Ultrasonic sensor chip, system and data transmission method

Abstract

The embodiment of the invention provides an ultrasonic sensor chip, an ultrasonic sensor system and a data transmission method, which are used for being electrically connected with an ultrasonic sensor, driving the ultrasonic sensor to transmit an ultrasonic signal and receiving an echo signal formed by the ultrasonic signal. Dividing the echo signal into at least two echo data segments; for each echo data segment, fitting an echo curve based on the echo data segment, and extracting characteristic parameters of the echo curve; the echo curve is used for representing the envelope change of the echo data segment; the characteristic parameters of the echo curve can enable the upper computer to restore the envelope change of the echo data segment; and transmitting the characteristic parameters of the echo curve to an upper computer. The method and the device are used for reducing transmission time, reducing occupied bandwidth resources and improving data transmission efficiency.

Description

[0001] This application claims the priority of a Chinese patent application titled "Ultrasonic Sensor Chip and System" with an application number of 202411091413.5 and filed with the National Intellectual Property Administration on August 8, 2024, and also claims the priority of a Chinese patent application titled "Method, Chip and System for Processing Echo Data of Ultrasonic Sensor" with an application number of 202411091426.2 and filed with the National Intellectual Property Administration on August 8, 2024. The entire content of the above Chinese patents is incorporated herein by reference. Technical Field

[0002] This application relates to the field of ultrasonic technology, and particularly to an ultrasonic sensor chip, a system and a data transmission method. Background Art

[0003] In order to better measure distances, ultrasonic sensors are usually installed in vehicles. An ultrasonic sensor includes an ultrasonic transmitter and an ultrasonic receiver. Among them, the ultrasonic transmitter and the ultrasonic receiver can be integrated into one ultrasonic transducer, or the transmitter and the receiver can be separately arranged. When the emitted ultrasonic signal is reflected by an obstacle or an object near the vehicle, an echo signal can be detected in the received signal, and the distance between obstacles can be calculated using the time difference between the ultrasonic emission and the reception of the echo signal. However, with the development of technologies and applications such as autonomous driving, driverless driving, assisted driving, and automatic parking, simply uploading data on the presence or absence of obstacles can no longer meet the development needs, and more data information of the echo signal needs to be transmitted to the host computer.

[0004] In some technologies, the complete echo signal is entirely uploaded to the host computer. However, since the complete echo signal contains a large amount of data information, when transmitting all the echo signals to the host computer, problems such as long transmission time and excessive bandwidth resource consumption will occur. Summary of the Invention

[0005] In view of this, this application provides an ultrasonic sensor chip, a system and a data transmission method, which are conducive to solving the problems of long transmission time and excessive bandwidth resource consumption when transmitting echo signals with more data information in the prior art.

[0006] In a first aspect, an embodiment of this application provides an ultrasonic sensor chip, which is used to be electrically connected to an ultrasonic sensor, drive the ultrasonic sensor to emit an ultrasonic signal, receive an echo signal formed by the ultrasonic signal, and the ultrasonic sensor chip is further used to divide the echo signal into at least two echo data segments;

[0007] For each echo data segment, fit an echo curve based on the echo data segment and extract characteristic parameters of the echo curve; the echo curve is used to characterize the envelope change of the echo data segment; the characteristic parameters of the echo curve can enable the host computer to restore the envelope change of the echo data segment;

[0008] Transmit the characteristic parameters of the echo curve to the host computer.

[0009] In a possible implementation manner of the first aspect, the dividing the echo signal into at least two echo data segments includes:

[0010] Determine the echo envelope of the echo signal based on the acquired echo signal;

[0011] Divide the echo envelope into at least two echo data segments based on at least one preset time interval.

[0012] In a possible implementation manner of the first aspect, the dividing the echo envelope into at least two echo data segments includes:

[0013] Divide the echo envelope into at least two echo data segments based on the inflection points on the echo envelope.

[0014] In a possible implementation manner of the first aspect, the fitting an echo curve based on the echo data segment and extracting characteristic parameters of the echo curve includes:

[0015] Determine the fitting points in the echo data segment, where the fitting points are the points in the echo data segment that meet the preset conditions;

[0016] Fit an echo curve based on the fitting points in the echo data segment;

[0017] Extract the characteristic parameters of the echo curve.

[0018] In a possible implementation manner of the first aspect, the characteristic parameters of the echo curve include at least two of the starting point information of the echo curve, the ending point information, and the coefficient information of the echo curve.

[0019] In a possible implementation manner of the first aspect, the extracting the characteristic parameters of the echo curve includes:

[0020] Determine the characteristic points of the echo curve; the characteristic points of the echo curve at least include the starting point position and the ending point position of the echo curve;

[0021] Perform integral processing on the echo curve based on the characteristic points of the echo curve, and use the integral result as the echo intensity information of the echo curve;

[0022] Use the echo intensity information of the echo curve, the start point information and the end point information of the echo curve as the characteristic parameters of the echo curve.

[0023] In a possible implementation manner of the first aspect, the integrating the echo curve based on the characteristic points of the echo curve and using the integration result as the echo intensity information of the echo curve includes:

[0024] Integrate the echo curve based on the characteristic points of the echo curve. When the integration result does not reach the preset integration threshold, use the integration result of the echo curve as the echo intensity information of the echo curve.

[0025] In a possible implementation manner of the first aspect, the ultrasonic sensor chip is further configured to:

[0026] During the process of integrating the echo curve, if the integration result at the first data position of the echo curve reaches the preset integration threshold, mark the first data position as the threshold position;

[0027] If the first data position is not the end point position of the echo curve, use the first data position as the division position, and use the echo curve as the first curve;

[0028] Based on the division position, divide the first curve into a second curve and a third curve; where the second curve ends at the division position, and the third curve starts at the division position and ends at the end point position of the echo curve;

[0029] Based on the start point position and the end point position of the third curve, integrate the third curve. If the integration result of the third curve does not reach the preset integration threshold, use the integration result of the third curve as the echo intensity information of the echo curve;

[0030] Use the threshold position as the characteristic parameter of the echo curve.

[0031] In a possible implementation manner of the first aspect, the ultrasonic sensor chip is further configured to:

[0032] During the process of integrating the third curve based on the start point position and the end point position of the third curve, if the integration result at the second data position of the third curve reaches the preset integration threshold, mark the second data position as the threshold position as well;

[0033] If the second data position is not the end point position of the third curve, update the division position based on the second data position; update the echo curve or the third curve to the first curve;

[0034] Re - execute the step of dividing the first curve into a second curve and a third curve based on the division position.

[0035] In a possible implementation manner of the first aspect, the ultrasonic sensor chip is further configured to:

[0036] Determine the number of times that the integration result in the echo curve reaches a preset integration threshold;

[0037] Use the number of times that the integration result in the echo curve reaches the preset integration threshold as a characteristic parameter of the echo curve.

[0038] In a possible implementation manner of the first aspect, the integration processing of the echo curve and using the integration result as the echo intensity information of the echo curve includes:

[0039] Divide the echo curve into at least two first sub - echo curves according to a preset division rule;

[0040] Perform integration processing on the at least two first sub - echo curves respectively, and use the integration results of the at least two first sub - echo curves as the echo intensity information of the echo curve; wherein, the integration result of each first sub - echo curve does not reach the preset integration threshold;

[0041] The use of the echo intensity information of the echo curve, the start point information and the end point information of the echo curve as the characteristic parameters of the echo curve includes:

[0042] Use the integration result of each first sub - echo curve, the start point information and the end point information of each first sub - echo curve as the characteristic parameters of the echo curve.

[0043] In a possible implementation manner of the first aspect, the extraction of the characteristic parameters of the echo curve includes:

[0044] Determine at least two landmark points of the echo curve based on a preset intensity threshold curve; the landmark points are the points where the echo curve intersects with the preset intensity threshold curve;

[0045] Determine at least one landmark pair according to the at least two landmark points of the echo curve; each landmark pair includes a first landmark point and a second landmark point, and the echo intensity of the echo curve between the first landmark point and the second landmark point is greater than the echo intensity at the corresponding position of the preset intensity threshold curve between the first landmark point and the second landmark point;

[0046] For each of the at least one landmark pair, record the position information of the first landmark point and the position information of the second landmark point in the landmark pair;

[0047] Integrate the echo curve starting from the first landmark point and ending at the second landmark point to obtain the integration result between the first landmark point and the second landmark point;

[0048] Determine the integration result between the first landmark point and the second landmark point, the position information of the first landmark point, and the position information of the second landmark point as the characteristic parameters of the echo curve.

[0049] In a possible implementation of the first aspect, the ultrasonic sensor chip is further configured to:

[0050] If there is a peak point in the echo curve between the first landmark point and the second landmark point, determine the position information of the peak point, and determine the position information of the peak point as the characteristic parameter of the echo curve; or,

[0051] If there is a peak point in the echo curve between the first landmark point and the second landmark point, determine the position information of the peak point and the echo intensity information of the peak point, and determine the position information of the peak point and the echo intensity information of the peak point as the characteristic parameters of the echo curve.

[0052] In a possible implementation of the first aspect, the ultrasonic sensor chip is further configured to:

[0053] Determine the echo intensity information corresponding to the first landmark point and / or the echo intensity information corresponding to the second landmark point as the characteristic parameters of the echo curve.

[0054] In a possible implementation of the first aspect, the integrating the echo curve starting from the first landmark point and ending at the second landmark point to obtain the integration result between the first landmark point and the second landmark point includes:

[0055] If there is a valley point in the echo curve between the first landmark point and the second landmark point, and the echo intensity at the valley point is greater than the echo intensity of the preset intensity threshold curve at the corresponding position, divide the echo curve between the first landmark point and the second landmark point into a second sub-echo curve and a third sub-echo curve; wherein, the second sub-echo curve starts from the first landmark point and ends at the valley point; the third sub-echo curve starts from the valley point and ends at the second landmark point;

[0056] Integrate the second sub-echo curve starting from the first landmark point and ending at the end point of the second sub-echo curve to obtain the integration result between the first landmark point of the second sub-echo curve and the end point of the second sub-echo curve;

[0057] Taking the starting point of the third sub-echo curve as the starting position and the ending point of the third sub-echo curve as the ending position, perform integral processing on the third sub-echo curve to obtain the integral result between the starting point and the ending point of the third sub-echo curve;

[0058] The determination of the integral result between the first marker point and the second marker point, the position information of the first marker point, and the position information of the second marker point as the characteristic parameters of the echo curve includes:

[0059] Determine the integral result between the starting point and the ending point of the second sub-echo curve, the position information of the starting point of the second sub-echo curve, and the position information of the ending point of the second sub-echo curve as the first characteristic parameter of the echo curve;

[0060] Determine the integral result between the starting point and the ending point of the third sub-echo curve, the position information of the starting point of the third sub-echo curve, and the position information of the ending point of the third sub-echo curve as the second characteristic parameter of the echo curve;

[0061] The transmission of the characteristic parameters of the echo curve to the host computer includes:

[0062] Transmit the first characteristic parameter of the echo curve and the second characteristic parameter of the echo curve to the host computer.

