CN112904347A - Imaging system and method - Google Patents

Imaging system and method Download PDF

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Publication number
CN112904347A
CN112904347A CN202110072616.XA CN202110072616A CN112904347A CN 112904347 A CN112904347 A CN 112904347A CN 202110072616 A CN202110072616 A CN 202110072616A CN 112904347 A CN112904347 A CN 112904347A
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angle information
preset
array
target
discrete angle
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CN112904347B (en
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张翼
孙晓雨
李胜全
程正坤
罗明成
周佳琼
陈明
齐晓飞
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Peng Cheng Laboratory
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Peng Cheng Laboratory
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Priority to PCT/CN2021/075090 priority patent/WO2022155998A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar 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
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/521—Constructional features
    • 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
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention discloses an imaging system, comprising: presetting a transmitter array, a receiver array and an imager; the preset emitter array is used for emitting vortex sound waves to a target object so as to generate reflection echoes when the vortex sound waves reach the target object; the preset receiver array is used for receiving the reflected echo; the imager is used for obtaining a target image of the target object based on the reflected echo, wherein the target image comprises target position information and target contour information of the target object. The invention also discloses an imaging method. By using the imaging system of the invention, the receiver array is preset to be provided with fewer receivers, and the cost of the imaging system is lower.

Description

Imaging system and method
Technical Field
The present invention relates to the field of imaging technologies, and in particular, to an imaging system and method.
Background
In the field of positioning of underwater target objects, an underwater imaging method is disclosed, wherein sound wave beams are formed through a transducer array and are transmitted to the target objects, and after echo of the target objects based on the sound wave beams is received by a hydrophone array, images of the target objects are obtained based on the echo, wherein the images comprise position information and outline information of the target objects.
Generally, high-density hydrophones are required to be arranged in a hydrophone array to obtain an image of a target object with high accuracy, that is, position information and contour information in the high-accuracy image also have high accuracy.
Therefore, the existing underwater imaging method is adopted, so that the number of hydrophones required for obtaining the image of the target object with high accuracy is large, and the cost is high.
Disclosure of Invention
The invention mainly aims to provide an imaging system and method, and aims to solve the technical problems that the number of hydrophones required for obtaining an image of a target object with high accuracy is large and the cost is high by adopting the existing underwater imaging method in the prior art.
To achieve the above object, the present invention provides an imaging system, comprising: presetting a transmitter array, a receiver array and an imager;
the preset emitter array is used for emitting vortex sound waves to a target object so as to generate reflection echoes when the vortex sound waves reach the target object;
the preset receiver array is used for receiving the reflected echo;
the imager is used for obtaining a target image of the target object based on the reflected echo, wherein the target image comprises target position information and target contour information of the target object.
Alternatively to this, the first and second parts may,
the preset receiver array comprises a plurality of receivers, the receivers are distributed according to preset receiving array points in the preset receiver array, and the preset receiving array points are determined in a target area corresponding to the preset receiver array by using a genetic algorithm.
Alternatively to this, the first and second parts may,
the preset emitter array is an annular emitter array, the annular preset emitter array comprises a plurality of emitters, and each emitter is distributed in the preset emitter array at equal intervals.
Alternatively to this, the first and second parts may,
the preset emitter array is used for emitting vortex sound waves of multiple orders to a target object, so that when the vortex sound waves of multiple orders reach the target object, reflection echoes of multiple orders corresponding to the vortex sound waves of multiple orders are generated;
the preset receiver array is used for receiving the reflection echoes of the multiple orders;
and the imager is used for obtaining the target image based on the reflection echoes of the multiple orders.
Optionally, the imager stores position information of each receiver in the preset receiver array;
the imager is further used for discretizing preset angle information to obtain discrete angle information before the target image is obtained based on the reflection echoes of the multiple orders; based on the reflection echoes of multiple orders and the position information of each receiver, obtaining preprocessing beams of multiple orders corresponding to each discrete angle information in the discrete angle information, and based on the preprocessing beams of multiple orders corresponding to each discrete angle information, obtaining result beams corresponding to each discrete angle information; based on the result beam corresponding to each discrete angle information, obtaining distance information corresponding to each discrete angle information, and performing normalization processing on the result beam corresponding to each discrete angle information to obtain a final beam corresponding to each discrete angle information; obtaining result angle information corresponding to each discrete angle information based on the final beam corresponding to each discrete angle information; and obtaining the target image based on the result angle information and the distance information.
