Perception method and perception device

Abstract

The embodiment of the invention discloses a sensing method and a sensing device, relates to the technical field of wireless, and can improve the coverage area range and the sensing capability by controlling a transceiving antenna to perform polling coverage in multiple beam directions. The method comprises the following steps: in each period, a processor controls a transmitting antenna to switch a beam transmitting direction and controls the transmitting antenna to transmit a sensing signal in the beam transmitting direction, and the processor controls a receiving antenna to switch a beam receiving direction and controls the receiving antenna to receive an echo signal of the sensing signal in the beam receiving direction; and the processor performs signal processing on the echo signal received from the receiving antenna in each period to obtain a target sensing result of each period. The embodiment of the invention is used for a wireless sensing process.

Description

Technical Field

[0001] This application relates to the field of wireless technologies, and in particular, to a sensing method and a sensing device. Background Art

[0002] Wireless sensing is widely applied to various spatial regions. By sensing the presence and spatial orientation of human targets, etc., it can provide active interactive services and device control.

[0003] In the antenna design of sensing devices, the main lobe of the beam in the antenna radiation direction can only cover one main beam width direction. The sensing device can only be installed at the top corner or on the wall. The beam coverage area is limited and the sensing ability is low. For example, the channels can be switched to be coupled with the antenna array through a switch, and the transceiver channels and the antenna array are periodically switched through the switch, so as to achieve a larger number of virtual antennas. However, the angle resolution ability under the fixed beam coverage is improved in this way, and the beam direction of the antenna array is still fixed in each period. In this way, after the antenna design is fixed, the beam coverage range is fixed, the coverage area is limited, and the sensing ability is low. Summary of the Invention

[0004] Embodiments of this application provide a sensing method and a sensing device, which can perform polling coverage of multiple beam directions by controlling the transceiver antennas, and improve the coverage area range and the sensing ability.

[0005] In a first aspect, a sensing method is provided. The execution subject of this method can be a sensing device, or a component or device applied to the sensing device (such as a processor, a chip, or a chip system, etc.), or a logic module or software that can implement all or part of the functions of the sensing device. For example, the sensing device includes a processor, and this method includes: within each period, the processor controls the transmitting antenna to switch the transmitting beam direction, and controls the transmitting antenna to transmit a sensing signal in the transmitting beam direction, and the processor controls the receiving antenna to switch the receiving beam direction, and controls the receiving antenna to receive the echo signal of the sensing signal in the receiving beam direction; the processor performs signal processing on the echo signal received from the receiving antenna within each period to obtain the target sensing result of each period.

[0006] Among them, the processor can also be understood as a main controller. The switching of the transmitting beam direction can be understood as the switching of the main beam direction for transmission, and the switching of the receiving beam direction can be understood as the switching of the main beam direction for reception. For example, the main beam direction can be 45°, 90°, 135°, 180°, 225°, 315°, etc., or other beam directions other than these main beam directions.

[0007] Therefore, compared with the current need to switch channels and couple the antenna array by a switch, the transceiver channels and the antenna array are periodically switched by the switch. However, the beam direction of the antenna array remains fixed in each period, and can only cover one main beamwidth direction, that is, the coverage area is limited and the sensing ability is low. In this application, in each period, the processor controls the transmitting antenna to switch the transmitting beam direction to send the sensing signal, and the receiving antenna to switch the receiving beam direction to receive the echo signal, so as to achieve a flexible main beam design. By switching the beam, the coverage sensing ability in any angular domain in the horizontal or pitch dimension can be realized. The transceiver channels and the antenna array of this application remain unchanged. In each period, the beam directions of the transmitting antenna and the receiving antenna are not fixed, but are polling variable, so that the coverage area is not limited, but can be in the full angular domain, that is, a coverage angle of 360°. Moreover, this flexible and variable main beam switching design can improve the coverage sensing ability of the sensing device in each period compared with switching the transceiver channels and the antenna array.

[0008] In some possible designs, the number of transmitting antennas is one or more, and the number of receiving antennas is one or more. That is to say, the processor controls the transmitting antenna to switch the transmitting beam direction, which includes: the processor controls at least one transmitting antenna to switch the transmitting beam direction. The processor controls the transmitting antenna to send the sensing signal in the transmitting beam direction, which includes: the processor controls at least one transmitting antenna to send the sensing signal in the transmitting beam direction. In the case where there are multiple transmitting antennas, it is equivalent to the processor controlling multiple transmitting antennas to synchronously switch to the same transmitting beam direction and controlling multiple transmitting antennas to synchronously send the sensing signal in the same transmitting beam direction. The processor controls the receiving antenna to switch the receiving beam direction, which includes: the processor controls at least one receiving antenna to switch the receiving beam direction. The processor controls the receiving antenna to receive the echo signal of the sensing signal in the receiving beam direction, which includes: the processor controls at least one receiving antenna to receive the echo signal of the sensing signal in the receiving beam direction. In the case where there are multiple receiving antennas, it is equivalent to the processor controlling multiple receiving antennas to synchronously switch to the same receiving beam direction, and the processor controls multiple receiving antennas to synchronously receive the echo signal of the sensing signal in the same receiving beam direction. In this way, compared with the case of switching the main beam direction by a single transmitting antenna and a single receiving antenna, in the case of multiple transmitting antennas synchronously switching to the same transmitting beam direction and multiple receiving antennas synchronously switching to the same receiving beam direction, the accuracy of the spatial position sensing of the target in each period can be improved.

[0009] In some possible designs, the sensing device further includes a first switching circuit. The processor is coupled to the first end of the first switching circuit, and the transmitting antenna is coupled to the second end of the first switching circuit. The processor controls the switching of the transmitting beam direction of the transmitting antenna as follows: The processor sends a first control signal to the first switching circuit, and the first control signal is used for the first switching circuit to control the transmitting beam direction of the transmitting antenna to be the first transmitting beam direction. In the case of at least one transmitting antenna, the processor can send the first control signal to the first switching circuit coupled to at least one transmitting antenna. In the case of multiple transmitting antennas, the processor can synchronously send the first control signal to multiple first switching circuits coupled to multiple transmitting antennas. In this way, multiple transmitting antennas can be synchronously switched to the first transmitting beam direction. When the main beam direction of the transmitting antenna is flexibly variable in each period, the coverage area can vary with the main beam direction, and coverage sensing at any angle in the horizontal or pitch dimension can be achieved.

[0010] In some embodiments, in the case of multiple transmitting antennas, each transmitting antenna can be coupled to a first switching circuit, or multiple transmitting antennas can be coupled to a first switching circuit, and this first switching circuit can switch the transmitting beam direction of multiple transmitting antennas.

[0011] In some possible designs, the first switching circuit includes a first resistor-inductor-capacitor (RLC) circuit. The first RLC circuit includes multiple first P-type-I-type-N-type PIN diodes, and one first PIN diode is coupled between two adjacent antenna sections of the transmitting antenna. The first control signal is used to indicate that at least one first PIN diode in the first RLC circuit coupled to the transmitting antenna is turned on, so that the transmitting antenna is switched to the first transmitting beam direction. In some designs, the number of output ports of the first RLC is the same as the number of antenna sections of the transmitting antenna, and each output port of the first RLC is coupled to an antenna section of the transmitting antenna. In this way, when one first PIN diode is coupled between two adjacent antenna sections, it is equivalent to two output ports of the first RLC being coupled to both ends of a first PIN diode. In this way, when the first PIN diode coupled between two antenna sections is turned on, these two antenna sections work, and the angular direction between these two antenna sections is the transmitting beam direction / main beam direction of the transmitting antenna. In this way, by polling and switching the conduction of the first PIN diode, the transmitting antenna can be polled and switched among multiple transmitting beam directions in each period.

[0012] In some possible designs, the first switching circuit includes a first radio frequency switch device. The first radio frequency switch device includes a first radio frequency common port, a plurality of first switches, and a plurality of first radio frequency switch ports respectively coupled to the plurality of first switches. Among two adjacent antenna branches of the transmitting antenna, one antenna branch is coupled to the first radio frequency common port, and the other antenna branch is coupled to a first radio frequency switch port. The first control signal is used to instruct at least one of the first switches in the first radio frequency switch device coupled to the transmitting antenna to conduct, so that the transmitting antenna switches to the first transmission beam direction. That is, the first radio frequency switch device can replace the above-mentioned first RLC circuit. By polling and switching the plurality of switches in the first radio frequency switch device, the polling switching of the transmission beam direction of the transmitting antenna can be realized. In the case where multiple transmitting antennas are coupled to a plurality of first radio frequency switch devices one by one, the polling switching of the transmission beam direction of multiple transmitting antennas can be realized synchronously.

[0013] In some possible designs, the sensing device further includes a second switching circuit. The processor is coupled to the first end of the second switching circuit, and the receiving antenna is coupled to the second end of the second switching circuit. The processor controls the receiving antenna to switch the receiving beam direction, including: the processor sends a second control signal to the second switching circuit, and the second control signal is used for the second switching circuit to control the receiving beam direction of the receiving antenna to be the first receiving beam direction. In the case of at least one receiving antenna, the processor can send a second control signal to the second switching circuit coupled to at least one receiving antenna. In the case of multiple receiving antennas, the processor can synchronously send second control signals to a plurality of second switching circuits coupled to multiple receiving antennas. In this way, multiple receiving antennas can be synchronously switched to the first receiving beam direction. When the main beam direction of the receiving antenna is flexibly variable in each cycle, the coverage area can vary with the main beam direction, and the coverage sensing at any angle in the horizontal or pitch dimension can be realized.

[0014] In some embodiments, in the case of multiple receiving antennas, each receiving antenna can be coupled to a second switching circuit, or multiple receiving antennas can be coupled to a second switching circuit, and this second switching circuit can switch the receiving beam direction of multiple receiving antennas.

[0015] In some possible designs, the second switching circuit includes a second RLC circuit. The second RLC circuit includes a plurality of second PIN diodes, and one second PIN diode is coupled between two adjacent antenna branches of the receiving antenna; the second control signal is used to instruct at least one second PIN diode in the second RLC circuit coupled to the receiving antenna to conduct, so that the receiving antenna is switched to the first receiving beam direction. In some designs, the number of output ports of the second RLC is the same as the number of antenna branches of the receiving antenna, and each output port of the second RLC is coupled to one antenna branch of the receiving antenna. In this way, when one second PIN diode is coupled between two adjacent antenna branches, it is equivalent to that two output ports of the second RLC are coupled to both ends of one second PIN diode. In this way, when the second PIN diode coupled between two antenna branches conducts, these two antenna branches work, and the included angle direction between these two antenna branches is the receiving beam direction / main beam direction of the receiving antenna. In this way, by polling and switching the conduction of the second PIN diode, the receiving antenna can be polled and switched in multiple receiving beam directions within each period.

[0016] In some possible designs, the second switching circuit includes a second radio frequency switch device. The second radio frequency switch device includes a second radio frequency common port, a plurality of second switches, and a plurality of second radio frequency switch ports respectively coupled to the plurality of second switches. Among two adjacent antenna branches of the receiving antenna, one antenna branch is coupled to a second radio frequency common port, and the other antenna branch is coupled to a second radio frequency switch port; the second control signal is used to instruct at least one second switch in the second radio frequency switch device coupled to the receiving antenna to conduct, so that the receiving antenna is switched to the first receiving beam direction. That is, the second radio frequency switch device can replace the above-mentioned second RLC circuit, and by polling and switching the plurality of second switches in the second radio frequency switch device, the polling and switching of the receiving beam direction of the receiving antenna can be realized. When multiple receiving antennas are coupled to the plurality of second radio frequency switch devices one by one, the polling and switching of the receiving beam directions of multiple receiving antennas can be realized synchronously.

[0017] In some possible designs, within each period, the number of transmission beam directions switched by the transmitting antenna is the same as the number of reception beam directions switched by the receiving antenna; the beam coverage range of the first transmission beam direction is the same as the beam coverage range of the first reception beam direction; the time-domain resources occupied by the sensing signal transmitted by the transmitting antenna in the first transmission beam direction are the same as the time-domain resources occupied by the echo signal received by the receiving antenna in the first reception beam direction. Equivalently, the same period design and beam direction switching design are adopted between different elements of the transmitting antenna and the receiving antenna. For example, within each period, the number of transmission beam directions of the transmitting antenna is 4: 45°, 135°, 225°, and 315°, and the receiving antenna also switches among these 4 reception beam directions. The beam coverage range of the first transmission beam direction is the same as the beam coverage range of the first reception beam direction, which is equivalent to the transmission beam direction and the reception beam direction being in the same direction at the same time. The same time-domain resources are equivalent to the full time slots being the same under the same beam direction of the transmitting antenna and the receiving antenna. That is, the designs of the transmitting antenna and the receiving antenna are consistent.

[0018] In some possible designs, within each period, the number of transmission beam directions switched by the transmitting antenna is different from the number of reception beam directions switched by the receiving antenna; the beam coverage range of the first transmission beam direction includes the beam coverage ranges of multiple reception beam directions, and the multiple reception beam directions include the first reception beam direction; the time-domain resources occupied by the transmitting antenna transmitting the sensing signal in the first transmission beam direction include the time-domain resources occupied by the receiving antenna receiving the echo signals in the multiple reception beam directions. Equivalently, there can be different designs and beam switching between the transmitting antenna and the receiving antenna, but it is necessary to ensure that the coverage overlaps and the coverage ranges of the full time slots are the same within one period. In the case of multiple transmitting antennas and multiple receiving antennas, it is also necessary to ensure the design consistency among the transmitting antennas and the design consistency among the receiving antennas.

