Sensing method and sensing apparatus

Abstract

The embodiments of the present application relate to the technical field of radio. Disclosed are a sensing method and a sensing apparatus, which can improve a coverage range and a sensing capability by means of controlling receiving and transmitting antennas to perform polling coverage in a plurality of beam directions. The method comprises: within each period, a processor controlling a transmitting antenna to switch a beam transmission direction and controlling the transmitting antenna to send a sensing signal in the beam transmission direction, and the processor controlling a receiving antenna to switch a beam receiving direction and controlling the receiving antenna to receive in the beam receiving direction an echo signal of the sensing signal; and the processor performing signal processing on the echo signal received from the receiving antenna within each period, so as to obtain a target sensing result within each period. The embodiments of the present application are used in a wireless sensing process.

Description

A sensing method and a sensing device

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on December 26, 2023, with application number 202311816658.5 and application name “A Perception Method and Perception Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of wireless technology, and in particular to a sensing method and a sensing device. Background Art

[0003] Wireless sensing is widely used in various spatial areas and can provide active interactive services and device control by sensing the existence and spatial orientation of human targets.

[0004] In the antenna design of sensing devices, the main lobe of the antenna radiation direction can only cover one main beam width direction. Sensing devices can only be installed in corners or on walls, with limited beam coverage and low sensing capabilities. For example, a switch can be used to switch the channel and antenna array coupling, and the switch can be used to periodically switch the transmit and receive channels and antenna array, thereby achieving a larger number of virtual antennas. However, this method improves the angular resolution capability under fixed beam coverage, and the beam direction of the antenna array remains fixed in each cycle. In this way, after the antenna design is fixed, the beam coverage range is fixed, the coverage area is limited, and the sensing capability is low.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a perception method and a perception device, which can improve the coverage area and perception capability by controlling the transmitting and receiving antennas to perform polling coverage in multiple beam directions.

[0007] In a first aspect, a perception method is provided, wherein the execution subject of the method may be a perception device, or a component or device (such as a processor, chip, or chip system) applied to the perception device, or a logic module or software that can realize all or part of the functions of the perception device. For example, the perception device includes a processor, and the method includes: in each cycle, the processor controls the transmitting antenna to switch the transmission beam direction, and controls the transmitting antenna to transmit a perception signal in the transmission beam direction, and the processor controls the receiving antenna to switch the reception beam direction, and controls the receiving antenna to receive the echo signal of the perception signal in the reception beam direction; the processor performs signal processing on the echo signal received from the receiving antenna in each cycle to obtain the target perception result of each cycle.

[0008] The processor can also be understood as a main controller. Switching the transmit beam direction can be understood as switching the main beam direction used for transmission, and switching the receive beam direction can be understood as switching the main beam direction used for reception. For example, the main beam direction can be 45°, 90°, 135°, 180°, 225°, and 315°, or other beam directions other than these.

[0009] Therefore, compared with the current method of switching channels and antenna arrays to couple, the transceiver channels and antenna arrays are periodically switched by switches, but the beam direction of the antenna array is still fixed in each cycle, and can only cover one main beam width direction, that is, the coverage area is limited and the perception capability is low. In this application, in each cycle, the processor controls the transmitting antenna to switch the transmitting beam direction to send the perception signal, and the receiving antenna to switch the receiving beam direction to receive the echo signal, so as to achieve a flexible main beam design. By switching the beam, the coverage perception capability of any angle domain in the horizontal or pitch dimension can be achieved. The transceiver channel and antenna array of this application are unchanged, and the beam direction of the transmitting antenna and the receiving antenna in each cycle is not fixed, but polling and variable, so that the coverage area is not limited, but can be full angle domain, that is, 360° coverage angle. Moreover, this flexible and variable main beam switching design, compared with switching the transceiver channels and antenna arrays, can also improve the coverage perception capability of the perception device in each cycle.

[0010] In some possible designs, the number of transmitting antennas is one or more, and the number of receiving antennas is one or more. That is, the processor controlling the transmitting antenna to switch the transmission beam direction includes: the processor controlling at least one transmitting antenna to switch the transmission beam direction. The processor controlling the transmitting antenna to send a perception signal in the transmission beam direction includes: the processor controlling at least one transmitting antenna to send a perception signal in the transmission beam direction. If there are multiple transmitting antennas, this is equivalent to the processor controlling the multiple transmitting antennas to synchronously switch the same transmission beam direction and control the multiple transmitting antennas to synchronously send perception signals in the same transmission beam direction. The processor controlling the receiving antenna to switch the reception beam direction includes: the processor controlling at least one receiving antenna to switch the reception beam direction. The processor controlling the receiving antenna to receive an echo signal of a perception signal in the reception beam direction includes: the processor controlling at least one receiving antenna to receive an echo signal of the perception signal in the reception beam direction. If there are multiple receiving antennas, this is equivalent to the processor controlling the multiple receiving antennas to synchronously switch the same reception beam direction and control the multiple receiving antennas to synchronously receive the echo signal of the perception signal in the same reception beam direction. In this way, compared with the case where a single transmitting antenna and a single receiving antenna switch the main beam direction, the case where multiple transmitting antennas synchronously switch the same transmitting beam direction and multiple receiving antennas synchronously switch the same receiving beam direction can improve the accuracy of the target's spatial position perception in each cycle.

