sensor chip, probe, control chip and positioning system

Abstract

Embodiments of the present disclosure provide a sensor chip, a probe, a control chip and a positioning system. The sensor chip comprises a carrier signal receiving unit and a signal identification unit. The carrier signal receiving unit is configured to receive a return signal; the signal identification unit comprises a first frequency identification channel and a second frequency identification channel, the first frequency identification channel is used for frequency conversion of the return signal to obtain a first frequency conversion signal; the second frequency identification channel is used for frequency conversion of the return signal to obtain a second frequency conversion signal, and the signal identification unit is configured to: generate indication information for indicating whether a first return signal exists in the return signal based on the first frequency conversion signal; and generate indication information for indicating whether a second return signal exists in the return signal based on the second frequency conversion signal. The chip realizes signal source identification, so that carrier signals of multiple frequencies can be transmitted at the same time, and the efficiency of the positioning function is improved.

Description

Technical Field

[0001] Embodiments of this disclosure relate to the field of electronic technology, and more particularly to a sensor chip, a probe, a control chip, and a positioning system. Background Technology

[0002] Ultrasonic sensors or ultrasonic radar (hereinafter collectively referred to as ultrasonic sensors) are frequently used in applications such as automobiles (e.g., traditional fuel vehicles and new energy vehicles), autonomous navigation robots (e.g., robotic vacuum cleaners and logistics robots), and drones (e.g., consumer drones and performance array drones). An ultrasonic sensor, for example, is an ultrasonic transducer that emits a signal of a certain frequency and receives the echo signal of that frequency. Then, a sensor chip coupled to the ultrasonic sensor can perform ranging or positioning based on the Time-of-Flight (ToF) measurement principle and using ultrasound as the measurement medium.

[0003] When using ultrasonic sensors and sensor chips for ranging, current sensor chips can only recognize echo signals of one frequency, which makes it difficult to achieve positioning functionality. Summary of the Invention

[0004] The embodiments of this disclosure perform appropriate frequency conversion processing on the received signals, enabling the sensor chip to identify echo signals of multiple frequencies and allowing carrier signals of multiple frequencies to be transmitted simultaneously, thereby improving the efficiency of the positioning function.

[0005] At least one embodiment of this disclosure provides a sensor chip, including: a carrier signal receiving unit configured to receive an echo signal; and a signal identification unit including a first frequency identification channel and a second frequency identification channel, wherein the first frequency identification channel is used to convert the echo signal to a first frequency-converted signal; and the second frequency identification channel is used to convert the echo signal to a second frequency-converted signal. The signal identification unit is configured to: generate indication information based on the first frequency-converted signal to indicate whether a first echo signal exists in the echo signal; and generate indication information based on the second frequency-converted signal to indicate whether a second echo signal exists in the echo signal. The first echo signal is generated by a first carrier signal of a first frequency reflected by a target object, and the second echo signal is generated by a second carrier signal of a second frequency reflected by a target object. The first frequency and the second frequency are different.

[0006] For example, in some embodiments of this disclosure, the first frequency identification channel includes a first frequency converter, configured to convert the echo signal based on a first reference signal using the first frequency converter to obtain a first frequency-converted signal; the second frequency identification channel includes a second frequency converter, configured to convert the echo signal based on a second reference signal using the second frequency converter to obtain a second frequency-converted signal. This embodiment achieves frequency identification of the echo signal by setting frequency converters in different frequency identification channels, resulting in a simple hardware structure and ease of implementation.

[0007] For example, in some embodiments of this disclosure, the first frequency identification channel further includes an echo signal processing unit. This echo signal processing unit is configured to perform frequency conversion processing on the echo signal based on a reference signal of a reference frequency to obtain a third frequency-converted signal of a third frequency. The frequency of the third frequency-converted signal is greater than 0. The first frequency converter is configured to perform frequency conversion on the third frequency-converted signal based on the first reference signal to obtain the first frequency-converted signal. This embodiment first adjusts the frequency of the echo signal to a third frequency, which is, for example, lower than the first frequency, and then performs frequency conversion on the third frequency-converted signal. Compared to directly converting the echo signal, this saves on frequency conversion costs and power consumption.

[0008] For example, in some embodiments of this disclosure, the second frequency identification channel further includes the echo signal processing unit, which is configured to perform frequency conversion processing on the echo signal based on the reference signal at the reference frequency to obtain a third frequency-converted signal at a third frequency, wherein the frequency of the third frequency-converted signal is greater than 0. The second frequency converter is configured to perform frequency conversion on the third frequency-converted signal based on the second reference signal to obtain the second frequency-converted signal. In this embodiment, the second frequency identification channel and the first frequency identification channel share the echo signal processing unit, thereby simplifying the circuit and saving costs.

[0009] For example, in some embodiments of this disclosure, the signal identification unit further includes a signal generator: the signal generator is configured to generate a first reference signal at a first reference frequency and a second reference signal at a second reference frequency.

[0010] For example, in some embodiments of this disclosure, the first reference frequency is obtained based on the first frequency and the reference frequency, and the second reference frequency is obtained based on the second frequency and the reference frequency. This embodiment can reduce the difficulty of processing the first and second frequency-converted signals to identify the echo signal frequency.

[0011] For example, in some embodiments of this disclosure, the signal identification unit is configured to: generate a first envelope based on the first frequency-converted signal, the first envelope including indication information for indicating whether a first echo signal exists in the echo signal; and generate a second envelope based on the second frequency-converted signal, the second envelope including indication information for indicating whether a second echo signal exists in the echo signal. This embodiment indicates echo signal information through envelopes, a simple method that is easy to implement.

[0012] For example, in some embodiments of this disclosure, the first frequency identification channel includes a filter configured to filter the first frequency conversion signal to generate the first envelope, and the second frequency identification channel includes a second filter configured to filter the second frequency conversion signal to generate the second envelope. The first frequency conversion signal and the second frequency conversion signal each include a low-frequency signal and a high-frequency signal. The required envelope is obtained by filtering the first frequency conversion signal and the second frequency conversion signal through the filter, which makes the acquisition of the envelope simple and easy to implement, with low cost and simple circuit structure.

[0013] For example, in some embodiments of this disclosure, the signal recognition unit is further configured to: process the first envelope to obtain the amplitude or frequency of the first echo signal; and process the second envelope to obtain the amplitude or frequency of the second echo signal.

[0014] For example, in some embodiments of this disclosure, the amplitude or frequency of the first echo signal includes indication information for indicating whether a first echo signal exists in the echo signal; the amplitude or frequency of the second echo signal includes indication information for indicating whether a second echo signal exists in the echo signal.

[0015] At least one embodiment of this disclosure provides a probe including an ultrasonic transducer and a sensor chip provided in any embodiment of this disclosure. The ultrasonic transducer is coupled to a carrier signal receiving unit and is configured to receive the echo signal and provide the echo signal to the carrier signal receiving unit. This probe can perform source identification, enabling the simultaneous transmission of carrier signals of multiple frequencies, thereby improving the efficiency of the positioning function.

[0016] For example, in some embodiments of this disclosure, the ultrasonic transducer is also used to transmit a first carrier signal at the first frequency or a second carrier signal at the second frequency. In this embodiment, the probe can not only receive echo signals but also transmit carrier signals, thereby enriching the probe's functionality.

[0017] At least one embodiment of this disclosure provides a control chip, including: a control unit configured to configure a first probe and a second probe of at least one probe to simultaneously transmit a first carrier signal and a second carrier signal with different frequencies, wherein the first probe or the second probe is a probe provided in any embodiment of this disclosure; a receiving unit configured to receive indication information from any of the at least one probe for indicating whether a first echo signal or a second echo signal exists in the echo signal, wherein the first echo signal is generated by the reflection of the first carrier signal after passing through a target object, and the second echo signal is generated by the reflection of the second carrier signal after passing through a target object; and a positioning unit configured to determine the position of the target object based on the indication information. This control chip can improve the efficiency of the positioning function.

[0018] For example, in some embodiments of this disclosure, the control chip determines the position of the target object based on the indication information, including: the control chip determines that the first echo signal and the second echo signal exist in the echo signal based on the indication information, and obtains the distance between the target object and the first probe and the distance between the target object and the second probe based on the first echo signal and the second echo signal; the control chip determines the position of the target object based on the distance between the target object and the first probe and the distance between the target object and the second probe.

[0019] At least one embodiment of this disclosure provides a positioning system, including: a probe provided in any embodiment of this disclosure and a control chip provided in any embodiment of this disclosure.

[0020] At least one embodiment of this disclosure provides a signal identification method, comprising: receiving an echo signal; converting the echo signal to a first frequency-converted signal through a first frequency identification channel, and converting the echo signal to a second frequency-converted signal through a second frequency identification channel; generating indication information based on the first frequency-converted signal to indicate whether a first echo signal exists in the echo signal; and generating indication information based on the second frequency-converted signal to indicate whether a second echo signal exists in the echo signal, wherein the first echo signal is generated by a first carrier signal of a first frequency reflected by a target object, and the second echo signal is generated by a second carrier signal of a second frequency reflected by a target object, and the first frequency and the second frequency are different.

[0021] For example, in some embodiments of this disclosure, the first frequency identification channel includes a first frequency converter, and the second frequency identification channel includes a second frequency converter. Converting the echo signal through the first frequency identification channel to obtain a first frequency-converted signal, and converting the echo signal through the second frequency identification channel to obtain a second frequency-converted signal, includes: converting the echo signal through the first frequency converter based on a first reference signal to obtain the first frequency-converted signal; and converting the echo signal through the second frequency converter based on a second reference signal to obtain the second frequency-converted signal.

