Acoustic imaging device, sound receiving structure thereof, data processing method, and computer program

Abstract

The embodiment of the invention generally relates to the technical field of acoustic imaging, in particular to acoustic imaging equipment, a sound receiving structure thereof, a data processing method and a computer program. The sound receiving structure comprises a sound receiving hole array. The sound receiving hole array comprises a plurality of sound receiving holes which are arranged in a non-periodic manner, and each sound receiving hole comprises a stepped hole structure and at least two stages of conical flaring sections; and the throat part is a one-stage or multi-stage straight hole section formed at the tail end of the stepped hole structure. According to the sound receiving structure obtained through parameterized geometric modeling optimization facing the ultrasonic frequency band, unexpected amplitude-frequency attenuation and phase distortion can be reduced, and the effective pickup capacity of acoustic imaging equipment for ultrasonic signals is improved.

Description

Technical Field

[0001] The embodiments disclosed herein generally relate to the field of acoustic imaging technology, and specifically to an acoustic imaging device and its sound receiving structure, data processing method, and computer program. Background Technology

[0002] Acoustic imaging equipment collects multi-channel acoustic signals through a microphone array positioned at the front or circumferential position of the device. The sound-receiving structure at the front of the microphone array introduces frequency-related amplitude attenuation and phase delay, and this difference is affected by manufacturing and assembly tolerances and operating conditions, thus affecting the stable imaging distance of the acoustic imaging equipment. Summary of the Invention

[0003] The embodiments of this disclosure provide an acoustic imaging device and its sound receiving structure, data processing method, and computer program.

[0004] According to a first aspect of this disclosure, a sound-receiving structure for an acoustic imaging device is provided, the structure including a sound-receiving aperture array. The sound-receiving aperture array includes a plurality of sound-receiving apertures arranged non-periodically, and each sound-receiving aperture includes a stepped aperture structure, including at least two stages of tapered flared sections; and a throat, forming one or more stages of straight aperture sections at the end of the stepped aperture structure.

[0005] According to a second aspect of this disclosure, a data processing method for an acoustic imaging device is provided. The acoustic imaging device includes a microphone array and the sound-receiving structure described in the first aspect. The method includes acquiring sound-receiving structure information of the acoustic imaging device, the sound-receiving structure information including positional and structural information of the sound-receiving plate. The method further includes acquiring microphone array channel compensation data corresponding to the sound-receiving structure information, the microphone array channel compensation data including compensation parameters corresponding to one or more acquisition channels in the microphone array. Furthermore, the method includes performing channel consistency compensation on the acquired signals of the microphone array based on the microphone array channel compensation data.

[0006] According to a third aspect of this disclosure, a computer program product is provided, comprising a computer program. When executed by a processor, the computer program implements the method of the second aspect described above.

[0007] According to a fourth aspect of this disclosure, an acoustic programmable device is provided, including one or more processors and a memory associated with the one or more processors. The memory is used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method described in the second aspect. Attached Figure Description

[0008] The above and other objects, features, and advantages of embodiments of the present disclosure will become readily apparent from the following detailed description taken in conjunction with the accompanying drawings. Several embodiments of the present disclosure are illustrated in the drawings by way of example and not limitation.

[0009] Figure 1 A top view showing an exemplary sound-receiving structure of an acoustic imaging apparatus according to an embodiment of the present disclosure.

[0010] Figure 2 A cross-sectional view of an exemplary sound-receiving aperture according to an embodiment of the present disclosure is shown.

[0011] Figure 3 A flowchart illustrating an exemplary data processing method of an acoustic imaging apparatus according to the present disclosure is shown.

[0012] Figure 4 An exemplary system diagram of a data processing system for an acoustic imaging apparatus according to an embodiment of the present disclosure is shown.

[0013] Figure 5 A block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0014] Figure 6 A cross-sectional view of the sound receiving hole structure based on test object 1 is shown.

[0015] In the various figures, the same or corresponding reference numerals indicate the same or corresponding parts. Detailed Implementation

[0016] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0017] In the description of embodiments of this disclosure, the term "comprising" and similar terms should be understood as open-ended inclusion, i.e., "including but not limited to". The term "based on" should be understood as "at least partially based on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0018] As mentioned earlier, acoustic imaging equipment acquires multi-channel acoustic signals through microphone arrays positioned at the front or circumferential locations of the device. The sound-receiving structure at the front of the microphone array introduces frequency-dependent amplitude attenuation and phase delay, and this difference is affected by manufacturing and assembly tolerances and operating conditions, thus impacting the stable imaging distance of the acoustic imaging equipment. For example, high-frequency sound waves are easily blocked or attenuated. In the ultrasonic frequency band above 20kHz, the acoustic transmission characteristics of the sound-receiving structure will limit the effective detection distance of the acoustic imaging equipment and also lead to inconsistencies in detection distances across devices. Manufacturing and assembly tolerances of the sound-receiving structure can also cause channel amplitude and phase dispersion in the imaging equipment, resulting in microphone array imaging errors and sidelobe rise.

