Ultrasonic sensor device and method of operation thereof

Abstract

Aspects of the invention relate to an ultrasonic sensor device for ultrasonic sensing in air and a method of ultrasonic sensing in air. The method of ultrasonic sensing in air comprises encoding at least one set of ultrasonic frequencies from a plurality of ultrasonic frequencies into at least one transmission signal during each of a plurality of time periods and transmitting the at least one transmission signal by one or more transmitters of an ultrasonic sensor device located in a local environment. The method further comprises receiving at least one reception signal by a plurality of receivers of the ultrasonic sensor device and determining, by decoding the at least one reception signal, that the at least one reception signal is a reflection of a respective at least one transmission signal from the local environment. Local environment data can then be generated based on the decoded at least one reception signal and an image of at least a portion of the local environment can then be generated based on the local environment data.

Description

Technical Field

[0001] The embodiments described herein generally relate to the use of ultrasonic sensors for environmental imaging. Background Technology

[0002] Sensors used in current autonomous systems such as intelligent robots, drones, and self-driving cars may employ various sensor modalities, such as radar, lidar, cameras, or microphones. However, almost all current sensor systems suffer from common problems in real-world environments, affecting their range, detection capabilities, and reliability. For example, optical and radar sensor systems in vehicle navigation do not always perform optimally in challenging environments such as rain, fog, or excessive dust. This can, in turn, render autonomous vehicles or other such systems blind in those real-world conditions. Summary of the Invention

[0003] This application relates to the field of ultrasonic sensor systems and devices.

[0004] According to a first aspect of the invention, a method for performing ultrasonic sensing in air is provided, the method comprising: during each of a plurality of time periods: encoding at least one set of ultrasonic frequencies from a plurality of ultrasonic frequencies into at least one transmitted signal; transmitting the at least one transmitted signal via one or more transmitters of an ultrasonic transceiver located in a local environment; receiving at least one received signal via a plurality of receivers of the ultrasonic transceiver; determining, by decoding the at least one received signal, that the at least one received signal is a reflection generated from the local environment by the corresponding at least one transmitted signal; and generating local environment data based on the decoded at least one received signal.

[0005] The first aspect of the invention may further include generating an image of at least a portion of the local environment based on local environment data.

[0006] Any of the following can be applied to the first aspect of the present invention.

[0007] Optionally, encoding at least one set of ultrasonic frequencies into at least one transmitted signal may include encoding the at least one set of ultrasonic frequencies using one or more of amplitude modulation, frequency modulation, or phase shift modulation.

[0008] Optionally, for at least one of a plurality of time periods, the encoding of at least one set of ultrasonic frequencies may be based on local environmental data generated from at least one signal received during a previous time period.

[0009] Optionally, for each of the multiple time periods, the encoding of at least one set of ultrasound frequencies may be different from the encoding of at least one set of ultrasound frequencies in the previous time period, and / or for each of the multiple time periods, the encoding of at least one set of ultrasound frequencies may be different from the encoding of any other set of ultrasound frequencies in that time period.

[0010] Optionally, at least a portion of the image of the local environment can be a three-dimensional image.

[0011] Optionally, multiple receivers can receive the at least one received signal when operating as a phased array.

[0012] Optionally, the method may further include at least one of the following: determining the location of an object in a local environment based on local environment data; and generating an image of the object based on the local environment data.

[0013] Optionally, the method may further include: defining a first region and a second region in a local environment, the first region being defined as being less than a first distance from a plurality of receivers of an ultrasonic transceiver located in the local environment, and the second region being greater than the first distance and less than the second distance from a plurality of receivers of an ultrasonic transceiver located in the local environment; and encoding at least one set of ultrasonic frequencies may include encoding a group of ultrasonic frequencies from a plurality of ultrasonic frequencies into a transmission signal for each region, wherein the encoding of the group of ultrasonic frequencies for the first region may be based on the first distance, and the encoding of the group of ultrasonic frequencies for the second region may be based on the second distance; transmitting at least one transmission signal may include transmitting a transmission signal for each of the first and second regions; and the determination may include determining, by decoding at least one received signal, that the at least one received signal is a reflection of a transmission signal for the first or second region of the local environment.

[0014] Optionally, the plurality of receivers may include one or more transmitters, and at least one of the plurality of receivers including the one or more transmitters may be configured to operate as a transceiver.

[0015] According to a second aspect of the present invention, an ultrasonic sensor device for ultrasonic imaging in air is provided, the ultrasonic sensor device comprising: at least one transmitter; a plurality of receivers; and a drive module configured to drive the at least one transmitter and the plurality of receivers; wherein the plurality of receivers are arranged in a non-periodic arrangement.

[0016] Any of the following can be applied to the second aspect of the present invention.

[0017] Optionally, the ultrasonic sensor device may further include a communication module configured to transmit signal data associated with signals received by a plurality of receivers.

[0018] Optionally, the ultrasonic sensor device may further include a control module, wherein the control module may be configured to: encode one or more sets of ultrasonic frequencies into one or more transmitted signals for transmission by at least one transmitter; decode received signals received by a plurality of receivers; and generate local environmental data based on the decoded signals. The ultrasonic sensor device may further include a processing module, wherein the processing module may be configured to generate an image of at least a portion of the local environment surrounding the sensor device using the local environmental data.

[0019] Alternatively, the non-periodic arrangement of multiple receivers can be a Fibonacci arrangement.

[0020] Alternatively, multiple receivers can be configured to operate as a phased array.

[0021] Alternatively, at least one transmitter and multiple receivers may be stacked.

[0022] Optionally, the plurality of receivers may include at least one transmitter; and at least one of the plurality of receivers including the at least one transmitter may be configured to operate as a transceiver.

[0023] Alternatively, the ultrasonic sensor device can be configured to perform any of the methods described in the first aspect of the invention.

[0024] Within the scope of this application, it is expressly intended that the various aspects, embodiments, examples, and alternatives detailed in the foregoing paragraphs, claims, and / or the following description and drawings, particularly their individual features, may be employed independently or in any combination. That is, all embodiments and / or features of any embodiment may be combined in any manner and / or combination unless such features are incompatible. The applicant reserves the right to amend any initially filed claim or accordingly file any new claim, including the right to modify any initially filed claim to incorporate any feature subordinate to and / or incorporated into any other claim, although not originally claimed in this manner. Attached Figure Description

[0025] In the following description, embodiments will be illustrated with reference to the accompanying drawings, in which: Figure 1 Illustrated examples of the layers of an ultrasonic sensor device according to some embodiments are shown.

[0026] Figure 2An example cross-section of a single transmitter, receiver, or transceiver element of an ultrasonic sensor device is shown, including the layers of the device’s housing and the acoustic channels that guide ultrasonic signals to or from the transmitter, receiver, or transceiver element.

[0027] Figure 3 Various example arrangements of the elements of an ultrasonic sensor device according to some embodiments are shown.

[0028] Figure 4 A flowchart of a method for operating an ultrasonic sensor device according to some embodiments is shown.

[0029] Figure 5 Examples of regions defined in a local environment according to some embodiments are shown, as well as the detection of these regions by an ultrasonic sensor device.

[0030] Figure 6 Example graphs of transmitted and received signals according to some embodiments are shown.

[0031] Figure 7 Example images are shown, generated according to some embodiments, based on local environmental data generated from received signals. Detailed Implementation

[0032] This application pertains to the application of ultrasonic sensors. Specifically, see the attached document. Figures 1 to 7 This document describes an ultrasonic sensor device 100 and a method for performing ultrasonic sensing in air according to various embodiments of the present invention.

[0033] Such ultrasonic sensors include one or more receivers and one or more transmitters (or emitters) to provide spatial data associated with the environment within the range of these sensors. This data can then be used to generate imagery of at least a portion of that environment. This imaging can be achieved in real time, enabling such ultrasonic sensors to be applied to a wide variety of scenarios and domains. As non-limiting examples, such domains could include intelligent robots, drones, vehicles (e.g., autonomous, semi-autonomous, manually driven), or applications in medical capabilities (e.g., patient sensing in nursing homes).

