Radar probe aftershock suppression method, device and system and computer equipment

Abstract

The invention relates to a radar probe aftershock suppression method, device and system and computer equipment. The method comprises the following steps: acquiring a vibration signal of a radar probe; determining a residual vibration signal based on the vibration signal, decomposing the residual vibration signal into a plurality of residual vibrator signals, and determining waveform parameters of the plurality of residual vibrator signals; correspondingly determining a plurality of suppressor sub-signals based on the waveform parameters of the plurality of residual oscillator sub-signals, and superposing the plurality of suppressor sub-signals to obtain a suppression signal; and sending the suppression signal to the radar probe, so that the radar probe suppresses residual vibration based on the suppression signal. On one hand, the residual vibration of the probe can be attenuated to zero in a shorter time, so that the measurement precision and reliability of the radar are effectively improved; and on the other hand, real-time optimization can be carried out for different detection distances and object conditions, the real-time performance, effectiveness and flexibility of the residual vibration suppression effect are kept, and radar detection can be suitable for more application scenes.

Description

Technical Field

[0001] The present application relates to the field of radar detection technology, and in particular to a radar probe aftershock suppression method, device, system and computer equipment. Background Art

[0002] Ultrasonic radar ranging measures the distance between a target object and a sensor by transmitting ultrasonic signals and receiving echo signals. As a common non-contact ranging technology, ultrasonic radar ranging is widely used in industrial, medical, security and other fields.

[0003] However, in practical radar ranging applications, if the distance is short, the radar probe's continuous vibration will cause the echo signal of the nearby object to be overwhelmed by the residual vibration signal of the probe vibration, making it impossible to accurately detect the close-range object. Therefore, the residual vibration generated by the radar probe in traditional technology reduces the measurement accuracy and reliability of radar ranging, limiting its application in some scenarios. Summary of the Invention

[0004] Based on this, it is necessary to provide a radar probe aftershock suppression method, device, system and computer equipment that can suppress aftershock to address the above technical problems.

[0005] In a first aspect, the present application provides a method for suppressing residual vibration of a radar probe. The method comprises:

[0006] Obtain vibration signals from radar probes;

[0007] Determining a residual vibration signal based on the vibration signal, decomposing the residual vibration signal into a plurality of residual oscillator signals, and determining waveform parameters of the plurality of residual oscillator signals;

[0008] Determining a plurality of inhibitory sub-signals based on the waveform parameters of the plurality of residual oscillator signals, and superimposing the plurality of inhibitory sub-signals to obtain an inhibitory signal;

[0009] The suppression signal is sent to the radar probe, so that the radar probe suppresses aftershocks based on the suppression signal.

[0010] In one embodiment, decomposing the residual vibration signal into a plurality of residual vibration sub-signals includes:

[0011] Determining the aftershock period of the aftershock signal;

[0012] intercepting the aftershock signal based on a first preset number of aftershock cycles to obtain a signal to be decomposed;

[0013] Decompose the signal to be decomposed into multiple residual oscillator signals.

[0014] In one embodiment, decomposing the signal to be decomposed into a plurality of residual oscillator signals includes:

[0015] Performing Fourier transform on the signal to be decomposed to obtain a plurality of residual oscillator signals, wherein any two residual oscillator signals have different frequencies and / or different phases.

[0016] In one embodiment, the waveform parameters include amplitude and phase, and determining the multiple inhibitory sub-signals based on the waveform parameters of the multiple residual oscillator signals includes:

[0017] The amplitude of each residual oscillator signal is increased by a preset multiple to obtain a suppression amplitude;

[0018] The phase of each residual oscillator signal is inverted to obtain the suppressed phase;

[0019] The plurality of suppressed sub-signals are determined based on the suppressed amplitude and the suppressed phase.

[0020] In one embodiment, superimposing the multiple inhibitory sub-signals to obtain the inhibitory signal includes:

[0021] Determining the aftershock period of the aftershock signal;

[0022] intercepting each suppressed sub-signal based on a second preset number of aftershock cycles to obtain a plurality of signals to be superimposed;

[0023] The multiple signals to be superimposed are superimposed to obtain the suppression signal.

[0024] In one embodiment, determining the residual vibration signal based on the vibration signal includes:

[0025] An undamped signal in the vibration signal is determined as the aftervibration signal, wherein the amplitude of the undamped signal is greater than a preset signal amplitude.