[0019] In view of this, embodiments of this specification provide a sound-receiving structure for an acoustic imaging device, the structure including a sound-receiving aperture array. The sound-receiving aperture array includes a plurality of sound-receiving apertures arranged aperiodically, and each sound-receiving aperture includes a stepped aperture structure and a throat located at the end of the stepped aperture structure. The stepped aperture structure may include at least two stages of tapered flared sections. The throat includes one or more stages of straight aperture sections located at the end of the stepped aperture structure. The sound-receiving structure obtained through parametric geometric modeling optimization for the ultrasonic frequency band can reduce undesirable amplitude-frequency attenuation and phase distortion, thereby improving the effective pickup capability of the acoustic imaging device for ultrasonic signals.

[0020] The embodiments of this disclosure will now be described in further detail with reference to the accompanying drawings. Figure 1 A top view of an exemplary sound-receiving structure of an acoustic imaging device according to an embodiment of the present disclosure is shown. The acoustic imaging device typically includes a body, a microphone array, a signal acquisition and processing module, and a display and interaction module. The microphone array is typically located inside the body near the front end, and a sound-receiving structure is positioned in front of the microphone array. The sound-receiving structure can be a perforated plate or a grid structure, with multiple sound-receiving holes formed on the perforated plate. The main body of the perforated plate can be a plate-like structure, with openings penetrating its upper and lower surfaces serving as sound-receiving holes. The grid structure can be a porous or mesh structure composed of repeating geometric units, where the "holes" serve as sound-receiving holes. Figure 1As shown, in one or more embodiments of this disclosure, the sound-receiving structure 100 of the acoustic imaging device may include a sound-receiving plate 101 and a sound-receiving aperture array 102 formed on the sound-receiving plate 101, for providing a path for acoustic signals to enter the acoustic imaging device while providing mechanical protection. In one or more embodiments of this disclosure, the sound-receiving plate may be a composite structure formed by assembling and combining an imaging device housing plate and a microphone array plate for mounting a microphone array. In one or more embodiments of this disclosure, the sound-receiving plate may further include a silicone acoustic diaphragm disposed between the housing plate and the microphone array plate for sealing or sound insulation. In one or more embodiments of this disclosure, the planar arrangement of the sound-receiving aperture array does not need to be consistent with the distribution of the microphone array. For example, the number of sound-receiving apertures in the sound-receiving aperture array may be greater than or less than the number of microphone units in the microphone array. In one or more embodiments of this disclosure, the number of sound-receiving apertures in the sound-receiving aperture array is greater than the number of microphone units in the microphone array, which can form a uniform sound-receiving path and reduce the blocking effect of the sound-receiving structure on the ultrasonic signal. In one or more embodiments of this disclosure, the number of apertures in the aperture array can be equal to the number of microphone units in the microphone array, and they can be approximately aligned with the microphone array for easy assembly and positioning. In one or more embodiments of this disclosure, the aperture array can be arranged non-periodically on the receiving plate to reduce the risk of grating lobes caused by regular periodic arrays and improve the far-field imaging stability of the imaging device. For example, the aperture array 102 can be a spiral array, a random concentric circle array, a quasi-random Poisson disk array, or a partitioned non-uniform array. In a spiral array, the microphone units are non-uniformly distributed along a logarithmic spiral or Archimedean spiral path, with the density decreasing from the center to the edge, which can avoid periodic sampling and effectively suppress grating lobes and virtual images. In a random concentric circle array, the microphone units are distributed on multiple concentric circles, and the position on each circle is randomly perturbed, which can break the uniformity symmetry, enhance the diversity of spatial sampling, achieve 360° omnidirectional coverage, and is suitable for multi-source environments. Quasi-random Poisson disk arrays, based on the Poisson disk sampling algorithm, ensure that the distance between any two microphone units is not less than a preset minimum, achieving spatial uniformity and non-clustering. This maximizes the coverage of spatial sampling and minimizes sampling redundancy, making it suitable for high-precision sound source localization. Partitioned non-uniform arrays divide microphone units into multiple regions, each with a different density distribution (e.g., high density in the near field, low density in the far field), enabling "on-demand sampling." For example, a high-density distribution in the near field improves resolution, while a low-density distribution in the far field reduces system complexity, making it suitable for distributed detection.