[0019] In some possible designs, the sensing device further includes a wireless sensor. The wireless sensor includes an input / output port, an input port, and an output port. The input / output port is coupled to the processor, the output port is coupled to the transmitting antenna, and the input port is coupled to the receiving antenna; controlling the transmitting antenna to transmit the sensing signal in the transmission beam direction includes: the processor sending a third control signal to the wireless sensor, and the third control signal is used for the wireless sensor to generate multiple sensing signals and send them to the transmitting antenna, so that the transmitting antenna transmits multiple sensing signals in the transmission beam direction; controlling the receiving antenna to receive the echo signal of the sensing signal in the reception beam direction includes: the processor sending a fourth control signal to the wireless sensor, and the fourth control signal is used for the wireless sensor to receive multiple echo signals in the reception beam direction from the receiving antenna.

[0020] Among them, the wireless sensor can be a sensor chip. The sensor chip can be on the same chip as the processor, or it can be on a different chip from the processor. The third control signal is used for the wireless sensor to generate multiple sensing signals and send them to the transmitting antenna, and enabling the transmitting antenna to send multiple sensing signals in the transmitting beam direction may include: The third control signal is used for the wireless sensor to generate multiple sensing signals and send them to at least one transmitting antenna, enabling at least one transmitting antenna to send multiple sensing signals in the transmitting beam direction. If there are multiple transmitting antennas, multiple transmitting antennas may send multiple sensing signals in the same transmitting beam direction. The fourth control signal is used for the wireless sensor to receive multiple echo signals in the receiving beam direction from the receiving antenna and may include: The fourth control signal is used for the wireless sensor to receive multiple echo signals in the receiving beam direction from at least one receiving antenna. If there are multiple receiving antennas, multiple receiving antennas may receive multiple echo signals in the same receiving beam direction. In this way, the processor can perform sensing processing based on the echo signals received by at least one receiving antenna to obtain sensing results in different receiving beam directions, improving the sensing ability in a single period.

[0021] In some possible designs, within each period, the transmitting antenna sending multiple sensing signals in the transmitting beam direction satisfies the following conditions: where T represents the duration of the period, k1 represents the number of transmitting beam directions switched by the transmitting antenna within one period, represents the duration of the transmitting antenna sending multiple sensing signals in the transmitting beam direction, and ΔT1 represents the duration when the transmitting antenna does not send sensing signals in the transmitting beam direction. Herein, the present application does not limit the time-domain resource position of ΔT1. The transmitting antenna sending multiple sensing signals in the transmitting beam direction satisfying the following conditions may include: Each transmitting antenna among at least one transmitting antenna sends multiple sensing signals in the transmitting beam direction. If there are multiple transmitting antennas, multiple transmitting antennas may synchronously send multiple sensing signals in the same transmitting beam direction. In this way, it is equivalent to the present application synchronously designing the beam switching period of the transmitting antenna and the periodic frame of the sensing signals, enabling effective resolution of the sensing targets in each beam under beam switching, facilitating fusion decision-making for targets in an arbitrary angular domain (such as a 360° full angular domain) after a complete period, and improving the accuracy of spatial position sensing of the targets.

[0022] In some possible designs, the receiving antenna receiving multiple echo signals in the receiving beam direction satisfies the following conditions: where T represents the duration of the period, k2 represents the number of receiving beam directions switched by the receiving antenna within one period, ΔT1 represents the duration for the receiving antenna to receive multiple echo signals in the receiving beam direction, and ΔT2 represents the duration for the receiving antenna not to receive echo signals in the receiving beam direction. Herein, the present application does not limit the time domain resource position of ΔT2. The condition that the receiving antenna receives multiple echo signals in the receiving beam direction may include: each receiving antenna in at least one receiving antenna receives multiple echo signals in the receiving beam direction. When there are multiple receiving antennas, the multiple receiving antennas may synchronously receive multiple echo signals in the same receiving beam direction. In this way, it is equivalent that the present application synchronously designs the beam switching period of the receiving antenna and the periodic frame of the echo signal, which can enable the effective resolution of the sensing targets in each beam under beam switching, facilitating the fusion decision-making of the targets in any angular domain (such as 360° full angular domain) after a complete cycle and improving the accuracy of the spatial position perception of the targets.

[0023] In some possible designs, the processor processes the echo signals received from the receiving antenna in each cycle to obtain the target perception result of each cycle, including: in each cycle, within the ΔT2 duration corresponding to each receiving beam direction, the processor receives the echo signals received by the receiving antenna from the wireless sensor and processes the received echo signals to obtain the sensing targets in each receiving beam direction; the processor performs fusion processing on the sensing targets in each receiving beam direction to obtain the perception result of each cycle. In this way, it is equivalent that the processor processes the data in each main beam direction in each cycle to obtain the target perception result in each main beam direction, such as including the speed, azimuth, distance of the detected target, and the spatial coordinates in each main beam direction, etc. Then, after completing the main beam switching of one cycle, the perception results of each beam are fused to obtain the perception result in the same coordinate system, so as to make decisions on human-computer interaction or other device control according to the target perception result in one cycle. In this way, through the perception result obtained by polling and switching the main beam direction, the perception ability of the azimuth estimation of the target can be realized, and the more refined spatial azimuth perception ability can be improved.

[0024] In a second aspect, a sensing device is provided, including: a switching module, configured to control the switching of the transmitting beam direction of the transmitting antenna in each cycle, control the transmitting antenna to transmit sensing signals in the transmitting beam direction, and control the switching of the receiving beam direction of the receiving antenna, and control the receiving antenna to receive the echo signals of the sensing signals in the receiving beam direction; a sensing module, configured to process the echo signals received from the receiving antenna in each cycle to obtain the target perception result of each cycle.

[0025] In a possible design, the number of transmitting antennas is one or more, and the number of receiving antennas is one or more.

[0026] In a possible design, the sensing device further includes a first switching circuit. The processor is coupled to a first end of the first switching circuit, and the transmitting antenna is coupled to a second end of the first switching circuit. The switching module is configured to: send a first control signal to the first switching circuit, where the first control signal is used for the first switching circuit to control the transmitting beam direction of the transmitting antenna to be a first transmitting beam direction.

[0027] In a possible design, the first switching circuit includes a first resistor-inductor-capacitor (RLC) circuit. The first RLC circuit includes a plurality of first PIN diodes, and one first PIN diode is coupled between two adjacent antenna branches of the transmitting antenna. The first control signal is used to indicate that at least one first PIN diode in the first RLC circuit coupled to the transmitting antenna is turned on, so that the transmitting antenna is switched to the first transmitting beam direction.

[0028] In a possible design, the first switching circuit includes a first radio frequency (RF) switching device. The first RF switching device includes a first RF common port, a plurality of first switches, and a plurality of first RF switching ports respectively coupled to the plurality of first switches. Among two adjacent antenna branches of the transmitting antenna, one antenna branch is coupled to the first RF common port, and the other antenna branch is coupled to a first RF switching port. The first control signal is used to indicate that at least one first switch in the first RF switching device coupled to the transmitting antenna is turned on, so that the transmitting antenna is switched to the first transmitting beam direction.

[0029] In a possible design, the sensing device further includes a second switching circuit. The processor is coupled to a first end of the second switching circuit, and the receiving antenna is coupled to a second end of the second switching circuit. The switching module is configured to: send a second control signal to the second switching circuit, where the second control signal is used for the second switching circuit to control the receiving beam direction of the receiving antenna to be a first receiving beam direction.

[0030] In a possible design, the second switching circuit includes a second RLC circuit. The second RLC circuit includes a plurality of second PIN diodes, and one second PIN diode is coupled between two adjacent antenna branches of the receiving antenna. The second control signal is used to indicate that at least one second PIN diode in the second RLC circuit coupled to the receiving antenna is turned on, so that the receiving antenna is switched to the first receiving beam direction.

[0031] In a possible design, the second switching circuit includes a second radio frequency switching device. The second radio frequency switching device includes a second radio frequency common port, a plurality of second switches, and a plurality of second radio frequency switch ports respectively coupled to the plurality of second switches. Among two adjacent antenna branches of the receiving antenna, one antenna branch is coupled to a second radio frequency common port, and the other antenna branch is coupled to a second radio frequency switch port. The second control signal is used to instruct at least one of the second switches in the second radio frequency switching device coupled to the receiving antenna to turn on, so that the receiving antenna switches to the first receiving beam direction.

[0032] In a possible design, within each period, the number of transmission beam directions switched by the transmitting antenna is the same as the number of reception beam directions switched by the receiving antenna; the beam coverage range of the first transmission beam direction is the same as the beam coverage range of the first reception beam direction; the time domain resources occupied by the sensing signal transmitted by the transmitting antenna in the first transmission beam direction are the same as the time domain resources occupied by the echo signal received by the receiving antenna in the first reception beam direction.

[0033] In a possible design, within each period, the number of transmission beam directions switched by the transmitting antenna is different from the number of reception beam directions switched by the receiving antenna; the beam coverage range of the first transmission beam direction includes the beam coverage ranges of a plurality of reception beam directions, and the plurality of reception beam directions includes the first reception beam direction; the time domain resources occupied by the sensing signal transmitted by the transmitting antenna in the first transmission beam direction include the time domain resources occupied by the echo signal received by the receiving antenna in the plurality of reception beam directions.

[0034] In a possible design, the sensing device further includes a wireless sensor. The wireless sensor includes an input / output port, an input port, and an output port. The input / output port is coupled to the processor, the output port is coupled to the transmitting antenna, and the input port is coupled to the receiving antenna. The switching module is configured to: send a third control signal to the wireless sensor, and the third control signal is used for the wireless sensor to generate a plurality of sensing signals and send them to the transmitting antenna, so that the transmitting antenna transmits a plurality of sensing signals in the transmission beam direction; the switching module is configured to: send a fourth control signal to the wireless sensor, and the fourth control signal is used for the wireless sensor to receive a plurality of echo signals in the reception beam direction from the receiving antenna.

[0035] In a possible design, within each period, the transmitting antenna transmitting a plurality of sensing signals in the transmission beam direction satisfies the following conditions: where T represents the duration of the period, k1 represents the number of transmission beam directions switched by the transmitting antenna within one period, represents the duration of the transmitting antenna transmitting a plurality of sensing signals in the transmission beam direction, and ΔT1 represents the duration of the transmitting antenna not transmitting sensing signals in the transmission beam direction.

[0036] In a possible design, the receiving antenna receives multiple echo signals in the receiving beam direction and satisfies the following conditions: Where T represents the duration of a period, and k2 represents the number of receiving beam directions switched by the receiving antenna within one period. represents the duration during which the receiving antenna receives multiple echo signals in the receiving beam direction, and ΔT2 represents the duration during which the receiving antenna does not receive echo signals in the receiving beam direction.

[0037] In a possible design, the sensing module is used to: within each period, within the ΔT2 duration corresponding to each receiving beam direction, receive the echo signals received by the receiving antenna from the wireless sensor, and process the received echo signals to obtain the sensing target for each receiving beam direction; perform fusion processing on the sensing targets for each receiving beam direction to obtain the sensing result for each period.

[0038] In a third aspect, a sensing device is provided. The sensing device includes a processor, where: the processor is used to, within each period, control the transmitting antenna to switch the transmitting beam direction, and control the transmitting antenna to transmit sensing signals in the transmitting beam direction, and the processor controls the receiving antenna to switch the receiving beam direction, and control the receiving antenna to receive the echo signals of the sensing signals in the receiving beam direction; the processor is further used to perform signal processing on the echo signals received from the receiving antenna within each period to obtain the target sensing result for each period.

[0039] In a fourth aspect, a sensing device is provided. The sensing device includes the sensing device, the transmitting antenna, and the receiving antenna involved in any of the above aspects.

[0040] In a fifth aspect, a computer-readable storage medium is provided. Computer instructions are stored in the computer-readable storage medium. When the computer instructions run on a communication device, the communication device is caused to execute the method described in the first aspect and any possible design of the first aspect.

[0041] In a sixth aspect, a computer program product is provided, including computer instructions. When the computer instructions run on a communication device, the communication device is caused to execute the method described in the first aspect and any possible design of the first aspect.

[0042] In a seventh aspect, a chip is provided. The chip stores computer execution instructions. When the computer execution instructions are run, the method described in the first aspect and any possible design of the first aspect is executed. Description of the Drawings

[0043] Figure 1 It is a schematic diagram of the apex angle installation of a sensing device provided by an embodiment of the present application in a single beam direction.

[0044] Figure 2 Schematic diagram of the structure of a communication system provided by an embodiment of the present application;

[0045] Figure 3 Schematic diagram of the process of a sensing method provided by an embodiment of the present application;

[0046] Figure 4 Schematic diagram of the system framework of a sensing device provided by an embodiment of the present application;

[0047] Figure 5 Schematic diagram of the process of a sensing method provided by an embodiment of the present application;

[0048] Figure 6 Schematic diagram of switching multiple main beam directions within a single period provided by an embodiment of the present application;

[0049] Figure 7 Schematic diagram of periodically setting control signals of a switching circuit under switching of multiple main beam directions provided by an embodiment of the present application;

[0050] Figure 8 Schematic diagram of the corresponding relationship between multiple radar signal frames and the periodic control signals received by the switching circuit provided by an embodiment of the present application;

[0051] Figure 9 Schematic diagram of polling and switching of multiple transmission beam directions by a sensing device within one period provided by an embodiment of the present application;

[0052] Figure 10 Schematic diagram of the installation position of a sensing device provided by an embodiment of the present application;

[0053] Figure 11 Schematic diagram of the structure of a sensing device provided by an embodiment of the present application;

[0054] Figure 12 Schematic diagram of beam switching for multiple coverage areas provided by an embodiment of the present application;

[0055] Figure 13 Schematic diagram of the structure of a sensing device provided by an embodiment of the present application;

[0056] Figure 14 Schematic diagram of beam polling and switching under a multi - antenna array provided by an embodiment of the present application;

[0057] Figure 15 Schematic diagram of the structure of a sensing device provided by an embodiment of the present application. Detailed implementation manners

[0058] Embodiments of this application can be applied to a communication device that uses wireless sensing technology for wireless sensing.

