CN114787655A

CN114787655A - Target point position detection system and method, programmable circuit and storage medium

Info

Publication number: CN114787655A
Application number: CN202080081321.2A
Authority: CN
Inventors: 洪小平; 梁立成; 郭虓; 黄潇
Original assignee: SZ DJI Technology Co Ltd; Southwest University of Science and Technology
Current assignee: SZ DJI Technology Co Ltd; Southwest University of Science and Technology
Priority date: 2020-12-23
Filing date: 2020-12-23
Publication date: 2022-07-22
Also published as: WO2022133831A1

Abstract

A target point position detection system (400), the system (400) comprising: a signal generation device (401), a phased array sensor (403) including a plurality of subelements (402) having a predetermined pitch therebetween, and a signal processing device (404); the signal generating device (401) is used for applying a preset excitation signal to each subelement (402) of the phased array sensor (403); each subelement (402) of the phased array sensor (403) for emitting a mechanical wave signal based on the excitation signal and receiving an echo signal reflected by a target point, wherein the mechanical wave signal interferes with enhancement over a plurality of preset scan angles forming a probe beam and satisfies an orthogonality condition; and the signal processing device (404) is used for analyzing and processing the echo signals received by the sub-element (402) to obtain the position information of the target point.

Description

Target point position detection system and method, programmable circuit and storage medium

Technical Field

The present disclosure relates to the field of intelligent sensing, and in particular, to a system and a method for detecting a position of a target point, a programmable circuit, and a storage medium.

Background

At present, in the application of environmental perception of intelligent equipment, the related technology uses a phased array technology to acquire the position information of a target point, so as to realize environmental perception. The specific implementation mode is as follows: setting an initial phase for each array element of a phased array sensor, and applying different excitation signals to the array elements to enable the sensor to emit detection beams to a space in a certain range; the target point within the range reflects the detection beam, the formed echo signal is received by the array element, and the position information of the target point can be obtained through data processing.

However, after transmitting a probe beam, the method must wait for receiving an echo signal corresponding to the probe beam or not receive an echo signal for more than a certain time, and then transmit the next probe beam, otherwise, cannot distinguish multiple echo signals. Therefore, the method has the defects of long detection time and low efficiency, and further causes the problems of low environment perception capability, inconvenience in use and even incapability of using the intelligent equipment.

Disclosure of Invention

In order to overcome the defects of long detection time and low efficiency in the related technology and further bring the problems of low environmental perception capability, inconvenient use and even incapability to the intelligent equipment, the specification provides a target point position detection system and method, a programmable circuit and a storage medium.

According to a first aspect of embodiments herein, there is provided a target point position detection system, the system comprising: a signal generating device, a phased array sensor including a plurality of sub-elements having a predetermined pitch therebetween, and a signal processing device; the signal generating device is used for applying a preset excitation signal to each subelement of the phased array sensor; each subelement of the phased array sensor is used for transmitting a mechanical wave signal based on the excitation signal and receiving an echo signal reflected by a target point, wherein the mechanical wave signal is subjected to interference enhancement at a plurality of preset scanning angles to form a detection beam and an orthogonal condition is met; and the signal processing device is used for analyzing and processing the echo signals received by the sub-elements to obtain the position information of the target point.

According to a second aspect of embodiments herein, there is provided another target point position detection system, the system comprising: a programmable circuit and a phased array sensor comprising a plurality of subelements having a set pitch therebetween; the programmable circuit is used for applying a preset excitation signal to each subelement of the phased array sensor, and analyzing and processing echo signals received by the subelements to obtain position information of a target point; each subelement of the phased array sensor is used for transmitting a mechanical wave signal based on the excitation signal and receiving an echo signal reflected by a target point, wherein the mechanical wave signal is subjected to interference enhancement at a plurality of preset scanning angles to form a detection beam, and an orthogonality condition is met.

According to a third aspect of embodiments herein, there is provided a programmable circuit comprising: a signal generating circuit and a signal processing circuit; the signal generating circuit is used for applying a preset excitation signal to each subelement of the phased array sensor so that each subelement of the phased array sensor transmits a mechanical wave signal based on the excitation signal and receives an echo signal reflected by a target point, wherein the mechanical wave signal interferes and enhances to form a detection beam at a plurality of preset scanning angles and an orthogonal condition is met; and the signal processing circuit is used for analyzing and processing the echo signal received by the subelement to obtain the position information of the target point.

According to a fourth aspect of embodiments of the present specification, there is provided a target point position detection method based on the system of the second aspect, wherein the method is executed by a programmable circuit, and includes: applying a preset excitation signal to each subelement of a phased array sensor, so that each subelement of the phased array sensor emits a mechanical wave signal based on the excitation signal and receives an echo signal reflected by a target point, wherein the mechanical wave signal is subjected to interference enhancement at a plurality of preset scanning angles to form a probe beam and an orthogonality condition is met; and receiving the echo signal sent by each sub-element of the phased array sensor, and analyzing and processing the echo signal received by the sub-elements to obtain the position information of the target point.

According to a fifth aspect of embodiments herein, there is provided a computer readable storage medium having stored thereon computer instructions which, when executed, implement the method of the fourth aspect.

The technical scheme provided by the embodiment of the specification can have the following beneficial effects:

in the embodiment of the application, a preset excitation signal is applied to the subelements of the phased array sensor, so that mechanical wave signals emitted by each subelement and any other subelement of the phased array sensor are subjected to interference enhancement at multiple scanning angles to form a detection beam and meet an orthogonal condition, and then after the specified analysis processing is performed on echo signals received by the subelements, the position information of multiple target points can be obtained at the same time, and the defects of long detection time and low efficiency in the prior art are overcome.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the specification.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1A is a schematic diagram illustrating a horizontal direction detection using a phased array sensor, according to an exemplary embodiment.

FIG. 1B is a schematic diagram illustrating the detection of a direction at an angle to the horizontal using a phased array sensor according to one exemplary embodiment.

FIG. 2 is a schematic diagram illustrating object point detection using a two-dimensional phased array sensor according to an exemplary embodiment.

FIG. 3 is a schematic diagram illustrating detection of multiple target points using a phased array sensor according to one exemplary embodiment.

Fig. 4 is a schematic structural diagram of a target point position detection system according to an exemplary embodiment shown in the present specification.

Fig. 5A is a schematic diagram illustrating a phased array sensor array element structure according to an exemplary embodiment of the present disclosure.

Fig. 5B is a schematic diagram of another phased array sensor array element configuration shown in accordance with an exemplary embodiment.

FIG. 6A is a schematic diagram illustrating a method for generating a predetermined excitation signal for each subelement of a phased array sensor according to one exemplary embodiment.

FIG. 6B is another schematic diagram illustrating another embodiment of the present disclosure for generating predetermined excitation signals for each subelement of a phased array sensor.

Fig. 7A is a schematic diagram illustrating a principle that an echo signal corresponding to a target point can be extracted based on orthogonal properties of different echo signals according to an exemplary embodiment.

Fig. 7B is a schematic diagram illustrating a principle that an echo signal corresponding to a target point cannot be extracted based on the orthogonality of different echo signals according to an exemplary embodiment.

Fig. 8 is a diagram illustrating a two-dimensional correlation table containing delay times and corresponding scan angles according to an exemplary embodiment.

FIG. 9 is a block diagram of another object point location detection system in accordance with an exemplary embodiment of the present disclosure.

