Ultrasonic circuit, ultrasonic radar system and residual vibration suppression method

Abstract

The invention provides an ultrasonic circuit, an ultrasonic radar system, and a residual vibration suppression method. The ultrasonic circuit includes: a transmitting module configured to transmit a high-voltage pulse signal; the input end of the transduction module is electrically connected with the output end of the transmitting module, and the transduction module is configured to convert the high-voltage pulse signal into an ultrasonic signal; the aftershock suppression module at least comprises a switching device, the input end of the aftershock suppression module is electrically connected with the input end of the transduction module, the output end of the aftershock suppression module is grounded, and the aftershock suppression module is configured to lead the high-voltage pulse signal to the ground when the switching device is switched on; and the control module is in communication connection with the residual vibration suppression module, and the control module is configured to control and start the switch device to be switched on when the high-voltage pulse signal is transmitted, so that the switch device guides the high-voltage pulse signal to the ground within a preset residual vibration suppression time. Residual vibration is suppressed, residual vibration suppression time is shortened, and detection blind areas are reduced.

Description

Technical Field

[0001] The present disclosure generally relates to the field of radar, and particularly to an ultrasonic circuit, an ultrasonic radar system, and a method for suppressing after-vibration. Background Art

[0002] An ultrasonic radar system is a device that uses ultrasonic waves to detect targets and perform ranging, speed measurement, etc., and is widely used in fields such as automobiles, robots, and drones. In an ultrasonic radar system, after-vibration processing is a key index affecting the size of the detection blind area of the ultrasonic radar. Since the ultrasonic radar probe integrates transmission and reception, when the excitation voltage is withdrawn, due to the inherent mechanical inertia of the piezoelectric wafer inside the probe and devices such as inductors connected to the amplification drive, energy will be stored, and the piezoelectric wafer will still oscillate, thus generating after-vibration. Due to the interference of after-vibration, it is very difficult for the ultrasonic radar probe to distinguish ultrasonic echoes from after-vibration during reception. Usually, it is necessary to wait for the after-vibration to end before continuing to receive. During the waiting time, the ultrasonic radar probe cannot perform steps such as ranging. Such a situation is called a detection blind area. For example, the farther the detection distance, the greater the power of ultrasonic wave transmission, the longer the after-vibration time, and the larger the detection blind area. Therefore, it is desirable to accelerate the attenuation of after-vibration to reduce the detection blind area. Summary of the Invention

[0003] In a first aspect of the present disclosure, there is provided an ultrasonic circuit, including: a transmitting module configured to transmit a high-voltage pulse signal; a transducer module, the input end of the transducer module is electrically connected to the output end of the transmitting module, and the transducer module is configured to convert the high-voltage pulse signal into an ultrasonic signal; an after-vibration suppression module including at least a switching device, the input end of the after-vibration suppression module is electrically connected to the input end of the transducer module, and the output end is grounded. The after-vibration suppression module is configured to conduct the high-voltage pulse signal to the ground when the switching device is turned on; and a control module, the control module is communicatively connected to the after-vibration suppression module, and the control module is configured to control the switching device to be turned on when the high-voltage pulse signal transmission ends, so that the switching device conducts the high-voltage pulse signal to the ground within a preset after-vibration suppression time.

[0004] In a second aspect of the present disclosure, there is provided an ultrasonic radar system including the ultrasonic circuit as described above.

[0005] In a third aspect of the present disclosure, there is provided a method for suppressing after-vibration of an ultrasonic radar, which is applied to the ultrasonic circuit as described above. The method includes: when the transmitting module ends transmitting the high-voltage pulse signal, controlling the switching device in the after-vibration suppression module to be turned on; the switching device conducts the high-voltage pulse signal to the ground within a preset after-vibration suppression time; and when the preset after-vibration suppression time ends, controlling the switching device to be turned off.

[0006] In a fourth aspect of the present disclosure, an electronic device is provided. The device includes at least one processing unit; and at least one memory, the at least one memory being coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit. The instructions, when executed by the at least one processing unit, cause the device to perform the method of the third aspect.

[0007] In a fifth aspect of the present disclosure, a computer-readable storage medium is provided. A computer program is stored on the computer-readable storage medium, and the computer program can be executed by a processor to implement the method of the third aspect.

[0008] It should be understood that the content described in the present invention content section is not intended to limit the key features or important features of the embodiments of the present disclosure, nor is it used to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In combination with the accompanying drawings and with reference to the following detailed description, the above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent. In the drawings, the same or similar reference numerals denote the same or similar elements, where:

[0010] Figure 1 shows a schematic structural diagram of a conventional ultrasonic circuit; Figure 2 shows a schematic module diagram of an ultrasonic circuit according to some embodiments of the present disclosure; Figure 3 shows a schematic specific structural diagram of an ultrasonic circuit according to some embodiments of the present disclosure; Figure 4 shows a schematic specific structural diagram of an ultrasonic circuit according to some other embodiments of the present disclosure; Figure 5 shows a waveform diagram of a high-voltage pulse signal according to some embodiments of the present disclosure; Figure 6 shows a waveform diagram of a high-voltage pulse signal according to some other embodiments of the present disclosure; Figure 7 shows a flowchart of a method for suppressing after-vibration of an ultrasonic radar according to some embodiments of the present disclosure; and Figure 8 shows a block diagram of a device capable of implementing multiple embodiments of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0011] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0012] It should be noted that the title of any section / subsection provided herein is not restrictive. Various embodiments are described throughout this document, and any type of embodiment can be included under any section / subsection. In addition, the embodiments described in any section / subsection can be combined with any other embodiment described in the same section / subsection and / or different section / subsections in any manner.