[0063] In a second aspect, an embodiment of the present application provides an ultrasonic sensor system, including a host computer and the ultrasonic sensor chip according to any one of the first aspects above.

[0064] In a third aspect, an embodiment of the present application provides a data transmission method, which is applied to the ultrasonic sensor chip according to any one of the first aspects above, and the method includes:

[0065] Obtain an echo signal and divide the echo signal into at least two echo data segments;

[0066] For each echo data segment, fit an echo curve based on the echo data segment and extract the characteristic parameters of the echo curve; the echo curve is used to characterize the envelope change of the echo data segment; the characteristic parameters of the echo curve can enable the host computer to restore the envelope change of the echo data segment;

[0067] Transmit the data characteristic parameters of the echo curve to the host computer.

[0068] In a possible implementation manner of the third aspect, the extraction of the characteristic parameters of the echo curve includes:

[0069] Based on the echo curve, determine the characteristic points in the echo curve;

[0070] Based on the characteristic points, perform integral processing on the echo curve, and use the integral result as the echo intensity information of the echo curve;

[0071] Use the echo intensity information of the echo curve, the starting point information and the ending point information of the echo curve as the characteristic parameters of the echo curve.

[0072] In a possible implementation manner of the third aspect, the extraction of the characteristic parameters of the echo curve includes:

[0073] Based on a preset intensity threshold curve, determine at least two landmark points of the echo curve; the landmark points are the points where the echo curve intersects the preset intensity threshold curve;

[0074] Determine a first landmark point and a second landmark point from the at least two landmark points, and record the position information of the first landmark point and the position information of the second landmark point;

[0075] Taking the first landmark point as the starting position and the second landmark point as the ending position, perform integral processing on the echo curve to obtain the integral result between the first landmark point and the second landmark point;

[0076] Determine the integral result between the first landmark point and the second landmark point, the position information of the first landmark point and the position information of the second landmark point as the characteristic parameters of the echo curve.

[0077] Adopting the solution provided by the embodiment of the present application, the ultrasonic sensor chip is used to be electrically connected to the ultrasonic sensor, drive the ultrasonic sensor to emit ultrasonic signals, and receive the echo signals formed by the ultrasonic signals. The ultrasonic sensor chip is also used to divide the echo signals into at least two echo data segments; for each echo data segment, fit an echo curve based on the echo data segment and extract the characteristic parameters of the curve; wherein, the echo curve is used to characterize the envelope change of the echo data segment; the characteristic parameters of the echo curve can enable the host computer to restore the envelope change of the echo data segment; and transmit the characteristic parameters of the echo curve to the host computer. In the embodiment of the present application, the ultrasonic sensor chip can divide the echo signals into at least two echo data segments, fit the echo curve, obtain the characteristic parameters of the echo curve, and upload the characteristic parameters of the echo curve to the host computer, so that the host computer can restore the envelope change of the echo data segment according to the characteristic parameters of the echo curve, thereby obtaining the data information contained in the echo signals. The ultrasonic sensor chip does not need to upload all the data information of the echo signals to the host computer, but only needs to upload the characteristic parameters of the echo curve to the host computer, which greatly reduces the amount of data to be transmitted, thereby reducing the transmission time and the occupied bandwidth resources and improving the efficiency of data transmission. Description of the Drawings

[0078] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0079] Figure 1 Schematic diagram of an echo data curve for ultrasonic ranging provided by an embodiment of the present application;

[0080] Figure 2 Schematic diagram of another echo data curve for ultrasonic ranging provided by an embodiment of the present application;

[0081] Figure 3 Schematic diagram of another echo data curve for ultrasonic ranging provided by an embodiment of the present application;

[0082] Figure 4 Schematic diagram of another echo data curve for ultrasonic ranging provided by an embodiment of the present application;

[0083] Figure 5 Schematic diagram of another echo data curve for ultrasonic ranging provided by an embodiment of the present application;

[0084] Figure 6 Schematic diagram of another echo data curve for ultrasonic ranging provided by an embodiment of the present application;

[0085] Figure 7 This is a schematic diagram of another echo data curve for ultrasonic ranging provided by an embodiment of the present application;

[0086] Figure 8 This is a schematic diagram of another echo data curve for ultrasonic ranging provided by an embodiment of the present application;

[0087] Figure 9 This is a schematic diagram of another echo data curve for ultrasonic ranging provided by an embodiment of the present application;

[0088] Figure 10 This is a schematic flowchart of a method for transmitting data provided by an embodiment of the present application. Detailed implementation manners

[0089] To better understand the technical solution of the present application, the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0090] It should be clear that the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts belong to the scope of protection of the present application.

[0091] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms of "a", "the" and "said" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0092] It should be understood that the term " / and" used herein is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, a and / or b can represent: a exists alone, a and b exist simultaneously, and b exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.

[0093] For better ranging, ultrasonic sensors are usually installed in vehicles. When the emitted ultrasonic signal is reflected by an obstacle or object near the vehicle, an echo signal can be detected in the received signal, and thus the distance between obstacles can be calculated using the time difference between the ultrasonic emission and the reception of the echo signal. Refer to Figure 1 as an example diagram of an echo signal. Among them, in Figure 1 the abscissa can represent time or other parameters that can be used to calculate the distance. The ordinate can represent the intensity or height of the echo signal. For the convenience of description, in the following embodiments, the abscissa is time and the ordinate is the echo signal intensity as an example for description. InFigure 1 Among them, the S1 segment is used to represent the driving stage of the ultrasonic sensor. During this period, the ultrasonic sensor chip sends a driving signal or an excitation signal to the ultrasonic sensor to drive the ultrasonic sensor to emit ultrasonic signals. The S2 segment is used to represent the aftershock stage, which is the time of the aftershock signal generated because the ultrasonic sensor cannot immediately stop generating ultrasonic signals. The S3 segment is used to represent the receiving stage of the echo signal. Usually, in the S1 stage, the ultrasonic sensor is driven. At this time, the ultrasonic sensor chip does not receive the echo signal, or even if it receives the echo signal, the echo signal will be submerged in the driving signal. Therefore, the distance to the obstacle cannot be determined in the S1 stage. In the S2 stage, due to the characteristics of the ultrasonic sensor, after the driving stage ends, the ultrasonic signal cannot stop emitting immediately and needs to oscillate for a period of time. During the oscillation process, the intensity of the ultrasonic signal will also gradually decrease. After decreasing to a certain extent, the received echo signal can be used to determine the distance to the obstacle. In some embodiments, in order to improve the efficiency of determining the distance to the obstacle, the oscillation time of the aftershock signal in the S2 stage can be reduced. In the S3 stage, since the aftershock signal of the ultrasonic signal has decreased to a certain extent and will not interfere with the echo signal, at this time, the distance to the obstacle can be determined according to the received echo signal. For example, if the intensity of the received echo signal is greater than the intensity threshold, it can be determined that there is an obstacle, and the distance to the obstacle can be calculated according to the reception time of the echo signal. In Figure 1 Among them, the intensity threshold is taken as a fixed value for illustration. In actual implementation, the intensity threshold can also be a variable threshold. Refer to Figure 8 As shown, that is, the intensity threshold can change dynamically with time. The embodiments of the present application do not limit this.

[0094] Although the distance between obstacles is calculated by using the time difference between the ultrasonic emission and the reception of the echo signal as described above. However, with the development of technologies and applications such as autonomous driving, driverless driving, assisted driving, and automatic parking, simply uploading data on whether there are obstacles can no longer meet the development needs. More data information of the echo signal also needs to be transmitted to the host computer to determine other information. For example, the type, distribution, height, etc. of the obstacle can be determined according to more data information.

[0095] In some technologies, in order to transmit more data information to the host computer, the complete echo signal can be uploaded to the host computer. However, since the complete echo signal contains a large amount of data information, when all the echo signals are transmitted to the host computer, there will be problems such as long transmission time and much bandwidth resource occupation.

[0096] To solve the above problems, an embodiment of the present application provides an ultrasonic sensor chip. The ultrasonic sensor chip is used to be electrically connected to an ultrasonic sensor, drive the ultrasonic sensor to emit an ultrasonic signal, and receive an echo signal formed by the ultrasonic signal. The ultrasonic sensor chip is further used to divide the echo signal into at least two echo data segments; for each echo data segment, fit an echo curve based on the echo data segment and extract characteristic parameters of the echo curve; wherein, the echo curve is used to characterize the envelope change of the echo data segment; the characteristic parameters of the echo curve can enable the host computer to restore the envelope change of the echo data segment; and transmit the characteristic parameters of the echo curve to the host computer. In the embodiment of the present application, the ultrasonic sensor chip can divide the echo signal into at least two echo data segments, fit the echo curve, obtain the characteristic parameters of the echo curve, and upload the characteristic parameters of the echo curve to the host computer, so that the host computer can restore the envelope change of the echo data segment according to the characteristic parameters of the echo curve, thereby obtaining the data information contained in the echo signal. The ultrasonic sensor chip does not need to upload all the data information of the echo signal to the host computer, but only needs to upload the characteristic parameters of the echo curve to the host computer, which greatly reduces the amount of data transmitted, thereby reducing the transmission time and reducing the occupied bandwidth resources, and improving the efficiency of data transmission. The following will be described in detail.

[0097] An embodiment of the present application provides an ultrasonic sensor chip. The ultrasonic sensor chip is used to be electrically connected to an ultrasonic sensor, drive the ultrasonic sensor to emit an ultrasonic signal, and receive the returned ultrasonic signal to form an echo signal. The ultrasonic sensor chip is further used for:

[0098] Divide the echo signal into at least two echo data segments.

[0099] For each echo data segment, fit an echo curve based on the echo data segment and extract the characteristic parameters of the echo curve.

[0100] Wherein, the echo curve is used to characterize the envelope change of the echo data segment. The characteristic parameters of the echo curve can enable the host computer to restore the envelope change of the echo data segment.

[0101] Transmit the characteristic parameters of the echo curve to the host computer.

[0102] In the embodiments of the present application, in order to reduce the amount of data transmitted, the characteristic parameters of the echo signal can be sent to the host computer, so that the host computer can restore the echo signal according to the characteristic parameters, and then the required data information can be obtained according to the restored echo signal. Based on this, after the ultrasonic sensor chip obtains the echo signal, the echo signal can be divided into at least two echo data segments. In some embodiments, the echo signal can be divided into at least two echo data segments according to the first parameter of the echo signal. Among them, the first parameter is a parameter that can be used to calculate the distance. For example, the first parameter can be a time parameter. After the echo signal is divided into at least two echo data segments, an echo curve can be fitted for each echo data segment, and the characteristic parameters of the echo curve can be extracted. For example, for each echo data segment, an echo curve is fitted according to the data in the echo data segment. The echo curve can characterize the envelope change of the echo data, and the characteristic parameters in the echo curve are extracted. The extracted characteristic parameters of the echo curve are transmitted to the host computer. In this way, the host computer can restore the echo signal according to the obtained characteristic parameters, and the host computer can determine the required data information according to the restored echo signal. For example, information such as the type, distribution, height, etc. of the obstacle can be determined according to the obtained data information. That is, the embodiments of the present application only need to upload the characteristic parameters to the host computer, greatly reducing the amount of data transmitted, thereby reducing the transmission time and reducing the occupied bandwidth resources, and improving the efficiency of data transmission.