[0022] For example, in some embodiments of this disclosure, the first frequency converter converts the echo signal based on the first reference signal to obtain the first frequency-converted signal, including: converting the echo signal based on a reference signal of a reference frequency to obtain a third frequency-converted signal of a third frequency, wherein the frequency of the third frequency-converted signal is greater than 0; and the second frequency converter converts the echo signal based on the second reference signal to obtain the second frequency-converted signal, including: converting the third frequency-converted signal based on the second reference signal to obtain the second frequency-converted signal.

[0023] For example, in some embodiments of this disclosure, generating indication information based on the first frequency conversion signal to indicate whether a first echo signal exists in the echo signal, and generating indication information based on the second frequency conversion signal to indicate whether a second echo signal exists in the echo signal, includes: generating a first envelope based on the first frequency conversion signal, the first envelope including indication information for indicating whether the first echo signal exists in the echo signal; and generating a second envelope based on the second frequency conversion signal, the second envelope including indication information for indicating whether the second echo signal exists in the echo signal.

[0024] At least one embodiment of this disclosure provides a positioning method, comprising: configuring a first probe and a second probe among at least one probe to simultaneously transmit a first carrier signal and a second carrier signal with different frequencies, wherein the first probe or the second probe is a probe provided in any embodiment of this disclosure; receiving indication information from any of the at least one probe for indicating whether a first echo signal or a second echo signal exists in the echo signal, wherein the first echo signal is generated by the reflection of the first carrier signal after passing through a target object, and the second echo signal is generated by the reflection of the second carrier signal after passing through a target object; and determining the position of the target object based on the indication information.

[0025] At least one embodiment of this disclosure provides an electronic device, including: a processor; and a memory including one or more computer program instructions; wherein the one or more computer program instructions are executed by the processor to perform a signal identification method or positioning method according to any embodiment of this disclosure. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.

[0027] Figure 1A The diagram illustrates an application scenario of a sensor chip provided by some embodiments of this disclosure;

[0028] Figure 1B A schematic diagram of the circuit structure of an ultrasonic sensor chip provided by some embodiments of this disclosure is shown;

[0029] Figure 1C A schematic block diagram of an ultrasonic parking assistance system provided by some embodiments of the present disclosure is shown;

[0030] Figure 2A This illustrates an application scenario where a sensor needs to identify at least two frequencies of ultrasound.

[0031] Figure 2B This illustrates another application scenario where the sensor needs to identify at least two frequencies of ultrasound.

[0032] Figure 3 A schematic block diagram of a chip provided in at least one embodiment of the present disclosure is shown;

[0033] Figure 4A A schematic block diagram of another chip provided in at least one embodiment of the present disclosure is shown;

[0034] Figure 4B A schematic diagram of the circuit structure of a chip provided in at least one embodiment of the present disclosure is shown;

[0035] Figure 5 A schematic diagram of a signal recognition unit provided in at least one embodiment of the present disclosure is shown;

[0036] Figure 6 A block diagram of a probe provided in at least one embodiment of the present disclosure is shown;

[0037] Figure 7 A schematic diagram of a control chip 700 provided in at least one embodiment of the present disclosure is shown;

[0038] Figure 8A A block diagram of an electronic device provided in at least one embodiment of the present disclosure is shown;

[0039] Figure 8B A block diagram of another electronic device provided in at least one embodiment of the present disclosure is shown. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0041] Unless otherwise defined, the technical or scientific terms used in this disclosure shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an,” “a,” or “the,” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising,” “including,” or “including,” and similar terms mean that the element or object preceding the term encompasses the elements or objects listed following the term and their equivalents, without excluding other elements or objects. The terms “connection,” “coupled,” and similar terms are not limited to physical or mechanical connections, but can include electrical or magnetic connections, whether direct or indirect. The terms “upper,” “lower,” “left,” and “right,” etc., are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described objects changes.

[0042] The present disclosure will now be described through several specific embodiments. To keep the following description of the embodiments of the present disclosure clear and concise, detailed descriptions of known functions and components are omitted. When any component of an embodiment of the present disclosure appears in more than one drawing, the component is indicated by the same or similar reference numerals in each drawing.

[0043] For example, in the automotive field, ultrasonic sensors can be used in scenarios such as parking assistance, blind spot monitoring, automatic parking, and low-speed emergency braking.

[0044] Figure 1A The illustration shows a schematic diagram of an application scenario of a sensor chip provided by some embodiments of the present disclosure.

[0045] exist Figure 1AThe diagram shows a vehicle 100 and an obstacle 200. The rear of the vehicle 100 is equipped with ultrasonic transducers 11 and 12. Both ultrasonic transducers 11 and 12 are fixed-frequency, meaning the frequency of the emitted ultrasonic waves does not change over time. For example, ultrasonic transducer 11 emits an ultrasonic signal at frequency a, and ultrasonic transducer 12 emits an ultrasonic signal at frequency b. In some embodiments of this disclosure, the vehicle may include multiple ultrasonic transducers, each emitting ultrasonic waves at a different frequency.

[0046] When the user (or in the case of autonomous driving) controls the vehicle 100 to reverse (or in any scenario such as parallel parking or obstacle recognition), ultrasonic transducers 11 and 12 can respectively emit ultrasonic signals and receive echo signals. They can then calculate the distance between ultrasonic transducer 11 and obstacle 200 and the distance between ultrasonic transducer 12 and obstacle 200, and provide the user with corresponding prompts (e.g., outputting a warning sound through a buzzer or displaying the obstacle distance on a screen) to assist the user in driving safely.

[0047] Figure 1B A schematic diagram of the circuit structure of a sensor chip provided by some embodiments of this disclosure is shown.

[0048] like Figure 1B As shown, the sensor chip 100 includes a low-noise amplifier 102, an analog-to-digital converter 103, a bandpass filter 104, a mixer 105, a local oscillator 106, a low-pass filter 107, an envelope extraction unit 108, and a drive unit 109. The sensor chip 100 is coupled to an ultrasonic transducer 101. For example, the low-noise amplifier 102 and the drive unit 109 are respectively coupled to the ultrasonic transducer 101.

[0049] For example, ultrasonic transducer 101 is used to transmit and receive ultrasonic waves. The ultrasonic transducer can be two separate devices comprising an ultrasonic transmitting transducer and an ultrasonic receiving transducer, or it can be a single device capable of both transmitting and receiving ultrasonic waves. For example, drive unit 109 drives ultrasonic transducer 101 to transmit a high-frequency carrier signal (e.g., ultrasonic wave) via an electrical signal. When this high-frequency carrier signal encounters an obstacle and is reflected (reflection is used as an example in this application, but refraction, scattering, or diffraction can also be included), the echo signal is received by ultrasonic transducer 101. The echo signal causes ultrasonic transducer 101 to vibrate, outputting a weak electrical signal. Low-noise amplifier 102 amplifies the weak electrical signal output by ultrasonic transducer 101 while suppressing noise. The amplified electrical signal is converted into a digital high-frequency carrier signal by analog-to-digital converter 103, completing the transition from the analog domain to the digital domain, enabling subsequent processing (e.g., filtering, mixing, etc.) to be implemented using digital algorithms.

[0050] A bandpass filter 104 is used to filter out noise introduced by the analog-to-digital converter 103 during sampling, preventing interference with subsequent mixing stages. A local oscillator 106 generates a local oscillator signal with the same frequency as the emitted ultrasonic wave (the frequency strictly matches the center frequency of the ultrasonic transducer 101, such as 40kHz), which serves as a reference for mixing. If the frequency of the local oscillator signal does not match the center frequency, it may cause attenuation of the measured envelope amplitude, or even prevent the envelope from being measured.

[0051] Mixer 105 multiplies the input signal (i.e., the output of bandpass filter 104) with the local oscillator signal (i.e., the reference base) to output a mixed signal (also called a "converted signal"). The converted signal includes both high-frequency and low-frequency signals; therefore, it needs to be low-pass filtered by low-pass filter 107 to obtain the desired low-frequency signal (also known as a down-converted signal). The low-frequency signal output from the low-pass filter includes an envelope that reflects the amplitude variation of the echo signal. This low-frequency signal can be envelope extracted by envelope extraction unit 108. For example, the amplitude values ​​of the low-frequency signal at various time points can be extracted to obtain the amplitude values ​​corresponding to different time points.

[0052] For example, the high-frequency carrier signal emitted by the ultrasonic transducer 101 is That is, the high-frequency carrier signal. The angular frequency is , f is a high-frequency carrier signal The frequency of the echo signal. Assume the echo signal is... The angular frequency of the local oscillator signal generated by the local oscillator 106 is also... Then the mixing signal output by mixer 105 is It should be noted that this example uses a continuous analog signal to illustrate the mixing principle. In reality, mixer 105 processes discrete digital signals, where t can be replaced with "nT", where T is the sampling rate. For example, in this application, the mixer can also be referred to as a digital mixer.

[0053] The mixing signal passes through the low-pass filter 107 to remove the high-frequency components. Filter out, retain only low-frequency components. At this point, the time-domain waveform of the output signal is a scaled version of the echo envelope A(t), with the same shape as the original envelope, only with its amplitude attenuated to 1 / 2. For ease of description, the gain effect of the low-noise amplifier 102 is not considered here.

[0054] Therefore, in this embodiment, the wave emission frequency of the ultrasonic transducer 101 is equal to the frequency of the signal generated by the local oscillator 106, and the reference frequency used to downconvert the received echo signal is also equal to the frequency of the signal generated by the local oscillator 106. Thus, the echo envelope can be obtained after downconversion.

