the mode, a radio frequency chip with a phase shifting function is needed, so that the hardware cost of the radar is obviously increased, and the control cost of a user using a radar detection technology is violated.
In order to improve the above problems, the embodiments of the present application provide a method, an apparatus, and a mobile device for single beam area detection.
Referring to fig. 3, a block diagram of the electronic device 100 is shown. The electronic device 100 is a device having a radar, and is required to measure distance or direction using the radar. The electronic device 100 may be, but is not limited to, a work device or an intelligent terminal. In some embodiments, the work device may be a manned device. In some embodiments, the work equipment may also be unmanned equipment, such as, for example, an unmanned aerial vehicle, an unmanned vehicle, a robot, a sweeping robot, an unmanned ship, or the like.
It can be appreciated that in some scenarios, the electronic device may be a mobile device, where the mobile device enables the single beam area detection method provided by the embodiment of the present application during the moving process.
Alternatively, the single beam region detection method and apparatus described above should be applicable to the electronic device 100 described above.
Optionally, as shown in fig. 3, the electronic device 100 includes a memory 110, a processor 120, a radar transmitting terminal 130, and a plurality of receiving terminals 140. The memory 110, the processor 120, the radar transmitting terminal 130, and the plurality of receiving terminals 140 are electrically connected directly or indirectly to each other, so as to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
Wherein the memory 110 is used for storing programs or data. The Memory 110 may be, but is not limited to, a random access Memory 110 (Random Access Memory, RAM), a Read Only Memory 110 (ROM), a programmable Read Only Memory 110 (Programmable Read-Only Memory, PROM), an erasable Read Only Memory 110 (Erasable Programmable Read-Only Memory, EPROM), an electrically erasable Read Only Memory 110 (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.
The processor 120 is used to read/write data or programs stored in the memory 110 and perform corresponding functions.
The radar transmitting terminal 130 is a single radar transmitting antenna. The radar transmitting antenna can be an antenna with wider transmitting coverage (namely, transmitting interval). In other words, a single radar transmit antenna has only one beam, but the coverage area of that beam is wider.
It should be noted that, in the related art, a single radar transmitting antenna can be used for direction finding only in one direction. In addition, in the related art, radar with a wider transmission range is considered to have poor directivity detection performance, and radar with a wider transmission range is not generally used for detection.
The receiving end 140 includes a radar receiving antenna. The number of radar receiving antennas may be determined according to a selected detection direction such that each radar receiving antenna may correspond to a detection direction.
It should be noted that, the number of transmission channels that can be divided in the radar transmission interval is related to the number of radar receiving antennas, when the number of radar receiving antennas is greater, the angular resolution in the corresponding signal spectrum is higher, and the number of transmission channels in the transmission interval corresponding to the corresponding radar transmitting antennas is greater, where each transmission channel corresponds to a direction angle interval, and it can be understood that the direction angle interval may be an included angle with the radar transmitting antennas as a starting point.
When the number of the corresponding emission channels in the emission interval is larger, the value of the direction angle interval corresponding to each emission channel is smaller, so that the corresponding detection direction can be accurately determined, and the detection precision is improved.
In the embodiment of the application, a plurality of direction angle intervals are divided in a wider transmitting interval in advance to be used as detection directions. It is understood that the direction angle interval may be an angle with the radar transmitting antenna as a starting point. It will be appreciated that each detection direction corresponds to a transmission channel which may include a device for modulating a signal and a radar transmission antenna.
In some embodiments, the radar transmitting antenna may be a separate antenna or an array antenna, where the array antenna may include a plurality of antenna units, and the plurality of antenna units together form the radar transmitting antenna.
It should be noted that, when the number of transmission channels that can be divided in the radar transmission interval is related to the number of radar transmission antennas and radar receiving antennas, and when the radar transmission antennas are array antennas, the array antennas include a plurality of antenna units, so that under the condition that the number of receiving antennas is the same, compared with the case that the radar transmission antennas are independent antennas, the number of transmission channels that can be divided in the radar transmission interval corresponding to the array antennas is greater, and the accuracy that the transmission channels correspond to is also higher.
