Sensing device and sensing method

Abstract

A sensing device and a sensing method, applied to the field such as sensing. The sensing device comprises a first transceiver and a second transceiver, wherein the first transceiver comprises a first transmitter and a first receiver, the second transceiver comprises a second transmitter and a second receiver, and the first transmitter is connected to the second receiver. The first transceiver is used for sending a first signal to the second receiver by means of the first transmitter, and the second transceiver is used for sending a second signal by means of the second transmitter, receiving the first signal by means of the second receiver and receiving the second signal by means of the second receiver, the first signal being used for eliminating the second signal, and the second signal being a signal used for sensing a target object.

Description

A sensing device and a sensing method

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on September 5, 2023, with application number 202311138874.9 and application name “A sensing device and sensing method”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of electronic technology, and in particular to a sensing device and a sensing method. Background Art

[0004] A sensing device can sense a target through a self-transmitting and self-receiving method. For example, a wireless-fidelity (Wi-Fi) signal can be used to sense the surrounding environment. This Wi-Fi signal is reflected or refracted upon reaching the target object, and the sensing device receives the resulting echo signal. Based on this echo signal, the sensing device can sense the surrounding environment. Environmental information, for example, includes the location and motion status of objects in the environment.

[0005] The sensing device includes a transceiver, which includes a transmitter and a receiver. The sensing device can transmit a signal for sensing a target through the transmitter in the transceiver, and receive an echo signal of the signal reflected or refracted by an object in the environment through the receiver of the transceiver. However, when the isolation between the transmitter and the receiver of the transceiver is poor, in addition to receiving the echo signal, the receiver may also receive a signal for sensing the target (e.g., also called a sensing signal) sent by the transmitter, and the signal power of the sensing signal received by the receiver may be much higher than the signal power of the echo signal. The sensing device needs to perceive environmental information based on the echo signal. Since the echo signal is strongly interfered with by the sensing signal, the sensing accuracy is poor.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide a sensing device and a sensing method for improving sensing accuracy.

[0008] In a first aspect, a sensing device is provided. The sensing device can be applied to a sensing device, such as an electronic device supporting multiple-input multiple-output (MIMO) technology. The sensing device includes a first transceiver and a second transceiver. The first transceiver includes a first transmitter and a first receiver, and the second transceiver includes a second transmitter and a second receiver. The first transmitter is connected to the second receiver. The first transceiver is configured to transmit a first signal to the second receiver via the first transmitter; the second transceiver is configured to transmit a second signal via the second transmitter, receive the first signal via the second receiver, and receive the second signal via the second receiver. The first signal is used to cancel the second signal, and the second signal is a signal used to sense a target object.

[0009] In an embodiment of the present application, the first signal sent by the first transmitter to the second receiver can be used to reduce the power of the second signal, thereby reducing the interference caused by the second signal to the echo signal, thereby improving perception accuracy.

[0010] In one possible embodiment, the second receiver includes a receiving antenna, a combiner, a first amplifier, a mixer, and an analog-to-digital converter (ADC); the combiner is arranged between the first amplifier and the receiving antenna, and / or, the combiner is arranged between the mixer and the ADC; wherein the combiner is used to combine the first signal and a third signal, the third signal is a signal received by the receiving antenna, the third signal includes the second signal and a fourth signal, and the fourth signal is a signal reflected after the second signal reaches the target object.

[0011] In the above technical solution, the combiner combines the first signal and the third signal received by the second receiver, which can reduce the channel required for the transmission of the signal received by the second receiver. In addition, the combiner can use the first signal to offset the second signal in the third signal, reducing the interference of the second signal on the fourth signal (which may also be referred to as the echo signal in the following embodiments), so that the acquired fourth signal is more accurate, which helps to improve the perception accuracy.

[0012] In a possible embodiment, the sensing device further includes a control unit, the first transceiver and the second transceiver are connected to the control unit, and the second receiver further includes an automatic gain control AGC module; the AGC module is used to estimate the energy of the signal received by the second receiver, the signal received by the second receiver includes the first signal and a third signal, the third signal is the signal received by the receiving antenna, the third signal includes the second signal and a fourth signal, and the fourth signal is the signal reflected after the second signal reaches the target object; the control unit is used to obtain energy from the AGC module, and determine an adjustment amount for adjusting the phase and / or amplitude of the fifth signal based on the energy, so that the energy obtained from the AGC module is less than a threshold; the first transmitter is also used to adjust the phase and / or amplitude of the fifth signal based on the adjustment amount, wherein the adjusted fifth signal is the first signal.

[0013] In the above technical solution, the control unit can determine the adjustment amount of the amplitude and / or phase of the signal (i.e., the fifth signal) used to eliminate the second signal based on the energy estimated by the AGC module of the second receiver, so that the amplitude and / or phase of the obtained first signal are closer to the amplitude and / or phase of the second signal, which helps to improve the elimination effect of the first signal on the second signal.

[0014] In a possible implementation, the control unit is further configured to control the AGC module to amplify the power of the signal received by the second receiver according to a fixed gain.

[0015] In the above technical solution, when adjusting the amplitude and / or phase of the fifth signal, the AGC is controlled to amplify the signal received by the second receiver according to a fixed gain, so that the amplitude of the signal output by the AGC module can truly reflect the amplitude change of the signal received by the second receiver, which helps to better observe the elimination effect of the fifth signal on the second signal.

[0016] In one possible implementation, the fifth signal includes one or more of the following: an input signal of a digital-to-analog converter (DAC) included in the first transmitter; a signal output by the DAC included in the first transmitter; or a signal output by a second amplifier included in the first transmitter.