[0021] Figure 2 A cross-sectional view of an exemplary sound-receiving aperture according to an embodiment of this disclosure is shown. (As...) Figure 2As shown, in one or more embodiments of this disclosure, from the outside to the inside of the acoustic imaging device, the sound receiving plate 101 may be a composite structure including an outer shell layer 111, a diaphragm layer 112, and a microphone array layer 113. In one or more embodiments of this disclosure, the sound receiving hole 121 may include a stepped hole structure and a throat located at the end of the stepped hole structure. The stepped hole structure may include two or more stages of tapered flared sections 1211. In one or more embodiments of this disclosure, the tapered flared sections ( Figure 2 The trapezoidal structure can be a horn-shaped structure with different diameters, wherein the larger diameter section faces outward as the inlet of the sound receiving hole, and the smaller diameter end faces inward as the outlet of the conical flared section, connecting with the inlet of the next stage of conical flared section. In one or more embodiments of this disclosure, the inner diameter of the conical flared section can be uniformly and gradually reduced from the larger diameter section to the smaller diameter section. In one or more embodiments of this disclosure, the stepped hole structure including each stage of conical flared sections can be formed in one or more steps by processes such as stamping, spinning, hot working, or special molds. In one or more embodiments of this disclosure, the throat can include a straight hole section 1212 connected to the end of the stepped hole structure (i.e., the smaller diameter end near the last set of conical flared sections in the stepped hole structure). In one or more embodiments of this disclosure, the straight hole section ( Figure 2 The structure (square in shape) can be a channel-like structure with an almost constant inner diameter. In one or more embodiments of this disclosure, the inner diameter of the straight hole segment structure should be smaller than the inner diameter of the small-diameter end of the tapered flared segment at the end of the stepped hole structure. In one or more embodiments of this disclosure, the throat may include two or more stages of straight hole segments, and the inner diameter of the straight hole segments closer to the stepped hole structure side is larger, so that the inner diameter of the straight hole segments of the throat gradually decreases along the direction of sound propagation. In one or more embodiments of this disclosure, the stepped hole structure is generally formed in the outer shell layer 111, and the multi-stage straight hole segments of the throat may be distributed in the diaphragm layer 112 and the microphone array layer 113. In one or more embodiments of this disclosure, one or more stages of straight hole segments of the throat may also be distributed in the outer shell layer 111. In one or more embodiments of this disclosure, the end of the straight hole segment located on the back side of the microphone array layer can be used to mount a microphone unit 1213 for sound reception, and the other end of the straight hole segment is used to connect with the end of the previous stage straight hole segment. In this way, the sound receiving structure of one or more embodiments of the present disclosure can reduce the undesirable amplitude and phase distortion introduced by the sound path, improve the detectability and imaging stability of weak sound sources at a distance, and thus have a longer stable imaging distance.

[0022] In industrial inspection scenarios, acoustic imaging is commonly used for visual localization of sound sources in the ultrasonic frequency band and can output frequency band analysis results. The sound-receiving structure of acoustic imaging equipment introduces frequency-related amplitude attenuation and phase delay differences in the target frequency band, and these differences are affected by manufacturing and assembly tolerances and operating conditions. In view of this, embodiments of this specification provide a data processing method for acoustic imaging equipment. This method includes acquiring sound-receiving structure information of the acoustic imaging equipment, including the structural and positional information of the sound-receiving apertures. The method also includes acquiring microphone array channel compensation data corresponding to the sound-receiving structure information, including compensation parameters corresponding to one or more acquisition channels in the microphone array. Furthermore, the method includes performing channel consistency compensation on the acquired signals of the microphone array based on the microphone array channel compensation data. In this way, the acoustic transmission of the sound-receiving structure can be systematically constrained and designed during the design phase, and the acoustic transmission characteristics of the sound-receiving structure can be considered during the data processing phase and incorporated into the channel-level frequency response compensation model of the acoustic imaging equipment. This improves the effective pickup capability of the acoustic imaging equipment for ultrasonic signals, thereby enhancing the stability of the effective detection distance and detection accuracy of the acoustic equipment.

