A voice signal transmission method, a sending device, and a storage medium

Abstract

Embodiments of the present application provide a voice signal transmission method, a sending device and a storage medium, which can send voice signals to multiple users located at different positions in a time-sharing manner, and can effectively ensure that the number of users supported by an ultrasonic transducer array is not limited. The transmission method comprises: obtaining a first switching ultrasonic signal corresponding to a first voice signal; obtaining a second switching ultrasonic signal corresponding to a second voice signal, wherein the first switching ultrasonic signal comprises a first sub-signal and a second sub-signal, and the second switching ultrasonic signal comprises a third sub-signal and a fourth sub-signal; superimposing the second sub-signal and the third sub-signal to obtain a superimposed ultrasonic signal; and sequentially emitting the first sub-signal, the superimposed ultrasonic signal and the fourth sub-signal through a target ultrasonic transducer in a beam manner in a time-sharing manner.

Description

Technical Field

[0001] This application relates to the field of ultrasonic directional transmission technology, and in particular to a method for transmitting voice signals, a transmitting device, and a storage medium. Background Technology

[0002] Ultrasonic directional transmission technology is a technique that enables ultrasonic waves to propagate in a specific direction as a beam. Because ultrasonic waves have excellent directivity, they are essentially undetectable to the human ear when the ear is outside the beam's range, thus rendering them inaudible. The basic principle of ultrasonic directional transmission is to modulate audible speech signals onto ultrasonic waves, which are then emitted into the air in a beam by an ultrasonic transducer.

[0003] like Figure 1 As shown, an ultrasonic transducer array 100 transmits ultrasonic waves in a multi-beam manner. The ultrasonic transducer array 100 includes multiple ultrasonic transducers. To send different first beams 111 and second beams 112 to a first user 121 and a second user 122 located at different positions, the ultrasonic transducer array 100 is divided into a first region 101 and a second region 102. The first beam 111 emitted from the first region 101 is transmitted to the first user 121, and the second beam 112 emitted from the second region 102 is transmitted to the second user 122.

[0004] It is evident that to support the transmission of ultrasonic waves to multiple users, the ultrasonic transducer array needs to be segmented. Because the ultrasonic transducer array is segmented, for example, for the first user 121, the number of ultrasonic transducers transmitting the beam to that user 121 is less than the total number of ultrasonic transducers in the entire ultrasonic transducer array. Consequently, the volume of the sound received by the first user 121 is lower, and the directivity of the first beam is narrower, resulting in a smaller audible range for the user. Furthermore, since the ultrasonic transducer array cannot be infinitely segmented, the number of users supported by the ultrasonic transducer array is limited. Summary of the Invention

[0005] This invention provides a method for transmitting voice signals, a transmitting device, and a storage medium. When transmitting voice signals to multiple users located at different locations with different beams, it is not necessary to segment the ultrasonic transducer array, effectively ensuring that the volume of the sound heard by users at different locations is the same. Moreover, by transmitting voice signals to multiple users at different locations in a time-division manner, it is possible to ensure that the number of users supported by the ultrasonic transducer array is not limited.

[0006] A first aspect of this invention provides a method for transmitting a voice signal, the method comprising: acquiring a first switched ultrasonic signal corresponding to a first voice signal, the first switched ultrasonic signal being used to point in a first direction; acquiring a second switched ultrasonic signal corresponding to a second voice signal, the second switched ultrasonic signal being used to point in a second direction, the first direction being different from the second direction, wherein the first switched ultrasonic signal includes a first sub-signal and a second sub-signal, and the second switched ultrasonic signal includes a third sub-signal and a fourth sub-signal; superimposing the second sub-signal and the third sub-signal to obtain a superimposed ultrasonic signal, wherein the time period for transmitting the second sub-signal and the time period for transmitting the third sub-signal coincide on a time axis; and sequentially transmitting the first sub-signal, the superimposed ultrasonic signal, and the fourth sub-signal through a target ultrasonic transducer in a time-division manner via a beam, wherein the target ultrasonic transducer is an ultrasonic transducer included in an ultrasonic transducer array.

[0007] As can be seen, the method described in this aspect can superimpose the first and second switching ultrasonic signals to obtain a superimposed ultrasonic signal, effectively ensuring the continuity of the ultrasonic signal transmitted by the ultrasonic transducer, avoiding the time interval of no signal state during switching, and effectively avoiding excessive phase jumps. Furthermore, the superimposed ultrasonic signal can achieve time-division transmission of the first and second switching ultrasonic signals in a smooth transition manner, effectively avoiding noise such as popping sounds that the user can hear when the beam is transmitted to the user. It also ensures that the amplitude distribution of the second sub-signal and the amplitude distribution of the third sub-signal in the superimposed ultrasonic signal tend to be consistent, avoiding amplitude jumps in the superimposed ultrasonic signal and improving the sound effect transmitted by the beam.

[0008] Based on the first aspect, in an optional implementation, before superimposing the second sub-signal and the third sub-signal to obtain a superimposed ultrasonic signal, the method further includes: determining that the first switched ultrasonic signal and the second switched ultrasonic signal meet a preset condition, wherein the preset condition is that a second time is later than a first time, the first time is the end time of transmitting the first switched ultrasonic signal, and the second time is the start time of transmitting the second switched ultrasonic signal.

[0009] As shown in this aspect, the first and second switched ultrasonic signals will only be superimposed when it is determined that there is a first switched ultrasonic signal and a second switched ultrasonic signal among the M-channel first ultrasonic signal and the M-channel second ultrasonic signal, thereby improving the efficiency and accuracy of obtaining the superimposed ultrasonic signal.

[0010] Based on the first aspect, in an optional implementation, before superimposing the second sub-signal and the third sub-signal to obtain a superimposed ultrasonic signal, the method further includes: acquiring M first ultrasonic signals corresponding to the first voice signal, where M is a positive integer greater than 1, and the M first ultrasonic signals include the first switched ultrasonic signal; acquiring a first reference ultrasonic signal included in the M first ultrasonic signals, wherein the time when the first reference ultrasonic signal is transmitted to the ultrasonic transducer array is earlier than the time when the first switched ultrasonic signal is transmitted to the ultrasonic transducer array; acquiring M second ultrasonic signals corresponding to the second voice signal, where M is a positive integer greater than 1, and the M second ultrasonic signals include the second switched ultrasonic signal; acquiring a second reference ultrasonic signal included in the M second ultrasonic signals, wherein the time when the second reference ultrasonic signal is transmitted to the ultrasonic transducer array is later than the time when the second switched ultrasonic signal is transmitted to the ultrasonic transducer array; and aligning the end time of transmitting the first reference ultrasonic signal and the start time of transmitting the second reference ultrasonic signal.

[0011] Based on the first aspect, in an optional implementation, the M first arrival times of the M first ultrasonic signals are arranged in ascending order, where the first arrival time is the time when the first ultrasonic signal is transmitted to the ultrasonic transducer array, and the difference between the first arrival times of any two adjacent first ultrasonic signals in the M first ultrasonic signals is a first difference; the M second arrival times of the M second ultrasonic signals are arranged in ascending order, where the second arrival time is the time when the second ultrasonic signal is transmitted to the ultrasonic transducer array, and the difference between the second arrival times of any two adjacent second ultrasonic signals in the M second ultrasonic signals is a second difference.

[0012] Based on the first aspect, in one optional implementation, among the M first ultrasonic signals, the first reference ultrasonic signal is transmitted to the ultrasonic transducer array earliest; and among the M second ultrasonic signals, the second reference ultrasonic signal is transmitted to the ultrasonic transducer array latest.

[0013] As can be seen, by using the method shown in this aspect, the second and third sub-signals that need to be superimposed can be accurately determined based on the determined first and second reference ultrasonic signals, thereby improving the accuracy of the superposition process and ensuring the continuity of the superimposed ultrasonic signals.

[0014] Based on the first aspect, in an optional implementation, the second sub-signal includes a plurality of first sampling signals, the third sub-signal includes a plurality of second sampling signals, and the superposition of the second sub-signal and the third sub-signal to obtain a superimposed ultrasonic signal includes: obtaining a superimposed sub-signal corresponding to the second sub-signal and the third sub-signal, the superimposed sub-signal being related to the i-th first sampling signal among the plurality of first sampling signals and the j-th second sampling signal among the plurality of second sampling signals, the time period for transmitting the i-th first sampling signal and the time period for transmitting the j-th second sampling signal coincide on the time axis, and the superimposed ultrasonic signal includes a plurality of the superimposed sub-signals.

[0015] Based on the first aspect, in an optional implementation, obtaining the superimposed sub-signal corresponding to the second sub-signal and the third sub-signal includes: summing, or weighting, or averaging, the i-th first sampled signal and the j-th second sampled signal to obtain the superimposed sub-signal.

[0016] As shown in this aspect, it is possible to ensure that the acquired superimposed ultrasonic signal is smoother, thereby improving the sound transmission effect of the beam.

[0017] Based on the first aspect, in an optional implementation, before performing a weighted summation or weighted average of the i-th first sampled signal and the j-th second sampled signal among the plurality of second sampled signals to obtain the superimposed sub-signal, the method further includes: obtaining a first weight corresponding to the i-th first sampled signal, wherein the values ​​of the i-th first weights corresponding to the plurality of first sampled signals included in the second sub-signal decrease sequentially according to the order in which they are transmitted to the ultrasonic transducer array from earliest to latest; obtaining a second weight corresponding to the j-th second sampled signal, wherein the values ​​of the j-th second weights corresponding to the plurality of second sampled signals included in the third sub-signal increase sequentially according to the order in which they are transmitted to the ultrasonic transducer array from earliest to latest.