[0055] Figure 1C A schematic block diagram of an ultrasonic parking assistance system is shown.

[0056] like Figure 1C As shown, the system includes a probe C1 and an electronic control unit (ECU) C2. The probe C1 includes, for example, an ultrasonic transducer and... Figure 1B The sensor chip shown.

[0057] An ultrasonic transducer emits ultrasonic waves of a specific frequency and receives echo signals. The received echo signals are provided to a sensor chip, which processes them to obtain the echo signal's envelope. The sensor chip then provides the digitized waveform (e.g., the envelope) to the ECU. The ECU performs analysis on the received digitized waveform, including distance calculation and obstacle detection, thereby enabling parking assistance functions. Alternatively, the sensor chip can perform distance calculation and obstacle detection on its own, simplifying the ECU's operation.

[0058] For example, the ECU notifies the probe to begin measurement by sending a measurement command. Upon receiving the command, the probe controls the ultrasonic transducer to transmit ultrasonic waves and receive echo signals from obstacles. The sensor chip then performs signal processing on the received echo signals, including amplification, analog-to-digital conversion, and digital filtering (see reference). Figure 1B After receiving the digitized waveform (as described), the ECU sends the digitized waveform back to the ECU via a communication interface. The ECU then performs analysis on the received digitized waveform, including distance calculation and obstacle detection, thereby enabling parking assistance functions.

[0059] Figure 1B The fixed-frequency measurement technique shown requires a reference frequency equal to the emission frequency of the ultrasonic transducer 101 for down-converting the received echo signal. Figure 1B The ultrasonic sensor shown can only identify echo signals with the same frequency as the emitted wave. It cannot identify or distinguish fixed-frequency signal sources with different frequencies.

[0060] For example, if an electronic device (e.g., a car) has two sensors, sensor A and sensor B, sensor A emits a 50 kHz ultrasonic wave and sensor B emits a 55 kHz ultrasonic wave, if sensor A receives two echo signals, then sensor A can only identify the echo signal of the 50 kHz ultrasonic wave (e.g., for distance measurement), but cannot identify the frequency and source of the other echo signal.

[0061] However, in some scenarios, sensors need to be able to identify not only ultrasonic waves of the same frequency as their own, but also ultrasonic waves of other frequencies.

[0062] Figure 2A This illustrates an application scenario where a sensor needs to identify at least two frequencies of ultrasound.

[0063] like Figure 2A As shown, RX is a receiving sensor (e.g., a super-energy sensor with ultrasonic receiving function), and S1 and S2 are two fixed-frequency transmitting sensors (e.g., super-energy sensors with ultrasonic transmitting function). The ultrasonic waves emitted by fixed-frequency transmitting sensor S1 operate at frequency f1, and the ultrasonic waves emitted by fixed-frequency transmitting sensor S2 operate at frequency f2. In related technical solutions, RX cannot distinguish whether the received echo originates from fixed-frequency transmitting sensor S1 or fixed-frequency transmitting sensor S2, i.e., it cannot perform source identification.

[0064] Figure 2B This illustrates another application scenario where the sensor needs to identify at least two frequencies of ultrasound.

[0065] like Figure 2B As shown, for example, a car includes a fixed-frequency emission sensor S1 and a fixed-frequency emission sensor S2, and the environment in which the car is located includes obstacles S.

[0066] Fixed-frequency transmitting sensors S1 and S2 emit ultrasonic waves, respectively. Based on their respective echoes, sensors S1 and S2 can measure the distances d1 and d2 from obstacle S to S. However, because sensors S1 and S2 can only recognize ultrasonic waves of their own frequency and have difficulty identifying the frequency and source of echo signals from other frequencies, they can only determine the distance to the obstacle but not its exact location; that is, they cannot pinpoint the obstacle's location.

[0067] In some embodiments of this disclosure, if the fixed-frequency transmitting sensor S1 can not only identify ultrasonic waves of its own frequency, but also identify the source of ultrasonic waves of other frequencies, then the fixed-frequency transmitting sensor S1 can locate the obstacle S based on its own echo signal and the echo signal of the fixed-frequency transmitting sensor S2.

[0068] For example, fixed-frequency transmitting sensor S1 and fixed-frequency transmitting sensor S2 simultaneously emit ultrasonic waves. Fixed-frequency transmitting sensor S1 receives echoes of frequency f1 and frequency f2. The distance d1 from fixed-frequency transmitting sensor S1 to obstacle S can be obtained based on the time of the echo of frequency f1. The distance d2 from fixed-frequency transmitting sensor S2 to obstacle S can be obtained based on the time of the echo of frequency f2. The sum of the distances d2 and d1 from fixed-frequency transmitting sensor S2 to obstacle S can be obtained, thus obtaining the distance d2 from fixed-frequency transmitting sensor S2 to obstacle S.

[0069] After the fixed-frequency transmitting sensor S1 detects the echo at frequency f2, based on the known distance T between the fixed-frequency transmitting sensors S1 and S2... d Using d1 and d2 and the Law of Cosines, we can calculate cosA = (T d + d1- d2) / 2T d d1, cosB=(T d + d2- d1) / 2T d ×d2, C=180°-AB, thus achieving the positioning of obstacle S.

[0070] As in the examples above, sensors receiving ultrasonic waves often struggle to distinguish ultrasonic waves emitted by different sensors, making source identification difficult. This is due to the circuit structure of traditional fixed-frequency ultrasonic measurement circuits (chips). However, source identification plays a crucial role, such as for localization in the examples above. Therefore, embodiments of this disclosure provide a chip capable of source identification. This chip can be packaged as a sensor, such as an ultrasonic ranging sensor. In the following description, unless otherwise specified, embodiments of this disclosure are described using a chip packaged as a sensor.

[0071] Figure 3 A schematic block diagram of a sensor chip provided in at least one embodiment of the present disclosure is shown.

[0072] like Figure 3 As shown, the sensor chip 300 includes a carrier signal receiving unit 301 and a signal recognition unit 302.

[0073] For example, the carrier signal receiving unit 301 and the signal identification unit 302 can be hardware, software, firmware, or any feasible combination thereof. For example, the carrier signal receiving unit 301 and the signal identification unit 302 can be dedicated or general-purpose circuits, chips, or devices. The embodiments of this disclosure do not limit the specific implementation of the above-mentioned units.

[0074] The carrier signal receiving unit 301 is configured to receive echo signals.

[0075] The signal identification unit 302 includes a first frequency identification channel and a second frequency identification channel. The first frequency identification channel is used to convert the echo signal to a first frequency-converted signal; the second frequency identification channel is used to convert the echo signal to a second frequency-converted signal.

[0076] The signal recognition unit 302 is configured to generate indication information based on a first frequency conversion signal to indicate whether a first echo signal exists in the echo signal; and to generate indication information based on a second frequency conversion signal to indicate whether a second echo signal exists in the echo signal. The first echo signal is generated by a first carrier signal of a first frequency reflected by a target object, and the second echo signal is generated by a second carrier signal of a second frequency reflected by a target object. The first frequency and the second frequency are different.

[0077] This chip identifies carrier signals of different frequencies through multiple frequency identification channels, thereby enabling the identification of multiple signal sources transmitting different frequencies. This allows multiple frequency carrier signals to be transmitted simultaneously, improving the efficiency of the positioning function. Furthermore, some embodiments of this disclosure can identify echoes of different frequencies emitted by different probes through the receiving side of a single probe, thus enabling applications in multi-transmitter, single-receiver scenarios. In such scenarios, only one sensor chip disclosed in this application needs to be used, while other sensors can still use existing sensor chips. That is, the sensor chip provided in this disclosure can be used interchangeably with traditional sensor chips (for example, traditional chips do not require frequency identification channels, resulting in lower costs), reducing the cost of positioning implementation. Additionally, some embodiments of this disclosure can distribute some processing power within the sensor chip, reducing the processing burden on the ECU / MCU / CPU. Therefore, this embodiment, by performing appropriate frequency conversion processing on the received signal, enables the sensor chip to identify echo signals of multiple frequencies, thereby allowing multiple frequency carrier signals to be transmitted simultaneously, improving the efficiency of the positioning function.

[0078] In some embodiments of this disclosure, the carrier signal receiving unit 301 is used to receive an echo signal, which can be the echo signal of a carrier signal emitted by any chip. In this disclosure, the carrier signal can be an ultrasonic signal or an electromagnetic wave signal, and therefore the echo signal can be either an ultrasonic signal or an electromagnetic wave signal. The ultrasonic signal in the specific embodiments is merely an example.

[0079] In some embodiments of this disclosure, the signal identification unit 302 may include multiple frequency identification channels, and is not limited to a first frequency identification channel and a second frequency identification channel. It should be noted that the terms "first" and "second" in this disclosure are used for ease of description only and do not limit the embodiments of this disclosure. For example, the signal identification unit 302 may include 3, 4, or other frequency identification channels.

[0080] In some embodiments of this disclosure, multiple frequency identification channels each frequency-convert the echo signal based on a different reference frequency. For example, a frequency identification channel may include a frequency converter to frequency-convert the echo signal based on a reference frequency. This frequency converter may be, for example, the mixer described above.

[0081] For example, the first frequency identification channel includes a first frequency converter, which is configured to convert the echo signal based on a first reference frequency to obtain a first frequency-converted signal; the second frequency identification channel includes a second frequency converter, which is configured to convert the echo signal based on a second reference frequency to obtain a second frequency-converted signal.