[0017] In the above technical solution, the first transmitter adjusts the phase and / or amplitude of the signal in the digital domain, which helps to improve the flexibility and accuracy of the adjustment; when the first transmitter is connected to the second receivers of multiple second transceivers, the first transmitter can simultaneously adjust the phase and / or amplitude of the signal input to the second receivers of the multiple second transceivers when adjusting the phase and / or amplitude of the signal output by the DAC, thereby improving the interference elimination efficiency; the first transmitter adjusts the phase and / or amplitude of the signal in the radio frequency (RF) domain, which helps to suppress phase noise.

[0018] In a possible implementation manner, the first transceiver is further configured to transmit a sixth signal through the first transmitter, and receive, through the first receiver, a signal reflected after the sixth signal reaches a target object.

[0019] In a possible implementation manner, the sixth signal and the first signal are not sent at the same time.

[0020] In the above technical solution, the sixth signal can be sent at a different time from the first signal, that is, when the first transmitter sends the first signal to the second receiver, it can not send the sixth signal. This can avoid the sixth signal interfering with the fourth signal received by the second receiver, which helps to improve the accuracy of the fourth signal received by the second receiver, thereby improving the perception accuracy.

[0021] In a second aspect, a perception method is provided, which can be applied to the perception device described in the first aspect, the perception device including a first transceiver and a second transceiver, the first transceiver including a first transmitter and a first receiver, the second transceiver including a second transmitter and a second receiver, the first transmitter being connected to the second receiver, the method including: sending a first signal to the second receiver through the first transmitter, and sending a second signal through the second transmitter, the first signal being used to eliminate the second signal, and the second signal being a signal for perceiving a target object; receiving the first signal and the second signal through the second receiver, the first signal being used to eliminate the second signal, and the second signal being a signal for perceiving a target object.

[0022] In one possible implementation, the second receiver includes a receiving antenna, a combiner, a first amplifier, a mixer, and an analog-to-digital converter (ADC), wherein the combiner is disposed between the first amplifier and the receiving antenna, and / or the combiner is disposed between the mixer and the ADC. The method further includes: combining the first signal and a third signal by the combiner, wherein the third signal is a signal received by the receiving antenna, the third signal includes the second signal and a fourth signal, and the fourth signal is a signal reflected after the second signal reaches the target object.

[0023] In a possible implementation, the sensing device further includes a control unit, the first transceiver and the second transceiver are connected to the control unit, the second transceiver further includes an automatic gain control (AGC) module, and the method further includes:

[0024] estimating, by the AGC module, energy of a signal received by the second receiver, where the signal received by the second receiver includes the first signal and a third signal, where the third signal is a signal received by the receiving antenna, and the third signal includes the second signal and a fourth signal, where the fourth signal is a signal reflected after the second signal reaches the target object;

[0025] The control unit obtains energy from the AGC module and determines an adjustment amount for adjusting the phase and / or amplitude of the fifth signal based on the energy, so that the energy obtained from the AGC module is less than a threshold; the first transmitter adjusts the phase and / or amplitude of the fifth signal based on the adjustment amount, wherein the adjusted fifth signal is the first signal.

[0026] In a possible implementation, the method further includes: controlling, by the control unit, the AGC module to amplify the power of the signal received by the second receiver according to a fixed gain.

[0027] In one possible implementation, the fifth signal includes one or more of the following: an input signal of a digital-to-analog converter DAC included in the first transmitter; a signal output by the DAC included in the first transmitter; or a signal output by a second amplifier included in the first transmitter.

[0028] In a possible implementation, the method further includes: transmitting a sixth signal through the first transmitter, and receiving, through the first receiver, a signal reflected after the sixth signal reaches a target object.

[0029] In a possible implementation manner, the sixth signal and the first signal are not sent at the same time.

[0030] In a third aspect, a sensing device is provided, which comprises the sensing device described in any one of the first aspects.

[0031] In a fourth aspect, a sensing device is provided, comprising a communication interface and a processor, and optionally a memory. The memory is configured to store a computer program, and the processor is coupled to the memory and the communication interface. When the processor reads the computer program or instructions, the sensing device executes the method performed by the sensing device in the second aspect.

[0032] In a fifth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium is used to store a computer program. When the computer program is run on a computer, the computer is caused to execute the method provided in the second aspect above.

[0033] In a sixth aspect, a computer program product is provided, comprising a computer program, which, when executed on a computer, enables the computer to execute the method described in the second aspect above.

[0034] In a seventh aspect, a chip system is provided, comprising a processor and an interface, wherein the processor is configured to call and execute instructions from the interface so that the chip system implements the method described in the second aspect above.

[0035] For the beneficial effects of the second to seventh aspects mentioned above, refer to the beneficial effects of the first aspect and will not be repeated. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] FIG1 is a schematic structural diagram of a sensing device provided in an embodiment of the present application;

[0037] FIG2 is a schematic diagram of the structure of another sensing device provided in an embodiment of the present application;

[0038] FIG3 is a schematic structural diagram of another sensing device provided in an embodiment of the present application;

[0039] 4A to 4C are schematic diagrams of adjusting the amplitude and / or phase of a fifth signal according to an embodiment of the present application;

[0040] FIG5 is a schematic structural diagram of another sensing device provided in an embodiment of the present application;

[0041] FIG6 is a schematic structural diagram of another sensing device provided in an embodiment of the present application;

[0042] FIG7 is a flow chart of a sensing method provided in an embodiment of the present application;

[0043] FIG8 is a structural diagram of a sensing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings. In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0045] In the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can represent: a, b, c, a and b, a and c, b and c, or a, b and c, where a, b, c can be single or multiple.