[0018] As can be seen, since the values ​​of the i first weights of the multiple first sampling signals decrease sequentially according to the order in which they are transmitted to the ultrasonic transducer array from early to late, and the values ​​of the j second weights of the multiple second sampling signals increase sequentially according to the order in which they are transmitted to the ultrasonic transducer array from early to late, the uniformity and continuity of the amplitude distribution are effectively guaranteed, and the possibility of amplitude jumps in the various superimposed sub-signals included in the superimposed ultrasonic signal is effectively avoided.

[0019] Based on the first aspect, in an optional implementation, before superimposing the second sub-signal and the third sub-signal to obtain a superimposed ultrasonic signal, the method further includes: controlling the phase and amplitude of the first switched ultrasonic signal to obtain a first switched ultrasonic signal pointing in the first direction; and controlling the phase and amplitude of the second switched ultrasonic signal to obtain a first switched ultrasonic signal pointing in the second direction.

[0020] Based on the first aspect, in an optional implementation, after superimposing the second sub-signal and the third sub-signal to obtain a superimposed ultrasonic signal, the method further includes: controlling the phase and amplitude of the first sub-signal to obtain a first sub-signal pointing in the first direction; controlling the phase and amplitude of the superimposed ultrasonic signal to obtain the superimposed ultrasonic signal pointing in the first direction and the second direction; and controlling the phase and amplitude of the fourth sub-signal to obtain the fourth sub-signal pointing in the second direction.

[0021] Based on the first aspect, in one optional implementation, a first speech signal is received in the first transmission cycle, and the first speech signal is subjected to pre-distortion preprocessing. The pre-distortion preprocessing can enhance the intensity of the first speech signal, reduce distortion, enhance low frequencies, so as to effectively reduce the total harmonic distortion (THD) of the first speech signal, and ensure that the bandwidth of the processed first speech signal can meet the requirements of the ultrasonic transducer array.

[0022] Based on the first aspect, in one optional implementation, a second voice signal is received in the second transmission cycle, and the second voice signal is subjected to pre-distortion preprocessing. The pre-distortion preprocessing can enhance the intensity of the second voice signal, reduce distortion, enhance low frequencies, so as to effectively reduce the total resonant distortion of the first voice signal, and ensure that the bandwidth of the processed second voice signal can meet the requirements of the ultrasonic transducer array.

[0023] A second aspect of the present invention provides a transmitting device, the system comprising a processing unit and an ultrasonic transducer array connected in sequence; the processing unit is configured to: acquire a first switched ultrasonic signal corresponding to a first voice signal, the first switched ultrasonic signal being directed in a first direction; acquire a second switched ultrasonic signal corresponding to a second voice signal, the second switched ultrasonic signal being directed in a second direction, the first direction being different from the second direction, wherein the first switched ultrasonic signal includes a first sub-signal and a second sub-signal, and the second switched ultrasonic signal includes a third sub-signal and a fourth sub-signal; superimpose the second sub-signal and the third sub-signal to obtain a superimposed ultrasonic signal, the time period for transmitting the second sub-signal and the time period for transmitting the third sub-signal coincide on the time axis; a target ultrasonic transducer is configured to sequentially emit the first sub-signal, the superimposed ultrasonic signal, and the fourth sub-signal in a beam-like manner, the target ultrasonic transducer being one of the ultrasonic transducers included in the ultrasonic transducer array.

[0024] For an explanation of the beneficial effects shown in this aspect, please refer to the first aspect, which will not be repeated here.

[0025] Based on the second aspect, in an optional implementation, the processing unit is further configured to: determine that the first switching ultrasonic signal and the second switching ultrasonic signal satisfy a preset condition, wherein the preset condition is that the second moment is later than the first moment, the first moment is the end moment of transmitting the first switching ultrasonic signal, and the second moment is the start moment of transmitting the second switching ultrasonic signal.

[0026] Based on the second aspect, in an optional implementation, the processing unit is further configured to: acquire M first ultrasonic signals corresponding to the first voice signal, where M is a positive integer greater than 1, and the M first ultrasonic signals include the first switched ultrasonic signal; acquire a first reference ultrasonic signal included in the M first ultrasonic signals, wherein the time when the first reference ultrasonic signal is transmitted to the ultrasonic transducer array is earlier than the time when the first switched ultrasonic signal is transmitted to the ultrasonic transducer array; acquire M second ultrasonic signals corresponding to the second voice signal, where M is a positive integer greater than 1, and the M second ultrasonic signals include the second switched ultrasonic signal; acquire a second reference ultrasonic signal included in the M second ultrasonic signals, wherein the time when the second reference ultrasonic signal is transmitted to the ultrasonic transducer array is later than the time when the second switched ultrasonic signal is transmitted to the ultrasonic transducer array; and align the end time of transmitting the first reference ultrasonic signal and the start time of transmitting the second reference ultrasonic signal.

[0027] Based on the second aspect, in an optional implementation, the M first arrival times of the M first ultrasonic signals are arranged in ascending order, where the first arrival time is the time when the first ultrasonic signal is transmitted to the ultrasonic transducer array, and the difference between the first arrival times of any two adjacent first ultrasonic signals in the M first ultrasonic signals is a first difference; the M second arrival times of the M second ultrasonic signals are arranged in ascending order, where the second arrival time is the time when the second ultrasonic signal is transmitted to the ultrasonic transducer array, and the difference between the second arrival times of any two adjacent second ultrasonic signals in the M second ultrasonic signals is a second difference.

[0028] Based on the second aspect, in one optional implementation, among the M first ultrasonic signals, the first reference ultrasonic signal is transmitted to the ultrasonic transducer array earliest; and among the M second ultrasonic signals, the second reference ultrasonic signal is transmitted to the ultrasonic transducer array latest.

[0029] Based on the second aspect, in an optional implementation, the second sub-signal includes a plurality of first sampled signals, the third sub-signal includes a plurality of second sampled signals, and the processing unit is configured to: acquire a superimposed sub-signal corresponding to the second sub-signal and the third sub-signal, the superimposed sub-signal being related to the i-th first sampled signal among the plurality of first sampled signals and the j-th second sampled signal among the plurality of second sampled signals, the time period for transmitting the i-th first sampled signal and the time period for transmitting the j-th second sampled signal coincide on the time axis, and the superimposed ultrasonic signal includes a plurality of the superimposed sub-signals.

[0030] Based on the second aspect, in an optional implementation, the processing unit is configured to: sum, or weightedly sum, or average, or weightedly average the i-th first sampled signal and the j-th second sampled signal to obtain the superimposed sub-signal.

[0031] Based on the second aspect, in an optional implementation, the processing unit is further configured to: obtain a first weight corresponding to the i-th first sampled signal, wherein the values ​​of the i-th first weights corresponding to the plurality of first sampled signals included in the second sub-signal decrease sequentially according to the order in which they are transmitted to the ultrasonic transducer array from earliest to latest; obtain a second weight corresponding to the j-th second sampled signal, wherein the values ​​of the j-th second weights corresponding to the plurality of second sampled signals included in the third sub-signal increase sequentially according to the order in which they are transmitted to the ultrasonic transducer array from earliest to latest.

[0032] Based on the second aspect, in an optional implementation, the processing unit is further configured to: control the phase and amplitude of the first switching ultrasonic signal to obtain the first switching ultrasonic signal pointing in the first direction; and control the phase and amplitude of the second switching ultrasonic signal to obtain the first switching ultrasonic signal pointing in the second direction.

[0033] Based on the second aspect, in an optional implementation, the processing unit is further configured to: control the phase and amplitude of the first sub-signal to obtain the first sub-signal pointing in the first direction; control the phase and amplitude of the superimposed ultrasonic signal to obtain the superimposed ultrasonic signal pointing in the first direction and the second direction; and control the phase and amplitude of the fourth sub-signal to obtain the fourth sub-signal pointing in the second direction.

[0034] A third aspect of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by hardware, is used to perform the method shown in any of the first aspects above. Attached Figure Description

[0035] Figure 1 An example diagram of beam transmission using ultrasonic directional transmission technology provided for an existing solution; Figure 2 This is a structural example diagram of a first embodiment of the transmitting device provided in this application; Figure 3 A diagram illustrating the transmission of multiple first ultrasonic signals provided in this application; Figure 4 A diagram illustrating the transmission of multiple secondary ultrasonic signals provided in this application; Figure 5 Example diagram of an embodiment of beam transmission using ultrasonic directional transmission technology provided in this application; Figure 6 An example diagram of the first time-division transmission of ultrasonic signals provided for an existing solution; Figure 7 A waveform example diagram of time-division transmission provided for an existing solution; Figure 8 An example diagram of the second time-division transmission of ultrasonic signals provided for an existing solution; Figure 9 Example diagram of time-division transmission provided for existing solutions; Figure 10 A flowchart illustrating the steps of a first embodiment of the voice signal transmission method provided in this application; Figure 11 An example diagram illustrating the superposition of the second and third sub-signals provided in this application; Figure 12 An example diagram illustrating time-division processing of the first switched ultrasonic signal and the second switched ultrasonic signal provided in this application; Figure 13 Example diagram of the structure of the second embodiment of the transmitting device provided in this application; Figure 14 A flowchart illustrating the steps of a second embodiment of the voice signal transmission method provided in this application; Figure 15 This is a structural example diagram of a third embodiment of the transmitting device provided in this application. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Existing ultrasonic transducer arrays require segmentation to transmit different beams to multiple users located in different places. The voice signal transmission method provided in this application eliminates the need for segmentation when transmitting different beams to multiple users in different locations. This effectively ensures that users at different locations hear consistent sound volume, and also guarantees that the number of users supported by the ultrasonic transducer array is not limited. The following description, in conjunction with various embodiments, illustrates this application: Example 1 The following combination Figure 2 The following describes the transmitting device provided in this application, wherein, Figure 2 This is a structural example diagram of a first embodiment of the transmitting device provided in this application. The transmitting device shown in this embodiment is capable of sending voice signals to a user. The transmitting device can be a mobile phone, computer, smart speaker, car speaker, teleconferencing terminal, etc., and the specific device type is not limited in this embodiment.