[0082] In some embodiments of this disclosure, multiple frequency identification channels, in addition to each including a frequency converter, also include an echo signal processing unit. This echo signal processing unit is shared by multiple frequency identification channels. For example, a first frequency identification channel includes an echo signal processing unit, and a second frequency identification channel also includes this echo signal processing unit. That is, the echo signal processing unit is shared by both the first and second frequency identification channels. In this embodiment, the second and first frequency identification channels share the echo signal processing unit, thereby simplifying the circuit and saving costs.

[0083] The echo signal processing unit is configured to use a reference signal based on a reference frequency. It performs frequency conversion processing on the echo signal to obtain a third frequency signal with a frequency greater than 0. In this embodiment, the frequency of the echo signal is first adjusted to a third frequency, which, for example, is lower than the first frequency, before the third frequency signal is converted. This saves on conversion costs and power consumption compared to directly converting the echo signal.

[0084] For example, the reference frequency is different from the frequency of the ultrasonic waves emitted by the ultrasonic transducer corresponding to the sensor chip (hereinafter referred to as the "first frequency"). For example, the reference frequency is less than or greater than the first frequency, thus making the third frequency-converted signal a low-frequency signal rather than a zero-frequency signal. For example, the reference signal of the reference frequency is obtained by dividing the carrier signal of the first frequency.

[0085] For example, if a sensor chip processes echo signals from multiple ultrasonic transducers, then the reference frequency may be different from the frequencies of the multiple ultrasonic waves emitted by the multiple ultrasonic transducers, or the reference frequency may be the same as one of the frequencies of the multiple ultrasonic waves emitted by the multiple ultrasonic transducers.

[0086] The first frequency converter is configured to convert the third frequency signal based on the first reference signal to obtain the first frequency signal; the second frequency converter is configured to convert the third frequency signal based on the second reference signal to obtain the second frequency signal. This embodiment achieves frequency identification of the echo signal by setting frequency converters in different frequency identification channels, and the hardware structure is simple and easy to implement.

[0087] For example, the signal identification unit 302 processes the first frequency conversion signal to obtain indication information. This indication information indicates whether the echo signal is generated by the reflection of a first carrier signal of a first frequency by a target object; that is, the indication information indicates whether the echo signal has a first frequency. The signal identification unit 302 processes the second frequency conversion signal to obtain indication information. This indication information indicates whether the echo signal is generated by the reflection of a second carrier signal of a second frequency by a target object; that is, the indication information indicates whether the echo signal has a second frequency.

[0088] For example, the target object is Figure 1A Obstacles 200 in the middle.

[0089] For example, the signal recognition unit extracts the envelope of the frequency conversion signal (i.e., the first frequency conversion signal or the second frequency conversion signal) to obtain the amplitude of the frequency conversion signal, and the amplitude is used as indication information; or the frequency conversion signal is filtered, and the filtering result is used as indication information.

[0090] Figure 4A This illustration shows a schematic block diagram of another chip provided in at least one embodiment of the present disclosure, which is provided in at least one embodiment of the present disclosure. Figure 3 A schematic block diagram of the sensor chip 300.

[0091] like Figure 4A As shown, the sensor chip 300 includes a carrier signal receiving unit 301 and a signal identification unit 302. The signal identification unit 302 includes an echo signal processing unit 312 and multiple frequency identification channels 322. The multiple frequency identification channels 322 include, for example, a first frequency identification channel and a second frequency identification channel.

[0092] The echo signal processing unit 312 includes, for example, the mixer 105 and low-pass filter 107 described above. The carrier signal receiving unit 301 includes, for example, the low-noise amplifier 102, analog-to-digital converter 103 and band-pass filter 104 described above.

[0093] and Figure 1B The example is different, in Figure 3 Alternatively, in embodiment 4A, the frequency of the local oscillator signal generated by the local oscillator 106 can be a reference frequency different from the frequency of the ultrasonic wave generated by the ultrasonic transducer 101. Therefore, the third frequency-converted signal obtained after the mixer 105 and the low-pass filter 107 is not a zero-frequency signal (also known as a "zero intermediate frequency signal") but a low-frequency signal (also known as a "low intermediate frequency signal").

[0094] For example, in Figure 2B In the example, the car includes sensor S1 and sensor S2, and sensor S1 transmits a carrier signal S. S1=cos(w1t), the frequency of the carrier signal is f1=w1 / 2π (example of the first frequency), then the carrier signal S S1 The echo signal reflected by the target (e.g., an obstacle) is S. RX1 =A(t)cos(w1t); the carrier signal S emitted by sensor S2 S2 =cos(w2t), the frequency of the carrier signal is f2=w2 / 2π (example of the second frequency), then the carrier signal S S2 The echo signal after reflection from the target object is S RX2 =A(t)·cos(w²t). The echo signal received by the sensor (also known as the "signal to be identified") can be a carrier signal S. S1 and carrier signal S S2 The echo signal of any one of them. For example, for sensor S1, the signal to be identified might be the echo signal S. RX1 It could also be that the echo signal is S RX2 .

[0095] For example, the reference frequency of the local oscillator signal is f0, and the reference angular frequency is ω. 0， f0 = w0 / 2π, assuming the signal to be identified is S RX =A(t)·cos(wt), then based on the reference frequency f0, the signal S to be identified... RX The first mixing signal obtained after downconversion is MIX. RX =A(t)cos(wt)cos(w0t), which can be obtained using the product-to-sum formula:

[0096] MIX RX =A(t)cos[(w-w0)t] / 2+A(t)cos[(w+w0)t] / 2.

[0097] Then, a low-pass filter is used to mix the frequency signal. RX Filtering is performed to obtain the signal. =A(t)cos[(w-w0)t] / 2, this signal MIX' RX The frequency is (w-w0) / 2π.

[0098] If the signal to be identified is an echo signal S RX1 ,but , The frequency is (w1-w0) / 2π. If the signal to be identified is an echo signal S... RX2 ,but The signal The frequency is (w2-w0) / 2π.

[0099] For example, multiple frequency identification channels convert the third frequency conversion signal based on multiple reference frequencies to obtain multiple frequency conversion signals; and indication information is obtained based on the multiple frequency conversion signals.

[0100] For example, if N sensors in a car emit N ultrasonic waves of different frequencies, and these N ultrasonic waves serve as N preset carrier signals, then the signal identification unit 302 can include N frequency identification channels. Each of the N frequency identification channels corresponds one-to-one with one of the N ultrasonic waves of different frequencies, where N is an integer greater than or equal to 2. That is, the multiple preset carrier signals are carrier signals (e.g., ultrasonic waves) of various frequencies that an electronic device (e.g., a car) can emit. All N frequency identification channels are coupled to the carrier signal receiving unit 301, so that each frequency identification channel receives a third frequency conversion signal from the carrier signal receiving unit 301.

[0101] For example, a car includes sensors S1 and S2. Sensor S1 emits ultrasonic waves at frequency f1, and sensor S2 emits ultrasonic waves at frequency f2. The signal recognition unit 302 includes two frequency recognition channels: a first frequency recognition channel and a second frequency recognition channel. The first frequency recognition channel corresponds to a preset carrier signal at frequency f1 and is used to identify whether the signal to be identified is an echo signal of the ultrasonic waves emitted by sensor S1 at frequency f1. The second frequency recognition channel corresponds to a preset carrier signal at frequency f2 and is used to identify whether the signal to be identified is an echo signal of the ultrasonic waves emitted by sensor S2 at frequency f2. For example, multiple reference frequencies include a first reference frequency and a second reference frequency. The first frequency recognition channel performs frequency conversion on the second carrier signal based on the first reference frequency to obtain a frequency-converted signal, and the second frequency recognition channel performs frequency conversion on the second carrier signal based on the second reference frequency to obtain another frequency-converted signal.

[0102] The third frequency conversion signal is converted again by the reference frequency corresponding to each frequency identification channel, so as to obtain the correlation between the third frequency conversion signal and the reference frequency, thereby determining which of the multiple preset carrier signals the signal to be identified (i.e., the echo signal) is (hereinafter referred to as the "object carrier signal").

[0103] In some embodiments of this disclosure, the signal recognition unit 302 obtains indication information based on the processing of the frequency conversion signal, and the indication information is used to identify the signal to be identified.

[0104] For example, the signal recognition unit 302 generates indication information based on the frequency conversion signal to indicate the amplitude or frequency of the echo signal. For instance, it generates a first envelope based on the first frequency conversion signal, the first envelope including indication information indicating the presence of a first echo signal in the echo signal; and it generates a second envelope based on the second frequency conversion signal, the second envelope including indication information indicating the presence of a second echo signal in the echo signal. This embodiment uses an envelope to indicate the indication information of the echo signal, a simple method that is easy to implement.

[0105] For example, the first frequency identification channel includes a first filter configured to filter the first frequency-converted signal to generate a first envelope; the second frequency identification channel includes a second filter configured to filter the second frequency-converted signal to generate a second envelope. Both the first and second filters are, for example, low-pass filters. The low-pass filter is used to filter out high frequencies from the frequency-converted signal, retaining only low frequencies; that is, the output of the first or second filter is the down-converted signal of the third frequency-converted signal. Filtering the first and second frequency-converted signals with filters yields the desired envelope, making envelope acquisition simple, easy to implement, low-cost, and with a simple circuit structure.

[0106] The first envelope is the envelope of the low-frequency signal in the first frequency conversion signal, used to indicate whether there is an echo signal of the first carrier signal in the echo signal; the second envelope is the envelope of the low-frequency signal in the second frequency conversion signal, used to indicate whether there is an echo signal of the second carrier signal in the echo signal.