[0011] In some possible designs, the sensing device further includes a first switching circuit, the processor is coupled to a first end of the first switching circuit, and the transmitting antenna is coupled to a second end of the first switching circuit. The processor controlling the transmitting antenna to switch the transmit beam direction includes: the processor sending a first control signal to the first switching circuit, the first control signal being used by the first switching circuit to control the transmit beam direction of the transmitting antenna to a first transmit beam direction. In the case of at least one transmitting antenna, the processor may send the first control signal to the first switching circuit coupled to the at least one transmitting antenna. In the case of multiple transmitting antennas, the processor may simultaneously send the first control signal to multiple first switching circuits coupled to the multiple transmitting antennas. In this way, the multiple transmitting antennas can synchronously switch to the first transmit beam direction. Within each cycle, if the main beam direction of the transmitting antenna is flexibly variable, the coverage area can change along with the main beam direction, enabling coverage perception at any angle in the horizontal or elevation dimensions.

[0012] In some embodiments, in the case of multiple transmitting antennas, each transmitting antenna may be coupled to a first switching circuit, or multiple transmitting antennas may be coupled to one first switching circuit, and this first switching circuit can switch the transmission beam directions of the multiple transmitting antennas.

[0013] In some possible designs, the first switching circuit includes a first resistor-inductor-capacitor (RLC) circuit, which includes multiple first P-type-I-type-N-type PIN diodes. A first PIN diode is coupled between two adjacent antenna branches in the transmitting antenna. The first control signal is used to instruct at least one first PIN diode in the first RLC circuit coupled to the transmitting antenna to conduct, causing the transmitting antenna to switch to the first transmit beam direction. In some designs, the number of output ports of the first RLC circuit is the same as the number of antenna branches in the transmitting antenna, and each output port of the first RLC circuit is coupled to an antenna branch of the transmitting antenna. Thus, when a first PIN diode is coupled between two adjacent antenna branches, it is equivalent to coupling the two output ports of the first RLC circuit to the ends of a first PIN diode. Thus, when the first PIN diode coupled between two antenna branches is conducting, the two antenna branches are in operation, and the angle between the two antenna branches is the transmit beam direction / main beam direction of the transmitting antenna. Thus, by switching the first PIN diodes in a polling manner, the transmitting antenna can be polled and switched between multiple transmit beam directions within each cycle.

[0014] In some possible designs, the first switching circuit includes a first RF switching device, which includes a first RF common port, multiple first switches, and multiple first RF switch ports respectively coupled to the multiple first switches. Of two adjacent antenna branches in the transmitting antenna, one antenna branch is coupled to the first RF common port, and the other antenna branch is coupled to a first RF switch port. The first control signal is used to instruct at least one first switch in the first RF switching device coupled to the transmitting antenna to turn on, causing the transmitting antenna to switch to a first transmit beam direction. That is, the first RF switching device can replace the aforementioned first RLC circuit. By round-robin switching of the multiple switches in the first RF switching device, round-robin switching of the transmit beam direction of the transmitting antenna can be achieved. When multiple transmitting antennas are coupled one-to-one with the multiple first RF switching devices, round-robin switching of the transmit beam directions of the multiple transmitting antennas can be achieved.

[0015] In some possible designs, the sensing device further includes a second switching circuit, the processor is coupled to the first end of the second switching circuit, and the receiving antenna is coupled to the second end of the second switching circuit; the processor controls the receiving antenna to switch the receiving beam direction, including: the processor sends a second control signal to the second switching circuit, and the second control signal is used by the second switching circuit to control the receiving antenna's receiving beam direction to be the first receiving beam direction. In the case of at least one receiving antenna, the processor may send a second control signal to the second switching circuit coupled to the at least one receiving antenna. In the case of multiple receiving antennas, the processor may synchronously send a second control signal to multiple second switching circuits coupled to the multiple receiving antennas. In this way, the multiple receiving antennas can synchronously switch to the first receiving beam direction. In each cycle, when the main beam direction of the receiving antenna is flexibly variable, the coverage area can be variable along with the main beam direction, and coverage perception at any angle in the horizontal or pitch dimension can be achieved.