[0038] The transmitting device shown in this embodiment is used to transmit a first voice signal to a first user located at a first location and a second voice signal to a second user located at a second location, as an example for illustrative purposes. The first and second locations are different from each other. It should be noted that this embodiment uses the example of the transmitting device transmitting voice signals to two users located at different locations. In other examples, the transmitting device shown in this embodiment can also transmit voice signals to two or more users located at different locations. For the specific transmission process, please refer to the process of transmitting voice signals to the first user and the second user shown in this embodiment.

[0039] The transmitting device shown in this embodiment includes a first signal processing module 211, a first carrier modulation module 212, and a first pointing control module 213, which are connected in sequence for processing a first voice signal, and a second signal processing module 221, a second carrier modulation module 222, and a second pointing control module 223, which are connected in sequence for processing a second voice signal. The first voice signal is a voice signal sent to a first user located at a first position, and the second voice signal is a voice signal sent to a second user located at a second position.

[0040] The first signal processing module 211 shown in this embodiment is used to receive a first voice signal in a first transmission cycle and perform pre-distortion preprocessing on the first voice signal. This pre-distortion preprocessing can enhance the intensity of the first voice signal, reduce distortion, enhance low-frequency signals, etc., effectively reducing the total harmonic distortion (THD) of the first voice signal and ensuring that the bandwidth of the processed first voice signal meets the requirements of the ultrasonic transducer array. This embodiment does not limit the duration of the first transmission cycle. For example, if the transmitting device needs to send the first voice signal to a first user, it can transmit the first voice signal sequentially through multiple first transmission cycles.

[0041] The first carrier modulation module 212 is used to receive the first voice signal after pre-distortion preprocessing from the first signal processing module 211, and to modulate the first voice signal onto the ultrasonic frequency band to generate a first ultrasonic signal. The carrier modulation can be double sideband (DSB) modulation, single sideband (SSB) modulation, or truncated double sideband (TDSB) modulation, etc.

[0042] This embodiment uses the example of a first signal buffer further included in the first carrier modulation module 212. This first signal buffer is used to copy the generated first ultrasonic signal to generate M channels of first ultrasonic signals. It should be noted that this embodiment uses the example of the first signal buffer being located within the first carrier modulation module 212 for illustrative purposes. In other examples, the first signal buffer may also be located in the first pointing control module 213. That is, before the first pointing control module 213 controls the pointing direction, it first copies the first ultrasonic signal to generate M channels of first ultrasonic signals. In this embodiment, M is a positive integer greater than 1. The following describes the M channels of first ultrasonic signals: The M channels of first ultrasonic signals emitted from the first signal buffer need to meet a first delay condition. This first delay condition is determined by arranging the first emission times of the M channels of first ultrasonic signals emitted from the first signal buffer in ascending order. Figure 3 As shown in the example, where, Figure 3 This is an example diagram of the transmission of multiple first ultrasonic signals provided in this application. The M first ultrasonic signals can be first ultrasonic signals 301, 302, 303 and 304. It can be seen that among the first ultrasonic signals 301, 302, 303 and 304, the first ultrasonic signal 301 has the earliest first emission time and the first ultrasonic signal 304 has the latest first emission time.

[0043] This allows the arrival times of the first ultrasonic signals from the M-channel to the ultrasonic transducer array 240 to be ordered from earliest to latest, and so on. Figure 3 As shown, among the first ultrasonic signals 301, 302, 303 and 304, the first ultrasonic signal 301 arrives at the ultrasonic transducer array 240 at the earliest first arrival time, and the first ultrasonic signal 304 arrives at the ultrasonic transducer array 240 at the latest second arrival time.

[0044] Furthermore, in the M-channel first ultrasonic signals shown in this embodiment, the difference in the first arrival time of any two adjacent first ultrasonic signals is the first difference, and so on. Figure 3 In the example shown, the difference between the first arrival time of the first ultrasonic signal 301 and the first arrival time of the first ultrasonic signal 302 is the first difference value, the difference between the first arrival time of the first ultrasonic signal 302 and the first arrival time of the first ultrasonic signal 303 is also the first difference value, and so on. It can be seen that the four first arrival times of the first ultrasonic signals 301, 302, 303 and 304 form an arithmetic sequence.

[0045] The first pointing control module 213 is used to control the phase and amplitude of the M first ultrasonic signals respectively, so as to ensure that the first ultrasonic signals can point in a first direction, and the first ultrasonic signals pointing in the first direction can be transmitted to the first user in a beam manner. Specifically, the first pointing control module 213 shown in this embodiment includes a phase controller and an amplitude controller. The phase controller is used to control the phase of the M first ultrasonic signals respectively, and the amplitude controller is used to control the amplitude of the M first ultrasonic signals respectively, so as to ensure that the first ultrasonic signals output by the first pointing control module 213 can point in the first direction.

[0046] Optionally, the transmitting device shown in this embodiment may further include a first detector, which is used to detect the location information of the first user and send the first location information indicating the location information of the first user to the first pointing control module 213. The first pointing control module 213 can control the phase and amplitude of the M first ultrasonic signals according to the first location information to ensure that the first ultrasonic signal output by the first pointing control module 213 can point to the first direction, so that the first ultrasonic signal transmitted along the first direction can be successfully sent to the first user located at the first position.

[0047] Regarding the second voice signal, the second signal processing module 221 shown in this embodiment is used to receive the second voice signal in the second transmission cycle and perform pre-distortion preprocessing on the second voice signal. For a detailed description of the processing method, please refer to the description of the first signal processing module 211, which will not be repeated here. This embodiment does not limit the duration of the second transmission cycle. For example, when the transmitting device needs to send the second voice signal to a second user, it can transmit the second voice signal sequentially through multiple second transmission cycles.

[0048] The second carrier modulation module 222 is used to receive the pre-distorted pre-processed second voice signal from the second signal processing module 221, and to modulate the second voice signal carrier onto the ultrasonic frequency band to generate a second ultrasonic signal. For a detailed description of the process, please refer to the above description of the first carrier modulation module 212 generating the first ultrasonic signal, which will not be repeated here.

[0049] This embodiment takes the second carrier modulation module 222 as an example, which also includes a second signal buffer. For a description of the second signal buffer, please refer to the description of the first signal buffer shown above. Detailed explanation will not be repeated here.

[0050] The M channels of second ultrasonic signals emitted from the second signal buffer need to meet a second delay condition. This second delay condition involves sequencing the emission times of the M channels of second ultrasonic signals emitted from the second signal buffer from latest to earliest, for example... Figure 4 The example shown, where, Figure 4This is a transmission example diagram of the multiple second ultrasonic signals provided in this application. Among the second ultrasonic signals 401, 402, 403, and 404, the second emission time of the second ultrasonic signal 401 is the latest, and the second emission time of the second ultrasonic signal 404 is the latest.

[0051] This allows the second arrival times of the M-channel second ultrasonic signals transmitted to the ultrasonic transducer array 240 to be ordered from latest to earliest. That is, among the second ultrasonic signals 401, 402, 403 and 404, the second arrival time of the second ultrasonic signal 401 transmitted to the ultrasonic transducer array 240 is the latest, and the second arrival time of the second ultrasonic signal 404 transmitted to the ultrasonic transducer array 240 is the earliest.

[0052] In the M-channel second ultrasonic signals shown in this embodiment, the difference between the second arrival times of any two adjacent second ultrasonic signals is the second difference. That is, in this example, the difference between the second arrival time of the second ultrasonic signal 401 and the second arrival time of the second ultrasonic signal 402 is the second difference, the difference between the second arrival time of the second ultrasonic signal 402 and the second arrival time of the second ultrasonic signal 403 is also the second difference, and so on. It can be seen that the four second arrival times of the second ultrasonic signals 401, 402, 403 and 404 form an arithmetic sequence.

[0053] The second pointing control module 223 is used to control the phase and amplitude of the M-channel second ultrasonic signals respectively, so as to ensure that the second ultrasonic signals can be pointed in the second direction, and the second ultrasonic signals pointing in the second direction can be transmitted to the second user in a beam manner. Specifically, the second pointing control module 223 shown in this embodiment includes a phase controller and an amplitude controller. For a description of the phase controller and the amplitude controller, please refer to the description of the first pointing control module 213, which will not be repeated here.

[0054] Optionally, the transmitting device shown in this embodiment may further include a second detector, which is used to detect the location information of the second user and send the second location information, which indicates the location information of the second user, to the second pointing control module 223. The second pointing control module 223 can then control the phase and amplitude of the M-channel second ultrasonic signals according to the second location information to ensure that the second ultrasonic signals output by the second pointing control module 223 can point in the second direction, thereby enabling the second ultrasonic signals transmitted along the second direction to be successfully transmitted to the second user located at the second position.

[0055] The ultrasonic transducer array 240 shown in this embodiment can receive the first ultrasonic signal described above and emit the first ultrasonic signal in a beam manner. The beam transmitted along the first direction can be successfully transmitted to the first user. The ultrasonic transducer array 240 can also receive the second ultrasonic signal described above and emit the second ultrasonic signal in a beam manner. The beam transmitted along the second direction can be successfully transmitted to the second user.

[0056] The ultrasonic transducer array 240 shown in this embodiment may include multiple ultrasonic transducers, which can be arranged in an array to form the ultrasonic transducer array 240. Taking the ultrasonic transducer array 240 transmitting M first ultrasonic signals as an example, the ultrasonic transducer array 240 can transmit the M first ultrasonic signals in the form of M beams through the M ultrasonic transducers. During the transmission of these M beams in the air, nonlinear effects are generated.