[0034] By utilizing ultrasound in this manner, the ultrasonic sensor of this application can operate reliably and with high precision in challenging environments such as rain, fog, or the presence of high levels of airborne dust. Such ultrasonic sensors can be implemented alone to provide specific ultrasonic imaging, or they can be implemented in combination with other imaging technologies such as radar, lidar, vision cameras, or microphones.

[0035] Figure 1An example of an ultrasonic sensor device 100 according to some embodiments is shown. Here, the ultrasonic sensor device 100 includes at least one transmitter Tx 110 and at least one receiver Rx 120. It should be understood that, although Figure 1 The arrangement illustrates Tx element 110 or Rx element 120, but this method can also be applied to transceiver elements, where such elements can function as both transmitters and receivers (i.e., TX / Rx element arrays), as discussed further below.

[0036] In some embodiments, at least one transmitter Tx 110 may include a plurality of transmitter Tx, and is referred to as a transmitter Tx array. In some embodiments, the Tx array may include a series of different ultrasonic transducers with different operating voltages and frequencies. This allows the Tx array to be designed in a more precise manner and tailored to the intended operating environment of the ultrasonic sensor device 100.

[0037] In some embodiments, at least one receiver Rx 20 may include a plurality of receivers Rx, and is referred to as a receiver Rx array.

[0038] In some embodiments, at least one transmitter and at least one receiver may be located together or jointly on a single module of the ultrasonic sensor device 100. For example, the ultrasonic sensor device 100 may include one or more modules 105, and at least one Tx and at least one Rx may be located jointly within the same module 105.

[0039] In some embodiments, the same element array can function as both a transmitter (Tx) array and a receiver (Rx) array (i.e., the Tx and Rx arrays can function as transceivers). Here, the element array can be configured to function as a transmitter (Tx) array during a set time period (e.g., a transmission period) and then switch to function as a receiver (Rx) array during a set time period (e.g., a reception period). This arrangement in... Figure 1 An exemplary example shows that one or more elements of the Tx / Rx array can function as both a transmitter 110 and a receiver 120.

[0040] In some embodiments, at least one module of one or more modules 105 of the ultrasonic sensor device 100 includes a series of layers forming a stack. An unfolded illustration of such a stack is shown in... Figure 1 As shown in the figure. In such embodiments, when the ultrasonic sensor device 100 is operating, one or more modules 105 of the stack can communicate with each other.

[0041] By being constructed in a stacked configuration, the ultrasonic sensor device 100 is more compact when installed in certain scenarios and environments, such as when mounted on a vehicle.

[0042] It should be understood that the various modules and functions discussed herein can be implemented in the ultrasonic sensor device 100, which is constructed in a stacked configuration. Alternatively, in some embodiments, some modules of one or more modules 105 may be arranged in a stacked configuration, while some modules of one or more modules 105 may be arranged separately from the stacked configuration (e.g., if it is desired to separate certain modules from the stack).

[0043] In some embodiments, some modules of one or more modules 105 of the ultrasonic sensor device 100 described herein may be located together on the same layer within the stack.

[0044] It should also be understood that in some embodiments, the various modules and functions discussed herein can be implemented in the ultrasonic sensor device 100, wherein the ultrasonic sensor device 100 is not configured in a stacked configuration. For example, in some cases, some of the modules in one or more modules 105 may be arranged adjacent to each other.

[0045] In the case where at least one module of one or more modules 105 comprises a stack of layers, at least one Tx and at least one Rx may coexist on the same layer within the stack of one of the modules 105. In other embodiments where one of the modules 105 comprises a series of layers in a stack, at least one Tx and at least one Rx may be located on different layers of the stack.

[0046] In some embodiments, at least one Tx and at least one Rx may be located in a separate module of the ultrasonic sensor device 100.

[0047] In some embodiments, the ultrasonic sensor device 100 may include a drive module 130 for driving at least one Tx and at least one Rx. Where one or more modules 105 of the ultrasonic sensor device 100 comprise a series of layers forming a stack, the drive module 130 may be located in one of these layers.

[0048] The drive module 130 can be configured to provide a signal to each of at least one Tx of the ultrasonic sensor device 100.

[0049] When the drive module 130 is configured to drive at least one transmitter Tx, it can provide a single signal to each of the at least one transmitter Tx, such that a single ultrasonic signal is emitted from each of the at least one transmitter Tx.

[0050] Alternatively, in the presence of multiple transmitters Tx, the drive module 130 can be configured to drive the multiple transmitters Tx by providing a different signal to each of them, such that each of the multiple transmitters Tx emits a unique ultrasonic signal. As a further alternative, the multiple transmitters Tx can be formed by subgroups of transmitters Tx, wherein the drive module 130 provides a unique signal to each subgroup, such that each subgroup of transmitters Tx emits a unique ultrasonic signal.

[0051] Therefore, in some embodiments, the drive module 130 can be configured to provide a signal to each of the plurality of transmitters Tx, the phase angle of which differs from the phase angle of the signals provided to each of the other transmitters Tx, thereby achieving redirection of the ultrasonic signals emitted by the transmitter Tx array. Here, the phase angle difference between each different signal provided to each of the plurality of transmitters Tx can be consistent, thereby achieving predictable redirection of the ultrasonic signals emitted from the plurality of transmitters Tx. In such embodiments, the transmitter Tx array (or, in some embodiments, the receiver Rx array) can be referred to as operating as a “phased array”.

[0052] In some embodiments, the ultrasonic sensor device 100 may include a communication module 135 for receiving data and transmitting data to an external system. Here, the communication module 135 may be configured to transmit data related to the local environment (e.g., a spatial representation of the local environment or spatial data related to the local environment) generated based on the received ultrasonic signals to an external system or other electronic device.

[0053] In some embodiments, the communication module 135 may also be configured to transmit an image or spatial representation of the local environment generated based on the decoded received ultrasound signal to an external system or electronic device for further processing.

[0054] In some embodiments, the communication module 135 may also be configured to transmit the received ultrasonic signals to an external system or electronic device before any processing (e.g., before decoding, before generating local environment data, or before identifying any object in the local environment).

[0055] Such external systems or electronic devices can be, for example, cloud services, one or more computers, embedded in-vehicle computers, tablets, and / or smartphones. The communication module 135 can transmit any data discussed above to such external systems or electronic devices using any known method, whether wired or wireless.

[0056] In some embodiments, the ultrasonic sensor device 100 may include a control module 140. The control module 140 may be configured to select a set of ultrasonic frequencies and encode them into one or more transmission signals for transmission by at least one transmitter Tx. The encoded transmission signals may be output to a drive module 130, which then processes the encoded transmission signals and provides corresponding signals to at least one transmitter Tx (or, in some embodiments, a transmitter array) for transmission. It should be understood that the encoded transmission signals may alternatively be output to a module other than the drive module 130 (e.g., a module external to the ultrasonic sensor device 100) and then provided to at least one transmitter Tx (or, in some embodiments, a transmitter array) for transmission.

[0057] In some embodiments, the ultrasonic sensor device 100 may include a processing module 145. The processing module 145 may be configured to receive signals received by at least one receiver (or, in some embodiments, a receiver array Rx). Here, the processing module 145 may decode the received signals and generate local environment data based on the decoded signals, wherein the local environment data includes spatial data of the local environment (e.g., the location in the local environment where the emitted signal was scattered or reflected before being received by at least one receiver or the Rx array). For example, the processing module 145 may decode signals received by at least one receiver Rx (or, in some embodiments, a receiver array), generate spatial data associated with the local environment based on the decoded signals (e.g., in the form of local environment data), and in some embodiments, additionally use the spatial data to determine the location of objects in the local environment surrounding the ultrasonic sensor device 100 (e.g., the orientation and distance of such objects in the local environment).

[0058] When generating local environmental data from the decoded received signal, the processing module 145 may also utilize data associated with other factors. For example, the processing module 145 may utilize one or more of the following: the known geometry of the Tx and / or Rx arrays, the speed of the transmitted signal inferred from the air temperature of the local environment (the air temperature may be an assumed value or may be provided by one or more temperature sensors external to the sensor device 100), or the specific configuration of the associated transmitted signal.

[0059] The generated local environment data then includes at least some spatial aspects of the local environment describing the environment surrounding the ultrasonic sensor device 100. In some embodiments, the generated local environment data may take the form of a heat map of at least a portion of the local environment, a point cloud of at least a portion of the local environment, or any other spatial representation or spatial data associated with at least a portion of the local environment.