Fig. 10 is a schematic diagram illustrating a programmable circuit for target point location detection according to an exemplary embodiment of the present disclosure.

Fig. 11 is a flowchart illustrating a method for detecting a position of a target point according to an exemplary embodiment of the present disclosure.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

Mechanical waves such as sound waves and ultrasonic waves have the advantages of good directivity, strong reflection capability and the like, and are widely applied to the fields of distance measurement, speed measurement, positioning and the like. The embodiments described herein are applied to scenes such as detecting a position of a target point and acquiring a three-dimensional depth image by using mechanical waves. For the sake of understanding, the present application first introduces the basic principle of detecting the position of a target point using a phased array sensor with a mechanical wave as a detection wave source.

In applications where distance measurement is performed using mechanical waves, the mechanical waves are generally transmitted and received using a subelement capable of transmitting and receiving mechanical waves, such as a piezoelectric ceramic having an inverse piezoelectric effect and a piezoelectric effect. However, since the single subelement acts as a point source, the emitted mechanical wave is close to spherical wave, and there is no resolution in the air, so that the imaging is impossible, and the detection accuracy is seriously affected. Therefore, in practical application, as shown in fig. 1A, a plurality of sub-elements 101 to 105 capable of transmitting and receiving mechanical waves are usually used as array elements, the array elements are arranged at a certain pitch to form an array, spherical waves emitted from the array elements interfere in a propagation medium by controlling an excitation signal of each array element, and a beam 106 with a certain resolution is formed at a vibration enhancement position of the spherical waves.

Referring to fig. 1B, by controlling the phase of the spherical wave emitted by each array element, the spherical wave emitted by each array element can generate interference enhancement at different angles, and further the beam can be controlled to deflect according to a certain angle, thereby realizing scanning within a certain range. In fig. 1B, when θ is the deflection angle, Δ d is the array element pitch, and Δ R is the wave path difference, it can be seen that the wave path difference of the spherical waves emitted from the two array elements is Δ R ═ Δ d × sin θ.

Let the sound velocity in the air be c, the delay time of the spherical waves emitted by the two array elements is

Therefore, after the array element spacing is determined, by controlling the delay time of the mechanical wave emitted between the array elements, the equiphase positions (namely the positions where the interference of each spherical wave is enhanced) of the spherical waves emitted by each array element can be controlled, and the deflection angle theta of the detection wave beam can be controlled. Furthermore, in the detection process, the delay time of transmitting mechanical waves among the array elements is changed for multiple times, so that the effect of scanning and detecting the wave beams at all angles can be realized.

When the detection wave beam is reflected by a target point in the scanning direction, an echo signal is formed and received by the array element, and the geometric relation between the target point and the array is solved based on the time interval from the emission to the reception of the mechanical wave and the combination of the speed of the mechanical wave and the scanning angle of the detection wave beam, so that the coordinate of the target point can be obtained.

Fig. 1A and 1B are schematic diagrams showing only the detection of the position of a target point using a one-dimensional line array composed of a plurality of sub-elements. Because the one-dimensional linear array can only realize the scanning angle of the detection beam on the plane formed by the one-dimensional linear array and the target point, the two-dimensional coordinate of the target point can only be obtained through the one-dimensional linear array. As shown in fig. 2, if a one-dimensional linear array is replaced with a two-dimensional array 201, and a corresponding excitation signal is applied to each array element of the two-dimensional array, so that a mechanical wave emitted by each array element has a preset delay time, and scanning of the mechanical wave in a two-dimensional direction is implemented, a three-dimensional coordinate of a target point 202 in space can be obtained.

Based on the above detection method, three-dimensional coordinates of the target point in space can be obtained. However, when the sub-elements of the phased array sensor receive multiple echo signals within the integration time, the echo signals of multiple target points cannot be analyzed, and information corresponding to the multiple target points is extracted, so that in order to enable the echo signals to correspond to the target points, when the position of the target point is detected by using the array, only one detection beam can be transmitted each time, and after the corresponding echo beam is received or the echo beam is not received within a preset time period, the excitation signal can be changed, the transmission angle of the detection beam can be changed, and another target point can be detected.

As shown in fig. 3, a plurality of target points 302, 303 and 304 are probed with an array 301. The array 301 emits a probe beam 305 in response to the excitation signal, the probe beam 305 impinges on the object point 302, and an echo beam 306 reflected by the object point 302 is received by the array 301. In order to avoid aliasing of echo signals of multiple target points, it is ensured that echo signals of multiple target point positions can be analyzed respectively, and therefore, after the array transmits a probe beam 305, it is necessary to wait for the echo beam 306 to be received before the array can change the scanning angle and transmit the next probe beam.

Because the propagation speed of mechanical waves in a medium is relatively slow, taking sound waves as an example, the propagation speed is only 340m/s in the air, a phased array sensor consumes a certain time in the process of waiting for echo signals, and further, the speed of acquiring coordinate information of a plurality of target points is very slow, and many problems are brought to the practical application of mechanical wave detection. For example, in an application of environment sensing of a mobile robot, the robot needs to be able to quickly detect coordinate information of surrounding target points so that it can quickly react to the next step. As described above, after each probe beam is transmitted by the phased array sensor, it is necessary to wait for the echo beam to be received before transmitting the next probe beam for detection, so that the robot is in the waiting process, which not only wastes computing resources, but also greatly slows down the operation speed of the robot, which is unacceptable for practical applications of the intelligent robot.

In order to solve the above problems of the related art, the present application provides a target point position detection system.

Referring to fig. 4, an exemplary structure diagram of a target point position detection system provided in the present application is shown. The system 400 includes a signal generating device 401, a phased array sensor 403 including a plurality of subelements 402 spaced apart from each other at a set distance, and a signal processing device 404.

Wherein, the signal generating device 401 is configured to apply a preset excitation signal to each subelement 402 of the phased array sensor; each subelement 402 of the phased array sensor 403 is configured to transmit a mechanical wave signal based on the excitation signal and receive an echo signal reflected by a target point, wherein the mechanical wave signal interferes and enhances at a plurality of preset scanning angles to form a probe beam and satisfies an orthogonality condition; the signal processing device 404 is configured to analyze the echo signal received by each sub-element 402 to obtain position information of the target point.

The exemplary system described herein may be located on a mobile smart device, such as a smart robot, for causing the smart device to perform other operations or actions based on the three-dimensional coordinate information of the target point; of course, the above exemplary system may also be used alone, and fixed at a certain position, so as to obtain three-dimensional coordinate information of a target point located within a certain range of the position, and then transmit the information to other servers or devices in a wired or wireless manner, which is not limited in this application.

The propagation medium of the mechanical wave is not limited in the present application. That is, the present invention can be used in air propagation media such as land and sky, and can be used in liquid propagation media such as underwater, and can be used in other propagation media.

In some embodiments, the mechanical wave may be an acoustic or ultrasonic wave. Of course, it should be understood by those skilled in the art that the mechanical wave may also be a mechanical wave in other frequency bands determined based on the practical application requirements, and the application is not limited thereto.

In some embodiments, the subelements that make up the phased array sensor have an inverse piezoelectric effect and a piezoelectric effect.

In some materials, there are inverse piezoelectric effects and piezoelectric effects. The inverse piezoelectric effect refers to a phenomenon that an alternating electric field is applied to a piezoelectric material to cause mechanical deformation of the material. If a certain voltage signal is applied to such a material, the material generates mechanical stress, and can generate mechanical waves, so that conversion between electric energy and mechanical energy is realized. For example: if the applied voltage is a high frequency electrical signal, the piezoelectric material is capable of generating a high frequency acoustic signal.