[0046] Currently, when the isolation between the transmitter (transmitter, TX) and receiver (receiver, RX) of a transceiver is poor, the receiver may receive not only the echo signal but also the target sensing signal sent by the transmitter (in the following embodiments, the target sensing signal sent by the TX and received by the RX may also be referred to as the direct wave signal). However, during the signal propagation process, the signal energy satisfies the following formula 1:

[0047] Where P is the signal power and R is the distance between the target and the transceiver. This means that the signal power decays exponentially with the fourth power of the signal propagation distance. This causes the direct wave signal received by the RX to have a much higher power than the echo signal. The direct wave signal blocks the dynamic range of the receiver's ADC, resulting in high quantization error in sampling the echo signal, and thus poor perception accuracy of the sensing device. For example, if the sensing device is a Wi-Fi device, the Wi-Fi device's transceiver can sense targets using Wi-Fi signals and communicate with other devices using Wi-Fi signals. When a Wi-Fi device's transceiver senses targets using Wi-Fi signals, i.e., when the Wi-Fi device is used for sensing, both the TX and RX of the transceiver are typically required to operate simultaneously. Existing Wi-Fi protocols generally use time division duplex (TDD) technology to transmit signals. Therefore, conventional Wi-Fi devices may not specifically optimize the isolation between the TX and RX, resulting in poor isolation between the TX and RX. In addition to receiving echo signals reflected or refracted by the environment, the RX may also receive signals sent by the TX for environmental sensing, resulting in poor perception accuracy.

[0048] To address the aforementioned technical issues, embodiments of the present application provide a sensing device. In these embodiments, the sensing device can transmit a first signal to a second receiver via a first transmitter. This first signal can be used to reduce the power of a direct wave signal received by the second receiver, thereby reducing the direct wave signal's blockage of the ADC's dynamic range and improving the quantization accuracy of echo signal sampling. This reduces interference from the direct wave signal on the echo signal and improves sensing accuracy.

[0049] Please refer to Figure 1, which shows a sensing device provided in an embodiment of the present application. The sensing device can be applied to an electromagnetic wave radar system, which can be a radar system modified based on communications, that is, a radar system capable of integrating communications and sensing functions. The sensing device includes: a first transceiver and a second transceiver. The first transceiver includes a first transmitter and a first receiver, the first transmitter and the first receiver being connected to the same local oscillator. The second transceiver includes a second transmitter and a second receiver, the first transmitter being connected to the second receiver, and the second transmitter and the second receiver being connected to the same local oscillator. The first transceiver can transmit a first signal to the second receiver of the second transceiver via the first transmitter. The second transceiver can transmit a second signal via the second transmitter, receive the first signal from the first transmitter via the second receiver, and receive the second signal via the second receiver. The second signal is a signal used to sense a target object and can be a radio signal, for example, a Wi-Fi signal. The first signal can, for example, have the same amplitude and opposite phase as the second signal. The first signal can be used to reduce the power of the second signal, thereby reducing interference with the echo signal received by the second receiver, thereby improving sensing accuracy.

[0050] Optionally, please refer to Figure 2. The second receiver may also include an AGC module, which is arranged after the ADC included in the second receiver. The AGC module includes an energy estimation unit, which can estimate the energy of the signal received by the second receiver based on the digital signal obtained by the ADC, wherein the energy of the signal can be represented by the power of the aforementioned signal. The signal received by the second receiver includes the aforementioned first signal and third signal, and the third signal includes the aforementioned second signal and fourth signal. The third signal is, for example, a signal obtained by superimposing the second signal and the fourth signal at the air interface, and the fourth signal is a signal reflected or refracted after the second signal reaches the target object (that is, the aforementioned echo signal, and the fourth signal may also be referred to as an echo signal in the following embodiments). The target object can be any target for which distance and / or speed need to be measured, such as a moving object, or a stationary object.

[0051] The energy of the signal received by the second receiver includes the energy of the fourth signal, and the energy of the signal received by the second receiver may also include the energy of the remaining second signal. When the signal sent by the first transmitter to the second receiver does not completely eliminate the second signal, a portion of the second signal still exists, and the energy of the portion of the second signal is the energy of the remaining second signal. Therefore, optionally, in order to enable the signal sent by the first transmitter to the second receiver to eliminate the second signal as much as possible, that is, after the signal sent by the first transmitter to the second receiver eliminates the second signal, the energy of the remaining second signal is low, the amplitude and / or phase of the signal (e.g., the fifth signal) sent by the first transmitter to the second receiver can also be adjusted based on the energy estimated by the energy estimation unit. For example, the fifth signal can be adjusted multiple times based on the energy estimated by the energy estimation unit of the AGC module until the energy estimated by the energy estimation unit is less than a threshold, and the amplitude and / or phase of the fifth signal is stopped from being adjusted to obtain the first signal. The first transmitter can use the fifth signal obtained by the last round of adjustment as the first signal.

