CN112904347B - Imaging system and method - Google Patents

Imaging system and method Download PDF

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Publication number
CN112904347B
CN112904347B CN202110072616.XA CN202110072616A CN112904347B CN 112904347 B CN112904347 B CN 112904347B CN 202110072616 A CN202110072616 A CN 202110072616A CN 112904347 B CN112904347 B CN 112904347B
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angle information
preset
array
piece
discrete angle
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CN112904347A (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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    • 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 an emitter array, a preset receiver array and an imager; the preset emitter array is used for emitting vortex sound waves to a target object so that when the vortex sound waves reach the target object, reflection echoes are generated; 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. With the imaging system of the invention, fewer receivers are arranged in the preset receiver array, 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 an underwater target object, an underwater imaging method is disclosed, an acoustic wave beam is formed through a transducer array, the acoustic wave beam is emitted to the target object, and after receiving an echo of the target object based on the acoustic wave beam, a hydrophone array obtains an image of the target object based on the echo, wherein the image comprises position information and contour information of the target object.
In general, a hydrophone with high density needs to be arranged in a hydrophone array to obtain an image of a target object with high accuracy, that is, the position information and the contour information in the image with high accuracy have higher accuracy.
Therefore, the number of hydrophones required for obtaining the image of the target object with high accuracy is large and the cost is high by adopting the existing underwater imaging method.
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 proposes an imaging system including: presetting an emitter array, a preset receiver array and an imager;
the preset emitter array is used for emitting vortex sound waves to a target object so that when the vortex sound waves reach the target object, reflection echoes are generated;
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 method may comprise,
the preset receiver array comprises a plurality of receivers, the plurality of 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 method may comprise,
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 method may comprise,
the preset emitter array is used for emitting vortex sound waves with various orders to a target object, so that when the vortex sound waves with various orders reach the target object, reflection echoes with various orders corresponding to the vortex sound waves with various orders are generated;
the preset receiver array is used for receiving the reflected echoes with the multiple orders;
the imager is used for obtaining the target image based on the reflected 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 before obtaining the target image based on the reflected echoes with various orders so as to obtain discrete angle information; obtaining a plurality of pre-processing beams of the orders corresponding to each piece of discrete angle information in the discrete angle information based on the reflected echoes of the plurality of orders and the position information of each receiver, and obtaining a result beam corresponding to each piece of discrete angle information based on the pre-processing beams of the orders corresponding to each piece of discrete angle information; based on the result wave beam corresponding to each piece of discrete angle information, distance information corresponding to each piece of discrete angle information is obtained, normalization processing is carried out on the result wave beam corresponding to each piece of discrete angle information, and a final wave beam corresponding to each piece of discrete angle information is obtained; obtaining result angle information corresponding to each piece of discrete angle information based on the final wave beam corresponding to each piece of discrete angle information; and obtaining the target image based on the result angle information and the distance information.
Alternatively to this, the method may comprise,
the imager is further configured to obtain a preprocessed beam of multiple orders corresponding to each discrete angle information in the discrete angle information by using a formula one based on the reflected echoes of multiple orders and the position information of each receiver;
the first formula is:
Figure BDA0002905729240000031
wherein g is the abscissa number of one receiver in the receivers, h is the ordinate number of the receiver, g and h are integers, g is [1, H]，h∈[1，H]H is the number of receivers in the preset receiver array, S gh For the first order reflected echo, w, of the multiple orders reflected echoes received by the receiver gh For the S gh ω is the echo frequency of the first order reflected echo,
Figure BDA0002905729240000032
for one of the discrete angle information +.>
Figure BDA0002905729240000033
Corresponding first-order preprocessing wave beams, i and j are integers, i is E [1, A]，j∈[1，B]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 method may comprise,
the imager is further configured to obtain a result beam corresponding to each piece of discrete angle information by using a formula two based on the preprocessed beams of the multiple orders corresponding to each piece of discrete angle information;
the formula II is as follows:
Figure BDA0002905729240000034
wherein ,
Figure BDA0002905729240000035
for the discrete angle information->
Figure BDA0002905729240000036
Corresponding result beams, wherein the value intervals of the multiple orders are respectively +.>
Figure BDA0002905729240000037
N is a natural number greater than 1, < >>
Figure BDA0002905729240000038
c is the sound velocity, J l E is a natural constant, and a is the radius of the preset emitter array.