[0057] Specifically, as shown above, the first arrival times of the first ultrasonic signals of the M channels form an arithmetic sequence. The M ultrasonic transducers interact and self-demodulate based on the M beams emitted by the first ultrasonic signals of the M channels, thereby regenerating a speech signal with spatial awareness, achieving the speech effect of a phased array, and ensuring that the regenerated speech signal can improve the sound effect heard by the first user, for example, ensuring that the volume of the sound heard by the first user is greater and the noise is less.

[0058] This embodiment uses an array of ultrasonic transducers as an example for illustration. For instance, the ultrasonic transducer array includes 18 ultrasonic transducers, arranged in a 3x6 grid to form the array. In other examples, the multiple ultrasonic transducers may not be arranged in an array, for example, randomly or in a ring, etc., and this embodiment does not limit the specific arrangement.

[0059] It can be seen that the more ultrasonic transducers included in the ultrasonic transducer array 240 shown in this embodiment, the better the directivity of the formed beam, and the better the effect of the sound heard by the user.

[0060] This embodiment does not limit the size of the distance between two adjacent ultrasonic transducers included in the ultrasonic transducer array 240. This embodiment takes the example that the distance between any two adjacent ultrasonic transducers included in the ultrasonic transducer array is equal as an example for illustrative purposes.

[0061] The ultrasonic transducer array 240 shown in this embodiment can transmit ultrasonic signals to multiple users without dividing the ultrasonic transducer array 240. Therefore, the ultrasonic transducer array 240 shown in this embodiment can transmit the first ultrasonic signal and the second ultrasonic signal in a time-division manner. For example Figure 5 As shown, where, Figure 5 This is an example diagram of an embodiment of transmitting a beam using ultrasonic directional transmission technology provided in this application.

[0062] The ultrasonic transducer array 240 first sends a beam 511 formed by multiple first ultrasonic signals to the first user 510, and then the ultrasonic array 240 sends a beam 521 formed by multiple second ultrasonic signals to the second user 520. For example... Figure 5 As shown, beams 511 and 521 are in a time-division multiplexing state on the time axis. However, time-division multiplexing can have technical defects depending on the specific time-division multiplexing method. The following explains the different existing time-division multiplexing methods and their technical defects: Time-sharing transmission method 1 For example, the ultrasonic transducer array 240 first transmits a first ultrasonic signal in a beam pattern, and then transmits a second ultrasonic signal in a beam pattern, for example... Figure 6 As shown, where, Figure 6 An example diagram of the first time-division transmission of ultrasonic signals provided for an existing scheme.

[0063] With respect to the first ultrasonic signal 304 and the second ultrasonic signal 404, the ultrasonic transducer 244 included in the ultrasonic transducer array 240 is used to transmit the first ultrasonic signal 304 to the first user in a beam manner in a time-division manner, and then transmit the second ultrasonic signal 404 to the second user in a beam manner.

[0064] Specifically, the end time of the ultrasonic transducer 244 receiving the first ultrasonic signal 304 is aligned with the start time of receiving the second ultrasonic signal 404. It can be seen that, as... Figure 6 As shown, during the transmission of the first ultrasonic signal 304 and the second ultrasonic signal 404, the end time of the transmission of the first ultrasonic signal 304 and the start time of the transmission of the second ultrasonic signal 404 are aligned.

[0065] As explained above, the first arrival times of the multiple first ultrasonic signals form an arithmetic sequence, and the second arrival times of the multiple second ultrasonic signals also form an arithmetic sequence. The end time of the first ultrasonic signal 304 and the start time of transmitting the second ultrasonic signal 404 are aligned. A switching time interval 601 exists between the first ultrasonic signal 303 and the second ultrasonic signal 403 transmitted through the ultrasonic transducer 243. This switching time interval 601 is the time interval between the end time of receiving the first ultrasonic signal 303 and the start time of receiving the second ultrasonic signal 403 by the ultrasonic transducer 243. Therefore, as... Figure 6 As shown, during the transmission of the first ultrasonic signal 303 and the second ultrasonic signal 403, there is a switching time interval 601 between the end time of the transmission of the first ultrasonic signal 303 and the start time of the transmission of the second ultrasonic signal 403. During this switching time interval 601, there is no signal.

[0066] After the ultrasonic transducer 243 transmits the first ultrasonic signal 303 in a time-division multiplexing manner, there is no signal transmission in the ultrasonic transducer 243 during the switching time interval 601. After the switching time interval 601, the ultrasonic transducer 243 will start transmitting the second ultrasonic signal 403 in a beam manner.

[0067] It is known that the technical defect of this time-division method is that the first ultrasonic signal 303 and the second ultrasonic signal 403 transmitted by the ultrasonic transducer array in time division are in a discontinuous state due to the switching time interval 601, which causes the ultrasonic transducer array to produce popping sounds that are unacceptable to the human ear.

[0068] Specifically, such as Figure 7 As shown, where, Figure 7 The waveform example provided for time-division transmission in an existing scheme is shown below. The transmission waveform of the first ultrasonic signal 303 is as follows: Figure 7 The first waveform 701 shown is the transmission waveform of the second ultrasonic signal 403. Figure 7 The second waveform 702 is shown. There is a switching time interval 601 as described above between the first waveform 701 and the second waveform 702. Figure 7 As shown, after the transmission of the first ultrasonic signal 303 is completed, because the ultrasonic transducer 243 cannot achieve continuous transmission of ultrasonic signals, the phase of the first ultrasonic signal 303 will jump within the switching time interval 601. Figure 7 The example shown is a 180-degree phase jump in the first ultrasonic signal 303. Because of this phase jump, the ultrasonic transducer 243 will produce a popping sound.

[0069] In this embodiment, there are switching time intervals between the first ultrasonic signal 302 and the second ultrasonic signal 402, and between the first ultrasonic signal 301 and the second ultrasonic signal 401. For details, please refer to the description of switching time interval 601; further details will not be elaborated here. It is known that during the time-sharing transmission of the first ultrasonic signal 302 and the second ultrasonic signal 402 by the ultrasonic transducer 242, a popping sound will occur. Similarly, during the time-sharing transmission of the first ultrasonic signal 301 and the second ultrasonic signal 401 by the ultrasonic transducer 241, a popping sound will occur. For details, please refer to the description of the popping sound occurring during the time-sharing transmission of the first ultrasonic signal 303 and the second ultrasonic signal 403 by the ultrasonic transducer 243; further details will not be elaborated here.

[0070] Time-sharing transmission method 2

[0071] For example Figure 8 As shown, where, Figure 8 This is an example diagram of a second time-division transmission of ultrasonic signals provided by an existing solution. Regarding the first ultrasonic signal 301 and the second ultrasonic signal 401, the ultrasonic transducer array 240 includes ultrasonic transducers 241, which are used to transmit the first ultrasonic signal 301 to the first user in a beam-like manner in a time-division manner, and then transmit the second ultrasonic signal 401 to the second user in a beam-like manner.

[0072] Specifically, the end time of the ultrasonic transducer 241 receiving the first ultrasonic signal 301 is aligned with the start time of receiving the second ultrasonic signal 401. It can be seen that, as... Figure 8 As shown, during the transmission of the first ultrasonic signal 301 and the second ultrasonic signal 401, the end time of the transmission of the first ultrasonic signal 301 and the start time of the transmission of the second ultrasonic signal 401 are aligned.

[0073] As can be seen from the above description, the first arrival times of the multiple first ultrasonic signals are in an arithmetic sequence, and the second arrival times of the multiple second ultrasonic signals are also in an arithmetic sequence. Therefore, when the end time of the first ultrasonic signal 301 and the start time of the transmission of the second ultrasonic signal 401 are aligned, taking the first ultrasonic signal 304 and the second ultrasonic signal 404 as examples, the transmission time period of the first ultrasonic signal 304 and the transmission time period of the second ultrasonic signal 404 overlap.

[0074] Specifically, in Figure 8On the timeline shown, the transmission time period for the first ultrasonic signal 304 is designated as transmission time period TB1, which includes two time-continuous periods, TA1 and TA2. The transmission time period for the second ultrasonic signal 404 is designated as transmission time period TB2, which includes two time-continuous periods, TA3 and TA2. The start and end times of time period TA2, which is included in transmission time period TB1, are aligned with the start and end times of time period TA2, which is included in transmission time period TB2. Hereinafter, time period TA2 is referred to as the overlapping time period TA2.

[0075] For more details, please refer to [link / reference]. Figure 9 As shown, where, Figure 9 An example diagram of the signal provided for time-division transmission in an existing scheme. (e.g.) Figure 9 As shown, the first ultrasonic signal 304 includes a first sub-signal 901 and a second sub-signal 902. The second ultrasonic signal 404 includes a third sub-signal 903 and a fourth sub-signal 904. The transmission time period of the first sub-signal 901 is time period TA1, the transmission time period of the fourth sub-signal 904 is time period TA3, and the transmission time periods of the second sub-signal 902 and the third sub-signal 903 overlap in time period TA2. The transmission time periods of the second sub-signal 902 of the first subcarrier signal 304 and the transmission time periods of the third sub-signal 903 of the second subcarrier signal 404 overlap on the time axis.

[0076] Therefore, during the time-sharing transmission of the first ultrasonic signal 304 and the second ultrasonic signal 404 through the ultrasonic transducer 244, overlapping signals will appear during the overlapping time period. These overlapping signals are the overlapping second sub-signal 902 and the third sub-signal 903.

[0077] During the time-division multiplexing of the first ultrasonic signal 304 and the second ultrasonic signal 404 by the ultrasonic transducer 244, the second sub-signal 902 and the third sub-signal 903 will interfere with each other during the overlapping time period, resulting in noise in the beam transmitted to the first user and also in the beam transmitted to the second user.