[0052] For example, please refer to Figure 3, the sensing device also includes a control unit, and the first transceiver and the second transceiver are connected to the control unit. The control unit can be, for example, a central processing unit (CPU), a microcontroller unit (MCU), a processor, etc. The control unit can obtain the energy estimated by the energy estimation unit from the AGC module, and determine the energy to determine the adjustment amount for adjusting the phase and / or amplitude of the fifth signal, so that the energy obtained from the AGC module is less than the threshold to obtain the first signal. The first transmitter can adjust the amplitude and / or phase of the fifth signal based on the adjustment amount determined by the control unit. Optionally, the control unit can determine the adjustment amount for adjusting the amplitude and / or phase of the fifth signal based on dichotomy, which helps to shorten the time length for obtaining the first signal. The process of obtaining the first signal is as follows:

[0053] The control unit generates a fifth signal and transmits the fifth signal to the first transmitter of the first transceiver; the first transmitter sends the fifth signal to the second receiver; the second receiver receives the fifth signal and the third signal, and estimates the energy of the fifth signal and the third signal through the energy estimation unit; the control unit can obtain the energy estimated by the energy estimation unit (for example, the first energy) from the AGC module, and determine whether the first energy is less than a threshold.

[0054] If the first energy is less than the threshold, it indicates that the fifth signal has a better effect of eliminating the second signal, so the control unit can use the fifth signal as the first signal; if the first energy is greater than or equal to the threshold, it indicates that the fifth signal has a poor effect of eliminating the second signal, and the second signal will still have a greater impact on the echo signal, and the phase and / or amplitude of the fifth signal need to be adjusted. Therefore, the control unit can determine a first adjustment amount for adjusting the amplitude and / or phase of the fifth signal based on the first energy, and the first transmitter can adjust the amplitude and / or phase of the fifth signal based on the first adjustment amount, and send the adjusted fifth signal to the second receiver. The control unit can continue to obtain the energy estimated by the energy estimation unit (for example, the second energy) from the AGC module, and determine whether the second energy is less than the threshold. If the second energy is less than the threshold, the control unit may use the adjusted fifth signal as the first signal; if the second energy is greater than or equal to the threshold, the control unit may continue to determine a second adjustment amount for adjusting the phase and / or amplitude of the adjusted fifth signal based on the second energy, and the first transmitter adjusts the phase and / or amplitude of the adjusted fifth signal based on the second adjustment amount until the energy obtained by the control unit from the AGC module is less than the threshold, thereby obtaining the first signal.

[0055] The AGC module can also make the output signal amplitude stable or limit the change to a very small range. In this way, even if the amplitude of the signal received by the second receiver changes significantly, the amplitude of the signal output by the AGC module remains stable, and the elimination effect of the fifth signal on the second signal cannot be well observed. Therefore, before adjusting the fifth signal according to the energy of the received signal, the control unit can also put the AGC module into a locked state, so that the AGC module amplifies the power of the signal received by the second receiver with a fixed gain. In this way, the signal amplitude output by the AGC module can truly reflect the amplitude change of the signal received by the second receiver, that is, truly reflect the elimination effect of the fifth signal on the second signal, which helps to improve the accuracy of the obtained first signal. Optionally, after obtaining the first signal, the control unit can also unlock the state of the AGC module so that the AGC module can amplify the signal received by the second receiver.

[0056] The fifth signal adjusted by the first transmitter may include the following situations:

[0057] Case 1: The first transmitter adjusts the phase and / or amplitude of the fifth signal in the digital domain. That is, the fifth signal is an input signal of a digital to analog converter (DAC) included in the first transmitter, and the input signal is a digital signal.

[0058] Case 2: the fifth signal adjusted by the first transmitter is an analog signal output by a DAC included in the first transmitter.

[0059] Case 3: the first transmitter adjusts the phase and / or amplitude of the fifth signal in the RF domain, that is, the fifth signal is a signal output by an amplifier included in the first transmitter.

[0060] Among them, the first transmitter adjusts the phase and / or amplitude of the signal in the digital domain to help improve the flexibility and accuracy of the adjustment, and adjusts the phase and / or amplitude of the signal in the RF domain to help suppress phase noise. For the above-mentioned cases 2 and 3, the first transmitter can adjust the phase of the fifth signal through a phase shifter, and can adjust the amplitude of the fifth signal through a gain amplifier or attenuator. Therefore, when the fifth signal adjusted by the first transmitter is the signal described in the above-mentioned cases 2 and 3, the first transmitter can also include a phase shifter, a gain amplifier and an attenuator (not shown in the figure). The above-mentioned cases can exist alone or at the same time. For example, the first transmitter can adjust the phase and / or amplitude of the fifth signal only in the digital domain; or the first transmitter can also adjust the phase and / or amplitude of the fifth signal in both the digital domain and the RF domain. The embodiment of the present application does not limit the state of the fifth signal.

[0061] Based on the above embodiments, the specific implementation of FIG. 1 or FIG. 2 is described below with reference to FIG. 4A , FIG. 4B , and FIG. 4C . As shown in FIG. 4A , FIG. 4B , and FIG. 4C , a first transmitter includes a DAC 1, a mixer 1, a power amplifier (PA) 1, and a transmitting antenna 1; a first receiver includes an analog-to-digital converter (ADC) 1, a mixer 2, a low-noise amplifier (LNA) 1, and a receiving antenna 1. A second transmitter includes a DAC 2, a mixer 3, a PA 2, and a transmitting antenna 2; and a second receiver includes an ADC 2, a mixer 4, an LNA 2, and a receiving antenna 2. The first transmitter and the first receiver are connected to a local oscillator 1. For example, the mixer 1 of the first transmitter and the mixer 2 of the second transmitter are connected to the local oscillator 1. The second transmitter and the second receiver are connected to a local oscillator 2.