Alternatively to this, the method may comprise,
the imager is further configured to normalize the result beam corresponding to each piece of discrete angle information by using a formula III, so as to obtain a final beam corresponding to each piece of discrete angle information;
the formula III is:
Figure BDA0002905729240000041
wherein ,
Figure BDA0002905729240000042
for the discrete angle information->
Figure BDA0002905729240000043
A corresponding final beam.
Alternatively to this, the method may comprise,
the imager is further configured to perform fourier transform on the frequency of the result beam corresponding to each piece of discrete angle information, so as to obtain distance information corresponding to each piece of discrete angle information.
In addition, to achieve the above object, the present invention also proposes an imaging method for an imaging system, the imaging system comprising: presetting an emitter array, a preset 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 with the preset receiver array;
and obtaining a target image of the target object based on the reflected echo by using the imager, wherein the target image comprises target position information and target contour information of the target object.
The technical scheme of the invention provides an imaging system, which comprises: presetting an emitter array, a preset receiver array and an imager; the preset emitter array is used for emitting vortex sound waves to a target object so that when the vortex sound waves reach the target object, reflection echoes are generated; 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 vortex sound wave is emitted by the preset emitter array, the vortex sound wave has a spiral wave front phase, and the space information can be adjusted, so that the information transmission capacity and the information acquisition capacity of the vortex sound wave are higher, fewer receivers are arranged in the preset receiver array, namely, reflection echoes with complete information can be received, and a target image of a target object is obtained based on the received reflection echoes, wherein the target image comprises target position information and 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 that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
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 predetermined transmitter array and a predetermined receiver array according to the present invention;
fig. 4 is a final beam pattern corresponding to 100 receivers according to the present invention;
fig. 5 is a final beam pattern corresponding to 150 receivers according to the present invention;
fig. 6 is a flowchart of a first embodiment of the imaging method of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In underwater positioning techniques, beamforming with an array of receivers is required to obtain the resolution of azimuth and elevation. The diameter of the transmitter array directly affects the size of the resolution, while the receiver density affects the side lobe level of the beam.
In conventional imaging systems, the emitter array is typically arranged in half-wavelength, which results in a very large number of receivers in the receiver array and high hardware system costs. For example, up to 100×100=10000 receivers are required to achieve an angular resolution of 1 °.
Referring to fig. 1, fig. 1 is a schematic diagram of an imager according to an embodiment of the present invention.
The imager may be a Mobile phone, a smart phone, a notebook computer, a digital broadcast receiver, a Personal Digital Assistant (PDA), a tablet computer (PAD), or other User Equipment (UE), a handheld device, an in-vehicle device, a wearable device, a computing device, or other processing device connected to a wireless modem, a Mobile Station (MS), or the like. The imager may be referred to as a user terminal, portable terminal, desktop terminal, etc.
Generally, an imager includes: at least one processor 301, a memory 302 and a positioning program stored on said memory and executable on said processor, said positioning program being configured to implement the steps of the imaging method as described before.
Processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 301 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 301 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central ProcessingUnit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 301 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. The processor 301 may also include an AI (Artificial Intelligence ) processor for processing related imaging method operations so that the imaging method model may be self-training learned, 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 methods provided by the method embodiments herein.
In some embodiments, the terminal may further optionally 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. The respective peripheral devices may be connected to the communication interface 303 through 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 supply 306.
The communication interface 303 may be used to connect at least one peripheral device associated with an 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, either or both of the processor 301, the memory 302, and the communication interface 303 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.