[0023] The following will further combine Figure 3 An exemplary data processing method 300 according to an acoustic imaging apparatus of the present disclosure is described, wherein the acoustic imaging apparatus includes a microphone array and a sound receiving structure 100 disposed in front of the microphone array. It should be understood that the numbers in the flowchart of method 300 do not indicate the order in which these steps are performed; some or all of these steps may be performed in parallel, or the order of execution may be interchanged, and the present disclosure does not limit this. Furthermore, Figure 3 The methods described may also include additional steps not shown and / or the steps shown may be omitted, and the scope of this disclosure is not limited in this respect.

[0024] like Figure 3 As shown in block 302, method 300 may include acquiring the sound-receiving structure information of the acoustic imaging device. In one or more embodiments of this disclosure, the sound-receiving structure information may include design goals determined based on the ultrasonic detection frequency band (e.g., 20kHz-40kHz), setting value ranges and constraints for design variables such as the aperture of the tapered flared section, the aperture of the straight section, the taper angle of the tapered flared section, the thickness of the sound-receiving plate, and the opening ratio, thereby designing the structural information and location information of the sound-receiving hole. The design goals may include, but are not limited to, reducing amplitude attenuation within the target frequency band, reducing phase delay differences, and suppressing undesired resonances, or one or more of these. In one or more embodiments of this disclosure, the design goals may also consider both protective strength and processing and assembly feasibility.

[0025] In one or more embodiments of this disclosure, the structural information of the receiving aperture may include, but is not limited to, one or more of the following: aperture diameter, aperture spacing, plate thickness corresponding to the aperture, aperture shape, plate opening ratio corresponding to the aperture, and arrangement rules of the aperture array. In one or more embodiments of this disclosure, the aperture diameter may include parameters such as the depth of each level of the tapered flared section of the stepped aperture structure, the aperture size at the small-diameter end of the tapered flared section, the depth of each level of the straight hole section of the throat structure, and the aperture size of the straight hole section. In one or more embodiments of this disclosure, the plate thickness corresponding to the receiving aperture may include the thickness of each layer of the receiving plate structure. In one or more embodiments of this disclosure, the aperture shape may include parameters such as the chamfer / rounded corner size and taper α of the outermost tapered flared section in the outer shell layer. In one or more embodiments of this disclosure, the arrangement rules of the receiver array may include one or more of the following parameters: arrangement type (e.g., spiral array, random concentric circle array, quasi-random Poisson disk array, or partitioned non-uniform array), number of receivers, and effective aperture radius. In one or more embodiments of this disclosure, the location information of the receivers may include, but is not limited to, one or more of the following: the distance between the reference plane of the microphone array (the plane where the microphone array is located) and the reference plane of the receiver array (the plane where the receiver array is located), the coaxiality between the reference plane of the receiver array and the reference plane of the microphone array, whether there is a sealing structure, and whether there is a support structure.

[0026] In one or more embodiments of this disclosure, the acoustic receiving structure information can be parameterized and stored as geometric parameter numbers, associated with the version information of the acoustic imaging device. In this way, the corresponding acoustic receiving structure information can be retrieved by reading the version information of the acoustic imaging device in step 302. In one or more embodiments of this disclosure, the acoustic receiving structure information, the target frequency band information used to determine the design of the acoustic receiving structure (e.g., the ultrasonic detection frequency band 20kHz-40kHz), and the version information of the acoustic imaging device can be stored together. In this way, targeted acoustic receiving structure design can be performed based on different ultrasonic detection frequency bands, and in the subsequent data processing of the acoustic imaging device, the target frequency band information and the acoustic receiving structure information are jointly considered as factors to improve detection accuracy.