[0103] As a possible implementation manner, dividing the echo signal into at least two echo data segments includes: determining the echo envelope of the echo signal based on the obtained echo signal; dividing the echo envelope into at least two echo data segments.

[0104] In the embodiments of the present application, in order to divide the echo data segments more accurately, when the echo signal is obtained, the echo envelope of the echo signal can be fitted based on the obtained echo signal, as Figure 2 shown, the echo envelope is divided into at least two echo data segments.

[0105] As a possible implementation manner, when dividing the echo envelope into echo data segments, it can be divided according to a preset time interval. That is, dividing the echo envelope into at least two echo data segments includes: dividing the echo envelope into at least two echo data segments based on at least one preset time interval.

[0106] In the embodiments of the present application, at least one time interval for dividing the echo signal into data segments can be preset. In this way, after the echo envelope is obtained, the echo envelope can be divided into at least two echo data segments according to the at least one time interval. In some embodiments, the time interval can be one, that is, the preset time interval is a fixed time interval. The ultrasonic sensor chip can divide the echo envelope according to this time interval, that is, the ultrasonic sensor chip can divide one echo data segment every time interval, so that at least two echo data segments can be obtained.

[0107] In other embodiments, the time interval can also be at least two, and the at least two time intervals are all different. The ultrasonic sensor chip can use variable time intervals to divide the echo data segments. For example, as Figure 3 shown, since the above S1 stage is the driving stage, there are fewer echo signals obtained by the ultrasonic sensor chip in this stage. At this time, the time interval of this stage can be set to a longer time value. For example, the S1 stage can be divided into one echo data segment. In the above S2 stage, since it is the aftershock stage, in the early stage of this stage, there is more interference information in the echo signals obtained by the ultrasonic sensor chip. At this time, the time interval of this stage can also be set to a longer time value. For example, the S2 stage can be divided into one echo data segment. Or the time interval of this stage can be set to at least two time intervals. For example, the S2 stage can be divided into two echo data segments, as shown in Figure 3 shown. Of course, the S2 stage can also be divided into three echo data segments, or other numbers of echo data segments, and the present application does not limit this. In the above S3 stage, this stage is the receiving stage of the echo signal, and more data information is carried in the echo signals in the first part of this stage. Therefore, for the first part of the echo signals in the S3 stage, the time interval can be set to a shorter time value, and for the second part of the echo signals in the S3 stage, the time interval can be set to a longer time value than the time interval of the first part, as shown in Figure 3 shown. In this way, the amount of data processing can be reduced, the amount of data to be transmitted can be reduced, and at the same time, the echo signals that can be restored can be uploaded to the host computer as much as possible.

[0108] As a possible implementation method, when dividing the echo envelope into at least two echo data segments, the echo envelope can also be divided into at least two echo data segments according to the characteristics of the echo envelope. That is, dividing the echo envelope into at least two echo data segments includes: dividing the echo envelope into at least two echo data segments based on the inflection points on the echo envelope.

[0109] In the embodiments of the present application, the echo envelope is a curve, not a straight line. For more convenient division of the echo data segment, the ultrasonic sensor chip can also divide at least two echo data segments according to the inflection points of the curve in the echo envelope. That is, the ultrasonic sensor chip can divide the echo data segment at the demarcation points of the concavity and convexity of the curve in the echo envelope. For example, the echo envelope fitted by the ultrasonic sensor chip is as shown in Figure 4 shown. The ultrasonic sensor chip can divide the echo envelope into multiple data segments according to the inflection points in the echo envelope, as shown in reference Figure 4 shown.

[0110] It should be understood that when dividing at least two echo data segments according to the characteristics of the echo envelope, not only can at least two echo data segments be divided according to the inflection points of the echo envelope, but also at least two echo data segments can be divided according to the data points where the echo intensity in the echo envelope is the same as the preset intensity threshold. Of course, at least two echo data segments can also be divided according to other characteristic points according to actual needs, and the present application does not limit this.

[0111] As a possible implementation manner, obtaining the characteristic parameters of the echo data segment based on the data information in the echo data segment includes: determining the fitting points in the echo data segment. Based on the fitting points in the echo data segment, fitting the echo curve. Obtaining the characteristic parameters of the echo curve.

[0112] Among them, the fitting points are the points in the echo data segment that meet the preset conditions.

[0113] In the embodiments of the present application, in order to accurately enable the host computer to restore the echo envelope, the ultrasonic sensor chip can determine the fitting points that meet the preset conditions in the echo data segment. Among them, the preset conditions can be pre-set and are used to select the data points in the echo data segment that can fit the envelope of the echo data segment. In some embodiments, in order to reduce the data processing complexity, the preset conditions include at least one of the inflection points in the echo data segment and the points where the echo intensity in the echo data segment intersects with the preset intensity threshold curve. Or, the preset conditions include at least one of the points where the echo intensity in the echo data segment intersects with the preset intensity threshold curve, the inflection points in the echo data segment, and the inflection points whose echo intensity is not less than the preset intensity threshold. Of course, the preset conditions can also be pre-set with other conditions according to actual needs, and the present application does not limit this. The pre-intensity threshold curve is a curve pre-set to represent the echo intensity threshold. The ultrasonic sensor can select the fitting points that meet the preset conditions in the echo data segment according to the preset conditions. For example, filtering out the data points in the echo data segment that intersect with the preset intensity threshold curve, and the inflection points of the echo data segment whose intensity threshold is not less than the preset intensity threshold. As shown in reference Figure 5As shown, assuming that the echo data segment is in the S3 stage, the data points in the S3 stage that intersect with the preset intensity threshold curve, such as data points 1, 2, 6, 7, 9, and the inflection points of the echo data segment and the inflection points whose intensity threshold is not less than the preset intensity threshold, such as 3, 4, 5, 8, can be screened out in the echo data segment in the S3 stage, and the screened out data points are used as fitting points. For example, 1, 2, 3, 4, 5, 6, 7, 8, 9 are used as fitting points.

[0114] In some embodiments, among the points intersecting with the preset intensity threshold curve, the point where the echo intensity before the intersection point is higher than the echo intensity at the intersection point, and the echo intensity after the intersection point is lower than the echo intensity at the intersection point can be used as the under-threshold point. For example, among the points 1, 2, 3, 4, 5, 6, 7, 8, and 9 intersecting with the preset intensity threshold curve, the points 1, 6, and 9 are the under-threshold points. Among the points intersecting with the preset intensity threshold curve, the point where the echo intensity before the intersection point is lower than the echo intensity at the intersection point, and the echo intensity after the intersection point is higher than the echo intensity at the intersection point can be used as the over-threshold point. For example, among the points 1, 2, 3, 4, 5, 6, 7, 8, and 9 intersecting with the preset intensity threshold curve, the points 2 and 7 are the over-threshold points. The peak point in the echo curve where the echo intensity is higher than the preset intensity threshold curve is used as the maximum value point, for example, the points 3, 5, and 8 in the echo curve are the maximum value points. The trough point where the echo intensity of the echo data segment is higher than the preset intensity threshold curve is taken as the minimum point, such as data point 4. In some embodiments, it is not necessary to distinguish between the above-threshold point and the below-threshold point, but directly determine the intersection point of the echo intensity with the preset intensity threshold curve: 1, 2, 6, 7, 9.

[0115] It should be noted that the threshold point of crossing the lower threshold, the threshold point of crossing the upper threshold, the threshold point, the maximum value and the minimum value can be taken as defined above, or can be the values of the adjacent values. For example, the threshold point of crossing the lower threshold is not necessarily the point where the echo data curve intersects with the preset intensity threshold curve from high to low, but can also be a point where there is a certain deviation from the intersection point size. Similarly, the threshold point of crossing the upper threshold is not necessarily the point where the echo data curve intersects with the preset intensity threshold curve from low to high, but can also be a point where there is a certain deviation from the intersection point size. Similarly, the maximum value is not necessarily the peak point after the echo data curve is higher than the threshold, but can also be a point where there is a certain deviation from the peak point size. The minimum value is not necessarily the trough point after the echo data curve is higher than the threshold, but can also be a point where there is a certain deviation from the trough point size. This depends on factors such as the accuracy and sampling rate of the design requirements. Therefore, in the embodiment of the present application, the threshold point of crossing the lower threshold, the threshold point of crossing the upper threshold, the threshold point, the maximum value and the minimum value can be determined within a certain deviation range. That is to say, the determined under-threshold point, over-threshold point, threshold point, maximum value and minimum value may deviate from the corresponding points of the echo data segment within a certain range, and the embodiments of the present application do not impose any restrictions on this.

[0116] It should be understood that the above preset conditions can also be other conditions. For example, the intermediate intensity point between the upper crossing threshold point and the minimum value can be selected as the fitting point, the intermediate intensity between the minimum value and the minimum value can be used as the fitting point, the intermediate intensity between the minimum value and the maximum value can be used as the fitting point, the intermediate intensity between the maximum value and the lower crossing threshold point can be used as the fitting point, etc., or other data points that can select information such as the contour and characteristics of the echo curve can be selected. The embodiments of the present application do not limit this.

[0117] After the ultrasonic sensor chip determines the fitting points, the echo curve can be fitted according to the fitting points. In some embodiments, in order to improve the accuracy of the echo curve fitting, the echo curve can be fitted for every two adjacent fitting points in chronological order among the fitting points, so that multiple echo curves can be fitted. For example, among the fitting points 1, 2, 3, 4, 5, 6, 7, 8, 9, the echo curve is fitted for every two adjacent fitting points. That is, the echo curve can be fitted according to fitting points 1 and 2, another echo curve can be fitted according to fitting points 2 and 3, another echo curve can be fitted according to 3 and 4, another echo curve can be fitted according to 4 and 5, another echo curve can be fitted according to 5 and 6, another echo curve can be fitted according to 6 and 7, another echo curve can be fitted according to 7 and 8, and another echo curve can be fitted according to 8 and 9. According to the obtained echo curves, the characteristic parameters of the echo curves are determined. The characteristic parameters of each echo curve are transmitted to the host computer so that the host computer can respectively restore the echo curves according to the characteristic parameters of the echo curves, and then the envelope change of the echo signal can be fitted.

[0118] In some embodiments, the characteristic parameters of the echo curve include at least two of the starting point information of the echo curve, the ending point information of the echo curve, and the coefficient information of the echo curve.

[0119] Among them, the starting point information includes the time information and intensity information of the first data point of the echo curve. The ending point information includes the time information and intensity information of the last data point of the echo curve. Usually, the echo curve is determined according to two fitting points, and these two fitting points are the starting point and the ending point of the echo curve. In order to enable the host computer to accurately restore the echo curve, the coefficient information of the echo curve can also be used as the characteristic parameter of the echo curve.