[0026] In a second aspect, the present application also provides a radar probe aftershock suppression device. The device comprises:

[0027] A vibration signal acquisition module is used to acquire the vibration signal of the radar probe;

[0028] a residual vibration signal decomposition module, configured to determine a residual vibration signal based on the vibration signal, decompose the residual vibration signal into a plurality of residual vibration sub-signals, and determine waveform parameters of the plurality of residual vibration sub-signals;

[0029] a suppression signal generating module, configured to determine a plurality of suppression sub-signals based on the waveform parameters of the plurality of residual oscillator signals, and superimpose the plurality of suppression sub-signals to obtain a suppression signal;

[0030] The suppression signal sending module is used to send the suppression signal to the radar probe, so that the radar probe suppresses the aftershock based on the suppression signal.

[0031] In a third aspect, the present application also provides a radar probe after-vibration suppression system, the system comprising a radar probe, a vibration sampling module, and the radar probe after-vibration suppression device as described in the second aspect above, the radar probe after-vibration suppression device being connected to the radar probe and the vibration sampling module respectively, and the radar probe being further connected to the vibration sampling module, wherein,

[0032] The radar probe is configured to receive an excitation signal, vibrate based on the excitation signal, and emit a radar detection signal;

[0033] The vibration sampling module is used to sample the vibration of the radar probe to obtain a sampled analog signal, and convert the sampled analog signal into a vibration digital signal, and send it to the radar probe residual vibration suppression device;

[0034] The radar probe residual vibration suppression device is used to receive the vibration digital signal and generate a suppression signal to send to the radar probe;

[0035] The radar probe is further used to suppress aftershocks based on the suppression signal.

[0036] In a fourth aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any one of the methods described in the first aspect when executing the computer program.

[0037] In a fifth aspect, the present application further provides a computer-readable storage medium. When the computer program is executed by a processor, the computer program implements the steps of any one of the methods described in the first aspect.

[0038] The above-mentioned radar probe after-vibration suppression method, device, system, and computer equipment obtain a vibration signal from the radar probe, determine a after-vibration signal based on the vibration signal, decompose the after-vibration signal into multiple after-vibration component signals, and determine the waveform parameters of the multiple after-vibration component signals. Multiple suppression component signals are then determined based on the waveform parameters of the multiple after-vibration component signals, and the multiple suppression component signals are superimposed to generate a suppression signal. The suppression signal is then transmitted to the radar probe, so that the radar probe suppresses after-vibration based on the suppression signal. The present application analyzes the after-vibration signal, decomposes the after-vibration signal into multiple after-vibration component signals, and then generates multiple suppression component signals for each after-vibration component signal. The multiple suppression component signals are then superimposed to generate a suppression signal, effectively canceling the after-vibration of the radar probe. This allows the probe's after-vibration to decay to zero in a shorter time, thereby effectively improving the radar's measurement accuracy and reliability. Furthermore, by analyzing the after-vibration signal in real time and generating the suppression signal, the present application enables real-time optimization for different detection distances and object conditions, maintaining the real-time, effectiveness, and flexibility of the after-vibration suppression effect, making radar detection applicable to a wider range of application scenarios.

[0039] The details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0041] Figure 1 A diagram showing an application environment of a radar probe aftervibration suppression method according to an embodiment;

[0042] Figure 2 1 is a flow chart of a radar probe after-vibration suppression method according to an embodiment;

[0043] Figure 3 1. A schematic diagram of a flow chart of a closed-loop feedback system for after-vibration suppression according to an embodiment;

[0044] Figure 4 is a schematic diagram of residual vibration when the residual vibration is not suppressed in one embodiment;

[0045] Figure 5 is a schematic diagram of residual vibration when the residual vibration has been suppressed in one embodiment;

[0046] Figure 6 1 is a structural block diagram of a radar probe after-vibration suppression device in one embodiment;

[0047] Figure 7FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0049] Unless otherwise defined, the technical terms or scientific terms involved in this application should have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "an", "a", "the", "these" and the like in this application do not indicate quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "plurality" involved in this application refers to two or more. "And / or" describes the relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, and B exists alone. Generally, the character " / " indicates that the related objects are in an "or" relationship. The terms "first," "second," "third," etc. used in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0050] The terms "module", "unit", etc. used below refer to a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in hardware, implementation using software or a combination of software and hardware is also possible and contemplated.