[0060] When the processing module 145 determines the location of an object in the local environment surrounding the ultrasonic sensor device 100, the processing module 145 can determine the size and shape of such an object in the local environment in two or three dimensions based on local environment data generated from signals received by at least one decoded receiver Rx (or, in some embodiments, a receiver array). The processing module 145 can then generate a two-dimensional or three-dimensional image of the local environment or of the object located within the local environment based on the generated local environment data.

[0061] It should be understood that the various functions of the processing module 145 discussed herein can be performed by a single module of the ultrasonic sensor device 100, or by a separate submodule of the ultrasonic sensor device 100. For example, the received signal can be decoded by a single module or the ultrasonic sensor device 100 to generate local environmental data, and the position of objects in the local environment around the ultrasonic sensor device 100 can then be determined by a separate submodule of the ultrasonic sensor device 100 (located on a stack of one or more modules 105, or outside a stack of one or more modules 105). It should also be understood that in some embodiments, the processing module 145 and / or the drive module 130 can therefore form part of the control module 140, and vice versa.

[0062] The addition of control module 140 allows ultrasonic sensor device 100 to process the signal used for transmission (e.g., select and encode the signal used for transmission), while the addition of processing module 145 allows ultrasonic sensor device 100 to subsequently process the received signal (e.g., using known array geometry, sound velocity inferred based on assumed or measured local air temperature, and known factors of the transmitted signal) to verify that the received signal corresponds to the previously transmitted signal and to generate local environment data from the received signal. Therefore, the local environment surrounding ultrasonic sensor device 100 can then be accurately imaged by the device in real time in a two-dimensional or three-dimensional manner without any processing performed by other independent systems. For example, in the case where ultrasonic sensor device 100 is applied in a vehicle (e.g., a manual, autonomous, or semi-autonomous vehicle), other onboard systems of the vehicle do not need to perform imaging of at least a portion of the local environment, or in some embodiments, object detection within the local environment is not required.

[0063] It should be understood that while the ultrasonic sensor device 100 can operate completely independently of a single external system, it can also operate collaboratively with an external system, for example, to improve accuracy. For instance, the ultrasonic sensor device 100 can output the received signal as data to an external system before or after decoding, allowing the external system to subsequently analyze the received signal to perform imaging of the local environment. In such scenarios, the output data can be combined with data from other ultrasonic sensor devices or from sensor systems operating in other sensor modes to accurately image the local environment.

[0064] Figure 2 An example cross-section of the structure of an ultrasonic sensor device 100 according to some embodiments, surrounding an element of a Tx / Rx array, is shown. Here, the element may take the form of a surface-mount MEMS microphone; however, it should be understood that other acoustic microphone systems may also be used.

[0065] It should also be understood that Figure 2 The components shown may be transmitter 110, receiver 120, or transceiver components configured to act as both transmitter 110 and receiver 120. Therefore, in the following references... Figure 2 The discussion of the arrangement takes into account the case of receiver element 120 of the Rx array. It should be understood that the same principle still applies to transmitter element 110 of the Tx array, or transceiver element of the RX / Tx array.

[0066] The housing structure of the ultrasonic sensor device 100 surrounding one or more receiver elements 120 of the Rx array may include a series of layers, wherein these layers may include a first PCB 120a, a second PCB 120b, an acoustically transparent material layer 121, an acoustic absorber layer 122, and a housing 123 of the ultrasonic sensor device 100. Channels 125 are then formed in the first PCB 120a, the second PCB 120b, the acoustic absorber layer 122, and the housing 123.

[0067] It should be understood that Figure 2 The arrangement shown in the figure is merely an exemplary example, and may include other intermediate layers in addition to those shown in the figure.

[0068] exist Figure 2 In one embodiment, the receiver element 120 may be mounted on a first PCB 120a, which is a dedicated PCB for the receiver element. The first PCB 120a may then be coupled to the surface of a larger second PCB 120b of the ultrasonic sensor device 100. The second PCB 120b may be a PCB for controlling or driving a wider Rx array.

[0069] In some embodiments, the acoustically transparent material 121 may be formed on or coupled to at least a portion of the opposing surface of the second PCB 120b, or formed on at least a portion of the surface of an intermediate layer formed on or coupled to at least a portion of the opposing surface of the second PCB 120b.

[0070] The acoustically transparent material 121 allows sound waves or ultrasonic waves to be transmitted through the layer with little or no absorption, while minimizing or preventing dust, particulate matter, or moisture from passing through the acoustically transparent material 121. In some embodiments, the acoustically transparent material 121 may be formed of a rigid, semi-rigid, or flexible fabric material that is suitably acoustically transmissive.

[0071] The acoustic absorber 122 can then be formed on or coupled to the opposing surface of the acoustically transparent material 121. Here, the acoustic absorber 122 can be designed to minimize or block sound waves or ultrasonic waves from passing laterally through the acoustic absorber 122 (e.g., along a direction parallel to the plane of the acoustic absorber 122 and / or the housing 123). In some embodiments, the acoustic absorber 122 can be formed of rubber or a similar acoustic absorbing material.

[0072] In some embodiments, the acoustically transparent material 121 may alternatively be formed on or coupled to at least a portion of the opposing surface of the acoustic absorber 122, or formed on at least a portion of the surface of an intermediate layer formed on or coupled to at least a portion of the opposing surface of the acoustic absorber 122.

[0073] In some embodiments, the opposing surfaces of the acoustic absorber 122 may then be coupled to the housing 123 of the ultrasonic sensor device 100. The housing 123 may be made of a suitable metal or plastic.

[0074] The acoustic absorber 122 can serve as a shock-absorbing seal between the housing 123 and the second PCB 120b.

[0075] Channel 125 may be formed in each of the first PCB 120a, the second PCB 120b, the acoustic absorber 122 layer, and the housing 123, thereby forming an acoustic port for the receiver element 120. Channel 125 allows ultrasonic waves to be guided from the outer surface of the housing 123 to the receiver element 120 (i.e., through the acoustic absorber 122 layer and each of the first PCB 120a layer and the second PCB 120b layer), enabling the receiver element 120 to detect the ultrasonic waves. Similarly, in the case where the element is a transmitter element 110, or in the case where the element is a transceiver, channel 125 allows ultrasonic waves to be guided from the transmitter element 110 (or transceiver element) to the outer surface of the housing 123 (i.e., through each of the first PCB 120a layer and the second PCB 120b layer, and through the acoustic absorber 122 layer) and into the local environment.

[0076] The acoustically transparent material 121 layer extending across channel 125 allows incident ultrasonic waves (or, in the case of transmitter element 110, outgoing ultrasonic waves) to be transmitted, while preventing dust, particulate matter, or moisture from reaching the first PCB 120a, the second PCB 120b, and the receiver element 120.

[0077] In some embodiments, the opening of channel 125 at the outer surface of housing 123 may be wider than the rest of channel 125. This then allows ultrasound waves to more easily enter channel 125 for detection by receiver element 120.

[0078] In some embodiments, one or both of the acoustically transparent material 121 and the acoustic absorber 122 may be formed only in the region immediately surrounding the channel 125. Here, the acoustically transparent material 121 still extends across the channel 125.

[0079] It should be understood that the above refers to Figure 2 The layers discussed are an example configuration of the ultrasonic sensor device 100, and other layers may be used additionally or alternatively. The layers described herein may be implemented in different orders.

[0080] In the case where the ultrasonic sensor device 100 has a plurality of transmitters Tx and these transmitters Tx are arranged in a transmitter Tx array, the individual transmitters Tx in the array can be arranged in a variety of different configurations. In some embodiments, the plurality of transmitters Tx can be arranged and configured to achieve omnidirectional propagation of the transmitted signal. This then improves the directivity of the Tx array (e.g., when the transmission is omnidirectional and when the transmission is beam-directed).

[0081] Similarly, in the case where the ultrasonic sensor device 100 has a plurality of receivers Rx and these receivers Rx are arranged in an array of receivers Rx, the individual receivers Rx in the array can be arranged in a variety of different configurations.