The Radio Frequency circuit 304 is configured to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuitry 304 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 304 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 304 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuitry 304 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: metropolitan area networks, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuitry 304 may also include NFC (Near Field Communication ) related circuitry, which is 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 305 is a touch screen, the display 305 also has the ability to collect touch signals at or above the surface of the display 305. The touch signal may be input as a control signal to the processor 301 for processing. At this point, the display 305 may also be used to provide virtual buttons and/or virtual keyboards, also referred to as soft buttons and/or soft keyboards. In some embodiments, the display 305 may be one, the front panel of an electronic device; in other embodiments, the display screen 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 305 may be a flexible display disposed on a curved surface or a folded surface of the electronic device. Even more, the display screen 305 may be arranged in an irregular pattern other than rectangular, i.e., a shaped screen. The display 305 may be made of LCD (LiquidCrystal Display ), OLED (Organic Light-Emitting Diode) or other materials.
The power supply 306 is used to power the various components in the electronic device. The power source 306 may be alternating current, direct current, disposable or rechargeable. When the power source 306 comprises 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 is not limiting of the imager and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
Furthermore, an embodiment of the present invention also proposes a computer-readable storage medium having stored thereon a positioning program which, when executed by a processor, implements the steps of the imaging method as described above. Therefore, a detailed description will not be given here. In addition, the description of the beneficial effects of the same method is omitted. For technical details not disclosed in the embodiments of the computer-readable storage medium according to the present application, please refer to the description of the method embodiments of the present application. As determined as an example, the program instructions may be deployed to be executed on one imager or on multiple imagers located at one site or, alternatively, on multiple imagers distributed across multiple sites and interconnected by a communication network.
Those skilled in the art will appreciate that implementing all or part of the above-described methods may be accomplished by way of computer programs, which may be stored on a computer-readable storage medium, and which, when executed, may comprise the steps 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 (Random AccessMemory, RAM), or the like.
Referring to fig. 2, fig. 2 is a block diagram of a first embodiment of an imaging system of the present invention, the imaging system comprising: a preset emitter 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 reflection 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 the transmitter in the preset transmitter array of the invention is a transducer, and the receiver in the preset receiver array is a hydrophone; the imager may be any of the imagers described above, and the invention is not limited.
Typically, the 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 emitter array in a target area for emitting vortex sound waves to a target object, wherein the preset emitter array is an annular array for emitting the vortex sound waves, and arranging a preset receiver array in the target area for receiving reflected echoes of the vortex sound waves 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 echoes, 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 three-dimensional information comprising azimuth angle, pitch angle and 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 meanwhile, when the target object is a moving object, a plurality of target images corresponding to the target object in a continuous period of time can be obtained, the plurality of target images form a target video, the target video is used for describing the state of the target object, and each frame of image of the target video comprises the moment corresponding to the frame, the target position information and the 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 preset receiving distribution points in the preset receiver array, where the preset receiving distribution points are 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, and the annular preset emitter array includes 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 receiving and positioning points, that is, preset receiving and positioning points, are determined in the first selected area by using a genetic algorithm, and a plurality of receivers are arranged at the preset receiving and positioning points, so as to obtain the preset receiver array. Wherein, the target shape can be round or square, the invention is not limited; after a first selected area is determined in a target area, when a plurality of receiving array points are determined in the first selected area by utilizing a genetic algorithm, the positions of the plurality of receiving array points are random, namely the density distribution of the emitters in a preset emitter array is generally uneven; the plurality of receiving array points are optimal or suboptimal array points, and meanwhile, the plurality of receiving array points are determined by using a genetic algorithm with small main lobe width and low side lobe level as optimization targets.
In addition, the center of the first selected area is usually used as the center of a second selected area of the ring shape, the largest inscribed circle is made in the first selected area, the area corresponding to the circumference is the second selected area of the ring shape, and the emitters are arranged in the second selected area of the ring shape, so that a preset emitter array is obtained; wherein the emitters in the preset emitting array of the second selected area are uniformly arranged, i.e. equally spaced.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating the positions of a predetermined transmitter array and a predetermined receiver array according to the present invention; the first selected area determined in the target area is square with a side length of 50 (the unit length is the vortex sound wave wavelength), random irregular points in the square are receiving and arranging points, one receiving and arranging point is used for placing one receiver, and after all the receiving and arranging points are used for completing the placement of the receiver, the preset receiver array is obtained; in addition, based on the first selected area, namely the square with the side length of 50, the center of the square is determined as the center of a circle, the largest inscribed circle is made in the first selected area by utilizing the center of the circle, the area corresponding to the circle is the annular second selected area, one point on the circle represents the transmitting array point of one transmitter and is used for placing one transmitter, and all the transmitters corresponding to the whole circle are the preset transmitter array.