[0059] Among them, wireless sensing technology (or non-sensor scene sensing technology) can obtain the characteristics of the signal propagation space (channel) by analyzing the changes in wireless signals during propagation to achieve scene sensing. The scenes here include both human factors (whether there are people and the position, posture, movement, etc. of people) and other external object factors.

[0060] The sensing objects of wireless sensing technology include the environment, items, and people, and its potential applications are very rich. Taking the sensing of people as an example, wireless sensing technology can be used for passive personnel sensing. "Passive" here means that people do not need to carry any electronic devices, which is used to distinguish from traditional wireless positioning systems where people are located by positioning the electronic devices they carry. Such a method is also called device-free or non-invasive. Passive personnel detection can be widely used in various ubiquitous computing applications to provide better user location-based services. For example, when a visitor in a museum approaches a certain exhibit, the exhibit description is automatically played, the supermarket counts the most popular items recently, or the number of passengers in an elevator and a carriage is counted, etc. Non-sensor sensing can also be used as a new type of human-computer interaction method to remotely control electronic devices (computers, game consoles, smart hardware, etc.) by recognizing human behaviors (such as small movements like postures, actions, and gestures) to complete specific functions or provide interactive somatosensory games; it can also be used for intelligent medical monitoring, detecting the sleep quality of people and accidental falls of the elderly, etc. The passive sensing mode also meets the needs of security applications. In security-related applications such as monitoring in classified areas, personnel intrusion detection, disaster emergency response, and protection of important items, it is necessary to timely detect whether people (staff or intruders) without any wireless communication devices appear in sensitive areas and monitor their activities.

[0061] In addition, wireless sensing technology can also be applied to space areas such as smart homes, smart cockpits, and smart offices to provide active interactive services and device control by sensing the presence and spatial orientation of human targets, such as lighting control, air conditioner switching on and off, and the air conditioner "following the person".

[0062] In practical applications, wireless sensing should not only consider sensing performance but also a low-cost coverage solution, which depends on the wireless coverage solution. For example Figure 1The figure shows a schematic diagram of the apex mounting of a sensing device in the single-beam direction. In this scenario, the main lobe of the antenna device of the sensing device 10 can only cover one main beam width direction for target sensing. The sensing device 10 can only be mounted at the apex or on the wall. The beam coverage range can only cover area A2 and cannot cover area A1. The sensing device 10 cannot support center mounting to achieve a larger coverage area capacity.

[0063] Exemplarily, in one design, beam coverage can be achieved by switching channels and antenna arrays through switches to improve the angle resolution ability. For example, in a wireless transceiver device, there are multiple transmitting antennas and multiple receiving antennas. Multiple switches can be coupled to the multiple transmitting antennas and multiple receiving antennas, and switch polling can be performed at different times to switch the radio frequency channels of the transmitting antennas and receiving antennas. For example, at the first time, the conduction of multiple switches can make a part of the receiving antennas and a part of the transmitting antennas work. At the second time, the conduction of multiple switches can make another part of the receiving antennas and another part of the transmitting antennas work. In this way, periodic switching of the transceiver channels and antenna arrays can be achieved, thereby increasing the number of virtual channels and improving the angle resolution ability of the horizontal and elevation angles of the beam. However, in this design, by switching channels and antenna arrays through switches, although more virtual antenna numbers can be achieved, the angle resolution ability under fixed beam coverage is improved, and the actual beam direction is fixed. That is, after the antenna design is fixed, its beam coverage range is fixed. If applied to a sensing device, the sensing ability of the sensing device is low when the beam coverage range is fixed.

[0064] Therefore, the embodiments of the present application provide a sensing method and a sensing device. The processor in the sensing device can periodically control the beam switching of the transmitting antenna and the receiving antenna, and process the wireless sensing signals in each beam direction in a cycle according to the periodic signal. In this way, the coverage range of multiple beam directions in the horizontal or elevation dimension can be achieved by a single transmitting antenna or receiving antenna, and the sensing ability of the sensing device is improved.

[0065] The sensing device in the present application can be, for example, a sensing device applied to the above-mentioned multiple scenarios, such as a sensing device installed in scenarios such as a large home living room, a large conference room, and an office area. Especially in the case where a single transmitting antenna or receiving antenna in the present application switches multiple beam directions in the horizontal or elevation dimension, functions such as azimuth sensing and spatial positioning of moving targets can be achieved under 360° or other angle wireless coverage, and the sensing ability of the sensing device is improved.

[0066] As Figure 2 shown is a schematic structural diagram of a communication system 20 to which the present application can be applied. The communication system 20 includes a central control device 201, a sensing device 202, and a controlled device 203.

[0067] Among them, the central control device 201 can also be referred to as a central control device or the like. If the communication system 20 is applied in a wireless local area network (WLAN), the central control device 201 can also be referred to as a wireless control device. If the communication system 20 is applied to power line communication (PLC) technology, the central control device 201 can also be referred to as a PLC control device. Among them, PLC refers to a technology that modulates information data to a suitable carrier frequency, uses the power line as a physical medium for transmission, and realizes communication or control between data terminals. Exemplarily, household appliances such as telephones, televisions, stereos, or refrigerators in a house can be connected to the central control device 201 using PLC for centralized control to achieve an "intelligent home". In this application, the central control device 201 can receive the sensing results from the sensing device 202 and control the controlled device 203 according to the target sensing results of the sensing device 202.

[0068] The sensing device 202 can be understood as a device that can emit sensing signals, receive echo signals of the sensing signals, and perform signal processing on the echo signals to obtain target sensing results. For example, in a smart home scenario, the sensing device and other smart home devices, such as smart switch control devices, can be connected to the WLAN. When the sensing device senses that a person is approaching the light, the sensing device can send control information to an access point (AP) in the WLAN, such as a router, to instruct the AP to control the smart switch control device to turn on the light. Or the sensing device directly instructs the smart switch control device to turn on the light. Or, in PLC technology, the sensing device 202 sends the target sensing results to the central control device 201, and the central control device 201 controls the switch control device to turn on the light, or the sensing device 202 directly controls the light to turn on through PLC. In this application, during the sensing process, the sensing device 202 can periodically switch the transmitting beam of the transmitting antenna and the receiving beam of the receiving antenna in the sensing device 202, so that the transmitting antenna and the receiving antenna perform switching in multiple beam directions in the horizontal or pitch dimension in a cycle for sensing.

[0069] In addition, in other possible cases, the sensing device 202 can be other sensing devices that provide wireless communication functions for the sensing device 202. The specific technologies and specific device forms adopted by the sensing device in the embodiments of this application are not limited. For the convenience of description, in the embodiments of this application, a device that can sense people or objects is called a sensing device. For example, the sensing device can also be a device that can support the sensing device to implement this function, such as a chip system, and this device can be installed in the sensing device. In the technical solutions provided in the embodiments of this application, the technical solutions provided in the embodiments of this application are described by using a device for implementing the functions of the sensing device, such as a sensing device.

[0070] The controlled device 203 can be, for example, a device in scenarios such as smart home, smart cockpit, smart office, etc., such as a lamp, an air conditioner, a TV, or a refrigerator (203a to 203d), etc. If applied to WLAN, the controlled device 203 can receive control information wirelessly transmitted from the central control device 201, such as an AP, and respond to the control information to turn on or off the lamp, air conditioner, TV, or refrigerator. If applied to PLC, the controlled device 203 can respond to the control information according to the control information transmitted by the central control device 201 through the power line.

[0071] In some scenarios, the sensing method of the present application can also be applied to the Internet of Things (IoT), the purpose of which is to connect all items to the network for easy identification and management. For example, it can be applied to scenarios of WLAN + IoT combination, or scenarios of PLC + IoT combination. In these scenarios, the controlled device 203 can be referred to as an IoT device.

[0072] Applying the above communication scenarios, some embodiments of the present application will be introduced below.

[0073] As Figure 3 shown in the flowchart of a sensing method provided by an embodiment of the present application, this method is applied to a sensing device, and the sensing device includes a processor. The method includes the following processes.

[0074] 301. In each period, the sensing device controls the transmitting antenna to switch the transmitting beam direction, and controls the transmitting antenna to transmit a sensing signal in the transmitting beam direction. Also, the sensing device controls the receiving antenna to switch the receiving beam direction, and controls the receiving antenna to receive the echo signal of the sensing signal in the receiving beam direction.

[0075] In some embodiments, the sensing device can include the sensing devices mentioned in the above scenarios. The sensing device can include a processor (main processor), and the sensing device includes a processor, a transmitting antenna, and a receiving antenna.

[0076] In some embodiments, steps 301 and 302 can be executed by the processor in the sensing device, that is, the processor controls the transmitting antenna to switch the transmitting beam direction, and controls the transmitting antenna to transmit a sensing signal in the transmitting beam direction. Also, the processor controls the receiving antenna to switch the receiving beam direction, and controls the receiving antenna to receive the echo signal of the sensing signal in the receiving beam direction.

[0077] In some embodiments, the number of transmitting antennas is one or more, and the number of receiving antennas is one or more.

[0078] Based on this, in some embodiments, the present application can be applied to scenarios where there is one transmitting antenna and one receiving antenna, or one transmitting antenna and multiple receiving antennas, or multiple transmitting antennas and one receiving antenna, or multiple transmitting antennas and multiple receiving antennas.

[0079] Exemplarily, within each period, the sensing device controls the switching of the transmitting beam direction of the transmitting antenna, including: the processor controls one transmitting antenna to switch the transmitting beam direction, or the processor controls multiple transmitting antennas to simultaneously switch to the same transmitting beam direction. That is, at a certain time point, the transmitting beam directions of multiple transmitting antennas are the same. Controlling the transmitting antenna to transmit the sensing signal in the transmitting beam direction includes: the processor controls one transmitting antenna to transmit the sensing signal in the transmitting beam direction, or the processor controls multiple transmitting antennas to simultaneously transmit the sensing signal in the same transmitting beam direction.

[0080] Within each period, the sensing device controls the switching of the receiving beam direction of the receiving antenna, including: the processor controls one receiving antenna to switch the receiving beam direction, or the processor controls multiple receiving antennas to simultaneously switch to the same receiving beam direction. That is, at a certain time point, the receiving beam directions of multiple receiving antennas are the same. Controlling the receiving antenna to receive the echo signal of the sensing signal in the receiving beam direction includes: the processor controls one receiving antenna to receive the echo signal of the sensing signal in the receiving beam direction, or the processor controls multiple receiving antennas to simultaneously receive the echo signal of the sensing signal in the same receiving beam direction.

[0081] In some embodiments, the sensing signal can be a radar signal, such as a chirp radar signal or a millimeter-wave radar signal. The echo signal is the signal reflected back when the radar signal reaches a person or an object.

[0082] 302. The sensing device performs signal processing on the echo signals received from the receiving antenna in each period to obtain the target sensing result for each period.

[0083] In some embodiments, it can be the processor in the sensing device that performs signal processing on the echo signals received from the receiving antenna in each period to obtain the target sensing result for each period.

[0084] In some embodiments, the processor can receive the echo signals received by the receiving antenna from the wireless sensor, and process the received echo signals to obtain the sensing targets in each receiving beam direction. The processor performs fusion processing on the sensing targets in each receiving beam direction to obtain the sensing result for each period. For example, the sensing result is the positioning result of a person, and the sensing device can send this positioning result to the central control device, and the central control device controls the air direction of the air conditioner according to this positioning result to achieve "the air follows the person".

[0085] In this way, in the present application, it is equivalent to the processor being able to periodically synchronously control the beam switching of all antennas of the sensing device, and synchronously process the echo signals in each beam direction according to the periodic signal, so as to achieve the coverage sensing ability within any angular range in the horizontal or pitch dimension. For example, within one period, through the beam direction switching of all antennas, the coverage sensing ability within a full 360° angular range in the horizontal or pitch dimension can be achieved, improving the sensing ability of the sensing device. The sensing device can support more flexible installation methods such as ceiling-mounted in the center. Compared with the existing methods of switching the radio frequency channels and antenna arrays of the antenna through a switch, or controlling the change of the beam width through different switch switches, which are all realized under the condition of fixed beam direction, this application can achieve the full-angle domain coverage sensing ability in the horizontal or pitch dimension at low cost by controlling the beam direction switching of the antenna and the processing of the echo signals of the sensing signals.

[0086] As Figure 4 shown in the figure is a schematic diagram of the system framework of a sensing device 40 provided by an embodiment of the present application. The sensing device 40 can be Figure 2 the sensing device 202 shown in

[0087] The processor 401 may include two core units: a periodic control signal unit and a sensing signal processing unit. Among them, the periodic control signal unit can be used to send a periodic control signal to the switching circuit 403 to periodically turn on and off the switching circuit 403, enabling the transmitting antenna and the receiving antenna to perform periodic beam direction switching. Moreover, the periodic control signal unit can be used to synchronously configure the signal frames (sensing signals) of the wireless sensor 402, so that the transmission period of the signal frames of the wireless sensor 402 is consistent with the on-off control period and time of the switching circuit 403. The sensing signal processing unit can be used to process the echo signals of the sensing signals received and returned to the processor 401 from the wireless sensor 402 according to the on-off control of the periodic control signal, so as to realize the sensing processing in a single beam direction and the sensing fusion decision in a complete period.

[0088] The wireless sensor 402 can be used to transmit the sensing signal and receive the echo signal through the transceiver antenna 404 according to the configuration of the signal frame, and return the echo signal to the processor 401.

[0089] The switching circuit 403 can be used to enable the transmitting antenna and the receiving antenna to perform periodic beam direction switching according to the periodic control signal sent by the periodic control signal unit of the processor 401.