[0078] In this embodiment, there are overlapping signals between the first ultrasonic signal 302 and the second ultrasonic signal 402, and between the first ultrasonic signal 303 and the second ultrasonic signal 403. For details, please refer to the explanation of the overlapping signals between the first ultrasonic signal 304 and the second ultrasonic signal 404. Detailed explanation will not be repeated here.

[0079] Compared to the existing time-division transmission methods described above, the transmitting device shown in this embodiment can effectively avoid the popping sounds that are unacceptable to the human ear from the ultrasonic transducer array, and can also effectively reduce noise. Therefore, the transmitting device shown in this embodiment also includes a time-division processing module. Specifically, as... Figure 2 As shown, the transmitting device also includes a first time-division processing module 231, a second time-division processing module 232, a third time-division processing module 233, and a fourth time-division processing module 234.

[0080] The first time-division processing module 231 is connected to the first pointing control module 213, the second pointing control module 223, and the ultrasonic transducer 241. The second time-division processing module 232 is connected to the first pointing control module 213, the second pointing control module 223, and the ultrasonic transducer 242. The third time-division processing module 233 is connected to the first pointing control module 213, the second pointing control module 223, and the ultrasonic transducer 243. The fourth time-division processing module 234 is connected to the first pointing control module 213, the second pointing control module 223, and the ultrasonic transducer 244.

[0081] Each module shown in this embodiment can be an independent processing unit, or each module can be a code segment running on a processing unit. The processing unit shown in this embodiment can be a chip or an integrated circuit. For example, the processing unit can be one or more field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), system-on-chips (SoCs), central processors (CPUs), network processors (NPs), digital signal processors (DSPs), microcontrollers (MCUs), programmable logic devices (PLDs), or other integrated chips, or any combination of the above chips or processors, etc., and is not limited in this embodiment.

[0082] It should be clarified that the description of the transmitting device structure shown in this embodiment is an optional example. For instance, the transmitting device may further include a power amplifier connected to the first pointing control module 213 and the second pointing control module 223. This power amplifier is used to amplify the power of the first ultrasonic signal output by the first pointing control module 213 and to amplify the power of the second ultrasonic signal output by the second pointing control module 223. Alternatively, the power amplifier may be connected between the time-division processing module and the ultrasonic transducer to transmit the amplified ultrasonic signal to the corresponding ultrasonic transducer.

[0083] Based on the above description of the transmitting device, the following, combined with... Figure 10 The execution process of the voice signal transmission method provided in this embodiment is illustrated below, wherein, Figure 10 This is a flowchart illustrating the steps of a first embodiment of the voice signal transmission method provided in this application.

[0084] Step 1001: The transmitting device acquires the first ultrasonic signal of the M channels pointing in the first direction.

[0085] The transmitting device shown in this embodiment sequentially transmits the first voice signal via... Figure 2 After processing by the first signal processing module 211, the first carrier modulation module 212, and the first pointing control module 213, the output consists of M first ultrasonic signals that can point in the first direction. For details, please refer to [link to documentation]. Figure 2 The relevant explanations shown are not elaborated upon here.

[0086] Step 1002: The transmitting device acquires the M-channel second ultrasonic signal pointing in the second direction.

[0087] The transmitting device shown in this embodiment sequentially transmits the second voice signal via... Figure 2 After processing by the second signal processing module 221, the second carrier modulation module 222, and the second pointing control module 223, the output consists of M channels of second ultrasonic signals that can point in the second direction. For details, please refer to [link to documentation]. Figure 2 The relevant explanations shown are not elaborated upon here.

[0088] This embodiment does not limit the execution sequence between steps 1001 and 1002.

[0089] Step 1003: The transmitting device aligns the end time of transmitting the first reference ultrasonic signal with the start time of transmitting the second reference ultrasonic signal.

[0090] The transmitting device shown in this embodiment aims to achieve time-division multiplexing of M channels of first ultrasonic signals corresponding to the first voice signal and M channels of second ultrasonic signals corresponding to the second voice signal. Therefore, the transmitting device needs to determine a first reference ultrasonic signal from the M channels of first ultrasonic signals and a second reference ultrasonic signal from the M channels of second ultrasonic signals, and align the end time of transmitting the first reference ultrasonic signal with the start time of transmitting the second reference ultrasonic signal. The specific details are as follows: First, the process by which the transmitting device determines the first reference ultrasonic signal and the second reference ultrasonic signal will be explained: As shown above, the transmitting device can acquire M channels of first ultrasonic signals corresponding to the first voice signal, for example... Figure 3 As shown, the transmitting device can also acquire M channels of second ultrasonic signals corresponding to the second voice signal, for example... Figure 4 As shown, please refer to the detailed explanation. Figure 3 and Figure 4 The relevant explanations shown are not elaborated upon here.

[0091] The transmitting device shown in this embodiment needs to acquire a first reference ultrasonic signal from M channels of first ultrasonic signals, and also needs to acquire a second reference ultrasonic signal from M channels of second ultrasonic signals. The first and second reference ultrasonic signals are transmitted through the same ultrasonic transducer. Furthermore, among the M channels of first ultrasonic signals, the first reference ultrasonic signal is transmitted to the ultrasonic transducer array earliest. For example... Figure 3 As shown, the first reference ultrasonic signal is the first ultrasonic signal 301. Among the M-channel second ultrasonic signals, the second reference ultrasonic signal is transmitted to the ultrasonic transducer array latest. For example... Figure 4 As shown, the second reference ultrasonic signal is the second ultrasonic signal 401.

[0092] Secondly, the processing procedure of the transmitting device for the first and second reference ultrasonic signals is explained: The transmitting device aligns the end time of the first reference ultrasonic signal with the start time of transmitting the second reference ultrasonic signal. For example, Figure 8 As shown, the transmitting device aligns the end time of transmitting the first reference ultrasonic signal 301 with the start time of transmitting the second reference ultrasonic signal. For details, please refer to [link to documentation]. Figure 8 The relevant explanations shown are not elaborated upon here.

[0093] Step 1004: The transmitting device determines the first switching ultrasonic signal and the second switching ultrasonic signal corresponding to the target ultrasonic transducer.

[0094] The target ultrasonic transducer shown in this embodiment is one of the ultrasonic transducers included in an ultrasonic transducer array. It can be seen that this target ultrasonic transducer is used to emit a first switched ultrasonic signal and a second switched ultrasonic signal in a time-division multiplexing manner via a beam.

[0095] First, the process by which the transmitting device determines the first switched ultrasonic signal and the second switched ultrasonic signal will be explained: The transmitting device shown in this embodiment can select, from the M first ultrasonic signals corresponding to the first voice signal and the M second ultrasonic signals corresponding to the second voice signal, which satisfy a preset condition: a first switching ultrasonic signal and a second switching ultrasonic signal. The preset condition is that the second time is later than the first time, where the first time is the end time of transmitting the first ultrasonic signal and the second time is the start time of transmitting the second ultrasonic signal.

[0096] Specifically, the first switching ultrasonic signal is one of the M channels of first ultrasonic signals, and the second switching ultrasonic signal is one of the M channels of second ultrasonic signals. The transmission time periods for the first switching ultrasonic signal and the second switching ultrasonic signal overlap. For details, please refer to [link to relevant documentation]. Figure 8 as well as Figure 9 As shown, details will not be elaborated further. It can be seen that in... Figure 8 and Figure 9 In the example shown, when the target ultrasonic transducer is 242, the first switching ultrasonic signal is the first ultrasonic signal 302, the second switching ultrasonic signal is the second ultrasonic signal 402, and so on. When the target ultrasonic transducer is 243, the first switching ultrasonic signal is the first ultrasonic signal 303, the second switching ultrasonic signal is the second ultrasonic signal 403, and when the target ultrasonic transducer is 244, the first switching ultrasonic signal is the first ultrasonic signal 304, and the second switching ultrasonic signal is the second ultrasonic signal 404.

[0097] Step 1005: The transmitting device superimposes the second sub-signal and the third sub-signal to obtain a superimposed ultrasonic signal.

[0098] Specifically, the first switching ultrasonic signal shown in this embodiment includes a first sub-signal and a second sub-signal, and the second switching ultrasonic signal includes a third sub-signal and a fourth sub-signal. For a detailed explanation of each sub-signal, please refer to [link to documentation]. Figure 8 as well as Figure 9 The relevant explanations shown are not elaborated upon here.

[0099] like Figure 11 As shown, where, Figure 11This is an example diagram illustrating the superposition of the second and third sub-signals provided in this application. Taking the second sub-signal 902 included in the first switched ultrasonic signal and the third sub-signal 903 included in the second switched ultrasonic signal as examples, for a description of the second sub-signal 902 and the third sub-signal 903, please refer to [link to relevant documentation]. Figure 9 The relevant explanations shown are not repeated in this embodiment. The following describes the specific method by which the transmitting device acquires the superimposed ultrasonic signal: First, the transmitting device samples the second sub-signal 902 to obtain multiple first sampled signals, such as Figure 11 The multiple first sampling signals shown are U11, U12 to U19. This embodiment does not limit the sampling period or the number of first sampling signals; for example, each sampling period can be 1 millisecond. The transmitting device samples the third sub-signal 903 to obtain multiple second sampling signals, such as... Figure 11 The multiple second sampling signals shown are U21, U22 to U29. This embodiment does not limit the sampling period or the number of second sampling signals.