[0013] In the description of the embodiments of the present disclosure, the term "including" and its like should be understood as an open inclusion, that is, "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The term "some embodiments" should be understood as "at least some embodiments". There may also be other explicit and implicit definitions hereinafter. The terms "first", "second", etc. may refer to different or the same objects. There may also be other explicit and implicit definitions hereinafter.

[0014] The embodiments of the present disclosure may involve the user's data, data acquisition and / or use, etc. These aspects all comply with the corresponding laws, regulations and related provisions. In the embodiments of the present disclosure, all data collection, acquisition, processing, processing, forwarding, use, etc. are carried out on the premise that the user is aware and confirms. Accordingly, when implementing the embodiments of the present disclosure, the types, usage scopes, usage scenarios, etc. of the data or information that may be involved should be informed to the user and the user's authorization should be obtained in an appropriate manner according to the relevant laws and regulations. The specific notification and / or authorization methods may vary according to the actual situation and application scenarios, and the scope of the present disclosure is not limited in this regard.

[0015] As briefly mentioned above, it is desirable to accelerate the decay of the after-vibration inside the ultrasonic radar probe to reduce the detection blind area. Currently, traditional ultrasonic radar probes may include ultrasonic circuits. As an example, Figure 1 The structural schematic diagram of a traditional ultrasonic circuit is shown. As Figure 1As shown, the ultrasonic circuit mainly includes a transmitting module, a transducer module, and a receiving module. The transmitting module includes at least a transformer 111 and a triode 112. When a pulse waveform is input at the driving signal input terminal H1, the pulse waveform controls the formation of a conduction current in the transformer 111 through the triode 112. The conduction current is transformed by the transformer 111 to generate a high-voltage pulse signal, and the transformer 111 transmits the high-voltage pulse signal to the transducer module. The transducer module converts the high-voltage pulse signal into an ultrasonic signal and then transmits it. The receiving module is used to receive the ultrasonic signal and convert it into an electrical signal for further processing such as echo detection. It should be understood that Figure 1 The traditional ultrasonic circuit shown in [reference] is only for example. The internal component parts of the transmitting module, the transducer module, and the receiving module and the electrical connection relationships between the component parts can refer to the internal circuit structures of the transmitting module, the transducer module, and the receiving module in the ultrasonic circuit in the prior art, and will not be elaborated here.

[0016] In some cases, due to the material characteristics of various component parts in the transducer module and the transmitting module, after the transmitting module stops transmitting the high-voltage pulse signal, a relatively large after-vibration will still be generated due to inertial mechanical motion. For example, if the transmitting module includes a transformer, the transformer will store energy and thus generate after-vibration. Similarly, after-vibration may also be generated in the transducer module. However, the receiving module can not only receive the ultrasonic signal transmitted by the transducer module, but also receive the after-vibration generated by the transmitting module and the transducer module. If the ultrasonic signal and the after-vibration are synchronously received by the receiving module, it will cause the receiving module to be interfered by the after-vibration during echo detection, reducing the accuracy of ultrasonic radar detection. If the receiving module waits for the after-vibration to end and then continues to receive the ultrasonic signal, there will be a detection blind area because the ultrasonic radar probe cannot perform detection during the waiting period.

[0017] There are two traditional solutions for reducing after-vibration (after-vibration intensity, after-vibration duration). In the first solution, the after-vibration is reduced by reducing the power of the ultrasonic signal. However, when the detection distance increases, the greater the power of the ultrasonic signal required, and the greater the after-vibration generated. If the power of the ultrasonic signal is reduced, although the after-vibration can be reduced to a certain extent, the detection ability will also be reduced synchronously. In the second solution, the after-vibration is reduced by increasing the operational amplifier magnification of the component parts set at the near end of the after-vibration, but the detection ability will also be reduced synchronously. Therefore, no matter which solution, on the basis of ensuring the detection ability, the after-vibration cannot be effectively reduced and the detection blind area cannot be reduced.

[0018] To this end, embodiments of the present disclosure propose an ultrasonic circuit solution. According to various embodiments of the present disclosure, the ultrasonic circuit includes a transmitting module configured to transmit a high-voltage pulse signal; a transducer module, the input end of the transducer module is electrically connected to the output end of the transmitting module, and the transducer module is configured to convert the high-voltage pulse signal into an ultrasonic signal. Further, the ultrasonic circuit further includes a post-vibration suppression module, the post-vibration suppression module at least includes a switching device, the input end of the post-vibration suppression module is electrically connected to the input end of the transducer module, and the output end is grounded. The post-vibration suppression module is configured to conduct the high-voltage pulse signal to the ground when the switching device is turned on. Further, the ultrasonic circuit further includes a control module, the control module is communicatively connected to the post-vibration suppression module, and the control module is configured to control the switching device to turn on when the transmission of the high-voltage pulse signal ends, so that the switching device conducts the high-voltage pulse signal to the ground within a preset post-vibration suppression time.

