Beam forming method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of beam forming, and discloses a beam forming method and device, electronic equipment and a storage medium, and the method comprises the steps: determining the transmission delay of a current transmission array element after the current transmission array element transmits a sound wave for each transmission array element in a transmission aperture, and determining the contribution of the current transmission array element to an imaging point; determining a channel signal, an apodization weight and a receiving delay corresponding to each receiving array element according to the sound wave transmitted by the current transmitting array element; wherein the receiving delay is used for representing the time when the sound wave reaches the imaging point from the current transmitting array element and then is reflected to the receiving array element; and based on the contribution of each transmitting array element to the imaging point and the transmitting delay, and according to the channel signal, the apodization weight and the receiving delay corresponding to each receiving array element, obtaining a target beam forming result. According to the invention, each array element in the emission aperture is considered as an independent individual for calculation, so that the accuracy of the result is improved, the imaging quality is improved, the application range is wide, and the maintenance cost of the system is reduced.

Description

Technical Field

[0001] The present invention relates to the field of beamforming technology, and in particular to a beamforming method, device, electronic equipment and storage medium. Background Art

[0002] Delayed-addition beamforming is the most widely used method in the field of ultrasound imaging. Delayed-addition beamforming is to delay the channel signals received by multiple channels for a certain period of time, and then perform weighted summation of the delayed channel signals. The most critical issue is the calculation of delay and weight. In existing beamforming methods, the weight calculation usually uses a fixed window function, while the delay calculation method changes with the change of the transmitted wavefront, but the transmitted wavefront is very difficult to determine.

[0003] Traditional focused wave imaging is to transmit focused waves through sub-apertures. By changing the lateral position of the emitted focused waves, all lines can be synthesized in the imaging area. However, the high image line density will lead to a serious lack of imaging frame rate. Compared with traditional focused wave imaging, parallel beam synthesis technology transmits focused ultrasound once and synthesizes multiple receiving lines, that is, receiving lines are synthesized not only on the main axis of the sound beam, but also on non-main axes. At this time, the calculation of the transmitted sound path needs to consider the wavefront shape.

[0004] The delay calculations in the above methods all require the assumption of the shape of the transmitted wavefront, but the distribution range of the transmitted wavefront in space and the delay calculation method are different. The above methods do not take these factors into consideration, resulting in reduced image quality in practical applications. Summary of the invention

[0005] In view of this, the present invention provides a beamforming method, device, electronic device and storage medium to solve the problem that the prior art does not consider the distribution range of the transmitted wavefront in space and the different delay calculation methods, resulting in reduced image quality during the beamforming process.

[0006] In a first aspect, the present invention provides a beamforming method, the method comprising:

[0007] For each transmitting array element in the transmitting aperture, after the current transmitting array element transmits the acoustic wave, determining the transmitting delay of the current transmitting array element and determining the contribution of the current transmitting array element to the imaging point;

[0008] Determine the channel signal, apodization weight and receiving delay corresponding to each receiving element for the sound wave emitted by the current transmitting element; wherein the receiving delay is used to characterize the time it takes for the sound wave to be reflected from the current transmitting element to the imaging point and then to the receiving element;

[0009] Based on the contribution of each transmitting array element to the imaging point and the transmitting delay, and according to the channel signal, apodization weight and receiving delay corresponding to each receiving array element, the target beamforming result is obtained.

[0010] Beneficial effects: For each transmitting array element in the transmitting aperture, after the current transmitting array element transmits the sound wave, the transmitting delay of the current transmitting array element and the contribution of the current transmitting array element to the imaging point are determined, and the channel signal, apodization weight and receiving delay corresponding to each receiving array element are determined; then, based on the contribution of each transmitting array element to the imaging point and the transmitting delay, and according to the channel signal, apodization weight and receiving delay corresponding to each receiving array element, the target beam synthesis result is obtained. The present invention considers each array element in the transmitting aperture as an independent individual to calculate the target beam synthesis result, which improves the accuracy of the result, thereby improving the imaging quality, and has a wide range of applications, which can reduce the maintenance cost of the system.