Therefore, when the radar transmitting antenna of the present application is an array antenna, the detection accuracy can be further improved.
Referring to fig. 4, an embodiment of the present application provides a single beam area detection method. As shown in fig. 3, the single beam area detection method includes the following steps:
step S101, generating and transmitting probe information.
The detection information may be radar signals modulated by the electronic device 100. The detection information is emitted to the outside by a radar transmitting antenna.
In some embodiments, since there is only one radar transmitting antenna, radar signals are emitted from the entire transmission interval when radar signal transmission is performed in a conventional manner. In order to better realize the detection of the direction to be detected, the radar signals can be preprocessed in advance in relation to the direction to be detected so as to prevent the interference of the radar signals in different detection directions.
Step S102, receiving returned detection information.
It will be appreciated that radar signals will be reflected by objects in touch, while the principle of ranging and direction finding is achieved by the return radar signals being also radar. Therefore, after the electronic device 100 sends out the probe information, the returned probe information needs to be received.
In some embodiments, each receiving end 140 in the electronic device 100 may receive the returned probe information.
Step S103, shielding detection information sent in other detection directions from the returned detection information according to the detection direction to obtain target detection information.
The direction to be detected may be one of a plurality of detection directions. The direction to be detected is the direction in which the detection operation is required.
In some embodiments, the other detection directions may be other emission areas than the direction to be detected among the emission areas. In other words, the other detection direction may be a direction in which no detection operation is required at this time. In other embodiments, the other detection directions may be other directions than the direction to be detected among the selected detection directions.
The target detection information is a radar signal which is separated from the returned detection information and sent out from the direction to be detected.
It will be appreciated that it is possible to be regarded as the direction to be detected for each direction to be detected. The radar transmitting antenna may respectively transmit the detection information from each direction of the transmitting area at each transmitting time interval, and correspondingly, the receiving end 140 of the electronic device 100 may also simultaneously receive the radar signals transmitted from different directions, so that the radar signals obtained by the receiving end 140 are very mixed. This is not advantageous for achieving detection of a specific direction. Therefore, in order to obtain the detection result for the direction to be detected, the detection information sent by other detection directions needs to be shielded from the returned detection information, so as to obtain the target detection information.
Implementation details of the embodiments of the present application are described below:
in the embodiment of the application, the multi-detection direction division is creatively carried out on the transmission interval of the single-beam radar transmission antenna, and the multi-directional detection of the single antenna is realized by matching with the shielding of detection information sent in part of directions. However, the quality of the detection effect for the direction to be detected is in fact dependent on the shielding effect of the detection information emitted for the other detection directions. In some embodiments, ways to achieve shielding of probe information emanating from other probe directions may include, but are not limited to, including an angular shielding from the transmitting end and an angular shielding from the receiving end 140. In addition, shielding of the detection information emitted for other detection directions is achieved, and it is necessary to coordinate with the above step S101 and the above step S103. Therefore, implementation details of step S101 and step S103 will be described below in terms of implementing shielding from the transmitting end and implementing shielding from the receiving end 140, respectively.
(1) Shielding is realized from the perspective of the transmitting end:
in some embodiments, as shown in fig. 5, the step S101 may include the following sub-steps:
in a substep S101-1, a direction to be detected is determined from a plurality of detection directions.
In some embodiments, the direction to be detected corresponding to the current transmitting moment may be obtained from a plurality of detecting directions. The current transmitting time may refer to a time point corresponding to the sending of the radar signal of the present round.
In some embodiments, the detection directions for detection at different times may be configured in a time division multiple access manner. Thus, the corresponding detection direction can be determined according to the current transmission time.
For example, the detection direction a may be detected at the time a, the detection direction b may be detected at the time b, and the detection direction c may be detected at the time c. The current transmission time at this time is at time b, then the detection direction b is determined as the direction to be detected.
And step S101-2, obtaining a weighting parameter corresponding to the direction to be detected, and carrying out weighting processing on the radar signal to be sent from the direction to be detected according to the weighting parameter.