[0090] In some embodiments, the number of switching circuits 403 is one. When both the transmitting antenna and the receiving antenna are single, one output terminal of the switching circuit 403 can be coupled to the transmitting antenna, and the other output terminal is coupled to the receiving antenna. One input terminal of the switching circuit 403 is coupled to one output terminal of the processor 401. When both the transmitting antenna and the receiving antenna are multiple, multiple output terminals of the switching circuit 403 are respectively coupled to multiple transmitting antennas and multiple receiving antennas, where one output terminal is coupled to one transmitting antenna or one receiving antenna, and one input terminal of the switching circuit 403 is coupled to one output terminal of the processor 401. This single switching circuit 403 can synchronously control multiple transmitting antennas and multiple receiving antennas to switch the beam direction according to the received periodic control signal. In this case, the transmitting beam direction of the transmitting antenna is consistent with the receiving beam direction of the receiving antenna.

[0091] In some embodiments, the number of switching circuits 403 is multiple. When both the transmitting antenna and the receiving antenna are multiple, multiple switching circuits 403 are respectively coupled to multiple transmitting antennas and multiple receiving antennas. That is, the number of switching circuits 403 is the sum of the number of transmitting antennas and the number of receiving antennas. One output terminal of each switching circuit 403 is coupled to one transmitting antenna or one receiving antenna, and one input terminal of each switching circuit 403 is coupled to the processor 401. Each switching circuit 403 can synchronously receive the periodic control signal from the processor 401, and synchronously control multiple transmitting antennas to switch the transmitting beam direction, and synchronously control multiple receiving antennas to switch the receiving beam direction. In this case, the transmitting beam direction of the transmitting antenna and the receiving beam direction of the receiving antenna can be the same or different, which will be illustrated by examples later.

[0092] The transceiver antenna 404 is used to achieve periodic switching of the antenna beam direction according to the on / off state of the switching circuit 403, and complete the wireless coverage of beam switching at any angle in the horizontal or pitch dimension. For example, any angle is a 360° full angle.

[0093] In some embodiments, the processor 401 can be designed on a system on chip (SoC). The wireless sensor 402 is a separate sensor chip. The sensor chip is coupled to the SoC, and the SoC is also coupled to the switching circuit 403. Alternatively, both the processor 401 and the wireless sensor 402 are designed on the SoC. The processor 401 and the wireless sensor 402 are coupled, and the SoC is also coupled to the switching circuit 403. The switching circuit 403 and the wireless sensor 402 are both coupled to the transceiver antenna 404.

[0094] Based on Figure 4 the introduction of the system framework, such as Figure 5The following is a schematic flowchart of a perception method provided by an embodiment of the present application, and this method includes the following processes.

[0095] 501. The processor 401 configures the parameters of the receiving cycle control signal of the switching circuit 403, and configures the parameters of the wireless sensor 402 for signal transceiver.

[0096] In some embodiments, the wireless sensor is a radar chip, which can generate and transmit radar signals, and receive the echo signals of the radar signals.

[0097] In some embodiments, the cycle control signal can be the duration of transmitting the radar signal and receiving the echo signal in each main beam direction determined according to the number of main beam directions polled and switched within a single cycle and the duration of a single cycle. Of course, within a single cycle here, the number of transmitted beam directions and received beam directions that are switched may be the same or different.

[0098] Exemplarily, as Figure 6 shown in (a) of [reference], which is a schematic diagram of switching between 4 main beam directions within a single cycle. If the designed switching circuit 403 realizes the polling process of switching the main beam directions of the transmitting antenna and the receiving antenna from 45° to 135°, then to 225°, then to 315°, and finally back to 45° according to the high and low voltage switching, this cycle control signal can be used to set the cycle length T = 4T rlc , T rlc represents the beam radiation duration of each main beam direction. As Figure 7 shown in (a) of [reference], which is a schematic diagram of the periodic control signal setting of the switching circuit 403 under the switching of 4 main beam directions, and 360° beam coverage can be achieved within one cycle. Among them, for the transmitting antenna, the main beam direction is the transmitting beam direction, and for the receiving antenna, the main beam direction is the receiving beam direction.

[0099] As Figure 6 shown in (b) of [reference], which is a schematic diagram of switching between 2 main beam directions within a single cycle. If the designed switching circuit 403 realizes the polling switching of the main beam directions of the transmitting antenna and the receiving antenna between 45° and 135° according to the high and low voltage switching, this cycle control signal can be used to set the cycle length T = 2T rlc . As Figure 7 shown in (b) of [reference], which is a schematic diagram of the periodic control signal setting of the switching circuit 403 under the switching of 2 main beam directions, which is equivalent to achieving semi-circular coverage within one cycle.

[0100] As Figure 6As shown in (c), it is a schematic diagram of another 2 main beam direction switches within a single period. If the designed switching circuit 403 realizes that the main beam directions of the transmitting antenna and the receiving antenna are switched in a polling manner between 45°&225° and 135°&315° according to the high and low voltage switching, that is, one switch can simultaneously realize the beam radiation of two main beam directions. This periodic control signal can be used to set the period length T = 2T rlc , different from the example in (b) of Figure 6 , within one T rlc duration, the main beam directions of 45° and 225° can be radiated simultaneously, and when the level is switched, the main beam directions of 135° and 315° can be radiated simultaneously. As shown in (c) of Figure 7 , it is a schematic diagram of the periodic control signal setting of the switching circuit 403 under 2 main beam direction switches. 360° coverage can be achieved within one period.

[0101] From the above examples, it can be seen that the periodic control signal can be used to configure a single period T = k×T rlc , and this configuration can be designed according to the coverage area and sensing requirements. k represents the number of main beam directions switched by the antenna within one period.

[0102] In some embodiments, the setting of the sensing signal generation period T p of the wireless sensor 402 needs to satisfy: T p = T rlc - ΔT, that is, the sensing signal is transmitted within T p , so that the enabling processor 401 can identify the main beam direction of the current antenna according to the T p timestamp or the high and low level switching trigger signal. Taking the radar signal as an example, the switching circuit 403 enables the 45° main beam radiation and the 135° main beam radiation simultaneously, that is, when the high and low levels are switched, the main beam direction switches from 45° to 135°, or from 135° to 45°. If a full-angle domain sensing frame rate of 10Hz or other frequencies is to be achieved in this T = 2T rlc mode, the signal frame design of the radar signal can be achieved through the following design.

[0103] 1) A single period T satisfies T = k×T rlc = k×(T P + ΔT). Exemplarily, for a single period with 2 main beam directions, the high and low voltage switching time, that is, the level switching time T p ≤ 50ms. When the 45° main beam direction lasts for 50ms within 100ms, if it switches to the 135° main beam direction, the duration of the 135° main beam direction will be less than or equal to 50ms. (k×ΔT) time can be reserved within each period T without radar signal transmission and reception.

[0104] 2) During a single cycle T duration, for the transmitting antenna, within each T p duration, the n chirp radar signals that can be transmitted, and the duration Tc occupied by a single radar signal satisfies Tc ≤ T p / n chirp . Exemplarily, when T p ≤ 50 ms and n chirp = 128, the duration Tc of a single radar signal satisfies Tc ≤ 0.390625 ms.

[0105] 3) The duration ΔT reserved within a T p duration needs to satisfy the time required for the processor 401 to complete data parsing for n chirp radar signals in one frame, that is, it needs to satisfy T = k × T p + k × ΔT, where k is 2 for example.

[0106] 4) The processor 401 designs the signal frame format of the wireless sensor 402 according to the above rules so that the processor 401 can identify the main beam direction of the transceiver antenna based on the level switching period. Among them, ΔT is the necessary delay reserved for signal processing, etc.

[0107] Exemplarily, as Figure 8 shown is a schematic diagram of the correspondence between multiple radar signal frames and the period control signal received by the switching circuit 403. Assume that the duration of a single cycle T is 100 ms, k = 2. Within a T p duration, the transmitting antenna simultaneously transmits radar signals with transmitting beam directions of 45° and 225°, and the receiving antenna simultaneously receives echo signals with receiving beam directions of 45° and 225°. In another T p duration, the transmitting antenna simultaneously transmits radar signals with transmitting beam directions of 135° and 315°, and the receiving antenna simultaneously receives echo signals with receiving beam directions of 45° and 225°. The duration of each T rlc can be 50 ms, and the present application does not limit the time domain resource positions occupied by the two ΔT durations within the period T. Exemplarily, as Figure 8 shown in (a), the ΔT duration can be reserved at the end of the T rlc duration with beam directions of 45° and 225°, and the ΔT duration can be reserved at the beginning of the T rlc duration with beam directions of 135° and 315°. In this case, for the T rlc duration within each T p duration, T p ≤ 50 ms. Or, as Figure 8 shown in (b), the ΔT duration can be reserved at the end of the T rlcReserve two ΔT durations at the end of the duration, so that for T within the duration with beam directions of 45° and 225° rlc within the T duration p ≤50m, and for T within the duration with beam directions of 135° and 315° elc within the T duration p = 50m. Or, as shown in (c) of Figure 8 it is possible to reserve two ΔT durations at the start of the duration with beam directions of 135° and 315°, so that for T within the duration with beam directions of 135° and 315° rlc within the T duration rlc ≤50m, and for T within the duration with beam directions of 45° and 225° p within the T duration rlc = 50m. p

[0108] Generally, as shown in the examples of Figures 6 - 8 the same cycle design and beam direction switching design are adopted between different antenna elements of the exemplary transmitting antenna and receiving antenna. Based on specific scenario requirements, the present application can choose to design the transmitting and receiving antennas or perform beam switching with differences between the transmitting antenna and the receiving antenna, but it is necessary to ensure that within a single cycle, the beam coverage overlaps and the coverage range of all time slots is the same, while ensuring the design consistency between the transmitting antennas and the design consistency between the receiving antennas. That is, within a single cycle, the coverage ranges of the multiple transmitting beam directions polled by the transmitting antenna and the coverage ranges of the multiple receiving beam directions polled by the receiving antenna are the same, and the time domain resources are the same.

[0109] Exemplarily, as shown in (a) of Figure 9 it is a schematic diagram of the sensing device 40 performing polling switching of two transmitting beam directions within one cycle, and the two transmitting beam directions switched by the transmitting antenna are 90° and 270° respectively. As shown in (b) of Figure 9 it is a schematic diagram of the sensing device 40 performing polling switching of four receiving beam directions within one cycle, and the four receiving beam directions switched by the receiving antenna are 45°, 135°, 225° and 315° respectively. In the case where the duration of each of these four receiving beam directions is T rlc the duration of the transmitting beam direction 90° of the transmitting antenna is 2T rlc and the duration of the transmitting beam direction 270° of the transmitting antenna is also 2T rlc . The coverage range of the two transmitting beam directions switched by the transmitting antenna is 360°, and the coverage range of the four receiving beam directions switched by the receiving antenna is also 360°.

[0110] In this way, as shown in Figure 10 ​The figure shows a schematic diagram of the installation position of a sensing device 40. Different from the existing installation positions where the sensing device is installed at the top corner or on the wall, in this application, when the beam direction coverage of the antenna is 360°, the sensing device 40 can support ceiling installation in the center or other more flexible installation methods. Compared with Figure 1 in this case, the beam coverage range A of this application is larger.

[0111] 502. The processor 401 sends a periodic high-low level signal with a duration of T to the switching circuit 403 coupled to the transmitting antenna according to the parameters of the configured periodic control signal, and simultaneously synchronously starts the wireless sensor 402 to transmit and receive signals according to the signal frame design parameters of the wireless sensor 402. p During this period, the wireless sensor 402 transmits and receives signals.

[0112] Among them, the parameters of the periodic control signal may include the above parameters k, T p , T rlc and T, and the signal frame design parameters may include the parameters Tc, n chirp and ΔT.

[0113] In some embodiments, if there are multiple transmitting antennas and multiple receiving antennas, each transmitting antenna or receiving antenna is coupled with a switching circuit 403. The processor 401 can ensure the synchronous startup of each switching circuit 403 coupled to the transmitting antenna and the receiving antenna and the wireless sensor 402 according to the synchronous control signal, so as to enable each transmitting antenna and receiving antenna to perform switching in the same main beam direction, and enable the wireless sensor 402 to transmit and receive a complete frame of sensing signals (radar signals).

[0114] 503. During each T rlc (T p +ΔT) duration, the wireless sensor 402 feeds back the echo signal received by the receiving antenna to the processor 401, and the processor 401 processes the echo signals of each antenna channel received to obtain the sensing information of the moving target during each T rlc duration.

[0115] In some embodiments, the wireless sensor 402 includes an analog-to-digital converter (ADC) and a digital-to-analog converter (DAC). When the wireless sensor 402 generates a digital signal according to the signal frame design parameters, the DAC can perform digital-to-analog conversion on the digital signal to obtain an analog signal and transmit it through the transmitting antenna, that is, transmit the sensing signal. When the wireless sensor 402 receives an analog signal from the receiving antenna, the ADC performs analog-to-digital conversion on the received analog signal to obtain a digital signal and send it back to the processor 401, that is, transmit the echo signal.

[0116] In some embodiments, the processor 401 processes the echo signals received within each T rlc duration, which may be to perform 1D fast Fourier transform (FFT), 2D FFT, and angle spectrum estimation, etc., so as to obtain information such as the azimuth, speed, and spatial position of multiple targets within the current T rlc duration, and generate a point cloud coordinate set of the moving targets among the multiple targets in the current main beam direction That is, the sensing information of the above-mentioned moving targets can be understood as the point cloud coordinate set here. k p represents a point, represents the coordinates of a point, and the coordinates can be understood as the coordinates of a point in the local coordinate system. Among them, the point cloud is a massive set of points expressing the spatial distribution of the target and the surface characteristics of the target in the same spatial reference system. After obtaining the spatial coordinates of each sampling point on the object surface, what is obtained is a set of points, which is called a "point cloud".