[0011] In an optional implementation, based on the contribution of each transmitting array element to the imaging point and the transmitting delay, and according to the channel signal, apodization weight and receiving delay corresponding to each receiving array element, a target beamforming result is obtained, including:

[0012] For the sound wave emitted by the current transmitting array element, the target channel signal received by each receiving array element is obtained according to the emission delay of the current transmitting array element and the channel signal and receiving delay corresponding to each receiving array element;

[0013] For the sound wave emitted by the current transmitting array element, based on the contribution of the current transmitting array element to the imaging point and the target channel signal and apodization weight corresponding to each receiving array element, a first beamforming result corresponding to the current transmitting array element is obtained;

[0014] The first beamforming results corresponding to each transmit array element in the transmit aperture are summed to obtain the target beamforming result.

[0015] Beneficial effect: The beam synthesis results of each transmitting array element in the transmitting aperture are weighted and summed to simulate the beam synthesis of the entire aperture, and the beam synthesis calculation of the transmitting array element takes into account the transmission delay during actual transmission. When the beam synthesis results of each transmitting array element are weighted and summed, the contribution to the imaging point is considered based on the array element directivity, thereby improving the accuracy of the target beam synthesis result.

[0016] In an optional implementation, obtaining a target channel signal received by each receiving array element according to a transmission delay of a current transmitting array element and a channel signal and a receiving delay corresponding to each receiving array element includes:

[0017] For each receiving array element, the total delay of the current receiving array element is calculated according to the sum of the transmission delay of the current transmitting array element and the receiving delay corresponding to the current receiving array element;

[0018] According to the channel signal corresponding to each receiving array element and the total delay, the target channel signal received by each receiving array element is obtained.

[0019] Beneficial effect: The transmission delay of the transmitting array element and the receiving delay of the receiving array element are taken into consideration to determine the target channel signal received by each receiving array element, thereby improving the accuracy of the subsequent calculation of the beamforming result.

[0020] In an optional implementation, for the sound wave transmitted by the current transmitting array element, based on the contribution of the current transmitting array element to the imaging point and the target channel signal and the apodization weight corresponding to each receiving array element, obtaining a first beamforming result corresponding to the current transmitting array element includes:

[0021] For the sound wave emitted by the current transmitting array element and each receiving array element, the second beamforming result corresponding to the current receiving array element is calculated according to the product of the target channel signal of the current receiving array element, the apodization weight of the current receiving array element and the contribution of the current transmitting array element to the imaging point;

[0022] The second beamforming results corresponding to each receiving array element are summed to obtain the first beamforming result corresponding to the current transmitting array element.

[0023] Beneficial effect: The first beam synthesis result of the current transmitting array element is determined by summing the second beam synthesis results of each receiving array element, and the apodization weight of each receiving array element and the contribution of the transmitting array element to the imaging point are considered in the calculation process, thereby improving the accuracy of the result.

[0024] In an optional implementation, determining the contribution of the current transmitting array element to the imaging point includes:

[0025] Determine the transmit apodization corresponding to the current transmit array element and the weight coefficient corresponding to the array element directivity function;

[0026] The contribution of the current transmitting array element to the imaging point is calculated based on the product of the transmit apodization and the weight coefficient.

[0027] Beneficial effect: By considering the array element directivity and the transmission trace of the transmitting array element, the contribution of each transmitting array element to the imaging point is determined, thereby improving the accuracy of calculating the beam synthesis result.

[0028] In an optional implementation, determining the receiving delay corresponding to each receiving array element for the sound wave transmitted by the current transmitting array element includes:

[0029] For the sound wave emitted by the current transmitting array element and each receiving array element, determine a first distance between the current transmitting array element and the imaging point and a second distance between the current receiving array element and the imaging point;

[0030] For each receiving array element, the total distance between the first distance and the second distance is calculated, and the receiving delay of the current receiving array element is calculated according to the ratio between the total distance and the preset sound speed.

[0031] Beneficial effect: The total distance is calculated according to the distances from the current transmitting array element and the current receiving array element to the imaging point respectively, so as to calculate the reception delay of the current receiving array element after the current transmitting array element transmits the sound wave according to the ratio of the total distance and the preset sound speed, so as to improve the accuracy of the delay calculation.

