Ultrasonic echo signal processing method and system and ultrasonic sensor chip

Abstract

The invention provides an ultrasonic echo signal processing method and system and an ultrasonic sensor chip, and relates to the technical field of signal processing. The method comprises the following steps: an ultrasonic sensor chip performs sampling rate compression processing on an obtained original ultrasonic echo signal to generate first compressed data; the ultrasonic sensor chip performs bit width compression processing on the first compressed data to generate second compressed data; the ultrasonic sensor chip transmits the second compressed data to data processing equipment; the data processing equipment performs bit width decompression processing on the second compressed data to generate decompression data; and the data processing equipment performs sampling rate reconstruction on the decompressed data to generate a reconstructed ultrasonic echo signal. According to the invention, through sampling rate compression and bit width compression, occupation of bandwidth is reduced; through bit width decompression and sampling rate reconstruction, the accuracy and integrity of transmission data are ensured.

Description

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 8, 2024, with application number 202411087860.3 and application name “Ultrasonic sensor chip, data processing equipment and system”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present application relate to the field of signal processing technology, and in particular to a method and system for processing ultrasonic echo signals and an ultrasonic sensor chip. Background Art

[0003] In recent years, with the increasing demand for environmental recognition accuracy, an increasing number of ultrasonic systems have been incorporated into vehicles. These systems are designed to identify and classify surrounding obstacles. Ultrasonic sensor technology is used in a variety of fields and is widely used and researched due to its high stability and low cost. When an ultrasonic echo signal greater than a threshold is present during the reception phase, it is determined to be an obstacle echo, and this echo can then be used to determine the distance to the obstacle. However, with the widespread adoption and expansion of technologies and applications such as autonomous driving, unmanned driving, assisted driving, and automated parking, simply determining the presence of an obstacle is no longer sufficient. Obstacle detection requires more comprehensive data, such as obstacle type, distribution, size, and height. Therefore, ultrasonic sensor chips must not be limited to simply transmitting obstacle presence data to a data processing device, which can include, for example, a computer or higher-level processing circuit. They must also transmit more information to the data processing device to meet these diverse functional requirements.

[0004] However, the ultrasonic echo signal contains a large amount of data. If all the data is transmitted to the data processing equipment, problems such as long transmission time and large bus bandwidth will arise. Transmitting complete curve data (i.e., all sampling point data) will occupy a large amount of communication bandwidth and place higher requirements on the memory, computing power, etc. of the data processing equipment.

[0005] In existing technologies, ultrasonic sensor chips first abstract the signal curve into a variety of predefined signal events, extract the signal characteristics of these events, and transmit these extracted signal characteristics via a bus to a data processing device. The data processing device then reconstructs the signal waveform based on these signal characteristics. Signal events can include reaching a maximum value, reaching a minimum value, crossing a threshold upward, or crossing a threshold downward. The signal characteristics of each signal event can include signal amplitude and the time of the event. In existing technology solutions, the amount of data transmitted is relatively small, requiring a low bus speed and thus requiring less bandwidth. However, in the existing technical solutions, the data processing equipment obtains less information and can only obtain a few pre-defined signal events. The signal waveform reconstructed by these signal events has more information loss than the original signal, resulting in limited post-processing performance optimization. Especially in application scenarios such as automatic parking, the information loss is more obvious when it is necessary to identify parameters such as obstacle type, obstacle distribution, obstacle size, and obstacle height.

[0006] In summary, although the existing technical solutions have low bandwidth occupancy, they cannot ensure the integrity and accuracy of transmitted data, and thus cannot meet more complex environmental recognition requirements. Summary of the Invention

[0007] In view of this, the embodiments of the present application provide a method, system and ultrasonic sensor chip for processing ultrasonic echo signals, which are used to reduce bandwidth occupancy, achieve lossless data recovery, ensure the accuracy and integrity of transmitted data, and thus meet more complex environmental recognition needs.

[0008] A first aspect provides a method for processing an ultrasonic echo signal, comprising: The ultrasonic sensor chip performs sampling rate compression processing on the acquired original ultrasonic echo signal to generate first compressed data; The ultrasonic sensor chip performs bit width compression processing on the first compressed data to generate second compressed data; The ultrasonic sensor chip transmits the second compressed data to a data processing device; The data processing device performs bit width decompression processing on the second compressed data to generate decompressed data; The data processing device reconstructs the sampling rate of the decompressed data to generate a reconstructed ultrasonic echo signal.

[0009] In a possible implementation, the ultrasonic sensor chip performs sampling rate compression processing on the acquired original ultrasonic echo signal to generate first compressed data, including: The ultrasonic sensor chip filters and downsamples the original ultrasonic echo signal through an FIR downsampling filter to generate the first compressed data. The sampling frequency of the first compressed data is 1 / N of the sampling frequency of the original ultrasonic echo signal, where N is a downsampling factor.

[0010] In one possible implementation, N≥6.

[0011] In a possible implementation, a passband width of the FIR downsampling filter is greater than an echo bandwidth of the original ultrasonic echo signal and less than 1 / 2 of a sampling frequency of the first compressed data.

[0012] In a possible implementation, the ultrasonic sensor chip performs bit width compression on the first compressed data to generate second compressed data, including: If the ultrasonic sensor chip determines that the number of sign bits of the first compressed data is greater than or equal to a set number threshold, the high n1 bits of the second compressed data are set to a set bit value, and the low n2 bits of the second compressed data are set to the low n2 bits of the first compressed data, where n1≥1, n1+n2=L, and L is the number of bits of the second compressed data.

[0013] In a possible implementation, the ultrasonic sensor chip performs bit width compression on the first compressed data to generate second compressed data, including: If the ultrasonic sensor chip determines that the number of sign bits of the first compressed data is less than a set number threshold, the upper n3 bits of the second compressed data are set to the sign bit value, and the lower n4 bits of the second compressed data are set to the M-N_sign bit to the L-N_sign+1 bit of the first compressed data, where n3≥2, n3+n4=L, M<L, M is the number of bits of the first compressed data, L is the number of bits of the second compressed data, and N_sign is the number of sign bits.

[0014] In a possible implementation, the data processing device performs bit width decompression processing on the second compressed data to generate decompressed data, including: If the data processing device determines that the high n1 bit of the second compressed data is a set bit value, the high A bit of the decompressed data is set to 0, and the low MA bit of the decompressed data is set to the low MA bit of the second compressed data, where M is the number of bits of the first compressed data and A is the set number threshold.