The piezoelectric effect refers to that if pressure is applied to some materials, the materials generate potential difference. The potential difference generated by the piezoelectric material is generally quantitatively related to the pressure applied thereto, and by measuring the potential difference of the material, the pressure applied to the material can be quantitatively measured. When a mechanical wave is applied to a piezoelectric material, the material generates a potential difference due to the force, and the magnitude of the mechanical wave can be obtained based on the generated potential difference.

In the application, a phased array sensor is formed by utilizing sub-elements with inverse piezoelectric effect and piezoelectric effect, so that electric signals under preset conditions can be applied to the sub-elements of the phased array sensor, and the sub-elements emit corresponding mechanical wave signals for detecting a target point; the echo signal formed by the reflection of the target point interacts with the subelement, the subelement can convert the received echo signal into an electrical signal, and the size of the echo signal is quantified, so that the method can be used for extracting the position information of the target point, imaging the target point and the like.

In some embodiments, the sub-element may be various piezoelectric ceramics, may also be a polymer piezoelectric material such as a Polyvinylidene fluoride (PVDF) film, and may also be various piezoelectric crystals, which is not limited in this application.

Of course, besides the above-mentioned subelements having piezoelectric effect and inverse piezoelectric effect, the phased array sensor of the present application may also be composed of other subelements, and the present application does not limit the specific material of the subelements as long as the subelements can transmit mechanical waves and receive corresponding echo signals reflected by target points.

In the embodiments described in the present application, the phased array sensor is formed by selecting sub-elements capable of emitting mechanical waves and receiving corresponding echo signals reflected by target points, and the sub-elements are used as the sensing elements of the target point position detection system, which has the advantages of reducing the system volume and cost and being easy to use.

In some embodiments, the phased array sensor composed of a plurality of sub-elements with a set distance therebetween may be a rectangular phased array composed of N × M sub-elements (M and N are positive integers not less than 2), a polygonal phased array sensor (e.g., triangle, pentagon, hexagon, etc.), or other phased arrays with shapes determined by one skilled in the art based on an optimized design, which is not limited by the present application.

The spacing between the sub-elements constituting the array sensor may be the same spacing between all the sub-elements, or different spacings between the sub-elements, which may be determined by one skilled in the art based on an optimized design, and the present application is not limited thereto.

In an embodiment of the present application, the signal generating device is configured to apply a preset excitation signal to each sub-element, so that each sub-element interferes with a mechanical wave signal emitted by any other sub-element to form a probe beam at a plurality of preset scanning angles.

In an embodiment of the present application, as described above, when the phased array sensor is selected, and then the array element pitch of the phased array sensor is determined accordingly, by applying a preset excitation signal to a single sub-element of the phased array sensor according to a preset sequence, and further controlling the delay time of the array elements in the phased array sensor for emitting the mechanical wave, the equal-phase position of the spherical wave emitted by each array element can be selected. Based on the wave interference principle, in the equal phase position direction of a plurality of mechanical waves, each mechanical wave can interfere and enhance to form a detection beam.

Therefore, when the excitation signal is applied to each subelement of the phased array sensor according to a preset time interval, the mechanical wave signal generated by each subelement has a preset time delay, the deflection angle of the detection beam can be controlled, and the effects of forming the detection beam at a plurality of preset angles and scanning detection are achieved.

Wherein the predetermined delay timeIs determined by a spacing parameter between subelements of the phased array sensor. Taking the phased array sensor shown in fig. 5A as an example, the phased array sensor 500 is a rectangular array sensor including 5 × 3 sub-elements 501, and the spacing between any sub-element and the adjacent sub-element is Δ d in the horizontal direction and the vertical direction. As can be seen from FIG. 1B, taking the vertical direction as an example, there is a mechanical wave between the mechanical waves emitted by the adjacent sub-elements

The delay time of (3) can form a probe beam having an angle θ with the horizontal direction. Therefore, when delay times are set for the mechanical waves emitted from the subelements of the phased array transducer, probe beams of corresponding angles can be generated. The skilled person can preset a plurality of delay times of the mechanical waves emitted by each array element based on the selected phased array transducer, so that the probe beams at a plurality of scanning angles can be obtained, and scanning detection in a plurality of specified directions can be realized.

Of course, it should be understood by those skilled in the art that, in addition to the phased array sensor having the same interval between each array element in the horizontal direction and the vertical direction (as shown in fig. 5A), the phased array sensor may also be a phased array sensor (as shown in fig. 5B) in which the interval between each array element and the rest of the array elements is not completely the same according to the optimization theory, and no matter what specific phased array sensor is, a preset excitation signal may be applied to the sub-elements of the phased array sensor based on the spacing relationship between the sub-elements, so that the multiple array elements interfere and enhance to form a probe beam in multiple scanning angles, and the application does not limit the specific phased array sensor used.

In an embodiment of the application, the signal generating device applies a preset excitation signal to each subelement, and in addition to the need to make the mechanical wave signal emitted by each subelement and any other subelement interfere and enhance in a specified direction to form a probe beam, the mechanical wave signal emitted by each subelement and any other subelement also need to make the mechanical wave signal meet an orthogonality condition, so as to allow the phased array to emit a plurality of probe beams and receive a plurality of mixed echo signals in one transceiving process within the preset time interval, and through signal processing, the echo signals corresponding to the plurality of probe beams are resolved to obtain the position information of a plurality of target points.

Based on the knowledge related to digital signal processing, if the signals x (T) and y (T) are within the time [0, T ], there are:

signals x (T) and y (T) are said to be orthogonal to each other over time [0, T ]. That is, within a given time [0, T ], the two orthogonal signals do not interfere with each other spectrally, and the two signals are integrated over that time, resulting in an integration of 0 for both signals.

Therefore, based on the above principle, when mutually orthogonal mechanical wave signals are used as the probe beams, although the respective signals are superimposed on each other in the propagation medium and the echo signals reflected by the target points are also aliased, after the mixed echo signals are received, the echo signals corresponding to each probe beam can be extracted by multiplying the mixed echo signals received within time [0, T ] by all the transmitted mechanical wave signals and integrating the resultant signals based on the characteristic that the orthogonal signals do not interfere with each other in the frequency spectrum, and the position information of a plurality of target points can be obtained in one transmission and reception process based on the extracted plurality of echo signals.

In an embodiment of the present application, the excitation signal corresponding to the mechanical wave satisfying the orthogonality condition within a specified time may be determined by:

assuming two signals, signal 1 is expressed as

The expression of signal 2 is

The product of signal 1 and signal 2 is then:

wherein the content of the first and second substances,

are all constant.

The rightmost equation has no first term for the coefficient:

then there are:

let a equal 2 pi f₀,b＝2π(f₀+Δf)，

The first term is equal to:

therefore, when 2(2 f)₀When + Δ f) T and 2 Δ fT are both integers, the first result is 0.

The second term of the equation to the far right without coefficients:

then there are:

let a be 2 pi f₀,b＝2π(f₀+Δf)，

The second term is equal to:

therefore, when 2(2 f)₀+ Δ f) T and 2 Δ fT are both evenIn the case of numbers, the second term results in 0.

Similar results as described above are given for the third term cosax x sinbx without coefficients and the fourth term cosax x cosbx without coefficients to the right of the equation.