The radar signals to be transmitted from the direction to be detected are weighted in the digital baseband section. For example, if data is required to be transmitted from the detection direction a, then the radar signal that can be transmitted from the detection direction a is weighted to increase the power of the detection direction a and decrease the power gain of the other detection directions. Similarly, if data needs to be sent from the detection direction b, the radar information sent from the detection direction b can be weighted, the power of the detection direction b is increased to reduce the power gain of other detection directions, and the radar signal obtained after the weighting is used as the detection information.
In other embodiments, as shown in fig. 6, based on fig. 5, the step S101 may further include the following sub-steps:
and a substep S101-3, marking the modulated radar signal according to the target identification information of the pre-configured direction to be detected so as to obtain detection information.
After a plurality of detection directions are divided in a single-beam transmission interval of the radar, unique corresponding identification information is configured for the detection directions. Therefore, after determining the current direction to be detected, the modulated radar signals can be marked according to the target identification information of the pre-configured direction to be detected, and the radar signals which need to be sent out from the direction to be detected are weighted so as to distinguish the detection direction aimed at by each detection operation. In this embodiment, the radar signal subjected to the weighting process and the labeling is used as the detection information.
In some embodiments, the manner of obtaining the detection information may be to add the target identification information of the direction to be detected to the modulated radar signal as a tag, so as to distinguish the detection direction for which the received returned detection information is directed.
It will be appreciated that there is no necessary order of precedence between the sub-steps S101-2 and S101-3 described above.
In addition, since the radar antenna using a wider transmission range naturally sacrifices a certain effective detection distance compared with the conventional radar antenna, the detection distance of a specific detection direction is required in practical application. In order to enable the detection distances of different detection directions to meet the requirements, radar signals of different effective detection distances are modulated when detection is carried out for different detection directions. Thus, in some embodiments, the step S101-2 may include:
1) And obtaining an effective detection distance corresponding to the direction to be detected. It can be appreciated that the correspondence between different detection directions and the effective detection distance may be preconfigured according to the service requirement. For example, the effective detection distance required for detecting the detection direction (1) of the ground direction in the unmanned aerial vehicle shown in fig. 7 is 40m. And the effective detection distance required for detecting the front detection direction (2) and for detecting the rear detection direction (3) is 20m. When the direction to be detected is determined to be the detection direction (1), the corresponding effective detection distance is determined to be 40m.
2) And determining a corresponding weighting parameter according to the effective detection distance.
In some embodiments, the weighting parameters corresponding to different effective detection distances may be predetermined, so that after the effective detection distance corresponding to the direction to be detected is obtained, the corresponding weighting parameters may be obtained. So as to adjust the transmitting power of the radar transmitting antenna based on the weighting parameter, and ensure that the actual detecting distance of the detecting information sent from the direction to be detected reaches the corresponding effective detecting distance.
In some embodiments, the step S103 may be to mask the probe information sent in other probe directions from the returned probe information according to the target identification information, so as to obtain target probe information. As shown in fig. 8, the step S103 may include the following sub-steps:
in the substep S103-1, according to the detection information with the target identification information, the estimated propagation path corresponding to the detection information sent from each detection direction is estimated from the angle of each receiving end 140. Since the electronic apparatus 100 performs the detection operation for different detection directions periodically. When the detected frequency is high, the receiving end 140 receives the detection information for different detection directions successively. Therefore, in the embodiment of the application, the detection information related to the direction to be detected can be screened out by utilizing the target identification information.
The estimated propagation path may be a path where probe information is sent from the transmitting end and then returned to the receiving end 140.
In some embodiments, the step S103-1 may be implemented to calculate an estimated propagation path of the probe information sent from the transmission channel corresponding to each probe direction to the receiving end 140 corresponding to the transmission channel.
It will be appreciated that each probing direction also corresponds to a receiving end 140. In some embodiments, each receiving end 140 corresponds to a probing direction. The correspondence between the receiving end 140 and the detection direction may be represented by the direction of the receiving end 140 being consistent with the detection direction, so that the detection information propagating along the direction opposite to the detection direction may be received by the receiving end 140. At the same time, each detection direction corresponds to a transmission channel, in other words, each transmission channel corresponds to a receiving end 140.