[0015] In a possible implementation, the data processing device performs bit width decompression processing on the second compressed data to generate decompressed data, including: If the data processing device determines that the upper n1 bits of the second compressed data are not the set bit value, it extracts the bit value corresponding to the upper n3 bits of the second compressed data, uses the bit value corresponding to the upper n3 bits as the number of sign bits N_sign, sets the highest N_sign bits of the decompressed data to 0, sets the M-N_sign bits to the L-N_sign+1 bits of the decompressed data to the lower n4 bits of the second compressed data, and sets the lowest L-N_sign bits of the decompressed data to 0, where n3≥2, n3+n4=L, M<L, M is the number of bits of the first compressed data, and L is the number of bits of the second compressed data.

[0016] In a possible implementation, the data processing device reconstructs the sampling rate of the decompressed data to generate a reconstructed ultrasonic echo signal, including: The data processing device performs N-fold zero-sample interpolation processing on the decompressed data through an FIR upsampling filter to generate zero-interpolation data, and performs smoothing filtering on the zero-interpolation data to generate the reconstructed ultrasonic echo signal, wherein the sampling frequency of the reconstructed ultrasonic echo signal is the sampling frequency of the original ultrasonic echo signal.

[0017] A second aspect provides an ultrasonic sensor chip, comprising: a sampling compression module, configured to receive an original ultrasonic echo signal sent by the ultrasonic sensor, and perform sampling rate compression processing on the original ultrasonic echo signal to generate first compressed data; a bit width compression module, configured to perform bit width compression processing on the first compressed data to generate second compressed data, and send the second compressed data to a data processing device; The sampling compression module and the bit width compression module are used to implement corresponding steps in the method for processing ultrasonic echo signals in the first aspect or any possible implementation manner of the first aspect.

[0018] In one possible implementation, the sampling compression module is specifically used to filter and downsample the original ultrasonic echo signal through an FIR downsampling filter to generate the first compressed data, and the sampling frequency of the first compressed data is 1 / N of the sampling frequency of the original ultrasonic echo signal, where N is the downsampling factor.

[0019] In a possible implementation, a passband width of the FIR downsampling filter is greater than an echo bandwidth of the original ultrasonic echo signal and less than 1 / 2 of a sampling frequency of the first compressed data.

[0020] In one possible implementation, the bit width compression module is specifically used to set the high n1 bits of the second compressed data to the set bit value if it is determined that the number of sign bits of the first compressed data is greater than or equal to a set number threshold, and set the low n2 bits of the second compressed data to the low n2 bits of the first compressed data, wherein n1≥1, n1+n2=L, and L is the number of bits of the second compressed data.

[0021] In one possible implementation, the bit width compression module is specifically used to set the high n3 bits of the second compressed data to the sign bit value if it is determined that the number of sign bits of the first compressed data is less than the set number threshold, and set the low n4 bits of the second compressed data to the M-N_sign bit to the L-N_sign+1 bit of the first compressed data, where n3≥2, n3+n4=L, M<L, M is the number of bits of the first compressed data, L is the number of bits of the second compressed data, and N_sign is the number of sign bits.

[0022] A third aspect provides a data processing device, including: a bit width decompression module, configured to receive the second compressed data sent by the ultrasonic sensor chip, and perform bit width decompression processing on the second compressed data to generate decompressed data; a sampling rate reconstruction module, configured to reconstruct the sampling rate of the decompressed data to generate a reconstructed ultrasonic echo signal; The bit width decompression module and the sampling rate reconstruction module are used to implement corresponding steps in the method for processing ultrasonic echo signals in the first aspect or any possible implementation manner of the first aspect.

[0023] In one possible implementation, the bit width decompression module is specifically used to set the high A bit of the decompressed data to 0 if it is determined that the high n1 bit of the second compressed data is a set bit value, and set the low MA bit of the decompressed data to the low MA bit of the second compressed data, where M is the number of bits of the first compressed data and A is the set number threshold.

[0024] In one possible implementation, the bit width decompression module is specifically used to extract the bit value corresponding to the upper n3 bits of the second compressed data if it is determined that the upper n1 bit of the second compressed data is not the set bit value, and use the bit value corresponding to the upper n3 bits as the number of sign bits N_sign, set the highest N_sign bits of the decompressed data to 0, set the M-N_sign bit to the L-N_sign+1 bit of the decompressed data as the lower n4 bits of the second compressed data, and set the lowest L-N_sign bit of the decompressed data to 0, where n3≥2, n3+n4=L, M<L, M is the number of bits of the first compressed data, and L is the number of bits of the second compressed data.

[0025] In one possible implementation, the sampling rate reconstruction module is specifically used to perform N times zero sample point interpolation processing on the decompressed data through an FIR upsampling filter to generate zero interpolation data, and to perform smoothing filtering on the zero interpolation data to generate the reconstructed ultrasonic echo signal, and the sampling frequency of the reconstructed ultrasonic echo signal is the sampling frequency of the original ultrasonic echo signal.

[0026] A fourth aspect provides an ultrasonic system, comprising: the ultrasonic sensor chip of the second aspect or any possible implementation of the second aspect and the data processing device of the third aspect or any possible implementation of the third aspect; The ultrasonic sensor chip works in conjunction with the data processing device to implement corresponding steps in the method for processing ultrasonic echo signals in the first aspect or any possible implementation of the first aspect.

[0027] In the technical solution provided in the embodiment of the present application, the ultrasonic sensor chip performs sampling rate compression processing on the acquired original ultrasonic echo signal to generate first compressed data, performs bit width compression processing on the first compressed data to generate second compressed data, the data processing device performs bit width decompression processing on the second compressed data transmitted by the ultrasonic sensor chip to generate decompressed data, and the data processing device performs sampling rate reconstruction on the decompressed data to generate a reconstructed ultrasonic echo signal. In the embodiment of the present application, through sampling rate compression and bit width compression, efficient compression of the transmitted data is achieved, the data volume of the transmitted data is reduced, the data transmission rate requirement is reduced, and thus the bandwidth occupancy during the data transmission process is reduced; through bit width decompression and sampling rate reconstruction, lossless data recovery is achieved, ensuring the accuracy and integrity of the transmitted data, thereby being able to meet more complex environmental recognition needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0029] Figure 1 Schematic diagram of signal processing of an ultrasonic system in related art; Figure 2 A flowchart of a method for processing an ultrasonic echo signal provided in an embodiment of the present application; Figure 3 A schematic diagram of a method for processing ultrasonic echo signals provided in an embodiment of the present application; Figure 4 A schematic diagram of downsampling provided in an embodiment of the present application; Figure 5 A flowchart of a method for bit width compression provided in an embodiment of the present application; Figure 6 A flowchart of a method for bit width decompression provided in an embodiment of the present application; Figure 7 A schematic diagram of sampling rate reconstruction provided in an embodiment of the present application; Figure 8 A schematic diagram comparing the waveforms of an original signal and a reconstructed signal provided in an embodiment of the present application; Figure 9 A schematic structural diagram of an ultrasonic sensor chip provided in an embodiment of the present application; Figure 10 A schematic diagram of the structure of a data processing device provided in an embodiment of the present application; Figure 11 A schematic structural diagram of an ultrasonic system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0031] It should be clear that the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0032] The terms used in the embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. The singular forms "a", "an", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0033] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the associated objects.