Alternatively to this, the first and second parts may,
the imager is further configured to obtain, based on the reflection echoes of the multiple orders and the position information of each receiver, a preprocessing beam of the multiple orders corresponding to each discrete angle information in the discrete angle information by using a formula one;
the first formula is as follows:
Figure BDA0002905729240000031
wherein g is the abscissa number of one of the receivers, H is the ordinate number of the receiver, g and H are integers, g belongs to [1, H ]]，h∈[1，H]H is the number of receivers in the predetermined receiver array, SghFor the l-th order reflected echo, w, of said multiple orders of reflected echoes received by the receiverghIs said Sghω is the echo frequency of the l-th order reflected echo,
Figure BDA0002905729240000032
for one of the discrete angle information
Figure BDA0002905729240000033
Corresponding first-order preprocessing wave beam, i and j are integers, i belongs to [1, A ]]，j∈[1，B]And A is the number of discrete azimuth angles in the discrete angle information, and B is the number of discrete pitch angles in the discrete angle information.
Alternatively to this, the first and second parts may,
the imager is further configured to obtain a result beam corresponding to each discrete angle information by using a formula two based on the preprocessed beams of the multiple orders corresponding to each discrete angle information;
the second formula is:
Figure BDA0002905729240000034
wherein ,
Figure BDA0002905729240000035
for said discrete angle information
Figure BDA0002905729240000036
The value intervals of the multiple orders are respectively as follows
Figure BDA0002905729240000037
N is a natural number greater than 1,
Figure BDA0002905729240000038
c is the speed of sound, JlThe Bessel function is a first class of first order preprocessing wave beams, e is a natural constant, and a is the radius of the preset transmitter array.
Alternatively to this, the first and second parts may,
the imager is further configured to perform normalization processing on the result beam corresponding to each discrete angle information by using a formula three, so as to obtain a final beam corresponding to each discrete angle information;
the third formula is:
Figure BDA0002905729240000041
wherein ,
Figure BDA0002905729240000042
for said discrete angle information
Figure BDA0002905729240000043
The corresponding final beam.
Alternatively to this, the first and second parts may,
the imager is further configured to perform fourier transform on the frequency of the result beam corresponding to each discrete angle information, and obtain distance information corresponding to each discrete angle information.
Further, to achieve the above object, the present invention also proposes an imaging method for an imaging system, the imaging system including: presetting a transmitter array, a receiver array and an imager; the method comprises the following steps:
transmitting vortex sound waves to a target object by using the preset transmitter array, so that when the vortex sound waves reach the target object, reflection echoes are generated;
receiving the reflected echo by using the preset receiver array;
obtaining, with the imager, a target image of the target object based on the reflected echo, the target image including target position information and target contour information of the target object.
The technical scheme of the invention provides an imaging system, which comprises: presetting a transmitter array, a receiver array and an imager; the preset emitter array is used for emitting vortex sound waves to a target object so as to generate reflection echoes when the vortex sound waves reach the target object; the preset receiver array is used for receiving the reflected echo; the imager is used for obtaining a target image of the target object based on the reflected echo, wherein the target image comprises target position information and target contour information of the target object. The preset emitter array emits the vortex sound waves, the vortex sound waves have spiral wave front phases, and the space information can be adjusted, so that the information transmission capacity and the information acquisition capacity of the vortex sound waves are high, the preset receiver array is provided with fewer receivers, namely, the reflected echoes with complete information can be received, and the target image of the target object is obtained based on the received reflected echoes, wherein the target image comprises the target position information and the target contour information of the target object.