For example, the electronic device 100 having three receiving terminals 140 transmits the detection information from the detection directions a, b, c, respectively. The receiving end a corresponds to the detection direction a, the receiving end b corresponds to the detection direction b, and the receiving end c corresponds to the detection direction c. And estimating the propagation path of the detection information sent from the transmission channel corresponding to the detection direction a to reach the receiving end a from the angle of the receiving end a. And estimating the propagation path of the detection information sent from the transmitting channel corresponding to the detection direction b to the receiving end b from the angle of the receiving end b. And estimating the propagation path of the detection information sent from the transmission channel corresponding to the detection direction c to the receiving end c from the angle of the receiving end c.
In some embodiments, the manner of calculating the propagation path of the probe information from the transmitting end to the receiving end 140 may be: according to the probe information (with the target identification information) obtained by the receiving end 140, a corresponding transmission duration is obtained. Based on a plurality of transmission durations and propagation direction information when the probe information is received, a propagation path of the probe information sent from the corresponding probe direction to the receiving end 140 is estimated.
In other embodiments, the manner of calculating the propagation path of the probe information from the transmitting end to the receiving end 140 may be: and calculating by using a preset path estimation model.
In step S103-2, according to the detection information and the estimated propagation paths corresponding to the plurality of receiving ends 140, the target detection information sent from the direction to be detected is resolved, so as to shield the interference of the detection information sent from other detection directions.
In some embodiments, according to the detection information and the estimated propagation paths corresponding to the plurality of receiving ends 140, the following formula is used:
and analyzing the detection information received by the receiving end corresponding to the direction to be detected from the returned detection information, thereby realizing shielding of detection information sent by other detection directions. Wherein R is x1 When the direction to be detected is the first detection direction, the first receiving end receives the detection information, X 1 Representing the detection information, X, emitted in the first detection direction 2 Representing the detection information sent in the second detection direction, and so on, X i Representing the probe information sent in the i-th probe direction. The above i represents the total number of detection directions, and the number of receiving ends is also i. H1A represents an estimated propagation path of probe information from a first probe direction to a first receiving end, H2A represents an estimated propagation path of probe information from a second probe direction to a second receiving end, and HiA represents an estimated propagation path of probe information from an i-th probe direction to an i-th receiving end. Similarly, R is xi When the direction to be detected is the i-th detection direction, the i-th receiving end receives the detection information with the target identification information, H1B represents an estimated propagation path of the detection information sent from the first detection direction to the 1-th receiving end, H2B represents an estimated propagation path of the detection information sent from the second detection direction to the 2-th receiving end, and HiB represents an estimated propagation path of the detection information sent from the i-th detection direction to the i-th receiving end. The above X 1 、X 2 …X i Are emitted from different detection directions of the transmitting end at the same transmitting time interval.
(2) Shielding is achieved from the perspective of the receiving end 140:
in some embodiments, the step S101 may be to modulate the whole radar signal to be sent from the whole transmission interval as the detection information in a conventional manner.
In some embodiments, the step S103 may include: and shielding detection information sent by other detection directions from the returned detection information by utilizing the receiving angle resolution of the receiving end corresponding to the direction to be detected so as to reserve at least one target detection information corresponding to the direction to be detected.
It will be appreciated that when the transmitting end transmits the entire beam, the receiving end 140 may receive the probe information, and convert the received probe information into a spectrogram (e.g., using fourier transform), which will show the direction and position of the object within the detection range. At this time, the corresponding direction to be detected is determined based on the identification information carried by the returned detection information, and then the detection information sent by other detection directions is shielded from the frequency spectrum by utilizing the receiving angle resolution of the receiving end corresponding to the direction to be detected, so as to retain the target detection information corresponding to the direction to be detected. The receiving angle resolution is a return angle range of the detection signals which can be received by the receiving end, and the receiving angle resolutions of different receiving ends can be corresponding to different intervals in the spectrogram, so that the receiving angle resolution of the receiving end corresponding to the direction to be detected can be utilized to shield the detection signals sent from other detection directions from the spectrogram, and only the detection signals sent from the direction to be detected are reserved. It will be appreciated that there may be a plurality of directions to be detected that are reserved, and thus, simultaneous detection of a plurality of directions may be achieved.