[0117] 504. The processor 401 performs polar coordinate position conversion of the spatial azimuth of the target within each T rlc duration according to the multiple beam directions switched within one period, so that the coordinate positions of the moving targets within each T rlc duration within one period are in the same coordinate system.

[0118] In some embodiments, it is equivalent to converting the local coordinates of the same point within multiple T rlc durations within one period into global coordinates, or rather, performing the conversion from multiple local coordinate sets within multiple T rlc durations to one global coordinate set This is considering that for the indoor coverage scenario, the moving speed of the moving target is relatively low. It can be assumed that within the current period T, the position changes of the moving targets detected in all beam directions are relatively small. Therefore, according to each T within the period T rlcMerge the point clouds of moving objects detected within the time duration, that is, in the global coordinate set, i = 1, 2, …, k T , k T is the sum of each T rlc within the time duration k p .

[0119] 505. The processor 401 performs point cloud clustering, target association, and tracking based on the global coordinates of each point cloud to obtain the target perception result of the moving object.

[0120] Or rather, the processor 401 can obtain the target perception result of the moving object at the T moment within a cycle T, that is, at the end of a complete round of multi-beam direction switching cycle.

[0121] 506. The processor 401 performs human-computer interaction or control operations on other devices according to the target perception result at the T moment within a cycle T.

[0122] For example, if the target perception result at the T moment within a cycle T is that someone approaches the lamp in the room, the processor 401 can control the lamp to turn on.

[0123] Thus, in this application, the transmitting antenna and receiving antenna of the sensing device can perform polling switching of multiple beam directions within a cycle, and obtain the target perception result under one cycle according to the sensing information obtained in each beam direction within this cycle, which can realize the perception in any angular domain in the horizontal or pitch dimension and improve the sensing ability of the sensing device.

[0124] Based on Figures 5 - 9 the introduction of the sensing device, the sensing process of single-transmit and single-receive antenna beam switching is exemplarily introduced below, that is, the sensing device is 1 transmit antenna and 1 receive antenna, which can be abbreviated as 1T1R.

[0125] The following takes the sensing device including 2 switching circuits 403 as an example for illustration. One transmit antenna is coupled to a first switching circuit, and one receive antenna is coupled to a second switching circuit. That is, for the transmit antenna, the above switching circuit 403 is the first switching circuit, and for the receive antenna, the above switching circuit 403 is the second switching circuit.

[0126] Based on this, in some embodiments, the sensing device / sensing apparatus includes a first switching circuit. The processor 401 is coupled to the first end of the first switching circuit, and the transmit antenna is coupled to the second end of the first switching circuit. This is equivalent to the first switching circuit being coupled between the processor 403 and the transmit antenna. Among them, the first end is the input end of the first switching circuit, and the second end is the output end of the first switching circuit.

[0127] In this way, the processor 401 controls the transmitting antenna to switch the transmitting beam direction, which includes: the processor 403 sends a first control signal to the first switching circuit, and the first control signal is used for the first switching circuit to control the transmitting beam direction of the transmitting antenna to be the first transmitting beam direction. Among them, the first control signal can be understood as the periodic control signal in the above text.

[0128] Similarly, in some embodiments, the sensing device (sensing means) 40 further includes a second switching circuit. The processor 401 is coupled to the first end of the second switching circuit, and the receiving antenna is coupled to the second end of the second switching circuit. That is, the second switching circuit is coupled between the processor 403 and the receiving antenna. Among them, the first end is the input end of the second switching circuit, and the second end is the output end of the second switching circuit.

[0129] In this way, the processor 401 controls the receiving antenna to switch the receiving beam direction, which includes: the processor 401 sends a second control signal to the second switching circuit, and the second control signal is used for the second switching circuit to control the receiving beam direction of the receiving antenna to be the first receiving beam direction.

[0130] In some embodiments, the first switching circuit and the second switching circuit can be implemented by a resistance-inductance-capacitor (RLC) circuit.

[0131] In some embodiments, as Figure 11 As shown in (a) of

[0132] is a schematic structural diagram of a 1T1R sensing device 11. The first switching circuit includes a first RLC circuit 111, and the first RLC circuit 111 includes a plurality of first positive-intrinsic-negative (PIN) diodes 1111. One first PIN diode 1111 is coupled between two adjacent antenna branches 1121 of the transmitting antenna 112 (Tx). In this way, the above first control signal can be used to indicate that at least one first PIN diode 1111 in the first RLC circuit 111 coupled to the transmitting antenna 112 is turned on, so that the transmitting antenna 112 is switched to the first transmitting beam direction.

[0133] AlthoughFigure 11 The first PIN diode 1111 is illustrated outside the first RLC circuit 111, and the second PIN diode 1131 is illustrated outside the second RLC circuit 113. However, it should be understood that the first RLC circuit 111 includes the first PIN diode 1111, and the second RLC circuit 113 includes the second PIN diode 1131.

[0134] Wherein, the first control signal and the second control signal are generated by the processor 401 according to the configuration of the periodic control signal parameters, and the first control signal and the second control signal can be executed by the periodic control signal unit in the above-mentioned processor 401. The first control signal and the second control signal can be understood as the above-mentioned periodic control signal, or the high-level signal or low-level signal of the T p duration. The processor 401 can identify the main beam directions of the transmitting antenna 112 and the receiving antenna 114 according to the time stamp of T p or the high-low level switching trigger signal.

[0135] It should be understood that Figure 11 in the transmitting antenna 112 and the receiving antenna 114 shown in (a) of , each antenna includes 4 antenna branches. The present application does not limit the number of antenna branches of the antenna to 4, and it can also be more than 4 or less than 4.

[0136] In this way, the processor 401 can control at least one first PIN diode 1111 to conduct and at least one first PIN diode 1111 to turn off through the first RLC circuit 111, so as to realize the switching of the transmitting beam direction of the transmitting antenna 112. Similarly, the processor 401 can control at least one second PIN diode 1131 to conduct and at least one second PIN diode 1131 to turn off through the second RLC circuit 113, so as to realize the switching of the receiving beam direction of the receiving antenna 114.

[0137] It should be understood that when two or more first PIN diodes 1111 can be conducted, it is equivalent to having multiple transmitting beam directions within one T rlc duration in one cycle. Similarly, when two or more second PIN diodes 1131 are conducted, it is equivalent to having multiple receiving beam directions performing beamforming simultaneously within one T rlc duration in one cycle.

[0138] Of course, within a single cycle, under the coverage range where the beam coverage overlaps and the entire time slot is the same, the processor 401 needs to control the first RLC circuit 111 and the second RLC circuit 113 simultaneously to realize the synchronous on-off of the transmitting antenna 112 and the receiving antenna 114.

[0139] Exemplarily, such as Figure 11As shown in (b) therein, each of the transmitting antenna 112 and the receiving antenna 114 includes 4 antenna branches. The first RLC circuit 111 can be coupled to each antenna branch 1121 (1121a to 1121d) in the transmitting antenna 112, and a first PIN diode 1111 (one of 1111a to 1111d) is coupled between every two adjacent antenna branches 1121. For the transmitting antenna 112, in the case of polling the switching of the transmitting beam directions in 4 directions within a period T, when within the first T rlc duration, the first control signal is a high-level signal, which is used to indicate that the first PIN diode 1111a in the first RLC circuit 111 is turned on, and the first PIN diodes 1111b to 1111d are all turned off, the antenna branches 1141a and 1141b in the transmitting antenna 112 work, and the antenna branches 1141c and 1141d do not work. The transmitting antenna 112 can perform beamforming in the first transmitting beam direction of 45°, that is, transmit a sensing signal, and no beamforming is performed in the transmitting beam directions of 135°, 225°, and 315°, that is, no sensing signal is transmitted. Similarly, when within the second T rlc duration, the first control signal is a low-level signal, which is used to indicate that the first PIN diode 1111b in the first RLC circuit 111 is turned on, and the first PIN diodes 1111a, 1111c to 1111d are all turned off, the antenna branches 1141b and 1141c in the transmitting antenna 112 work, and the antenna branches 1141a and 1141d do not work. The transmitting antenna 112 can perform beamforming in the first transmitting beam direction of 135°, that is, transmit a sensing signal, and no beamforming is performed in the transmitting beam directions of 45°, 225°, and 315°, that is, no sensing signal is transmitted. By polling in this way, within the third T rlc duration, the first control signal is a high-level signal, and the transmitting antenna 112 can perform beamforming in the first transmitting beam direction of 225°. Within the fourth T rlc duration, the first control signal is a low-level signal, and the transmitting antenna 112 can perform beamforming in the first transmitting beam direction of 315°. In this way, the transmitting antenna 112 can realize the polling switching of the transmitting beam directions of 45°, 135°, 225°, and 315° within a period T.

[0140] Similar to the transmitting antenna 112, the second RLC circuit 113 can be coupled to each antenna branch 1141 in the receiving antenna 114, and a second PIN diode 1131 is coupled between every two adjacent antenna branches 1141 in the receiving antenna 114. This application can also realize the polling switching of the receiving beam directions of 45°, 135°, 225°, and 315° in the receiving antenna 114 through the above process.

[0141] Based on the beam switching design of the above-mentioned transmitting antenna 112 and receiving antenna 114, the present application can be adaptively designed according to the actual application scenario. For example, Figure 12 shows the beam switching schematic diagrams in various application scenarios.

[0142] Figure 12 In (a) of [reference], it shows a beam switching schematic diagram for a long strip-shaped coverage area, such as large conference rooms, corridors and other areas. The transmitting antenna 112 can realize the polling switching of two transmitting beam directions (such as 45° and 225°) through the on-off of two first PIN diodes 1111 to send sensing signals to the target area. The receiving antenna 114 also realizes the polling switching of two receiving beam directions (such as 45° and 225°) through two second PIN diodes 1131 to receive the echo signals of the target area.

[0143] For example, Figure 12 In (b) of [reference], it shows a beam switching schematic diagram for a circular arc-shaped or fan-shaped area or an area with an isolation device in the middle. The transmitting antenna 112 can realize the polling switching of two transmitting beam directions (such as 45° and 135°) through the on-off of two first PIN diodes 1111 to send sensing signals to the target area. The receiving antenna 114 also realizes the polling switching of two receiving beam directions (such as 45° and 135°) through two second PIN diodes 1131 to receive the echo signals of the target area.

[0144] For example, Figure 12 In (c) of [reference], it shows a beam switching schematic diagram for scenarios such as large offices, exhibition halls and living rooms. In one design, it can be designed that the transmitting antenna 112 and the receiving antenna 114 simultaneously perform polling switching of four beam directions (45°, 135°, 225° and 315°) through 4 PIN diodes, or it can be designed that the transmitting antenna 112 and the receiving antenna 114 simultaneously perform beam shaping in pairs of beam directions 45° and 225° through 2 PIN diodes within one T rlc time, and perform beam shaping in pairs of beam directions 135° and 315° in the next T rlc time for coverage sensing.

[0145] In some embodiments, within each period, the number of transmitting beam directions switched by the transmitting antenna 112 is the same as the number of receiving beam directions switched by the receiving antenna 114. The beam coverage range of the first transmitting beam direction is the same as the beam coverage range of the first receiving beam direction. The time domain resources occupied by the sensing signal transmitted by the transmitting antenna 112 in the first transmitting beam direction are the same as the time domain resources occupied by the echo signal received by the receiving antenna 114 in the first receiving beam direction.

[0146] For example, refer toFigure 12 For the application scenarios shown in (a) and (b) in [reference], within one period T, the number of transmission beam directions switched by the transmitting antenna 112 is the same as the number of receiving beam directions switched by the receiving antenna 114, which is 2. For example, within T rlc time, when the first control signal sent by the processor 401 to the first RLC circuit 111 indicates that the first transmission beam direction of the transmitting antenna 112 is 45°, at the same time, the second control signal sent by the processor 401 to the second RLC circuit 113 indicates that the first receiving beam direction of the receiving antenna 114 is also 45°. Moreover, the time-domain resources occupied by the sensing signal transmitted by the transmitting antenna 112 in the first transmission beam direction of 45° are the same as the time-domain resources occupied by the echo signal received by the receiving antenna 114 in the first receiving beam direction of 45°, that is, while transmitting the sensing signal within the T rlc time in the first transmission beam direction of 45°, the echo signal is also received within the T rlc time in the first receiving beam direction of 45°.

[0147] According to the introduction of Figure 9 in the above text, combined with the description of Figure 11 in some embodiments, within each period, the number of transmission beam directions switched by the transmitting antenna 112 is different from the number of receiving beam directions switched by the receiving antenna 114. The beam coverage range of the first transmission beam direction includes the beam coverage ranges of multiple receiving beam directions, and the multiple receiving beam directions include the first receiving beam direction. The time-domain resources occupied by the sensing signal transmitted by the transmitting antenna 112 in the first transmission beam direction include the time-domain resources occupied by the receiving antenna 114 receiving echo signals in multiple receiving beam directions.