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In order to more clearly illustrate the embodiments of the present invention 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 invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic diagram of an imager according to an embodiment of the present invention;
FIG. 2 is a block diagram of a first embodiment of an imaging system of the present invention;
FIG. 3 is a schematic diagram of the positions of a default transmitter array and a default receiver array according to the present invention;
FIG. 4 is a final beam pattern corresponding to 100 receivers of the present invention;
FIG. 5 is a final beam pattern corresponding to 150 receivers of the present invention;
fig. 6 is a flow chart of a first embodiment of the imaging method of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of 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 invention.
In underwater positioning technology, beam forming by using a receiver array is required to obtain the resolution of azimuth angle and elevation angle. The diameter of the transmitter array directly affects the size of the resolution, while the density of the receivers affects the sidelobe level of the beam.
In a conventional imaging system, a half-wavelength array is usually adopted for a transmitter array, which results in a very large number of receivers in the receiver array and high cost of a hardware system. For example, to achieve an angular resolution of 1 °, up to 100 x 100-10000 receivers are required.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an imager according to an embodiment of the present invention.
The imager may be a User Equipment (UE) such as a Mobile phone, smart phone, laptop, digital broadcast receiver, Personal Digital Assistant (PDA), tablet computer (PAD), handheld device, vehicular device, wearable device, computing device or other processing device connected to a wireless modem, Mobile Station (MS), or the like. The imager may be referred to as a user terminal, a portable terminal, a desktop terminal, or the like.
In general, an imager includes: at least one processor 301, a memory 302, and a positioning program stored on the memory and executable on the processor, the positioning program being configured to implement the steps of the imaging method as previously described.
The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The processor 301 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 301 may also include a main processor and a coprocessor, where the main processor is a processor for processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. The processor 301 may further include an AI (Artificial Intelligence) processor for processing relevant imaging method operations such that the imaging method model may be trained and learned autonomously, improving efficiency and accuracy.
Memory 302 may include one or more computer-readable storage media, which may be non-transitory. Memory 302 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 302 is used to store at least one instruction for execution by processor 301 to implement the imaging method provided by the method embodiments herein.
In some embodiments, the terminal may further include: a communication interface 303 and at least one peripheral device. The processor 301, the memory 302 and the communication interface 303 may be connected by a bus or signal lines. Various peripheral devices may be connected to communication interface 303 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 304, a display screen 305, and a power source 306.
The communication interface 303 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 301 and the memory 302. In some embodiments, processor 301, memory 302, and communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302 and the communication interface 303 may be implemented on a single chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 304 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuitry 304 communicates with communication networks and other communication devices via electromagnetic signals. The rf circuit 304 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 304 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuitry 304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: metropolitan area networks, various generation mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 304 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.
The display screen 305 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 305 is a touch display screen, the display screen 305 also has the ability to capture touch signals on or over the surface of the display screen 305. The touch signal may be input to the processor 301 as a control signal for processing. At this point, the display screen 305 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display screen 305 may be one, the front panel of the electronic device; in other embodiments, the display screens 305 may be at least two, respectively disposed on different surfaces of the electronic device or in a folded design; in still other embodiments, the display screen 305 may be a flexible display screen disposed on a curved surface or a folded surface of the electronic device. Even further, the display screen 305 may be arranged in a non-rectangular irregular figure, i.e. a shaped screen. The Display screen 305 may be made of LCD (liquid crystal Display), OLED (Organic Light-Emitting Diode), and the like.
The power supply 306 is used to power various components in the electronic device. The power source 306 may be alternating current, direct current, disposable or rechargeable. When the power source 306 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the imager, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, on which a positioning program is stored, which, when executed by a processor, implements the steps of the imaging method as described above. Therefore, a detailed description thereof will be omitted. In addition, the beneficial effects of the same method are not described in detail. For technical details not disclosed in embodiments of the computer-readable storage medium referred to in the present application, reference is made to the description of embodiments of the method of the present application. Determining by way of example, the program instructions may be deployed to be executed on one imager, or on multiple imagers located at one site, or distributed across multiple sites and interconnected by a communication network.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The computer-readable storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Referring to fig. 2, fig. 2 is a block diagram showing a configuration of a first embodiment of an imaging system of the present invention, the imaging system including: a preset transmitter array 10, a preset receiver array 20 and an imager 30;
the preset emitter array 10 is configured to emit a vortex sound wave to a target object, so that when the vortex sound wave reaches the target object, a reflected echo is generated;
the preset receiver array 20 is configured to receive the reflected echo;
the imager 30 is configured to obtain a target image of the target object based on the reflected echo, where the target image includes target position information and target contour information of the target object.