[0034] Figure 1 Schematic diagram of signal processing of ultrasonic system in related technology, such as Figure 1 As shown in the figure, the ultrasonic sensor receives the ultrasonic signal reflected by the obstacle; the amplifier amplifies the ultrasonic signal, where the amplifier can be a programmable gain amplifier (PGA); the bandpass filter performs analog filtering on the amplified ultrasonic signal; the analog-to-digital converter (ADC) performs analog-to-digital conversion on the ultrasonic signal after analog filtering to generate a digital signal; the digital signal processor (DSP) performs digital down-conversion, low-pass filtering, and amplitude processing / linear frequency modulation demodulation on the digital signal to generate the original echo envelope signal; and obstacle detection is performed on the original echo envelope signal to generate obstacle information. Figure 1 The ultrasonic system shown can be an ultrasonic radar system, which can be applied to reversing radar. Traditional reversing radars simply transmit detected obstacle information to a data processing device. Many current applications, such as automated parking and assisted driving, require the essentially lossless transmission of the original echo envelope signal to the data processing device. However, the sheer volume of the original echo envelope signal far exceeds the transmission rate of the data bus, making it impossible to ensure the integrity and accuracy of the transmitted data. Consequently, this system cannot meet the requirements of more complex environmental recognition.

[0035] To address the technical problems associated with the aforementioned technologies, embodiments of the present application provide a method, system, ultrasonic sensor chip, and data processing device for processing ultrasonic echo signals. In the embodiments of the present application, efficient compression of transmitted data is achieved through sampling rate compression and bit width compression, reducing the amount of transmitted data and the required data transmission rate, thereby reducing bandwidth usage during data transmission. Bit width decompression and sampling rate reconstruction enable lossless data recovery, ensuring the accuracy and integrity of transmitted data, thereby meeting the needs of more complex environmental identification. The solutions provided by the embodiments of the present application enable essentially lossless transmission of the original echo envelope signal to a data processing device, enabling its application in a wider range of application scenarios.

[0036] Figure 2 This is a flowchart of a method for processing an ultrasonic echo signal provided in an embodiment of the present application. Figure 3 A schematic diagram of a method for processing ultrasonic echo signals provided in an embodiment of the present application is shown in FIG. Figure 2 and Figure 3 As shown, the method includes: Step 102: The ultrasonic sensor chip performs sampling rate compression processing on the acquired original ultrasonic echo signal to generate first compressed data.

[0037] By compressing the sampling rate of the original ultrasonic echo signal, the amount of data can be effectively reduced, the bandwidth occupied by data transmission can be reduced, and the transmission efficiency of the system can be improved.

[0038] The ultrasonic sensor transmits an ultrasonic signal. If an obstacle is present, the ultrasonic sensor receives the original ultrasonic echo signal reflected by the obstacle and transmits it to the ultrasonic sensor chip, which then receives the original ultrasonic echo signal. This original ultrasonic echo signal is the echo envelope signal.

[0039] The ultrasonic sensor chip can include a finite impulse response (FIR) downsampling filter. Using the FIR downsampling filter, the ultrasonic sensor chip can reduce the sampling frequency of the original ultrasonic echo signal by a factor of N, thereby achieving sample rate compression. After downsampling the original ultrasonic echo signal, the ultrasonic sensor chip generates first compressed data that is N times smaller than the original ultrasonic echo signal, while maintaining a waveform that is essentially identical to the waveform of the original ultrasonic echo signal. Therefore, compression does not cause loss of signal characteristics, facilitating subsequent signal analysis and processing.

[0040] Step 104: The ultrasonic sensor chip performs bit width compression processing on the first compressed data to generate second compressed data.

[0041] For example, the number of bits of the first compressed data is M, the number of bits of the second compressed data is L, and L<M. The ultrasonic sensor chip compresses the M-bit first compressed data into L-bit second compressed data, thereby greatly reducing the amount of the second compressed data that needs to be transmitted.

[0042] Through bit width compression, the amount of data is further reduced, facilitating efficient transmission in bandwidth-limited environments while retaining the main characteristic information of the signal.

[0043] Step 106: The ultrasonic sensor chip transmits the second compressed data to a data processing device.

[0044] The ultrasonic sensor chip may transmit the second compressed data to the data processing device via the data bus.

[0045] Step 108: The data processing device performs bit-width decompression processing on the second compressed data to generate decompressed data.

[0046] The data processing device can perform bit width decompression on the L-bit second compressed data to generate M-bit decompressed data, thereby restoring the bit width of the second compressed data to the bit width of the original ultrasonic echo signal, and ensuring the integrity of the restored decompressed data.

[0047] Through decompression processing, the original signal can be restored as much as possible, ensuring the integrity and accuracy of the data and meeting the needs of subsequent high-precision environmental identification.

[0048] Step 110: The data processing device reconstructs the sampling rate of the decompressed data to generate a reconstructed ultrasonic echo signal.

[0049] The data processing equipment reconstructs the sampling rate of the decompressed data, restoring the sampling frequency of the decompressed data to the sampling frequency of the original ultrasonic echo signal or the specified sampling frequency, thereby ensuring the time resolution of the signal and the accuracy of subsequent processing.

[0050] Through sampling rate reconstruction, the time accuracy and waveform consistency of the signal are restored, and the system's environmental recognition capability and application scope are improved.

[0051] The waveform of the reconstructed ultrasonic echo signal restored by the data processing device is substantially identical to the waveform of the original ultrasonic echo signal, thereby achieving substantially lossless transmission of the ultrasonic echo signal to the data processing device.

[0052] In this embodiment of the present application, step 102 may specifically include: the ultrasonic sensor chip filtering and downsampling the original ultrasonic echo signal using an FIR downsampling filter to generate first compressed data. The sampling frequency of the first compressed data is 1 / N of the sampling frequency of the original ultrasonic echo signal, where N is the downsampling factor. As an optional solution, N ≥ 6, and the downsampling factor N is set to be greater than or equal to 6, thereby effectively ensuring that the first compressed data has a smaller amount of data than the original ultrasonic echo signal.

[0053] In a typical ultrasonic system, to achieve high distance measurement accuracy while simplifying signal processing, the sampling frequency (fs) of the raw ultrasonic echo signal is generally the same as the ultrasonic frequency (fu), i.e., fs = fu. The bandwidth of an ultrasonic signal is Bu, and the frequency range of the raw ultrasonic echo signal is -Bu / 2 to Bu / 2. This frequency range corresponds to a Nyquist sampling rate of Bu, where Bu < fs and is typically less than several times fs, meaning that Bu is significantly less than fs. Therefore, the raw ultrasonic echo signal can be downsampled to reduce the number of data samples. The sampling frequency of the first compressed data after downsampling is fd = fs / N.