[0062] Among them, the DAC is used to perform digital-to-analog conversion on digital signals to generate analog signals; the mixer is used to mix the analog signal converted by the DAC with the local oscillator signal received by the mixer from the local oscillator, for example, multiplying the analog signal with the local oscillator signal; the PA is used to power amplify the signal after the mixing process by the mixer; the transmitting antenna is used to send the signal amplified by the power amplifier; the receiving antenna is used to receive the signal reflected after the signal sent by the transmitting antenna reaches the target object; the LNA is used to power amplify the signal received by the receiving antenna; and the ADC is used to convert the analog signal into a digital signal.

[0063] Taking the second transceiver as an example, DAC2 performs digital-to-analog conversion on the digital signal to generate an analog signal, and inputs the analog signal into mixer 3. Mixer 3 can mix the analog signal with the local oscillator signal from local oscillator 2, and input the processed signal into PA2. PA2 can power amplify the signal. Transmitting antenna 2 can transmit the signal after power amplification by PA2, which is the aforementioned second signal. After reaching a target object (not shown in the figure), the second signal will be reflected or refracted, and receiving antenna 2 can receive the signal reflected or refracted by the target object (i.e., the aforementioned echo signal). LNA2 can power amplify the echo signal received by receiving antenna 2, and input the amplified signal into mixer 4. Mixer 4 can mix the LNA-amplified signal with the signal from local oscillator 2, and input the processed signal into ADC2. ADC2 can convert the signal input from mixer 4 into a digital signal, and input the digital signal into the AGC module. The energy estimation unit in the AGC module can estimate the energy of the signal received by the second receiver based on the digital signal.

[0064] The three situations corresponding to the fifth signal adjusted by the first transmitter can be referred to in Figures 4A, 4B, and 4C, respectively. For example, Figure 4A is a schematic diagram of the first transmitter adjusting the amplitude and / or phase of the fifth signal corresponding to situation 1, Figure 4B is a schematic diagram of the first transmitter adjusting the amplitude and / or phase of the fifth signal corresponding to situation 2, and Figure 4C is a schematic diagram of the first transmitter adjusting the amplitude and / or phase of the fifth signal corresponding to situation 3.

[0065] Optionally, the second receiver may further include a combiner 1 for combining the first signal and a third signal, where the third signal is the signal received by the receiving antenna 2, and the signal received by the receiving antenna 2 includes the second signal transmitted by the transmitting antenna 2 and a fourth signal that is reflected or refracted by the target object after the second signal reaches the target object. Therefore, optionally, the first transmitter may be connected to the combiner 1 of the second receiver, and the first transmitter may send the first signal (or the fifth signal, taking the first signal as an example in the following embodiments) to the combiner 1. Upon receiving the first signal from the first transmitter, the combiner 1 may combine the first signal with the third signal received by the receiving antenna 2.

[0066] The configuration of combiner 1 may be related to the situation of the fifth signal adjusted by the first transmitter. For example, if the fifth signal adjusted by the first transmitter includes situation 1 or situation 2, combiner 1 may be configured between ADC2 and LNA2. In this case, the first signal or fifth signal transmitted by the first transmitter to the second receiver is the analog signal output by DAC1. If the fifth signal adjusted by the first transmitter includes situation 3, combiner 1 may be configured between LNA2 (also referred to as the first amplifier) ​​and receiving antenna 2. In this case, the first signal or fifth signal transmitted by the first transmitter to combiner 1 is the signal after power amplification by PA1 (also referred to as the second amplifier).

[0067] The first transmitter can also transmit a sixth signal via transmit antenna 1. This sixth signal is used to sense the target object. The first receiver can receive the sixth signal reflected from the target object after reaching the target object. This means that the first transceiver can be used for both sensing and sending the first signal to the second receiver to cancel the second signal received by the second receiver. Optionally, the first receiver can also include a combiner 2. The first transmitter can also be connected to combiner 2. The first transmitter can send a seventh signal to combiner 2. This seventh signal can cancel the sixth signal received by the first receiver, which was transmitted by the first transmitter via transmit antenna 1.

[0068] Optionally, the sixth signal and the first signal may not be sent at the same time, that is, when the first transmitter sends the first signal to the second receiver, the first transmitter may not transmit the sixth signal through transmitting antenna 1, that is, transmitting antenna 1 stops transmitting the sixth signal. This can avoid the sixth signal interfering with the fourth signal received by the second receiver, which helps to improve the accuracy of the echo signal obtained by the second receiver, thereby improving the perception accuracy.

[0069] In some embodiments, the sensing device may further include multiple first transceivers and multiple second transceivers, wherein the first transmitter of a first transceiver may be connected to the second receiver of at least one second transceiver, as shown in Figures 5 and 6. Figure 6 illustrates a case where a first transceiver is connected to the second receivers of two second transceivers, with combiner 1 disposed between LNA 2 and receiving antenna 2. Optionally, the number of second receivers to which the first transmitter of each first transceiver can be connected is related to the number of interfaces through which the first transmitter outputs the first signal, i.e., the number of second transceivers to which a first transceiver can be connected is related to the number of interfaces through which the first transmitter outputs the first signal. Thus, when additional transceivers are needed, only a conventional transceiver (i.e., a second transceiver) for measuring the distance and / or speed of a target object needs to be added, and the first transmitter is connected to the second receiver of the newly added second transceiver, as shown by the dashed line in Figure 5. This allows for expansion of the second transceiver without requiring modifications to the entire architecture, resulting in improved scalability of the sensing device.