[0107] In some embodiments of this disclosure, the signal recognition unit is further configured to: process the first envelope to obtain the amplitude or frequency of the first echo signal; and process the second envelope to obtain the amplitude or frequency of the second echo signal. It should be noted that this embodiment can be executed under the premise that either the first echo signal or the second echo signal is present.

[0108] For example, in some embodiments of this disclosure, the amplitude or frequency of the first echo signal includes indication information for indicating whether a first echo signal exists in the echo signal; the amplitude or frequency of the second echo signal includes indication information for indicating whether a second echo signal exists in the echo signal.

[0109] For example, envelope extraction can be performed on the first and second envelopes to obtain the amplitude of the first or second envelope. Another example is determining whether the frequencies of the first and second envelopes are zero based on the first and second envelopes.

[0110] For example, if the amplitude of the first envelope output by the first frequency identification channel is greater than a threshold, then the echo signal is the preset carrier signal corresponding to the first frequency identification channel. Similarly, if the amplitude of the second envelope output by the second frequency identification channel is greater than a threshold, then the echo signal is the preset carrier signal corresponding to the second frequency identification channel. Or, if the amplitude of the first envelope is much greater than the amplitude of the second envelope, then the echo signal is the preset carrier signal corresponding to the first frequency identification channel.

[0111] For example, if the frequency of the frequency conversion signal output by the second frequency identification channel is 0 (e.g., zero frequency) while the frequency of the frequency conversion signal output by the first frequency identification channel is not 0; or if the frequency of the frequency conversion signal output by the second frequency identification channel is much smaller than the frequency of the frequency conversion signal output by the first frequency identification channel, then the signal to be identified is the preset carrier signal corresponding to the second frequency identification channel, and the preset carrier signal corresponding to the second frequency identification channel is the target carrier signal.

[0112] Figure 4B A schematic diagram of the circuit structure of a sensor chip 400 provided in at least one embodiment of the present disclosure is shown.

[0113] like Figure 4B As shown, the sensor chip 400 includes a carrier signal receiving unit 40 and a signal recognition unit 41. For details regarding the carrier signal receiving unit 40 and the signal recognition unit 41, please refer to the description of the carrier signal receiving unit 301 and the signal recognition unit 302 above. Figure 4B As shown, the ultrasonic transducer 401 is coupled to the sensor chip 400 and is used to transmit and receive ultrasonic signals. Please refer to the above text for details about the ultrasonic transducer 401. Figure 1B Description of ultrasonic transducer 101.

[0114] In some embodiments of this disclosure, the sensor chip 400 also includes an oscillator LO and a frequency divider DIV. For example... Figure 4B As shown, the oscillator LO is configured to generate a local oscillator signal of the first frequency; the frequency divider DIV is configured to divide the local oscillator signal to obtain a reference signal.

[0115] For example, if the first frequency is 50kHz, the frequency divider divides the local oscillator signal by 1 / 10 to obtain a 5kHz reference signal.

[0116] In this embodiment, a reference signal at the reference frequency can be obtained simply by adding a frequency divider to the sensor, thus eliminating the need to replace the oscillator and ensuring compatibility with current fixed-frequency sensors. Furthermore, adding a frequency divider allows the sensor to operate in fixed-frequency mode by controlling its usage. For example, if the sensor operates in fixed-frequency mode, the frequency divider is disabled (e.g., short-circuited or with a division ratio of 1); if the sensor operates in non-fixed-frequency mode, the frequency divider is enabled. Therefore, this embodiment also improves the sensor's flexibility. In other embodiments of this disclosure, an additional oscillator can be added, which directly generates a signal at the reference frequency.

[0117] In some embodiments of this disclosure, the echo signal processing unit 405 is configured to down-convert the received echo signal based on a reference signal to obtain a third frequency-converted signal. The echo signal processing unit 405 includes a mixer and a low-pass filter L. The mixer is configured to mix the reference signal and the echo signal to obtain a mixed signal, which includes a first signal and a second signal, wherein the frequency of the first signal is higher than the frequency of the second signal. Therefore, the mixer needs to be coupled with a filter L (an example of a second filter) to filter the mixed signal to obtain the third frequency-converted signal. The low-pass filter L is configured to filter out the first signal from the mixed signal, i.e., retain only the low-frequency signal, thereby achieving down-conversion.

[0118] For example, the mixing signal described above is MIX. RX =A(t)cos[(w-w0)t] / 2+A(t)cos[(w+w0)t] / 2. This mixing signal includes a second signal A(t)cos[(w-w0)t] / 2 and a first signal A(t)cos[(w+w0)t] / 2. The second filter removes the first signal A(t)cos[(w+w0)t] / 2 and retains the second signal A(t)cos[(w-w0)t] / 2. For example, the cutoff frequency of the second filter is greater than (w-w0) / 2π and less than (w+w0) / 2π, thus removing the first signal A(t)cos[(w+w0)t] / 2 and retaining the second signal A(t)cos[(w-w0)t] / 2.

[0119] In some embodiments of this disclosure, for example in Figure 4B In the example, the mixer can be a quadrature mixer 405, which consists of two independent mixers that process in-phase and quadrature signals respectively. For example... Figure 4B As shown, the in-phase mixer and the quadrature mixer are examples of two independent mixers included in a quadrature mixer.

[0120] The in-phase and quadrature mixers down-convert the input signals based on reference signals. The in-phase mixer multiplies the input signal (i.e., the output of bandpass filter 104) with a 0° phase reference signal, outputting the in-phase branch (I-path) signal. The quadrature mixer multiplies the input signal with a 90° phase reference signal, outputting the quadrature branch (Q-path) signal. Both the I-path and Q-path signals are examples of second carrier signals. After being low-pass filtered by filter L, the I-path and Q-path signals are identified by multiple frequency identification channels. For example, the I-path and Q-path signals are input together into the first frequency identification channel for identification, and the I-path and Q-path signals are input together into the second frequency identification channel for identification. The reference frequency of the first frequency identification channel is different from the reference frequency of the second frequency identification channel.

[0121] It should be noted that in some other embodiments of this disclosure, the mixer can be a non-quadrature mixer, that is, it includes only a single signal. For example, a non-quadrature mixer can be a single-ended mixer, a single-balanced mixer, a double-balanced mixer, etc.

[0122] like Figure 4B As shown, the signal identification unit 41 includes a first frequency identification channel 418 and a second frequency identification channel 428. It should be noted that this disclosure does not limit the number of frequency identification channels to two; the number can be any number. The number of frequency identification channels corresponds to the number of preset carrier signals.

[0123] For example, the carrier signal receiving unit 40 includes a low-noise amplifier 402, an analog-to-digital converter 403, and a bandpass filter 404. Please refer to the above text for details regarding the low-noise amplifier 402, analog-to-digital converter 403, bandpass filter 404, filter L, and drive unit TX. Figure 1B Description of the low-noise amplifier 102, analog-to-digital converter 103, bandpass filter 104, low-pass filter 107, and driver unit 109. The digital signal output from the analog-to-digital converter 403 is processed in parallel in two paths, forming quadrature demodulation channels (I-channel and Q-channel) to extract the amplitude and phase information of the echo. The local oscillator LO and... Figure 1B It is similar to the local oscillator 106 in the example.

[0124] In some embodiments of this disclosure, the signal identification unit further includes a signal generator configured to generate a first reference signal at a first reference frequency and a second reference signal at a second reference frequency. For example, each frequency identification channel includes a signal generator (hereinafter referred to as the first signal generator to distinguish it from the second signal generator mentioned above). The first signal generator is configured to generate a reference signal at a reference frequency.

[0125] For example, each frequency identification channel includes a first signal generator and a correlator. The correlator is coupled to the first signal generator and configured to convert the third frequency conversion signal based on the reference signal generated by the first signal generator to obtain the frequency conversion signal.

[0126] like Figure 4B As shown, frequency identification channel 418 includes a signal generator ref1 (an example of a first signal generator) and a correlator Corr1, which are coupled together; frequency identification channel 428 includes a signal generator ref2 (an example of a first signal generator) and a correlator Corr2, which are coupled together.

[0127] In some embodiments of this disclosure, the first signal generator is, for example, an oscillator for generating a reference signal. The correlator, for example, implements down-conversion of the third frequency-converted signal. For instance, the correlator may include a mixer and a low-pass filter, wherein the third frequency-converted signal is mixed by the mixer to obtain a first signal and a second signal, and then the first signal is filtered out using the low-pass filter, retaining the low-frequency second signal.

[0128] In some embodiments of this disclosure, for example, the frequency of the reference signal is w3 / 2π, and the reference signal is used to adjust the signal. (Example of the third frequency conversion signal) The down-converted signal obtained by down-conversion is Env=A(t)·cos[(w-w0-w3)t] / 4. Then, envelope extraction and other operations are performed on the down-converted signal output by each frequency identification channel to identify the echo signal based on the envelope.

[0129] In some embodiments of this disclosure, the multiple reference frequencies are the differences between the frequencies of multiple preset carrier signals and a reference frequency. For example, the multiple preset carrier signals are respectively... Figure 2B In the example, with preset carrier signals at frequencies f1 and f2, the frequency of the target signal in the first frequency identification channel 418 is (w1-w0) / 2π, and the frequency of the target signal in the second frequency identification channel 428 is (w2-w0) / 2π. That is, signal generator ref1 generates a reference signal with a frequency of (w1-w0) / 2π, and signal generator ref2 generates a reference signal with a frequency of (w2-w0) / 2π.