[0054] For example, fs = fu = 60 kHz, and Bu = 8 kHz. The sampling frequency fs of the original ultrasonic echo signal is 60 kHz, and the ultrasonic frequency fu is 60 kHz. Therefore, the sampling frequency fs of the original ultrasonic echo signal is the same as the ultrasonic frequency fu. However, the bandwidth Bu of the ultrasonic signal is 8 kHz. Accordingly, the frequency range of the original ultrasonic echo signal is -4 kHz to 4 kHz. This frequency range corresponds to a Nyquist sampling rate of 8 kHz, which is much smaller than 60 kHz. Therefore, the original ultrasonic echo signal can be downsampled to reduce the number of data samples.

[0055] As an optional solution, if the echo bandwidth of the original ultrasonic echo signal is Becho, then the passband width Bfilter of the FIR downsampling filter is greater than the echo bandwidth Becho of the original ultrasonic echo signal and less than 1 / 2 of the sampling frequency fd of the first compressed data, that is, Becho < Bfilter < fd / 2. During the downsampling process, ensuring that the passband width of the FIR downsampling filter is greater than the echo bandwidth of the original ultrasonic echo signal and less than 1 / 2 of the sampling frequency fd of the first compressed data prevents signal aliasing, effectively improving signal quality and preventing signal distortion, thereby enhancing the stability and reliability of the ultrasonic system. This solution not only improves data transmission efficiency and reduces bandwidth usage, but also enhances environmental recognition capabilities.

[0056] Figure 4 A schematic diagram of downsampling provided in an embodiment of the present application is shown in FIG. Figure 4 As shown in Figure 1, the impulse response curve (or filter coefficient curve) of the FIR downsampling filter reflects the time-domain characteristics of the FIR downsampling filter and is used to filter and downsample signals. Specifically, the set of coefficients in the impulse response curve determines the gain and phase response of the FIR downsampling filter to different frequency components. The impulse response curve shows the "weight distribution" of the FIR downsampling filter in the time domain. For example, the central peak represents the weight of the FIR downsampling filter for the current sampling point, while the fluctuations nearby represent the weighting of neighboring sampling points. Using this set of coefficients, the FIR downsampling filter performs convolution operations on the input signal, achieving filtering and downsampling functions.

[0057] like Figure 4 As shown, the waveform of the original ultrasonic echo signal is the waveform of the original echo envelope signal (i.e. Figure 4 The waveform of the first compressed data is the waveform of the down-sampled echo envelope signal (ie Figure 4 The waveform of the envelope curve after downsampling in the middle), after the original ultrasonic echo signal is filtered and down-sampled by the FIR downsampling filter, the original ultrasonic echo signal can be compressed into first compressed data with a reduced data amount, and the data amount of the first compressed data is reduced by N times than the data amount of the original ultrasonic echo signal. However, it can be seen from the envelope curve before downsampling and the envelope curve after downsampling that the waveform of the original ultrasonic echo signal and the waveform of the first compressed data are basically the same.

[0058] In the embodiment of the present application, after filtering and downsampling in step 102, although the number of data samples is reduced by a factor of N compared to the original ultrasonic echo signal, the number of bits required for each data sample is still relatively large. For example, typically, each data sample requires 16 bits, so the bit width of the first compressed data needs to be further compressed. Due to the relatively large dynamic range of the echo envelope signal, truncating the high-order bits of the first compressed data will lose information about strong echo signals, which may be information about nearby obstacles. Truncating the low-order bits of the first compressed data will lose information about weak echo signals, which may be information about nearby obstacles. In order to preserve the information of all echo signals, the embodiment of the present application provides a method for bit width compression to reduce the number of bits in the first compressed data. Figure 5 A flowchart of a method for bit width compression provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, step 104 may specifically include: Step 1042: The ultrasonic sensor chip counts the number of sign bits (Number of SignBits, N_sign) of the first compressed data.

[0059] The first compressed data has a bit number M. The first compressed data is echo envelope data. Since all echo envelope data are non-negative numbers, the number of sign bits is the number of the M bits of the first compressed data whose most significant bits are 0. For example, if M=16, the first compressed data is 16-bit data.

[0060] For example, the sampling point data of the original ultrasonic echo signal is 0000000010101010, and the first compressed data is 0000000010101010, wherein the first 8 highest bits are 0, that is, the number of highest bits 0 is 8, so the counted number of sign bits of the first compressed data is N_sign=8.

[0061] For another example, the sampling point data of the original ultrasonic echo signal is 0000000000001010, and the first compressed data is 0000000000001010, where the first 12 highest bits are 0, that is, the number of highest bits that are 0 is 12, so the counted number of sign bits of the first compressed data is N_sign=12.

[0062] For another example, the sampling point data of the original ultrasonic echo signal is 0000111100001111, and the first compressed data is 0000111100001111, where the first 4 highest bits are 0, that is, the number of highest bits that are 0 is 4, so the counted number of sign bits of the first compressed data is N_sign=4.

[0063] For another example, the sampling point data of the original ultrasonic echo signal is 0010111100001111, and the first compressed data is 0010111100001111, where the first two highest bits are 0, that is, the number of highest bits that are 0 is 2, so the counted number of sign bits of the first compressed data is N_sign=2.

[0064] Step 1044 : The ultrasonic sensor chip determines whether the number of sign bits is greater than or equal to a set number threshold. If so, execute step 1046 ; if not, execute step 1048 .

[0065] If the ultrasonic sensor chip determines that the number of sign bits is greater than or equal to the set number threshold, step 1046 is executed; if it determines that the number of sign bits is less than the set number threshold, step 1048 is executed. The set number threshold can be set according to actual needs, for example, the set number threshold is 8.

[0066] For example, if the number of sign bits N_sign=8, the ultrasonic sensor chip determines that the number of sign bits is equal to the set number threshold, and executes step 1046 .

[0067] For another example, if the number of sign bits N_sign=12, the ultrasonic sensor chip determines that the number of sign bits is greater than the set number threshold, and executes step 1046 .

[0068] For another example, if the number of sign bits N_sign=4, the ultrasonic sensor chip determines that the number of sign bits is less than the set number threshold, and executes step 1048 .

[0069] For another example, if the number of sign bits N_sign=2, the ultrasonic sensor chip determines that the number of sign bits is less than the set number threshold, and executes step 1048 .