[0120] When determining the echo curve according to the fitting points, a first-order function can be used to process the fitting points to fit a first-order echo curve. For example, an echo curve in the form of f(x) = kt + b is fitted. At this time, at least two of the starting point information of the echo curve, the ending point information of the echo curve, and the coefficient information of the echo curve can be used as the characteristic parameters of the echo curve. For example, in Figure 6In this case, the echo data segments are divided according to the inflection points of the echo envelope. For the echo data segment from t1 to t2, the fitting of the echo curve can be performed. At this time, the fitting of the echo curve can be carried out based on the starting point t1 and the ending point t2 in the echo data segment from t1 to t2. Among them, when the echo curve is fitted, the coefficient information of the echo curve can be obtained. After the echo curve is fitted, the time and intensity information (t1, y1) of the starting point t1, the slope information of the echo curve, and the time information in the ending point t2 can be used as the characteristic parameters of the echo curve and transmitted to the host computer. Or, the time and intensity information (t1, y1) of the starting point t1 and the time and intensity information (t2, y2) of the ending point t2 can be used as the characteristic parameters of the echo curve and transmitted to the host computer. Or, the time and intensity information (t1, y1) of the starting point t1, the slope information of the echo curve, and the time and intensity information (t2, y2) of the ending point t2 can be used as the characteristic parameters of the echo curve and transmitted to the host computer. Similarly, the fitting of the echo curve can also be performed for other echo data segments such as the echo data segment from t2 to t3 and the echo data segment from T3 to T4, and the characteristic parameters of the echo curve are transmitted to the host computer. In this way, the host computer can restore each echo curve according to the received characteristic parameters of each echo curve, and then the envelope change of the echo signal can be restored.

[0121] It should be noted that the echo curve can not only be a curve in the form of a first-order function, but also a curve in the form of other-order functions, such as a curve in the form of a second-order function, f(x) = ax 2 + bx + c, or a curve in the form of other multi-order functions. Or, the echo curve can also be in the form of a combination of multiple functions, or the segmented use of the same function, etc. For example, in the echo data segment from t1 to t2, the echo data segments t1 and t2 can be further divided into multiple second echo data sub-segments. For example, according to the time information in the echo data segment from t1 to t2, the echo data segment from t1 to t2 is further divided into the second echo data sub-segments from t1 to t11, the second echo data sub-segments from t11 to t12, and the second echo data sub-segments from t12 to t2, as Figure 7As shown. Among them, the time intervals from t11 to t1, from t12 to t11, and from t2 to t12 can be the same. Of course, the second echo data sub-segment can also be divided in other ways, and the embodiments of the present application do not limit this. After dividing the echo data segment from t1 to t2 into 3 second echo data sub-segments, the second echo data sub-segment from t1 to t11 can use a second-order function to fit the echo curve, between t11 - t12 use a first-order function to fit the echo curve, and between t12 - t2 use a second-order function to fit the echo curve. Or, in the echo data segment from t1 to t2, the second echo data sub-segment between t1 - t11 uses a first-order function with a slope of k11 to fit the echo curve, the second echo data sub-segment between t11 - t12 uses a first-order function with a slope of k12 to fit the echo curve, and the second echo data sub-segment between t12 - t2 uses a first-order function with a slope of k13 to fit the echo curve. That is, different first-order functions are used to fit the echo curve respectively. Of course, the echo curve can also be fitted in other ways, and the embodiments of the present application do not limit this.

[0122] In some embodiments, the characteristic parameters of the echo curve can include not only at least two of the starting point information, ending point information, and coefficient information of the echo curve, but also the peak point information, valley point information, threshold point information intersecting with the preset intensity threshold curve, etc. in the echo curve.

[0123] In some embodiments, in order to reduce the data transmission volume, the data points with echo intensity higher than the echo intensity threshold of the preset intensity threshold curve at the corresponding position can be used as the characteristic parameters of the echo curve. For example, in the valley point information of the echo curve, the valley point information with echo intensity higher than the echo intensity threshold of the preset intensity threshold curve at the corresponding position can be used as the characteristic parameters of the echo curve and uploaded to the host computer. That is, the echo intensity of the characteristic parameters transmitted to the host computer is higher than the echo intensity of the preset intensity threshold curve at the corresponding position.

[0124] In some embodiments, when determining the characteristic parameters of the echo curve, not only the data points with echo intensity higher than the echo intensity threshold of the preset intensity threshold curve at the corresponding position can be used as the characteristic parameters, but also some data points with echo intensity lower than the echo intensity threshold of the preset intensity threshold curve at the corresponding position can be used as the characteristic parameters. That is, target characteristic points can be screened out from the data points with echo intensity lower than the echo intensity threshold of the preset intensity threshold curve at the corresponding position on the echo curve, and the information of the target characteristic points can also be used as the characteristic parameters of the echo data segment and uploaded to the host computer. For example, among the data points with echo intensity lower than the echo intensity threshold of the preset intensity threshold curve at the corresponding position on the echo curve, data points whose difference between the echo intensity and the echo intensity threshold of the preset intensity threshold curve at the corresponding position satisfies a first preset value can be screened out, and these data points can be used as the target characteristic points. The time and echo intensity information of the target characteristic points can be used as the characteristic parameters of the echo data segment and uploaded to the host computer. Exemplarily, referring to Figure 8 As shown, the preset intensity threshold curve is a curve with changing thresholds. The difference between the echo intensity of the echo curve at t01 and the echo intensity threshold of the preset intensity threshold curve satisfies the first preset value. At this time, the data point at t01 can be used as the target characteristic point, and the time and echo information of the target characteristic point can be transmitted to the host computer.

[0125] Alternatively, among the data points with echo intensity lower than the echo intensity threshold of the preset intensity threshold curve at the corresponding position on the echo curve, if the difference between the echo intensity of the echo curve in a certain time period and the echo intensity threshold of the preset intensity threshold curve is greater than a second preset value and not less than the first preset value, then the data points in this time period can be used as the target characteristic points. At this time, in order to reduce the amount of transmitted data, the mean value of the echo intensity of the echo curve in this time period and the mean value of the time period can be calculated, and the echo intensity mean value and the time mean value can be used as the time and echo intensity information of the target characteristic points corresponding to this time period and transmitted to the host computer, so that the host computer can better restore the echo envelope curve and obtain more data information for judging the obstacle information.

[0126] In the embodiments of the present application, not only the time information and echo intensity information corresponding to the characteristic points on the echo curve can be used as the characteristic parameters of the echo curve, but also the change information of the echo intensity of the echo signal within a period of time can be obtained and used as the characteristic parameters of the echo curve. As a possible implementation manner, extracting the characteristic parameters of the echo curve includes:

[0127] Determining the characteristic points of the echo curve.

[0128] Based on the characteristic points of the echo curve, the echo curve is integrated and the integration result is used as the echo intensity information of the echo curve; the echo intensity information of the echo curve, the starting point information and the ending point information of the echo curve are used as the characteristic parameters of the echo curve.

[0129] The characteristic points of the echo curve at least include the starting point position and the ending point position of the echo curve.

[0130] In the embodiment of the present application, after fitting the echo curve, the characteristic points of the echo curve can be determined. For example, the peak point, the trough point, the point crossing the threshold value, the point crossing the threshold value, etc. in the echo curve can be used as the characteristic points of the echo curve. According to the characteristic points of the echo curve, the echo curve can be divided into multiple echo curves with two characteristic points as the boundary, and each echo curve is integrated respectively to calculate the echo intensity information of the multiple echo curves. In this way, for each echo curve, the echo intensity information of the echo curve, the starting point information and the ending point information of the echo curve are used as the characteristic parameters of the echo curve and transmitted to the host computer.

[0131] It should be understood that after the ultrasonic sensor chip divides the echo envelope into at least two echo data segments, it can fit the echo curve for each echo data segment, integrate the fitted echo curves, and obtain the echo intensity information of each fitting curve.

[0132] Exemplary, reference Figure 8 As shown, the ultrasonic sensor chip can determine the characteristic points in the echo curve according to the echo curve. For example, the characteristic points include the peak points, the trough points, the upper threshold point, and the lower threshold point in the echo curve. Figure 8The characteristic points of the echo curve shown include point t01, point t02, point t04, point t05, point t06, point t07, point t1, point t2, point t3, point t4, and point t5. Bounded by the characteristic points, the echo curve can be divided into multiple segments of echo curves. Since there are many characteristic points in the echo curve between point t01 and point t5, for the convenience of description below, the echo intensity of this segment of the echo curve is taken as an example for illustration. The echo curve is divided into the echo curve from t1 to t2, that is, it is necessary to integrate the echo curve between point t1 greater than the preset intensity threshold curve and the peak point t2. The echo curve is divided into the echo curve from t02 to t04, that is, it is necessary to integrate the echo curve between the trough point t02 and the peak point t04. The echo curve is divided into the echo curve from t04 to t06, that is, it is necessary to integrate the echo curve between the peak point t04 and the trough point t06. The echo curve is divided into the echo curve from t04 to t05, that is, it is necessary to integrate the echo curve between the peak point t04 and point t05 less than the preset intensity threshold curve. The echo curve is divided into the echo curve from t05 to t1, that is, it is necessary to integrate the echo curve from point t05 to point t1 less than the preset intensity threshold curve. The echo curve is divided into the echo curve from t06 to t07, that is, it is necessary to integrate the echo curve between the trough point t06 less than the preset intensity threshold curve and the trough point t07 less than the preset intensity threshold curve. Integrate the echo curve whose echo intensity at the peak point is less than the preset echo intensity threshold of the preset intensity threshold curve at the corresponding position but within a certain range of the preset echo intensity threshold, such as the echo curve at t01. The ultrasonic sensor chip can separately integrate the above-mentioned respective echo curves to obtain the echo intensity information of each echo curve, so that the echo intensity information of each echo curve, the starting point information of the echo curve, and the ending point information can be transmitted to the host computer.

[0133] Due to the limitation of storage space, when the echo intensity of the echo curve is large, there is a possibility that the integration result is greater than the maximum value that the storage space can store, which will cause the integration result to overflow and prevent the correct integration result from being transmitted to the host computer. To prevent the occurrence of the above problems, as a possible implementation method, integrating the echo curve based on the characteristic points of the echo curve and taking the integration result as the echo intensity information of the echo curve includes: integrating the echo curve based on the characteristic points of the echo curve, and when the integration result does not reach the preset integration threshold, taking the integration result of the echo curve as the echo intensity information of the echo curve.

[0134] In the embodiment of the present application, when performing integral processing on the echo curve according to the characteristic points of the echo curve, it is possible to determine in real time during the integral process whether the integral result reaches a preset integral threshold based on the calculated integral result. When the integral of the echo curve is completed and the integral result does not reach the preset integral threshold, it indicates that the integral result can be correctly transmitted to the host computer. At this time, the integral result of the echo curve can be used as the echo intensity information of the echo curve.