When it needs to be explained, the transmitter in the preset transmitter array of the present invention may be a transducer, and the receiver in the preset receiver array may be a hydrophone; the imager may be any of the imagers described above, and the invention is not limited thereto.
Generally, an imaging system is used for underwater positioning to determine a target area, and a target object in the target area is an object needing to obtain target position information and target contour information; arranging a preset transmitter array in a target area for transmitting vortex sound waves to a target object, and meanwhile, in order to transmit the vortex sound waves, arranging a preset receiver array in the target area for receiving reflected echo after the vortex sound waves reach the target object, and finally obtaining a target image of the target object by using an imager based on the reflected echo, wherein the target image comprises target position information and target contour information of the target object, the target position information is the position information of the target object, the target position information is usually three-dimensional information including an azimuth angle, a pitch angle and a distance, the target contour information is the contour information of the target object, and the target contour information comprises the size, the shape and the like of the target object; it can be understood that the target image is a three-dimensional image, and when the target object is a moving object, a plurality of target images corresponding to the target object in a continuous period of time may be obtained, the plurality of target images constitute a target video, the target video is used to describe a state of the target object, and each frame image of the target video includes a time corresponding to the frame, target position information and target contour information of the target object.
Further, the preset receiver array 20 includes a plurality of receivers, and the plurality of receivers are distributed according to a preset receiving array point in the preset receiver array, and the preset receiving array point is determined in a target area corresponding to the preset receiver array by using a genetic algorithm.
The preset emitter array 10 is an annular emitter array, the annular preset emitter array comprises a plurality of emitters, and each emitter is distributed in the preset emitter array at equal intervals.
Typically, a first selected area of the target shape is determined in the target area, a plurality of reception constellation points, i.e. preset reception constellation points, are determined in the first selected area using a genetic algorithm, and a plurality of receivers are arranged at the preset reception constellation points to obtain the preset receiver array. Wherein, the target shape can be a circle or a square, the invention is not limited; after determining a first selected area in the target area, when determining a plurality of receiving arrangement points in the first selected area by using a genetic algorithm, the positions of the plurality of receiving arrangement points are random, that is, the transmitter density distribution in the preset transmitter array is usually uneven; and simultaneously, determining the plurality of receiving array points by using a genetic algorithm and taking the small width of the main lobe and the lower level of the side lobe as optimization targets.
In addition, the center of the first selected area is generally taken as the center of a circular second selected area, the maximum inscribed circle is made in the first selected area, the area corresponding to the circumference is the circular second selected area, and the emitters are arranged in the circular second selected area to obtain a preset emitter array; wherein the emitters in the preset emitting array of the second selected area are arranged uniformly, i.e. equidistantly.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating the positions of a default transmitter array and a default receiver array according to the present invention; the first selected area determined in the target area is a square with the side length of 50 (the unit length is the wavelength of vortex sound waves), random and irregular points in the square are receiving array points, one receiving array point is used for placing a receiver, and after all the receiving array points are placed with the receiver, the preset receiver array is obtained; in addition, based on a first selected area, namely a square with the side length of 50, the center of the square is determined as the center of a circle, the center of the circle is utilized to make the largest inscribed circle in the first selected area, the area corresponding to the circumference is an annular second selected area, one point on the circumference represents the transmitting and arranging point of one transmitter and is used for placing one transmitter, and all the transmitters corresponding to the whole circumference are the preset transmitter array.