[0032] In an optional implementation manner, determining apodization weights corresponding to each receiving array element includes:

[0033] According to the preset window function, the apodization weight corresponding to each receiving array element is determined.

[0034] Beneficial effect: Through the preset window function, the apodization weight is applied to each receiving array element to optimize the beam shape, compensate for the influence of attenuation and scattering of ultrasound on image quality during propagation, and make the image clearer and more accurate.

[0035] In a second aspect, the present invention provides a beamforming device, the device comprising:

[0036] A first processing module is used to determine, for each transmitting array element in the transmitting aperture, a transmission delay of the current transmitting array element after the current transmitting array element transmits an acoustic wave, and determine a contribution of the current transmitting array element to an imaging point;

[0037] The second processing module is used to determine the channel signal, apodization weight and receiving delay corresponding to each receiving array element for the sound wave emitted by the current transmitting array element; wherein the receiving delay is used to characterize the time for the sound wave to be reflected from the current transmitting array element to the imaging point and then to the receiving array element;

[0038] The third processing module is used to obtain the target beamforming result based on the contribution of each transmitting array element to the imaging point and the transmitting delay, and according to the channel signal, the apodization weight and the receiving delay corresponding to each receiving array element.

[0039] In a third aspect, the present invention provides an electronic device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the beamforming method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0040] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the beamforming method of the first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 is a schematic flow chart of a beamforming method according to an embodiment of the present invention;

[0043] Figure 2 is a schematic flow chart of another beamforming method according to an embodiment of the present invention;

[0044] Figure 3 is a structural block diagram of a beamforming device according to an embodiment of the present invention;

[0045] Figure 4 It is a schematic diagram of the hardware structure of the electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0047] Delayed-addition beamforming is the most widely used method in the field of ultrasound imaging. Delayed-addition beamforming is to delay the channel signals received by multiple channels for a certain period of time, and then perform weighted summation of the delayed channel signals. The most critical issue is the calculation of delay and weight. In existing beamforming methods, the weight calculation usually uses a fixed window function, and the delay calculation method changes with the change of the transmitted wavefront.

[0048] The delay is composed of the time corresponding to the transmission sound path and the receiving sound path. The transmission sound path is the distance from the wavefront of the divergent wave to the imaging point, and the receiving sound path is the distance from the imaging point to the array element corresponding to each channel. Since the imaging point position and the array element position are known, the calculation of the receiving sound path is certain. The difficulty lies in the calculation of the transmission sound path, and the main problem is that the transmission wavefront is difficult to determine.

[0049] The most commonly used transmitting wave is the focused wave. Among them, traditional focused wave imaging is to transmit the focused wave through the transmitting sub-aperture. Accordingly, a receiving line is synthesized on the main axis of the focused wave sound beam. By changing the lateral position of the transmitted focused wave, all lines can be synthesized in the imaging area. Traditional focused wave imaging can only synthesize one receiving line when transmitting an ultrasonic wave. It only needs to perform beam synthesis on the main axis of the sound beam, so the transmitting sound path is the distance from the center of the transmitting aperture to the imaging point. If the image line density is high, the imaging frame rate will be seriously insufficient. Therefore, parallel beam synthesis technology has emerged.

[0050] Compared with traditional focused wave imaging, parallel beam synthesis technology transmits a focused ultrasound wave and synthesizes multiple receiving lines, that is, the receiving lines are synthesized not only on the main axis of the sound beam, but also on the non-main axis. At this time, the calculation of the transmission sound path needs to consider the wavefront shape. The simplest method is to assume that the wavefront of the focused wave is flat, that is, a plane wave. At this time, the calculation of the transmission sound path is still the distance from the center of the transmitting aperture to the image point on the main axis sound beam. The second way is to assume that the wavefront of the focused wave is a spherical wave. At this time, the calculation of the transmission sound path is the distance from the center of the transmitting aperture to the corresponding image point. The last way is to assume that the wavefront of the focused wave is a spherical wave before and after the focus, but the propagation direction is opposite.