Thus, in summary, it can be seen that: when 2(2 f)₀+ Δ f) T and 2 Δ fT are both even numbers, the product of signal 1 and signal 2 is 0, the two signals are in quadrature, where f₀Is the frequency of signal 1 or signal 2, Δ f is the frequency separation of signal 1 and signal 2, and T is the integration time of the signals.

Suppose to take: f. of₀40kHz, T0.5 ms, then 2(2 f)₀+ Δ f) T ═ 80+ Δ f, 2 Δ fT ═ Δ f. Thus, when Δ f is even, the two signals are in quadrature.

Based on the above results, the following conclusions were made: under the condition that the integration time of the phased array sensor is determined, if preset excitation signals are applied to each subelement, the preset excitation signals have different frequencies, and specified frequency intervals are provided between every two subelements, the mechanical wave signals emitted by all the subelements can have different frequencies, and the frequency intervals between every two mechanical wave signals are even numbers, the mechanical waves emitted by any two subelements of the phased array sensor meet an orthogonal condition, namely within the integration time, the two signals are mutually uncorrelated on frequency spectrums.

Therefore, in the present application, the signal generating device is configured to apply a preset excitation signal to each subelement at preset time intervals, so that each subelement and any other subelement emit mechanical wave signals, and the interference enhancement forms a probe beam at a plurality of preset scanning angles and satisfies an orthogonality condition, and may be implemented by one exemplary manner as follows:

setting the integral time of each sub-element of the phased array sensor for receiving echo signals to be T₀And applying a preset excitation signal to the sub-elements of the phased array sensor, so that the sub-elements emit mechanical wave signals with different frequencies at preset delay time, and the frequency interval between every two mechanical wave signals is an even number.

In the above embodiments, the relationship between the excitation signal and the mechanical wave signals emitted by the sub-elements of the phased array sensor is not limited, that is, in the above embodiments, regardless of whether the mechanical wave signals emitted by the sub-elements of the phased array sensor and the excitation signal are in a linear relationship, the mechanical wave signals emitted by the sub-elements of the phased array sensor are only required to be capable of interference enhancement in a specified direction to form a probe beam and to satisfy an orthogonality condition.

In some embodiments, the emitted mechanical wave signal is linear with the excitation signal after the subelements of the phased array sensor are applied with the excitation signal. In this case, the mechanical wave signals emitted from each subelement and any other subelement interfere and enhance to form a detection beam at a plurality of preset scanning angles and satisfy the orthogonality condition, excitation signals with different frequencies can be generated by presetting the signal generating device, and every two excitation signals have even frequency intervals, the excitation signals are applied to the subelements of the phased array sensor according to a preset application sequence, so that the subelements generate the mechanical wave signals with different frequencies, and every two mechanical wave signals have even frequency intervals and a specified delay time.

Of course, it should be understood by those skilled in the art that the above-mentioned embodiments that enable each sub-element and any other sub-element to emit mechanical wave signals, and enhance interference in a specified direction to form a detection beam and satisfy the orthogonality condition are only exemplary, and are not exhaustive, and the interference enhancement of the mechanical wave signals emitted by a plurality of sub-elements and/or the satisfaction of the orthogonality condition may also be achieved in other ways, which is not limited in this application.

As described in detail above, in order to enhance the interference of the mechanical wave signals emitted from each sub-element and any other sub-element of the phased array sensor to form a probe beam at multiple scanning angles, it is necessary to have a specific delay time between the mechanical wave signals emitted from the sub-elements; in order for each subelement of the phased array sensor to transmit a mechanical wave signal with any other subelement, the orthogonality condition is satisfied, and it is necessary that the mechanical wave signals transmitted by the subelements are different in frequency and have an even number of frequency intervals.

Therefore, in some embodiments, in order to cause each subelement to emit mechanical wave signals with any other subelement, the interference enhancement forming a probe beam is performed at a plurality of scanning angles and the orthogonality condition is satisfied, the applying a preset excitation signal to each subelement includes: the signal generating device sequentially applies pulse signals with even frequency intervals and different frequencies to each subelement according to a preset sequence at preset time intervals.

The preset time interval and the preset sequence are determined based on the distance between the array elements of the phased array sensor used actually and the preset scanning angle.

In this embodiment, the signal generating device 603 and each array element 602 of the phased array sensor 601 may have a connection relationship as shown in fig. 6A (where, a signal processing device is not shown). Before the exemplary system is applied, the corresponding delay time required for enhancing the interference of the mechanical waves emitted by each array element in different directions to form the detection beams can be calculated according to the specifically selected spacing between the array elements of the phased array sensor and the preset sequence for applying the excitation signals to the array elements of the phased array sensor. In addition, in order to satisfy the orthogonal relationship between the two mechanical waves emitted by the phased array transducer, the excitation signal applied to each array element needs to have even frequency intervals and different frequencies.

Therefore, when the mechanical waves generated by the sub-elements of the phased array sensor are in a linear relationship with the excitation signals thereof, the signal generating device sequentially applies pulse signals with even frequency intervals and different frequencies to each sub-element of the phased array sensor at preset time intervals according to a preset sequence, so that the mechanical wave signals emitted by each sub-element of the phased array and any other sub-element can be subjected to interference enhancement to form detection beams at a plurality of scanning angles, and the orthogonality condition is met.

In some embodiments, in order to make each subelement emit mechanical wave signals with any other subelement, the interference enhancement forms a probe beam in a specified direction and satisfies the orthogonality condition, the applying a preset excitation signal to each subelement includes: the signal generating device simultaneously generates a plurality of pulse signals with even frequency intervals and different frequencies, and the pulse signals are subjected to delay processing corresponding to each subelement and excitation signals are applied to each subelement.

The delay processing corresponding to each sub-element is determined based on the spacing between the array elements of the phased array sensor used actually, the preset sequence of the mechanical waves generated by the array elements and the preset scanning angle of the detection beams.

In this embodiment, the delay processing may be implemented by a delay circuit. As shown in fig. 6B, the signal generator 603 may be connected to each array element 602 of the phased array sensor 601 through different delay circuits 604. When the exemplary system is applied, the signal generating device 603 is enabled to simultaneously generate a plurality of excitation signals with even frequency intervals and different frequencies, and the generated excitation signals are applied to the corresponding array elements 602 after a specified delay time is introduced through the delay circuit 604, so that the mechanical waves emitted by the different array elements 602 of the phased array transducer 601 have the specified delay time, and interference enhancement can occur at a scanning angle corresponding to the specified delay time to form a detection beam. When the delay time introduced by the delay circuit is changed, the corresponding scanning angle is also changed.

Before the exemplary system is applied, the time intervals of mechanical wave emission of the array elements corresponding to different scanning angles can be calculated according to the specifically selected intervals between the array elements of the phased array sensor, the preset sequence of mechanical wave generation of each array element of the phased array sensor and the preset scanning angle of the detection wave beam. Based on the time interval, the delay circuit 604 corresponding to the array element is further designed to introduce a specified delay time for the mechanical wave transmitted by the array element.

Therefore, when the mechanical waves generated by the sub-elements of the phased array sensor are in a linear relationship with the excitation signals thereof, the signal generating device simultaneously generates pulse signals with even frequency intervals, the pulse signals pass through the delay circuit corresponding to each sub-element, and excitation signals with different frequencies with even frequency intervals and specified delay time are applied to each sub-element, so that the mechanical wave signals emitted by each sub-element and any other sub-element of the phased array can be realized, the interference enhancement is realized on a plurality of scanning angles to form detection beams, and the orthogonality condition is met.