[0051] The radar probe aftershock suppression method provided in the embodiment of the present application can be applied to Figure 1In the application environment shown. The radar probe after-vibration suppression device 102 obtains the vibration signal of the radar probe 101. The radar probe after-vibration suppression device 102 can send the vibration signal to the server 103 through the communication network. The server 103 determines the after-vibration signal based on the vibration signal, decomposes the after-vibration signal into multiple after-vibration sub-signals, and determines the waveform parameters of the multiple after-vibration sub-signals; determines multiple suppression sub-signals based on the waveform parameters of the multiple after-vibration sub-signals, and superimposes the multiple suppression sub-signals to obtain a suppression signal; sends the suppression signal to the radar probe 101 via the radar probe after-vibration suppression device 102, so that the radar probe 101 suppresses the after-vibration based on the suppression signal. In other embodiments, the above-mentioned step of determining the suppression signal can also be performed by the radar probe after-vibration suppression device 102, and this application does not limit this. Among them, the data storage system can store data that the server 103 needs to process. The data storage system can be integrated on the server 103, or it can be placed on the cloud or other network servers.

[0052] Traditionally, residual vibration suppression methods involve hardware circuit modifications, such as connecting inductors and capacitors in series or parallel across the ultrasonic transducer to accelerate the dissipation of residual vibration energy. However, these modifications require hardware circuit modifications to the ultrasonic radar, increasing the complexity of the project implementation. Furthermore, they lack the ability to dynamically adjust the circuits in real time, making it difficult to achieve optimal suppression results.

[0053] Based on this, an embodiment of the present application provides a method for suppressing residual vibration of a radar probe, the method comprising:

[0054] S201: Acquire a vibration signal of a radar probe.

[0055] In an embodiment of the present application, the radar probe will vibrate after receiving the excitation signal, and send a detection signal to the target detection space based on the vibration, which can be used to perform position measurement, distance measurement, etc. of the target object in the target detection space. In some specific embodiments, the excitation signal can be set as needed, such as the excitation signal can include a 16-cycle sinusoidal excitation signal. However, due to the mechanical characteristics of the radar probe, the radar probe does not stop vibrating immediately after the detection signal is sent, but instead generates after-vibration and sends out an after-vibration signal. This after-vibration signal will usually gradually decay, but in the early stage of decay, the after-vibration signal is still strong, so it will interfere with the echo signal of the close-range target object, affecting the accuracy of the measurement.

[0056] In embodiments of the present application, a vibration signal of the radar probe can be acquired through a vibration sampling module. In some specific embodiments, the vibration sampling module may include an analog-to-digital converter (ADC) unit for acquiring the vibration analog signal of the radar probe and converting it into a vibration digital signal, which is used as the vibration signal of the radar probe for subsequently generating a suppression signal.

[0057] S203: Determine a residual vibration signal based on the vibration signal, decompose the residual vibration signal into multiple residual vibration sub-signals, and determine waveform parameters of the multiple residual vibration sub-signals.

[0058] In the embodiment of the present application, the aftershock signal after being significantly attenuated has little effect on the radar detection accuracy, so the unattenuated portion of the vibration signal can be extracted as the aftershock signal to be analyzed, which is used to subsequently generate a suppression signal to improve the aftershock suppression effect. Based on this, in some embodiments, determining the aftershock signal based on the vibration signal includes determining the unattenuated signal in the vibration signal as the aftershock signal, and the amplitude of the unattenuated signal is greater than the preset signal amplitude. In some specific embodiments, the waveform of the aftershock signal can be approximately regarded as a sine waveform, and a vibration signal with a sine waveform amplitude less than the preset signal amplitude can be regarded as the aftershock signal.

[0059] In some embodiments, the after-oscillation signal may be intercepted based on the after-oscillation period, and the decomposing of the after-oscillation signal into a plurality of after-oscillation sub-signals may include:

[0060] S301: Determine the aftershock period of the aftershock signal.

[0061] S303: intercepting the aftershock signal based on a first preset number of aftershock periods to obtain a signal to be decomposed.

[0062] S305: Decompose the signal to be decomposed into multiple residual oscillator signals.