[0100] Secondly, the transmitting device acquires the i-th first sampled signal from the plurality of first sampled signals and the j-th second sampled signal from the plurality of second sampled signals. In this embodiment, the time period for transmitting the i-th first sampled signal and the time period for transmitting the j-th second sampled signal coincide on the time axis. For example, the i-th first sampled signal and the j-th second sampled signal can be the first sampled signal U11 and the second sampled signal U21, and it is known that the time period for transmitting the first sampled signal U11 coincides with the time period for transmitting the second sampled signal U21. Similarly, the i-th first sampled signal and the j-th second sampled signal can be the first sampled signal U12 and the second sampled signal U22, and it is known that the time period for transmitting the first sampled signal U12 coincides with the time period for transmitting the second sampled signal U22. And so on, the i-th first sampled signal and the j-th second sampled signal can be the first sampled signal U19 and the second sampled signal U29, and it is known that the time period for transmitting the first sampled signal U19 coincides with the time period for transmitting the second sampled signal U29.

[0101] Next, the transmitting device obtains a superimposed sub-signal based on the i-th first sampled signal and the j-th second sampled signal, which is related to the i-th first sampled signal and the j-th second sampled signal. For example, the transmitting device can obtain a superimposed sub-signal U31 by superimposing the first sampled signal U11 and the second sampled signal U21; similarly, the transmitting device can obtain a superimposed sub-signal U32 by superimposing the first sampled signal U12 and the second sampled signal U22, and so on. The transmitting device can obtain a superimposed sub-signal U39 by superimposing the first sampled signal U19 and the second sampled signal U29.

[0102] Finally, the transmitting device acquires a superimposed ultrasonic signal, which includes multiple superimposed sub-signals determined by the transmitting device and arranged in ascending order of transmission to the ultrasonic transducer array, for example... Figure 11 In the example shown, the superimposed ultrasonic signals are U39, U38 to U31.

[0103] The following describes several possible methods for the transmitting device to obtain the superimposed sub-signal based on the i-th first sampled signal and the j-th second sampled signal: Method 1 To obtain a superimposed sub-signal, for the i-th first sampled signal and the j-th second sampled signal, the transmitting device sums the i-th first sampled signal and the j-th second sampled signal. For example... Figure 11 As shown, if the i-th first sampled signal and the j-th second sampled signal are the first sampled signal U11 and the second sampled signal U21 respectively, then the superimposed sub-signal U31 = U11 + U21. Similarly, if the i-th first sampled signal and the j-th second sampled signal are the first sampled signal U12 and the second sampled signal U22 respectively, then the superimposed sub-signal U32 = U12 + U22. And so on, if the i-th first sampled signal and the j-th second sampled signal are the first sampled signal U19 and the second sampled signal U29 respectively, then the superimposed sub-signal U39 = U19 + U29.

[0104] Method 2

[0105] To obtain a superimposed sub-signal, for the i-th first sampled signal and the j-th second sampled signal, the transmitting device averages the i-th first sampled signal and the j-th second sampled signal. For example... Figure 11 As shown, if the i-th first sampled signal and the j-th second sampled signal are the first sampled signal U11 and the second sampled signal U21 respectively, then the superimposed sub-signal U31 = (U11 + U21) / 2. Similarly, if the i-th first sampled signal and the j-th second sampled signal are the first sampled signal U12 and the second sampled signal U22 respectively, then the superimposed sub-signal U32 = (U12 + U22) / 2. And so on, if the i-th first sampled signal and the j-th second sampled signal are the first sampled signal U19 and the second sampled signal U29 respectively, then the superimposed sub-signal U39 = (U19 + U29) / 2.

[0106] Method 3

[0107] To obtain a superimposed sub-signal, for the i-th first sampled signal and the j-th second sampled signal, the transmitting device performs a weighted summation of the i-th first sampled signal and the j-th second sampled signal. For example... Figure 11As shown, if the i-th first sampled signal and the j-th second sampled signal are the first sampled signal U11 and the second sampled signal U21 respectively, then the superimposed sub-signal U31 = a11 U11+b21 U21. For example, if the i-th first sampled signal and the j-th second sampled signal are the first sampled signal U12 and the second sampled signal U22 respectively, then the superimposed sub-signal U32 = a12 U12+b22 U22, and so on, if the i-th first sampled signal and the j-th second sampled signal are the first sampled signal U19 and the second sampled signal U29 respectively, then the superimposed sub-signal U39 = a19 U19+b29 U29.

[0108] The first sampling signals U11, U12, U13 to U19 correspond to the first weights a11, a12, a13 to a19, respectively. The second sampling signals U21, U22, U23 to U29 correspond to the second weights b21, b22, b23 to b29, respectively.

[0109] Since the first sampling signals U19, U18, U17 to U11 are arranged sequentially in order of transmission to the ultrasonic transducer array from earliest to latest, it can be known that the first sampling signal U19 is transmitted to the ultrasonic transducer array earliest, while the first sampling signal U11 is transmitted to the ultrasonic transducer array latest. Similarly, since the second sampling signals U29, U28, U27 to U21 are arranged sequentially in order of transmission to the ultrasonic transducer array from earliest to latest, it can be known that the second sampling signal U29 is transmitted to the ultrasonic transducer array earliest, while the second sampling signal U21 is transmitted to the ultrasonic transducer array latest.

[0110] In this embodiment, the first weights corresponding to the first sampling signals U19, U18, U17 to U11, respectively, are a19, a18, a17 to a11, which decrease sequentially. Conversely, the second weights corresponding to the second sampling signals U29, U28, U27 to U21, respectively, are a29, a28, a27 to a21, which increase sequentially.

[0111] The transmitting device shown in this embodiment obtains the superimposed sub-signal by weighted summing of the i-th first sampling signal and the j-th second sampling signal. This ensures that the obtained superimposed ultrasonic signal is smoother and that the amplitudes of the superimposed sub-signals included in the superimposed ultrasonic signal are uniform, effectively avoiding the possibility of amplitude jumps in the superimposed sub-signals included in the superimposed ultrasonic signal.

[0112] Method 4

[0113] To obtain a superimposed sub-signal, for the i-th first sampled signal and the j-th second sampled signal, the transmitting device performs a weighted average of the i-th first sampled signal and the j-th second sampled signal. For example... Figure 11 As shown, if the i-th first sampled signal and the j-th second sampled signal are the first sampled signal U11 and the second sampled signal U21 respectively, then the superimposed sub-signal U31 = (a11) / (a11) U11+b21 U21) / 2. For example, if the i-th first sampled signal and the j-th second sampled signal are the first sampled signal U12 and the second sampled signal U22 respectively, then the superimposed sub-signal U32 = (a12) / 2. U12+b22 U22) / 2, and so on. If the i-th first sampled signal and the j-th second sampled signal are the first sampled signal U19 and the second sampled signal U29 respectively, then the superimposed sub-signal U39 = (a19) / 2. U19+b29 U29) / 2.

[0114] The first sampling signals U11, U12, U13 to U19 correspond to the first weights a11, a12, a13 to a19, respectively. The second sampling signals U21, U22, U23 to U29 correspond to the second weights b21, b22, b23 to b29, respectively. For a detailed explanation of the weights, please refer to the relevant explanation of Method 3, which will not be elaborated here.

[0115] The transmitting device shown in this embodiment obtains the superimposed sub-signal by weighting and averaging the i-th first sampling signal and the j-th second sampling signal. This ensures that the obtained superimposed ultrasonic signal is smoother and that the amplitudes of the superimposed sub-signals included in the superimposed ultrasonic signal are uniform, effectively avoiding the possibility of amplitude jumps in the superimposed sub-signals included in the superimposed ultrasonic signal.

[0116] See Figure 2 As shown, if the second time-division processing module 232 receives a first switching ultrasonic signal output from the first pointing control module 213 and a second switching ultrasonic signal output from the second pointing control module 223, then the second time-division processing module 232 can perform the time-division processing described above on the first switching ultrasonic signal and the second switching ultrasonic signal to obtain an ultrasonic signal to be transmitted. The ultrasonic signal to be transmitted includes a first sub-signal, a superimposed ultrasonic signal, and a fourth sub-signal, ordered from earliest to latest transmission to the ultrasonic transducer array. The second time-division processing module 232 can then process the signal as described above. Figure 12The ultrasonic signal to be transmitted is shown to be sent to the corresponding ultrasonic transducer, such as... Figure 2 The ultrasonic transducer 242 shown.

[0117] The superimposed ultrasonic signal shown in this embodiment is formed by superimposing the first switched ultrasonic signal and the second switched ultrasonic signal. Therefore, the amplitude of the superimposed ultrasonic signal shown in this embodiment is formed by superimposing the amplitudes of the first switched ultrasonic signal and the second switched ultrasonic signal, which effectively ensures that the amplitude of the superimposed ultrasonic signal is uniformly distributed, avoids amplitude jumps, and effectively improves the signal effect of the ultrasonic signal to be transmitted.

[0118] Step 1006: The transmitting device emits M first ultrasonic signals and M second ultrasonic signals through the ultrasonic transducer array.

[0119] For example, if the ultrasonic transducer receives an ultrasonic signal from the second time-division processing module 232, the ultrasonic transducer 242 will emit a first sub-signal, a superimposed ultrasonic signal, and a fourth sub-signal.

[0120] Specifically, the ultrasonic transducer 242 shown in this embodiment sequentially emits the first sub-signal, the superimposed ultrasonic signal, and the fourth sub-signal in a beam-based manner, time-division multiplexing. For the processing procedures of the third time-division processing module 233 and the fourth time-division processing module 234, please refer to the relevant description of the second time-division processing module 232; further details will not be provided here.

[0121] For example, if the ultrasonic transducer 241 receives the first reference ultrasonic signal and the second reference ultrasonic signal from the first time-division processing module 231, since the end time of transmitting the first reference ultrasonic signal and the start time of transmitting the second reference ultrasonic signal are already aligned, the first reference ultrasonic signal and the second reference ultrasonic signal do not need to undergo the superposition process described above. The ultrasonic transducer 241 can directly emit the first reference ultrasonic signal and the second reference ultrasonic signal in a beam manner in a time-division manner.