Referring to fig. 3, the target area where the first and second selected areas are located has an abscissa span of-25 to +25 and an ordinate span of-25 to +25, and the abscissa is used to represent the position coordinates of each receiver and each transmitter. The user can set other types of coordinates according to his own needs, and the present invention is not limited, for example, the abscissa spans 0 to 50, the ordinate spans 0 to 50, etc., as long as the position coordinates of each receiver and each transmitter can be represented, and the position coordinates can be relative position coordinates or world coordinates.
Further, the preset emitter array 10 is configured to emit vortex sound waves with multiple orders to a target object, so that when the vortex sound waves with multiple orders reach the target object, reflection echoes with multiple orders corresponding to the vortex sound waves with 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 reflected echoes of the multiple orders.
It should be noted that, the preset emitter array may emit vortex sound waves with one order at a time, and the preset receiver array may receive reflection echoes with 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 higher, the preset emitter array is required to be used for emitting vortex sound waves for multiple times, and vortex sound waves with different orders are emitted each time, so that the preset receiver array receives reflection echoes with different orders. For example, the preset transmitter arrays respectively transmit 6 times, the vortex sound waves of 6 orders are transmitted, the preset receiver arrays receive 6 times, and the reflected echoes of 6 orders are received. Preferably, the order value of the vortex sound wave is not less than 6, namely at least the vortex sound wave with 6 orders needs to be emitted.
Typically, the number of emitters is P, and the vortex acoustic signal emitted by the P-th emitter is:
Figure BDA0002905729240000111
Figure BDA0002905729240000112
represents the phase modulation of the emission, e is the natural constant, l is the order of the vortex sound wave, ω is the frequency of the vortex sound wave, +>
Figure BDA0002905729240000113
t is time.
In specific application, the target object is assumed to be a bright spot model and consists of M ideal scattering points, and the spherical coordinates of the mth point are
Figure BDA0002905729240000114
Scattering coefficient sigma m . Wherein the coordinates of the receiver are (x g ,y h ) G and h are integers, g is the abscissa number of the receiver, h is the ordinate number of the receiver, g E [1, H]，h∈[1,H](the preset receiver array has a total of H receivers). The reflected echo is:
Figure BDA0002905729240000121
wherein the wave number
Figure BDA0002905729240000122
c is the sound velocity, J l As the bessel function of the first-order vortex sound wave of the first type, normally, the bessel function of the first-order reflection echo of the first type corresponding to the bessel function of the first-order vortex sound wave of the first type is the same.
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 discrete angle information before obtaining the target image based on the reflected echoes of the multiple orders; obtaining a plurality of pre-processing beams of the orders corresponding to each piece of discrete angle information in the discrete angle information based on the reflected echoes of the plurality of orders and the position information of each receiver, and obtaining a result beam corresponding to each piece of discrete angle information based on the pre-processing beams of the orders corresponding to each piece of discrete angle information; based on the result wave beam corresponding to each piece of discrete angle information, distance information corresponding to each piece of discrete angle information is obtained, normalization processing is carried out on the result wave beam corresponding to each piece of discrete angle information, and a final wave beam corresponding to each piece of discrete angle information is obtained; obtaining result angle information corresponding to each piece of discrete angle information based on the final wave beam corresponding to each piece of discrete angle information; and obtaining the target image based on the result angle information and the distance information.