[0051] However, the above delay calculations all require the assumption of the shape of the transmitted wavefront. For focused waves, differences in the size of the transmitting aperture and the depth of the transmitting focus will also lead to differences in the transmitted wavefront. However, the above assumptions do not take these factors into account, so the accuracy of the model is not enough. In addition, through simulation, it can be seen that the distribution range of the transmitted wavefront of the focused wave in space is different. The above assumptions do not take these factors into account, resulting in reduced image quality in practical applications.

[0052] In addition, as the number of beams increases, the transmitted waves include not only focused waves, but also plane waves and divergent waves. The delay calculation methods for these wavefronts are also different from those for focused waves. For the entire imaging system, it is best to use the same calculation method to calculate the delay, which can reduce the maintenance cost of the system.

[0053] Therefore, an embodiment of the present invention provides a beamforming method, which considers each array element in the transmit aperture as an independent individual, and uses the weighted sum of the beamforming results of each single array element in the transmit aperture to simulate the beamforming of the entire aperture, while taking into account the transmission delay during actual transmission, and taking into account the directivity of the array element when performing the weighted summation of the beamforming results of each single array element, thereby improving the accuracy of the beamforming result, thereby improving the imaging quality, and has a wide range of applications and can reduce the maintenance cost of the system.

[0054] According to an embodiment of the present invention, a beamforming method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0055] In this embodiment, a beamforming method is provided, which can be used in an electronic device for performing ultrasonic imaging. Figure 1 is a flow chart of a beamforming method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0056] Step S101 : for each transmitting array element in the transmitting aperture, after the current transmitting array element transmits the sound wave, determining the transmitting delay of the current transmitting array element, and determining the contribution of the current transmitting array element to the imaging point.

[0057] In some optional implementations, the path difference from the i-th transmitting array element to the imaging point is determined, and the transmission delay τ of the i-th transmitting array element is obtained according to the ratio of the path difference to the propagation speed of the sound wave in the medium. i .

[0058] Specifically, the transmit apodization corresponding to the current transmit array element and the weight coefficient corresponding to the array element directivity function may be determined, and then the contribution of the current transmit array element to the imaging point is calculated based on the product of the transmit apodization and the weight coefficient.

[0059] For example, if w i is the contribution of the ith transmitting array element to the imaging point P. When determining the contribution value, it is necessary to comprehensively consider the transmitting apodization and the array element directivity. Assume that the transmitting apodization is The array element directivity function determines the weight coefficient of the i-th transmitting array element at the imaging point P as wp i ,So

[0060] It should be noted that the array element directivity function can be measured. For the specific measurement method, reference can be made to the detailed description of the relevant technology, which will not be described in detail here.

[0061] This embodiment determines the contribution of each transmitting array element to the imaging point by considering the array element directivity and the transmitting apodization of the transmitting array element, thereby improving the accuracy of calculating the beamforming result.

[0062] Step S102: determining the channel signal, apodization weight and receiving delay corresponding to each receiving array element for the sound wave transmitted by the current transmitting array element.

[0063] Specifically, the receiving delay is used to characterize the time it takes for the sound wave to reach the imaging point from the current transmitting array element and then be reflected to the receiving array element; the apodization weight is the apodization weight applied to each receiving array element in traditional beamforming.

[0064] Step S103, based on the contribution of each transmitting array element to the imaging point and the transmitting delay, and according to the channel signal, apodization weight and receiving delay corresponding to each receiving array element, a target beamforming result is obtained.

[0065] According to the linear acoustic theory, the present invention considers each transmitting array element in the transmitting aperture as an independent individual. Regardless of the type of transmitting wave, its essence is to stimulate each transmitting array element in the transmitting aperture to transmit ultrasonic waves with different delays, while various transmitting sound path calculation methods in the prior art consider the transmitting aperture as a whole. Then, a single array element is assumed to be a point source. In this way, according to the Huygens principle, the ultrasonic wave emitted by the point source is a spherical wave. In this way, the transmitting sound path of a single transmitting array element is the distance from the transmitting array element to the image point. Therefore, the beam synthesis results of each transmitting array element in the transmitting aperture can be weighted and summed to simulate the target beam synthesis result of the entire transmitting aperture. At the same time, the calculation of the beam synthesis delay of a single array element needs to consider the transmission delay during actual transmission, and the directivity of the array element needs to be considered when performing weighted summation on the beam synthesis results of a single array element to improve the accuracy of the target beam synthesis result.