[0063] In an embodiment of the present application, the aftershock period of the aftershock signal can be determined by analyzing the waveform characteristics of the aftershock signal. For example, the aftershock signal can be determined as a sine waveform, and the period of the sine waveform is used as the aftershock period. The aftershock signal is intercepted according to a first preset number of aftershock periods to obtain a signal to be decomposed. Specifically, the first preset number can be 8, 9 or 10, that is, discrete aftershock signals of 8-10 periods are intercepted as the signal to be decomposed. Normally, starting from the first period of the aftershock signal, aftershock signals of the first preset number of aftershock periods can be intercepted. By intercepting the aftershock signal according to the aftershock period, on the one hand, stronger aftershock signals can be analyzed to improve the suppression effect; on the other hand, selecting a finite-length aftershock signal as the signal to be decomposed can reduce the amount of data processing, thereby improving the real-time performance and suppression efficiency of the signal suppression.

[0064] In an embodiment of the present application, after obtaining a signal to be decomposed, it is decomposed to obtain multiple residual oscillator signals, and the waveform parameters of the multiple residual oscillator signals are determined. In some embodiments, signal decomposition can refer to HHT (Hilbert-Huang Transform), covariance power spectral density estimation algorithm, etc., and the signal to be decomposed can be decomposed into residual oscillator signals and analyzed from different angles.

[0065] In some embodiments, since the aftershock signal is not a standard sinusoidal waveform, if a single phase and frequency are simply used to describe the aftershock waveform, the generated suppression signal will have a large error. Based on this, the present application analyzes the aftershock signal based on Fourier transform. The decomposition of the signal to be decomposed into multiple aftershock sub-signals includes performing Fourier transform on the signal to be decomposed to obtain multiple aftershock sub-signals, and any two aftershock sub-signals have different frequencies and / or different phases. In some specific embodiments, the signal to be decomposed can be decomposed into a superposition of multiple sinusoidal waves with different phases and frequencies based on a discrete Fourier transform (DFT) algorithm, and these sinusoidal waves are used as multiple aftershock sub-signals. Of course, in other embodiments, the superposition of multiple cosine waves, or the superposition of multiple sine waves and cosine waves can also be decomposed, and the present application does not impose specific restrictions on this. The specific steps of decomposing the signal to be decomposed based on Fourier transform can refer to the Fourier transform method in the prior art.

[0066] In the embodiment of the present application, after determining the suppressor signal, the waveform characteristics of the suppressor signal can be analyzed to determine the waveform parameters of multiple residual oscillator signals, which may include but are not limited to frequency, phase, amplitude, etc.

[0067] S205: Determine a plurality of suppressor signals based on the waveform parameters of the plurality of residual oscillator signals, and superimpose the plurality of suppressor signals to obtain a suppressor signal.

[0068] In the embodiment of the present application, corresponding suppression parameters can be generated specifically based on the waveform parameters of multiple residual oscillator signals, and suppression sub-signals are obtained according to the suppression parameters and superimposed to obtain a suppression signal.

[0069] In some embodiments, the waveform parameters include amplitude and phase, and determining the plurality of suppressor signals based on the waveform parameters of the plurality of residual oscillator signals includes:

[0070] S401: Amplify the amplitude of each residual oscillator signal by a preset multiple to obtain a suppression amplitude.

[0071] S403: Invert the phase of each residual oscillator signal to obtain a suppressed phase.

[0072] S405: Determine the multiple suppression sub-signals based on the suppression amplitude and the suppression phase.

[0073] In an embodiment of the present application, the amplitude of each residual oscillator signal is increased by a preset multiple to obtain a suppressed amplitude. In some specific embodiments, the preset multiple can be 0.8. The phase of each residual oscillator signal is inverted to obtain a suppressed phase. The phase inversion can include increasing the phase by π. In other embodiments, the waveform parameters also include frequency. To ensure the suppression effect, the frequency in the waveform parameters is kept unchanged as the frequency of the suppressed sub-signal. Based on the suppressed amplitude and suppressed phase, multiple suppressed sub-signals can be determined. The suppressed signal can be obtained by superimposing the multiple suppressed sub-signals.

[0074] In some embodiments, superimposing the multiple inhibitory sub-signals to obtain the inhibitory signal includes:

[0075] S501: Determine the aftershock period of the aftershock signal.

