Three-dimensional sound wave imaging system
By generating multi-lobe beams through a three-dimensional acoustic imaging system and combining it with acoustic signal arrival time detection, the problem of insufficient resolution of acoustic radar is solved, achieving high-resolution spatial point cloud perception, which is suitable for target detection in complex environments.
Patent Information
- Application Number
- CN202511215953.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-28
- Publication Date
- 2025-11-18
AI Technical Summary
Existing acoustic radars have weak target resolution capabilities and lack spatial resolution, making them unable to effectively detect targets in complex environments.
A three-dimensional acoustic imaging system is used. A multi-lobe beam is generated through the transmitting array module. Combined with the receiving array module and the beam control module, a three-dimensional point cloud map is generated using acoustic signal arrival time detection technology.
It achieves high-resolution spatial point cloud perception, which can characterize the shape and outline of the target like LiDAR, improves the spatial resolution of the acoustic beam, and is suitable for target detection in complex environments.
Smart Images
Figure CN120972187A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of three-dimensional acoustic imaging technology, specifically a three-dimensional acoustic imaging system. Background Technology
[0002] Consumer-grade spatial perception technology utilizes sensors such as light, sound, electricity, heat, and magnetism to achieve two-dimensional and three-dimensional spatial perception capabilities, applicable to spatial perception and obstacle avoidance in mobile platforms such as drones and robotic dogs. Light perception includes visible and invisible light sensing, using cameras to image / scan target areas to obtain two-dimensional depth images or three-dimensional point clouds. Sound sensors detect echo signals in target areas in active / passive modes to determine the presence or distance of targets. Millimeter-wave radar detects moving targets in space by emitting and receiving electromagnetic waves. Infrared thermal sensors detect targets by sensing changes in temperature in space. Magnetic sensors detect targets by detecting changes in the magnetic field in space.
[0003] Existing sensing technologies have various shortcomings in terms of cost, performance, and privacy protection, and are particularly weak in indoor and complex factory scenarios: optical sensing technologies, such as lidar, are expensive, have large blind spots at close range, and pose a risk of privacy leaks; acoustic (ultrasonic) radar sensors detect the echo signals of targets, have limited resolution, are insufficient for pipeline detection, and are prone to false detection due to amplified echo intensity of triangular structures; millimeter-wave radar has strong echo energy for metallic targets, causes significant interference in indoor scenarios, and can only detect moving targets; infrared thermal sensors have limited spatial resolution, are expensive, and their performance is compromised in high-temperature scenarios; magnetic sensors can only detect metallic targets. Summary of the Invention
[0004] In order to solve the technical problems of weak target resolution and lack of spatial resolution of traditional acoustic (ultrasonic) radar, this invention provides a three-dimensional acoustic imaging system.
[0005] The present invention solves the above-mentioned technical problems through the following technical solutions:
[0006] This invention provides a three-dimensional acoustic imaging system, the three-dimensional acoustic imaging system comprising:
[0007] A transmitting array module is used for transmitting from a speaker array to achieve multi-lobe beam generation and beam spatial scanning.
[0008] A receiving array module, wherein the receiving array module is used to receive signals transmitted by the transmitting array module;
[0009] A beam control module, which is electrically connected to the transmitting array module;
[0010] A signal processing module, which is electrically connected to the receiving array module.
[0011] Furthermore, the receiving array module is connected to the acoustic signal arrival time detection module, which uses time of flight detection technology to detect the distance of the echo and finally obtain the distance in each direction, realizing a point scanning ranging mode similar to lidar and obtaining a point cloud map of space.
[0012] Furthermore, the array spacing of the transmitting array module is N times half the wavelength, where N is an integer greater than 1.
[0013] Furthermore, the transmitted signal of the transmitting array module is a frequency modulated continuous wave (FMCW), a continuous wave (CW), or a pulse signal.
[0014] Furthermore, the beam control module is used to control the transmission phase of each array, generate multi-lobe beams, decompose the preset scanning space into several subspaces, and each lobe corresponds to a subspace and is scanned within it.
[0015] Furthermore, the beam control module generates multi-lobe beams and performs angular scanning of each lobe within its corresponding subspace by setting the transmission delay of each speaker.
[0016] Furthermore, the signal processing module separates the echo signal by filtering or demodulating based on the beam angle and signal characteristics corresponding to each subspace.
[0017] Furthermore, the signal processing module is used to separate the echo signals from different subspaces, detect the target distance based on the echo arrival time, and integrate the distance information of each subspace to generate a three-dimensional point cloud.
[0018] Furthermore, the generation process of the three-dimensional point cloud includes: performing spatial coordinate transformation on the target distance information obtained by scanning in each subspace, and integrating it into complete spatial point cloud data.