With the exemplary system described herein, when the mechanical wave signal emitted by each subelement and any other subelement of the phased array sensor satisfy the interference enhancement to form a probe beam in a plurality of designated directions and satisfy the orthogonality condition, an echo signal is generated when the mechanical wave signal emitted by the phased array sensor is reflected by a target point located in the plurality of designated directions. When the echo signal is received by the subelements of the phased array sensor, the signal processing device analyzes the echo signal received by each subelement, and can obtain position information of a plurality of target points.

Due to the excitation signal applied to each subelement of the phased array sensor, mechanical wave signals emitted by each subelement and any other subelement can meet an orthogonality condition besides interference enhancement forming detection beams at a plurality of scanning angles, so that echo signals received by each subelement can be analyzed based on orthogonality between the beams by using the signal processing device, echo signals corresponding to a plurality of target points are extracted, and further position information corresponding to the plurality of target points can be obtained.

In some embodiments, the analyzing the echo signal received by each sub-element to obtain the position information of the target point includes: multiplying and superposing the excitation signals of the subelements and the echo signals received by the subelements, and extracting target echo signals corresponding to target points; and acquiring the position information of the target point based on the target echo signal.

Using said phased arrayOrthogonality of the beams transmitted and received by the column sensors:

it can be seen that, the echo signal received by each subelement of the phased array sensor within a specified time integration is multiplied and integrated (for discrete signals, superposition is used) with the excitation signal of each subelement, only the integration result of the excitation signal and the echo signal corresponding to the echo signal is not 0, and the integration (or superposition) result of the rest of the excitation signals is 0 because they are orthogonal to the echo signal. Therefore, the echo signals received by each subelement can be multiplied by the excitation signals of all the subelements of the phased array sensor and superimposed to extract target echo signals corresponding to different excitation signals. Different excitation signals correspond to different detection beams and further correspond to different target points. Therefore, the echo signal received by each subelement is multiplied by and superimposed on the excitation signals of all subelements of the phased array sensor, and an echo signal substantially corresponding to the detected target point is extracted.

After the target echo signals corresponding to different target points are extracted, based on relevant information associated with the target echo signals, for example, information such as delay time of an excitation signal corresponding to the target echo signal, a scanning angle of a probe beam, propagation time of the probe beam corresponding to the target echo signal in a propagation medium, and the like, in combination with wave velocity of a mechanical wave, three-dimensional coordinate information of the target points can be obtained by solving a geometrical relationship.

In some embodiments, the excitation signals and the echo signals are multiplied and integrated, and a target echo signal corresponding to each target point is extracted, which can be implemented in the following manner: carrying out time delay processing corresponding to the transmitted mechanical wave signal on the echo signal received by each subelement, and superposing the results of the time delay processing; and taking the superposition result larger than the threshold value as a target echo signal.

Referring to fig. 7A and 7B, processing diagrams for extracting target echo signals corresponding to a plurality of target points based on the orthogonality of different echo signals are shown. After the probe beam emitted by the phased array sensor is reflected by the target point 701, the echo signal is received by each subelement 702 of the phased array sensor and converted into an electrical signal 705. Performing delay processing 703 corresponding to each group of excitation signals on the converted electrical signals 705 (where preset delay processing corresponds to delay time of the excitation signals of the sub-elements of the phased array sensor), and superimposing 704 the electrical signals converted by the sub-elements, and if a superimposed signal higher than a threshold can be obtained, as shown in 707 in fig. 7A, based on the delay time of the excitation signals, determining angle information of the target point and a plane where the phased array sensor is located, where the superimposed signal is a target echo signal corresponding to the target point. If a superimposed signal higher than the threshold value cannot be obtained, as shown in 707 in fig. 7B, it is described that the probe beam corresponding to the delay processing is not the probe beam corresponding to the echo signal, that is, the scan angle corresponding to the delay time of the excitation signal is not the angle corresponding to the echo signal, and accordingly, the target echo signal is not obtained. Therefore, based on the delay processing and the superposition processing, a target echo signal corresponding to the detected target point can be extracted from the echo signals received by each subelement.

In some embodiments, obtaining position information of a target point based on the target echo signal comprises: determining a scanning angle of a detection beam corresponding to the target delay time based on the target delay time corresponding to the delay processing of the target echo signal; obtaining a target point coordinate corresponding to the target echo signal based on the flight time corresponding to the target echo signal and the scanning angle; and the flight time is a time interval between the receiving time of the target echo signal and the transmitting time of the corresponding detection beam.

Still taking fig. 7A as an example, after a superimposed signal higher than a threshold is obtained, it can be determined that the superimposed signal higher than the threshold is a target echo signal of a target point. Based on the delay processing 703, the delay time of the transmission signal corresponding to the target echo signal can be determined. Then, further, based on the delay time, angle information of the echo signal with respect to a plane in which the phased array sensor is located may be obtained. Based on the flight time of the target echo signal, that is, the propagation time of the probe beam and the target echo beam of the target point in the propagation medium, the flight time is multiplied by the wave speed of the mechanical wave, and then is divided by 2, so that the distance information of the target point corresponding to the target echo signal at the angle can be obtained. With the distance information and the angle information of the target point and the phased array sensor, the three-dimensional coordinate information of the target point can be obtained based on a simple geometric relationship.

The above description is about the process of solving the three-dimensional coordinate information of a target point. If the phased array sensor receives echo signals of a plurality of target points, the target points correspond to different delay times due to different scanning angles of the target points, the echo signals of the plurality of target points can be extracted by applying different delay processing to the signals received by the phased array subelements, the delay time corresponding to the transmitted mechanical waves is obtained, and the angle information corresponding to the target points can be determined. Also, based on the time-of-flight and angle information of the mechanical wave, in conjunction with the propagation velocity of the mechanical wave, three-dimensional coordinate information of a plurality of target points can be obtained.

In some embodiments, determining the scanning angle of the probe beam corresponding to the target delay time is performed by: acquiring a scanning angle of a detection beam corresponding to the target delay time by inquiring a preset association table; the association table pre-stores a target delay time and a scanning angle of a probe beam corresponding to the target delay time.

Before the system is applied to measuring the position of a target point, the delay time of the mechanical wave emitted by each sub-element of the phased array sensor can be determined based on the size of the phased array sensor and the preset scanning range, and the delay time corresponds to the scanning angle of the detection beam emitted by the phased array sensor.

Accordingly, an association table corresponding to the phased array sensor may be preset to correspond the scanning angle of the probe beam to the delay time. For example, if the phased array sensor is a rectangular sensor composed of N x M subelements, the delay time of the mechanical wave emitted by each subelement can be determined based on the preset scan angle of the probe beam. Therefore, as shown in fig. 8, a two-dimensional association table of N × M is predetermined, where each cell of the association table represents a delay time, and the position of each cell corresponds to the scanning angle of the probe beam in the horizontal direction and the vertical direction.

After the phased array sensor performs preset delay processing on the echo signals received by each subelement and performs superposition to obtain target delay time corresponding to the echo signals, the phased array sensor obtains angle information corresponding to the echo signals based on operation, and can also obtain angle information of the position of the target point directly from the preset association table based on the target delay time.