[0070] Optionally, when a first transceiver is connected to multiple second transceivers, the phases and / or amplitudes of the second signals transmitted by the second transmitters of the multiple second transceivers may be different. Therefore, if the fifth signal adjusted by the first transmitter is the above-mentioned case 1, the first transmitter can send the adjusted fifth signal to each second transceiver in a time-sharing manner; if the fifth signal adjusted by the first transmitter is the above-mentioned case 2 and case 3, the first transmitter can send the adjusted fifth signal to each second transceiver at the same time. At this time, the amplitudes and / or phases of the adjusted fifth signals sent to different second receivers may be different.

[0071] In the above technical solution, the second receiver can receive the first signal from the first transmitter to reduce the power of the second signal and reduce the interference of the second signal on the fourth signal, thereby improving the accuracy of the echo signal obtained by the second receiver and thus improving the accuracy of the perception of the second transceiver.

[0072] In conjunction with the above embodiments and related figures, embodiments of the present application provide a sensing method, which can be implemented by a sensing device as described in any of Figures 1 to 3, 4A, 4B, 4C, 5, or 6. Please refer to Figure 7 for a flow chart of this method.

[0073] S701: The first transmitter sends a first signal to the second receiver, and the second transmitter sends a second signal.

[0074] Among them, the first signal is used to eliminate the second signal, and the second signal is a signal for sensing the target object. The first signal can be a signal with a phase opposite to that of the second signal and the same amplitude. The first transmitter includes at least one interface for connecting to at least one second receiver. For example, one interface of the first transmitter is connected to a second receiver, and the first transmitter can send the first signal to the second receiver through the connection. Optionally, the interface of the first transmitter can be connected to the combiner of the second receiver (for example, the combiner 1 shown in Figures 4A to 4C), and the first transmitter can send the first signal to the combiner 1 through the connection. The second transmitter can transmit the second signal through a transmitting antenna (for example, the transmitting antenna 2 shown in Figures 4A, 4B or 4C), and the second signal can be used to sense the target object.

[0075] Optionally, before sending the first signal to the second receiver, the first transmitter may further adjust the amplitude and / or phase of the fifth signal based on the adjustment amount determined by the control unit as shown in FIG3 to obtain the first signal in order to improve the cancellation effect of the first signal on the second signal. The fifth signal is the signal sent by the first transmitter to the second receiver, and the fifth signal may include one or more of the following:

[0076] An input signal of a DAC included in the first transmitter, that is, an input signal of DAC1 as shown in FIG. 4A to FIG. 4C ;

[0077] The signal output by the DAC included in the first transmitter, that is, the signal output by the DAC1 shown in FIG4A to FIG4C ; or,

[0078] The signal output by the second amplifier included in the first transmitter is the signal output by PA1 shown in FIG4A to FIG4C .

[0079] The process of adjusting the amplitude and / or phase of the fifth signal may refer to the relevant description of adjusting the amplitude and / or phase of the fifth signal in FIG. 3 and FIG. 4A to FIG. 4C , and will not be repeated here.

[0080] Optionally, the first transmitter may further transmit a signal (sixth signal) for sensing the distance and / or speed of the target object. For example, the first transmitter may transmit the sixth signal via a transmitting antenna (i.e., transmitting antenna 1 shown in Figures 4A to 4C ). For a description of the first transmitter transmitting the sixth signal, reference may be made to the description of the sixth signal in Figures 4A to 4C , and will not be repeated here.

[0081] S702: The second receiver receives the first signal and the third signal.

[0082] The second receiver can receive the first signal through the combiner 1 and receive a third signal through the receiving antenna (i.e., the receiving antenna 2 shown in Figures 4A to 4C). The third signal includes the second signal and the fourth signal. For example, the third signal is the signal obtained by superimposing the second signal and the fourth signal over the air interface. The fourth signal is the signal of the second signal after reaching the target object and being reflected or refracted by the target object. When the combiner 1 receives the first signal from the first transmitter and the third signal from the receiving antenna 2, it can combine the first signal and the third signal.

[0083] Among them, the relevant modules and related processes involved in the perception method shown in Figure 7 can refer to the description of the corresponding modules and processes in Figures 1 to 3, Figure 4A, Figure 4B, Figure 4C, Figure 5 or Figure 6, and will not be repeated here.

[0084] The sensing devices involved in Figures 1 to 3, 4A, 4B, 4C, and 5 to 7 can be applied to sensing devices, which can be mobile phones, tablet computers, wearable devices (such as smart bracelets, smart watches, headphones, etc.), extended reality (XR) devices, vehicle-mounted devices, customer premise equipment (CPE), etc. The sensing device can be an electronic device equipped with HarmonyOS, or it can be an electronic device equipped with other operating systems such as Android. The embodiments of the present application do not impose any restrictions on the specific type of the sensing device.

[0085] Please refer to Figure 8, which is a schematic diagram of the structure of a sensing device provided in an embodiment of the present application. The sensing device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, at least one antenna 1, at least one antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, a button 190, a motor 191, an indicator 192, a camera 193, a display 194, and a subscriber identification module (SIM) card interface 195, etc. Among them, the sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc. The structure illustrated in the embodiment of the present application does not constitute a specific limitation on the sensing device 100. In other embodiments of the present application, the sensing device 100 may include more or fewer components than shown in the figure, or combine some components, split some components, or arrange the components differently. The illustrated components can be implemented in hardware, software, or a combination of software and hardware.