[0070] Step 1046: The ultrasonic sensor chip sets the upper n1 bits of the second compressed data to the set bit value, and sets the lower n2 bits of the second compressed data to the lower n2 bits of the first compressed data, where n1≥1, n1+n2=L, and L is the number of bits of the second compressed data.

[0071] The second compressed data has a bit number L, and includes upper n1 bits and lower n2 bits, where n1+n2=L. For example, L=10, n1=2, and n2=8. The set bit value can be set according to actual needs, for example, the set bit value is 11.

[0072] For example, the first compressed data is 0000000010101010, N_sign=8, the lower 8 bits of the first compressed data are 10101010, the ultrasonic sensor chip sets the upper 2 bits of the second compressed data to 11, and sets the lower 8 bits of the second compressed data to 10101010, then the second compressed data is 1110101010.

[0073] For another example, the first compressed data is 0000000000001010, N_sign=12, the lower 8 bits of the first compressed data are 00001010, the ultrasonic sensor chip sets the upper 2 bits of the second compressed data to 11, and sets the lower 8 bits of the second compressed data to 00001010, then the second compressed data is 1100001010.

[0074] Step 1048: The ultrasonic sensor chip sets the upper n3 bits of the second compressed data to the sign bit value, and sets the lower n4 bits of the second compressed data to the M-N_sign bit to the L-N_sign+1 bit of the first compressed data, where n3≥2, n3+n4=L, M<L, M is the number of bits of the first compressed data, and N_sign is the number of sign bits.

[0075] The second compressed data has a bit number L, and includes upper n3 bits and lower n4 bits, where n3+n4=L. For example, M=16, L=10, n3=4, and n4=6.

[0076] The sign bit value is the value corresponding to the number of sign bits, which is a binary value. For example, if the number of sign bits N_sign = 4, the sign bit value is 0100, the M-N_sign bit is the 12th bit, the L-N_sign+1 bit is the 7th bit, and the first compressed data from the 12th bit to the 7th bit is 111100; for another example, if the number of sign bits N_sign = 2, the sign bit value is 0010, the M-N_sign bit is 14, the L-N_sign+1 bit is the 9th bit, and the first compressed data from the 14th bit to the 9th bit is 101111.

[0077] For example, the first compressed data is 0000111100001111, N_sign=4, the 12th bit to the 7th bit of the first compressed data is 111100, the upper 4 bits of the second compressed data are 0100, and the lower 6 bits of the second compressed data are 111100. The ultrasonic sensor chip sets the upper 4 bits of the second compressed data to 0100 and sets the lower 6 bits of the second compressed data to 111100, so the second compressed data is 0100111100.

[0078] For another example, the first compressed data is 0010111100001111, N_sign=2, the 14th bit to the 9th bit of the first compressed data is 101111, the upper 4 bits of the second compressed data are 0010, and the lower 6 bits of the second compressed data are 101111. The ultrasonic sensor chip sets the upper 4 bits of the second compressed data to 0010 and sets the lower 6 bits of the second compressed data to 101111, so the second compressed data is 0010101111.

[0079] In the embodiment of the present application, by executing step 104 to compress the 16-bit first compressed data into 10-bit second compressed data, combined with the sampling rate compression processing of step 102, the data volume of the original ultrasonic echo signal can be compressed by about 10 times.

[0080] In an embodiment of the present application, the ultrasonic sensor chip compresses the original ultrasonic echo signal into second compressed data, which greatly reduces the amount of data to be transmitted, and the waveform of the second compressed data to be transmitted maintains a high degree of consistency with the waveform of the original ultrasonic echo signal. Compared with the solutions in the prior art, the second compressed data in the embodiment of the present application can carry more information.

[0081] Figure 6 A flowchart of a method for bit width decompression provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, step 108 may specifically include: Step 1082 : The data processing device determines whether the upper n1 bit of the second compressed data is a set bit value. If so, execute step 1084 ; if not, execute step 1086 .

[0082] If the data processing device determines that the upper n1 bits of the second compressed data are the set bit value, the data processing device executes step 1084. If the data processing device determines that the upper n1 bits of the second compressed data are not the set bit value, the data processing device executes step 1086. For example, the set bit value is 11, and n1=2.

[0083] For example, if the second compressed data is 1110101010, and the upper 2 bits of the second compressed data are 11, the data processing device determines that the upper 2 bits of the second compressed data are the set bit value.

[0084] For another example, if the second compressed data is 1100001010 and the upper 2 bits of the second compressed data are 11, the data processing device determines that the upper 2 bits of the second compressed data are the set bit value.

[0085] For another example, if the second compressed data is 0100111100 and the upper two bits of the second compressed data are 01, the data processing device determines that the upper two bits of the second compressed data are not the set bit value.

[0086] For another example, if the second compressed data is 0010101111 and the upper 2 bits of the second compressed data are 00, the data processing device determines that the upper 2 bits of the second compressed data are not the set bit value.

[0087] Step 1084: The data processing device sets the high A bit of the decompressed data to 0, and sets the low MA bit of the decompressed data to the low MA bit of the second compressed data, where M is the number of bits of the first compressed data, and A is the set number threshold.

[0088] As an alternative, M=16, A=8, MA=8.

[0089] For example, if the second compressed data is 1110101010, and the lower 8 bits of the second compressed data are 10101010, the data processing device sets the upper 8 bits of the decompressed data to 0, i.e., the upper 8 bits of the decompressed data are 00000000, and sets the lower 8 bits of the decompressed data to 10101010, then the decompressed data is 0000000010101010. In this case, the sampling point data of the original ultrasonic echo signal is 0000000010101010, which is the same as the sampling point data of the decompressed data, and there is no deviation in the data content.

[0090] For another example, if the second compressed data is 1100001010 and the lower 8 bits of the second compressed data are 00001010, the data processing device sets the upper 8 bits of the decompressed data to 0, i.e., the upper 8 bits of the decompressed data are 00000000, and sets the lower 8 bits of the decompressed data to 00001010, then the decompressed data is 0000000000001010. In this case, the sampling point data of the original ultrasonic echo signal is 0000000000001010, which is the same as the sampling point data of the decompressed data, and there is no deviation in the data content.

[0091] Step 1086: The data processing device extracts the bit values ​​corresponding to the upper n3 bits of the second compressed data, uses the bit values ​​corresponding to the upper n3 bits as the number of sign bits N_sign, sets the uppermost N_sign bits of the decompressed data to 0, sets the M-N_sign bit to the L-N_sign+1 bit of the decompressed data as the lower n4 bits of the second compressed data, and sets the lowest L-N_sign bit of the decompressed data to 0.

[0092] As an alternative, M=16, L=10, n3=4, n4=6.