In some embodiments, after obtaining the position information of the target point, the signal processing device is further configured to obtain a depth image including the target point based on the position information of the target point and an echo signal corresponding to the target point by using the exemplary system described herein; the depth image comprises three-dimensional coordinate information of the target point and intensity information of an echo signal corresponding to the target point.

The depth image information of the environment around the exemplary system described in the present application is obtained based on the three-dimensional coordinate information of the target point and the intensity information of the echo signal reflected by the target point, and may be implemented with reference to related technologies, which are not described in detail herein.

In some embodiments, the signal generating device further includes an RC filter and/or an amplifying circuit to obtain an excitation signal with better quality, so that the mechanical wave signal emitted by the phased array sensor is more stable, which is not limited in this application.

In some embodiments, the signal processing apparatus further includes an amplifying circuit and/or an RC filter and/or an analog-to-digital converter to obtain an echo signal with better quality, which is not limited in this application.

It can be seen from the above embodiments that, based on the target point position detection system provided by the present application, by applying a preset excitation signal to the subelements of the phased array sensor at preset time intervals, a detection beam is formed by interference enhancement of mechanical wave signals emitted by each subelement and any other subelement of the phased array sensor at multiple scanning angles and an orthogonal condition is satisfied, and then after performing specified analysis processing on echo signals received by the subelements, position information of multiple target points can be obtained at the same time, thereby overcoming the defects of long detection time and low efficiency in the prior art.

In order to solve the defect that in the application of utilizing a phased array sensor to measure the position of a target point and image a depth image of the target point in the related art, after the phased array sensor transmits each probe beam, the phased array sensor can transmit the next probe beam for detection only after an echo beam is received.

As shown in fig. 9, another exemplary system 900 of the present application includes: a programmable circuit 901 and a phased array sensor 903 comprising a plurality of subelements 902 at set distances from each other.

The programmable circuit 901 is configured to apply a preset excitation signal to each subelement 902 of the phased array sensor, and analyze and process an echo signal received by the subelement 902 to obtain position information of a target point;

each subelement 902 of the phased array sensor is configured to transmit a mechanical wave signal based on the excitation signal and receive an echo signal reflected by a target point, wherein the mechanical wave signal interferes and enhances at a plurality of preset scanning angles to form a probe beam and satisfies an orthogonality condition.

In some embodiments, the Programmable circuit is a Field-Programmable Gate Array (FPGA).

As previously described, in some embodiments, the mechanical wave signal is a sonic or ultrasonic wave signal.

In some embodiments, the subelement has a piezoelectric effect and an inverse piezoelectric effect.

In some embodiments, the subelement is a piezoelectric ceramic or PVDF or a piezoelectric crystal.

In some embodiments, the excitation signal is applied to each subelement of the phased array sensor at predetermined time intervals such that the mechanical wave signal generated by each subelement has a predetermined delay time.

In some embodiments, the excitation signals have different frequencies and a specified frequency spacing between each two, such that the mechanical wave signals generated by each subelement have different frequencies and an even number of frequency spacings between each two.

In some embodiments, applying a predetermined excitation signal to each subelement of the phased array sensor comprises: the programmable circuit sequentially applies pulse signals with different frequencies and even frequency intervals between every two sub-elements according to a preset sequence at preset time intervals.

In some embodiments, applying a predetermined excitation signal to each subelement of the phased array sensor comprises: the programmable circuit simultaneously generates a plurality of pulse signals with different frequencies and even frequency intervals between every two pulse signals, and the pulse signals are subjected to delay processing corresponding to each sub-element to apply excitation signals to each sub-element.

In some embodiments, the analyzing the echo signal received by each sub-element to obtain the position information of the target point includes: multiplying and superposing the excitation signals of the subelements with the echo signals received by the subelements respectively, and extracting target echo signals corresponding to target points; and acquiring the position information of the target point based on the target echo signal.

In some embodiments, the extracting a target echo signal corresponding to the target point includes: carrying out time delay processing corresponding to the transmitted mechanical wave signal on the echo signal received by each subelement, and superposing the results of the time delay processing; and taking the superposition result larger than the threshold value as a target echo signal.

In some embodiments, the obtaining the position information of the target point based on the target echo signal includes: determining a scanning angle of a detection beam corresponding to the target delay time based on the target delay time corresponding to the delay processing of the target echo signal; obtaining a target point coordinate corresponding to the target echo signal based on the flight time corresponding to the target echo signal and the scanning angle; and the flight time is a time interval between the receiving time of the target echo signal and the transmitting time of the corresponding detection beam.

In some embodiments, after the obtaining the position information of the target point, the signal processing device is further configured to obtain a depth image including the target point based on the position information of the target point and an echo signal corresponding to the target point; the depth image comprises three-dimensional coordinate information of the target point and intensity information of an echo signal corresponding to the target point.

The above-described embodiments are similar to the target point position detection system constituted by the phased array sensor, the signal generation device, and the signal processing device described above, and mainly differ in that the processing performed by the signal generation device and the signal processing device is performed by a programmable circuit in the present embodiment. Therefore, the implementation of the above embodiments is not described herein again.

It can be seen from the above embodiments that, based on the target point position detection system provided by the present application, by applying a preset excitation signal to the subelements of the phased array sensor at preset time intervals, a detection beam is formed by interference enhancement of mechanical wave signals emitted by each subelement and any other subelement of the phased array sensor at multiple scanning angles and an orthogonal condition is satisfied, and then after performing specified analysis processing on echo signals received by the subelements, position information of multiple target points can be obtained at the same time, thereby overcoming the defects of long detection time and low efficiency in the prior art. In addition, the programmable circuit is used for replacing the signal generating device and the signal processing device, so that the size of the system can be effectively reduced, the processing efficiency is improved, and the use is convenient.

As shown in fig. 10, the present application also provides a programmable circuit 1000 including a signal generation circuit 1001 and a signal processing circuit 1002.

The signal generating circuit 1001 is configured to apply a preset excitation signal to each subelement of the phased array sensor, so that each subelement of the phased array sensor transmits a mechanical wave signal based on the excitation signal and receives an echo signal reflected by a target point, wherein the mechanical wave signal interferes and enhances at a plurality of preset scanning angles to form a probe beam and satisfies an orthogonality condition; the signal processing circuit 1002 is configured to analyze the echo signal received by the sub-element to obtain position information of the target point.

By using the programmable circuit 1000 described herein, the signal generating circuit 1001 of the programmable circuit 1000 is connected to each subelement of the phased array, and provides an excitation signal to each subelement, so that each subelement and any other subelement emit mechanical wave signals, which are subjected to interference enhancement at a plurality of preset scanning angles to form a probe beam and satisfy an orthogonality condition. The signal processing circuit 1002 of the programmable circuit 1000 is connected to each subelement of the phased array, and the echo signals received by each subelement are analyzed and processed based on orthogonality between the echo signals, thereby obtaining position information of a plurality of target points.

In some embodiments, the excitation signals have different frequencies and are spaced apart by a specified frequency spacing such that the mechanical wave signal generated by each subelement has a different frequency and is spaced apart by an even number of frequencies.

In some embodiments, the obtaining the position information of the target point based on the target echo signal includes: determining a scanning angle of a detection beam corresponding to the target delay time based on the target delay time corresponding to the delay processing of the target echo signal; obtaining a target point coordinate corresponding to the target echo signal based on the flight time corresponding to the target echo signal and the scanning angle; and the flight time is the time interval between the receiving time of the target echo signal and the transmitting time of the corresponding detection beam.