Referring to fig. 3, the first and second selected areas are located in the target area with an abscissa ranging from-25 to +25 and an ordinate ranging from-25 to +25, and the abscissa is used to represent the position coordinates of the respective receivers and the respective transmitters. The user may set other types of coordinates according to his or her own needs, and the present invention is not limited thereto, for example, the abscissa span is 0 to 50, and the ordinate span is 0 to 50, etc., as long as the position coordinates of each receiver and each transmitter can be expressed, and the position coordinates may be relative position coordinates or world coordinates.
Further, the preset emitter array 10 is configured to emit vortex sound waves of multiple orders to a target object, so that when the vortex sound waves of multiple orders reach the target object, reflection echoes of multiple orders corresponding to the vortex sound waves of multiple orders are generated;
the preset receiver array 20 is configured to receive the reflected echoes of the multiple orders;
the imager 30 is configured to obtain the target image based on the reflection echoes of the multiple orders.
It should be noted that the preset transmitter array may transmit a vortex sound wave of one order at a time, and the preset receiver array receives a reflection echo of one order at the same time; in a specific application, in order to ensure that the accuracy of the obtained target position information and the target contour information is high, the preset transmitter array needs to be used for transmitting the vortex sound waves for multiple times, and the vortex sound waves with different orders are transmitted every time, so that the preset receiver array receives the reflected echoes with different orders. For example, the transmitter array is preset to transmit 6 times and transmit vortex sound waves of 6 orders, and the receiver array is preset to receive 6 times and receive reflected echoes of 6 orders. Preferably, the order value of the vortex sound wave is not less than 6, that is, at least 6 orders of vortex sound waves need to be transmitted.
Generally, the number of transmitters is P, and the vortex acoustic signal transmitted by the P-th transmitter is:
Figure BDA0002905729240000111
Figure BDA0002905729240000112
representing the phase modulation of the transmission, e being selfHowever, the constant l is the order of the vortex sound wave, omega is the frequency of the vortex sound wave,
Figure BDA0002905729240000113
t is time.
In specific application, a target object is assumed to be a bright spot model and consists of M ideal scattering points, and the spherical coordinate of the M-th point is
Figure BDA0002905729240000114
Scattering coefficient of sigmam. Wherein the receiver has coordinates of (x)g,yh) G and H are integers, g is the abscissa number of the receiver, H is the ordinate number of the receiver, g belongs to [1, H ]]，h∈[1,H](preset receiver array has H receivers). The reflected echo is then:
Figure BDA0002905729240000121
wherein the wave number
Figure BDA0002905729240000122
c is the speed of sound, JlThe bessel functions of the first class l-th order vortex sound waves are generally the same as the bessel functions of the first class l-th order reflected echoes corresponding to the bessel functions of the first class l-th order vortex sound waves.
Further, the imager stores position information of each receiver in the preset receiver array;
the imager 30 is further configured to perform discretization processing on preset angle information to obtain discretization angle information before obtaining the target image based on the reflection echoes of the multiple orders; based on the reflection echoes of multiple orders and the position information of each receiver, obtaining preprocessing beams of multiple orders corresponding to each discrete angle information in the discrete angle information, and based on the preprocessing beams of multiple orders corresponding to each discrete angle information, obtaining result beams corresponding to each discrete angle information; based on the result beam corresponding to each discrete angle information, obtaining distance information corresponding to each discrete angle information, and performing normalization processing on the result beam corresponding to each discrete angle information to obtain a final beam corresponding to each discrete angle information; obtaining result angle information corresponding to each discrete angle information based on the final beam corresponding to each discrete angle information; and obtaining the target image based on the result angle information and the distance information.
It should be noted that the position information of each receiver may be the coordinate information described above, for example, (x)g,yh). The preset angle information may be all angle information related to the whole space, that is, the range of a pitch angle included in the preset angle information is 0 to 360 degrees, the range of an azimuth angle included in the preset angle information is 0 to 360 degrees, and the preset angle information is combination information of the pitch angle and the azimuth angle.