[0082] Figure 3 Some example configurations (or arrangements) of multiple receivers in a receiver Rx array are shown. It should be understood that... Figure 3 This arrangement can also be applied to transmitter Tx arrays, or to Tx / Rx arrays where the array elements are configured to operate as transceivers (i.e., both transmitters and receivers). In each example shown, the Rx and / or Tx arrays can be arranged as phased arrays. In some embodiments, the Rx array can be a phased array.

[0083] like Figure 3 As shown in arrangement A), in some scenarios, the receivers of the Rx array can be arranged in a rectangular lattice (or grid).

[0084] like Figure 3 As shown in arrangement B), in some scenarios, the receivers of the Rx array can be arranged in a hexagonal lattice, thereby making more efficient use of the available space on this module of the ultrasonic sensor device 100.

[0085] like Figure 3 As shown in arrangement C), in some scenarios, the receivers of the Rx array can be arranged in a non-periodic pattern. In the example shown in arrangement C), the receivers of the Rx array are arranged mathematically based on the Fibonacci sequence (e.g., following the model of the flower pattern in a sunflower head).

[0086] like Figure 3 As shown in arrangement D), in some scenarios, the receivers of the Rx array can be arranged aperiodically across multiple subarrays. In the example shown in arrangement D), the receivers in each subarray of the Rx array are arranged mathematically based on the Fibonacci sequence.

[0087] It should be understood that, Figure 3 The size and number of receivers in the Rx array may vary in each example arrangement shown, but this is only for clarity. The size and number of receivers in the Rx array can be selected according to the needs of any given arrangement.

[0088] It should be understood that the Fibonacci sequence is a potential example of an aperiodic arrangement, and other aperiodic arrangements can be implemented.

[0089] When the receivers of the Rx array are arranged in a periodic manner (e.g., when the receivers of the Rx array are arranged in a rectangular lattice (or grid) or a hexagonal lattice (or grid), such as... Figure 3 As shown in arrangements A) and B), the received signal may include undesirable artifacts caused by this periodic arrangement, leading to reduced accuracy in local environment imaging and / or requiring processing and removal of those artifacts from the received signal. Such artifacts can manifest as “lobes” in the resulting imaging data; these artifacts are caused by lines of symmetry in the periodic arrangement and by suboptimal “spacing” λ between elements in the Rx array operating at a specific frequency. Here, “spacing” λ will be understood as the distance between each receiver element in the Rx array, such as… Figure 3 Example arrangements A) and B) are shown. It should be further understood that periodic arrays can have more than one spacing value, depending on the number of axes of a given periodic array.

[0090] In contrast, by implementing the receivers of the Rx array with such an aperiodic arrangement, different spacings are distributed across the array (example spacings λ1 and λ2 in...). Figure 3 The example arrangement shown in C) and the lack of a symmetry line across the array make the resulting imaging data more consistent for any given set of frequencies. Therefore, regardless of the current ultrasound frequency used, the ultrasound sensor device 100 can ensure that any artifacts in the received signal caused by the positioning of the receivers in the Rx array and the spacing between the receivers are minimized or completely removed.

[0091] In some embodiments, the non-periodic random (or pseudo-random) arrangement of the receivers in the Rx array is achieved through a random (or pseudo-random) distribution. Such a random distribution of elements in the Rx array provides an effective trade-off across a range of different operating ultrasonic frequencies, thereby also minimizing or eliminating any artifacts in the received signal.

[0092] In some embodiments, the receivers of the Rx array can be arranged in a non-periodic but still mathematically deterministic configuration. This then minimizes or prevents unwanted frequency-dependent artifacts from appearing in the received signal, while still ensuring that the receivers of the Rx array are arranged in a mathematically deterministic and predictable manner (thereby improving the consistency of imaging accuracy across multiple ultrasonic sensor devices 100).

[0093] like Figure 3 As shown in arrangement C), an example of such a non-periodic arrangement is the Fibonacci arrangement, which provides a mathematically deterministic arrangement of the receivers for the Rx array that minimizes or prevents artifacts from appearing in the received signal.

[0094] Figure 3Arrangement D) also illustrates this aperiodic arrangement of receivers in the Rx array. However, in arrangement D), the receivers of the Rx array are divided into two subarrays: a dense inner array and a sparse outer array surrounding the dense inner array (each subarray is demarcated from the others by dashed lines). While both subarrays are arranged in the same aperiodic Fibonacci pattern as in arrangement C), the average spacing of the denser inner subarray is shorter than that of the sparser outer subarray. This is illustrated by the example of a shorter spacing λ1 in the denser inner subarray and a larger spacing λ2 in the sparser outer subarray, as shown in... Figure 3 The arrangement is shown in D). This then leads to further minimization or prevention of artifacts appearing in the received signal.

[0095] Although Figure 3 Arrangement D) shows two separate subarrays, but it should be understood that more subarrays may be included, each with a different density in the arrangement of receivers in the Rx array. It should also be understood that the density of receivers in the Rx array may gradually change from a dense inner arrangement to a sparse outer arrangement, rather than having clear boundaries between subarrays as shown in arrangement D).

[0096] Figure 4 A flowchart of a method 1000 for operating an ultrasonic sensor device 100 according to some embodiments is shown. That is, the elements, arrangements, and functions discussed above can be applied to the steps in the flowchart shown in this figure.

[0097] Figure 4 Some of the steps shown are optional (that is, steps that are not necessary to implement the methods of this application). Such optional steps are indicated by dashed lines. As described above, in some embodiments, all steps of the following method 1000 can be performed by a module disposed within the ultrasonic sensor device 100. Alternatively, some steps can be performed by a module external to the ultrasonic sensor device 100.

[0098] Steps 1100 to 1600 can all occur within a single time period T. Alternatively, steps 1400 to 1600 can occur after time period T, for example, during a subsequent time period T+1, or during a processing time period P, in which the received signal is processed and local environmental data is generated. It should be understood that time periods can be continuous during the operation of the ultrasonic sensor device 100.

[0099] The time period T can be a predetermined length of time, or it can be a time period that is dynamically updated based on the received signals received by the Rx array of the ultrasonic sensor device 100 in the previous time period.

[0100] At step 1100, one or more sets of ultrasonic frequencies 150 are selected and encoded into one or more corresponding transmission signals 160.

[0101] Here, the group of ultrasonic frequencies 150 can be selected from a range of ultrasonic frequencies. For example, in some embodiments, the range of ultrasonic frequencies can extend from 20 kHz to 80 kHz, in some embodiments from 35 kHz to 45 kHz, or in some embodiments, it can have a wide range from 20 kHz to 100 kHz. The group of ultrasonic frequencies 150 can be selected from a larger range of ultrasonic frequencies to distinguish them from ultrasonic frequencies encoded and transmitted in previous time periods (where reflections of such earlier transmissions can be received in later time periods). For example, the group of ultrasonic frequencies 150 selected for each transmission signal 160 can be selected to distinguish them from group of ultrasonic frequencies selected for other transmissions transmitted during the current time period T, or from other transmissions transmitted within the past n time periods (where n is an integer). This approach allows the precise transmission time of the original transmission signal to be determined once the associated received signal is subsequently decoded, enabling subsequent time-of-flight calculations to be performed as part of generating local environmental data.

[0102] The group of ultrasonic frequencies 150 can be encoded using one or more of, for example, amplitude modulation, frequency modulation, or phase shift keying modulation. In some embodiments, the group of ultrasonic frequencies 150 can be encoded using binary sequences (e.g., using one or more of amplitude modulation, frequency modulation, or phase shift keying modulation), for example... Figure 6 The example shown.

[0103] It should be understood that the above examples are not limiting, and many different methods can be envisioned and employed to encode a group of ultrasonic frequencies 150. Similarly, all the methods described herein for selecting a group of ultrasonic frequencies and encoding that group of ultrasonic frequencies can be implemented individually or in combination as needed.

[0104] In some embodiments, the specific method for encoding one or more groups of ultrasonic frequencies 150 may be selected to differ from any other encoding method used for other transmissions during the current time period T or any recent previous time period. For example, the method for encoding the group of ultrasonic frequencies 150 may be selected to differ from any previously selected encoding method used for signal transmissions within the past n time periods (where n is an integer). For example, a different one of amplitude modulation, frequency modulation, or phase shift keying (PSK) modulation may be used in the encoding compared to previously transmitted signals, and / or different sequences (e.g., different binary sequences) may be encoded into the transmitted signal 160.