[0027] like Figure 3As shown in block 304, method 300 may include acquiring microphone array channel compensation data corresponding to the acoustic structure information. The microphone array channel compensation data includes compensation parameters corresponding to one or more acquisition channels in the microphone array. In this way, channel-level frequency response differences in the microphone array that introduce acoustic structure noise can be addressed during the data processing of the acoustic imaging device. In one or more embodiments of this disclosure, the target frequency band of the acoustic imaging device can be determined first. This facilitates checking whether microphone array channel compensation data for acoustic structures with the same acoustic structure information is stored locally or remotely within the acoustic imaging device, based on the target frequency band and the acoustic structure information. If the search results indicate that microphone array channel compensation data for acoustic structures with the same acoustic structure information already exists locally or remotely within the acoustic imaging device, the existing microphone array channel compensation data can be directly loaded as the basis for subsequent channel consistency compensation. If the search results indicate that microphone array channel compensation data for acoustic structures with the same acoustic structure information does not exist locally or remotely within the acoustic imaging device, the existing microphone array channel compensation data can be directly loaded as the basis for subsequent channel consistency compensation. Then, calibration of the usual compensation data can be performed. Under preset calibration conditions, microphone array channel compensation data for the target frequency band and the receiving structure with the receiving structure information is generated as the basis for subsequent channel consistency compensation. In this way, the acoustic imaging device can prioritize loading matching microphone array channel compensation data during operation, and only trigger the calibration and compensation data generation process when no match is found, so as to ensure reproducible imaging performance under changes in device / batch and assembly status. In one or more embodiments of this disclosure, the loaded microphone array channel compensation data can also be verified. Only the verified microphone array channel compensation data can be used for subsequent channel consistency compensation. In one or more embodiments of this disclosure, the verification of channel compensation data can include verifying whether the microphone array channel compensation data is complete and verifying whether the microphone array channel compensation data matches the acoustic imaging device based on preset verification indicators. In one or more embodiments of this disclosure, the preset verification indicators can include one or more of the following: channel energy indicator, signal saturation rate indicator, channel amplitude and phase consistency indicator, and channel coherence indicator. Among them, the channel energy indicator is used to measure the signal energy intensity of each channel in the microphone array (usually expressed as root mean square value RMS or normalized power). Channel energy metrics reflect the power of the acoustic signal received by a channel, ensuring that the energy of all channels is within a reasonable range and preventing array processing delays caused by abnormal energy in a single channel. The formula for calculating channel energy is:

[0028]

[0029] in, N is the sampled signal of the channel, and N is the number of sampling points.

[0030] Signal saturation rate is used to represent the proportion of a signal that reaches or exceeds its maximum representable value during sampling (i.e., the "saturation" proportion). The calculation formula is:

[0031]

[0032] The threshold is usually set to the maximum value of the acoustic imaging system.

[0033] Channel amplitude-phase consistency metrics are used to quantify the degree of amplitude and phase matching between channels of a microphone array. They are typically expressed as mean square error (MSE) or correlation coefficient.

[0034]

[0035] in, It is the frequency response of channel k. K is the reference channel (such as the central channel) and K is the total number of channels.

[0036] Channel coherence metrics are used to measure the linear correlation of signals between different channels of a microphone array (usually calculated based on cross-power spectrum). The formula is:

[0037]

[0038] in, It is the cross-power spectrum of channel x and channel y. It is the autopower spectrum of channel x. It is the power spectrum of channel y.

[0039] In one or more embodiments of this disclosure, the preset calibration conditions may include the direction and distance of the reference sound source relative to the microphone array. In one or more embodiments of this disclosure, calibration operations can be performed under a single preset calibration bar, or multiple calibration operations can be performed under multiple different preset calibration conditions to improve robustness. In one or more embodiments of this disclosure, the reference sound source can be placed at a location specified by the preset calibration conditions, and the response signals of each acquisition channel of the microphone array under the excitation of the reference sound source can be obtained as calibration data. In one or more embodiments of this disclosure, a channel response model of the microphone array can be constructed based on the obtained calibration data. The channel response model can be the transfer function or calibration matrix of each channel of the microphone array, used to eliminate inconsistencies between channels in subsequent channel consistency compensation, ensuring the accuracy of sound source localization, beamforming, and other algorithms of the acoustic imaging device. For example, the response signals of each channel can be preprocessed using bandpass filtering, segmented windowing, and FFT, and data quality checks (SBR, saturation rate, and channel coherence, etc.) can be performed. The complex frequency response of each channel relative to the reference signal can be calculated to obtain the amplitude-frequency and phase-frequency responses of each channel of the microphone array, forming the transfer function or calibration matrix of each channel as the channel response model of the microphone array. Here, the complex frequency response refers to the complex response at each frequency point f, which includes amplitude and phase. In one or more embodiments of this disclosure, the reference channel r can be a fixed channel in the microphone array. The response signals of other channels are compared with the response signals of this channel to calculate the complex frequency response of each channel relative to the reference channel, obtaining the equivalent transfer function set of each channel. In one or more embodiments of this disclosure, the reference channel r can also be a virtual benchmark obtained by calculating the channel mean of the response signals of all channels. The response signals of other channels are compared with this channel mean, and the complex frequency response of each channel relative to the reference channel is calculated to obtain the set of equivalent transfer functions for each channel. In one or more embodiments of this disclosure, It can be calculated using the frequency domain ratio method or the cross-spectrum method, and can represent the channel-level amplitude and phase frequency differences introduced by the structure and assembly position of the acoustic structure.