[0066] The beamforming method provided in this embodiment determines the transmission delay of the current transmitting array element and the contribution of the current transmitting array element to the imaging point after the current transmitting array element transmits the sound wave for each transmitting array element in the transmitting aperture, and determines the channel signal, apodization weight and receiving delay corresponding to each receiving array element; then, based on the contribution of each transmitting array element to the imaging point and the transmission delay, and according to the channel signal, apodization weight and receiving delay corresponding to each receiving array element, the target beamforming result is obtained. The present invention considers each array element in the transmitting aperture as an independent individual to calculate the target beamforming result, which improves the accuracy of the result, thereby improving the imaging quality, and has a wide range of applications, which can reduce the maintenance cost of the system.

[0067] In this embodiment, a beamforming method is provided, which can be used in an electronic device for performing ultrasonic imaging. Figure 2 is a flow chart of a beamforming method according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0068] Step S201, for each transmitting array element in the transmitting aperture, after the current transmitting array element transmits the sound wave, determine the transmission delay of the current transmitting array element and determine the contribution of the current transmitting array element to the imaging point. For details, please refer to Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0069] Step S202: determining the channel signal, apodization weight and receiving delay corresponding to each receiving array element for the sound wave transmitted by the current transmitting array element.

[0070] Specifically, the above step S202 includes:

[0071] Step S2021: determining the channel signal and apodization weight corresponding to each receiving array element for the sound wave transmitted by the current transmitting array element.

[0072] Specifically, for the i-th transmitting array element, the channel signal received by the j-th receiving array element among the receiving array elements (a total of Ntr receiving array elements) in this transmission is x(j, t).

[0073] Specifically, the apodization weight corresponding to each receiving array element can be determined according to a preset window function. For example, if the window function is a rectangular window, then the apodization weight corresponding to each receiving array element is equal to 1; the window function can also be a Hanning window, then the apodization weight w corresponding to the jth receiving array element is j is (1-cos(2*π*j / Ntr)) / 2.

[0074] This embodiment applies apodization weights to each receiving array element through a preset window function to optimize the beam shape and compensate for the influence of attenuation and scattering of ultrasound waves on image quality during propagation, so as to make the image clearer and more accurate.

[0075] Step S2022: for the sound wave emitted by the current transmitting array element and each receiving array element, determine a first distance between the current transmitting array element and the imaging point and a second distance between the current receiving array element and the imaging point.

[0076] Specifically, determine the first distance from the i-th transmitting array element to the imaging point P And determine the distance from the jth receiving array element to the imaging point P

[0077] Step S2023: For each receiving array element, the total distance between the first distance and the second distance is calculated, and the receiving delay of the current receiving array element is calculated according to the ratio between the total distance and the preset sound speed.

[0078] Specifically, the receiving delay τ of the jth receiving element after the i-th transmitting element transmits the sound wave can be calculated according to the following formula: ij :

[0079]

[0080] Wherein, c is the preset sound speed.

[0081] This embodiment calculates the total distance based on the distances from the current transmitting array element and the current receiving array element to the imaging point respectively, and thus calculates the reception delay of the current receiving array element after the current transmitting array element transmits the sound wave based on the ratio of the total distance to the preset sound speed, so as to improve the accuracy of the delay calculation.

[0082] Step S203, based on the contribution of each transmitting array element to the imaging point and the transmitting delay, and according to the channel signal, apodization weight and receiving delay corresponding to each receiving array element, a target beamforming result is obtained.

[0083] Specifically, the above step S203 includes:

[0084] Step S2031, for the sound wave transmitted by the current transmitting array element, according to the transmission delay of the current transmitting array element and the channel signal and receiving delay corresponding to each receiving array element, obtain the target channel signal received by each receiving array element.