In some embodiments, determining the scanning angle of the probe beam corresponding to the target delay time is performed by: acquiring a scanning angle of a detection beam corresponding to the target delay time by inquiring a preset association table; the association table pre-stores the target delay time and the scanning angle of the corresponding probe beam.

In some embodiments, after the obtaining of the position information of the target point, the signal processing device is further configured to obtain a depth image including the target point based on the position information of the target point and an echo signal corresponding to the target point; the depth image comprises three-dimensional coordinate information of the target point and intensity information of an echo signal corresponding to the target point.

The above-described embodiments are similar to the target point position detection system described above, and the main difference is that the processing performed by the signal generation device and the signal processing device is performed by a programmable circuit including a signal generation circuit and a signal processing circuit in the present embodiment. Therefore, the implementation of the above embodiments is not described herein again.

It can be seen from the foregoing embodiments that, based on the target point position detection system provided in the present application, by applying a preset excitation signal to the subelements of the phased array sensor at preset time intervals, a detection beam is formed by interference enhancement of mechanical wave signals emitted by each subelement and any other subelement of the phased array sensor at multiple scanning angles and an orthogonal condition is satisfied, and then after performing specified analysis processing on echo signals received by the subelements, position information of multiple target points can be obtained simultaneously, which overcomes the defects of long detection time and low efficiency in the prior art. In addition, the programmable circuit is used for replacing the signal generating device and the signal processing device, so that the size of the system can be effectively reduced, the processing efficiency is improved, and the use is convenient.

Accordingly, the present application further provides a target point detection method based on the exemplary system described above, where the method is performed by a programmable circuit, as shown in fig. 11, and the method includes:

step 1101: applying a preset excitation signal to each subelement of a phased array sensor, so that each subelement of the phased array sensor transmits a mechanical wave signal based on the excitation signal and receives an echo signal reflected by a target point, wherein the mechanical wave signal interferes and enhances to form a probe beam at a plurality of preset scanning angles and an orthogonal condition is met;

step 1102: and receiving the echo signal sent by each sub-element of the phased array sensor, and analyzing and processing the echo signal received by the sub-elements to obtain the position information of the target point.

In some embodiments, the excitation signal is applied to each subelement of the phased array sensor at preset time intervals such that the mechanical wave signal generated by each subelement has a preset delay time.

The above embodiments are described in detail in the above exemplary system, and are not described herein again.

It can be seen from the foregoing embodiments that, based on the target point position detection system provided in the present application, by applying a preset excitation signal to the subelements of the phased array sensor at preset time intervals, a detection beam is formed by interference enhancement of mechanical wave signals emitted by each subelement and any other subelement of the phased array sensor at multiple scanning angles and an orthogonal condition is satisfied, and then after performing specified analysis processing on echo signals received by the subelements, position information of multiple target points can be obtained simultaneously, which overcomes the defects of long detection time and low efficiency in the prior art.

In an embodiment of the present application, a computer-readable storage medium is further provided, where the computer-readable storage medium stores instructions that, when executed on a computer, implement all embodiments of the foregoing methods of the present application, and details are not repeated herein.

The computer readable storage medium may be an internal storage unit of the device according to any of the foregoing embodiments, for example, a hard disk or a memory of the device. The computer readable storage medium may also be an external storage device of the device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the apparatus. The computer-readable storage medium is used for storing the computer program and other programs and data required by the apparatus. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.

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 storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The foregoing description of specific embodiments has been presented for purposes of illustration and description. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This specification is intended to cover any variations, uses, or adaptations of the specification following, in general, the principles of the specification and including such departures from the present disclosure as come within known or customary practice within the art to which the specification pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the specification being indicated by the following claims.

It will be understood that the present description is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the description is limited only by the appended claims.

The above description is only a preferred embodiment of the present disclosure, and should not be taken as limiting the present disclosure, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims

1. A target point position detection system, characterized in that the system comprises: a signal generating device, a phased array sensor including a plurality of sub-elements having a predetermined pitch therebetween, and a signal processing device;

the signal generating device is used for applying a preset excitation signal to each subelement of the phased array sensor;

each subelement of the phased array sensor is used for transmitting a mechanical wave signal based on the excitation signal and receiving an echo signal reflected by a target point, wherein the mechanical wave signal is subjected to interference enhancement at a plurality of preset scanning angles to form a detection beam and an orthogonal condition is met;

and the signal processing device is used for analyzing and processing the echo signals received by the subelements to obtain the position information of the target point.

2. The system of claim 1, wherein the mechanical wave signal is a sonic or ultrasonic wave signal.

3. The system of claim 1, wherein the subelements have a piezoelectric effect and an inverse piezoelectric effect.

4. The system of claim 3, wherein the subelement is a piezoelectric ceramic or PVDF or a piezoelectric crystal.

5. The system of claim 1, wherein the excitation signal is applied to each subelement of the phased array sensor at predetermined time intervals such that each subelement generates a mechanical wave signal having a predetermined delay time.

6. The system of claim 1, wherein the excitation signals have different frequencies and are spaced apart by a specified frequency spacing such that the mechanical wave signal generated by each subelement has a different frequency and is spaced apart by an even number of frequencies.

7. The system of claim 1, wherein applying a predetermined excitation signal to each subelement of the phased array sensor comprises:

the signal generating device sequentially applies pulse signals with different frequencies and even frequency intervals between every two pulse signals to each sub-element at preset time intervals according to a preset sequence.

8. The system of claim 1, wherein applying a predetermined excitation signal to each subelement of the phased array sensor comprises:

the signal generating device simultaneously generates a plurality of pulse signals with different frequencies and even frequency intervals between every two pulse signals, and the pulse signals are subjected to delay processing corresponding to each subelement and applied with excitation signals for each subelement.

9. The system of claim 5, wherein the analyzing the echo signal received by each sub-element to obtain the position information of the target point comprises:

respectively multiplying the excitation signals of the subelements by the echo signals received by the subelements, and superposing the excitation signals and the echo signals to extract target echo signals corresponding to target points;

and acquiring the position information of the target point based on the target echo signal.

10. The system of claim 9, wherein the extracting the target echo signal corresponding to the target point comprises:

carrying out time delay processing corresponding to the transmitted mechanical wave signal on the echo signal received by each subelement, and superposing the results of the time delay processing;

and taking the superposition result larger than the threshold value as a target echo signal.

11. The system according to claim 10, wherein the obtaining position information of a target point based on the target echo signal comprises:

determining a scanning angle of a detection beam corresponding to the target delay time based on the target delay time corresponding to the delay processing of the target echo signal;

obtaining a target point coordinate corresponding to the target echo signal based on the flight time corresponding to the target echo signal and the scanning angle;

and the flight time is the time interval between the receiving time of the target echo signal and the transmitting time of the corresponding detection beam.

12. The system of claim 11, wherein determining the scanning angle of the probe beam corresponding to the target delay time is performed by:

acquiring a scanning angle of a detection beam corresponding to the target delay time by inquiring a preset association table;

the association table pre-stores the target delay time and the scanning angle of the corresponding probe beam.

13. The system according to claim 12, wherein after the obtaining of the position information of the target point, the signal processing device is further configured to obtain a depth image including the target point based on the position information of the target point and an echo signal corresponding to the target point;

the depth image comprises three-dimensional coordinate information of the target point and intensity information of an echo signal corresponding to the target point.