[0105] It should be understood that changes to the specific encoding of each group of frequencies 150 used for each transmitted signal 160 can be made as an alternative to, or as a supplement to, changes to the group of ultrasonic frequencies 150 selected for each transmitted signal 160.

[0106] This then ensures that each encoded set of ultrasonic frequencies 150 produces a transmission signal 160 that is different from any other transmission signal transmitted during the current time period T, and / or different from any other transmission signal transmitted during any of the previous n time periods (where n is an integer). Therefore, the received signal 170 can be decoded and identified as corresponding to a single most recently transmitted transmission signal 170.

[0107] In some embodiments, the specific method for encoding one or more sets of ultrasonic frequencies 150 can be selected based on local environment data 180 generated from previously received signals 170. For example, it can be determined from the local environment data 180 generated from previously received signals 170 that a particular encoding method is superior to other encoding methods due to current factors associated with the local environment. For example, an aspect of the current local environment (e.g., current weather or materials used in the local environment) may cause a particular encoding method to produce a transmitted signal 160 with increased signal strength in the corresponding received signal 170. In such scenarios, the specific encoding method can be dynamically changed to improve the quality of the generated local environment data 180 or to increase the sensitivity of the Rx array of the ultrasonic sensor device 100.

[0108] In some embodiments, a specific encoding method may be dynamically selected in response to local environmental data received from other sources. For example, the ultrasonic sensor device 100 may include one or more microphones, or receive data from one or more microphones that monitor ambient background noise within the audible range (i.e., about 20 Hz to 20 kHz). In such scenarios, the selection of a group of ultrasonic frequencies 150 and / or the method for encoding the selected group of ultrasonic frequencies 150 may be based on the amount and nature of the current ambient background noise (e.g., to find a “quiet” portion of the spectrum).

[0109] In addition to the encoding described above, modulation techniques such as amplitude modulation, frequency modulation, and phase shift keying also offer advantages such as improved signal-to-noise ratio, increased frame rate, and range flexibility.

[0110] As described above, in some embodiments, the grouped ultrasonic frequencies 150 may be encoded by the control module 140 of the ultrasonic sensor device 100 in the manner discussed above.

[0111] At step 1200, one or more coded transmission signals 160 are transmitted into the local environment. In some embodiments, one or more transmitters of the transmitter Tx array of the ultrasonic sensor device 100 may transmit the transmission signal 160 into the local environment. In some embodiments, the transmission signal 160 is transmitted in pulse form.

[0112] In some embodiments, and as discussed above, one or more transmitters of the transmitter Tx array may function as part of the transceiver of the ultrasonic sensor device 100.

[0113] Furthermore, and as discussed above, in some embodiments, one or more transmitters of the Tx array can transmit the transmission signal 160 in response to receiving a signal from the drive module 130 of the ultrasonic sensor device 100. Here, the drive module 130 of the ultrasonic sensor device 100 can drive the Tx array to transmit one or more transmission signals 160, and can operate by providing the same signal to each transmitter in the Tx array, providing a different signal to each transmitter in the Tx array, or providing a different signal to each of a series of transmitter subgroups in the Tx array, as discussed above.

[0114] As discussed above, in embodiments of the ultrasonic sensor device 100 that include multiple transmitters in a transmitter Tx array, the Tx array can operate as a phased array, and one or more transmitted signals 160 are transmitted by the transmitters of the Tx array in a directionally controllable manner (i.e., “beam-directing”). This then allows for improved directionality of the one or more transmitted signals 160.

[0115] In some embodiments, the Tx array may employ beamforming (e.g., delayed summation beamforming) when transmitting the transmit signal 160 to improve the signal-to-noise ratio or detect a specific direction.

[0116] At step 1300, multiple receivers of the receiver Rx array of the ultrasonic sensor device 100 receive at least one received signal 170. The at least one received signal 170 may represent the reflection of a transmitted signal 160 emitted during a time period prior to the current time period T in the local environment.

[0117] In some embodiments, and as discussed above, one or more receivers of the receiver Rx array may function as part of the transceiver of the ultrasonic sensor device 100. As discussed above with respect to the Tx array, beam steering may be employed in the Rx array to improve directivity (e.g., to focus on a specific area or region of interest in a local environment).

[0118] In some embodiments, the Rx array may employ beamforming (e.g., delayed summation beamforming) when receiving the received signal 170 to improve the signal-to-noise ratio or detect a specific direction.

[0119] In some embodiments, the received signal 170 may be transmitted to the processing module 145 of the ultrasonic sensor device 100 for decoding in a manner discussed below with reference to step 1400. In other embodiments, the received signal 170 may be output to an external system for decoding.

[0120] At step 1400, at least one received signal 170 is decoded to determine whether the at least one received signal is a reflection from the local environment of at least one corresponding transmitted signal 160 transmitted during a time period prior to the current time period T.

[0121] In other words, by attempting to decode one or more received signals 170, it can be determined whether the one or more received signals 170 are encoded in the same way as the previous one or more transmitted signals 160.

[0122] For example, it can be determined that the received signal 170 includes the same set of ultrasonic frequencies 150 selected for the previously transmitted signal 160, and / or has undergone the same encoding process (or encoding method) as the previously transmitted signal 160 (e.g., the received signal 170 includes the same binary sequence encoded to the earlier transmitted signal 160, and / or has been encoded using, for example, phase shift keying).

[0123] If this is indeed the case, it can be concluded that the one or more received signals 170 are transmitted signals 160 transmitted during a time period prior to the current time period T, wherein the earlier transmitted signal 160 was reflected by one or more surfaces of the local environment before being received as received signal 170.

[0124] In some embodiments, decoding the received signal 170 may include reversing the encoding method used in the previously transmitted signal. For example, if the previously transmitted signal used one of amplitude modulation, frequency modulation, or phase shift keying modulation, the same method may be used to decode the received signal 170.

[0125] In some embodiments, where a different specific encoding method was used for each previously transmitted signal (which may be within the current time period T or within n previous time periods), all previously used specific encoding methods can be employed to decode the received signal 170. This can be done sequentially or simultaneously until the decoded received signal 170 can be matched with the corresponding previously transmitted signal 160.

[0126] As discussed above, in some embodiments, the processing module 145 of the ultrasonic sensor device 100 decodes at least one received signal 170 to determine whether the at least one received signal is a reflection from the local environment of a corresponding at least one transmitted signal 160 previously transmitted during the current time period T or during a time period prior to the current time period T. In other embodiments, the received signal 170 may be output to a separate system for decoding.

[0127] At step 1500, local environment data 180 is generated based on at least one decoded received signal 170. Local environment data 180 includes spatial data relating to at least a portion of the local environment surrounding the ultrasonic sensor device 100. Such spatial data may include the locations where the emitted signal 160 is determined to have been reflected back to the Rx array and received as received signal 170. For example, local environment data 180 may take the form of a heatmap of at least a portion of the local environment, representing the density of the distribution of such scattering locations. As another example, local environment data 180 may take the form of a point cloud of at least a portion of the local environment, showing the determined scattering locations. As another example, local environment data 180 may take the form of a two-dimensional or three-dimensional coordinate list, with each set of coordinates representing a determined scattering point in the local environment. Local environment data 180 may take the form of any other spatial representation or spatial data relating to at least a portion of the local environment.

[0128] For example, by matching at least one decoded received signal 170 with one or more encoded transmitted signals 160 emitted during a previous time period T, data describing the distance can be calculated based on the time of flight and included in the generated local environment data 180. That is, the assumed reflection point can be determined based on the transmission time of the earlier transmitted signal 160 and the reception time of the received signal 170 (in combination with the propagation speed of the emitted ultrasonic signal in the local environment inferred using known, measured, or preset air temperature values).

[0129] Another example of local environment data 180 that can be generated based on at least one decoded received signal 170 could be data describing the direction in which at least one received signal 170 is received (while also taking into account the known geometry of the array). For example, multiple receivers of the Rx array of the ultrasonic sensor device 100 could be configured to operate as a phased array, such that the direction in which the received signal 170 is received (i.e., the direction of the associated scatterer) can be determined.