It should be noted that the location information of each receiver may be coordinate information as described above, for example, (x) g ,y h ). The preset angle information may be all angle information related to the whole space, that is, the preset angle information includes a pitch angle ranging from 0 ° to 360 °, the preset angle information includes an azimuth angle ranging from 0 ° to 360 °, 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 values, discretization processing is needed 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 the discretization processing of the preset angle information can be
Figure BDA0002905729240000123
i and j are integers, i.e. [1, A],j∈[1,B]And A and B are natural numbers, and respectively represent the number of discrete azimuth angles and discrete pitch angles after discretizing azimuth angles and pitch angles of 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 equipment such as an imager and the like, and the invention is not limited.
Further, the imager 30 is further configured to obtain, according to a first formula, a plurality of orders of preprocessed beams corresponding to each of the discrete angle information based on the plurality of orders of reflected echoes and the position information of each receiver;
the first formula is:
Figure BDA0002905729240000131
wherein g is the abscissa number of one receiver in the receivers, h is the ordinate number of the receiver, g and h are integers, g is [1, H]，h∈[1，H]H is the preset receivingNumber of receivers in the array of receivers, S gh For the first order reflected echo, w, of the multiple orders reflected echoes received by the receiver gh For the S gh ω is the echo frequency of the first order reflected echo,
Figure BDA0002905729240000132
for one of the discrete angle information +.>
Figure BDA0002905729240000133
Corresponding first-order preprocessing wave beams, i and j are integers, i is E [1, A]，j∈[1，B]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 unchanged; w (w) gh Based on the receiver slave
Figure BDA0002905729240000134
A delay determination of the reflected echo reflected back is received in the direction.
Further, the imager 30 is further configured to obtain a result beam corresponding to each piece of discrete angle information by using a formula two based on the preprocessed beams of the multiple orders corresponding to each piece of discrete angle information;
the formula II is as follows:
Figure BDA0002905729240000135
/>
wherein ,
Figure BDA0002905729240000136
for the discrete angle information->
Figure BDA0002905729240000137
Corresponding result beams, wherein the value intervals of the multiple orders are respectively +.>
Figure BDA0002905729240000138
N is a natural number greater than 1, < >>
Figure BDA0002905729240000139
c is the sound velocity, J l E is a natural constant, and a is the radius of the preset emitter 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 N may be a predetermined number of emitters of the emitter array. Wherein the Bessel function of the first class first order pre-processed beam is the same as the Bessel function of the first class first order vortex acoustic wave (or reflected echo).
Further, the imager 30 is further configured to normalize the resultant beam corresponding to each piece of discrete angle information by using a formula three, so as to obtain a final beam corresponding to each piece of discrete angle information;
the formula III is:
Figure BDA0002905729240000141
wherein ,
Figure BDA0002905729240000142
for the discrete angle information->
Figure BDA0002905729240000143
A corresponding final beam.
Further, the imager 30 is further configured to perform fourier transform on the frequency of the resulting beam corresponding to each piece of discrete angle information, so as to obtain distance information corresponding to each piece of 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 frequencies of the original vortex sound wave, the reflected echo corresponding to the original vortex sound wave, the pre-processing beam corresponding to the reflected echo, the result beam corresponding to the pre-processing beam, and the final beam corresponding to the result beam are the same, and are the frequencies of the original vortex sound wave.
Obtaining result angle information corresponding to each piece of discrete angle information based on the final wave beam corresponding to each piece of discrete angle information; and obtaining a target image of a target object based on the result angle information and the distance information, wherein the target image comprises the target position information and the target contour information. Namely, by traversing all the discrete angle information and all the distance information in the discrete angle information, obtaining the azimuth angle-pitch angle-distance of the target object and obtaining the target profile information of the target object.
It will be appreciated that the imager is based on reflected echoes of various orders, the obtained information being a target image, the target image having the target position information and the target contour information.