[0040] In one or more embodiments of this disclosure, microphone array compensation data corresponding to the microphone array can be generated based on the channel response model of the microphone array and preset stability constraints. In one or more embodiments of this disclosure, it can be based on... Constructing compensation coefficients Used for online channel consistency compensation, for example, In one or more embodiments of this disclosure, stability constraints may include, but are not limited to, one or more of regularization constraints, amplitude limiting constraints, frequency smoothing constraints, or minimum phase constraints. By applying stability constraints, noise amplification can be avoided and the robustness of the system can be improved. In one or more embodiments of this disclosure, [the following can be done]: It is used as channel compensation data for the microphone array, either in the form of a frequency domain lookup table or converted into the form of an FIR / IIR filter.

[0041] In one or more embodiments of this disclosure, channel consistency compensation can be performed on the calibration data based on the generated microphone array channel compensation data to obtain the channel consistency compensation result corresponding to the calibration data. Subsequently, based on information such as the direction, position, and amplitude of the reference sound source, the consistency compensation result of the calibration data is verified to meet the quality requirements. The quality requirements may include, but are not limited to, at least one of channel amplitude consistency, channel phase consistency, noise amplification channel detection, noise anomaly channel detection, and the positioning error of the reference sound source. If the quality verification is passed, the microphone array channel compensation data is associated with the sound receiving structure information and the target frequency band and stored to generate a configuration file for other acoustic imaging devices to find and load. If the quality verification is not passed, the stability constraints can be adjusted or the calibration data can be re-acquired and the generation steps of the microphone array channel compensation parameters can be returned for iterative updates.

[0042] like Figure 3 As shown in block 306, method 300 may include performing channel consistency compensation on the acquired signal of the microphone array based on the acquired microphone array channel compensation data. By incorporating the frequency-dependent transfer characteristics introduced by the sound-receiving structure into the channel consistency compensation framework of the acoustic imaging device, the array channel consistency can be further improved and the risk of steering vector mismatch can be reduced.

[0043] In one or more embodiments of this disclosure, the acoustic imaging device may include the sound receiving structure of one or more embodiments of this disclosure. In this way, the stable imaging distance and result consistency can be significantly improved through the synergistic effect of the sound receiving structure and its transmission characteristic calibration compensation, thereby enhancing the reliability of sound source localization and quantitative analysis in complex industrial scenarios.

[0044] This disclosure presents a comparative verification test of the compensation effect of the sound receiving structure and data processing method in a basic test scenario. During the test, the target frequency band, gain / threshold, and other imaging parameters of each test object were kept consistent, and all were operated in focused mode. The test method was as follows: the target sound source was placed at different positions within the focused area of ​​the image, and the measurement distance was gradually increased at each position. The maximum distance at which the sound source image could continuously and stably form a single main peak within the focused area and meet the interpretation requirements (i.e., the farthest stable imaging distance) was recorded. The farthest stable imaging distances (unit: meters) for each test object in different target frequency bands are as follows:

[0045] Target frequency band 20-30kHz 30-40kHz 20-40kHz Test Subject 1 10.718 6.596 9.833 Test Subject 2 15.306 7.483 15.585 Test Subject 3 21.159 8.695 21.553

[0046] Among them, the sound receiving structure of test object 3 is as follows Figure 1 He Ru Figure 2 The data processing method of this embodiment is used for channel consistency compensation. The difference between test object 2 and test object 3 is that the data processing method of the disclosed embodiment is not used for channel consistency compensation. The difference between test object 1 and test object 2 is that the sound receiving hole of its sound receiving structure does not have a stepped hole structure. Figure 6 A schematic diagram of the sound receiving hole structure of test object 1 is shown, as follows: Figure 6 As shown, the two tapered flared sections 1211 in test object 3 were replaced by a single-stage tapered flared section 0211 and a single straight hole section 0212. The above test results indicate that:

[0047] 1. Optimization of the sound receiving structure leads to a baseline improvement in the effective detection distance. Without enabling the compensation algorithm, the maximum stable imaging distance of the sound receiving structure of test object 2 is significantly increased compared to that of test object 1: from 10.718 m to 15.306 m in the 20-30 kHz band (an improvement of approximately 42.8%); from 6.596 m to 7.483 m in the 30-40 kHz band (an improvement of approximately 13.4%); and from 9.833 m to 15.585 m in the 20-40 kHz wideband (an improvement of approximately 58.5%). This demonstrates that the parameterization of the sound receiving aperture structure disclosed in this invention can effectively reduce the undesired amplitude and phase distortion introduced by the sound path, improving the detectability and imaging stability of distant weak sound sources.