[0085] Specifically, for each receiving array element, the total delay of the current receiving array element is calculated based on the sum of the transmission delay of the current transmitting array element and the receiving delay corresponding to the current receiving array element. The total delay of the jth receiving array element is τ i +τ ij Then, according to the channel signal and total delay corresponding to each receiving array element, the target channel signal x(j, t-(τ i +τ ij )), that is, x(j, t-τ i -τ ij ).

[0086] This embodiment takes into account the transmission delay of the transmitting array element and the receiving delay of the receiving array element, determines the target channel signal received by each receiving array element, and improves the accuracy of subsequent calculation of beamforming results.

[0087] Step S2032: For the sound wave transmitted by the current transmitting array element, based on the contribution of the current transmitting array element to the imaging point and the target channel signal and apodization weight corresponding to each receiving array element, a first beamforming result corresponding to the current transmitting array element is obtained.

[0088] Specifically, for the sound waves emitted by the current transmitting array element and each receiving array element, the second beamforming result corresponding to the current receiving array element is calculated according to the product of the target channel signal of the current receiving array element, the apodization weight of the current receiving array element, and the contribution of the current transmitting array element to the imaging point. Then, the second beamforming results corresponding to each receiving array element are summed to obtain the first beamforming result corresponding to the current transmitting array element.

[0089] Exemplarily, the first beamforming result y corresponding to the i-th transmitting array element can be calculated according to the following formula: i (t):

[0090]

[0091] Step S2033, summing up the first beamforming results corresponding to each transmit array element in the transmit aperture to obtain a target beamforming result.

[0092] Exemplarily, the target beamforming result y(t) may be calculated according to the following formula:

[0093]

[0094] Wherein, Nte represents the number of transmitting array elements.

[0095] This embodiment determines the first beamforming result of the current transmitting array element by summing the second beamforming results of each receiving array element, and considers the apodization weight of each receiving array element and the contribution of the transmitting array element to the imaging point in the calculation process, thereby improving the accuracy of the result.

[0096] In an embodiment of the present invention, the beamforming results of each transmitting array element in the transmitting aperture are weighted and summed to simulate the beamforming of the entire aperture, and the beamforming calculation of the transmitting array element takes into account the transmission delay during actual transmission. When the beamforming results of each transmitting array element are weighted and summed, the contribution to the imaging point is taken into account based on the array element directivity, thereby improving the accuracy of the target beamforming result.

[0097] The beamforming method of the present invention is described below with reference to a specific application example.

[0098] Assume that the transmit aperture consists of Nte transmit array elements and the transmit delay of the i-th array element is τ i , the channel signal received by the jth receiving element in each receiving element (Ntr in total) in this transmission is x(j, t). For a point P within the imaging range, its beamforming result y(t) can be calculated according to the following formula:

[0099]

[0100] Among them, w j It is the apodization weight applied to the jth receiving element in traditional beamforming; w i is the contribution of the ith transmitting array element to the imaging point P; τ ij The time it takes for the i-th transmitting element to transmit a sound wave, for the sound wave to propagate to point P and then reflect back to the j-th receiving element.

[0101] When performing delay calculation, the present invention considers each transmitting array element of the transmitting aperture as a point sound source separately. Since ultrasonic imaging can usually be regarded as a far field, this assumption is reasonable. The transmitting wavefront of the point sound source is a spherical wave, so the delay calculation of each array element is accurate. Applying linear acoustic theory, the linear superposition of the beam synthesis results of each single array element can completely simulate the propagation of the wavefront emitted by the entire transmitting aperture. In this calculation process, the calculation of the delay is accurate, and the calculation method does not change with the transmission delay. Therefore, regardless of whether the transmitting wavefront is a divergent wave, a focused wave or a plane wave, the entire system can use the same calculation method, which has a wide range of applications and reduces the maintenance cost of the system.