It can be understood that the pitch angle and the azimuth angle included in the preset angle information in the space are continuous infinite multiple values, discretization processing needs to be performed on the pitch angle and the azimuth angle to obtain discrete angle information, the discrete angle information includes a limited discrete pitch angle and a limited discrete azimuth angle, and one of the discrete angle information after discretization processing of the preset angle information can be discrete angle information
Figure BDA0002905729240000123
i and j are integers, i belongs to [1, A ]],j∈[1,B]A and B are natural numbers and respectively represent the number of discrete azimuth angles and discrete pitch angles after the discretization of the azimuth angles and the pitch angles of the preset angle information. The values of the number a of discrete azimuth angles and the number B of discrete pitch angles after discretization are determined based on the resolution of hardware devices such as an imager, and the invention is not limited.
Further, the imager 30 is further configured to obtain, based on the reflection echoes of the multiple orders and the position information of each receiver, a preprocessing beam of the multiple orders corresponding to each discrete angle information in the discrete angle information by using a formula one;
the first formula is as follows:
Figure BDA0002905729240000131
wherein g is the abscissa number of one of the receivers, H is the ordinate number of the receiver, g and H are integers, g belongs to [1, H ]]，h∈[1，H]H is the number of receivers in the predetermined receiver array, SghFor the l-th order reflected echo, w, of said multiple orders of reflected echoes received by the receiverghIs said Sghω is the echo frequency of the l-th order reflected echo,
Figure BDA0002905729240000132
for one of the discrete angle information
Figure BDA0002905729240000133
Corresponding first-order preprocessing wave beam, i and j are integers, i belongs to [1, A ]]，j∈[1，B]And A is the number of discrete azimuth angles in the discrete angle information, and B is the number of discrete pitch angles in the discrete angle information.
It should be noted that the echo frequency of the first order reflected echo is the same as the frequency of the corresponding first order vortex sound wave, and is not changed; w is aghBased on the receiver from
Figure BDA0002905729240000134
And determining the delay of the reflected echo reflected back by the direction receiving device.
Further, the imager 30 is further configured to obtain a result beam corresponding to each discrete angle information by using a formula two based on the preprocessing beams of multiple orders corresponding to each discrete angle information;
the second formula is:
Figure BDA0002905729240000135
wherein ,
Figure BDA0002905729240000136
for said discrete angle information
Figure BDA0002905729240000137
The value intervals of the multiple orders are respectively as follows
Figure BDA0002905729240000138
N is a natural number greater than 1,
Figure BDA0002905729240000139
c is the speed of sound, JlThe Bessel function is a first class of first order preprocessing wave beams, e is a natural constant, and a is the radius of the preset transmitter array.
It should be noted that N may be an integer from 5 to 15, that is, the order of the vortex sound wave is usually 5 to 15, and in general, N may also be the number of the preset transmitter array transmitters. Wherein the Bezier function of the first class of first order preprocessing beams is the same as the Bezier function of the first class of first order vortex sound waves (or reflected echoes).
Further, the imager 30 is further configured to perform normalization processing on the result beam corresponding to each discrete angle information by using a formula three, so as to obtain a final beam corresponding to each discrete angle information;
the third formula is:
Figure BDA0002905729240000141
wherein ,
Figure BDA0002905729240000142
for said discrete angle information
Figure BDA0002905729240000143
The corresponding final beam.
Further, the imager 30 is further configured to perform fourier transform on the frequency of the result beam corresponding to each discrete angle information, so as to obtain distance information corresponding to each discrete angle information.
It should be noted that the frequency of the result beam is the same as the frequency of the original vortex sound wave, that is, the original vortex sound wave, the reflected echo corresponding to the original vortex sound wave, the preprocessed beam corresponding to the reflected echo, the result beam corresponding to the preprocessed beam, and the final beam corresponding to the result beam are all the same, and are the frequency of the original vortex sound wave.
Obtaining result angle information corresponding to each discrete angle information based on the final beam corresponding to each discrete angle information; obtaining a target image of a target object based on the result angle information and the distance information, the target image including the target position information and the target contour information. Namely, all discrete angle information and all distance information in the discrete angle information are traversed to obtain the azimuth angle-pitch angle-distance of the target object and obtain the target profile information of the target object.