[0130] For the first frequency identification channel 418, the frequency of its reference signal is w3 = (w1 - w0) / 2π. When the third frequency conversion signal enters the first frequency identification channel 418, the correlator down-converts the third frequency conversion signal based on w3, resulting in Env = A(t)cos[(w - w0 - (w1 - w0))t] / 4. Therefore, if the frequency of the echo signal is w1 (i.e., w takes the value w1), then Env1 = A(t) / 4; if the frequency of the echo signal is w2 (i.e., w takes the value w2), then Env2 = A(t)cos[(w2 - w1)t] / 4. If w2 and w1 are chosen appropriately, such that Env1 is much larger than Env2, the sensor chip can determine the signal to be identified based on the amplitude of the envelope output by each frequency identification channel.

[0131] For the second frequency identification channel 428, the frequency of its reference signal is w4 = (w2 - w0) / 2π, that is, Figure 4B The signal generator ref2 generates a local oscillator signal with a frequency of (w2-w0) / 2π. When the third frequency-converted signal enters the second frequency identification channel 428, it is down-converted by the correlator, resulting in Env=A(t)cos[(w-w0-(w2-w0))t] / 4. Therefore, if the frequency of the echo signal is w2, then Env3=A(t) / 4; if the frequency of the echo is w1, then Env4=A(t)cos[(w1-w2)t] / 4.

[0132] In some embodiments of this disclosure, such as in the embodiment where the multiple reference frequencies are the differences between the frequencies of multiple preset carrier signals and the reference frequency, the preset carrier signal corresponding to the target frequency identification channel among the multiple frequency identification channels is used as the target carrier signal. The target frequency identification channel is the frequency identification channel corresponding to the downconverted signal with the largest amplitude or exceeding a set threshold (the threshold can be calculated by the sensor chip, or preset in the sensor chip's memory, or configured into the sensor chip by the control chip). This method directly uses the frequency identification channel corresponding to the downconverted signal with the largest amplitude or exceeding the set threshold as the target frequency identification channel, which is easy to identify.

[0133] For example, if the frequency identification channel with a reference frequency of (w1-w0) / 2π has the largest amplitude among the multiple down-conversion signals of the multiple frequency identification channels of sensor S1, and this frequency identification channel with a reference frequency of (w1-w0) / 2π is the object frequency identification channel, then the frequency of the signal to be identified is w1 / 2π, and the signal to be identified is the echo signal of sensor S1. If the output result of the multiple frequency identification channels of sensor S1 is that the frequency identification channel with a reference frequency of (w2-w0) / 2π has the largest amplitude, and this frequency identification channel with a reference frequency of (w2-w0) / 2π is the object frequency identification channel, then the frequency of the signal to be identified is w2 / 2π, and the signal to be identified is the echo signal of sensor S2.

[0134] In the embodiments where the multiple reference frequencies are the differences between the frequencies of multiple preset carrier signals and the reference frequency, the object frequency identification channel can also be the frequency identification channel corresponding to the down-converted signal with the lowest frequency among the multiple down-converted signals. This method directly uses the frequency identification channel corresponding to the down-converted signal with the lowest frequency or a frequency of zero as the object frequency identification channel, which is easy to identify.

[0135] For example, for the first frequency identification channel 418, if the frequency of the signal to be identified is w1, then Env1=A(t) / 4, that is, the frequency of the down-converted signal output by the first frequency identification channel 418 is zero frequency; if the frequency of the signal to be identified is w2, then Env2=A(t)cos[(w2-w1)t] / 4, that is, the frequency of the down-converted signal output by the reference frequency identification channel 418 is (w2-w1) / 2π. Therefore, the signal to be identified can be identified by the frequency of the down-converted signal.

[0136] For example, if the frequency of the frequency identification channel with reference frequencies w1-w0 among the multiple down-conversion signals of the multiple frequency identification channels of sensor S1 is zero, then the signal to be identified is the echo signal of sensor S1. If the frequency of the frequency identification channel with reference frequencies w2-w0 among the multiple down-conversion signals of the multiple frequency identification channels of sensor S1 is zero, then the frequency of the signal to be identified is w2 / 2π, and the signal to be identified is the echo signal of sensor S2.

[0137] In other embodiments of this disclosure, each of the plurality of frequency identification channels further includes a channel filter. The channel filter is coupled to a correlator and configured to filter one of the plurality of down-converted signals output by the correlator based on the cutoff frequency of the channel filter, so as to identify the channel among the plurality of frequency identification channels that has an output result (e.g., the amplitude of the output signal is greater than a set threshold, or the frequency of the output signal is zero frequency) as the target frequency identification channel. This method directly determines the signal to be identified based on the channel with an output result, thus eliminating the need for further identification processing by the ECU, reducing the processing load on the ECU, and facilitating identification.

[0138] exist Figure 4B In this configuration, the correlator is further configured to extract the envelope based on the in-phase (I-path) and quadrature (Q-path) signals. The in-phase (I-path) and quadrature (Q-path) signals correspond to the real and imaginary parts of a complex number, respectively, and the envelope is the modulus of the complex number, reflecting the amplitude variation of the echo signal. For example, correlator Corr1 calculates the modulus of the in-phase (I-path) and quadrature (Q-path) signals after filtering by filter L to obtain the envelope; similarly, correlator Corr2 calculates the modulus of the in-phase (I-path) and quadrature (Q-path) signals after filtering by filter L to obtain the envelope. Therefore, the signal to be identified can be determined based on the amplitude of the echo signal.

[0139] Figure 5 A schematic diagram of a signal recognition unit provided in at least one embodiment of the present disclosure is shown.

[0140] like Figure 5 As shown, frequency identification channel 418 includes correlator Corr1 and signal generator ref1, as well as filter 51 coupled to correlator Corr1; frequency identification channel 428 includes correlator Corr2 and signal generator ref2, as well as filter 52 coupled to correlator Corr2.

[0141] Based on the cutoff frequency of channel filter 51, multiple down-converted signals output by the correlator are filtered. Channel filter 51 is a low-pass filter with a cutoff frequency between 0 and the minimum frequency difference. The minimum frequency difference refers to the minimum difference between the frequencies of the other preset carrier signals (excluding the target preset carrier signal) and the frequency of the target preset carrier signal. The target preset carrier signal is the preset carrier signal corresponding to the frequency identification channel where the low-pass filter is located.

[0142] For example, if the frequencies of multiple preset carrier signals are w1 / 2π and w2 / 2π as described above, and the frequency of the preset carrier signal corresponding to the frequency identification channel 418 where the low-pass filter is located is w1 / 2π, then the frequency of the target preset carrier signal is w1 / 2π, and the frequency of the other preset carrier signals is w2 / 2π. Then the minimum frequency difference is (w2-w1) / 2π.

[0143] The cutoff frequency of the channel filter 51 is located between 0 and the minimum value of (w2-w1) / 2π. Therefore, the channel filter 51 can filter out the down-conversion signal with a frequency of (w2-w1) / 2π, so that the signal recognition unit only outputs the signal with a cutoff frequency of 0. Thus, the preset carrier signal corresponding to the frequency recognition channel with output results is the target carrier signal, that is, the signal to be recognized is the preset carrier signal corresponding to the frequency recognition channel with output results.

[0144] If multiple preset carrier frequencies include w1 / 2π and w2 / 2π, then w2 / 2π is also included. 12 / 2π、w 22 / 2π、w 23 / 2π, etc., then for filter 51, the minimum frequency difference is (w2- w1) / 2π, (w 12 - w1) / 2π、(w 22 - w1) / 2π、(w 23 -w1) / 2π is the minimum value.

[0145] Similarly, for frequency identification channel 428, if the frequency of the preset carrier signal corresponding to frequency identification channel 428 is w2 / 2π, then the frequency of the target preset carrier signal is w2 / 2π, and the frequencies of other preset carrier signals are w1 / 2π. The minimum frequency difference is (w1 - w2) / 2π. If multiple preset carrier frequencies include w1 / 2π and w2 / 2π, then... 12 / 2π、w 22 / 2π、w 23 / 2π, etc., then for filter 52, the minimum frequency difference is (w1- w2) / 2π, (w 12 - w2) / 2π、(w 22 -w2) / 2π, (w 23 -w2) / 2π is the minimum value.

[0146] exist Figure 4B In the example, mixer 405 does not directly downconvert the carrier signal to zero frequency, but downconverts it to a low frequency. Correlators Corr1 and Corr2 perform characteristic frequency demodulation and correlate the low-frequency signal with different target signals to identify different signal sources.

[0147] For example, in Figure 2A or Figure 2B In the application scenario, the carrier signal transmitted by sensor S1 is: The echo signal of the carrier wave emitted by sensor S1 after being reflected by the target is: The carrier signal transmitted by sensor S2: The echo signal of the carrier wave emitted by sensor S2 after being reflected by the target is: At the receiving end, source identification is achieved through the following two steps.

[0148] Step 1: Down-convert the echo signal to a lower frequency. Set the reference frequency for down-conversion to [value missing]. After down-converting the echo signal of the signal emitted by sensor S1: After down-converting the echo signal of the signal emitted by sensor S2: .

[0149] Step 2: Perform correlation detection using a correlator. Select the correlation reference frequency for the first frequency identification channel as... / 2π, when the signal from sensor S1 enters the first frequency identification channel:

[0150] The signal, after filtering: ;

[0151] When the signal from sensor S2 enters the RX1 channel: The signal, after filtering: .