[0019] Furthermore, the matrix structure deployment of the transmitting array module and the receiving array module adopts two-dimensional and three-dimensional methods. The two-dimensional deployment is a planar matrix structure, and the three-dimensional deployment is a three-dimensional grid structure. Through the two-dimensional and three-dimensional deployment of the transmitting speaker and receiving microphone array, and based on the spatial structure relationship of the array, the transmitting phase of each speaker is controlled by beamforming technology to achieve the generation of multi-lobe beams and beam spatial scanning.
[0020] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.
[0021] The positive and progressive effects of this invention are as follows:
[0022] The proposed three-dimensional acoustic imaging system utilizes a two-dimensional and three-dimensional array of transmitting speakers and receiving microphones. Based on the spatial structure of the array, beamforming technology controls the transmission phase of each speaker to generate multi-lobe beams and perform spatial scanning. Compared to traditional single-transmitter single-receiver and single-transmitter multi-receiver TDOA detection principles, this system achieves spatial scanning functionality similar to lidar, significantly improving the spatial resolution of the acoustic beam. It can characterize the outline features of targets, similar to lidar, enabling high-resolution spatial point cloud perception. By designing the transmission delay and spacing of each speaker, narrow spatial beam generation and beam angle control are achieved. Furthermore, considering the multi-lobe transmission technology at the array transmitter, the received echoes come from multiple directions. At the receiver, echo signals from different transmission directions are separated, and the distance of the echoes is detected using acoustic wave arrival time detection technology. This ultimately yields the distance in each direction, achieving a point scanning ranging mode similar to lidar, and obtaining a three-dimensional spatial point cloud map. Attached Figure Description
[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application.
[0024] Figure 1 This is a schematic diagram illustrating the working principle of the three-dimensional acoustic imaging system of the present invention.
[0025] Figure 2 This is a schematic diagram of the speaker and microphone array transceiver arrangement of the three-dimensional acoustic imaging system of the present invention.
[0026] Figure 3 This is a schematic diagram of the acoustic beam scanning process of the three-dimensional acoustic imaging system of the present invention.
[0027] Figure 4 This is a schematic diagram of the multi-lobe beam of the three-dimensional acoustic imaging system of the present invention.
[0028] Explanation of reference numerals in the attached figures
[0029] 1. Transmitter array module; 2. Receiver array module; 3. Beam control module; 4. Signal processing module; 5. Sound wave arrival time detection module. Detailed Implementation
[0030] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort should fall within the scope of protection of the present application.
[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0032] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.
[0033] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.
[0034] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.
[0035] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.
[0036] like Figure 1-4 As shown, the three-dimensional acoustic imaging system includes: a transmitting array module 1, a receiving array module 2, a beam control module 3, and a signal processing module 4; the transmitting array module 1 is used for transmitting signals from the speaker array to achieve multi-lobe beam generation and beam spatial scanning; the receiving array module 2 is used for the microphone array to receive signals transmitted by the transmitting array module 1; the beam control module 3 is electrically connected to the transmitting array module 1; and the signal processing module 4 is electrically connected to the receiving array module 2.
[0037] In this embodiment, the phase control array technology using sound waves (ultrasound) as carriers employs a two-dimensional and three-dimensional array of transmitting speakers and receiving microphones. Based on the spatial structure of the array, beamforming technology controls the transmission phase of each speaker to generate multi-lobe beams and perform spatial scanning. Compared to the traditional single-transmitter-single-receiver and single-transmitter-multiple-receiver TDOA detection principle, this technology enables spatial scanning similar to lidar, significantly improving the spatial resolution of the sound wave beam. It can characterize the outline features of targets, similar to lidar, achieving high-resolution spatial point cloud perception. By designing the transmission delay of each speaker, the generation of narrow spatial beams and beam angle control are achieved. Considering that the array transmitter uses multi-lobe transmission technology, the received echoes come from multiple different directions. The receiver separates the echo signals from different transmission directions and uses sound wave arrival time detection technology to detect the distance of the echoes, ultimately obtaining the distance in each direction. This achieves a point scanning ranging mode similar to lidar, obtaining a spatial point cloud map.
[0038] The receiving array module 2 is connected to the sound wave arrival time detection module 5. The sound wave arrival time detection module 5 uses sound wave arrival time detection technology to detect the distance of the echo and finally obtain the distance in each direction, realizing a point scanning ranging mode similar to lidar and obtaining a point cloud map of space.
[0039] The array spacing of the transmitting array module 1 is N times the half wavelength of the sound wave, where N is an integer greater than 1.
[0040] The transmitting signal of the transmitting array module 1 is a frequency modulated continuous wave (FMCW), a continuous wave (CW), or a pulse signal.
[0041] The beam control module 3 is used to control the transmission phase of each array, generate multi-lobe beams, decompose the preset scanning space into several subspaces, and each lobe corresponds to a subspace and is scanned within it.