It is understood that the imager obtains information as a target image having the target position information and the target contour information based on the reflection echoes of the plurality of orders.
In addition, vortex sound waves of different frequencies can be generated, and vortex sound waves of multiple orders are emitted for the vortex sound waves of each frequency so as to obtain multiple target images of the target object respectively corresponding to the vortex sound waves of different frequencies (each target image comprises target position information and target contour information, and the vortex sound waves of multiple orders of one frequency correspond to one target image); and determining a final target image of the target object based on the plurality of target images, wherein the final target image comprises final target position information and final target contour information, and the accuracy of the final target position information and the final target contour information is further improved.
The technical scheme of the invention provides an imaging system, which comprises: presetting a transmitter array, a receiver array and an imager; the preset emitter array is used for emitting vortex sound waves to a target object so as to generate reflection echoes when the vortex sound waves reach the target object; the preset receiver array is used for receiving the reflected echo; the imager is used for obtaining a target image of the target object based on the reflected echo, wherein the target image comprises target position information and target contour information of the target object. The preset emitter array emits the vortex sound waves, the vortex sound waves have spiral wave front phases, and the space information can be adjusted, so that the information transmission capacity and the information acquisition capacity of the vortex sound waves are high, the preset receiver array is provided with fewer receivers, namely, the reflected echoes with complete information can be received, and the target image of the target object is obtained based on the received reflected echoes, wherein the target image comprises the target position information and the target contour information of the target object.
In addition, the imaging system of the invention utilizes the vortex sound wave to image, and the final beam obtained by utilizing the vortex sound wave has smaller angular resolution, so that the accuracy of the target position information and the target contour information in the obtained target image is higher.
Referring to fig. 4-5, fig. 4 is a final beam pattern corresponding to 100 receivers of the present invention; FIG. 5 is a final beam pattern corresponding to 150 receivers of the present invention; here the final beam alignment direction transverse angle and longitudinal angle are both 8 °. Therefore, only 100 receivers are needed to obtain good final beams, the sparsity rate reaches 1%, and the hardware complexity and cost of positioning are greatly reduced. In addition, referring to fig. 4-5, it can be seen that as the number of receivers in the receiver array increases, the side lobes also become lower and lower, and meanwhile, as can be calculated, the 3dB main lobe width of the final beam is 0.69 °, whereas the 3dB main lobe width of the existing receiver array is 1 °, and compared with the existing imaging system, the final beam of the imaging system of the present invention has a lower main lobe width and higher accuracy.
Referring to fig. 6, fig. 6 is a flowchart of a first embodiment of the imaging method of the present invention, the method being used in an imaging system comprising: presetting a transmitter array, a receiver array and an imager; the method comprises the following steps:
step S11: transmitting vortex sound waves to a target object by using the preset transmitter array, so that when the vortex sound waves reach the target object, reflection echoes are generated;
step S12: receiving the reflected echo by using the preset receiver array;
step S13: obtaining, with the imager, a target image of the target object based on the reflected echo, the target image including target position information and target contour information of the target object.
Reference is made to the above description, which is not repeated here.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. An imaging system, characterized in that the imaging system comprises: presetting a transmitter array, a receiver array and an imager;
the preset emitter array is used for emitting vortex sound waves to a target object so as to generate reflection echoes when the vortex sound waves reach the target object;
the preset receiver array is used for receiving the reflected echo;
the imager is used for obtaining a target image of the target object based on the reflected echo, wherein the target image comprises target position information and target contour information of the target object.
2. The imaging system of claim 1,
the preset receiver array comprises a plurality of receivers, the receivers are distributed according to preset receiving array points in the preset receiver array, and the preset receiving array points are determined in a target area corresponding to the preset receiver array by using a genetic algorithm.
3. The imaging system of claim 2,
the preset emitter array is an annular emitter array, the annular preset emitter array comprises a plurality of emitters, and each emitter is distributed in the preset emitter array at equal intervals.