[0019] In this way, when the transmitting module finishes sending the high-voltage pulse signal, the control module controls the switching device in the post-vibration suppression module to turn on, and the high-voltage pulse signal is accelerated to the ground through the turned-on switching device, so as to effectively reduce the post-vibration duration and reduce the detection blind area on the basis of ensuring the detection ability. In addition, the preset post-vibration suppression time can be preset according to the duration of post-vibration suppression required by the actual circuit. For example, due to the differences in parameters such as components such as transformers and transducers and the power of the circuit, the time and intensity of post-vibration may be different, so the required post-vibration suppression time is also different. Therefore, the preset post-vibration suppression time can be flexibly adjusted to meet the needs of different actual circuits. When the post-vibration is eliminated, immediately stop suppressing the high-voltage pulse (that is, stop conducting the high-voltage pulse signal to the ground), so as to minimize the impact on other functions of the circuit on the premise of efficiently suppressing the post-vibration. Since the preset post-vibration suppression time can be flexibly adjusted, on the one hand, the time for suppressing the post-vibration can be effectively shortened, and on the other hand, the suppression of the high-voltage pulse can be stopped in time after the post-vibration is eliminated, so as not to affect the normal operation of the subsequent high-voltage pulse.

[0020] Some exemplary embodiments of the present disclosure will be described below with continued reference to the drawings.

[0021] Figure 2 A block diagram of an ultrasonic circuit according to some embodiments of the present disclosure is shown. As Figure 2 shown, the ultrasonic circuit includes a transmitting module 210, a transducer module 220, a post-vibration suppression module 230, a control module 240, and a receiving module 250.

[0022] Specifically, the transmitting module 210 is configured to transmit a high-voltage pulse signal. As an example, the transmitting module 210 transmits the high-voltage pulse signal to the transducer module 220. The input end of the transducer module 220 is electrically connected to the output end of the transmitting module 210, and the transducer module 220 is configured to convert the high-voltage pulse signal into an ultrasonic signal. It should be understood that the internal component parts of the transmitting module 210 and the transducer module 220 and the connection relationship between the component parts can refer to the ultrasonic circuit in the prior art. Figure 2 Only as an example, it may also be the case of other circuit structures in the prior art, and the present disclosure does not make specific limitations in this regard. As an example, Figure 2 the internal circuit structures of the transmitting module 210 and the transducer module 220 shown in Figure 1 are consistent with the internal circuit structures of the transmitting module and the transducer module in

[0023] The input end of the after-vibration suppression module 230 is electrically connected to the input end of the transducer module 220, and the output end of the after-vibration suppression module 230 is grounded. The after-vibration suppression module 230 at least includes a switching device 231, and the after-vibration suppression module 230 is configured to conduct the high-voltage pulse signal to the ground when the switching device 231 is turned on. The after-vibration suppression module 230 may further include other component parts, and the specific circuit structure of the after-vibration suppression module 230 will be described in detail below.

[0024] The control module 240 is communicatively connected to the after-vibration suppression module 230, and the control module 240 is configured to control the start of conduction of the switching device 231 when the transmission of the high-voltage pulse signal ends, so that the switching device 231 conducts the high-voltage pulse signal to the ground within a preset after-vibration suppression time. In some embodiments, the control module 240 may send the preset after-vibration suppression time to the after-vibration suppression module 230, so that the switching device 231 conducts the high-voltage pulse signal to the ground within the preset after-vibration suppression time. The control module 240 may also be configured to control the switching device 231 to turn off when the preset after-vibration suppression time ends. After the after-vibration is eliminated, the conduction of the high-voltage pulse signal to the ground is stopped in a timely manner, so that the high-voltage pulse signal continues to be received by the receiving module 250, and further, the echo detection continues.

[0025] The control module 240 may be provided with a detection unit capable of self-detecting whether the transmission of the high-voltage pulse signal of the transmitting module 210 ends; the control module 240 may also receive an instruction sent by other main control chips or circuits to learn whether the transmission of the high-voltage pulse signal of the transmitting module 210 ends. The control module 240 may also receive an instruction to learn the preset after-vibration suppression time.

[0026] It should be understood that the control module 240 in the embodiments of the present disclosure may be integrated inside the ultrasonic radar system or may be independently provided outside the ultrasonic radar system. Exemplarily, the control module 240 may be any device with computing capabilities. For example, the control module may be a server, a computer, an edge node, a computing device in a cloud environment, etc., or may also be any type of mobile or fixed terminal device, etc. The present disclosure does not make specific limitations in this regard.