[0086] The processor 110 may include one or more processing units. For example, the processor 110 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). The different processing units may be independent devices or integrated into one or more processors. The processor 110 may also include a memory for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. This memory may store instructions or data that the processor 110 has just used or is reusing. If the processor 110 needs to use the instruction or data again, it may directly call it from the memory. This avoids repeated accesses, reduces the waiting time of the processor 110, and thus improves system efficiency. The processor 110 may execute the software code of the perception method provided in the embodiments of the present application to implement the perception process. Optionally, the processor 110 may also include the control unit shown in FIG.

[0087] The internal memory 121 can be used to store computer executable program code, which includes instructions. The processor 110 executes various functional applications and data processing of the sensing device 100 by running the instructions stored in the internal memory 121. The internal memory 121 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system, and the software code of at least one application, etc. In addition, the internal memory 121 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc.

[0088] The internal memory 121 can also store the software code of the perception method provided in the embodiment of the present application. When the processor 110 runs the software code, the process steps of the perception method are executed to realize the perception process.

[0089] The wireless communication function of the sensing device 100 can be implemented through antenna 1, antenna 2, mobile communication module 150, wireless communication module 160, modem processor and baseband processor.

[0090] Each antenna in sensing device 100 includes a transmitting antenna and a receiving antenna. The transmitting antenna is used to transmit signals, and the receiving antenna is used to receive signals. Each antenna can be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve antenna utilization. In other embodiments, the antenna can be used in conjunction with a tuning switch.

[0091] The mobile communication module 150 can provide solutions for wireless communications including 3G / 4G / 5G / 6G applied to the sensing device 100. The mobile communication module 150 may include at least two transceivers, each transceiver including an antenna 1. Each transceiver can receive a signal through the receiving antenna of its corresponding antenna 1, and perform processing such as filtering and amplifying the received signal, and then transmit the processed signal to the modem processor for demodulation. Each transceiver can also amplify the signal modulated by the modem processor and transmit it through the transmitting antenna of its corresponding antenna 1. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the processor 110. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the same device as at least some of the modules of the processor 110.

[0092] The wireless communication module 160 can provide wireless communication solutions for the sensing device 100, including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), and other wireless communication solutions. The wireless communication module 160 can be one or more devices that integrate at least one communication processing module. The mobile communication module 160 can include the first transceiver and the second transceiver described in Figures 1 to 3, Figures 4A, 4B, 4C, and Figures 5 to 7, each of which includes an antenna 2. Each transceiver can receive a signal through the receiving antenna of antenna 2, then frequency modulate and filter the received signal, and send the processed signal to the processor 110. Each transceiver can also receive a signal to be transmitted from the processor 110, frequency modulate it, amplify it, and transmit it through the transmitting antenna of antenna 2.

[0093] In some embodiments, at least two antennas 1 of the sensing device 100 are coupled to the mobile communication module 150, and at least two antennas 2 are coupled to the wireless communication module 160, so that the sensing device 100 can communicate with the network and other devices through wireless communication technology. The wireless communication technology may include long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology. The GNSS may include a global positioning system (GPS), a global navigation satellite system (GLONASS), a Beidou navigation satellite system (BDS), a quasi-zenith satellite system (QZSS) and / or a satellite based augmentation system (SBAS).

[0094] In other embodiments, the wireless communication module 160 can also be applied in the field of perception, using perception technology to perceive environmental information. Wherein, perception technology refers to the perception of environmental information through signals (e.g., wireless signals). For example, the perception device 100 can transmit a signal for perceiving a target object through a transceiver (e.g., a second transceiver) included in the wireless communication module 160, and receive an echo signal. For example, the signal for perceiving a target object is transmitted through the transmitter of the second transceiver, and the echo signal of the signal for perceiving a target object reflected by the target object is received through the receiver of the second transceiver. The perception device 100 can determine the distance and / or speed of the target object based on the echo signal. The perception device 100 can also send a first signal for eliminating interference to the second transceiver through the transceiver (e.g., a first transceiver) included in the wireless communication module 160. For example, the first signal is used to eliminate the signal for perceiving a target object transmitted by the transmitter of the second transceiver and received by the receiver of the second transceiver.

[0095] An embodiment of the present application further provides a computer program product, including a computer program. When the computer program is run on a computer, the computer is caused to execute the method as described in the above embodiment.

[0096] An embodiment of the present application also provides a chip system, including a processor and an interface, wherein the processor is used to call and execute instructions from the interface so that the chip system implements the method in the above embodiment.

[0097] To implement the various functions of the methods provided in the embodiments of the present application, the simulated cabinet may include hardware structures and / or software modules, with the aforementioned functions implemented in the form of hardware structures, software modules, or a combination of hardware structures and software modules. Whether a particular function is implemented in the form of hardware structures, software modules, or a combination of hardware structures and software modules depends on the specific application and design constraints of the technical solution.

[0098] As used in the above embodiments, the term "when..." may be interpreted to mean "if..." or "after..." depending on the context. Similarly, the phrase "upon determining..." may be interpreted to mean "if determining..." or "in response to determining..." depending on the context.

[0099] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of 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, the process or function described in the embodiment of the present application is generated in whole or in part. 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 a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk).

[0100] For the purpose of explanation, the foregoing description is described with reference to specific embodiments. However, the above exemplary discussion is not intended to be exhaustive, nor is it intended to limit the present application to the precise forms disclosed. In light of the above teachings, many modifications and variations are possible. The embodiments are selected and described in order to fully illustrate the principles of the present application and its practical application, so that others skilled in the art can take full advantage of the present application and various embodiments with various modifications suitable for the specific purposes contemplated.