[0122] The beneficial effects of the voice signal transmission method shown in this embodiment will be explained below: Using the method described in this embodiment, the ultrasonic transducer array does not need to be segmented to support multiple users. The multiple ultrasonic transducers in the array can transmit different beams to users at different locations in a time-division manner. Because the ultrasonic signals corresponding to each voice signal are transmitted in a time-division manner, the sound quality of the different beams is effectively guaranteed. For example, the volume of the beams is maintained, and the range that each beam can reach is increased. This allows the ultrasonic transducer array shown in this embodiment to transmit beams with better sound quality to users over a wider area.

[0123] The method shown in this embodiment allows the transmitting device to superimpose the first switching ultrasonic signal and the second switching ultrasonic signal to obtain a superimposed ultrasonic signal. This effectively ensures the continuity of the ultrasonic signal transmitted by the ultrasonic transducer, avoids the time interval of no signal state during the switching process, and effectively avoids excessively large phase jumps. Moreover, the superimposed ultrasonic signal can achieve time-division transmission of the first switching ultrasonic signal and the second switching ultrasonic signal in a smooth transition manner, effectively preventing users from hearing popping noises when the beam is transmitted to them.

[0124] Example 2

[0125] The difference between the transmitting device shown in this embodiment and the transmitting device shown in Embodiment 1 is that in Embodiment 1, the direction of each ultrasonic signal is controlled first, and then the ultrasonic signals are processed in a time-division manner. In Embodiment 2, however, the ultrasonic signals are processed in a time-division manner first, and then the direction of each ultrasonic signal is controlled. The specific explanation is as follows: The structure of the transmitting device shown in this embodiment can be found in [reference]. Figure 13 As shown, where, Figure 13 This is a structural example diagram of a second embodiment of the transmitting device provided in this application. The transmitting device shown in this embodiment can be found in [reference needed]. Figure 13 As shown, the transmitting device in this embodiment includes a first signal processing module 1311 and a first carrier modulation module 1312, which are interconnected for processing the first voice signal. The first carrier modulation module 1312 is connected to a first time-division processing module 1321, a second time-division processing module 1322, a third time-division processing module 1323, and a fourth time-division processing module 1324. The first time-division processing module 1321 is connected to a first pointing control module 1341, the second time-division processing module 1322 is connected to a second pointing control module 1342, the third time-division processing module 1323 is connected to a third pointing control module 1343, and the fourth time-division processing module 1324 is connected to a fourth pointing control module 1344.

[0126] The transmitting device shown in this embodiment also includes a second signal processing module 1313 and a second carrier modulation module 1314 for processing the second voice signal and connected to each other. The second carrier modulation module 1314 is connected to the first time-division processing module 1321, the second time-division processing module 1322, the third time-division processing module 1323 and the fourth time-division processing module 1324 respectively.

[0127] The first pointing control module 1341 is connected to the ultrasonic transducer 1351, the second pointing control module 1342 is connected to the ultrasonic transducer 1352, the second pointing control module 1343 is connected to the ultrasonic transducer 1353, and the fourth pointing control module 1344 is connected to the ultrasonic transducer 1354.

[0128] based on Figure 13 The transmitting device shown below, in conjunction with Figure 14 The execution process of the voice signal transmission method provided in this embodiment is illustrated below, wherein, Figure 14 This is a flowchart illustrating the steps of a second embodiment of the voice signal transmission method provided in this application.

[0129] Step 1401: The transmitting device acquires the first ultrasonic signal from channel M.

[0130] The transmitting device shown in this embodiment sequentially transmits the first voice signal via... Figure 13 After processing by the first signal processing module 1311 and the first carrier modulation module 1312, the M-channel first ultrasonic signals are output. For details, please refer to [link to documentation]. Figure 2 The relevant descriptions of the first signal processing module and the first carrier modulation module shown are not elaborated here.

[0131] Step 1402: The transmitting device acquires the M-channel second ultrasonic signal.

[0132] The transmitting device shown in this embodiment sequentially transmits the second voice signal via... Figure 13 After processing by the second signal processing module 1313 and the second carrier modulation module 1314, the M-channel second ultrasonic signals are output. For details, please refer to [link to documentation]. Figure 2 The relevant descriptions of the second signal processing module and the second carrier modulation module shown are not elaborated here.

[0133] This embodiment does not limit the execution sequence between steps 1401 and 1402.

[0134] Step 1403: The transmitting device aligns the end time of transmitting the first reference ultrasonic signal with the start time of transmitting the second reference ultrasonic signal.

[0135] Step 1404: The transmitting device determines the first switching ultrasonic signal and the second switching ultrasonic signal corresponding to the target ultrasonic transducer.

[0136] Step 1405: The transmitting device superimposes the second sub-signal and the third sub-signal to obtain a superimposed ultrasonic signal.

[0137] For a description of the execution process of steps 1403 to 1405 shown in this embodiment, please refer to [link to documentation]. Figure 10 Steps 1003 to 1005 are shown in the diagram, and will not be described in detail here.

[0138] Step 1406: The transmitting device controls the direction of the first sub-signal, the superimposed ultrasonic signal, and the fourth sub-signal respectively.

[0139] For example, taking the second time-division processing module 1322 as an example, this module sends the first sub-signal, the superimposed ultrasonic signal, and the fourth sub-signal, ordered from earliest to latest, to the second pointing control module 1342. The second pointing control module 1342 controls the phase and amplitude of the first sub-signal to obtain the first sub-signal pointing in the first direction. It also controls the phase and amplitude of the superimposed ultrasonic signal to obtain the superimposed ultrasonic signal pointing in both the first and second directions. Furthermore, it controls the phase and amplitude of the fourth sub-signal to obtain the fourth sub-signal pointing in the second direction.

[0140] For example, taking the first time-division processing module 1322 as an example, this module sends the first reference ultrasonic signal and the second reference ultrasonic signal, ordered from earliest to latest, transmitted to the ultrasonic transducer array, to the first pointing control module 1341. The first pointing control module 1341 controls the phase and amplitude of the first reference ultrasonic signal to obtain the first reference ultrasonic signal pointing in the first direction. It also controls the phase and amplitude of the second reference ultrasonic signal to obtain the second reference ultrasonic signal pointing in the second direction.

[0141] Step 1407: The transmitting device emits M first ultrasonic signals and M second ultrasonic signals through the ultrasonic transducer array.

[0142] For the execution process of step 1407 shown in this embodiment, please refer to [link to relevant documentation]. Figure 10 The steps shown in step 1006 are not detailed here.

[0143] For an explanation of the beneficial effects shown in this embodiment, please refer to Embodiment 1. Specific details will not be repeated in this embodiment.

[0144] Example 3

[0145] The following combination Figure 15 As shown, the structure of the transmitting device 1500 is described from the perspective of physical hardware. Figure 15 for Figure 15 This is a structural example diagram of a third embodiment of the transmitting device provided in this application.

[0146] The transmitting device 1500 specifically includes: a processing unit 1501, a memory 1502, a bus 1503, an ultrasonic transducer array 1504, and a network interface 1506.

[0147] Specifically, memory 1502 may include computer storage media in the form of volatile and / or non-volatile memory, such as read-only memory and / or random access memory. Memory 1502 may store operating system, application programs, other program modules, executable code, and program data. For a detailed description of processing unit 1501, please refer to the description of the processing unit shown in Embodiment 1; further details will not be repeated here.

[0148] The ultrasonic transducer array 1504 can be connected to the processing unit 1501 via bus 1503.

[0149] The transmitting device 1500 can be connected to a communication network via network interface 1506. In a networked environment, the computer execution instructions stored in the transmitting device 1500 can be stored in a remote storage device, and are not limited to local storage.

[0150] When the processing unit 1501 in the transmitting device 1500 executes the executable code or application stored in the memory 1502, the transmitting device 1500 can execute the method operation on either side of the above method embodiments. For the specific execution process, please refer to the above method embodiments, which will not be repeated here.

[0151] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for transmitting voice signals, characterized in that, The method includes: Acquire a first switching ultrasonic signal corresponding to a first voice signal, wherein the first switching ultrasonic signal is used to point in a first direction; Acquire a second switching ultrasonic signal corresponding to a second voice signal. The second switching ultrasonic signal is used to point in a second direction, the first direction being different from the second direction. The first switching ultrasonic signal includes a first sub-signal and a second sub-signal, and the second switching ultrasonic signal includes a third sub-signal and a fourth sub-signal. The second sub-signal and the third sub-signal are superimposed to obtain a superimposed ultrasonic signal, and the time periods for transmitting the second sub-signal and the time periods for transmitting the third sub-signal coincide on the time axis. The first sub-signal, the superimposed ultrasonic signal, and the fourth sub-signal are emitted sequentially and time-divisionally through a beam pattern by a target ultrasonic transducer, wherein the target ultrasonic transducer is one of the ultrasonic transducers included in the ultrasonic transducer array.

2. The method according to claim 1, characterized in that, Before superimposing the second sub-signal and the third sub-signal to obtain the superimposed ultrasonic signal, the method further includes: The first switching ultrasonic signal and the second switching ultrasonic signal are determined to meet a preset condition, wherein the preset condition is that the second time is later than the first time, the first time is the end time of transmitting the first switching ultrasonic signal, and the second time is the start time of transmitting the second switching ultrasonic signal.