[0130] Another example of the local environmental data 180 that can be generated includes data related to the Doppler shift of the received signal 170 relative to an associated earlier transmitted signal 160, making it possible to generate velocity or rate data.

[0131] Therefore, the local environment data 180 may include spatial data relating to at least one scatterer in the local environment surrounding the ultrasonic sensor device 100. Such spatial data may include data regarding the distance from the associated scatterer (i.e., object) in the local environment, the direction to the scatterer, and the velocity and / or speed of the scatterer.

[0132] Local environment data 180 can be generated based on a single received signal 170, or based on multiple recently received signals 170 (e.g., all signals received during the current time period T). Local environment data 180 can also be generated based on all signals received within a specific time period (e.g., all signals received during one or more time periods T).

[0133] In some embodiments, the received signal 170 may be processed once during a given processing time period P, and local environment data 180 may be generated once. For example, all received signals 170 decoded during processing time period P may be used to generate a set of local environment data 180 corresponding to the processing time period P, and then a new set of local environment data 180 may be generated for all signals received during the subsequent processing time period P.

[0134] The term “local environment data”180 can be alternatively referred to as “spatial data”, “local spatial data”, or “spatial environment data”.

[0135] In some embodiments, the processing module 145 of the ultrasonic sensor device 100 generates local environmental data 180 based on at least one decoded received signal 170. In other embodiments, a separate system generates local environmental data 180 based on at least one decoded received signal 170. For example, and as discussed above, the at least one received signal 170 can be output to a separate system for decoding, and then the same separate system or another separate system generates local environmental data 180 based on the at least one decoded received signal 170.

[0136] At step 1600, an image of the local environment is generated based on the local environment data 180, and / or objects in the local environment can be identified based on the local environment data 180.

[0137] For example, if the local environment data 180 includes spatial data and the spatial data indicates the presence of a scatterer located at a certain distance and direction from a plurality of receivers of the receiver Rx array of the ultrasonic sensor device 100, this can be used to generate an image of the local environment including the scatterer.

[0138] In some embodiments, the image may be limited to a portion of a local environment that has specific importance. For example, when the ultrasonic sensor device 100 is mounted on a vehicle, only the portion of the local environment that has specific importance to the current situation may be imaged. As another example, during a parking operation, only the area around the vehicle that is relevant to the operation may be imaged (e.g., directly in front of the vehicle, directly behind the vehicle, other vehicles, pedestrians, or fixed objects such as parking posts).

[0139] In some embodiments, the processing module 145 of the ultrasonic sensor device 100 generates a two-dimensional or three-dimensional image of at least a portion of the local environment based on the generated local environment data 180, or in some embodiments, generates a two-dimensional or three-dimensional image of an object within the local environment. In some embodiments, the processing module 145 can identify objects in the local environment based on the local environment data 180.

[0140] In other embodiments, the generated local environment data 180 may be output to a separate system that subsequently generates a two-dimensional or three-dimensional image of at least a portion of the local environment based on the generated local environment data 180 (or, in some embodiments, generates a two-dimensional or three-dimensional image of objects within the local environment, or identifies such objects). In such embodiments, such a separate system may be the same as or different from the system that decodes at least one received signal 170 and generates the local environment data 180.

[0141] In some embodiments, the processing module 145 can aggregate local environment data 180 generated by multiple individual ultrasonic sensor devices 100 to generate an image of the local environment. For example, the multiple individual ultrasonic sensor devices 100 can receive individual received signals, and as referred to above... Figure 4 The steps 1100 to 1600 discuss the processing of these received signals. Then, the generated local environment data 180 obtained from each individual ultrasonic sensor device 100 can be aggregated with other local environment data 180 to generate an image of the local environment.

[0142] Multiple individual ultrasonic sensor devices 100 can be distributed around a local environment, such that any image (i.e., a two-dimensional or three-dimensional image) generated from the spatial data (i.e., local environment data) aggregated from each of these multiple individual ultrasonic sensor devices 100 subsequently benefits from received signals (and thus associated spatial data) received from multiple angles.

[0143] For example, multiple individual ultrasonic sensor devices 100 can be installed at various points on the vehicle body or around a specific static space (such as a parking space) such that the generated image (i.e., a two-dimensional or three-dimensional image) includes a more detailed image of at least a portion of the local environment (or objects located in the local environment).

[0144] Alternatively or additionally, in some embodiments, the generated local environment data 180 may be aggregated with data from other sensor systems employing other sensor modalities, such as radar, lidar, infrared, optical cameras, or microphones. In such scenarios, the resulting image can be more detailed, or the accuracy of the image can be improved.

[0145] In some embodiments, the generated image may be based on local environment data 180 generated from multiple received signals. For example, where each received signal 170 may correspond to a previously transmitted signal 160 (e.g., a transmission signal 160 transmitted during a previous time period), the generated local environment data 180 associated with each previously transmitted transmission signal 160 may be aggregated to improve the quality and / or accuracy of the resulting image.

[0146] In some embodiments, the ultrasonic sensor device 100 may output the generated local environmental data 180 to an external system in step 1950 as an alternative to or supplement to the processing discussed in step 1900 above.

[0147] Here, the generated local environment data 180 can be output to an external system or electronic device, such as, but not limited to, cloud services, one or more computers, embedded in-vehicle computers, tablets, and / or smartphones. This can be achieved using the communication module 135 discussed above.

[0148] External systems or electronic devices can then aggregate and / or process the local environment data 180 (e.g., generate an image of at least a portion of the local environment, or generate an image of an object located in the local environment, or identify such an object).

[0149] When the generated local environment data 180 is output, the data can be compressed to reduce data bandwidth usage (i.e., when transmitted to an external system). The data compression method can depend on the current operating mode of the ultrasonic sensor device 100 (e.g., whether the data is intended for generating one-dimensional, two-dimensional, or three-dimensional images). In some embodiments, a specific compression method can be selected based on the amount of data generated. Other factors, such as image quality requirements, may also be considered when determining the data compression method. The compressed local environment data 180 can then be decompressed by an external system or electronic device before any processing.

[0150] In some embodiments, the image generated by the ultrasonic sensor device 100 can be output to an external system or electronic device, instead of the local environmental data 180 (compressed or uncompressed). This can be achieved using the communication module 135 discussed above.

[0151] In addition to the steps discussed above, in some embodiments, Figure 4 The steps shown may additionally include optional steps 1050, 1150, 1250, and 1450.

[0152] At step 1050, two or more regions in the local environment are defined based on a selected distance from the Rx array of the ultrasonic sensor device 100. Here, the distance from the Rx array of the ultrasonic sensor device 100 within the local environment can be selected and used to divide the local environment into multiple regions. Each region can then be detected separately and simultaneously, thereby providing improved imaging performance in those regions of interest.

[0153] In some embodiments, each region is defined as a distance range from the ultrasonic sensor device 100 (where each region does not overlap with other regions). Figure 5 An example method for defining such a region is shown.

[0154] For example, and as Figure 5 As shown, the first region 200a can then be defined as the area within a first distance d1 of the ultrasonic sensor device 100 in the local environment. Depending on the distribution of the receivers of the Tx and / or Rx arrays of the ultrasonic sensor device 100, this can, for example, take the form of an arc (or, in some scenarios, a ring) in the local environment, with the ultrasonic sensor device 100 at the center. The second region 200b can then be defined as the area in the local environment greater than the first distance d1 but less than the second distance d2 of the ultrasonic sensor device 100. This then forms a series of concentric arcs (or, in some scenarios, rings), with the ultrasonic sensor device 100 at the center.

[0155] It should be understood that it is possible to be with Figure 5 The first region 200a and the second region 200b shown define other regions in a similar manner, and this disclosure is not limited in the number of regions defined, the specific manner in which those regions are defined, or the resulting shape of those regions (e.g., arc, ring, or others).

[0156] In some embodiments, the distances used to define the regions (e.g., a first distance d1 and a second distance d2) can be predetermined distances. For example, the distances used to define the regions can be selected based on local environment data 180 generated from previously received signals 170. For example, the local environment data 180 generated from previously received signals 170 can indicate that a region of particular interest in the local environment is located at a given distance from the ultrasonic sensor device 100. Therefore, the first distance d1 and the second distance d2 can be selected based on this indication, such that the first region 200a and the second region 200b can be defined such that the region of interest falls within the second region 200b. The second region 200b can then be specifically probed to provide an improved image of the region of interest.