[0102] In this embodiment, a beamforming device is also provided, which is used to implement the above embodiments and preferred implementation modes, and the descriptions that have been made are not repeated here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0103] This embodiment provides a beamforming device, such as Figure 3 As shown, including:

[0104] The first processing module 301 is used to determine, for each transmitting array element in the transmitting aperture, a transmission delay of the current transmitting array element after the current transmitting array element transmits an acoustic wave, and determine a contribution of the current transmitting array element to an imaging point;

[0105] The second processing module 302 is used to determine the channel signal, apodization weight and receiving delay corresponding to each receiving array element for the sound wave emitted by the current transmitting array element; wherein the receiving delay is used to characterize the time for the sound wave to be reflected from the current transmitting array element to the imaging point and then to the receiving array element;

[0106] The third processing module 303 is used to obtain a target beamforming result based on the contribution of each transmitting array element to the imaging point and the transmitting delay, and according to the channel signal, apodization weight and receiving delay corresponding to each receiving array element.

[0107] In some optional implementations, the first processing module 301 is further used to:

[0108] Determine the transmit apodization corresponding to the current transmit array element and the weight coefficient corresponding to the array element directivity function;

[0109] The contribution of the current transmitting array element to the imaging point is calculated based on the product of the transmit apodization and the weight coefficient.

[0110] In some optional implementations, the second processing module 302 is further configured to:

[0111] For the sound wave emitted by the current transmitting array element and each receiving array element, determine a first distance between the current transmitting array element and the imaging point and a second distance between the current receiving array element and the imaging point;

[0112] For each receiving array element, the total distance between the first distance and the second distance is calculated, and the receiving delay of the current receiving array element is calculated according to the ratio between the total distance and the preset sound speed.

[0113] In some optional implementations, the second processing module 302 is further configured to:

[0114] According to the preset window function, the apodization weight corresponding to each receiving array element is determined.

[0115] In some optional implementations, the third processing module 303 is further configured to:

[0116] For the sound wave emitted by the current transmitting array element, the target channel signal received by each receiving array element is obtained according to the emission delay of the current transmitting array element and the channel signal and receiving delay corresponding to each receiving array element;

[0117] For the sound wave emitted by the current transmitting array element, based on the contribution of the current transmitting array element to the imaging point and the target channel signal and apodization weight corresponding to each receiving array element, a first beamforming result corresponding to the current transmitting array element is obtained;

[0118] The first beamforming results corresponding to each transmit array element in the transmit aperture are summed to obtain the target beamforming result.

[0119] In some optional implementations, the third processing module 303 is further configured to:

[0120] For each receiving array element, the total delay of the current receiving array element is calculated according to the sum of the transmission delay of the current transmitting array element and the receiving delay corresponding to the current receiving array element;

[0121] According to the channel signal corresponding to each receiving array element and the total delay, the target channel signal received by each receiving array element is obtained.

[0122] In some optional implementations, the third processing module 303 is further configured to:

[0123] For the sound wave emitted by the current transmitting array element and each receiving array element, the second beamforming result corresponding to the current receiving array element is calculated according to the product of the target channel signal of the current receiving array element, the apodization weight of the current receiving array element and the contribution of the current transmitting array element to the imaging point;

[0124] The second beamforming results corresponding to each receiving array element are summed to obtain the first beamforming result corresponding to the current transmitting array element.

[0125] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0126] The beamforming device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0127] The embodiment of the present invention also provides an electronic device having the above Figure 3 The beamforming device shown.

[0128] See also Figure 4 , Figure 4 is a schematic diagram of the structure of an electronic device provided by an optional embodiment of the present invention, such as Figure 4 As shown, the electronic device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. The various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process instructions executed in the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input / output device (such as a display device coupled to an interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 4 A processor 10 is taken as an example.

[0129] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0130] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0131] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0132] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0133] The electronic device further comprises a communication interface 30 for the electronic device to communicate with other devices or a communication network.

[0134] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0135] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0136] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A beamforming method, characterized in that: The method comprises: For each transmitting array element in the transmitting aperture, after the current transmitting array element transmits the acoustic wave, determining the transmitting delay of the current transmitting array element and determining the contribution of the current transmitting array element to the imaging point; Determine the channel signal, apodization weight and receiving delay corresponding to each receiving array element for the sound wave emitted by the current transmitting array element; wherein the receiving delay is used to characterize the time for the sound wave to be reflected from the current transmitting array element to the imaging point and then to the receiving array element; Based on the contribution of each transmitting array element to the imaging point and the transmitting delay, and according to the channel signal, apodization weight and receiving delay corresponding to each receiving array element, the target beamforming result is obtained.