In some embodiments, the single beam area detection method may further include a step of automatically determining a detection direction, specifically as follows:
first, an angle range corresponding to a transmission section of a radar transmission antenna mounted to the electronic apparatus 100 is acquired. And secondly, dividing the transmission interval into a plurality of sub-intervals to be selected at equal angular intervals. And selecting at least two sub-intervals to be selected from the plurality of sub-intervals to be selected as different detection directions. For example, the emission interval shown in fig. 9 corresponds to an angle range of 120 degrees, the emission interval is divided into 5 sub-intervals to be selected according to 24 degrees, and then a detection direction (1), a detection direction (2) and a detection direction (3) are selected from the sub-intervals. Finally, the orientation angle of each receiving end 140 is adjusted, so that each detection direction has a corresponding receiving end 140, and meanwhile, a binding relationship between the detection direction and the receiving end 140 is established.
In order to perform the corresponding steps in the above embodiments and the various possible ways, an implementation of the single beam area detecting apparatus 300 is given below, and alternatively, the single beam area detecting apparatus 300 may employ the device structure of the electronic device 100 shown in fig. 3. Further, referring to fig. 10, fig. 10 is a functional block diagram of a single beam area detecting device 300 according to an embodiment of the present application. It should be noted that, the basic principle and the technical effects of the single beam area detecting device 300 provided in this embodiment are the same as those of the above embodiment, and for brevity, reference should be made to the corresponding contents of the above embodiment. The single beam region detecting apparatus 300 includes: a generating module 301, a receiving module 302 and a shielding module 303.
The generating module 301 is configured to generate and transmit probe information.
In some embodiments, step S101 described above may be performed by the generation module 301.
And the receiving module 302 is configured to receive the returned detection information.
In some embodiments, the step S102 may be performed by the receiving module 302.
And the shielding module 303 is configured to shield detection information sent in other detection directions from the returned detection information according to the detection direction to obtain target detection information, so as to obtain a detection result corresponding to the detection direction.
In some embodiments, step S103 described above may be performed by the shielding module 303.
Optionally, the generating module includes: and the acquisition sub-module and the processing sub-module.
And the acquisition submodule is used for determining the direction to be detected from the plurality of detection directions.
The processing sub-module is used for acquiring the weighting parameters corresponding to the direction to be detected and carrying out weighting processing on the radar signals which are required to be sent out from the direction to be detected according to the weighting parameters; and marking the modulated radar signal according to the target identification information of the direction to be detected, which is preset, so as to obtain the detection information.
In some embodiments, the obtaining sub-module included in the generating module 301 is further configured to obtain an effective detection distance corresponding to the direction to be detected.
The generation module 301 further comprises a modulation sub-module for modulating the radar signal in dependence of the effective detection distance.
Optionally, the shielding module is specifically configured to: acquiring estimated propagation paths of the detection information transmitted from each detection direction to the corresponding receiving end according to the detection information with the target identification information; and according to the transmitted detection information and the estimated propagation path, analyzing the target detection information transmitted from the direction to be detected so as to shield the interference of the detection information transmitted from other detection directions.
Optionally, the shielding module 303 may be further configured to: and shielding detection information sent by other detection directions from the returned detection information by utilizing the receiving angle resolution of the receiving end corresponding to the direction to be detected so as to reserve at least one target detection information corresponding to the direction to be detected.
Alternatively, the above modules may be stored in the memory 110 in the form of software or Firmware (Firmware) or cured in an Operating System (OS) of the electronic device 100, and may be executed by the processor 120 in fig. 3. Meanwhile, data, codes of programs, and the like, which are required to execute the above-described modules, may be stored in the memory 110.