[0157] Then, in step 1150, the selection and encoding of at least one set of ultrasonic frequencies 150 may include selecting and encoding a set of ultrasonic frequencies 150 for each defined region, thereby generating a transmission signal 160 for each region.

[0158] Here, the encoding of the grouped ultrasound frequencies 150 for each region can be based on a selected distance that defines that region. For example, a separate grouped frequency can be selected for each region so that any received signal can be distinguished by the region where the reflection occurs.

[0159] For example, if a first region 200a and a second region 200b have already been defined based on indications from local environment data 180 generated according to previously received signal 170, and these indications indicate that the region of interest is located in the second region 200b, specific sets of frequencies can be selected for the second region 200b to detect areas located within it. This selection can be based on the known propagation speed and / or attenuation rate of the set of ultrasonic frequencies relative to distances falling within the second region 200b. The areas located in the second region 200b can then be imaged more efficiently and with a higher level of accuracy.

[0160] This also allows for a corresponding adjustment of the repetition rate of the transmission signal 160 intended for each region. For example, the transmission signal intended for detecting the first region 200a (closer to the ultrasonic sensor device 100) can have a shorter repetition rate compared to the transmission signal intended for detecting the second region 200b (further from the ultrasonic sensor device 100).

[0161] Alternatively or additionally, the transmitted signal 160 may be encoded in different ways depending on the region that the transmitted signal 160 is intended to detect. For example, the transmitted signal 160 intended for detecting a first region 200a may be encoded using one of amplitude modulation, frequency modulation, or phase shift keying modulation, while the transmitted signal 160 intended for detecting a second region 200b may be encoded using another of amplitude modulation, frequency modulation, or phase shift keying modulation, different from the method used for the transmitted signal 160 intended for the first region 200a.

[0162] This allows multiple transmit signals 160 to be emitted and multiple receive signals 170 to be received within a given time period T, enabling the Tx / Rx array to be triggered multiple times within the time required for the ultrasound signal to travel to and from the scatterer located within the defined area.

[0163] It should be noted that these methods for defining and probing local environments can be used in conjunction with other methods discussed above, and are complementary to these other methods, which involve changing the frequency selection and / or encoding of the transmitted signal during a given time period T.

[0164] In some embodiments, this method can be used to select an appropriate length for the time period T.

[0165] In some embodiments, a first set of ultrasound frequencies 150a may be selected and encoded during a first time period T_1 to detect a first region 200a. Then, during a second time period T_2, a second set of frequencies 150b may be selected and encoded in a manner different from the first set of ultrasound frequencies 150a to detect a second region 200b. Here, the selection and encoding in the first time period T_1 and the second time period T_2 may vary based on one or both of the selection of the grouped frequencies or the specific encoding methods used. In some embodiments, the first time period T_1 and the second time period T_2 occur during a single time period T. Alternatively, the first time period T_1 and the second time period T_2 occur during consecutive time periods T and T+1.

[0166] Therefore, all transmitted signals 160 transmitted during the first time period T_1 are intended to detect the first region 200a, and all transmitted signals 160 transmitted during the second time period T_2 are intended to detect the second region 200b. Then, any signals received in subsequent time periods can be distinguished by the region where the reflection occurs, because the selection of the chosen frequency group and / or encoding method is specific to the known time period (e.g., the first time period T_1 or the second time period T_2).

[0167] Then, in step 1250, the transmission signal 160 for each region is transmitted by one or more transmitters of the ultrasonic sensor device 100. This can occur simultaneously (i.e., when multiple transmitters in the Tx array are used), or sequentially within the current time period T (or, in some embodiments, sequentially within consecutive time periods T and T+1).

[0168] Then, in step 1450, it is determined whether the received signal 170 corresponds to a transmitted signal 160 for one of the regions in the local environment. As in step 1400 above, this can be achieved by decoding the received signal 170 and determining whether the decoded received signal corresponds to a transmitted signal for one of the regions. In cases where multiple transmitted signals 160 have been used to probe multiple regions, and different sets of frequencies have been selected for different regions, frequency filtering can be used to separate the multiple received signals 170 from the multiple regions.

[0169] It should be understood that the optional steps 1150, 1250, and 1450 discussed above can form part of the corresponding steps 1100, 1200, and 1400, such as... Figure 4 As shown.

[0170] Figure 6 Some example graphs are shown of elements of the transmitted signal 160 and the corresponding elements of the received signal 170. Here, phase shift keying (PSK) is used to encode a binary sequence (represented in graph A) into a group of selected ultrasonic frequencies (represented in graph B).

[0171] It should be emphasized that, for the sake of clarity only, Figure 6 The selected ultrasonic frequencies in graph B) are shown as continuous sine waves; however, it should be understood that the form of the curves shown in graph B) is non-limiting. Figure 6 The same applies to other graph formats.

[0172] Figure 6 The encoded group of ultrasonic frequencies is shown in graph C). Here, and as mentioned above, this group of ultrasonic frequencies has been encoded using the binary sequence of graph A) using PSK. As mentioned above, it should be understood that other encoding methods can be used, and... Figure 6 The example uses binary sequences and PSK as one possible encoding method.

[0173] The encoded group of ultrasonic frequencies shown in graph C) are then transmitted as transmission signal 160 into the local environment by the transmitter of the ultrasonic sensor device 100 or by a Tx array comprising multiple transmitters. Although the example in graph C) shows the transmission of a continuous signal, it should be understood that transmission signal 160 may be transmitted in other ways (e.g., pulses).

[0174] Subsequently, the Rx array receives the received signal 170 as shown in graph D). Here, compared to the previous transmitted signal 160, the received signal 170 may include a certain degree of noise, distortion, and amplitude variation. It should be understood that although the example graph D) shows that the amplitude of the received signal 170 is the same as the amplitude of the previous transmitted signal 160 in graph C), this is only for clarity.

[0175] Then, the received signal in example graph D) is decoded to determine whether the received signal 170 corresponds to the previous transmitted signal 160. In this respect, PSK can be used again in a manner that reverses the encoding of the transmitted signal 170 shown in example graph C).

[0176] Then, in example graph E), it can be seen that once the received signal 170 is decoded, it includes the same binary sequence as shown in graph A) for encoding the earlier group of ultrasonic frequencies from graph B) into the transmitted signal 160 in graph C). In this respect, the specific sequence encoded into the transmitted signal 160 is chosen such that it is substantially preserved in the received signal 170 even in the presence of noise, distortion, or amplitude variations.

[0177] Therefore, it can be determined that the received signal 170 corresponds to the earlier transmitted signal 160, and local environment data 180 can then be generated based on the received signal 170 (e.g., determining the distance and direction to the scatterer in the local environment using time-of-flight calculations, inferred propagation speeds, the geometry of the Rx array, and / or other factors).

[0178] Figure 7 An example of an image that can be generated based on local environment data 180 generated from one or more decoded received signals 170 is shown.

[0179] In this example, the local environment data 180 includes multiple spatial locations in the local environment surrounding the ultrasonic sensor device 100, from which one or more signals emitted by the Tx array (i.e., transmitted signals 160) have been reflected and received (i.e., as received signals 170). These locations in the local environment data 180 can then be processed to indicate the presence of objects in the local environment.

[0180] exist Figure 7In the example image shown, six objects can be identified as being located in an Rx (or Tx / Rx) array (for clarity, in...). Figure 7 (Represented by a sphere) In the local environment in front.

[0181] from Figure 7 As can be seen from the example images, one or more objects in a local environment can be imaged, including the location of those objects within the local environment. In some embodiments, the accuracy and resolution of the ultrasonic sensor device may be sufficient to image the size and shape of objects in the local environment (e.g., in...). Figure 7 In the example image, the object can be identified as six pillars. This then provides the user and the system monitoring the ultrasonic sensor device 100 with a high level of detail about the object. For example, in the case where the ultrasonic sensor device 100 is mounted on a vehicle, the device is able to detect objects in the local environment around the vehicle and provide data about the size and shape of the object, which can then be used to generate an image of the object.