[0135] Further, during the integral process of the above echo curve, if there is an integral result greater than the preset integral threshold, it is necessary to divide the echo curve segment.

[0136] As a possible implementation manner, the above ultrasonic sensor chip is further configured to: during the integral processing based on the echo curve, if the integral result at the first data position of the echo curve reaches the preset integral threshold, the first data position is marked as the threshold position. If the first data position is not the end point position of the echo curve, the first data position is used as the division position, the echo curve is used as the first curve, and the first curve is divided into a second curve and a third curve based on the division position. Based on the starting point position and the ending point position of the third curve, integral processing is performed on the third curve. If the integral result of the third curve does not reach the preset integral threshold, the integral result of the third curve is used as the echo intensity information of the echo curve. The threshold position is used as the characteristic parameter of the echo curve.

[0137] Among them, the second curve ends at the division position, and the third curve starts at the division position and ends at the end point position of the echo curve.

[0138] In the embodiments of the present application, when the ultrasonic sensor chip performs integral processing on the echo curve, the echo curve can be wirelessly subdivided and then accumulated. In some embodiments, the subdivision value can be preset. For example, 0.1 second, or other values, and the embodiments of the present application do not limit this. The ultrasonic sensor chip can detect in real time whether the integral result reaches a preset integral threshold when performing integral processing based on the subdivision value in the echo data segment. If during the integral process of the echo curve, the integral result at the first data position reaches the preset integral threshold, in order not to cause the integral result to overflow, no further integral processing can be performed at this time. The first data position can be determined as the threshold position, that is, the position where the integral result reaches the preset integral threshold. It is detected whether the first data position is the end point position of this segment of the echo curve. If not, it is necessary to start from the first data position and re-perform integral processing on the data from the first data position to the end point position of this segment of the echo curve. At this time, the first data position can be determined as the division position, the echo curve can be determined as the first curve, and the first curve can be divided into a second curve and a third curve based on the division position. Among them, the starting point of the second curve is the starting point of the echo curve, and the end point position of the second curve is the division position. The starting position of the third curve is the division position, and the end position of the third curve is the end point of the echo curve. That is, the echo curve is divided into a second curve and a third curve with the division position as the segmentation position. According to the starting point position and the end point position of the third curve, integral processing is re-performed on the third curve. If during the integral processing of the third curve, there is no situation where the integral result reaches the preset integral threshold, that is, the integral result of the third curve does not reach the preset integral threshold, then the integral result of the third curve is used as the echo intensity information of the echo curve. At this time, the ultrasonic sensor chip can upload the echo intensity information, the starting point information, the end point information, and the threshold position of the echo curve to the host computer. In this way, since the ultrasonic sensor chip performs integration based on the time sequence, after the host computer receives the echo intensity information, the starting point information, the end point information, and the threshold position of the echo curve, it can determine that the integral result between the starting point information and the threshold position of the echo curve is the preset integral threshold, and the integral result between the threshold position and the end point is the echo intensity information, so that the reduction of the echo envelope change corresponding to this segment of the echo curve can be restored according to the above information.

[0139] For example, for Figure 7The echo curve shown is divided into multiple echo curves based on the peak points and valley points of the echo curve. The following uses the echo curve between t1 and t2 as an example for illustration. During the integration process of the echo curve between t1 and t2, if the integration result reaches the preset integration threshold at the position of t11, then t11 can be determined as the threshold position at this time. Taking t11 as the division position, the echo curve is used as the first curve, and the echo curve between t1 and t2 is divided into the second curve between t1 and t11 and the third curve between t11 and t2. At this time, the ultrasonic sensor chip can re-integrate the third curve between t11 and t2. If there is no situation where the integration result reaches the preset integration threshold during the integration process of the third curve between t11 and t2, that is, the integration result of the third curve between t11 and t2 does not reach the preset integration threshold, then the integration result between t11 and t2 is used as the echo intensity information of the echo curve between t1 and t2, and the echo intensity information, the information of t11, the information of t1, and the information of t2 are sent to the host computer. In this way, after the host computer receives the echo intensity information, the information of t11, the information of t1, and the information of t2, since t11 is the threshold position, the host computer can determine the integration result between t1 and t11 as the preset integration threshold, and the echo intensity information is the integration result between t11 and t2. Based on the above information, the echo envelope change of the echo curve between t1 and t2 is restored.

[0140] As a possible implementation, the ultrasonic sensor chip is further configured to: during the process of integrating the third curve based on the starting point position and the ending point position of the third curve, if the integration result at the second data position of the third curve reaches the preset integration threshold, the second data position is also marked as the threshold position.

[0141] If the second data position is not the ending point position of the third curve, update the division position based on the second data position. Update the echo curve or the third curve as the first curve.

[0142] Re-execute the step of dividing the first curve into the second curve and the third curve based on the division position.

[0143] In an embodiment of the present application, if during the process of integrating the third curve, the integration result at the second data position in the third curve reaches a preset integration threshold, it indicates that the third curve needs to be further divided. At this time, the second data position can also be marked as the threshold position. In this way, the marked threshold positions include the first data position and the second data position. That is to say, in this echo curve, the integration result from the starting position of the echo curve to the first data position reaches the preset integration threshold, and the integration result from the first data position to the second data position also reaches the preset integration threshold. To prevent the integration result from overflowing, the ultrasonic sensor chip can update the second data position as the division position. That is, the division position is updated from the first data position to the second data position. Since curve division is required at the second data position, the echo curve can be re-divided, or only the current third curve can be divided. That is, the echo curve or the current third curve can be updated to the first curve. For the convenience of description, in the following embodiments, the example of updating the echo curve to the first curve is used for illustration. At this time, the first curve can be re-divided again according to the updated division position. That is, the echo curve is re-divided into a second curve and a third curve based on the division position again. Among them, the starting point position of the second curve is the starting point position of the echo curve, the ending point position is the division position, the starting position of the third curve is the division position, and the ending point position of the third curve is the ending point position of the echo curve. That is, the echo curve is re-divided into a second curve and a third curve with the division position as the segmentation position. According to the starting point position and the ending point position of the third curve, the third curve is re-integrated, and it is judged whether the preset integration threshold is reached during the integration process of the third curve. If the integration result of the third curve does not reach the preset integration threshold, the integration result of the third curve can be used as the echo intensity information of the echo curve, and the echo intensity information, the starting point information, the ending point information of the echo curve, and the threshold position are sent to the host computer. The threshold position includes the first data position and the second data position. At this time, the host computer can determine the integration result between the starting point of the echo curve and the first data position as the preset integration threshold, determine the integration result between the first data position and the second data position as the preset integration threshold, and determine the echo intensity information as the integration result between the second data position and the ending point of the echo curve, so as to restore the echo envelope change corresponding to the echo curve.

[0144] Alternatively, if there is a data position where the integration process reaches the preset integration threshold during the integration process of the third curve, this data position can also be marked as the threshold position, and the division position is updated again according to this data position, and the above step of dividing the echo data segment into a second curve and a third curve based on the division position is re-executed. The specific process can refer to the above process and will not be elaborated here.

[0145] As described in the above example, when t11 is the threshold position, the echo curve from t1 to t2 is divided into a second curve from t1 to t11 and a third curve from t11 to t2 according to t11. The third curve from t11 to t2 is re-integrated. During the integration process, if the integration result reaches the preset integration threshold at the position of t12, t12 can also be marked as the threshold position. Since t12 is not the end point position of the echo curve, the division position can be updated to t12. According to the updated division position t12, the echo curve is re-divided to obtain a new second curve from t1 to t12 and a new third curve from t12 to t2. At this time, the third curve from t12 to t2 can be re-integrated. If there is no case where the integration result reaches the preset integration threshold during the integration of the third curve from t12 to t2, that is, the integration result of the third curve from t12 to t2 does not reach the preset integration threshold, then the integration result of the third curve from t12 to t2 is used as the echo intensity information of the echo curve from t1 to t2, and the echo intensity information, the information of t11, the information of t12, the information of t1, and the information of t2 are sent to the host computer. In this way, after the host computer receives the echo intensity information, the information of t11, the information of t12, the information of t1, and the information of t2, since both t11 and t12 are threshold positions, the host computer can determine the integration result between t1 and t11 as the preset integration threshold, the integration result between t11 and t12 as the preset integration threshold, and the echo intensity information as the integration result of the third curve from t12 to t2, and restore the echo envelope change of the echo curve from t1 to t2 based on the above information.

[0146] It should be understood that taking the example of updating the original echo curve to the first curve and re-dividing the original echo curve according to the updated division position, the above third curve can also be updated to the first curve and the third curve can be divided according to the updated division position. The specific process can refer to the integration process after the echo curve is re-updated to the first curve, which will not be elaborated here.

[0147] As a possible implementation manner, in order to improve the accuracy of echo envelope restoration, the above ultrasonic sensor core is also used to: determine the number of times that the integration result in the echo curve reaches the preset integration threshold. The number of times that the integration result in the echo curve reaches the preset integration threshold is transmitted to the host computer as a characteristic parameter of the echo curve.

[0148] That is, the ultrasonic sensor chip can also determine the number of times the integration result in this section of the echo curve reaches a preset integration threshold. In some embodiments, the number of threshold positions can be detected, and the number of threshold positions can be used to determine the number of times the integration result in this section of the echo curve reaches the preset integration threshold. Alternatively, in some other embodiments, each time the ultrasonic sensor chip determines a threshold position where the integration result reaches the preset integration threshold, the ultrasonic sensor chip can add a preset number value, such as adding 1, to the number of times the integration result in the echo curve reaches the preset integration threshold. After determining the number of times the integration result in the echo curve reaches the preset integration threshold, the ultrasonic sensor chip can transmit the number of times the integration result in the echo curve reaches the preset integration threshold to the host computer. In this way, the host computer can determine whether the obtained threshold positions are accurate based on the number of times the integration result in the echo curve reaches the preset integration threshold. That is, whether the number of threshold positions matches the number of times the integration result in the echo curve reaches the preset integration threshold. If they match, it can be considered that the obtained threshold positions are accurate. Otherwise, it is considered that the obtained threshold positions are inaccurate and need to be obtained again.

[0149] As another possible implementation, to prevent the integration result from overflowing, the echo curve can be pre-divided into multiple first sub-echo curves, and the integration result of each first sub-echo curve is not greater than the preset integration threshold. That is, the integration process is performed on the echo curve, and the integration result is used as the echo intensity information of the echo curve, including:

[0150] The echo curve is divided into at least two first sub-echo curves according to a preset division rule.

[0151] The integration process is respectively performed on at least two first sub-echo curves, and the integration results of at least two first sub-echo curves are used as the echo intensity information of the echo curve.

[0152] Among them, the integration result of each first sub-echo curve does not reach the preset integration threshold.