[0027] In some embodiments, since different transducer modules and transmitting modules have different circuit structures, and parameters such as the power and voltage of the circuits are all different, it may lead to differences in the magnitude of after-vibration and also differences in the duration of the after-vibration. Therefore, the duration required for after-vibration suppression is also different. The present disclosure can preset the after-vibration suppression time within a specific numerical range (such as 50 us to 100 us) according to factors such as the specific structure of the transducer module and the transmitting module and other circuit parameters, which means that the ultrasonic radar system product including the ultrasonic circuit of the present invention can eliminate most of the after-vibration within the time of this specific numerical range. Therefore, when the ultrasonic radar system product including the ultrasonic circuit of the present invention leaves the factory, it can perform product calibration according to this numerical range, and identify the consistency of the product after-vibration through calibration, thereby improving the reliability of the product. Therefore, the same numerical range of after-vibration suppression time can be calibrated for different ultrasonic circuit structures (for example, different circuit structures of the transducer module and / or the transmitting module).

[0028] In addition, it should be understood that since it takes a certain amount of time for instruction execution, circuit startup, operation, and termination, there may be a certain difference between the actual after-vibration suppression time used by the circuit and the preset after-vibration suppression time during actual operation.

[0029] Optionally, the preset after-vibration suppression time is greater than 50 us. It should be understood that the preset after-vibration suppression time may also be any other suitable time, and the present disclosure does not make specific limitations in this regard.

[0030] Continuing to refer to Figure 2 , the input end of the receiving module 250 is electrically connected to the input end of the transducer module 220 and also to the input end of the after-vibration suppression module 230. The receiving module 250 is configured to receive ultrasonic signals and convert the ultrasonic signals into electrical signals for echo detection based on the electrical signals. It should be understood that the internal components of the receiving module 250 and the connection relationships between the components may refer to the ultrasonic circuits in the prior art. Figure 2 Only as an example, it may also be the case of other circuit structures in the prior art, and the present disclosure does not make specific limitations in this regard. As an example, Figure 2 the internal circuit structure of the receiving module 250 shown in Figure 1is consistent with the internal circuit structure of the receiving module.

[0031] After the switching device is turned off, the receiving module converts the ultrasonic signal emitted by the transducer module into an electrical signal, and then performs echo detection on the electrical signal. The result of such echo detection can be applied to various subsequent tasks. Exemplarily, if the result of the echo detection is applied to an intelligent driving system, the result of the echo detection can be applied to a variety of appropriate downstream tasks. Examples of these tasks may include, but are not limited to: tasks such as local perception, planning, and decision-making of an intelligent driving vehicle, local update of map data, reporting of change information, cloud update and distribution of map data, etc.

[0032] The above describes the respective functions and connection relationships of the transmitting module, transducer module, aftershock suppression module, control module, and receiving module in the ultrasonic circuit. By controlling the switching device in the aftershock suppression module to conduct, in response to the conduction of the switching device, the aftershock suppression module quickly conducts the high-voltage pulse signal emitted by the transmitting module to the ground within a preset aftershock suppression time, which not only effectively suppresses the aftershock, but also effectively shortens the aftershock suppression time and reduces the detection blind area.

[0033] Next, the specific circuit structure of the ultrasonic circuit will be specifically described. Further, the internal circuit structure of the aftershock suppression module 230 will be specifically described.

[0034] Figure 3 shows a schematic diagram of the specific circuit structure of an ultrasonic circuit according to some embodiments of the present disclosure. As Figure 3 shown, the ultrasonic circuit may include a transmitting module, a transducer module, an aftershock suppression module S1, a control module C1, and a receiving module. Figure 3 The internal circuit structures of the transmitting module, transducer module, and receiving module shown in Figure 1 are respectively consistent with the internal circuit structures of the transmitting module, transducer module, and receiving module in Figure 3 . It should be understood that the transmitting module, transducer module, and receiving module in

[0035] are only examples, and there may also be other circuit structure situations in the prior art. The present disclosure does not make specific limitations in this regard. Figure 3As shown, the aftershock suppression module S1 may include an NPN-type triode Q1, a first resistor R1, a first diode D1, a second resistor R2, and a second diode D2. The base of the NPN-type triode Q1 is electrically connected to one end of the first resistor R1, the other end of the first resistor R1 is electrically connected to the output end of the first diode D1, and the input end of the first diode D1 is communicatively connected to the control module C1. The collector of the NPN-type triode Q1 is electrically connected to one end of the second resistor R2, and the other end of the second resistor R2 is electrically connected to the input end of the transducer module (i.e., the output end of the transmitting module). The emitter of the NPN-type triode Q1 is electrically connected to the input end of the second diode D2, and the output end of the second diode D2 is grounded.

[0036] The first resistor R1 and the second resistor R2 in the aftershock suppression module S1 play a current-limiting role in the circuit, and the first diode D1 and the second diode D2 play a unidirectional conduction protection role in the circuit. It should be understood that Figure 3 the internal circuit structure of the aftershock suppression module S1 herein is only an example, and the aftershock suppression module S1 may also be a circuit structure of other cases that at least includes the NPN-type triode Q1, and the present disclosure does not make specific limitations in this regard.

[0037] In some embodiments, the control module C1 may also be configured to control the NPN-type triode Q1 to conduct when the high-voltage pulse signal emission ends. For example, in response to the end of the high-voltage pulse signal emission, the control module C1 may control the input end A of the first diode D1 to be set to a high level to start the NPN-type triode Q1 to conduct. It should be understood that the NPN-type triode Q1 can also be started to conduct through other control methods, and the present disclosure does not make specific limitations in this regard.