[0182] In some embodiments, local environment data 180 may be provided to a dedicated software package including an imaging algorithm, which then generates an image based on the local environment data 180. This software package may be installed on a processing module 145, such as the processing module discussed above.

[0183] In some embodiments, the processing of local environment data 180 and the generation of images can be performed in the frequency domain, thereby providing significantly improved computational speed while the degree of accuracy reduction varies proportionally with distance.

[0184] The various methods described in this paper can be used individually to provide accurate ultrasonic sensor components. Furthermore, the methods described can be combined to provide even more accurate ultrasonic sensor components. For example, frequency-domain beamforming, such as the beamforming discussed above, can be performed and the results averaged together. Regions of the local environment can then be defined to allow for customized detection of those regions above the current noise level. Delayed summation beamforming can then be applied to each region to generate a final imaging result with high resolution and high accuracy.

[0185] In some embodiments, one or more transmitted signals 160 may include a unique ID for the ultrasonic sensor device 100. For example, when the ultrasonic sensor device 100 is mounted on a vehicle, each transmitted signal 160 may include an ID identifying the vehicle, enabling the vehicle to distinguish a received signal 170 corresponding to that vehicle from received signals from other vehicles operating other ultrasonic sensor devices. This then reduces the likelihood that the ultrasonic sensor device 100 will incorrectly associate a signal received from an ultrasonic sensor device in another vehicle or system with a previously transmitted signal.

[0186] A unique ID can be encoded into each transmit signal 160 by employing, for example, phase shift keying, quadrature phase shift keying modulation, frequency shift keying, or amplitude shift keying, but it should be understood that other potential methods for encoding the ID into the transmit signal 160 can be used.

[0187] Such IDs can be preset for each ultrasonic sensor device 100 and can be encoded into each transmitted signal 160 by the control module 140 before transmission.

[0188] This type of ID can be in the form of a binary sequence, for example Figure 6 The binary sequences shown in example graphs A) and E) can be used as examples, or such IDs can be implemented separately in addition to the sequences shown in these example graphs.

[0189] The methods discussed above can be executed using a computer system or similar computing resources, or a system comprising one or more processors and non-volatile memory storing one or more programs configured to execute the methods. Similarly, a non-volatile computer-readable storage medium can store one or more programs comprising instructions that, when executed, perform the methods described herein.

[0190] Although the ultrasonic sensor device 100 described above is discussed in the context of operation in air, it should be understood that the methods discussed herein can also be used in other suitable media (e.g., other gaseous environments).

[0191] While certain embodiments have been described, these embodiments are presented by way of example only and are not intended to limit the scope of this application. In fact, the novel apparatus and methods described herein can be embodied in many other forms; furthermore, various omissions, substitutions, and changes can be made to the form of the apparatus, methods, and products described herein without departing from the scope of this application. The word “comprising” can mean “including” or “consisting of”, and therefore does not exclude the presence of other elements or steps besides those listed in any claim or the entire specification. The fact that certain measures are recited in mutually different dependent claims does not indicate that combinations of these measures cannot be used advantageously. The appended claims and their equivalents are intended to cover such forms or modifications that fall within the scope of this application.

Claims

1. A method for performing ultrasonic sensing in air, the method comprising: During each of the multiple time periods: Encode at least one set of ultrasonic frequencies from multiple ultrasonic frequencies into at least one transmitted signal; The at least one transmitted signal is transmitted through one or more transmitters of an ultrasonic sensor device located in a local environment; At least one received signal is received by multiple receivers of the ultrasonic sensor device; By decoding the at least one received signal, it is determined that the at least one received signal is a reflection generated from the local environment by the corresponding at least one transmitted signal; as well as Local environment data is generated based on at least one decoded received signal; An image of at least a portion of the local environment is generated based on the local environment data.

2. The method according to claim 1, wherein, Encoding the at least one set of ultrasonic frequencies into the at least one transmitted signal includes encoding the at least one set of ultrasonic frequencies using one or more of amplitude modulation, frequency modulation, or phase shift modulation.

3. The method according to claim 1 or 2, wherein: For at least one of the plurality of time periods, the encoding of the at least one set of ultrasonic frequencies is based on the local environmental data generated according to at least one signal received during a previous time period.

4. The method according to any one of the preceding claims, wherein: For each of the plurality of time periods, the encoding of the at least one set of ultrasonic frequencies is different from the encoding of the at least one set of ultrasonic frequencies in the previous time period; and / or For each of the plurality of time periods, the encoding of the at least one set of ultrasonic frequencies is different from the encoding of any other set of ultrasonic frequencies in that time period.

5. The method according to any one of the preceding claims, wherein, The image of at least a portion of the local environment is a three-dimensional image.

6. The method according to any one of the preceding claims, wherein, The plurality of receivers receive the at least one received signal when operating as a phased array.

7. The method according to any one of the preceding claims, wherein, The method further includes at least one of the following: Determine the location of objects in the local environment based on the local environment data; and An image of the object is generated based on the local environmental data.

8. The method according to any one of the preceding claims, wherein, The method further includes: The local environment defines a first region and a second region, the first region being defined as being less than a first distance from the plurality of receivers of the ultrasonic sensor device located in the local environment, and the second region being greater than the first distance and less than a second distance from the plurality of receivers of the ultrasonic sensor device located in the local environment; and wherein: The encoding of the at least one set of ultrasonic frequencies includes: encoding a group of ultrasonic frequencies from the plurality of ultrasonic frequencies into a transmission signal for each region, wherein the encoding of the group of ultrasonic frequencies for the first region is based on the first distance, and the encoding of the group of ultrasonic frequencies for the second region is based on the second distance; The transmission of the at least one transmitted signal includes: transmitting a transmitted signal for each of the first region and the second region; and The determination includes: determining, by decoding at least one received signal, that the at least one received signal is a reflection of a transmitted signal for the first region or the second region of the local environment.

9. The method according to any one of the preceding claims, wherein, The plurality of receivers includes one or more transmitters; and At least one of the plurality of receivers, including the one or more transmitters, is configured to operate as a transceiver.

10. An ultrasonic sensor device for sensing ultrasound in air, the ultrasonic sensor device comprising: At least one transmitter; Multiple receivers; as well as A driving module configured to drive the at least one transmitter and the plurality of receivers; The multiple receivers are arranged in a non-periodic pattern.

11. The ultrasonic sensor device according to claim 10, wherein, The ultrasonic sensor device also includes: A communication module configured to transmit signal data associated with signals received by the plurality of receivers.

12. The ultrasonic transceiver according to claim 10, wherein, The ultrasonic sensor device also includes: The control module is configured to: Encoding one or more sets of ultrasonic frequencies into one or more transmitted signals, said one or more transmitted signals being transmitted by said at least one transmitter; and Decode the received signals received by the plurality of receivers; and Local environmental data is generated based on the decoded signal; Processing module, wherein the processing module is configured to: An image of at least a portion of the local environment surrounding the sensor device is generated using the local environment data.

13. The ultrasonic transceiver according to any one of claims 10 to 12, wherein, The non-periodic arrangement of the plurality of receivers is a Fibonacci arrangement.

14. The ultrasonic transceiver according to any one of claims 10 to 13, wherein, The plurality of receivers are configured to operate as a phased array.

15. The ultrasonic transceiver according to any one of claims 10 to 14, wherein, The at least one transmitter and the plurality of receivers are stacked together.

16. The ultrasonic sensor device according to any one of claims 10 to 15, wherein, At least one of the plurality of receivers is mounted on a plurality of layers, the plurality of layers including a channel extending from the at least one of the plurality of receivers to the outer surface of the housing of the ultrasonic sensor device; The plurality of layers further includes an acoustically transparent layer extending across the channel, and optionally; The plurality of layers also include an acoustic absorption layer.

17. The ultrasonic sensor device according to any one of claims 10 to 16, wherein, The plurality of receivers includes the at least one transmitter; and The at least one receiver among the plurality of receivers, including the at least one transmitter, is configured to operate as a transceiver.

18. The ultrasonic sensor device according to any one of claims 10 to 17, wherein, The ultrasonic sensor device is configured to perform any one of the methods according to claims 1 to 9.

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