[0093] For example, if the second compressed data is 0100111100, the lower 6 bits of the second compressed data are 111100, the upper 4 bits of the second compressed data are 0100, and the bit value corresponding to the upper 4 bits is 4, then N_sign = 4, M-N_sign = 12, L-N_sign+1 = 7, and L-N_sign = 6. The data processing device sets the upper 4 bits of the decompressed data to 0000, sets the bits from the 12th to the 7th of the decompressed data to 111100, and sets the lower 6 bits to 000000. The decompressed data is 0000111100000000. In this case, the sampling point data of the original ultrasonic echo signal is 00001111000001111, and there is a small deviation between the sampling point data of the original ultrasonic echo signal and the decompressed data.

[0094] For another example, the second compressed data is 0010101111, the lower 6 bits of the second compressed data are 101111, the upper 4 bits of the second compressed data are 0010, and the bit value corresponding to the upper 4 bits is 2. Then, N_sign = 2, M-N_sign = 14, L-N_sign+1 = 9, and L-N_sign = 8. The data processing device sets the upper 2 bits of the decompressed data to 00, sets bits 14 to 9 of the decompressed data to 101111, and sets the lower 8 bits to 00000000. The decompressed data is 0010111100000000. In this case, the sampling point data of the original ultrasonic echo signal is 0010111100001111, and there is a small deviation between the sampling point data of the original ultrasonic echo signal and the decompressed data.

[0095] In the embodiment of the present application, by performing the bit-width decompression in step 108 , the compressed data can be restored as much as possible, so that the decompressed data has no distortion or very little distortion.

[0096] In an embodiment of the present application, corresponding to sampling rate compression in order to obtain better distance measurement accuracy, in order to obtain higher time accuracy, it is necessary to reconstruct the sampling rate of the decompressed data to restore it to the original sampling frequency or the specified sampling frequency, wherein the original sampling frequency is the sampling frequency of the original ultrasonic echo signal. Figure 7 A schematic diagram of sampling rate reconstruction provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, step 110 may specifically include: the data processing device performs zero sample point interpolation processing on the decompressed data through an FIR upsampling filter to generate zero interpolation data, and performs smoothing filtering on the zero interpolation data to generate a reconstructed ultrasonic echo signal, and the sampling frequency of the reconstructed ultrasonic echo signal is the sampling frequency of the original ultrasonic echo signal or a specified sampling frequency.

[0097] like Figure 7 As shown, as an optional solution, the data processing device may include an FIR upsampling filter, and the data processing device may perform N-times zero sample point interpolation processing on the decompressed data through the FIR upsampling filter to generate zero interpolation data, and smooth filter the zero interpolation data through the FIR upsampling filter to obtain a smooth reconstructed ultrasonic echo signal, and the reconstructed ultrasonic echo signal may include the FIR upsampling data.

[0098] like Figure 7 As shown in FIG, by performing N times zero sample point interpolation processing on the decompressed data, the sampling frequency of the reconstructed ultrasonic echo signal is the sampling frequency of the original ultrasonic echo signal. The waveforms of the decompressed data, the zero interpolation data and the FIR up-sampled data are all referred to in FIG. Figure 7 As shown in .

[0099] As an optional solution, in practical applications, the sampling frequency of the reconstructed ultrasonic echo signal is made to be the specified sampling frequency by changing the interpolation zero sample point multiple of the decompressed data. For example, the interpolation zero sample point multiple can be greater than N or less than N.

[0100] In an embodiment of the present application, the decompressed data is subjected to zero-sample interpolation processing to generate zero-interpolation data, and then the zero-interpolation data is smoothed and filtered to obtain a smooth signal. This can effectively restore the sampling frequency of the signal to the sampling frequency of the original ultrasonic echo signal or the specified sampling frequency, thereby ensuring the time accuracy and waveform consistency of the signal. It not only reduces the information loss caused by downsampling, but also eliminates possible high-frequency noise through smoothing filtering, thereby improving the overall quality of the signal.

[0101] Figure 8 A waveform comparison diagram of an original signal and a reconstructed signal provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the original ultrasonic echo signal is the original signal, and the reconstructed ultrasonic echo signal is the reconstructed signal. By executing steps 102 to 110, the ultrasonic echo signal is transmitted to the data processing device at a rate of about one tenth of the required rate. Figure 8 It can be seen that the waveform of the original ultrasonic echo signal is substantially consistent with the waveform of the reconstructed ultrasonic echo signal, and the ultrasonic echo signal is output to the data processing device substantially without loss.

[0102] In the technical solution provided in the embodiment of the present application, the ultrasonic sensor chip performs sampling rate compression processing on the acquired original ultrasonic echo signal to generate first compressed data, performs bit width compression processing on the first compressed data to generate second compressed data, the data processing device performs bit width decompression processing on the second compressed data transmitted by the ultrasonic sensor chip to generate decompressed data, and the data processing device performs sampling rate reconstruction on the decompressed data to generate a reconstructed ultrasonic echo signal. In the embodiment of the present application, through sampling rate compression and bit width compression, efficient compression of the transmitted data is achieved, the data volume of the transmitted data is reduced, the data transmission rate requirement is reduced, and thus the bandwidth occupancy during the data transmission process is reduced; through bit width decompression and sampling rate reconstruction, lossless data recovery is achieved, ensuring the accuracy and integrity of the transmitted data, thereby being able to meet more complex environmental recognition needs.

[0103] Figure 9 A schematic diagram of the structure of an ultrasonic sensor chip provided in an embodiment of the present application is shown in FIG. Figure 9 As shown, the ultrasonic sensor chip 1 includes: a sampling compression module 11 and a bit width compression module 12 .

[0104] In the embodiment of the present application, the sampling compression module 11 and the bit width compression module 12 can be used to implement the above Figures 2 to 5 The corresponding steps in the method for processing ultrasonic echo signals are shown.

[0105] The sampling compression module 11 is used to receive the original ultrasonic echo signal sent by the ultrasonic sensor, and perform sampling rate compression processing on the original ultrasonic echo signal to generate first compressed data; the bit width compression module 12 is used to perform bit width compression processing on the first compressed data to generate second compressed data, and send the second compressed data to the data processing device.

[0106] As an optional scheme, the sampling compression module 11 is specifically used to filter and downsample the original ultrasonic echo signal through an FIR downsampling filter to generate the first compressed data, and the sampling frequency of the first compressed data is 1 / N of the sampling frequency of the original ultrasonic echo signal, where N is the downsampling factor.

[0107] As an optional solution, the passband width of the FIR downsampling filter is greater than the echo bandwidth of the original ultrasonic echo signal and less than 1 / 2 of the sampling frequency of the first compressed data.

[0108] As an optional scheme, the bit width compression module 12 is specifically used to set the high n1 bits of the second compressed data to the set bit value if it is determined that the number of sign bits of the first compressed data is greater than or equal to the set number threshold, and set the low n2 bits of the second compressed data to the low n2 bits of the first compressed data, wherein n1≥1, n1+n2=L, and L is the number of bits of the second compressed data.