[0153] In the embodiment of the present application, according to the requirement that the integration result of each first sub-echo curve cannot exceed a preset integration threshold, a division rule for dividing the first sub-echo curve can be preset in advance, and the echo curve is divided into at least two first sub-echo curves according to the preset division rule. For example, it can be determined through experiments, experience or other means that when the echo curve in the first time period is integrated, the integration result will not exceed the preset integration threshold. Then, the first time period can be used as the division rule, and the echo curve is divided into at least two first sub-echo curves with the first time period as the division unit. The time length corresponding to each first sub-echo curve is not greater than the first time period. In this way, the integration result of each first sub-echo curve does not exceed the preset integration threshold. Of course, the preset division rule can be other rules, and the embodiment of the present application does not limit this. Integrate at least two first sub-echo curves respectively to obtain the integration processing results of each first sub-echo curve, and use the integration processing results of at least two first sub-echo curves as the echo intensity information of the echo curve.

[0154] At this time, the echo intensity information of the echo curve, the start point information and the end point information of the echo curve are used as the characteristic parameters of the echo curve, including:

[0155] The integration result of each first sub-echo curve, the start point information and the end point information of each first sub-echo curve are used as the characteristic parameters of the echo curve.

[0156] When transmitting the characteristic parameters of the echo curve to the host computer, the integration result of each first sub-echo curve, the start point information and the end point information of each first sub-echo curve can be used as the characteristic parameters of the echo curve and transmitted to the host computer. In this way, the host computer can restore the echo envelope of each first sub-echo curve according to the start point information and the end point information of each first sub-echo curve, so as to obtain the echo envelope of this section of the echo curve.

[0157] As a possible implementation manner, in order to reduce the data transmission volume, the characteristic parameters of the echo curve can also be extracted by other means. The above extraction of the characteristic parameters of the echo curve includes:

[0158] Determine at least two landmark points of the echo curve based on a preset intensity threshold curve. Determine at least one landmark pair according to the at least two landmark points of the echo curve. For each of the at least one landmark pair, record the position information of the first landmark point and the position information of the second landmark point in the landmark pair. Integrate the echo curve with the first landmark point as the starting position and the second landmark point as the ending position to obtain the integration result between the first landmark point and the second landmark point. The integration result between the first landmark point and the second landmark point, the position information of the first landmark point and the position information of the second landmark point are determined as the characteristic parameters of the echo curve.

[0159] Among them, the landmark points are the points where the echo curve intersects with the preset intensity threshold curve. The echo intensity of the echo curve between the first landmark point and the second landmark point is greater than the echo intensity at the corresponding position of the preset intensity threshold curve between the first landmark point and the second landmark point.

[0160] Under normal circumstances, in order to more accurately identify obstacles, when the echo intensity of the echo signal exceeds the preset intensity threshold, the obstacle information can be collected and identified based on this echo signal. Based on this, an intensity threshold curve can be preset. In order to reduce the amount of data transmitted, only the characteristic parameters of the echo intensity of the echo curve that exceed the echo intensity of the preset intensity threshold curve at the corresponding position need to be uploaded to the host computer. At this time, based on the preset intensity threshold curve and the echo curve, the threshold points where the echo curve intersects with the preset intensity curve threshold are used as the landmark points of the echo curve. At least one landmark pair is determined among the landmark points of the echo curve, and the landmark pair includes a first landmark point and a second landmark point. The echo intensity of the echo curve between the first landmark point and the second landmark point is greater than the echo intensity at the corresponding position of the preset intensity threshold curve between the first landmark point and the second landmark point. That is, the first landmark point is the up-crossing threshold point, and the second landmark point is the down-crossing threshold point. For each of the at least one landmark pair, record the position information of the first landmark point and the position information of the second landmark point in the landmark pair. Starting from the position of the first landmark point as the starting point, perform integral processing on the echo curve, and end the integral of the echo curve with the position of the second landmark point as the end point to obtain the integral result between the first landmark point and the second landmark point. The integral result between the first landmark point and the second landmark point indicates that the obstacle information collection at the first location is completed. Determine the information of this landmark pair as the characteristic parameter of the echo curve, that is, determine the integral result between the first landmark point and the second landmark point, the position information of the first landmark point, and the position information of the second landmark point in this landmark pair as the characteristic parameter of the echo curve, so as to upload the characteristic parameter of the echo curve to the host computer, so that the host computer can obtain the obstacle information according to the landmark pair information. For example, the volume, quantity, intensity, etc. of the obstacle can be obtained according to the integral result between the first landmark point and the second landmark point, the position information of the first landmark point, and the position information of the second landmark point. In this way, the amount of data transmitted is small, the data transmission time can be reduced, more data can be transmitted in a shorter time, and the data transmission efficiency is improved.

[0161] Exemplarily, the fitted echo curve and the preset intensity threshold curve are shown in reference to Figure 9 as shown. In Figure 9Among them, the points where the echo curve intersects with the preset intensity threshold curve are used as landmark points. That is, the landmark points include k1, k3, k4, k8, k9, and k11. Three identification pairs can be determined from the above landmark points, namely identification pair 1, identification pair 2, and identification pair 3. Among them, identification pair 1 includes the first landmark point k1 and the second landmark point k3. Identification pair 2 includes the first landmark point k4 and the second landmark point k8. Identification pair 3 includes the first landmark point k9 and the second landmark point k11. For identification pair 1, the position information of landmark point k1 and the position information of landmark point k3 can be recorded, and starting from landmark point k1 and ending at landmark point k3, the echo curve is integrated to obtain the integration result between landmark point k1 and landmark point k3. The integration result between landmark point k1 and landmark point k3, the position information of landmark point k1, and the position information of landmark point k3 are determined as the characteristic parameters of the echo curve. In this way, the information of one obstacle can be collected. Similarly, the position information of the first landmark point, the position information of the second landmark point, and the integration result of the echo curve between the first landmark point and the second landmark point corresponding to identification pair 2 and identification pair 3 can be obtained. The above information is used as the characteristic parameters of the echo curve, so that the characteristic parameters of the echo curve can be uploaded to the host computer, so that the host computer can determine the obstacle information according to the received characteristic parameters of the echo curve.

[0162] As a possible implementation, the ultrasonic sensor chip is also used for: if there is a peak point in the echo curve between the first landmark point and the second landmark point, determine the position information of the peak point, and determine the position information of the peak point as the characteristic parameter of the echo curve. Or, if there is a peak point in the echo curve between the first landmark point and the second landmark point, determine the position information of the peak point and the echo intensity information of the peak point, and determine the position information of the peak point and the echo intensity information of the peak point as the characteristic parameters of the echo curve.

[0163] That is, in order to more accurately restore the envelope change of the echo signal by the host computer, when there is a peak point in the echo curve between the first marker point and the second marker point, the information of the peak point can be uploaded to the host computer as a characteristic parameter of the echo curve. That is to say, when there is a peak point in the echo curve between the first marker point and the second marker point, the position information of the peak point can be determined based on the echo curve. For example, the time position where the peak point appears between the first marker point and the second marker point can be determined, and the position information of the peak point can also be used as the characteristic information of the echo curve. In this way, the characteristic information of the determined echo curve includes the position information of the first marker point, the position information of the second marker point, the integration result between the first marker point and the second marker point, and the position information of the peak point between the first marker point and the second marker point. The characteristic parameters of the echo curve can be uploaded to the host computer so that the host computer can determine the position of the peak point when restoring the envelope change of the echo signal according to the characteristic parameters of the echo curve, and then more obstacle information can be obtained based on the peak point information.

[0164] Alternatively, in order to more accurately characterize the peak point information, not only the position information of the peak point can be transmitted to the host computer as a characteristic parameter of the echo curve, but also the echo intensity information of the peak point can be transmitted to the host computer. That is, when there is a peak point in the echo curve between the first marker point and the second marker point, the position information and the echo intensity information of the peak point can be determined in the echo curve, and both the position information and the echo intensity information of the peak point are used as the characteristic parameters of the echo curve. In this way, the characteristic information of the determined echo curve includes the position information of the first marker point, the position information of the second marker point, the integration result between the first marker point and the second marker point, the position information of the peak point between the first marker point and the second marker point, and the echo intensity information of the peak point. The characteristic parameters of the echo curve can be uploaded to the host computer so that the host computer can more accurately determine the position and the echo intensity of the peak point when restoring the envelope change of the echo signal according to the characteristic parameters of the echo curve, and then more obstacle information can be obtained based on the peak point information.

[0165] As a possible implementation, in order to more accurately represent the obstacle information, the ultrasonic sensor chip is also used to: determine the echo intensity information corresponding to the first marker point and / or the echo intensity information corresponding to the second marker point as the characteristic parameters of the echo curve.

[0166] That is, when transmitting the characteristic parameters of the echo curve to the host computer, the echo intensity information of the first marker point and / or the echo intensity information of the second marker point can also be used as the characteristic parameters of the echo curve, so that the host computer can more accurately restore the envelope change of the echo signal and obtain more accurate obstacle information.

[0167] As a possible implementation, in order to more accurately and comprehensively represent the obstacle information, the above-mentioned integration process of the echo curve starting from the first landmark point and ending at the second landmark point to obtain the integration result between the first landmark point and the second landmark point includes:

[0168] If there is a trough point in the echo curve between the first landmark point and the second landmark point, and the echo intensity at the trough point is greater than the echo intensity of the preset intensity threshold curve at the corresponding position, then the echo curve between the first landmark point and the second landmark point is divided into a second sub-echo curve and a third sub-echo curve.

[0169] Integrate the second sub-echo curve starting from the first landmark point and ending at the end point of the second sub-echo curve to obtain the integration result between the first landmark point of the second sub-echo curve and the end point of the second sub-echo curve.

[0170] Integrate the third sub-echo curve starting from the start point of the third sub-echo curve and ending at the end point of the third sub-echo curve to obtain the integration result between the start point of the third sub-echo curve and the end point of the third sub-echo curve.

[0171] Among them, the second sub-echo curve starts from the first landmark point and ends at the trough point. The third sub-echo curve starts from the trough point and ends at the second landmark point.

[0172] That is, for each landmark pair in the echo curve, if there is a trough point between the first landmark point and the second landmark point of the landmark pair, and the echo intensity at the trough point is greater than the echo intensity of the preset intensity threshold curve at the corresponding position, it indicates that there may be an obstacle overlap at the trough point. At this time, in order to more accurately and comprehensively characterize the obstacle information, the echo curve between the first landmark point and the second landmark point can be divided into a second sub-echo curve and a third sub-echo curve with the trough point as the division point. Among them, the second sub-echo curve starts from the first landmark point and ends at the trough point, and the third sub-echo curve starts from the trough point and ends at the second landmark point. In this way, the second sub-echo curve can be integrated to obtain the integration result of the second sub-echo curve, and the information collection of the envelope change of the second sub-echo curve can be completed. The third sub-echo curve is integrated to obtain the integration result of the third sub-echo curve, and the information collection of the envelope change of the third sub-echo curve can be completed.

[0173] At this time, the above-mentioned determination of the integration result between the first landmark point and the second landmark point, the position information of the first landmark point, and the position information of the second landmark point as the characteristic parameters of the echo curve includes:

[0174] Determine the integration result between the starting point and the ending point of the second sub-echo curve, the position information of the starting point of the second sub-echo curve, and the position information of the ending point of the second sub-echo curve as the first characteristic parameter of the echo curve.