3. The method according to claim 1 or 2, characterized in that, Before superimposing the second sub-signal and the third sub-signal to obtain the superimposed ultrasonic signal, the method further includes: Obtain M first ultrasonic signals corresponding to the first voice signal, where M is a positive integer greater than 1, and the M first ultrasonic signals include the first switched ultrasonic signal; Acquire the first reference ultrasonic signal included in the M-channel first ultrasonic signals, wherein the first reference ultrasonic signal is transmitted to the ultrasonic transducer array at a time earlier than the first switched ultrasonic signal is transmitted to the ultrasonic transducer array. Acquire M channels of second ultrasonic signals corresponding to the second voice signal, wherein the M channels of second ultrasonic signals include the second switching ultrasonic signal; Acquire the second reference ultrasonic signal included in the M-channel second ultrasonic signals, wherein in the M-channel second ultrasonic signals, the second reference ultrasonic signal is transmitted to the ultrasonic transducer array at a time later than the time the second switched ultrasonic signal is transmitted to the ultrasonic transducer array; Align the end time of transmitting the first reference ultrasonic signal with the start time of transmitting the second reference ultrasonic signal.

4. The method according to claim 3, characterized in that, The M arrival times of the M first ultrasonic signals are arranged in order from earliest to latest. The first arrival time is the time when the first ultrasonic signal is transmitted to the ultrasonic transducer array. The difference between the first arrival times of any two adjacent first ultrasonic signals in the M first ultrasonic signals is the first difference. The M arrival times of the M second ultrasonic signals are arranged in ascending order. The second arrival time is the time when the second ultrasonic signal is transmitted to the ultrasonic transducer array. The difference between the second arrival times of any two adjacent second ultrasonic signals in the M second ultrasonic signals is the second difference.

5. The method according to claim 3, characterized in that, Among the M-channel first ultrasonic signals, the first reference ultrasonic signal is transmitted to the ultrasonic transducer array earliest; among the M-channel second ultrasonic signals, the second reference ultrasonic signal is transmitted to the ultrasonic transducer array latest.

6. The method according to claim 1 or 2, characterized in that, The second sub-signal includes multiple first sampled signals, and the third sub-signal includes multiple second sampled signals. The step of superimposing the second sub-signal and the third sub-signal to obtain a superimposed ultrasonic signal includes: Obtain the superimposed sub-signal corresponding to the second sub-signal and the third sub-signal. The superimposed sub-signal is related to the i-th first sampling signal among the plurality of first sampling signals and the j-th second sampling signal among the plurality of second sampling signals. The time period for transmitting the i-th first sampling signal and the time period for transmitting the j-th second sampling signal coincide on the time axis. The superimposed ultrasonic signal includes a plurality of the superimposed sub-signals.

7. The method according to claim 6, characterized in that, The step of obtaining the superimposed sub-signal corresponding to the second sub-signal and the third sub-signal includes: The i-th first sampled signal and the j-th second sampled signal are summed, or weighted summed, or averaged, or weighted averaged to obtain the superimposed sub-signal.

8. The method according to claim 7, characterized in that, Before performing a weighted summation or weighted average on the i-th first sampled signal and the j-th second sampled signal among the plurality of second sampled signals to obtain the superimposed sub-signal, the method further includes: Obtain the first weight corresponding to the i-th first sampling signal. The values ​​of the i first weights corresponding to the multiple first sampling signals included in the second sub-signal decrease sequentially according to the order in which they are transmitted to the ultrasonic transducer array from earliest to latest. The second weight corresponding to the j-th second sampling signal is obtained. The values ​​of the j-th second weights corresponding to the multiple second sampling signals included in the third sub-signal are sequentially increased according to the order in which they are transmitted to the ultrasonic transducer array from earliest to latest.

9. The method according to claim 1 or 2, characterized in that, Before superimposing the second sub-signal and the third sub-signal to obtain the superimposed ultrasonic signal, the method further includes: By controlling the phase and amplitude of the first switching ultrasonic signal, a first switching ultrasonic signal pointing in the first direction is obtained; By controlling the phase and amplitude of the second switching ultrasonic signal, a first switching ultrasonic signal pointing in the second direction is obtained.

10. The method according to claim 1 or 2, characterized in that, After superimposing the second sub-signal and the third sub-signal to obtain the superimposed ultrasonic signal, the method further includes: By controlling the phase and amplitude of the first sub-signal, a first sub-signal pointing in the first direction is obtained; By controlling the phase and amplitude of the superimposed ultrasonic signal, the superimposed ultrasonic signal pointing to the first direction and the second direction is obtained; By controlling the phase and amplitude of the fourth sub-signal, a fourth sub-signal pointing in the second direction is obtained.

11. A transmitting device, characterized in that, It includes a processing unit and an ultrasonic transducer array connected in sequence. The processing unit is used for: Acquire a first switching ultrasonic signal corresponding to a first voice signal, wherein the first switching ultrasonic signal is used to point in a first direction; Acquire a second switching ultrasonic signal corresponding to a second voice signal. The second switching ultrasonic signal is used to point in a second direction, the first direction being different from the second direction. The first switching ultrasonic signal includes a first sub-signal and a second sub-signal, and the second switching ultrasonic signal includes a third sub-signal and a fourth sub-signal. The second sub-signal and the third sub-signal are superimposed to obtain a superimposed ultrasonic signal, and the time periods for transmitting the second sub-signal and the time periods for transmitting the third sub-signal coincide on the time axis. The target ultrasonic transducer is used to sequentially emit the first sub-signal, the superimposed ultrasonic signal, and the fourth sub-signal in a time-division manner via a beam. The target ultrasonic transducer is one of the ultrasonic transducers included in the ultrasonic transducer array.

12. The transmitting device according to claim 11, characterized in that, The processing unit is also used for: The first switching ultrasonic signal and the second switching ultrasonic signal are determined to meet a preset condition, wherein the preset condition is that the second time is later than the first time, the first time is the end time of transmitting the first switching ultrasonic signal, and the second time is the start time of transmitting the second switching ultrasonic signal.

13. The transmitting device according to claim 11 or 12, characterized in that, The processing unit is also used for: Obtain M first ultrasonic signals corresponding to the first voice signal, where M is a positive integer greater than 1, and the M first ultrasonic signals include the first switched ultrasonic signal; Acquire the first reference ultrasonic signal included in the M-channel first ultrasonic signals, wherein the first reference ultrasonic signal is transmitted to the ultrasonic transducer array at a time earlier than the first switched ultrasonic signal is transmitted to the ultrasonic transducer array. Acquire M channels of second ultrasonic signals corresponding to the second voice signal, wherein the M channels of second ultrasonic signals include the second switching ultrasonic signal; Acquire the second reference ultrasonic signal included in the M-channel second ultrasonic signals, wherein in the M-channel second ultrasonic signals, the second reference ultrasonic signal is transmitted to the ultrasonic transducer array at a time later than the time the second switched ultrasonic signal is transmitted to the ultrasonic transducer array; Align the end time of transmitting the first reference ultrasonic signal with the start time of transmitting the second reference ultrasonic signal.

14. The transmitting device according to claim 13, characterized in that, The M arrival times of the M first ultrasonic signals are arranged in order from earliest to latest. The first arrival time is the time when the first ultrasonic signal is transmitted to the ultrasonic transducer array. The difference between the first arrival times of any two adjacent first ultrasonic signals in the M first ultrasonic signals is the first difference. The M arrival times of the M second ultrasonic signals are arranged in ascending order. The second arrival time is the time when the second ultrasonic signal is transmitted to the ultrasonic transducer array. The difference between the second arrival times of any two adjacent second ultrasonic signals in the M second ultrasonic signals is the second difference.

15. The transmitting device according to claim 13, characterized in that, Among the M-channel first ultrasonic signals, the first reference ultrasonic signal is transmitted to the ultrasonic transducer array earliest; among the M-channel second ultrasonic signals, the second reference ultrasonic signal is transmitted to the ultrasonic transducer array latest.

16. The transmitting device according to claim 11 or 12, characterized in that, The second sub-signal includes multiple first sampled signals, and the third sub-signal includes multiple second sampled signals. The processing unit is used for: Obtain the superimposed sub-signal corresponding to the second sub-signal and the third sub-signal. The superimposed sub-signal is related to the i-th first sampling signal among the plurality of first sampling signals and the j-th second sampling signal among the plurality of second sampling signals. The time period for transmitting the i-th first sampling signal and the time period for transmitting the j-th second sampling signal coincide on the time axis. The superimposed ultrasonic signal includes a plurality of the superimposed sub-signals.

17. The transmitting device according to claim 16, characterized in that, The processing unit is used for: The i-th first sampled signal and the j-th second sampled signal are summed, or weighted summed, or averaged, or weighted averaged to obtain the superimposed sub-signal.

18. The transmitting device according to claim 17, characterized in that, The processing unit is also used for: Obtain the first weight corresponding to the i-th first sampling signal. The values ​​of the i first weights corresponding to the multiple first sampling signals included in the second sub-signal decrease sequentially according to the order in which they are transmitted to the ultrasonic transducer array from earliest to latest. The second weight corresponding to the j-th second sampling signal is obtained. The values ​​of the j-th second weights corresponding to the multiple second sampling signals included in the third sub-signal are sequentially increased according to the order in which they are transmitted to the ultrasonic transducer array from earliest to latest.

19. The transmitting device according to claim 11 or 12, characterized in that, The processing unit is also used for: By controlling the phase and amplitude of the first switching ultrasonic signal, a first switching ultrasonic signal pointing in the first direction is obtained; By controlling the phase and amplitude of the second switching ultrasonic signal, a first switching ultrasonic signal pointing in the second direction is obtained.

20. The transmitting device according to claim 11 or 12, characterized in that, The processing unit is also used for: By controlling the phase and amplitude of the first sub-signal, a first sub-signal pointing in the first direction is obtained; By controlling the phase and amplitude of the superimposed ultrasonic signal, the superimposed ultrasonic signal pointing to the first direction and the second direction is obtained; By controlling the phase and amplitude of the fourth sub-signal, a fourth sub-signal pointing in the second direction is obtained.

21. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by hardware, performs the method shown in any one of claims 1 to 10.

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