[0109] As an optional scheme, the bit width compression module 12 is specifically used to set the high n3 bits of the second compressed data to the sign bit value if it is determined that the number of sign bits of the first compressed data is less than the set number threshold, and set the low n4 bits of the second compressed data to the M-N_sign bit to the L-N_sign+1 bit of the first compressed data, wherein n3≥2, n3+n4=L, M<L, M is the number of bits of the first compressed data, L is the number of bits of the second compressed data, and N_sign is the number of sign bits.

[0110] In the embodiment of the present application, the detailed description of the above functions of the ultrasonic sensor chip can be found in Figures 2 to 5 The description of the method for processing the ultrasonic echo signal in the illustrated embodiment will not be repeated here.

[0111] Figure 10 A structural diagram of a data processing device provided in an embodiment of the present application is shown in FIG. Figure 10 As shown, the data processing device 2 includes: a bit width decompression module 21 and a sampling rate reconstruction module 22.

[0112] In the embodiment of the present application, the bit width decompression module 21 and the sampling rate reconstruction module 22 can be used to implement the above Figures 2 to 8 The corresponding steps in the method for processing ultrasonic echo signals are shown.

[0113] The bit width decompression module 21 is used to receive the second compressed data sent by the ultrasonic sensor chip, and perform bit width decompression processing on the second compressed data to generate decompressed data; the sampling rate reconstruction module 22 is used to reconstruct the sampling rate of the decompressed data to generate a reconstructed ultrasonic echo signal.

[0114] As an optional scheme, the bit width decompression module 21 is specifically used to set the high A bit of the decompressed data to 0 if it is determined that the high n1 bit of the second compressed data is a set bit value, and set the low MA bit of the decompressed data to the low MA bit of the second compressed data, where M is the number of bits of the first compressed data and A is the set number threshold.

[0115] As an optional scheme, the bit width decompression module 21 is specifically used to extract the bit value corresponding to the upper n3 bits of the second compressed data if it is determined that the upper n1 bits of the second compressed data are not the set bit value, and use the bit value corresponding to the upper n3 bits as the number of sign bits N_sign, set the highest N_sign bits of the decompressed data to 0, set the M-N_sign bit to the L-N_sign+1 bit of the decompressed data as the lower n4 bits of the second compressed data, and set the lowest L-N_sign bit of the decompressed data to 0, where n3≥2, n3+n4=L, M<L, M is the number of bits of the first compressed data, and L is the number of bits of the second compressed data.

[0116] As an optional solution, the sampling rate reconstruction module 22 is specifically used to perform N times zero sample point interpolation processing on the decompressed data through an FIR upsampling filter to generate zero interpolation data, and to perform smoothing filtering on the zero interpolation data to generate the reconstructed ultrasonic echo signal, and the sampling frequency of the reconstructed ultrasonic echo signal is the sampling frequency of the original ultrasonic echo signal.

[0117] For a detailed description of the above functions of the data processing device in the embodiment of the present application, please refer to Figures 2 to 8 The description of the method for processing the ultrasonic echo signal in the illustrated embodiment will not be repeated here.

[0118] Figure 11 A schematic diagram of the structure of an ultrasonic system provided in an embodiment of the present application is shown in FIG. Figure 11 As shown, the ultrasonic system includes an ultrasonic sensor chip 1 and a data processing device 2, and the ultrasonic sensor chip 1 and the data processing device 2 are electrically connected.

[0119] In the embodiment of the present application, the description of the ultrasonic sensor chip 1 can be found in Figure 9 In the description of the embodiment shown, the description of the data processing device 2 can be found in Figure 10 The description in the illustrated embodiment will not be repeated here.

[0120] In the embodiment of the present application, the ultrasonic sensor chip 1 works in conjunction with the data processing device 2 to achieve the above Figures 2 to 8 The corresponding steps in the method for processing ultrasonic echo signals are shown.

[0121] In the embodiment of the present application, the ultrasonic system may further include an ultrasonic sensor 3, which is electrically connected to the ultrasonic sensor chip 1. The ultrasonic sensor 3 is configured to transmit ultrasonic signals under the drive of the ultrasonic sensor chip 1, receive original ultrasonic echo signals reflected by obstacles, and send the original ultrasonic echo signals to the ultrasonic sensor chip 1.

[0122] In the embodiment of the present application, the data processing device may include a computer device or a host processing circuit. For example, the host processing circuit may include an electronic control unit (ECU).

[0123] In the technical solution provided in the embodiment of the present application, the ultrasonic sensor chip performs sampling rate compression processing on the acquired original ultrasonic echo signal to generate first compressed data, performs bit width compression processing on the first compressed data to generate second compressed data, the data processing device performs bit width decompression processing on the second compressed data transmitted by the ultrasonic sensor chip to generate decompressed data, and the data processing device performs sampling rate reconstruction on the decompressed data to generate a reconstructed ultrasonic echo signal. In the embodiment of the present application, through sampling rate compression and bit width compression, efficient compression of the transmitted data is achieved, the data volume of the transmitted data is reduced, the data transmission rate requirement is reduced, and thus the bandwidth occupancy during the data transmission process is reduced; through bit width decompression and sampling rate reconstruction, lossless data recovery is achieved, ensuring the accuracy and integrity of the transmitted data, thereby being able to meet more complex environmental recognition needs.

[0124] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for processing ultrasonic echo signals, characterized in that: include: The ultrasonic sensor chip performs sampling rate compression processing on the acquired original ultrasonic echo signal to generate first compressed data; The ultrasonic sensor chip performs bit width compression processing on the first compressed data to generate second compressed data; The ultrasonic sensor chip transmits the second compressed data to a data processing device; The data processing device performs bit width decompression processing on the second compressed data to generate decompressed data; The data processing device reconstructs the sampling rate of the decompressed data to generate a reconstructed ultrasonic echo signal.

2. The method according to claim 1, characterized in that The ultrasonic sensor chip performs sampling rate compression processing on the acquired original ultrasonic echo signal to generate first compressed data, including: The ultrasonic sensor chip filters and downsamples the original ultrasonic echo signal through an FIR downsampling filter to generate the first compressed data. The sampling frequency of the first compressed data is 1 / N of the sampling frequency of the original ultrasonic echo signal, where N is a downsampling factor.

3. The method according to claim 2, characterized in that N≥6。 4. The method according to claim 2 or 3, characterized in that The passband width of the FIR downsampling filter is greater than the echo bandwidth of the original ultrasonic echo signal and less than 1 / 2 of the sampling frequency of the first compressed data.