[0042] The beam control module 3 generates multi-lobe beams and performs angle scanning of each lobe in its corresponding subspace by setting the transmission delay of each speaker.
[0043] The signal processing module 4 separates the echo signal by filtering or demodulating based on the beam angle and signal characteristics corresponding to each subspace.
[0044] The signal processing module 4 is used to separate the echo signals of different subspaces, detect the target distance based on the echo arrival time, and integrate the distance information of each subspace to generate a three-dimensional point cloud.
[0045] The process of generating the three-dimensional point cloud includes: transforming the target distance information obtained by scanning in each subspace into spatial coordinates and integrating it into complete spatial point cloud data.
[0046] The matrix structure deployment of the transmitting array module 1 and the receiving array module 2 adopts two-dimensional and three-dimensional methods. The two-dimensional deployment is a planar matrix structure, and the three-dimensional deployment is a three-dimensional grid structure. Through the two-dimensional and three-dimensional deployment of transmitting speakers and receiving microphone arrays, and based on the spatial structure relationship of the array, beamforming technology is used to control the transmission phase of each speaker to achieve the generation of multi-lobe beams and beam spatial scanning. Compared with the traditional single-transmit single-receive and single-transmit multi-receive TDOA detection principle, this invention can achieve the function of lidar based on the dot matrix scanning principle, thereby greatly improving the spatial resolution of the sound wave beam and realizing high-resolution spatial point cloud perception.
[0047] The circuits, electronic components, and modules involved are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon. The content protected by this application does not involve any improvement to the software and methods.
[0048] This invention is not limited to the embodiments described above. Any changes in shape or structure shall fall within the protection scope of this invention. The protection scope of this invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of this invention, but all such changes and modifications shall fall within the protection scope of this invention.
Claims
1. A three-dimensional acoustic (ultrasound) imaging system, characterized in that, The three-dimensional acoustic (ultrasound) imaging system includes: Transmitting array module (1), the two-dimensional / three-dimensional transmitting array module (1) is used for transmitting the speaker array to realize the generation of narrow beam and beam spatial scanning. The array spacing of the transmitting array module (1) is N times half the wavelength, where N is an integer greater than 1, so as to build several grating lobes around the main lobe of the beam. The receiving array module (2) is used to receive signals transmitted by the transmitting array module (1). The array receiving module can be reused with the transmitting module. Beam control module (3), which is electrically connected to the transmitting array module (1); the beam control module (3) is used to control the transmitting phase of each array, generate multi-lobe beams, decompose the preset scanning space into several subspaces, and each main lobe / grating lobe corresponds to a subspace and is scanned within it. The signal processing module (4) is electrically connected to the receiving array module (2).
2. The three-dimensional acoustic imaging system as described in claim 1, characterized in that: The receiving array module (2) is connected to the sound wave arrival time detection module (5). The arrival time detection module (5) uses sound wave arrival time detection technology to detect the distance of the echo and finally obtain the distance in each direction, realizing a point scanning ranging mode similar to lidar and obtaining a point cloud map of space.
3. The three-dimensional acoustic imaging system as described in claim 1, characterized in that: The transmitting signal of the transmitting array module (1) is a frequency modulated continuous wave (FMCW), a continuous wave (CW), or a pulse signal.
4. The three-dimensional acoustic imaging system as described in claim 1, characterized in that: The beam control module (3) generates multi-lobe beams and performs angle scanning of each lobe in the corresponding subspace by setting the transmission delay of each speaker.
5. The three-dimensional acoustic imaging system as described in claim 1, characterized in that: The signal processing module (4) separates the echo signal by filtering or demodulating based on the beam angle and signal characteristics corresponding to each subspace.
6. The three-dimensional acoustic imaging system as described in claim 1, characterized in that: The signal processing module (4) is used to separate the echo signals of different subspaces, detect the target distance based on the echo arrival time, and integrate the distance information of each subspace to generate a three-dimensional point cloud.
7. The three-dimensional acoustic imaging system as described in claim 6, characterized in that: The process of generating the three-dimensional point cloud includes: transforming the target distance information obtained by scanning in each subspace into spatial coordinates and integrating it into complete spatial point cloud data.
8. The three-dimensional acoustic imaging system as described in claim 1, characterized in that: The matrix structure deployment of the transmitting array module (1) and the receiving array module (2) adopts two-dimensional and three-dimensional. The two-dimensional deployment is a planar matrix structure, and the three-dimensional deployment is a three-dimensional grid structure. Through the two-dimensional and three-dimensional deployment of the transmitting speaker and mic array, and based on the spatial structure relationship of the array, the transmitting phase of each speaker is controlled by beamforming technology to realize the generation of multi-lobe beams and beam spatial scanning.