[0076] S503: intercepting each suppressed sub-signal based on a second preset number of after-oscillation periods to obtain a plurality of signals to be superimposed.

[0077] S505: Superimpose the multiple signals to be superimposed to obtain the suppression signal.

[0078] In an embodiment of the present application, a second preset number of suppression sub-signals of aftershock cycles can be intercepted and superimposed to obtain a suppression signal to improve the suppression effect. The method of determining the aftershock cycle of the aftershock signal can refer to the steps of the above embodiment and will not be repeated here. Based on the second preset number of aftershock cycles, each suppression sub-signal is intercepted to obtain a plurality of signals to be superimposed. Among them, the second preset number can be any number from 2 to 5, such as intercepting 5 aftershock cycles for each suppression sub-signal, and correspondingly obtaining a plurality of signals to be superimposed. Then, the plurality of signals to be superimposed are superimposed to obtain a suppression signal. In some embodiments, for each signal segment with a higher amplitude in each suppression sub-signal, signal interception can be performed based on the second preset number of aftershock cycles, so that the suppression signal can be more targeted at suppressing stronger aftershock signals, thereby improving the aftershock suppression effect.

[0079] S207: Send the suppression signal to the radar probe, so that the radar probe suppresses aftershocks based on the suppression signal.

[0080] In the embodiment of the present application, after the suppression signal is generated, it is sent to the radar probe, causing the radar probe to transmit the suppression signal. The suppression signal sent by the radar probe acts as a reverse wave of the residual vibration signal, effectively suppressing the residual vibration and reducing the residual vibration time of the radar probe, thereby reducing the near-field blind spot of the ultrasonic radar and increasing the radar's detectable range.

[0081] The radar probe aftershock suppression method provided in the embodiment of the present application has the following technical effects:

[0082] First, by sending an anti-phase suppression signal, the present application can offset the interference components caused by the vibration of the radar probe in the echo signal, thereby improving the accuracy of close-range object detection. It has a good suppression effect, can significantly reduce or eliminate residual vibration interference, and improve the measurement accuracy and reliability of the ultrasonic radar.

[0083] Second, compared to traditional circuit modification or probe modification technologies, the present application generates an anti-phase suppression waveform by performing spectrum analysis on the collected after-vibration signal, and optimizes and adjusts the duration, amplitude, phase and other parameters of the suppression waveform, thereby achieving efficient suppression of after-vibration based on the feedback signal. The present application also introduces a spectrum analysis method of discrete Fourier transform to analyze the frequency and phase components of the after-vibration signal, and utilizes the discrete characteristics of the periodic signal spectrum to decompose the after-vibration signal into multiple after-vibration sub-signals. Compared to the traditional technology of approximating all after-vibration signals as sinusoidal signals with a single frequency and a single phase, the present application can achieve accurate analysis of the after-vibration components with higher accuracy. At the same time, a second preset number of periodic suppression sub-signals are superimposed to obtain a suppression signal for anti-phase suppression, thereby avoiding the long-term vibration of the ultrasonic transducer caused by the long suppression signal time, which enables the after-vibration to decay to zero in a shorter time.

[0084] Third, this application does not require significant modifications to circuits or probes. By sending an inverted wave through the radar probe to suppress residual vibrations, it can be directly applied to existing ultrasonic radar systems without complex system modifications or adjustments. This not only simplifies system design and implementation, but also reduces hardware costs and engineering difficulty.

[0085] Fourth, the present invention's residual vibration suppression method involves a closed-loop feedback mechanism, which offers high real-time and adaptability. By continuously collecting, analyzing, and adjusting the anti-phase suppression waveform, the system can respond in real time to changes in probe vibration and residual vibration, providing precise suppression. This closed-loop feedback mechanism, by adjusting the waveform and phase of the anti-phase wave, can be optimized for different detection distances and object conditions, improving the system's stability, accuracy, and adaptability in practical applications.

[0086] The radar probe aftershock suppression method provided in this application can be applied to Figure 3 In the closed-loop feedback system for residual vibration suppression shown in the figure, an excitation signal is sent to the probe, causing it to oscillate. Based on the excitation signal, the probe then sends a detection signal and detects the echo. Simultaneously, the ADC collects vibration data from the probe, analyzes the spectrum of the residual vibration segment, and generates a reverse suppression signal wave. This signal is then sent to the radar probe, which then suppresses the residual vibration based on the reverse suppression signal wave. This process continues continuously, achieving a closed-loop feedback loop.