14. A target point position detection system, characterized in that the system comprises: a programmable circuit and a phased array sensor comprising a plurality of subelements having a set pitch therebetween;

the programmable circuit is used for applying a preset excitation signal to each subelement of the phased array sensor, and analyzing and processing echo signals received by the subelements to obtain position information of a target point;

each subelement of the phased array sensor is used for transmitting a mechanical wave signal based on the excitation signal and receiving an echo signal reflected by a target point, wherein the mechanical wave signal is subjected to interference enhancement at a plurality of preset scanning angles to form a detection beam, and an orthogonality condition is met.

15. The system of claim 14, wherein the mechanical wave signal is a sonic or ultrasonic wave signal.

16. The system of claim 14, wherein the subelements have a piezoelectric effect and an inverse piezoelectric effect.

17. The system of claim 14, wherein the subelement is a piezoelectric ceramic or PVDF or a piezoelectric crystal.

18. The system of claim 14, wherein the excitation signal is applied to each subelement of the phased array transducer at predetermined time intervals such that each subelement generates a mechanical wave signal having a predetermined delay time.

19. The system of claim 14, wherein the excitation signals have different frequencies and a specified frequency spacing between each two, such that the mechanical wave signals generated by each subelement have different frequencies and an even number of frequency spacings between each two.

20. The system of claim 14, wherein applying a predetermined excitation signal to each subelement of the phased array sensor comprises:

the programmable circuit sequentially applies pulse signals with different frequencies and even frequency intervals between every two sub-elements according to a preset sequence at preset time intervals.

21. The system of claim 18, wherein applying a predetermined excitation signal to each subelement of the phased array sensor comprises:

the programmable circuit simultaneously generates a plurality of pulse signals with different frequencies and even frequency intervals between every two pulse signals, and the pulse signals are subjected to delay processing corresponding to each sub-element to apply excitation signals to each sub-element.

22. The system of claim 18, wherein the analyzing the echo signals received by each sub-element to obtain the position information of the target point comprises:

23. The system of claim 22, wherein the extracting a target echo signal corresponding to a target point comprises:

24. The system according to claim 23, wherein the obtaining position information of a target point based on the target echo signal comprises:

25. The system of claim 24, wherein determining the scan angle of the probe beam corresponding to the target delay time is performed by:

26. The system of claim 25, wherein after the obtaining of the position information of the target point, the programmable circuit is further configured to obtain a depth image including the target point based on the position information of the target point and an echo signal corresponding to the target point;

27. A programmable circuit, comprising: a signal generating circuit and a signal processing circuit;

the signal generating circuit is used for applying a preset excitation signal to each subelement of the phased array sensor so that each subelement of the phased array sensor transmits a mechanical wave signal based on the excitation signal and receives an echo signal reflected by a target point, wherein the mechanical wave signal interferes and enhances to form a detection beam at a plurality of preset scanning angles and an orthogonal condition is met;

and the signal processing circuit is used for analyzing and processing the echo signal received by the subelement to obtain the position information of the target point.

28. The system of claim 27, wherein the mechanical wave signal is a sonic or ultrasonic wave signal.

29. The system of claim 27, wherein the subelements have a piezoelectric effect and an inverse piezoelectric effect.

30. The system of claim 29, wherein the subelement is a piezoelectric ceramic or PVDF or a piezoelectric crystal.

31. The system of claim 27, wherein the excitation signal is applied to each subelement of the phased array transducer at predetermined time intervals such that each subelement generates a mechanical wave signal having a predetermined delay time.

32. The system of claim 27, wherein the excitation signals have different frequencies and a specified frequency spacing between each two, such that the mechanical wave signals generated by each subelement have different frequencies and an even number of frequency spacings between each two.

33. The system of claim 27, wherein applying a predetermined excitation signal to each subelement of the phased array sensor comprises:

the signal generating circuit sequentially applies pulse signals with different frequencies and even frequency intervals between every two sub-elements at preset time intervals according to a preset sequence.

34. The system of claim 27, wherein applying a predetermined excitation signal to each subelement of the phased array sensor comprises:

the signal generating circuit simultaneously generates a plurality of pulse signals with different frequencies and even frequency intervals between every two pulse signals, and the pulse signals are subjected to delay processing corresponding to each subelement to apply excitation signals to each subelement.

35. The system of claim 31, wherein the analyzing the echo signals received by each sub-element to obtain the position information of the target point comprises:

36. The system of claim 35, wherein the extracting a target echo signal corresponding to a target point comprises:

37. The system according to claim 36, wherein the obtaining position information of a target point based on the target echo signal comprises:

38. The system of claim 37, wherein determining the scan angle of the probe beam corresponding to the target delay time is performed by:

the association table pre-stores a target delay time and a scanning angle of a probe beam corresponding to the target delay time.

39. The system of claim 38, wherein after the obtaining of the position information of the target point, the signal processing circuit is further configured to obtain a depth image including the target point based on the position information of the target point and an echo signal corresponding to the target point;

40. A method for detecting a position of a target point based on the system of claim 14, wherein the method is performed by a programmable circuit and comprises:

applying a preset excitation signal to each subelement of a phased array sensor, so that each subelement of the phased array sensor emits a mechanical wave signal based on the excitation signal and receives an echo signal reflected by a target point, wherein the mechanical wave signal is subjected to interference enhancement at a plurality of preset scanning angles to form a probe beam and an orthogonality condition is met;

and receiving the echo signal sent by each sub-element of the phased array sensor, and analyzing and processing the echo signal received by the sub-element to obtain the position information of the target point.

41. The method of claim 40, wherein the mechanical wave signal is a sonic or ultrasonic wave signal.

42. The method of claim 40, wherein the subelements have a piezoelectric effect and an inverse piezoelectric effect.

43. The method of claim 42, wherein the subelement is a piezoelectric ceramic or PVDF or a piezoelectric crystal.

44. The method of claim 40, wherein the excitation signal is applied to each subelement of the phased array transducer at predetermined time intervals such that each subelement generates a mechanical wave signal having a predetermined delay time.

45. The method of claim 40, wherein the excitation signals have different frequencies with a specified frequency spacing therebetween, such that the mechanical wave signals generated by each subelement have different frequencies with an even number of frequency spacing therebetween.

46. The method of claim 40, wherein applying a predetermined excitation signal to each subelement of the phased array sensor comprises:

and sequentially applying pulse signals with different frequencies and even frequency intervals between every two sub-elements at preset time intervals according to a preset sequence.

47. The method of claim 40, wherein applying a predetermined excitation signal to each subelement of the phased array sensor comprises:

and simultaneously generating a plurality of pulse signals with different frequencies and even frequency intervals between every two pulse signals, wherein the pulse signals are subjected to delay processing corresponding to each subelement, and excitation signals are applied to each subelement.

48. The method of claim 44, wherein the analyzing the echo signals received by each sub-element to obtain the position information of the target point comprises:

multiplying and superposing the excitation signals of the subelements with the echo signals received by the subelements respectively, and extracting target echo signals corresponding to target points;

49. The method of claim 48, wherein the extracting a target echo signal corresponding to a target point comprises:

50. The method of claim 49, wherein obtaining the position information of the target point based on the target echo signal comprises:

51. The method of claim 50, wherein determining the scanning angle of the probe beam corresponding to the target delay time is performed by:

52. The method of claim 51, wherein after the obtaining the location information of the target point, the method further comprises:

acquiring a depth image containing the target point based on the position information of the target point and an echo signal corresponding to the target point;

53. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method of any of claims 40 to 52.