[0148] For example, referring to the introduction of Figure 9 in one period T, the number of transmission beam directions switched by the transmitting antenna 112 is 2: 90° and 270°, and the number of receiving beam directions switched by the receiving antenna 114 is 4: 45°, 135°, 225°, and 315°. When the processor 401 uses the first control signal as a high-level signal to indicate that the first RLC circuit 111 switches the transmission beam direction of the transmitting antenna 112 to the first transmission beam direction of 90°, and the duration of maintaining the first transmission beam direction is T rlc1 time, at the same time, the second control signal can be used as a high-level signal to indicate that the second RLC circuit 113 switches the receiving antenna 114 to the first receiving beam direction of 45°, and the duration of maintaining the first receiving beam direction is T rlc2 . When the processor 401 determines that the duration of the first receiving beam direction of 45° reaches T rlc2When the updated second control signal is at a low level, it indicates that the second RLC circuit 113 switches the receiving beam direction of the receiving antenna 114 to the second receiving beam direction of 135°, and the duration of maintaining the second receiving beam direction is T rlc2 Among them, when the transmitting beam direction of the transmitting antenna 112 is the first transmitting beam direction of 90°, the time-domain resource T occupied by the transmitting antenna 112 for transmitting the sensing signal in the first transmitting beam direction of 90° rlc1 is equal to the time-domain resource T occupied by the receiving antenna 114 for receiving the echo signal in the first receiving beam direction of 45° rlc2 and the time-domain resource T occupied by the receiving antenna 114 for receiving the echo signal in the second receiving beam direction of 135° rlc2 . That is, T rlc1 = 2×T rlc2 . Moreover, the beam coverage range of the first transmitting beam direction includes the beam coverage ranges of the first receiving beam direction of 45° and the second receiving beam direction of 135°

[0149] Similarly, when the processor 401 indicates, through the first control signal being at a low level, that the first RLC circuit 111 switches the transmitting beam direction of the transmitting antenna 112 to the second transmitting beam direction of 270°, and the duration of maintaining the second transmitting beam direction is T rlc1 at the same time, it can indicate, through the second control signal being at a high level, that the second RLC circuit 113 switches the receiving beam direction of the receiving antenna 114 to the third receiving beam direction of 225°, and the duration of maintaining the third receiving beam direction is T rlc2 . When the processor 401 determines that the duration of the third receiving beam direction of 225° reaches T rlc2 it indicates, through the updated second control signal being at a low level, that the second RLC circuit 113 switches the receiving antenna 114 to the fourth receiving beam direction of 315°, and the duration of maintaining the fourth receiving beam direction is T rlc2 . Among them, when the transmitting beam direction of the transmitting antenna 112 is the second transmitting beam direction of 270°, the time-domain resource T occupied by the transmitting antenna 112 for transmitting the sensing signal in the second transmitting beam direction of 270° rlc1 is equal to the time-domain resource T occupied by the receiving antenna 114 for receiving the echo signal in the third receiving beam direction of 225° rlc2 and the time-domain resource T occupied by the receiving antenna 114 for receiving the echo signal in the fourth receiving beam direction of 315° rlc2 . That is, T rlc1 = 2×T rlc2 . Moreover, the beam coverage range of the second transmitting beam direction includes the beam coverage ranges of the third receiving beam direction of 45° and the fourth receiving beam direction of 135°

[0150] In some embodiments, the first switching circuit and the second switching circuit can be implemented by radio frequency switch devices.

[0151] In some embodiments, as Figure 13 shown is a schematic structural diagram of a 1T1R sensing device 13. Referring to Figure 13 (a) therein, the first switching circuit includes a first radio frequency switch device 131, which is equivalent to the first radio frequency switch device 131 being coupled between the processor 401 and the transmitting antenna 112. Referring to Figure 13 (b) therein, the first radio frequency switch device 131 includes a first radio frequency common port p, a plurality of first switches 1311 (such as 1311a to 1311d), and a plurality of first radio frequency switch ports q (q1 to q4) coupled to the plurality of first switches 1311. Among two adjacent antenna branches 1121 (1121a to 1121b) of the transmitting antenna 112, one antenna branch 1121 is coupled to the first radio frequency common port p, and the other antenna branch 1121 is coupled to a first radio frequency switch port p ( Figure 13 (b) therein only exemplifies that q1 is coupled to the antenna branch 1121a and p is coupled to the antenna branch 1121b).

[0152] Wherein, the first radio frequency switch device 131 further includes a driving circuit, a power supply port, a voltage port, etc., and the voltage port can be coupled to the processor 401.

[0153] It should be understood that although Figure 13 shows that the first radio frequency switch device 131 includes 4 first switches 1311, and the corresponding antenna branches 1131 of the transmitting antenna 112 are 4, the number of the first switches 1311 of the first radio frequency switch device 131 in the present application is not limited to 4, and can also be more than 4 or less than 4, and the antenna branches 1131 of the transmitting antenna 112 can also be more than 4 or less than 4.

[0154] In this way, in some embodiments, when controlling the transmission beam direction of the transmitting antenna 112, the first control signal sent by the processor 401 to the first radio frequency switch device 131 can be used to instruct at least one of the first switches 1311 in the first radio frequency switch device 131 coupled to the transmitting antenna 112 to conduct, so that the transmitting antenna 112 switches to the first transmission beam direction.

[0155] Similarly, referring to Figure 13 (a) therein, the second switching circuit includes a second radio frequency switch device 133, which is equivalent to the second radio frequency switch device 133 being coupled between the processor 401 and the receiving antenna 114. Referring to Figure 13In (b) thereof, the implementation of the second radio frequency switch device is similar to that of the first radio frequency switch device 131. The second radio frequency switch device includes a second radio frequency common port, a plurality of second switches, and a plurality of second radio frequency switch ports coupled to the plurality of second switches. Among two adjacent antenna branches in the receiving antenna 114, one antenna branch is coupled to the second radio frequency common port, and the other antenna branch is coupled to a second radio frequency switch port.

[0156] Similarly, the present application does not limit the number of second switches of the second radio frequency switch device 133 to 4, and it may be more than 4 or less than 4. The number of antenna branches 1141 of the receiving antenna 114 may also be more than 4 or less than 4.

[0157] In this way, in some embodiments, when controlling the transmission beam direction of the receiving antenna 114, the second control signal sent by the processor 401 to the second radio frequency switch device 133 can be used to instruct at least one second switch in the second radio frequency switch device 133 coupled to the receiving antenna 114 to conduct, so that the receiving antenna 114 is switched to the first receiving beam direction.

[0158] Of course, within a single period, when the beam coverage of the transmitting antenna 112 and the receiving antenna 114 overlaps and the coverage ranges in all time slots are the same, the processor 401 needs to simultaneously control the first radio frequency switch device 131 and the second radio frequency switch device 133 to achieve synchronous on / off of the transmitting antenna 112 and the receiving antenna 114.

[0159] Exemplarily, as Figure 13 shown in (b) thereof, each of the transmitting antenna 112 and the receiving antenna 114 includes 4 antenna branches. For the transmitting antenna 112, when it is necessary to poll the switching of the transmission beam directions in 4 directions within a period T, when within the first T rlc duration, the first control signal is used to instruct the first switch 1311a in the first radio frequency switch device 131 to conduct, and the first switches 1311b to 1311d are all turned off, the antenna branches 1121a and 1121b in the transmitting antenna 112 work, and the antenna branches 1121c and 1121d do not work. The transmitting antenna 112 can perform beamforming in the first transmission beam direction of 45°, that is, transmit the sensing signal, and no beamforming is performed in the transmission beam directions of 135°, 225°, and 315°, that is, no sensing signal is transmitted. Similarly, when within the second T rlcDuring this period, when the first control signal is used to indicate that the first switch 1311b in the first radio frequency switch device 131 is turned on and the first switches 1311a, 1311c to 1311d are all turned off, the antenna branches 1121b and 1121c in the transmitting antenna 112 work, and the antenna branches 1121a and 1121d do not work. The transmitting antenna 112 can perform beamforming in the first transmission beam direction of 135°, that is, transmit the sensing signal, and no beamforming is performed in the transmission beam directions of 45°, 225°, and 315°, that is, no sensing signal is transmitted. And so on for polling. In the third T rlc During this period, the first control signal is a high-level signal, and the transmitting antenna 112 can perform beamforming in the first transmission beam direction of 225°. In the fourth T rlc During this period, the first control signal is a low-level signal, and the transmitting antenna 112 can perform beamforming in the first transmission beam direction of 315°. In this way, the transmitting antenna 112 can perform polling switching of the transmission beam directions of 45°, 135°, 225°, and 315° within one period T.

[0160] Similar to the transmitting antenna 112, the receiving antenna 114 can also perform polling switching of the receiving beam directions of 45°, 135°, 225°, and 315° within one period T through the above process.

[0161] Reference Figure 11 and Figure 13 , it can be known that the sensing device 11 / 13 further includes a wireless sensor 402. The wireless sensor 402 includes an input / output port e, an input port f, and an output port g. The input / output port e is coupled to the processor 401, the output port g is coupled to the transmitting antenna 112, and the input port f is coupled to the receiving antenna 114.

[0162] In some embodiments, the input / output port e is an input / output (I / O) port, for example, specifically it can be a serial peripheral interface (SPI), or a universal asynchronous receiver / transmitter (UART) port, or an inter-integrated circuit (I2C) port, etc. The input port f can be understood as a receiving radio frequency port, and the output port g can be understood as a transmitting radio frequency port.

[0163] Based on this, in some embodiments, controlling the transmitting antenna 112 to transmit the sensing signal in the transmitting beam direction includes: the processor 401 sending a third control signal to the wireless sensor 402, where the third control signal is used for the wireless sensor 402 to generate multiple sensing signals and send them to the transmitting antenna 112, so that the transmitting antenna 112 transmits multiple sensing signals in the transmitting beam direction.

[0164] Controlling the receiving antenna 114 to receive the echo signal of the sensing signal in the receiving beam direction includes: the processor 401 sending a fourth control signal to the wireless sensor 402, where the fourth control signal is used for the wireless sensor 402 to receive multiple echo signals in the receiving beam direction from the receiving antenna 114.

[0165] In some embodiments, the third control signal and the fourth control signal are generated by the processor 401 according to the configuration of the signal frame design parameters for wireless sensing as described above, and the third control signal and the fourth control signal can be generated by the wireless sensor unit in the processor 401 as described above.

[0166] In some embodiments, the third control signal may include the signal frame design parameters of the sensing signal generated by the wireless sensor 402, or rather, the signal frame design parameters of the sensing signal transmitted by the transmitting antenna 112. For example, the signal frame design parameters include the T of a single transmitting beam direction rlc1 duration, the signal duration T of a single radar signal c 、the number n of radar signals chirp1 and the ΔT1 duration when no radar signal is transmitted. The fourth control signal includes the signal frame design parameters of the echo signal received by the wireless sensor 402, or rather, the signal frame design parameters of the echo signal received by the receiving antenna 114. For example, the signal frame design parameters include the T of a single receiving beam direction rlc2 duration, the signal duration T of a single radar signal c2 、the number n of radar signals chirp2 and the ΔT2 duration when no radar signal is received.

[0167] The third control signal and the fourth control signal can be included in one message and transmitted to the wireless sensor 402 through the input / output port e, or can be included in two messages and transmitted to the wireless sensor 402 through the input / output port e. This application does not make a limitation.

[0168] In this way, when the processor 401 sends T to the above-mentioned first RLC circuit 111 or the first radio frequency switch device 131 pA first control signal for duration, when used to indicate that the first RLC circuit 111 or the first radio frequency switch device 131 switches the transmission beam direction of the transmitting antenna 112 to the first transmission beam direction, at the same time, the wireless sensor 402 can generate a plurality of sensing signals according to the third control signal and send T to the transmitting antenna 112 through the output port g p1 (T rlc1 -ΔT1) duration of sensing signals to send this T through the transmitting antenna 112 p1 duration of sensing signals. For example, the T p1 duration of sensing signals here includes n chirp1 chirp radar signals, and the signal duration T of each chirp radar signal c1 ≤T p1 / n chirp1 .

[0169] Similarly, within a single period T, under the coverage where the beam coverage of the transmitting antenna 112 and the receiving antenna 114 coincides and the entire time slot is the same, the signal frame design parameters in the third control signal and the signal frame design parameters in the fourth control signal are the same. When the processor 401 sends a second control signal of T p duration to the second RLC circuit 113 or the second radio frequency switch device 133 to indicate that the second RLC circuit 113 or the second radio frequency switch device 133 switches the receiving beam direction of the receiving antenna 114 to the first receiving beam direction, at the same time, the wireless sensor 402 can receive the T p duration of echo signals from the receiving antenna 114 according to the fourth control signal and through the input port f

[0170] Exemplarily, within a single period T, when the processor 401 sends a high-level signal of T p duration to the first RLC circuit 111 to indicate that the first RLC circuit 111 switches the transmission beam direction of the transmitting antenna 112 to 45° of the first transmission beam direction, at the same time, the wireless sensor 402 can generate a plurality of sensing signals according to the third control signal and send T p duration of sensing signals to send this T through the transmitting antenna 112 in the first transmission beam direction of 45° p duration of sensing signals

[0171] At the same time, the processor can, while sending a high-level signal of T p duration to the first RLC circuit 111, send T pA high-level signal of a duration is used to indicate that the receiving beam direction of the second RLC circuit 113 for switching the receiving antenna 114 is the first receiving beam direction of 45°. Meanwhile, the wireless sensor 402 can, according to the fourth control signal, receive, through the input port f, the echo signal received by the receiving antenna 114 at the first receiving beam direction of 45° for a duration of T p for a duration of the echo signal.

[0172] In some embodiments, the transmission of multiple sensing signals by the transmitting antenna 112 in the transmission beam direction satisfies the following condition 1:

[0173]

[0174] where T represents the duration of a period, k1 represents the number of transmission beam directions switched by the transmitting antenna 112 within one period, represents the duration of the transmission of multiple sensing signals by the transmitting antenna 112 in the transmission beam direction, and ΔT1 represents the duration during which the transmitting antenna 112 does not transmit sensing signals in the transmission beam direction.

[0175] The reception of multiple echo signals by the receiving antenna 114 in the reception beam direction satisfies the following condition 2:

[0176]

[0177] where T represents the duration of a period, k2 represents the number of reception beam directions switched by the receiving antenna 114 within one period, represents the duration of the reception of multiple echo signals by the receiving antenna 114 in the reception beam direction, and ΔT2 represents the duration during which the receiving antenna 114 does not receive echo signals in the reception beam direction.

[0178] In some embodiments, k1 = k1, ΔT1 = ΔT2. Where k1 = k2 is a positive integer greater than or equal to 2, 4,.... Both ΔT1 and ΔT2 are positive numbers.