[0048] 2. The data processing method further amplifies the gain based on the optimized sound receiving structure. Test object 3, using the data processing method disclosed herein for channel consistency compensation based on the sound receiving structure of test object 2, further improved the maximum stable imaging distance: 20-30 kHz from 15.306 m to 21.159 m (an improvement of approximately 38.2%), 30-40 kHz from 7.483 m to 8.695 m (an improvement of approximately 16.2%), and 20-40 kHz from 15.585 m to 21.553 m (an improvement of approximately 38.3%). This demonstrates that incorporating the frequency-dependent transfer characteristics introduced by the sound receiving structure into the calibration compensation can further improve the microphone array channel consistency and reduce the risk of guide vector mismatch.

[0049] 3. The sound-receiving structure and data processing method disclosed herein work together to achieve a wideband "distance multiplication" effect. Compared to the uncompensated condition of test object 1, the maximum stable imaging distance of test object 3 using the sound-receiving structure and data processing method disclosed herein is increased from 9.833 m to 21.553 m (an increase of approximately 119%) in the 20~40 kHz wideband, achieving an effective detection distance increase of approximately 2.2 times.

[0050] Figure 4 An exemplary system diagram of a data processing system for an acoustic imaging apparatus according to an embodiment of the present disclosure is shown. The various embodiments in this specification are described in a progressive manner, with reference to each other for similar or identical parts. Each embodiment focuses on describing the differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple, and relevant parts can be referred to in the description of the method embodiments. Figure 4 As shown, in one or more embodiments of this disclosure, the data processing system 400 may include a sound receiving structure information acquisition module 401, configured to acquire sound receiving structure information of the acoustic imaging device, wherein the sound receiving structure information includes the structure information and position information of the sound receiving aperture. In one or more embodiments of this disclosure, the data processing system 400 may further include a channel compensation data acquisition module 402, configured to acquire microphone array channel compensation data corresponding to the sound receiving structure information, wherein the microphone array channel compensation data includes compensation parameters corresponding to one or more acquisition channels in the microphone array. Furthermore, the data processing system 400 may further include a channel consistency compensation module 403, configured to perform channel consistency compensation on the acquisition signals of the microphone array based on the microphone array channel compensation data. In this way, targeted sound receiving structure design can be performed based on different ultrasonic detection frequency bands, and in the subsequent data processing of the acoustic imaging device, the target frequency band information and the sound receiving structure information are jointly considered as factors to improve detection accuracy.

[0051] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this specification are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Versatile Discs (DVDs)), or semiconductor media (e.g., Solid State Disks (SSDs)).

[0052] Figure 5 A block diagram of an electronic device 500 that can implement various embodiments of the present disclosure is shown. For example... Figure 5 As shown, the electronic device 500 includes a processor 510, a disk drive 520, an input / output interface 530, a network interface 540, and a memory 550. The processor 510, disk drive 520, input / output interface 530, network interface 540, and memory 550 can communicate with each other via a communication bus 560.

[0053] The processor 510 can be implemented using a general-purpose CPU, microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits to execute relevant programs in order to implement the technical solution provided in this application.

[0054] The memory 550 can be implemented in the form of ROM (Read Only Memory), RAM (Read Access Memory), static memory, dynamic storage devices, etc. The memory 550 can store the operating system 551 used to control the operation of the electronic device 500, and the basic input / output system (BIOS) 552 used to control the low-level operations of the electronic device 500. Additionally, it can store a web browser 553, a data storage management system 554, etc. In summary, when implementing the technical solution provided in this application through software or firmware, the relevant program code is stored in the memory 550 and is called and executed by the processor 510.

[0055] Input / output interface 530 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices may include displays, speakers, vibrators, indicator lights, etc.

[0056] Network interface 540 is used to connect a communication module (not shown in the figure) to enable communication and interaction between the device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0057] Bus 560 includes a pathway for transmitting information between various components of the device, such as processor 510, disk drive 520, input / input interface 530, network interface 540, and memory 550.

[0058] It should be noted that although the above-described device only shows the processor 510, disk drive 520, input / output interface 530, network interface 540, memory 550, bus 560, etc., in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the method of this application, and does not necessarily include all the components shown in the figures.

[0059] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0060] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. Furthermore, although operations are depicted in a specific order, this should be understood as requiring that such operations be performed in the specific order shown or in sequential order, or requiring that all illustrated operations be performed to achieve the desired result. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the foregoing discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single implementation. Conversely, various features described in the context of a single implementation may also be implemented individually or in any suitable sub-combination in multiple implementations.