[0038] In some embodiments, the control module C1 may also be configured to determine the conduction time of the NPN-type triode Q1 according to a preset aftershock suppression time. Exemplarily, the preset aftershock suppression time of the NPN-type triode Q1 can be flexibly adjusted according to the material characteristics of the NPN-type triode Q1, effectively shortening the aftershock suppression time.

[0039] Traditionally, if a digital resistor is used as a switching device, due to the influence of the accuracy of the digital resistor, the conduction time of the digital resistor cannot be flexibly and freely controlled and adjusted. In the embodiments of the present disclosure, the preset aftershock suppression time of the NPN-type triode Q1 can be flexibly adjusted according to the material characteristics of the NPN-type triode Q1, that is, the conduction time of the NPN-type triode Q1 is flexibly controlled and adjusted. In addition, the cost of the NPN-type triode Q1 is lower than that of the digital resistor, which can effectively reduce the cost of the circuit.

[0040] The following describes the use of Figure 3The process of suppressing after-vibration by the ultrasonic circuit. Since the NPN bipolar transistor Q1 absorbs the unidirectional high-voltage pulse signal waveform and can suppress after-vibration unidirectionally, the after-vibration suppression module S1 can also be called the "after-vibration half-wave damping suppression circuit". The transmitting module transmits the generated high-voltage pulse signal to the transducer module. The transducer module converts the high-voltage pulse signal into an ultrasonic signal. When the control module C1 learns that the transmission of the high-voltage pulse signal ends, the control module C1 controls the input terminal A of the first diode D1 to be at a high level to start the conduction of the NPN bipolar transistor Q1. The NPN bipolar transistor Q1 conducts the high-voltage pulse signal to the ground within the preset after-vibration suppression time, and at the same time effectively suppresses after-vibration and shortens the after-vibration duration. When the control module C1 learns that the preset after-vibration suppression time ends, the control module C1 controls the NPN bipolar transistor Q1 to turn off.

[0041] Figure 4 shows a schematic diagram of the specific circuit structure of the ultrasonic circuit according to other embodiments of the present disclosure. As Figure 4 shown, the ultrasonic circuit may include a transmitting module, a transducer module, an after-vibration suppression module S2, a control module C2, and a receiving module. Figure 4 The internal circuit structures of the transmitting module, the transducer module, and the receiving module shown in Figure 1 are the same as the internal circuit structures of the transmitting module, the transducer module, and the receiving module in Figure 4 It should be understood that the transmitting module, the transducer module, and the receiving module in

[0042] In some embodiments, as Figure 4 shown, the switching device in the after-vibration suppression module S2 may include a triac Q2. The after-vibration suppression module S2 includes a triac Q2, a third resistor R3, a third diode D3, and a fourth resistor R4. The control electrode of the triac Q2 is electrically connected to one end of the third resistor R3, the other end of the third resistor R3 is electrically connected to the output terminal of the third diode D3, and the input terminal of the third diode D3 is communicatively connected to the control module C2. The first anode of the triac Q2 is electrically connected to one end of the fourth resistor R4, the other end of the fourth resistor R4 is electrically connected to the input terminal of the transducer module (i.e., the output terminal of the transmitting module). The second anode of the triac Q2 is grounded.

[0043] In some embodiments, the third resistor R3 and the fourth resistor R4 in the after-vibration suppression module S2 play a current-limiting role in the circuit, and the third diode D3 plays a role of unidirectional conduction protection in the circuit. It should be understood that Figure 4The circuit structure inside the after-vibration suppression module S2 is only an example. The after-vibration suppression module S2 can also be a circuit structure of other cases that at least includes a triac Q2. The present disclosure does not make specific limitations in this regard.

[0044] In some embodiments, the control module C2 is further configured to control the triac Q2 to conduct when the high-voltage pulse signal emission ends. As an example, the control module C2 can control the input terminal B of the third diode D3 to be at a high level to start the conduction of the triac Q2. It should be understood that the triac Q2 can also be started to conduct through other control methods, and the present disclosure does not make specific limitations in this regard.

[0045] In some embodiments, the control module C2 can also be configured to determine the conduction time of the triac Q2 according to a preset after-vibration suppression time. Exemplarily, the preset after-vibration suppression time of the triac Q2 can be flexibly adjusted according to the material characteristics of the triac, effectively shortening the after-vibration suppression time. Since the preset after-vibration suppression time of the triac Q2 can be flexibly adjusted according to the material characteristics of the triac, that is, the conduction time of the triac Q2 is flexibly controlled and adjusted.

[0046] The following describes the process of suppressing after-vibration using Figure 4 the ultrasonic circuit. Since the triac Q2 absorbs the high-voltage pulse signal waveforms in both directions and can suppress after-vibration in both directions, the after-vibration suppression module S2 can also be referred to as an "after-vibration full-wave damping suppression circuit". The transmitting module transmits the generated high-voltage pulse signal to the transducer module. The transducer module converts the high-voltage pulse signal into an ultrasonic signal. When the control module C2 learns that the high-voltage pulse signal emission ends, the control module C2 controls the input terminal B of the third diode D3 to be at a high level to start the conduction of the triac Q2. The triac Q2 conducts the high-voltage pulse signal to the ground within the preset after-vibration suppression time, and at the same time effectively suppresses after-vibration and shortens the after-vibration duration. When the control module C2 learns that the preset after-vibration suppression time ends, the control module C2 controls the triac Q2 to turn off.