Claims

1. A sensing device, characterized in that: The invention comprises a first transceiver and a second transceiver, wherein the first transceiver comprises a first transmitter and a first receiver, the second transceiver comprises a second transmitter and a second receiver, and the first transmitter is connected to the second receiver, wherein: The first transceiver is configured to send a first signal to the second receiver via the first transmitter; The second transceiver is used to send a second signal through the second transmitter, receive the first signal through the second receiver, and receive the second signal through the second receiver, wherein the first signal is used to eliminate the second signal, and the second signal is a signal for sensing a target object.

2. The device according to claim 1, characterized in that The second receiver comprises a receiving antenna, a combiner, a first amplifier, a mixer and an analog-to-digital converter ADC; The combiner is arranged between the first amplifier and the receiving antenna, and / or the combiner is arranged between the mixer and the ADC; The combiner is used to combine the first signal and a third signal, the third signal is the signal received by the receiving antenna, the third signal includes the second signal and a fourth signal, and the fourth signal is the signal reflected after the second signal reaches the target object.

3. The device according to claim 1 or 2, characterized in that The sensing device further comprises a control unit, the first transceiver and the second transceiver are connected to the control unit, and the second transceiver further comprises an automatic gain control AGC module; The AGC module is used to estimate the energy of the signal received by the second receiver, the signal received by the second receiver includes the first signal and a third signal, the third signal is the signal received by the receiving antenna, the third signal includes the second signal and a fourth signal, and the fourth signal is a signal reflected after the second signal reaches the target object; The control unit is configured to obtain energy from the AGC module, and determine an adjustment amount for adjusting the phase and / or amplitude of the fifth signal based on the energy, so that the energy obtained from the AGC module is less than a threshold value; The first transmitter is further configured to adjust the phase and / or amplitude of the fifth signal based on the adjustment amount, wherein the adjusted fifth signal is the first signal.

4. The device according to claim 3, characterized in that The control unit is further used to control the AGC module to amplify the power of the signal received by the second receiver according to a fixed gain.

5. The device according to claim 3 or 4, characterized in that The fifth signal includes one or more of the following: An input signal of a digital-to-analog converter DAC included in the first transmitter; The first transmitter includes a DAC output signal; or, The first transmitter includes a second amplifier outputting a signal.

6. The device according to any one of claims 1 to 5, characterized in that: The first transceiver is further configured to transmit a sixth signal through the first transmitter, and receive a signal reflected by the sixth signal after the sixth signal reaches a target object through the first receiver.

7. The device according to claim 6, characterized in that The sixth signal and the first signal are not sent simultaneously.

8. A sensing method, characterized in that: Applied to a sensing device, the sensing device includes a first transceiver and a second transceiver, the first transceiver includes a first transmitter and a first receiver, the second transceiver includes a second transmitter and a second receiver, the first transmitter is connected to the second receiver, and the method includes: sending a first signal to the second receiver via the first transmitter, and transmitting a second signal via the second transmitter; The first signal and the second signal are received by the second receiver, wherein the first signal is used to eliminate the second signal, and the second signal is a signal for sensing a target object.

9. The method according to claim 8, characterized in that The second receiver includes a receiving antenna, a combiner, a first amplifier, a mixer and an analog-to-digital converter ADC, wherein the combiner is arranged between the first amplifier and the receiving antenna, and / or the combiner is arranged between the mixer and the ADC, and the method further includes: The first signal and the third signal are combined by the combiner, the third signal is the signal received by the receiving antenna, the third signal includes the second signal and the fourth signal, and the fourth signal is the signal reflected after the second signal reaches the target object.

10. The method according to claim 8 or 9, characterized in that The sensing device further includes a control unit, the first transceiver and the second transceiver are connected to the control unit, the second transceiver further includes an automatic gain control AGC module, and the method further includes: estimating, by the AGC module, the energy of a signal received by the second receiver, wherein the signal received by the second receiver includes the first signal and a third signal, the third signal is a signal received by the receiving antenna, the third signal includes the second signal and a fourth signal, and the fourth signal is a signal reflected after the second signal reaches the target object; acquiring energy from the AGC module through the control unit and determining an adjustment amount for adjusting the phase and / or amplitude of the fifth signal based on the energy, so that the energy acquired from the AGC module is less than a threshold; The phase and / or amplitude of the fifth signal is adjusted based on the adjustment amount by the first transmitter, wherein the adjusted fifth signal is the first signal.

11. The method according to claim 10, characterized in that The method further comprises: The control unit controls the AGC module to amplify the power of the signal received by the second receiver according to a fixed gain.

12. The method according to claim 10 or 11, characterized in that The fifth signal includes one or more of the following: An input signal of a digital-to-analog converter DAC included in the first transmitter; The first transmitter includes a DAC output signal; or, The first transmitter includes a second amplifier outputting a signal.

13. The method according to any one of claims 8 to 12, characterized in that: The method further comprises: A sixth signal is transmitted through the first transmitter, and a signal reflected by the sixth signal after reaching the target object is received through the first receiver.

14. The method according to claim 13, characterized in that The sixth signal and the first signal are not sent simultaneously.

15. A sensing device, characterized in that: include: A sensing device as claimed in any one of claims 1 to 7.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program. When the computer program is executed on a computer, the computer is enabled to execute the method according to any one of claims 8 to 14.

17. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is run on a computer, the computer is enabled to execute the method according to any one of claims 8 to 14.

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