[0179] Exemplarily, referring to Figure 11 the case of (b) in, when the single period T is 100 ms, k1 = k2 = 2, T rlc1 = T rlc2 , that is the duration of the transmission beam direction of the transmitting antenna 112 being the first transmission beam direction of 45° is T rlc1 , but the duration of the transmitting antenna 112 transmitting sensing signals in the first transmission beam direction of 45° the transmitting antenna 112 at T rlc1Within the duration of ΔT1 within the time period, no sensing signal is sent. Similarly, the duration during which the receiving beam direction of the receiving antenna 114 is the first receiving beam direction of 45° is T rlc2 , but the duration during which the receiving antenna 114 receives the echo signal in the first receiving beam direction of 45° The receiving antenna 114 within T rlc2 Within the duration of ΔT2 within the time period, no echo signal is received. This situation corresponds to the following situation in the present application: within each period, the number of transmitting beam directions switched by the transmitting antenna 112 is the same as the number of receiving beam directions switched by the receiving antenna 114. The beam coverage range of the first transmitting beam direction is the same as the beam coverage range of the first receiving beam direction. The time domain resources occupied by the sensing signal transmitted by the transmitting antenna 112 in the first transmitting beam direction are the same as the time domain resources occupied by the echo signal received by the receiving antenna 114 in the first receiving beam direction.

[0180] In some embodiments, m·k1 = k2, ΔT1 = m·ΔT2, where m is an integer. Exemplarily, similar to the situation of Figure 11 , within a single period T, the number of transmitting beam directions switched by the transmitting antenna 112 is k1 = 2, and the number of receiving beam directions switched by the receiving antenna 114 is k2 = 4, and m = 2. Based on this, the duration during which the transmitting antenna 112 transmits the sensing signal in one transmitting beam direction can be equal to the duration during which the receiving antenna 114 receives the echo signal in 2 receiving beam directions, that is and the duration ΔT1 during which the transmitting antenna 112 does not transmit the sensing signal in one transmitting beam direction is equal to the duration during which the receiving antenna 114 does not receive the echo signal in 2 receiving beam directions, that is, ΔT1 = 2ΔT2.

[0181] Based on this, within the ΔT2 duration during which the receiving antenna 114 does not receive the echo signal in each receiving beam direction, the wireless sensor 402 can convert the analog signal of the echo signal received from the receiving antenna 114 into a digital signal and then send it back to the processor 401, so that the processor 401 can obtain the sensing target in the current receiving beam direction. When the processor 401 obtains the sensing targets corresponding to multiple receiving beam directions within a single period, or in other words, the sensing information of the sensing targets, it can perform fusion processing on the sensing targets in multiple receiving beam directions to obtain the target sensing result within a single period.

[0182] Thus, in some embodiments, the processor 401 processes the echo signals received from the receiving antenna 114 in each period to obtain the target perception results for each period, including: in each period, the processor 401 receives, within the ΔT2 duration corresponding to each receiving beam direction, the echo signals received by the receiving antenna 114 from the wireless sensor 402, and processes the received echo signals to obtain the perception targets for each receiving beam direction. The processor 401 performs a fusion process on the perception targets for each receiving beam direction to obtain the perception result for each period.

[0183] Exemplarily, referring to Figure 9 the case of (b) in, within each period T, when the wireless sensor 402 receives the echo signal in the receiving beam direction of 45° for the first poll from the receiving antenna 114, the analog signal of the received echo signal can be subjected to analog-to-digital conversion within the ΔT2 duration within the first T rlc2 duration and transmitted back to the processor 401. The processor 401 processes the digital signal within the first ΔT2 duration to obtain the perception target in the receiving beam direction of 45°. Among them, the processing process includes performing 1D fast Fourier transform (FFT), range Doppler spectrum calculation, and angle spectrum estimation on the received digital signal, so as to obtain information such as the azimuth, velocity, and spatial position of multiple targets within the current T rlc duration, and generating a point cloud coordinate set of the moving targets among the multiple targets in the current main beam direction of 45°.

[0184] Similarly, when the wireless sensor 402 receives the echo signal in the receiving beam direction of 135° for the second poll from the receiving antenna 114, the analog signal of the received echo signal can be subjected to analog-to-digital conversion within the ΔT2 duration within the second T rlc2 duration and transmitted back to the processor 401. The processor 401 processes the digital signal within the second ΔT2 duration to obtain the perception target in the receiving beam direction of 135°. Among them, the processing process is similar to the processing process in the receiving beam direction of 45° described above.

[0185] Similarly, the processor 401 can obtain the perception targets corresponding to the receiving beam directions of 45°, 135°, 225°, and 315° respectively. And the processor 401 can be in the fourth T corresponding to the receiving beam direction of 315° rlc2During the ΔT2 duration within the time duration, the sensed targets in each receiving beam direction are fused to obtain the sensing result for each period. This fusion process includes coordinate transformation of the point cloud coordinates of the sensed targets (moving targets) obtained in each receiving beam direction and transforming them to the same global coordinate system, and then clustering, target association, and tracking of the point cloud of the sensed targets are performed according to the global coordinates in the global coordinate system to obtain the target sensing result of the moving target.

[0186] In this way, the processor 401 can perform human-computer interaction or control operations of other devices according to the target sensing result at the T moment within a period T.

[0187] Therefore, in the present application, the processor can periodically synchronously control the switching of the main beam of the antenna based on PIN diodes or RF switches, and synchronously receive and process the sensing signals. This flexible main beam design can achieve full-angle domain (360°) coverage sensing capabilities in the horizontal or pitch dimensions at low cost, and the angle domain in the horizontal or pitch dimensions can be changed according to the actual scenario to adapt to the actual scenario.

[0188] Moreover, through the synchronous design of the beam switching period and the signal frame of the sensing signal in the present application, it is possible to effectively resolve the sensed targets under each beam during beam switching, which further facilitates the fusion decision of the full-angle domain targets after a complete period T and improves the accuracy of the spatial position sensing of the targets.

[0189] In the present application, this multi-beam switching design using a single antenna can better adapt to the 360° full-coverage scenario compared with single-beam or omnidirectional beams, and improve the detection distance in any beam direction.

[0190] In the present application, compared with the existing method of achieving angular resolution in the horizontal and pitch dimensions under beam coverage through chip cascading, in the sensing device / sensing equipment of the present application, multi-beam direction polling coverage can be achieved with a single wireless sensor chip, and it can adapt to various application scenarios, reducing the requirements for the number of antenna arrays or sensor chips, improving the sensing coverage range ability while reducing costs.

[0191] The present application can also be applied to the beam switching process under an antenna array with multiple transmitting antennas 112 and multiple receiving antennas 114.

[0192] Thus, in some embodiments, in addition to the processor 401, the sensing device in the present application may further include a plurality of first switching circuits. The processor 401 is coupled to the first end of each of the plurality of first switching circuits, and each of the plurality of transmitting antennas 112 is coupled to the second end of one of the plurality of first switching circuits. The processor 401 controls the switching of the transmitting beam direction of the transmitting antenna 112, including: the processor 401 synchronously sends a first control signal to each of the plurality of first switching circuits, and the first control signal is used for the first switching circuit to control the transmitting beam direction of the transmitting antenna 112 to be the first transmitting beam direction. That is to say, the transmitting beam directions of the plurality of transmitting antennas 112 are all the first transmitting beam directions.

[0193] Similarly, the sensing device in the present application may further include a second switching circuit. The processor 401 is coupled to the first end of each of the plurality of second switching circuits, and each of the plurality of receiving antennas 114 is coupled to the second end of one of the second switching circuits. The processor 401 controls the switching of the receiving beam direction of the receiving antenna 114, including: the processor 401 synchronously sends a second control signal to each of the plurality of second switching circuits, and the second control signal is used for the second switching circuit to control the receiving beam direction of the receiving antenna 114 to be the first receiving beam direction. That is to say, the receiving beam directions of the plurality of receiving antennas 114 are all the first receiving beam directions.

[0194] Similar to the case where the sensing device is single-transmit and single-receive, in some embodiments, each of the plurality of first switching circuits may include a first RLC circuit 111. Each first RLC circuit 111 includes a plurality of first PIN diodes 1111, and one first PIN diode 1111 is coupled between two adjacent antenna elements 1121 of each transmitting antenna 112. For each transmitting antenna 112, the first control signal is used to indicate that at least one of the first PIN diodes 1111 in the first RLC circuit 111 coupled to the transmitting antenna 112 is turned on, so that the transmitting antenna 112 is switched to the first transmitting beam direction. In this way, when at least one of the first PIN diodes 1111 in the first RLC circuit 111 coupled to each transmitting antenna 112 is turned on, the plurality of transmitting antennas 112 can be synchronously switched to the first transmitting beam direction.

[0195] Each of the multiple second switching circuits may include a second RLC circuit 113. Each second RLC circuit 113 includes multiple second PIN diodes 1131. One second PIN diode 1131 is coupled between two adjacent antenna branches of each receiving antenna 114. For each receiving antenna 114, the second control signal is used to indicate that at least one second PIN diode 1131 in the second RLC circuit coupled to the receiving antenna 114 is turned on, so that the receiving antenna 114 can be synchronously switched to the first receiving beam direction. In this way, when at least one second PIN diode 1131 in the second RLC circuit coupled to each receiving antenna 114 is turned on, multiple receiving antennas 114 can be synchronously switched to the first receiving beam direction.

[0196] Similar to the single-transmitter and single-receiver case, in some embodiments, within each period, the number of transmit beam directions switched by each transmit antenna 112 among the multiple transmit antennas 112 is the same as the number of receive beam directions switched by each receive antenna among the multiple receive antennas 114. For example, the beam coverage range of each transmit antenna 112 in the first transmit beam direction is the same as the beam coverage range of each receive antenna 114 in the first receive beam direction. The time-domain resources occupied by the sensing signal transmitted by each transmit antenna 112 in the first transmit beam direction are the same as the time-domain resources occupied by the echo signal received by each receive antenna 114 in the first receive beam direction.

[0197] Alternatively, within each period, the number of transmit beam directions switched by each transmit antenna 112 among the multiple transmit antennas 112 is different from the number of receive beam directions switched by each receive antenna 144 among the multiple receive antennas 114. For example, the beam coverage range of each transmit antenna 112 in the first transmit beam direction includes the beam coverage ranges of multiple receive beam directions, and the multiple receive beam directions include the first receive beam direction. The time-domain resources occupied by the sensing signal transmitted by each transmit antenna 112 in the first transmit beam direction include the time-domain resources occupied by the echo signal received by each receive antenna 114 in the multiple receive beam directions.

[0198] Exemplarily, Figure 14 A schematic diagram of beam polling switching in a multi-antenna array is shown. As Figure 14As shown in (a) therein, the sensing device 14 is an antenna array of 2T4R. The antenna array includes transmitting antennas Tx1 and Tx2, and receiving antennas Rx1, Rx2, Rx3, and Rx4. Among them, the transmitting antenna Tx is equivalent to the above-mentioned transmitting antenna 112, and the receiving antenna Rx is equivalent to the above-mentioned receiving antenna 114. The sensing device further includes a 2T4R sensing chip 141 and a processor 401. The 2T4R sensing chip 141 is equivalent to the above-mentioned wireless sensor 402. The sensing device further includes a plurality of RLC circuits. Each of the transmitting antennas Tx1 and Tx2 is coupled to a first RLC circuit 111, and each of the receiving antennas Rx is coupled to a second RLC circuit 113.

[0199] Among them, as Figure 14 shown in (b) therein, when each antenna of the transmitting antenna 112 and the receiving antenna 114 has 4 antenna branches, each first PIN diode 1111 (1111a~1111d) in each first RLC circuit 111 is coupled between two adjacent antenna branches of the transmitting antenna, and each second PIN diode 1131 (1131a~1131d) in each second RLC circuit 113 is coupled between two adjacent antenna branches of the receiving antenna.

[0200] It should be understood that although each transmitting antenna and receiving antenna is independently coupled to an RLC circuit for controlling the main beam direction of the antenna, in some embodiments, when the coverage of multiple transmitting antennas and receiving antennas overlaps and the full time slots are the same, multiple transmitting antennas and multiple receiving antennas can also be commonly coupled to an RLC circuit for synchronously controlling the main beam directions of multiple transmitting antennas and receiving antennas.

[0201] In some embodiments, the antenna array can be arranged according to the scene requirements, so as to achieve the angular resolution ability in the horizontal and pitch directions. At the same time, similar to the case of single transmission and single reception, each RLC circuit is simultaneously turned on and off periodically by the synchronization control signal unit in the processor 401 to drive each antenna to synchronously switch in the same beam direction.

[0202] In some embodiments, the processor 401 can configure the parameters of the beam switching period of the transmitting antenna Tx and the receiving antenna Rx, and the parameters of the signal frame period of the 2T4R sensing chip 141 according to the above-mentioned condition 1 and condition 2, so as to satisfy the corresponding relationship between the polling beam switching period of the transmitting antenna Tx and the sensing signal period, and the corresponding relationship between the polling beam switching period of the receiving antenna Rx and the echo signal period.

[0203] In some embodiments, similar to the single - transmit and single - receive case, during real - time sensing, the processor 401 can simultaneously identify from which main beam direction (receive beam direction) the echo signal received by the 2T4R sensing chip 141 is based on the synchronization control signal (such as the above - mentioned Tp timestamp or high - low level switching trigger signal, etc.), and perform signal processing on the data in the current main beam direction to obtain the target sensing result in the current main beam direction, including detecting the speed, azimuth, distance of the target, and the spatial coordinates in the current main beam direction, etc. That is, the sensing targets in each receive beam direction in a single period are obtained.

[0204] Then, the processor 401 can perform fusion processing on the sensing targets in each receive beam direction to obtain the sensing result of each period. That is, after the main beam switching in one period, the processor 401 fuses the sensing targets of each beam, converts the features of the sensing targets under each beam to the same coordinate system to obtain the sensing result in the same coordinate system, and then performs the target sensing result in one period for decision - making on human - machine interaction or other device control.