In addition, vortex sound waves with different frequencies can be generated, vortex sound waves with various orders are emitted for each vortex sound wave with different frequencies, so that a plurality of target images of a target object corresponding to the vortex sound waves with different frequencies respectively are obtained (each target image comprises target position information and target contour information, and one target image corresponds to the vortex sound waves with various orders with one frequency); 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 an emitter array, a preset receiver array and an imager; the preset emitter array is used for emitting vortex sound waves to a target object so that when the vortex sound waves reach the target object, reflection echoes are generated; 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 vortex sound wave is emitted by the preset emitter array, the vortex sound wave has a spiral wave front phase, and the space information can be adjusted, so that the information transmission capacity and the information acquisition capacity of the vortex sound wave are higher, fewer receivers are arranged in the preset receiver array, namely, reflection echoes with complete information can be received, and a target image of a target object is obtained based on the received reflection echoes, wherein the target image comprises target position information and target contour information of the target object.
In addition, the imaging system uses the vortex sound wave to image, and the final wave beam obtained by using 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 according to the present invention; the final beam alignment direction here is 8 both in the transverse and longitudinal direction. Therefore, only 100 receivers are needed to obtain a good final beam, the sparseness 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 lobe is also lower, and meanwhile, as calculated, the 3dB main lobe width of the final beam is 0.69 °, while the beam width of the 3dB main lobe of the existing receiver array is 1 °, compared with the existing imaging system, the main lobe width of the final beam of the imaging system of the present invention is lower, and the accuracy is higher.
Referring to fig. 6, fig. 6 is a flowchart of a first embodiment of an imaging method of the present invention, the method being for an imaging system comprising: presetting an emitter array, a preset 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 with the preset receiver array;
step S13: and obtaining a target image of the target object based on the reflected echo by using the imager, wherein the target image comprises target position information and target contour information of the target object.
With reference to the above description, a detailed description is omitted here.
The foregoing description is only of the optional embodiments of the present invention, and is not intended to limit the scope of the invention, and all the equivalent structural changes made by the description of the present invention and the accompanying drawings or the direct/indirect application in other related technical fields are included in the scope of the invention.

Claims (6)

1. An imaging system, the imaging system comprising: presetting an emitter array, a preset receiver array and an imager;
the preset emitter array is used for emitting vortex sound waves to a target object so that when the vortex sound waves reach the target object, reflection echoes are generated;
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 receiver array comprises a plurality of receivers, the plurality of 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;
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;
the preset emitter array is used for emitting vortex sound waves with various orders to a target object, so that when the vortex sound waves with various orders reach the target object, reflection echoes with various orders corresponding to the vortex sound waves with various orders are generated;
the preset receiver array is used for receiving the reflected echoes with the multiple orders;
the imager is used for obtaining the target image based on the reflected echoes of the multiple orders;
the imager stores the position information of each receiver in the preset receiver array;
the imager is further used for discretizing preset angle information before obtaining the target image based on the reflected echoes with various orders so as to obtain discrete angle information; obtaining a plurality of pre-processing beams of the orders corresponding to each piece of discrete angle information in the discrete angle information based on the reflected echoes of the plurality of orders and the position information of each receiver, and obtaining a result beam corresponding to each piece of discrete angle information based on the pre-processing beams of the orders corresponding to each piece of discrete angle information; based on the result wave beam corresponding to each piece of discrete angle information, distance information corresponding to each piece of discrete angle information is obtained, normalization processing is carried out on the result wave beam corresponding to each piece of discrete angle information, and a final wave beam corresponding to each piece of discrete angle information is obtained; obtaining result angle information corresponding to each piece of discrete angle information based on the final wave beam corresponding to each piece of discrete angle information; and obtaining the target image based on the result angle information and the distance information.
2. The imaging system of claim 1, wherein the imaging system comprises a plurality of imaging devices,
the imager is further configured to obtain a preprocessed beam of multiple orders corresponding to each discrete angle information in the discrete angle information by using a formula one based on the reflected echoes of multiple orders and the position information of each receiver;
the first formula is:
Figure QLYQS_1
wherein ,
Figure QLYQS_3
for the abscissa number of one of said receivers,/i>
Figure QLYQS_5
For the ordinate number of the receiver +.>
Figure QLYQS_7
and />
Figure QLYQS_9
Are all integers and are added with>
Figure QLYQS_11
[1,H]，/>
Figure QLYQS_13
[1,H]H is the number of receivers in the predetermined array of receivers, < >>
Figure QLYQS_15
The first of the multiple orders of reflected echoes received for the receiverlOrder reflection echo->
Figure QLYQS_2
For said->
Figure QLYQS_4
Weight of->
Figure QLYQS_6
Is the firstlEcho frequency of the order reflected echo, +.>
Figure QLYQS_8
To be the instituteOne of the discrete angle information (++)>
Figure QLYQS_10
) Corresponding firstlThe order of the pre-processing beams,iandjare all integers of the total number of the two,i/>
Figure QLYQS_12
,/>
Figure QLYQS_14
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.