5. The method according to claim 1, wherein The ultrasonic sensor chip performs bit width compression processing on the first compressed data to generate second compressed data, including: If the ultrasonic sensor chip determines that the number of sign bits of the first compressed data is greater than or equal to a set number threshold, the high n1 bits of the second compressed data are set to a set bit value, and the low n2 bits of the second compressed data are set to the low n2 bits of the first compressed data, where n1≥1, n1+n2=L, and L is the number of bits of the second compressed data.

6. The method according to claim 1, characterized in that The ultrasonic sensor chip performs bit width compression processing on the first compressed data to generate second compressed data, including: If the ultrasonic sensor chip determines that the number of sign bits of the first compressed data is less than a set number threshold, the upper n3 bits of the second compressed data are set to the sign bit value, and the lower n4 bits of the second compressed data are set to the M-N_sign bit to the L-N_sign+1 bit of the first compressed data, where n3≥2, n3+n4=L, M<L, M is the number of bits of the first compressed data, L is the number of bits of the second compressed data, and N_sign is the number of sign bits.

7. The method according to claim 1, characterized in that The data processing device performs bit width decompression processing on the second compressed data to generate decompressed data, including: If the data processing device determines that the high n1 bit of the second compressed data is a set bit value, the high A bit of the decompressed data is set to 0, and the low MA bit of the decompressed data is set to the low MA bit of the second compressed data, where M is the number of bits of the first compressed data and A is the set number threshold.

8. The method according to claim 1, characterized in that The data processing device performs bit width decompression processing on the second compressed data to generate decompressed data, including: If the data processing device determines that the upper n1 bits of the second compressed data are not the set bit value, it extracts the bit value corresponding to the upper n3 bits of the second compressed data, uses the bit value corresponding to the upper n3 bits as the number of sign bits N_sign, sets the highest N_sign bits of the decompressed data to 0, sets the M-N_sign bits to the L-N_sign+1 bits of the decompressed data to the lower n4 bits of the second compressed data, and sets the lowest L-N_sign bits of the decompressed data to 0, where n3≥2, n3+n4=L, M<L, M is the number of bits of the first compressed data, and L is the number of bits of the second compressed data.

9. The method according to claim 1, characterized in that The data processing device reconstructs the sampling rate of the decompressed data to generate a reconstructed ultrasonic echo signal, including: The data processing device performs N-fold zero-sample interpolation processing on the decompressed data through an FIR upsampling filter to generate zero-interpolation data, and performs smoothing filtering on the zero-interpolation data to generate the reconstructed ultrasonic echo signal, wherein the sampling frequency of the reconstructed ultrasonic echo signal is the sampling frequency of the original ultrasonic echo signal.

10. An ultrasonic sensor chip, characterized in that: include: a sampling compression module, configured to receive an original ultrasonic echo signal sent by the ultrasonic sensor, and perform sampling rate compression processing on the original ultrasonic echo signal to generate first compressed data; a bit width compression module, configured to perform bit width compression processing on the first compressed data to generate second compressed data, and send the second compressed data to a data processing device; The sampling compression module and the bit width compression module are used to implement the corresponding steps in the ultrasonic echo signal processing method according to any one of claims 1 to 6.

11. The ultrasonic sensor chip according to claim 10, characterized in that: The sampling compression module is specifically used to filter and downsample the original ultrasonic echo signal through an FIR downsampling filter to generate the first compressed data, and the sampling frequency of the first compressed data is 1 / N of the sampling frequency of the original ultrasonic echo signal, where N is the downsampling factor.

12. The ultrasonic sensor chip according to claim 10, wherein: The passband width of the FIR downsampling filter is greater than the echo bandwidth of the original ultrasonic echo signal and less than 1 / 2 of the sampling frequency of the first compressed data.

13. The ultrasonic sensor chip according to claim 10, wherein: The bit width compression module is specifically used to set the high n1 bits of the second compressed data to the set bit value if it is determined that the number of sign bits of the first compressed data is greater than or equal to the set number threshold, and set the low n2 bits of the second compressed data to the low n2 bits of the first compressed data, wherein n1≥1, n1+n2=L, and L is the number of bits of the second compressed data.

14. The ultrasonic sensor chip according to claim 10, wherein: The bit width compression module is specifically used to set the upper n3 bits of the second compressed data to the sign bit value if it is determined that the number of sign bits of the first compressed data is less than the set number threshold, and set the lower n4 bits of the second compressed data to the M-N_sign bit to the L-N_sign+1 bit of the first compressed data, wherein n3≥2, n3+n4=L, M<L, M is the number of bits of the first compressed data, L is the number of bits of the second compressed data, and N_sign is the number of sign bits.

15. A data processing device, characterized in that: include: a bit width decompression module, configured to receive the second compressed data sent by the ultrasonic sensor chip, and perform bit width decompression processing on the second compressed data to generate decompressed data; a sampling rate reconstruction module, configured to reconstruct the sampling rate of the decompressed data to generate a reconstructed ultrasonic echo signal; The bit width decompression module and the sampling rate reconstruction module are used to implement the corresponding steps in the ultrasonic echo signal processing method according to any one of claims 1 to 9.

16. The data processing device according to claim 15, characterized in that The bit width decompression module is specifically used to set the high A bit of the decompressed data to 0 if it is determined that the high n1 bit of the second compressed data is a set bit value, and set the low MA bit of the decompressed data to the low MA bit of the second compressed data, where M is the number of bits of the first compressed data and A is the set number threshold.

17. The data processing device according to claim 15, characterized in that The bit width decompression module is specifically used to extract the bit value corresponding to the upper n3 bits of the second compressed data if it is determined that the upper n1 bit of the second compressed data is not the set bit value, use the bit value corresponding to the upper n3 bits as the number of sign bits N_sign, set the highest N_sign bits of the decompressed data to 0, set the M-N_sign bit to the L-N_sign+1 bit of the decompressed data to the lower n4 bits of the second compressed data, and set the lowest L-N_sign bit of the decompressed data to 0, where n3≥2, n3+n4=L, M<L, M is the number of bits of the first compressed data, and L is the number of bits of the second compressed data.

18. The data processing device according to claim 15, characterized in that The sampling rate reconstruction module is specifically used to perform N times zero sample point interpolation processing on the decompressed data through an FIR upsampling filter to generate zero interpolation data, and to perform smoothing filtering on the zero interpolation data to generate the reconstructed ultrasonic echo signal. The sampling frequency of the reconstructed ultrasonic echo signal is the sampling frequency of the original ultrasonic echo signal.

19. An ultrasonic system, characterized in that: include: The ultrasonic sensor chip according to any one of claims 10 to 14 and the data processing device according to any one of claims 15 to 18; The ultrasonic sensor chip works in conjunction with the data processing device to implement the corresponding steps in the ultrasonic echo signal processing method according to any one of claims 1 to 9.

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