[0087] The experimental verification results of the embodiment of this application are as follows Figure 4 、 Figure 5 As shown, Figure 4 It is a schematic diagram of the residual vibration when the residual vibration is not suppressed. Figure 5 Schematic diagram of the residual vibration after the residual vibration is suppressed by the radar probe residual vibration suppression method provided by this application. Figure 4 and Figure 5 The comparison shows that the after-vibration time is reduced from about 1.2ms to about 0.9ms, and the after-vibration time is reduced by about 25%. The after-vibration suppression effect is obvious.

[0088] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0089] Based on the same inventive concept, embodiments of the present application also provide a radar probe after-vibration suppression device for implementing the aforementioned radar probe after-vibration suppression method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more radar probe after-vibration suppression device embodiments provided below can be found in the aforementioned limitations of the radar probe after-vibration suppression method and will not be further elaborated here.

[0090] In one embodiment, Figure 6 As shown, a radar probe after-vibration suppression device 900 is provided, comprising:

[0091] The vibration signal acquisition module 901 is used to obtain the vibration signal of the radar probe;

[0092] a residual vibration signal decomposition module 902 for determining a residual vibration signal based on the vibration signal, decomposing the residual vibration signal into a plurality of residual vibration sub-signals, and determining waveform parameters of the plurality of residual vibration sub-signals;

[0093] a suppression signal generating module 903, configured to determine a plurality of suppression sub-signals based on the waveform parameters of the plurality of residual oscillator signals, and superimpose the plurality of suppression sub-signals to obtain a suppression signal;

[0094] The suppression signal sending module 904 is configured to send the suppression signal to the radar probe, so that the radar probe suppresses aftershocks based on the suppression signal.

[0095] In one embodiment, the aftershock signal decomposition module 902 is further configured to determine the aftershock period of the aftershock signal; intercept the aftershock signal based on a first preset number of aftershock periods to obtain a signal to be decomposed; and decompose the signal to be decomposed into multiple aftershock sub-signals.

[0096] In one embodiment, the residual oscillator signal decomposition module 902 is further configured to perform Fourier transform on the signal to be decomposed to obtain multiple residual oscillator signals, where any two residual oscillator signals have different frequencies and / or different phases.

[0097] In one embodiment, the waveform parameters include amplitude and phase, and the suppression signal generation module 903 is further used to increase the amplitude of each residual oscillator signal by a preset multiple to obtain a suppression amplitude; invert the phase of each residual oscillator signal to obtain a suppression phase; and determine the multiple suppression sub-signals based on the suppression amplitude and suppression phase.

[0098] In one embodiment, the suppression signal generation module 903 is further used to determine the aftershock period of the aftershock signal; intercept each suppression sub-signal based on a second preset number of aftershock periods to obtain multiple signals to be superimposed; and superimpose the multiple signals to be superimposed to obtain the suppression signal.

[0099] In one embodiment, the after-vibration signal decomposition module 902 is further configured to determine an undamped signal in the vibration signal as the after-vibration signal, wherein the amplitude of the undamped signal is greater than a preset signal amplitude.

[0100] Each module in the radar probe aftershock suppression device 900 can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or stored in a computer device memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0101] Based on the same inventive concept, an embodiment of the present application also provides a radar probe after-vibration suppression system, which includes a radar probe, a vibration sampling module, and a radar probe after-vibration suppression device as described in the above embodiment. The radar probe after-vibration suppression device is connected to the radar probe and the vibration sampling module respectively, and the radar probe is also connected to the vibration sampling module, wherein:

[0102] The radar probe is configured to receive an excitation signal, vibrate based on the excitation signal, and emit a radar detection signal;

[0103] The vibration sampling module is used to sample the vibration of the radar probe to obtain a sampled analog signal, and convert the sampled analog signal into a vibration digital signal, and send it to the radar probe residual vibration suppression device;

[0104] The radar probe residual vibration suppression device is used to receive the vibration digital signal and generate a suppression signal to send to the radar probe;

[0105] The radar probe is further used to suppress aftershocks based on the suppression signal.