[0047] Figure 5 shows a high-voltage pulse signal waveform diagram according to some embodiments of the present disclosure. As Figure 5 shown, shows the process of using the ultrasonic circuit as shown in Figure 3 to conduct the high-voltage pulse signal to the ground. Specifically, in response to the end of the high-voltage pulse signal emission, the control module C1 controls the NPN-type bipolar transistor Q1 to conduct, and then the waveform of the high-voltage pulse signal changes significantly, from Figure 5It can be observed that the amplitude of the waveform of the voltage pulse signal gradually decreases from time T1 until the amplitude decreases to 0 at time T2. At this time, the high-voltage pulse signal is completely conducted to the ground, and the after-vibration is completely suppressed. The after-vibration suppression time is the time length of T2 - T1.

[0048] Similarly, Figure 6 shows an after-vibration waveform diagram according to some other embodiments of the present disclosure. As Figure 6 shown, it shows the process of using the ultrasonic circuit as shown in Figure 4 to conduct the high-voltage pulse signal to the ground. Specifically, in response to the end of the emission of the high-voltage pulse signal, the control module C2 controls the start of the conduction of the bidirectional thyristor Q2. Subsequently, the waveform of the high-voltage pulse signal changes significantly. From Figure 6 it can be observed that the amplitude of the waveform of the high-voltage pulse signal gradually decreases at time T3 until the amplitude decreases to 0 at time T4. At this time, the high-voltage pulse signal is completely conducted to the ground, and the after-vibration is completely suppressed. The after-vibration suppression time is the time length of T4 - T3.

[0049] By comparing Figure 5 and Figure 6 's waveform diagrams, since the bidirectional thyristor can absorb the waveform of the bidirectional high-voltage pulse signal and can suppress the after-vibration bidirectionally, while the NPN-type transistor can absorb the waveform of the unidirectional high-voltage pulse signal and can suppress the after-vibration unidirectionally, the bidirectional thyristor as a switching device conducts the high-voltage pulse signal to the ground faster, and the after-vibration is suppressed faster.

[0050] The above describes the circuit structure of the ultrasonic circuit and the embodiments of the after-vibration suppression module with two different circuit structures for conducting the high-voltage pulse signal to the ground to quickly suppress the after-vibration. The present disclosure effectively suppresses the after-vibration, shortens the after-vibration suppression time, and reduces the detection blind area by using an NPN-type transistor or a bidirectional thyristor to conduct the high-voltage pulse signal to the ground within a preset after-vibration suppression time.

[0051] The embodiments of the present disclosure also disclose an ultrasonic radar system, including the ultrasonic circuit of any of the above embodiments. The ultrasonic radar system of the embodiments of the present disclosure can be applied to the fields of automobiles, unmanned aerial vehicles, robots, etc., for ranging, speed measurement, etc. of objects in the surrounding environment of unmanned aerial vehicles, robots, etc. In some embodiments, using the ultrasonic circuit of the embodiments of the present disclosure (such as Figure 3 , Figure 4 's ultrasonic circuit) for laser ranging and speed measurement can reduce the interference of the after-vibration, effectively and rapidly suppress the after-vibration, shorten the after-vibration suppression time, and thus effectively improve the ranging accuracy, speed measurement accuracy, etc., and reduce the detection blind area.

[0052] Figure 7The figure shows a flowchart of a method for suppressing after-vibration of an ultrasonic radar according to some embodiments of the present disclosure. Applied to the ultrasonic circuit as described in the above embodiments, for the convenience of discussion, the following will be combined with Figure 2 and Figure 7 to illustrate the after-vibration suppression method.

[0053] In block 710, when the transmitting module finishes transmitting the high-voltage pulse signal, the control starts the switch device in the after-vibration suppression module to conduct.

[0054] In some embodiments, as Figure 2 shown, the switch device 231 may include an NPN-type triode or a thyristor. When the transmitting module 210 finishes transmitting the high-voltage pulse signal, the control module 240 controls the switch device 231 in the after-vibration suppression module 230 to conduct. For example, it controls the NPN-type triode or the thyristor to conduct.

[0055] In block 720, the switch device conducts the high-voltage pulse signal to the ground within a preset after-vibration suppression time.

[0056] In some embodiments, as Figure 2 shown, the control module 240 may control the conduction time of the switch device 231 according to the preset after-vibration suppression time. Alternatively and / or additionally, the control module 240 may determine the conduction time of the NPN-type triode according to the preset after-vibration suppression time. Alternatively and / or additionally, the control module 240 may determine the conduction time of the thyristor according to the preset after-vibration suppression time. In this way, the conduction time of the switch device 231 can be flexibly controlled and adjusted according to the preset after-vibration suppression time, and thus the after-vibration suppression time can be effectively shortened and the after-vibration can be eliminated more quickly.