[0205] Of course, in this antenna array scenario, the first RLC circuit 111 and the second RLC circuit 113 can also be replaced by radio frequency switch devices for beam direction polling switching, which will not be elaborated here.

[0206] Thus, in this application, for the case where the sensing device includes an antenna array, the processor can implement synchronous high - low level switching control for the switching circuits of all antennas, thereby enabling the sensing of horizontal or pitch angles under multiple antenna arrays. In particular, it can achieve the ability of 360° polling beam switching coverage, and at the same time enable the arraying ability of the antenna array, so as to realize the azimuth estimation and sensing ability of the target and provide a more refined spatial azimuth sensing ability.

[0207] It can be understood that in order to implement the functions in the above - mentioned embodiments, the sensing device includes the corresponding hardware structures and / or software modules for performing each function. Those skilled in the art should easily realize that, combining the units and method steps of each example described in the embodiments disclosed in this application, this application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0208] Figure 15 FIG. is a schematic structural diagram of a possible sensing device 150 provided in an embodiment of the present application. These sensing devices 150 can be used to implement the functions of the sensing device in the above - mentioned method embodiments, and thus can also achieve the beneficial effects possessed by the above - mentioned method embodiments. In the embodiments of the present application, the sensing device can be, for example, Figure 2 the sensing device 202 as shown, or can also be, for example,Figure 4 The sensing device 40 shown may also be a module (such as a chip) applied to a sensing device or a sensing apparatus.

[0209] For example Figure 15 As shown, the sensing apparatus 150 includes a switching module 1501 and a sensing module 1502. The sensing apparatus 150 is used to implement the functions of the sensing apparatus or the sensing device in the method embodiments shown above Figure 3 and / or Figure 5 in the method embodiments shown in

[0210] When the sensing apparatus 150 is used to implement the functions of the sensing apparatus in the method embodiments shown in Figure 3 : The switching module 1501 is used to control the switching of the transmission beam direction of the transmitting antenna in each period, control the transmitting antenna to transmit the sensing signal in the transmission beam direction, and control the switching of the receiving beam direction of the receiving antenna, and control the receiving antenna to receive the echo signal of the sensing signal in the receiving beam direction. The sensing module 1502 is used to perform signal processing on the echo signals received from the receiving antenna in each period to obtain the target sensing result of each period.

[0211] When the sensing apparatus 150 is used to implement the functions of the sensing device in the method embodiments shown in Figure 5 : The switching module 1501 is used to send a periodic high and low level signal with a duration of Tp to the switching circuit coupled to the transmitting antenna according to the parameters of the configured periodic control signal, and simultaneously start the wireless sensor to transmit and receive signals synchronously according to the signal frame design parameters of the wireless sensor. The sensing module 1502 is used to perform signal processing on the echo signals of each antenna channel received to obtain the sensing information of the moving target within each Trlc duration; perform polar coordinate position conversion of the spatial azimuth of the target within each Trlc duration according to the multiple beam directions switched within one period, so that the coordinate positions of the moving targets within each Trlc duration range within one period are in the same coordinate system; perform clustering, target association and tracking of the point cloud according to the global coordinates of each point cloud to obtain the target sensing result of the moving target; perform human-computer interaction or control operations of other devices according to the target sensing result at the T moment within one period T.

[0212] For a more detailed description of the above switching module 1501 and sensing module 1502, reference may be made to the relevant descriptions in the method embodiments shown in Figure 3 and Figure 5 the method embodiments shown in

[0213] When the above-mentioned sensing device 150 is a chip applied to a sensing device, the chip implements the functions of the sensing device or the sensing device in the above method embodiments. The chip receives the echo signal from the target. It can be understood that the echo signal is first received by other modules (such as a radio frequency module or an antenna) in the sensing device and then sent to the chip by these modules. The chip may include a processor and a wireless sensor. The chip sends a sensing signal. It can be understood that this information is first sent to other modules (such as a radio frequency module or an antenna) in the sensing device and then sent out by these modules.

[0214] In this application, when entity A sends information to entity B, it can be that A directly sends it to B, or A indirectly sends it to B through other entities. Similarly, when entity B receives information from entity A, it can be that entity B directly receives the information sent by entity A, or entity B indirectly receives the information sent by entity A through other entities. Here, entity A and B can be RAN nodes or terminals, or modules inside RAN nodes or terminals. The sending and receiving of information can be the information interaction between a RAN node and a terminal. For example, the information interaction between a base station and a terminal; the sending and receiving of information can also be the information interaction between two RAN nodes. For example, the information interaction between a CU and a DU; the sending and receiving of information can also be the information interaction between different modules within a device. For example, the information interaction between a terminal chip and other modules of the terminal, or the information interaction between a base station chip and other modules in the base station.

[0215] It can be understood that the processor in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor can be a microprocessor or any conventional processor.

[0216] The method steps in the embodiments of the present application can be implemented in hardware or in software instructions executable by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a removable hard disk, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. The storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. Additionally, the ASIC can be located in a base station or a terminal. The processor and the storage medium can also exist as discrete components in a base station or a terminal.

[0217] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable devices. The computer program or instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired or wireless manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center integrating one or more available media. The available medium can be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it can also be an optical medium, such as a digital video disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium can be a volatile or non-volatile storage medium, or can include both volatile and non-volatile types of storage media.

[0218] In the various embodiments of the present application, if there is no special explanation and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0219] In this application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the relationship between associated objects and indicates that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. In the written description of this application, the character " / " generally indicates that the associated objects before and after are in an "or" relationship. "Including at least one of A, B, and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B, and C.

[0220] It can be understood that the various numerical numbers involved in the embodiments of this application are only for the convenience of description and are not used to limit the scope of the embodiments of this application. The magnitudes of the serial numbers of the above processes do not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic.

Claims

1. A sensing method, characterized in that, The method is applied to a sensing device, the sensing device includes a processor, and the method includes: In each period, the processor controls the transmitting antenna to switch the transmitting beam direction, and controls the transmitting antenna to transmit a sensing signal in the transmitting beam direction, and the processor controls the receiving antenna to switch the receiving beam direction, and controls the receiving antenna to receive the echo signal of the sensing signal in the receiving beam direction; The processor performs signal processing on the echo signal received from the receiving antenna in each period to obtain the target sensing result of each period.

2. The method according to claim 1, wherein The number of the transmitting antennas is one or more, and the number of the receiving antennas is one or more.

3. The method according to claim 1 or 2, characterized in that, The sensing device further includes a first switching circuit, the processor is coupled to a first end of the first switching circuit, and the transmitting antenna is coupled to a second end of the first switching circuit; The processor controls the transmitting antenna to switch the transmitting beam direction, including: the processor sends a first control signal to the first switching circuit, and the first control signal is used for the first switching circuit to control the transmitting beam direction of the transmitting antenna to be a first transmitting beam direction.

4. The method according to claim 3, wherein The first switching circuit includes a first resistor-inductor-capacitor (RLC) circuit, the first RLC circuit includes a plurality of first P-type-I-type-N-type PIN diodes, and one of the first PIN diodes is coupled between two adjacent antenna sections of the transmitting antenna; The first control signal is used to indicate that at least one of the first PIN diodes in the first RLC circuit coupled to the transmitting antenna is turned on, so that the transmitting antenna is switched to the first transmitting beam direction.

5. The method according to claim 3, wherein The first switching circuit includes a first radio frequency (RF) switch device, the first RF switch device includes a first RF common port, a plurality of first switches, and a plurality of first RF switch ports respectively coupled to the plurality of first switches, and among two adjacent antenna sections of the transmitting antenna, one antenna section is coupled to the first RF common port, and the other antenna section is coupled to one of the first RF switch ports; The first control signal is used to indicate that at least one of the first switches in the first RF switch device coupled to the transmitting antenna is turned on, so that the transmitting antenna is switched to the first transmitting beam direction.

6. The method according to any one of claims 3 to 5, characterized in that The sensing device further includes a second switching circuit, the processor is coupled to a first end of the second switching circuit, and the receiving antenna is coupled to a second end of the second switching circuit; The processor controls the receiving antenna to switch the receiving beam direction, including: the processor sends a second control signal to the second switching circuit, and the second control signal is used for the second switching circuit to control the receiving beam direction of the receiving antenna to be a first receiving beam direction.

7. The method according to claim 6, wherein The second switching circuit includes a second RLC circuit, the second RLC circuit includes a plurality of second PIN diodes, and one of the second PIN diodes is coupled between two adjacent antenna sections of the receiving antenna; The second control signal is used to indicate that at least one of the second PIN diodes in the second RLC circuit coupled to the receiving antenna is turned on, so that the receiving antenna is switched to the first receiving beam direction.

8. The method according to claim 6, characterized in that, The second switching circuit includes a second radio frequency switch device. The second radio frequency switch device includes a second radio frequency common port, a plurality of second switches, and a plurality of second radio frequency switch ports respectively coupled to the plurality of second switches. Among two adjacent antenna branches of the receiving antenna, one antenna branch is coupled to one of the second radio frequency common ports, and the other antenna branch is coupled to one of the second radio frequency switch ports; The second control signal is used to indicate that at least one of the second switches in the second radio frequency switch device coupled to the receiving antenna is turned on, so that the receiving antenna is switched to the first receiving beam direction.

9. The method according to any one of claims 6-8, wherein In each period, the number of transmission beam directions switched by the transmitting antenna is the same as the number of receiving beam directions switched by the receiving antenna; The beam coverage range of the first transmission beam direction is the same as the beam coverage range of the first receiving beam direction; The time domain resources occupied by the sensing signal transmitted by the transmitting antenna in the first transmission beam direction are the same as the time domain resources occupied by the echo signal received by the receiving antenna in the first receiving beam direction.

10. The method according to any one of claims 6-8, wherein In each period, the number of transmission beam directions switched by the transmitting antenna is different from the number of receiving beam directions switched by the receiving antenna; The beam coverage range of the first transmission beam direction includes the beam coverage ranges of a plurality of receiving beam directions, and the plurality of receiving beam directions include the first receiving beam direction; The time domain resources occupied by the transmitting antenna transmitting the sensing signal in the first transmission beam direction include the time domain resources occupied by the receiving antenna receiving the echo signals in the plurality of receiving beam directions.

11. The method according to any one of claims 1 to 10, characterized in that, The sensing device further includes a wireless sensor. The wireless sensor includes an input / output port, an input port, and an output port. The input / output port is coupled to the processor, the output port is coupled to the transmitting antenna, and the input port is coupled to the receiving antenna; Controlling the transmitting antenna to transmit a sensing signal in the transmission beam direction includes: the processor sending a third control signal to the wireless sensor, and the third control signal is used for the wireless sensor to generate a plurality of sensing signals and send them to the transmitting antenna, so that the transmitting antenna transmits the plurality of sensing signals in the transmission beam direction; Controlling the receiving antenna to receive the echo signal of the sensing signal in the receiving beam direction includes: the processor sending a fourth control signal to the wireless sensor, and the fourth control signal is used for the wireless sensor to receive a plurality of echo signals in the receiving beam direction from the receiving antenna.

12. The method according to claim 11, characterized in that, In each period, the transmitting antenna transmitting the plurality of sensing signals in the transmission beam direction satisfies the following conditions: Where T represents the duration of the period, and k1 represents the number of transmission beam directions switched by the transmitting antenna within one period. represents the duration for the transmitting antenna to transmit the multiple sensing signals in the transmission beam direction, and ΔT1 represents the duration for the transmitting antenna not to transmit sensing signals in the transmission beam direction.

13. The method according to claim 11 or 12, characterized in that, The received antenna receives the multiple echo signals in the received beam direction and satisfies the following conditions: Where T represents the duration of the period, and k2 represents the number of receiving beam directions switched by the receiving antenna within one period. represents the duration during which the receiving antenna receives the multiple echo signals in the receiving beam direction, and ΔT2 represents the duration during which the receiving antenna does not receive echo signals in the receiving beam direction.

14. The method according to claim 13, wherein The processor performs signal processing on the echo signals received from the received antenna in each period, and the obtained target perception result for each period includes: In each period, within the ΔT2 duration corresponding to each received beam direction, the processor receives the echo signals received by the received antenna from the wireless sensor, and processes the received echo signals to obtain the perception target for each received beam direction; The processor performs fusion processing on the perception targets for each received beam direction to obtain the perception result for each period.

15. A sensing device, characterized in that, Including: A switching module, configured to, in each period, control the transmitting antenna to switch the transmitting beam direction, control the transmitting antenna to transmit the perception signal in the transmitting beam direction, and control the receiving antenna to switch the receiving beam direction, and control the receiving antenna to receive the echo signal of the perception signal in the receiving beam direction; A perception module, configured to perform signal processing on the echo signals received from the received antenna in each period to obtain the target perception result for each period.

16. A sensing device, characterized in that, The perception device includes a processor, wherein: The processor is configured to, in each period, control the transmitting antenna to switch the transmitting beam direction, control the transmitting antenna to transmit the perception signal in the transmitting beam direction, and the processor controls the receiving antenna to switch the receiving beam direction, and control the receiving antenna to receive the echo signal of the perception signal in the receiving beam direction; The processor is further configured to perform signal processing on the echo signals received from the received antenna in each period to obtain the target perception result for each period.

17. A computer-readable storage medium, characterized in that, Computer instructions are stored in the computer-readable storage medium, and when the computer instructions run on the communication device, the communication device is caused to execute the method according to any one of claims 1-14.

18. A computer program product, characterized in that, Including computer instructions, and when the computer instructions run on the communication device, the communication device is caused to execute the method according to any one of claims 1-14.

19. A chip, characterized in that, The chip stores computer execution instructions, and when the computer execution instructions are run, the method according to any one of claims 1-14 is executed.

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