4. The imaging system of claim 1,
the preset emitter array is used for emitting vortex sound waves of multiple orders to a target object, so that when the vortex sound waves of multiple orders reach the target object, reflection echoes of multiple orders corresponding to the vortex sound waves of multiple orders are generated;
the preset receiver array is used for receiving the reflection echoes of the multiple orders;
and the imager is used for obtaining the target image based on the reflection echoes of the multiple orders.
5. The imaging system of claim 4, wherein said imager stores position information for each receiver in said predetermined array of receivers;
the imager is further used for discretizing preset angle information to obtain discrete angle information before the target image is obtained based on the reflection echoes of the multiple orders; based on the reflection echoes of multiple orders and the position information of each receiver, obtaining preprocessing beams of multiple orders corresponding to each discrete angle information in the discrete angle information, and based on the preprocessing beams of multiple orders corresponding to each discrete angle information, obtaining result beams corresponding to each discrete angle information; based on the result beam corresponding to each discrete angle information, obtaining distance information corresponding to each discrete angle information, and performing normalization processing on the result beam corresponding to each discrete angle information to obtain a final beam corresponding to each discrete angle information; obtaining result angle information corresponding to each discrete angle information based on the final beam corresponding to each discrete angle information; and obtaining the target image based on the result angle information and the distance information.
6. The imaging system of claim 5,
the imager is further configured to obtain, based on the reflection echoes of the multiple orders and the position information of each receiver, a preprocessing beam of the multiple orders corresponding to each discrete angle information in the discrete angle information by using a formula one;
the first formula is as follows:
Figure FDA0002905729230000021
wherein g is the abscissa number of one of the receivers, H is the ordinate number of the receiver, g and H are integers, g belongs to [1, H ]]，h∈[1,H]H is the number of receivers in the predetermined receiver array, SghFor the l-th order reflected echo, w, of said multiple orders of reflected echoes received by the receiverghIs said Sghω is the echo frequency of the l-th order reflected echo,
Figure FDA0002905729230000022
for one of the discrete angle information
Figure FDA0002905729230000023
Corresponding first-order preprocessing wave beam, i and j are integers, i belongs to [1, A ]],j∈[1,B]Where A is the number of discrete azimuth angles in the discrete angle information, and B is the discrete dip angle in the discrete angle informationThe number of elevation angles.
7. The imaging system of claim 6,
the imager is further configured to obtain a result beam corresponding to each discrete angle information by using a formula two based on the preprocessed beams of the multiple orders corresponding to each discrete angle information;
the second formula is:
Figure FDA0002905729230000031
wherein ,
Figure FDA0002905729230000032
for said discrete angle information
Figure FDA0002905729230000033
The value intervals of the multiple orders are respectively as follows
Figure FDA0002905729230000034
N is a natural number greater than 1,
Figure FDA0002905729230000035
c is the speed of sound, JlThe Bessel function is a first class of first order preprocessing wave beams, e is a natural constant, and a is the radius of the preset transmitter array.
8. The imaging system of claim 7,
the imager is further configured to perform normalization processing on the result beam corresponding to each discrete angle information by using a formula three, so as to obtain a final beam corresponding to each discrete angle information;
the third formula is:
Figure FDA0002905729230000036
wherein ,
Figure FDA0002905729230000037
for said discrete angle information
Figure FDA0002905729230000038
The corresponding final beam.
9. The imaging system of claim 8,
the imager is further configured to perform fourier transform on the frequency of the result beam corresponding to each discrete angle information, and obtain distance information corresponding to each discrete angle information.
10. An imaging method, for use in an imaging system, the imaging system comprising: presetting a transmitter array, a receiver array and an imager; the method comprises the following steps:
transmitting vortex sound waves to a target object by using the preset transmitter array, so that when the vortex sound waves reach the target object, reflection echoes are generated;
receiving the reflected echo by using the preset receiver array;
obtaining, with the imager, a target image of the target object based on the reflected echo, the target image including target position information and target contour information of the target object.
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