2. The method according to claim 1, characterized in that The target beamforming result is obtained based on the contribution of each transmitting array element to the imaging point and the transmitting delay, and according to the channel signal, apodization weight and receiving delay corresponding to each receiving array element, including: For the sound wave emitted by the current transmitting array element, the target channel signal received by each receiving array element is obtained according to the emission delay of the current transmitting array element and the channel signal and receiving delay corresponding to each receiving array element; For the sound wave emitted by the current transmitting array element, based on the contribution of the current transmitting array element to the imaging point and the target channel signal and apodization weight corresponding to each receiving array element, a first beamforming result corresponding to the current transmitting array element is obtained; The first beamforming results corresponding to each transmit array element in the transmit aperture are summed to obtain a target beamforming result.

3. The method according to claim 2, characterized in that The step of obtaining a target channel signal received by each receiving array element according to the transmission delay of the current transmitting array element and the channel signal and the receiving delay corresponding to each receiving array element comprises: For each receiving array element, the total delay of the current receiving array element is calculated according to the sum of the transmission delay of the current transmitting array element and the receiving delay corresponding to the current receiving array element; According to the channel signal corresponding to each receiving array element and the total delay, the target channel signal received by each receiving array element is obtained.

4. The method according to claim 2, characterized in that: The step of obtaining a first beamforming result corresponding to the current transmitting array element based on the contribution of the current transmitting array element to the imaging point and the target channel signal and the apodization weight corresponding to each receiving array element for the sound wave transmitted by the current transmitting array element includes: For the sound wave emitted by the current transmitting array element and each receiving array element, the second beamforming result corresponding to the current receiving array element is calculated according to the product of the target channel signal of the current receiving array element, the apodization weight of the current receiving array element and the contribution of the current transmitting array element to the imaging point; The second beamforming results corresponding to each receiving array element are summed to obtain the first beamforming result corresponding to the current transmitting array element.

5. The method according to any one of claims 1 to 4, characterized in that The determining of the contribution of the current transmitting array element to the imaging point includes: Determine the transmit apodization corresponding to the current transmit array element and the weight coefficient corresponding to the array element directivity function; The contribution of the current transmitting array element to the imaging point is calculated according to the product of the transmitting apodization and the weight coefficient.

6. The method according to any one of claims 1 to 4, characterized in that The determining of the receiving delay corresponding to each receiving array element for the sound wave transmitted by the current transmitting array element includes: For the sound wave emitted by the current transmitting array element and each receiving array element, determine a first distance between the current transmitting array element and the imaging point and a second distance between the current receiving array element and the imaging point; For each receiving array element, a total distance between the first distance and the second distance is calculated, and a receiving delay of the current receiving array element is calculated according to a ratio between the total distance and a preset sound speed.

7. The method according to any one of claims 1 to 4, characterized in that The determining of the apodization weights corresponding to each receiving array element includes: According to the preset window function, the apodization weight corresponding to each receiving array element is determined.

8. A beamforming device, characterized in that: The device comprises: A first processing module is used to determine, for each transmitting array element in the transmitting aperture, a transmission delay of the current transmitting array element after the current transmitting array element transmits an acoustic wave, and determine a contribution of the current transmitting array element to an imaging point; The second processing module is used to determine the channel signal, the apodization weight and the receiving delay corresponding to each receiving array element for the sound wave emitted by the current transmitting array element; wherein the receiving delay is used to characterize the time for the sound wave to be reflected from the current transmitting array element to the imaging point and then to the receiving array element; The third processing module is used to obtain the target beamforming result based on the contribution of each transmitting array element to the imaging point and the transmitting delay, and according to the channel signal, the apodization weight and the receiving delay corresponding to each receiving array element.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the beamforming method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the beamforming method according to any one of claims 1 to 7.

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