[0152] when and Choose the appropriate time (e.g., and The difference between them is close to or equal to π / 2. Much larger ,Right now: This enables the detection of the signal from sensor S1. A reference frequency is selected for the second frequency identification channel. The same conclusion can be drawn.

[0153] Another aspect of this disclosure provides an electronic device that includes the chip provided in any embodiment of this disclosure. This electronic device is capable of identifying a signal source.

[0154] Figure 6 A block diagram of a probe 600 provided in at least one embodiment of the present disclosure is shown.

[0155] like Figure 6 As shown, the probe 600 includes a sensor chip 602 and an ultrasonic transducer 601 provided in any embodiment of this disclosure.

[0156] This probe can identify signal sources, enabling the simultaneous transmission of carrier signals at multiple frequencies, thus improving the efficiency of the positioning function.

[0157] In some embodiments of this disclosure, the ultrasonic transducer is also used to transmit a first carrier signal at a first frequency or a second carrier signal at a second frequency. In this embodiment, the probe can not only receive echo signals but also transmit carrier signals, thereby enriching the probe's functionality.

[0158] In some embodiments of this disclosure, the probe 600 contains multiple ultrasonic transducers 601, and the multiple ultrasonic transducers 601 emit multiple preset carrier signals, which include signals of at least two frequencies.

[0159] In at least some embodiments of this disclosure, for example, the ultrasonic transducer 601 and the sensor chip 602 can be encapsulated in a miniature metal or high-strength engineering plastic housing to form an embedded ultrasonic ranging probe, such as a reversing radar probe, thereby integrating it into electronic devices such as vehicles (e.g., cars, trucks, automobiles, etc.). As another example, the ultrasonic transducer 601 and the sensor chip 602 can also be encapsulated in the joints of robotic arms or the end effectors of mobile mechanical devices such as industrial robots.

[0160] For example, a car may include two, three, or more sensors (e.g., a reversing radar), and these sensors are packaged from sensor chips provided in at least one embodiment of this disclosure. The multiple sensors transmit preset carrier signals of various frequencies, thereby enabling source identification based on the echo signals of the transmitted preset carrier signals for purposes such as positioning.

[0161] For a description of this probe, please refer to the description of the chip above.

[0162] The probe can be installed in electronic devices, such as input devices including touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices including liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices including magnetic tapes, hard disks, etc.; and communication devices. The communication device allows the electronic device to communicate wirelessly or wiredly with other electronic devices to exchange data.

[0163] This disclosure provides a block diagram of a control chip according to at least one embodiment. The control chip is, for example, coupled to the aforementioned probe to process indication information provided by the probe, in order to identify echo signals and thereby locate obstacles.

[0164] Figure 7 A schematic diagram of a control chip 700 provided in at least one embodiment of this disclosure is shown. Figure 7 As shown, the control chip 700 includes a control unit 701, a receiving unit 702, and a positioning unit 703.

[0165] The control unit 701 is configured to configure at least one of the probes, namely a first probe and a second probe, to simultaneously transmit a first carrier signal and a second carrier signal at different frequencies. One or more of the first probe and the second probe can be probes provided in any embodiment of this disclosure.

[0166] The receiving unit 702 is configured to receive indication information from any of at least one of the probes, indicating whether a first echo signal or a second echo signal exists in the echo signal, wherein the first echo signal is generated by the reflection of a first carrier signal by the target object, and the second echo signal is generated by the reflection of a second carrier signal by the target object.

[0167] The positioning unit 703 is configured to determine the location of the target object based on indication information.

[0168] This control chip can identify the signal source, enabling the simultaneous transmission of carrier signals of multiple frequencies, thereby improving the efficiency of the positioning function.

[0169] For example, the control chip 700 is, for example, Figure 1C The ECU described herein. Control unit 701 is used to configure the frequencies of a first carrier signal and a second carrier signal simultaneously transmitted by the first probe and the second probe, respectively. For example, the frequency of the carrier signal transmitted by the first probe is configured to 55 kHz, and the frequency of the carrier signal transmitted by the second probe is configured to 50 kHz. Both the first probe and the second probe include the sensor chip provided in any embodiment of this disclosure.

[0170] The receiving unit 702 receives, for example, indication information output from the first frequency identification channel and the second frequency identification channel of the sensor chip in the first or second probe. Please refer to the description above for details regarding this indication information.

[0171] Positioning unit 703, for example, positions the target object according to the positioning method described above based on the instruction information.

[0172] Another aspect of this disclosure provides a signal identification method. This signal identification method includes: receiving an echo signal; converting the echo signal to a first frequency-converted signal via a first frequency identification channel, and converting the echo signal to a second frequency-converted signal via a second frequency identification channel; generating indication information based on the first frequency-converted signal to indicate the presence of a first echo signal in the echo signal; and generating indication information based on the second frequency-converted signal to indicate the presence of a second echo signal in the echo signal. The first echo signal is generated by a first carrier signal of a first frequency reflected from a target object, and the second echo signal is generated by a second carrier signal of a second frequency reflected from a target object. The first and second frequencies are different. This signal identification method achieves source identification, enabling the simultaneous transmission of carrier signals of multiple frequencies, thereby improving the efficiency of the positioning function.

[0173] In some embodiments of this disclosure, the first frequency identification channel includes a first frequency converter, and the second frequency identification channel includes a second frequency converter. The process of converting the echo signal through the first frequency identification channel to obtain a first frequency-converted signal, and converting the echo signal through the second frequency identification channel to obtain a second frequency-converted signal, includes: converting the echo signal based on a first reference signal using the first frequency converter to obtain the first frequency-converted signal; and converting the echo signal based on a second reference signal using the second frequency converter to obtain the second frequency-converted signal.

[0174] In some embodiments of this disclosure, a first frequency-converted signal is obtained by frequency conversion of the echo signal based on a first reference signal using a first frequency converter, including: frequency conversion processing of the echo signal based on a reference signal of a reference frequency to obtain a third frequency-converted signal of a third frequency, wherein the frequency of the third frequency-converted signal is greater than 0; and a second frequency-converted signal is obtained by frequency conversion of the third frequency-converted signal based on the first reference signal to obtain a second frequency-converted signal, including: frequency conversion of the third frequency-converted signal based on the second reference signal to obtain the second frequency-converted signal.

[0175] In some embodiments of this disclosure, the method further includes: generating a first reference signal at a first reference frequency and a second reference signal at a second reference frequency.

[0176] In some embodiments of this disclosure, the first reference frequency is obtained based on a first frequency and a reference frequency, and the second reference frequency is obtained based on a second frequency and a reference frequency.

[0177] In some embodiments of this disclosure, generating indication information based on a first frequency conversion signal to indicate the presence of a first echo signal in the echo signal, and generating indication information based on a second frequency conversion signal to indicate the presence of a second echo signal in the echo signal, includes: generating a first envelope based on the first frequency conversion signal, the first envelope including the indication information for indicating the presence of a first echo signal in the echo signal; and generating a second envelope based on the second frequency conversion signal, the second envelope including the indication information for indicating the presence of a second echo signal in the echo signal. It should be noted that in the embodiments of this disclosure, each step of the signal recognition method corresponds to each unit of the aforementioned sensor chip. Specific steps of the signal recognition method can be found in the relevant descriptions of the various units of the chip, and will not be repeated here. The components and structures of the aforementioned chips are merely exemplary and not limiting; the chip may also include other components and structures as needed.

[0178] Another aspect of this disclosure provides a positioning method. This signal recognition method includes:

[0179] The control chip is configured with at least one probe, namely a first probe and a second probe, to simultaneously transmit first carrier signals and second carrier signals of different frequencies, wherein the first probe or the second probe is a probe as described in any of the foregoing embodiments. The control chip receives indication information from any of the at least one probe, indicating the presence of a first echo signal or a second echo signal in the echo signal. The first echo signal is generated by the reflection of the first carrier signal after passing through a target object, and the second echo signal is generated by the reflection of the second carrier signal after passing through a target object. Based on this indication information, the control chip determines the position of the target object.

[0180] At least one embodiment of this disclosure also provides an electronic device including a processor and a memory, the memory including one or more computer program instructions. The one or more computer program instructions, when executed by the processor, perform the signal processing method or positioning method provided in any embodiment of this disclosure.

[0181] Figure 8A This is a schematic block diagram of an electronic device provided for some embodiments of this disclosure. For example... Figure 8A As shown, the electronic device 900 includes a processor 910 and a memory 920. The memory 920 is used to store non-transitory computer-readable instructions (e.g., one or more computer program modules). The processor 910 is used to execute the non-transitory computer-readable instructions, which, when executed by the processor 910, can perform one or more steps of the methods described above. The memory 920 and the processor 910 can be interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0182] For example, processor 910 may be a central processing unit (CPU), a graphics processing unit (GPU), or other form of processing unit with data processing and / or program execution capabilities. For example, the central processing unit (CPU) may be an x86 or ARM architecture. Processor 910 may be a general-purpose processor or a special-purpose processor, capable of controlling other components in electronic device 900 to perform desired functions.

[0183] For example, memory 920 may include any combination of one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, erasable programmable read-only memory (EPROM), portable compact disc read-only memory (CD-ROM), USB memory, flash memory, etc. One or more computer program modules may be stored on the computer-readable storage medium, and processor 910 may run one or more computer program modules to implement various functions of electronic device 900. Various application programs and various data, as well as various data used and / or generated by the application programs, may also be stored in the computer-readable storage medium.

[0184] It should be noted that, in the embodiments of this disclosure, the specific functions and technical effects of the electronic device 900 can be referred to the description of the above method, and will not be repeated here.