[0061] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A sound-receiving structure for an acoustic imaging device, comprising a sound-receiving aperture array, characterized in that, The array of receiving holes includes multiple receiving holes arranged in a non-periodic manner, and the receiving holes include: The stepped hole structure includes at least two stages of tapered flared sections; and The throat includes one or more straight hole sections located at the end of the stepped hole structure.

2. The structure according to claim 1, characterized in that, The sound-receiving aperture array is a spiral array, a random concentric circle array, a quasi-random Poisson disk array, or a partitioned non-uniform array.

3. A data processing method for an acoustic imaging device, characterized in that, The acoustic imaging device includes a microphone array and a sound-receiving structure according to any one of claims 1-2, and the method includes: Acquire the sound-receiving structure information of the acoustic imaging device, wherein the sound-receiving structure information includes the structural information and position information of the sound-receiving aperture; Obtain the microphone array channel compensation data corresponding to the sound receiving structure information, wherein the microphone array channel compensation data includes compensation parameters corresponding to one or more acquisition channels in the microphone array; and Based on the microphone array channel compensation data, channel consistency compensation is performed on the acquired signals of the microphone array.

4. The method according to claim 3, characterized in that, The structural information of the sound-receiving aperture includes one or more of the following: aperture diameter, aperture spacing, plate thickness corresponding to the aperture, aperture shape, plate opening ratio corresponding to the aperture, and arrangement rules of the sound-receiving aperture array; and The location information of the sound receiving hole includes one or more of the following: the distance between the reference plane of the microphone array and the reference plane of the sound receiving hole array; the coaxiality between the reference plane of the sound receiving hole and the reference plane of the microphone array; whether there is a sealing structure; and whether there is a support structure.

5. The method according to claim 3, characterized in that, The step of obtaining the microphone array channel compensation data corresponding to the sound receiving structure information includes: Determine the target frequency band of the acoustic imaging device; Based on the target frequency band and the sound receiving structure information, determine whether there is microphone array channel compensation data for the sound receiving structure under the target frequency band; In response to determining the existence of microphone array channel compensation data for the sound receiving structure in the target frequency band, the microphone array channel compensation data is loaded; and In response to the determination that there is no microphone array channel compensation data for the sound receiving structure under the target frequency band, microphone array channel compensation data for the sound receiving structure under the target frequency band is generated under preset calibration conditions.

6. The method according to claim 5, wherein loading the microphone array channel compensation data in response to determining the existence of microphone array channel compensation data for the receiving structure in the target frequency band includes: Acquire microphone array channel compensation data for the sound receiving structure under the target frequency band; Determine whether the acquired microphone array channel compensation data is complete; as well as In response to the determination that the acquired microphone array channel compensation data is complete, the system verifies whether the acquired microphone array channel compensation data matches the acoustic imaging device based on one or more of the preset channel energy index, signal saturation rate index, channel amplitude-phase consistency index, and channel coherence index.

7. The method according to claim 5, characterized in that, In response to determining that no microphone array channel compensation data for the sound receiving structure exists in the target frequency band, the step of generating microphone array channel compensation data for the sound receiving structure in the target frequency band under preset calibration conditions includes: Under preset calibration conditions, the calibration data of the imaging device under reference sound source excitation is acquired, and the calibration data includes the response signals of each acquisition channel of the microphone array; Based on the calibration data, a channel response model for the microphone array is constructed; and Based on the channel response model and the preset stability constraints, microphone array channel compensation data corresponding to the microphone array is generated.

8. The method according to claim 7, wherein generating microphone array channel compensation data for the sound receiving structure under preset calibration conditions in response to determining that no microphone array channel compensation data for the sound receiving structure exists in the target frequency band, further comprises: Based on the generated microphone array channel compensation data, channel consistency compensation is performed on the calibration data to obtain the channel consistency compensation result corresponding to the calibration data; Based on the channel consistency compensation results corresponding to the calibration data, verify whether the channel consistency compensation results meet the quality requirements, wherein the quality requirements include at least one of channel amplitude consistency, channel phase consistency, noise amplification channel detection, noise anomaly channel detection, and the positioning error of the reference sound source; as well as In response to verifying that the channel consistency compensation results meet the quality requirements, the microphone array compensation data is associated with and stored in conjunction with the sound reception structure information and the target frequency band.

9. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 3-7.

10. Acoustic imaging equipment, including: One or more processors, and A memory associated with the one or more processors, the memory being used to store program instructions that, when read and executed by the one or more processors, perform the steps of the method according to any one of claims 3-7.

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