In summary, the embodiment of the application provides a single beam area detection method, a single beam area detection device and a mobile device. Applied to an electronic device with radar. In addition, a plurality of detection directions are determined in advance from a single beam transmission section of the radar. Then, when the detection operation is carried out, detection information is generated and transmitted; and receiving returned detection information, and shielding detection information sent in other detection directions from the returned detection information according to the detection direction to obtain target detection information so as to obtain a detection result corresponding to the detection direction. Therefore, the multi-directional detection is realized by utilizing the single radar antenna, the implementation is simple, the algorithm is easy to maintain, the size of the radar is effectively reduced, and the method is more applied to light-weight and miniaturized electronic equipment.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. The single-beam area detection method is characterized by being applied to electronic equipment with a radar, and dividing a plurality of detection directions from a single-beam emission interval of the radar in advance; the method comprises the following steps:
generating and transmitting detection information; the detection information comprises target identification information for distinguishing a direction to be detected, which is aimed at by the detection information;
receiving the returned detection information;
and shielding detection information sent in other detection directions from the returned detection information according to the detection direction to be detected corresponding to the target identification information to obtain target detection information so as to obtain a detection result corresponding to the detection direction to be detected.
2. The single beam area detection method according to claim 1, wherein the step of generating detection information includes:
determining a direction to be detected from the plurality of detection directions;
and obtaining the weighting parameters corresponding to the direction to be detected, and carrying out weighting processing on radar signals which are required to be sent out from the direction to be detected according to the weighting parameters so as to obtain the detection information.
3. The method of single beam area detection as claimed in claim 2, wherein,
the step of generating probe information further comprises: marking the modulated radar signal according to the target identification information of the direction to be detected, which is preset, so as to obtain the detection information;
the step of shielding the detection information sent in other detection directions from the returned detection information according to the detection direction to be detected corresponding to the target identification information to obtain target detection information, including:
and shielding detection information sent in other detection directions from the returned detection information according to the target identification information to obtain target detection information.
4. The single beam area detection method according to claim 3, wherein the electronic device includes a plurality of receiving terminals, each receiving terminal corresponding to one of the detection directions; the step of shielding the detection information sent from other detection directions from the returned detection information according to the target identification information to obtain target detection information comprises the following steps:
acquiring estimated propagation paths of the detection information transmitted from each detection direction to the corresponding receiving end according to the detection information with the target identification information;
and according to the transmitted detection information and the estimated propagation path, analyzing the target detection information transmitted from the direction to be detected so as to shield the interference of the detection information transmitted from other detection directions.
5. The single beam area detection method according to any one of claims 2 to 4, wherein the step of obtaining the weighting parameter corresponding to the direction to be detected includes:
acquiring an effective detection distance corresponding to the direction to be detected;
and acquiring the weighting parameters corresponding to the direction to be detected according to the effective detection distance.
6. The single beam area detection method according to claim 1, wherein the electronic device includes a plurality of receiving terminals, each receiving terminal corresponding to one of the detection directions; the step of shielding detection information sent in other detection directions from the returned detection information according to the detection direction to be detected corresponding to the target identification information to obtain target detection information comprises the following steps:
and shielding detection information sent by other detection directions from the returned detection information by utilizing the receiving angle resolution of the receiving end corresponding to the direction to be detected so as to reserve at least one target detection information corresponding to the direction to be detected.
7. A single beam area detecting device, characterized in that it is applied to an electronic device having a radar, and a plurality of detection directions are previously divided from a single beam transmission section of the radar; the device comprises:
the generation module is used for generating and transmitting the detection information;
the receiving module is used for receiving the returned detection information; the detection information comprises target identification information for distinguishing a direction to be detected, which is aimed at by the detection information;
and the shielding module is used for shielding detection information sent out in other detection directions from the returned detection information according to the detection direction to be detected corresponding to the target identification information to obtain target detection information so as to obtain a detection result corresponding to the detection direction to be detected.
8. The single beam area detection device of claim 7, wherein the generating module comprises:
the acquisition submodule is used for determining a direction to be detected from the plurality of detection directions;
the processing sub-module is used for acquiring the weighting parameters corresponding to the direction to be detected and carrying out weighting processing on radar signals which are required to be sent out from the direction to be detected according to the weighting parameters; and marking the modulated radar signal according to the target identification information of the direction to be detected, which is preset, so as to obtain the detection information.
9. A removable device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating over the bus when the removable device is running, the processor executing the machine-readable instructions to perform the steps of the method of any one of claims 1 to 6.
10. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when executed by a processor, performs the steps of the method according to any of claims 1 to 6.
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