3. The imaging system of claim 2, wherein the imaging system comprises a plurality of imaging devices,
the imager is further configured to obtain a result beam corresponding to each piece of discrete angle information by using a formula two based on the preprocessed beams of the multiple orders corresponding to each piece of discrete angle information;
the formula II is as follows:
Figure QLYQS_16
wherein ,
Figure QLYQS_17
for the discrete angle information (+)>
Figure QLYQS_18
) Corresponding result beams, wherein the value intervals of the multiple orders are respectively +.>
Figure QLYQS_19
]，NIs a natural number greater than 1,k=/>
Figure QLYQS_20
c is sound speed, < >>
Figure QLYQS_21
Is of the first kindlBessel function of the order pre-processed beam, < >>
Figure QLYQS_22
Is a natural constant which is used for the production of the high-temperature-resistant ceramic material,ais the radius of the preset emitter array.
4. The imaging system of claim 3, wherein the imaging system comprises,
the imager is further configured to normalize the result beam corresponding to each piece of discrete angle information by using a formula III, so as to obtain a final beam corresponding to each piece of discrete angle information;
the formula III is:
Figure QLYQS_23
wherein ,
Figure QLYQS_24
for the discrete angle information (+)>
Figure QLYQS_25
) A corresponding final beam.
5. The imaging system of claim 4, wherein the imaging system comprises a plurality of imaging devices,
the imager is further configured to perform fourier transform on the frequency of the result beam corresponding to each piece of discrete angle information, so as to obtain distance information corresponding to each piece of discrete angle information.
6. An imaging method for an imaging system, the imaging system comprising: presetting an emitter array, a preset 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 with the preset receiver array;
obtaining a target image of the target object based on the reflected echo by the imager, wherein the target image comprises target position information and target contour information of the target object;
the preset receiver array comprises a plurality of receivers, the plurality of 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;
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;
the method for generating the vortex sound wave by utilizing the preset emitter array to emit the vortex sound wave to the target object so as to generate a reflection echo when the vortex sound wave reaches the target object specifically comprises the following steps:
transmitting vortex sound waves with various orders to a target object by using the preset transmitter array, so that when the vortex sound waves with various orders reach the target object, reflection echoes with various orders corresponding to the vortex sound waves with various orders are generated;
the receiving the reflected echo by using the preset receiver array specifically includes:
utilizing the preset receiver array for receiving the reflected echoes of the multiple orders;
the obtaining, by the imager, a target image of the target object based on the reflected echo specifically includes:
obtaining the target image based on the reflected echoes of the plurality of orders with the imager;
the imager stores the position information of each receiver in the preset receiver array;
before obtaining the target image based on the reflected echoes of the plurality of orders with the imager, the method further comprises:
discretizing the preset angle information to obtain discrete angle information; obtaining a plurality of pre-processing beams of the orders corresponding to each piece of discrete angle information in the discrete angle information based on the reflected echoes of the plurality of orders and the position information of each receiver, and obtaining a result beam corresponding to each piece of discrete angle information based on the pre-processing beams of the orders corresponding to each piece of discrete angle information; based on the result wave beam corresponding to each piece of discrete angle information, distance information corresponding to each piece of discrete angle information is obtained, normalization processing is carried out on the result wave beam corresponding to each piece of discrete angle information, and a final wave beam corresponding to each piece of discrete angle information is obtained; obtaining result angle information corresponding to each piece of discrete angle information based on the final wave beam corresponding to each piece of discrete angle information; and obtaining the target image based on the result angle information and the distance information.
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