[0106] In some embodiments, the radar probe includes an excitation signal sending unit and a probe unit connected to each other. The vibration sampling module includes a vibration sampling unit and an analog-to-digital conversion unit connected to each other.

[0107] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a radar probe aftershock suppression method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0108] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0109] In one embodiment, when the processor executes the computer program, it further implements the steps of the radar probe after-vibration suppression method in any of the above embodiments.

[0110] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the radar probe aftervibration suppression method in any of the above embodiments are implemented.

[0111] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the computer program implements the steps of the radar probe after-vibration suppression method in any of the above embodiments.

[0112] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0113] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0114] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0115] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A radar probe aftershock suppression method, characterized in that: The method comprises: Obtain vibration signals from radar probes; Determining a residual vibration signal based on the vibration signal, decomposing the residual vibration signal into a plurality of residual oscillator signals, and determining waveform parameters of the plurality of residual oscillator signals; Determining a plurality of inhibitory sub-signals based on the waveform parameters of the plurality of residual oscillator signals, and superimposing the plurality of inhibitory sub-signals to obtain an inhibitory signal; The suppression signal is sent to the radar probe, so that the radar probe suppresses aftershocks based on the suppression signal.

2. The method according to claim 1, characterized in that Decomposing the residual vibration signal into a plurality of residual vibration sub-signals comprises: Determining the aftershock period of the aftershock signal; intercepting the aftershock signal based on a first preset number of aftershock cycles to obtain a signal to be decomposed; Decompose the signal to be decomposed into multiple residual oscillator signals.

3. The method according to claim 2, characterized in that Decomposing the signal to be decomposed into a plurality of residual oscillator signals comprises: Performing Fourier transform on the signal to be decomposed to obtain a plurality of residual oscillator signals, wherein any two residual oscillator signals have different frequencies and / or different phases.

4. The method according to claim 1, wherein The waveform parameters include amplitude and phase, and the determining of the plurality of suppressor signals based on the waveform parameters of the plurality of residual oscillator signals includes: The amplitude of each residual oscillator signal is increased by a preset multiple to obtain a suppression amplitude; The phase of each residual oscillator signal is inverted to obtain the suppressed phase; The plurality of suppressed sub-signals are determined based on the suppressed amplitude and the suppressed phase.

5. The method according to claim 1, characterized in that The superimposing the multiple inhibitory sub-signals to obtain the inhibitory signal includes: Determining the aftershock period of the aftershock signal; intercepting each suppressed sub-signal based on a second preset number of aftershock cycles to obtain a plurality of signals to be superimposed; The multiple signals to be superimposed are superimposed to obtain the suppression signal.

6. The method according to claim 1, characterized in that Determining the residual vibration signal based on the vibration signal includes: An undamped signal in the vibration signal is determined as the aftervibration signal, wherein the amplitude of the undamped signal is greater than a preset signal amplitude.

7. A radar probe after-vibration suppression device, characterized in that: The device comprises: A vibration signal acquisition module is used to acquire the vibration signal of the radar probe; a residual vibration signal decomposition module, configured to determine a residual vibration signal based on the vibration signal, decompose the residual vibration signal into a plurality of residual vibration sub-signals, and determine waveform parameters of the plurality of residual vibration sub-signals; a suppression signal generating module, configured to determine a plurality of suppression sub-signals based on the waveform parameters of the plurality of residual oscillator signals, and superimpose the plurality of suppression sub-signals to obtain a suppression signal; The suppression signal sending module is used to send the suppression signal to the radar probe, so that the radar probe suppresses the aftershock based on the suppression signal.

8. A radar probe after-vibration suppression system, characterized in that: The system includes a radar probe, a vibration sampling module, and the radar probe after-vibration suppression device according to claim 7, wherein the radar probe after-vibration suppression device is connected to the radar probe and the vibration sampling module respectively, and the radar probe is also connected to the vibration sampling module, wherein: The radar probe is configured to receive an excitation signal, vibrate based on the excitation signal, and emit a radar detection signal; The vibration sampling module is used to sample the vibration of the radar probe to obtain a sampled analog signal, and convert the sampled analog signal into a vibration digital signal, and send it to the radar probe residual vibration suppression device; The radar probe residual vibration suppression device is used to receive the vibration digital signal and generate a suppression signal to send to the radar probe; The radar probe is further used to suppress aftershocks based on the suppression signal.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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