[0175] Determine the integration result between the starting point and the ending point of the third sub-echo curve, the position information of the starting point of the third sub-echo curve, and the position information of the ending point of the third sub-echo curve as the second characteristic parameter of the echo curve.

[0176] That is, after obtaining the integration result of the second sub-echo curve, the position information of the starting point of the second sub-echo curve, the position information of the ending point of the second sub-echo curve, and the integration result of the second sub-echo curve can be used as the first characteristic parameter of the echo curve. That is to say, after obtaining the integration result of the second sub-echo curve, the position information of the first marker point, the position information of the wave trough point, and the integration result of the second sub-echo curve can be used as the first characteristic parameter of the echo curve.

[0177] Similarly, after obtaining the integration result of the third sub-echo curve, the position information of the starting point of the third sub-echo curve, the position information of the ending point of the third sub-echo curve, and the integration result of the third sub-echo curve can be used as the second characteristic parameter of the echo curve. That is to say, after obtaining the integration result of the third sub-echo curve, the position information of the wave trough point, the position information of the second marker point, and the integration result of the third sub-echo curve can be used as the second characteristic parameter of the echo curve.

[0178] At this time, the above-mentioned transmission of the characteristic parameters of the echo curve to the host computer includes: transmitting the first characteristic parameter and the second characteristic parameter of the echo curve to the host computer.

[0179] As shown in the above example, refer to Figure 9As shown in the figure, the first fiducial point of the fiducial pair 2 is k4, and the second fiducial point is k8. There are a peak point k5, a valley point k6, and a peak point k7 between the fiducial point k4 and the fiducial point k8. Since the echo intensity at the valley point k6 is greater than the echo intensity at the corresponding position of the preset intensity threshold curve, it indicates that there is an obstacle overlap at this location. At this time, based on the valley point k6, the echo curve between the first fiducial point k4 and the second fiducial point k8 is divided into a second sub-echo curve and a third sub-echo curve. Among them, the second sub-echo curve starts from the first fiducial point k4 and ends at the valley point k6. The third sub-echo curve starts from the valley point k6 and ends at the second fiducial point k8. There is a peak point k5 in the second sub-echo curve, and the position information and echo intensity information of the peak point k5 can be recorded. Integrate the second sub-echo curve with the first fiducial point k4 as the starting point and the valley point k6 as the ending point to obtain the integration result of the second sub-echo curve. The integration result of the second sub-echo curve, the position information of the starting point k4 of the second sub-echo curve, the position information of the ending point k6 of the second sub-echo curve, the position information and echo intensity information of the peak point k5 are used as the first characteristic parameters. In some embodiments, the echo intensity information of the first fiducial point k4 and / or the echo intensity information of the valley point k6 can also be used as the first characteristic parameters.

[0180] Similarly, there is a peak point k7 in the third sub-echo curve, and the position information and echo intensity information of the peak point k7 can be recorded. Integrate the third sub-echo curve with the valley point k6 as the starting point and the second fiducial point k8 as the ending point to obtain the integration result of the third sub-echo curve. The integration result of the third sub-echo curve, the position information of the starting point k6 of the third sub-echo curve, the position information of the ending point k8 of the third sub-echo curve, the position information and echo intensity information of the peak point k7 are used as the second characteristic parameters. In some embodiments, the echo intensity information of the valley point k6 and / or the echo intensity information of the second fiducial point k8 can also be used as the second characteristic parameters. The first characteristic parameters and the second characteristic parameters can be transmitted to the host computer so that the host computer can restore the envelope change of the second sub-echo curve according to the first characteristic parameters and restore the envelope change of the third sub-echo curve according to the second characteristic parameters, thereby determining multiple obstacle information.

[0181] Corresponding to the above embodiments, the present application also provides an ultrasonic sensor system, including a host computer and the ultrasonic sensor chip described in the above embodiments.

[0182] As a possible implementation, the above ultrasonic sensor system further includes an ultrasonic sensor.

[0183] Corresponding to the above embodiments, the present application also provides a data transmission method, which is applied to the ultrasonic sensor chip described in the above embodiments. AsFigure 10 As shown, the method includes:

[0184] Step S1001: Obtain an echo signal and divide the echo signal into at least two echo data segments.

[0185] Step S1002: For each echo data segment, fit an echo curve based on the echo data segment and extract characteristic parameters of the echo curve.

[0186] Among them, the echo curve is used to characterize the envelope change of the echo data segment. The characteristic parameters of the echo curve can enable the host computer to restore the envelope change of the echo data segment.

[0187] Step S1003: Transmit the characteristic parameters of the echo curve to the host computer.

[0188] As a possible implementation, dividing the echo signal into at least two echo data segments includes:

[0189] Determine the echo envelope of the echo signal based on the obtained echo signal.

[0190] Divide the echo envelope into at least two echo data segments based on at least one preset time interval.

[0191] As a possible implementation, dividing the echo envelope into at least two echo data segments includes:

[0192] Divide the echo envelope into at least two echo data segments based on the inflection points on the echo envelope.

[0193] As a possible implementation, fitting an echo curve based on the echo data segment and extracting characteristic parameters of the echo curve includes:

[0194] Determine the fitting points in the echo data segment. Based on the fitting points in the echo data segment, fit the echo curve. Extract the characteristic parameters of the echo curve.

[0195] Among them, the fitting points are the points in the echo data segment that meet the preset conditions.

[0196] As a possible implementation, the characteristic parameters of the echo curve include at least two of the starting point information of the echo curve, the ending point information of the echo curve, and the coefficient information of the echo curve.

[0197] As a possible implementation, extracting the characteristic parameters of the echo curve includes:

[0198] Determine the characteristic points of the echo curve. Perform integral processing on the echo curve based on the characteristic points of the echo curve, and use the integral result as the echo intensity information of the echo curve. Use the echo intensity information of the echo curve, the starting point information of the echo curve, and the ending point information of the echo curve as the characteristic parameters of the echo curve.

[0199] Among them, the characteristic points of the echo curve at least include the starting point position and the ending point position of the echo curve.

[0200] As a possible implementation, integrating the echo curve based on the characteristic points of the echo curve and using the integration result as the echo intensity information of the echo curve includes: integrating the echo curve based on the characteristic points of the echo curve. When the integration result does not reach the preset integration threshold, the integration result of the echo curve is used as the echo intensity information of the echo curve.

[0201] As a possible implementation, it further includes:

[0202] During the process of integrating the echo curve, if the integration result at the first data position of the echo curve reaches the preset integration threshold, the first data position is marked as the threshold position. If the first data position is not the ending point position of the echo curve, the first data position is used as the division position, and the echo curve is used as the first curve. Based on the division position, the first curve is divided into a second curve and a third curve. Based on the starting point position and the ending point position of the third curve, the third curve is integrated. If the integration result of the third curve does not reach the preset integration threshold, the integration result of the third curve is used as the echo intensity information of the echo curve. The threshold position is used as the characteristic parameter of the echo curve.

[0203] Among them, the second curve ends at the division position, the third curve starts at the division position, and ends at the ending point position of the echo curve.

[0204] As a possible implementation, it further includes: during the process of integrating the third curve based on the starting point position and the ending point position of the third curve, if the integration result at the second data position of the third curve reaches the preset integration threshold, the second data position is also marked as the threshold position. If the second data position is not the ending point position of the third curve, the division position is updated based on the second data position; the echo curve or the third curve is updated as the first curve; and the step of dividing the first curve into a second curve and a third curve based on the division position is re-executed.

[0205] As a possible implementation, it further includes: determining the number of times the integration result in the echo curve reaches the preset integration threshold. The number of times the integration result in the echo curve reaches the preset integration threshold is used as the characteristic parameter of the echo curve.

[0206] As a possible implementation, integrating the echo curve and using the integration result as the echo intensity information of the echo curve includes:

[0207] According to a preset division rule, the echo curve is divided into at least two first sub-echo curves. Integral processing is respectively performed on the at least two first sub-echo curves, and the integral results of the at least two first sub-echo curves are used as the echo intensity information of the echo curve.

[0208] Among them, the integral result of each first sub-echo curve does not reach a preset integral threshold.

[0209] The above-mentioned taking the echo intensity information, the starting point information and the ending point information of the echo curve as the characteristic parameters of the echo curve includes: taking the integral result of each first sub-echo curve, the starting point information and the ending point information of each first sub-echo curve as the characteristic parameters of the echo curve.

[0210] As a possible implementation manner, extracting the characteristic parameters of the echo curve includes:

[0211] Determining at least two landmark points of the echo curve based on a preset intensity threshold curve.

[0212] Determining at least one landmark pair according to the at least two landmark points of the echo curve.

[0213] For each of the at least one landmark pair, record the position information of the first landmark point and the position information of the second landmark point in the landmark pair. Taking the first landmark point as the starting position and the second landmark point as the ending position, perform integral processing on the echo curve to obtain the integral result between the first landmark point and the second landmark point. Determine the integral result between the first landmark point and the second landmark point, the position information of the first landmark point and the position information of the second landmark point as the characteristic parameters of the echo curve.

[0214] Among them, the landmark point is the point where the echo curve intersects with the preset intensity threshold curve. Each landmark pair includes a first landmark point and a second landmark point, and the echo intensity of the echo curve between the first landmark point and the second landmark point is greater than the echo intensity at the corresponding position of the preset intensity threshold curve between the first landmark point and the second landmark point.

[0215] As a possible implementation manner, it further includes: if there is a peak point in the echo curve between the first landmark point and the second landmark point, determine the position information of the peak point, and determine the position information of the peak point as the characteristic parameter of the echo curve. Or, if there is a peak point in the echo curve between the first landmark point and the second landmark point, determine the position information and the echo intensity information of the peak point, and determine the position information and the echo intensity information of the peak point as the characteristic parameters of the echo curve.

[0216] As a possible implementation manner, it further includes: determining the echo intensity information corresponding to the first landmark point and / or the echo intensity information corresponding to the second landmark point as the characteristic parameter of the echo curve.

[0217] As a possible implementation, starting from the first landmark point and ending at the second landmark point, the echo curve is integrated to obtain the integration result between the first landmark point and the second landmark point, including:

[0218] If there is a trough point in the echo curve between the first landmark point and the second landmark point, and the echo intensity at the trough point is greater than the echo intensity of the preset intensity threshold curve at the corresponding position, then the echo curve between the first landmark point and the second landmark point is divided into a second sub-echo curve and a third sub-echo curve. Among them, the second sub-echo curve starts from the first landmark point and ends at the trough point. The third sub-echo curve starts from the trough point and ends at the second landmark point.

[0219] Starting from the first landmark point and ending at the end point of the second sub-echo curve, the second sub-echo curve is integrated to obtain the integration result between the first landmark point of the second sub-echo curve and the end point of the second sub-echo curve.

[0220] Starting from the start point of the third sub-echo curve and ending at the end point of the third sub-echo curve, the third sub-echo curve is integrated to obtain the integration result between the start point of the third sub-echo curve and the end point of the third sub-echo curve.