[0185] Figure 8BThis is a schematic block diagram of another electronic device provided in some embodiments of this disclosure. The electronic device 1000 is, for example, suitable for implementing the methods described above in the embodiments of this disclosure. The electronic device 1000 may be a terminal device, etc. It should be noted that... Figure 8B The illustrated electronic device 1000 is merely an example and does not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0186] like Figure 8B As shown, the electronic device 1000 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 1010, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1020 or a program loaded from a storage device 1080 into a random access memory (RAM) 1030. The RAM 1030 also stores various programs and data required for the operation of the electronic device 1000. The processing device 1010, ROM 1020, and RAM 1030 are interconnected via a bus 1040. An input / output (I / O) interface 1050 is also connected to the bus 1040.

[0187] Typically, the following devices can be connected to the I / O interface 1050: input devices 1060 including, for example, a touchscreen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 1070 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1080 including, for example, magnetic tape, hard disk, etc.; and communication devices 1090. Communication device 1090 allows electronic device 1000 to communicate wirelessly or wiredly with other electronic devices to exchange data. Although Figure 8B An electronic device 1000 with various devices is shown, but it should be understood that it is not required to implement or have all of the devices shown, and the electronic device 1000 may alternatively implement or have more or fewer devices.

[0188] For example, according to embodiments of this disclosure, the above methods can be implemented as computer software programs. For instance, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program including program code for performing the above methods. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 1090, or installed from a storage device 1080, or installed from a ROM 1020. When the computer program is executed by the processing device 1010, the functions defined in the methods provided by embodiments of this disclosure can be implemented.

[0189] The following points need to be clarified regarding this disclosure:

[0190] (1) The accompanying drawings of the embodiments of this disclosure only involve the structures involved in the embodiments of this disclosure. Other structures can be referred to the general design.

[0191] (2) Where there is no conflict, features of the same embodiment and different embodiments of this disclosure can be combined with each other.

[0192] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be conceived by those skilled in the art within the scope of the technology disclosed in this disclosure without creative effort should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A sensor chip, comprising: A carrier signal receiving unit is configured to receive echo signals; The signal identification unit includes a first frequency identification channel and a second frequency identification channel, wherein the first frequency identification channel is used to convert the echo signal to a first frequency-converted signal; the second frequency identification channel is used to convert the echo signal to a second frequency-converted signal, and the signal identification unit is configured as follows: Based on the first frequency conversion signal, an indication message is generated to indicate whether a first echo signal exists in the echo signal; and based on the second frequency conversion signal, an indication message is generated to indicate whether a second echo signal exists in the echo signal, wherein the first echo signal is generated by a first carrier signal of a first frequency reflected by a target object, and the second echo signal is generated by a second carrier signal of a second frequency reflected by a target object, and the first frequency and the second frequency are different; The first frequency identification channel includes a first frequency converter, and the first frequency identification channel is configured to obtain the first frequency-converted signal by converting the echo signal based on a first reference signal using the first frequency converter. The second frequency identification channel includes a second frequency converter, and the second frequency identification channel is configured to obtain the second frequency-converted signal by converting the echo signal based on a second reference signal using the second frequency converter; The first frequency identification channel further includes an echo signal processing unit. The echo signal processing unit is configured to perform frequency conversion processing on the echo signal based on a reference signal with a reference frequency to obtain a third frequency-converted signal with a third frequency, wherein the frequency of the third frequency-converted signal is greater than 0. The first frequency converter is configured to convert the third frequency conversion signal based on the first reference signal to obtain the first frequency conversion signal.

2. The sensor chip according to claim 1, wherein, The second frequency identification channel also includes the echo signal processing unit. The second frequency converter is configured to convert the third frequency conversion signal based on the second reference signal to obtain the second frequency conversion signal.

3. The sensor chip according to claim 1, wherein, The signal recognition unit also includes a signal generator. The signal generator is configured to generate a first reference signal at a first reference frequency and a second reference signal at a second reference frequency.

4. The sensor chip according to claim 3, wherein, The first reference frequency is obtained based on the first frequency and the reference frequency, and the second reference frequency is obtained based on the second frequency and the reference frequency.

5. The sensor chip according to any one of claims 1-4, wherein, The signal recognition unit is configured as follows: A first envelope is generated based on the first frequency conversion signal, and the first envelope includes indication information for indicating whether the first echo signal exists in the echo signal; A second envelope is generated based on the second frequency conversion signal, and the second envelope includes indication information for indicating whether the second echo signal exists in the echo signal.

6. The sensor chip according to claim 5, wherein, The first frequency identification channel includes a first filter configured to filter the first frequency conversion signal to generate the first envelope. The second frequency identification channel includes a second filter configured to filter the second frequency conversion signal to generate the second envelope.

7. The sensor chip according to claim 5, wherein, The signal recognition unit is further configured to: The amplitude or frequency of the first echo signal is obtained by processing the first envelope. The amplitude or frequency of the first echo signal includes indication information for indicating whether the first echo signal exists in the echo signal. The amplitude or frequency of the second echo signal is obtained by processing the second envelope. The amplitude or frequency of the second echo signal includes indication information for indicating whether a second echo signal exists in the echo signal.

8. A probe, comprising: An ultrasonic transducer and a sensor chip according to any one of claims 1-7, The ultrasonic transducer is coupled to the carrier signal receiving unit, and the ultrasonic transducer is configured to receive the echo signal and provide the echo signal to the carrier signal receiving unit.

9. The probe according to claim 8, wherein the ultrasonic transducer is further configured to transmit a first carrier signal at the first frequency or a second carrier signal at the second frequency.

10. A control chip, comprising: The control unit is configured to configure at least one of the probes, namely a first probe and a second probe, to simultaneously transmit a first carrier signal and a second carrier signal with different frequencies, wherein the first probe or the second probe is the probe as described in claim 8 or 9; The receiving unit is configured to receive indication information from any one of the at least one probes, indicating the presence of a first echo signal or a second echo signal in the echo signal, wherein the first echo signal is generated by the reflection of the first carrier signal after passing through a target object, and the second echo signal is generated by the reflection of the second carrier signal after passing through a target object; and The positioning unit is configured to determine the location of the target object based on the indicated information.

11. The control chip according to claim 10, wherein the control chip determines the position of the target object based on the indication information, comprising: The control chip determines that the first echo signal and the second echo signal exist in the echo signal based on the indication information, and obtains the distance between the target object and the first probe and the distance between the target object and the second probe based on the first echo signal and the second echo signal; The control chip determines the position of the target object based on the distance between the target object and the first probe and the distance between the target object and the second probe.

12. A positioning system comprising a probe as claimed in claim 8 or 9 and a control chip as claimed in claim 10 or 11.

13. A signal recognition method, comprising: Receive echo signal; The echo signal is frequency-converted through a first frequency identification channel to obtain a first frequency-converted signal, and the echo signal is frequency-converted through a second frequency identification channel to obtain a second frequency-converted signal. Based on the first frequency conversion signal, an indication information is generated to indicate whether a first echo signal exists in the echo signal; Based on the second frequency conversion signal, indication information is generated to indicate whether a second echo signal exists in the echo signal. The first echo signal is generated by the reflection of a first carrier signal at a first frequency by the target object, and the second echo signal is generated by the reflection of a second carrier signal at a second frequency by the target object. The first frequency and the second frequency are different. The first frequency identification channel includes a first frequency converter, and the second frequency identification channel includes a second frequency converter. The process of converting the echo signal through a first frequency identification channel to obtain a first frequency-converted signal, and converting the echo signal through a second frequency identification channel to obtain a second frequency-converted signal, includes: The first frequency-converted signal is obtained by converting the echo signal based on the first reference signal using the first frequency converter. The second frequency-converted signal is obtained by converting the echo signal based on the second reference signal using the second frequency converter. The first frequency-converted signal is obtained by converting the echo signal based on the first reference signal using the first frequency converter, including: Based on a reference signal at a reference frequency, the echo signal is frequency-converted to obtain a third frequency signal at a third frequency, wherein the frequency of the third frequency signal is greater than 0; and The first frequency conversion signal is obtained by converting the third frequency conversion signal based on the first reference signal.

14. The method according to claim 13, wherein, The second frequency-converted signal is obtained by converting the echo signal based on the second reference signal using the second frequency converter, including: The second frequency-converted signal is obtained by converting the third frequency-converted signal based on the second reference signal.

15. The method according to claim 13, wherein, The method involves generating indication information based on the first frequency conversion signal to indicate whether a first echo signal exists in the echo signal, and generating indication information based on the second frequency conversion signal to indicate whether a second echo signal exists in the echo signal, including: generating a first envelope based on the first frequency conversion signal, wherein the first envelope includes indication information for indicating whether the first echo signal exists in the echo signal; A second envelope is generated based on the second frequency conversion signal, and the second envelope includes indication information for indicating whether a second echo signal exists in the echo signal.

16. A positioning method, comprising: The first probe and the second probe of at least one probe are configured to simultaneously transmit a first carrier signal and a second carrier signal with different frequencies, wherein the first probe or the second probe is the probe as described in claim 8; Receive indication information from any of the at least one probe, indicating the presence of a first echo signal or a second echo signal in the echo signal, wherein the first echo signal is generated by the reflection of the first carrier signal after passing through the target object, and the second echo signal is generated by the reflection of the second carrier signal after passing through the target object; and Based on the indicated information, the location of the target object is determined.

17. An electronic device comprising: processor; as well as Memory, which includes one or more computer program instructions; The one or more computer program instructions are executed by the processor according to any one of claims 13 to 16.

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