[0057] In some embodiments, as Figure 2 shown, the control module 240 may send the preset after-vibration suppression time to the after-vibration suppression module 230, so that the switch device 231 conducts the high-voltage pulse signal to the ground within the preset after-vibration suppression time. In some embodiments, the control module 240 may send the preset after-vibration suppression time to the after-vibration suppression module 230, determine the conduction time of the NPN-type triode according to the preset after-vibration suppression time, so that the NPN-type triode conducts the high-voltage pulse signal to the ground within this conduction time. Or the control module 240 may send the preset after-vibration suppression time to the after-vibration suppression module 230, determine the conduction time of the thyristor according to the preset after-vibration suppression time, so that the thyristor conducts the high-voltage pulse signal to the ground within this conduction time.

[0058] In some embodiments, the preset after-vibration suppression time is greater than 50 us.

[0059] In the block 730, when the preset after-vibration suppression time ends, the control switch device is turned off. Specifically, when the preset after-vibration suppression time ends, the control module 240 controls the switch device to turn off. Exemplarily, when the conduction time of the NPN-type triode ends, the control module 240 controls the NPN-type triode to turn off. Exemplarily, when the conduction time of the thyristor ends, the control module 240 controls the thyristor to turn off.

[0060] In some embodiments, the receiving module converts the ultrasonic signal emitted by the transducer module into an electrical signal; and after the switch device is turned off, the echo of the electrical signal is detected. Specifically, after the control module 240 learns that the switch device is turned off, the receiving module 250 converts the ultrasonic signal emitted by the transducer module 220 into an electrical signal and detects the echo of the electrical signal to accurately measure the echo signal and reduce the after-vibration interference. Exemplarily, after the control module 240 learns that the NPN-type triode is turned off, the receiving module 250 performs the echo detection. Exemplarily, after the control module 240 learns that the thyristor is turned off, the receiving module 250 performs the echo detection.

[0061] The above describes the method for suppressing the after-vibration of an ultrasonic radar. In the ultrasonic circuit, the control module controls the switch device (such as an NPN-type triode, a thyristor) in the after-vibration suppression module. When the control module learns that the transmitting module finishes transmitting the high-voltage pulse signal, it controls the starting switch device to conduct, so that the switch device accelerates to conduct the high-voltage pulse signal to the ground, thereby quickly suppressing the after-vibration. The control module can flexibly adjust the preset after-vibration suppression time, effectively shorten the after-vibration suppression time, and further improve the ranging accuracy, speed measurement accuracy, etc. of the ultrasonic radar, and reduce the detection blind area.

[0062] Figure 8 A block diagram of an electronic device in which one or more embodiments of the present disclosure may be implemented is shown. It should be understood that Figure 8 The electronic device shown is merely exemplary and should not constitute any limitation to the functions and scopes of the embodiments described herein. The electronic device is used to implement the method for suppressing the after-vibration of an ultrasonic radar.

[0063] As Figure 8 shown, the electronic device is in the form of a general-purpose electronic device. The components of the electronic device may include, but are not limited to, one or more processors or processing units 810, a memory 820, a storage device 830, one or more communication units 840, one or more input devices 850, and one or more output devices 860. The processing unit 810 may be an actual or virtual processor and is capable of performing various processes according to the programs stored in the memory 820. In a multi-processor system, multiple processing units execute computer-executable instructions in parallel to improve the parallel processing ability of the electronic device.

[0064] An electronic device typically includes multiple computer storage media. Such media can be any accessible media that the electronic device can access, including but not limited to volatile and non-volatile media, removable and non-removable media. Memory 820 can be volatile memory (such as registers, caches, random access memory (RAM)), non-volatile memory (such as read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory), or some combination thereof. Storage device 830 can be removable or non-removable media and can include machine-readable media, such as a flash drive, a magnetic disk, or any other medium that can be capable of storing information and / or data (such as training data for training) and can be accessed within the electronic device.

[0065] The electronic device can further include additional removable / non-removable, volatile / non-volatile storage media. Although not shown in Figure 8 a disk drive for reading from or writing to a removable, non-volatile magnetic disk (such as a "floppy disk") and an optical disk drive for reading from or writing to a removable, non-volatile optical disk can be provided. In these cases, each drive can be connected to a bus (not shown) by one or more data media interfaces. Memory 820 can include a computer program product 825 having one or more program modules that are configured to perform various methods or actions of various embodiments of the present disclosure.

[0066] Communication unit 840 enables communication with other electronic devices via a communication medium. Additionally, the functions of the components of the electronic device can be implemented by a single computing cluster or multiple computer machines that can communicate via a communication connection. Thus, the electronic device can operate in a networked environment using a logical connection with one or more other servers, network personal computers (PCs), or another network node.

[0067] Input device 850 can be one or more input devices, such as a mouse, a keyboard, a trackball, etc. Output device 860 can be one or more output devices, such as a display, a speaker, a printer, etc. The electronic device can also communicate with one or more external devices (not shown) as needed via communication unit 840, external devices such as storage devices, display devices, etc., communicate with one or more devices that enable a user to interact with the electronic device, or communicate with any device that enables the electronic device to communicate with one or more other electronic devices (such as a network card, a modem, etc.). Such communication can be performed via an input / output (I / O) interface (not shown).