[0221] The above determination of the integration result between the first landmark point and the second landmark point, the position information of the first landmark point, and the position information of the second landmark point as the characteristic parameters of the echo curve includes:

[0222] The integration result between the start point and the end point of the second sub-echo curve, the position information of the start point of the second sub-echo curve, and the position information of the end point of the second sub-echo curve are determined as the first characteristic parameters of the echo curve. The integration result between the start point and the end point of the third sub-echo curve, the position information of the start point of the third sub-echo curve, and the position information of the end point of the third sub-echo curve are determined as the second characteristic parameters of the echo curve.

[0223] The above transmission of the characteristic parameters of the echo curve to the host computer includes: transmitting the first characteristic parameters of the echo curve and the second characteristic parameters of the echo curve to the host computer.

[0224] Those skilled in the art can clearly understand that the technologies in the embodiments of the present invention can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solutions in the embodiments of the present invention, in essence, or the parts that contribute to the prior art can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of the present invention.

[0225] For the same or similar parts among the various embodiments in this specification, reference can be made to each other. In particular, for the device embodiments and the terminal embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for the relevant parts, reference can be made to the descriptions in the method embodiments.

Claims

1. An ultrasonic sensor chip is used to be electrically connected with an ultrasonic sensor, drive the ultrasonic sensor to emit ultrasonic signals, and receive echo signals formed by the ultrasonic signals. It is characterized in that The ultrasonic sensor chip is also used for dividing the echo signal into at least two echo data segments; for each echo data segment, fitting an echo curve based on the echo data segment and extracting characteristic parameters of the echo curve; the echo curve is used to characterize the envelope change of the echo data segment; the characteristic parameters of the echo curve can enable the host computer to restore the envelope change of the echo data segment; transmitting the characteristic parameters of the echo curve to the host computer.

2. The ultrasonic sensor chip according to claim 1, characterized in that, The dividing the echo signal into at least two echo data segments includes: determining an echo envelope of the echo signal based on the acquired echo signal; dividing the echo envelope into at least two echo data segments based on at least one preset time interval.

3. The ultrasonic sensor chip according to claim 1, wherein, The dividing the echo envelope into at least two echo data segments includes: dividing the echo envelope into at least two echo data segments based on inflection points on the echo envelope.

4. The ultrasonic sensor chip according to any one of claims 1-3, characterized in that, The fitting an echo curve based on the echo data segment and extracting characteristic parameters of the echo curve includes: determining fitting points in the echo data segment, where the fitting points are points in the echo data segment that meet preset conditions; fitting an echo curve based on the fitting points in the echo data segment; extracting characteristic parameters of the echo curve.

5. The ultrasonic sensor chip according to claim 4, characterized in that, The characteristic parameters of the echo curve include at least two of start point information of the echo curve, end point information, and coefficient information of the echo curve.

6. The ultrasonic sensor chip according to claim 4, characterized in that, The extracting characteristic parameters of the echo curve includes: determining characteristic points of the echo curve; the characteristic points of the echo curve at least include the start point position and the end point position of the echo curve; performing integral processing on the echo curve based on the characteristic points of the echo curve, and taking the integral result as echo intensity information of the echo curve; taking the echo intensity information of the echo curve, the start point information of the echo curve, and the end point information as the characteristic parameters of the echo curve.

7. The ultrasonic sensor chip according to claim 6, characterized in that, The performing integral processing on the echo curve based on the characteristic points of the echo curve and taking the integral result as echo intensity information of the echo curve includes: performing integral processing on the echo curve based on the characteristic points of the echo curve, and when the integral result does not reach a preset integral threshold, taking the integral result of the echo curve as the echo intensity information of the echo curve.

8. The ultrasonic sensor chip according to claim 7, wherein, The ultrasonic sensor chip is also used for: during the process of performing integral processing on the echo curve, if the integral result at the first data position of the echo curve reaches the preset integral threshold, the first data position is marked as the threshold position; if the first data position is not the end point position of the echo curve, taking the first data position as a division position, and taking the echo curve as the first curve; dividing the first curve into a second curve and a third curve based on the division position; where the second curve ends at the division position, and the third curve starts at the division position and ends at the end point position of the echo curve; Based on the starting point position and the ending point position of the third curve, perform integral processing on the third curve. If the integral result of the third curve does not reach the preset integral threshold, use the integral result of the third curve as the echo intensity information of the echo curve; Use the threshold position as the characteristic parameter of the echo curve.

9. The ultrasonic sensor chip according to claim 8, wherein The ultrasonic sensor chip is further configured to: During the process of performing integral processing on the third curve based on the starting point position and the ending point position of the third curve, if the integral result at the second data position of the third curve reaches the preset integral threshold, also mark the second data position as the threshold position; If the second data position is not the ending point position of the third curve, update the division position based on the second data position; Update the echo curve or the third curve to the first curve; Re-execute the step of dividing the first curve into a second curve and a third curve based on the division position.

10. The ultrasonic sensor chip according to claim 9, wherein, The ultrasonic sensor chip is further configured to: Determine the number of times the integral result in the echo curve reaches the preset integral threshold; Use the number of times the integral result in the echo curve reaches the preset integral threshold as the characteristic parameter of the echo curve.

11. The ultrasonic sensor chip according to claim 6, wherein The performing integral processing on the echo curve and using the integral result as the echo intensity information of the echo curve includes: Divide the echo curve into at least two first sub-echo curves according to a preset division rule; Perform integral processing on the at least two first sub-echo curves respectively, and use the integral results of the at least two first sub-echo curves as the echo intensity information of the echo curve; wherein, the integral result of each first sub-echo curve does not reach the preset integral threshold; The using the echo intensity information of the echo curve, the starting point information and the ending point information of the echo curve as the characteristic parameter of the echo curve includes: Use the integral result of each first sub-echo curve, the starting point information and the ending point information of each first sub-echo curve as the characteristic parameter of the echo curve.

12. The ultrasonic sensor chip according to claim 1, wherein, The extracting the characteristic parameter of the echo curve includes: Determine at least two landmark points of the echo curve based on a preset intensity threshold curve; the landmark points are the points where the echo curve intersects with the preset intensity threshold curve; Determine at least one landmark pair according to the at least two landmark points of the echo curve; each landmark pair includes a first landmark point and a second landmark point, and the echo intensity of the echo curve between the first landmark point and the second landmark point is greater than the echo intensity at the corresponding position of the preset intensity threshold curve between the first landmark point and the second landmark point; For each of the at least one landmark pair, record the position information of the first landmark point and the position information of the second landmark point in the landmark pair; Perform integral processing on the echo curve with the first landmark point as the starting position and the second landmark point as the ending position, and obtain the integral result between the first landmark point and the second landmark point; Determine the integral result between the first landmark point and the second landmark point, the position information of the first landmark point and the position information of the second landmark point as the characteristic parameter of the echo curve.

13. The ultrasonic sensor chip according to claim 12, wherein, The ultrasonic sensor chip is further configured to: If there is a peak point in the echo curve between the first marked point and the second marked point, determine the position information of the peak point, and determine the position information of the peak point as the characteristic parameter of the echo curve; Or, If there is a peak point in the echo curve between the first marked point and the second marked point, determine the position information of the peak point and the echo intensity information of the peak point, and determine the position information of the peak point and the echo intensity information of the peak point as the characteristic parameter of the echo curve.

14. The ultrasonic sensor chip according to claim 12 or 13, characterized in that, The ultrasonic sensor chip is further configured to: Determine the echo intensity information corresponding to the first marked point and / or the echo intensity information corresponding to the second marked point as the characteristic parameter of the echo curve.

15. The ultrasonic sensor chip according to claim 12, characterized in that, The integrating the echo curve with the first marked point as the starting position and the second marked point as the ending position to obtain the integration result between the first marked point and the second marked point includes: If there is a trough point in the echo curve between the first marked point and the second marked point, and the echo intensity at the trough point is greater than the echo intensity of the preset intensity threshold curve at the corresponding position, divide the echo curve between the first marked point and the second marked point into a second sub-echo curve and a third sub-echo curve; wherein, the second sub-echo curve starts from the first marked point and ends at the trough point; the third sub-echo curve starts from the trough point and ends at the second marked point; Integrate the second sub-echo curve with the first marked point as the starting position and the ending point of the second sub-echo curve as the ending position to obtain the integration result between the starting point of the second sub-echo curve and the ending point of the second sub-echo curve; Integrate the third sub-echo curve with the starting point of the third sub-echo curve as the starting position and the ending point of the third sub-echo curve as the ending position to obtain the integration result between the starting point of the third sub-echo curve and the ending point of the third sub-echo curve; The determining the integration result between the first marked point and the second marked point, the position information of the first marked point and the position information of the second marked point as the characteristic parameter of the echo curve includes: Determine the integration result between the starting point and the ending point of the second sub-echo curve, the position information of the starting point of the second sub-echo curve and the position information of the ending point of the second sub-echo curve as the first characteristic parameter of the echo curve; Determine the integration result between the starting point and the ending point of the third sub-echo curve, the position information of the starting point of the third sub-echo curve and the position information of the ending point of the third sub-echo curve as the second characteristic parameter of the echo curve; The transmitting the characteristic parameter of the echo curve to the host computer includes: Transmit the first characteristic parameter of the echo curve and the second characteristic parameter of the echo curve to the host computer.

16. An ultrasonic sensor system, characterized in that, Comprising a host computer and the ultrasonic sensor chip according to any one of claims 1-15.

17. A data transmission method, characterized in that Applied to the ultrasonic sensor chip according to any one of claims 1-15, the method includes: Obtain an echo signal and divide the echo signal into at least two echo data segments; For each echo data segment, fit an echo curve based on the echo data segment and extract characteristic parameters of the echo curve; the echo curve is used to characterize the envelope change of the echo data segment; the characteristic parameters of the echo curve can enable the host computer to restore the envelope change of the echo data segment; Transmit the data characteristic parameters of the echo curve to the host computer.

18. The method according to claim 17, characterized in that, The extracting the characteristic parameters of the echo curve includes: Based on the echo curve, determine characteristic points in the echo curve; Perform integral processing on the echo curve based on the characteristic points, and use the integral result as the echo intensity information of the echo curve; Use the echo intensity information of the echo curve, the start point information and the end point information of the echo curve as the characteristic parameters of the echo curve.

19. The method according to claim 17, characterized in that, The extracting the characteristic parameters of the echo curve includes: Determine at least two marker points of the echo curve based on a preset intensity threshold curve; the marker points are the points where the echo curve intersects the preset intensity threshold curve; Determine a first marker point and a second marker point from the at least two marker points, and record the position information of the first marker point and the position information of the second marker point; Perform integral processing on the echo curve with the first marker point as the starting position and the second marker point as the ending position, and obtain the integral result between the first marker point and the second marker point; Determine the integral result between the first marker point and the second marker point, the position information of the first marker point and the position information of the second marker point as the characteristic parameters of the echo curve.

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