[0068] According to an exemplary implementation of the present disclosure, a computer-readable storage medium is provided, on which computer-executable instructions are stored, and the computer-executable instructions are executed by a processor to implement the method described above. According to an exemplary implementation of the present disclosure, a computer program product is also provided, the computer program product being tangibly stored on a non-transitory computer-readable medium and including computer-executable instructions, and the computer-executable instructions being executed by a processor to implement the method described above.

[0069] It should be understood that each block of the flowchart and / or block diagram, and combinations of blocks in the flowchart and / or block diagram, can be implemented by computer-readable program instructions.

[0070] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine such that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device is produced that implements the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other devices to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured article that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0071] The computer-readable program instructions can be loaded onto a computer, other programmable data processing device, or other device, so that a series of operation steps are executed on the computer, other programmable data processing device, or other device to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing device, or other device implement the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0072] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various implementations of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions noted in the blocks may occur in a different order than noted in the accompanying drawings. For example, two consecutive blocks may in fact be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or by a combination of dedicated hardware and computer instructions.

[0073] The implementations of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed implementations. Many modifications and variations will be apparent to those of ordinary skill in the art in the field without departing from the scope and spirit of the described implementations. The choice of terms used herein is intended to best explain the principles of the implementations, the practical application, or the improvement of the technology in the market, or to enable other ordinary skilled persons in the art in the field to understand the various implementation manners disclosed herein.

Claims

1. An ultrasonic circuit, characterized in that, The ultrasonic circuit includes: a transmitting module configured to transmit a high-voltage pulse signal; a transducer module, the input end of the transducer module is electrically connected to the output end of the transmitting module, and the transducer module is configured to convert the high-voltage pulse signal into an ultrasonic signal; an aftershock suppression module including at least a switching device, the input end of the aftershock suppression module is electrically connected to the input end of the transducer module, and the output end is grounded. The aftershock suppression module is configured to conduct the high-voltage pulse signal to the ground when the switching device is turned on; and a control module communicatively connected to the aftershock suppression module. The control module is configured to control the switching device to turn on when the transmission of the high-voltage pulse signal ends, so that the switching device conducts the high-voltage pulse signal to the ground within a preset aftershock suppression time.

2. The ultrasonic circuit according to claim 1, characterized in that, The switching device includes an NPN bipolar transistor, and the aftershock suppression module further includes a first resistor, a second resistor, a first diode, and a second diode; the base of the NPN bipolar transistor is electrically connected to one end of the first resistor, the other end of the first resistor is electrically connected to the output end of the first diode, and the input end of the first diode is communicatively connected to the control module; the collector of the NPN bipolar transistor is electrically connected to one end of the second resistor, the other end of the second resistor is electrically connected to the input end of the transducer module; and the emitter of the NPN bipolar transistor is electrically connected to the input end of the second diode, and the output end of the second diode is grounded.

3. The ultrasonic circuit according to claim 2, characterized in that, The control module is further configured to control the input end of the first diode to be set to a high level when the transmission of the high-voltage pulse signal ends, so as to start the NPN bipolar transistor to conduct.

4. The ultrasonic circuit according to claim 1, characterized in that The switching device includes a triac, and the aftershock suppression module further includes a third resistor, a fourth resistor, and a third diode; the control electrode of the triac is electrically connected to one end of the third resistor, the other end of the third resistor is electrically connected to the output end of the third diode, and the input end of the third diode is communicatively connected to the control module; the first anode of the triac is electrically connected to one end of the fourth resistor, the other end of the fourth resistor is electrically connected to the input end of the transducer module; and the second anode of the triac is grounded.

5. The ultrasonic circuit according to claim 4, wherein The control module is further configured to control the input end of the third diode to be set to a high level when the transmission of the high-voltage pulse signal ends, so as to start the triac to conduct.

6. The ultrasonic circuit according to claim 1, wherein The control module is further configured to control the switching device to turn off when the preset aftershock suppression time ends.

7. An ultrasonic radar system, characterized in that, including the ultrasonic circuit according to any one of claims 1 to 6.

8. A method for suppressing after-vibration of an ultrasonic radar, characterized in that, The method is applied to the ultrasonic circuit according to any one of claims 1 to 6, and the method includes: when the transmitting module ends transmitting the high-voltage pulse signal, controlling to start the switching device in the aftershock suppression module to conduct; the switching device conducts the high-voltage pulse signal to the ground within a preset aftershock suppression time; and When the preset after-vibration suppression time ends, control the switching device to turn off.

9. The aftershock suppression method according to claim 8, wherein The switching device includes an NPN bipolar transistor or a triac, and the method further includes: Determining the conduction time of the NPN bipolar transistor according to the preset after-vibration suppression time; or Determining the conduction time of the triac according to the preset after-vibration suppression time.

10. The aftershock suppression method according to claim 9, wherein It further includes: Converting the ultrasonic signal emitted by the transducer module into an electrical signal by the receiving module; and After the switching device is turned off, performing echo detection on the electrical signal.

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