[0016] In some embodiments, in the case of multiple receiving antennas, each receiving antenna can be coupled to a second switching circuit, or multiple transmitting antennas can be coupled to a second switching circuit. This second switching circuit can switch the receiving beam directions of the multiple receiving antennas.

[0017] In some possible designs, the second switching circuit includes a second RLC circuit, which includes multiple second PIN diodes. A second PIN diode is coupled between two adjacent antenna branches in the receiving antenna. The second control signal is used to instruct at least one second PIN diode in the second RLC circuit coupled to the receiving antenna to conduct, causing the receiving antenna to switch to the first receive beam direction. In some designs, the number of output ports of the second RLC circuit is the same as the number of antenna branches in the receiving antenna, and each output port of the second RLC circuit is coupled to an antenna branch of the receiving antenna. Thus, when a second PIN diode is coupled between two adjacent antenna branches, it is equivalent to coupling the two output ports of the second RLC circuit to the ends of a second PIN diode. Thus, when the second PIN diode coupled between two antenna branches conducts, the two antenna branches are in operation, and the angle between the two antenna branches is the receive beam direction / main beam direction of the receiving antenna. Thus, by switching the second PIN diodes in a polling manner, the receiving antenna can be polled and switched between multiple receive beam directions within each cycle.

[0018] In some possible designs, the second switching circuit includes a second RF switching device, which includes a second RF common port, multiple second switches, and multiple second RF switch ports respectively coupled to the multiple second switches. Of two adjacent antenna branches in the receiving antenna, one antenna branch is coupled to a second RF common port, and the other antenna branch is coupled to a second RF switch port. The second control signal is used to instruct at least one second switch in the second RF switching device coupled to the receiving antenna to conduct, causing the receiving antenna to switch to the first receive beam direction. In other words, the second RF switching device can replace the aforementioned second RLC circuit. By round-robin switching of the multiple second switches in the second RF switching device, round-robin switching of the receive beam direction of the receiving antenna can be achieved. When multiple receive antennas are coupled one-to-one with the multiple second RF switching devices, synchronous round-robin switching of the receive beam directions of the multiple receive antennas can be achieved.

[0019] In some possible designs, within each cycle, the number of transmit beam directions switched by the transmit antenna is the same as the number of receive beam directions switched by the receive antenna; the beam coverage of the first transmit beam direction is the same as the beam coverage of the first receive beam direction; and the time domain resources occupied by the sensing signal sent by the transmit antenna in the first transmit beam direction are the same as the time domain resources occupied by the echo signal received by the receive antenna in the first receive beam direction. This is equivalent to using the same periodic design and beam direction switching design between different arrays of the transmit and receive antennas. For example, within each cycle, the transmit antenna has four transmit beam directions: 45°, 135°, 225°, and 315°, and the receive antenna also switches between these four receive beam directions. The beam coverage of the first transmit beam direction is the same as the beam coverage of the first receive beam direction, meaning that the transmit and receive beam directions are in the same direction at the same time. The same time domain resources mean that the transmit and receive antennas have the same full time slot when using the same beam direction. This means that the transmit and receive antennas have identical designs.

[0020] In some possible designs, within each cycle, the number of transmit beam directions switched by the transmitting antenna is different from the number of receive beam directions switched by the receiving antenna; the beam coverage of the first transmit beam direction includes the beam coverage of multiple receive beam directions, and the multiple receive beam directions include the first receive beam direction; the time domain resources occupied by the transmitting antenna in sending the perception signal in the first transmit beam direction include the time domain resources occupied by the receiving antenna in receiving the echo signal in multiple receive beam directions. This is equivalent to the fact that the transmitting antenna and the receiving antenna can have different designs and beam switching, but the coverage overlaps within one cycle and the coverage is the same across all time slots. In the case of multiple transmitting antennas and multiple receiving antennas, the design consistency between the transmitting antennas and the design consistency between the receiving antennas must be guaranteed at the same time.

[0021] In some possible designs, the sensing device also includes a wireless sensor, which includes an input / output port, an input port, and an output port, the input / output port is coupled to the processor, the output port is coupled to the transmitting antenna, and the input port is coupled to the receiving antenna; controlling the transmitting antenna to send a sensing signal in the direction of a transmitting beam includes: the processor sends a third control signal to the wireless sensor, the third control signal is used for the wireless sensor to generate multiple sensing signals and send them to the transmitting antenna, so that the transmitting antenna sends multiple sensing signals in the direction of the transmitting beam; controlling the receiving antenna to receive the echo signal of the sensing signal in the direction of the receiving beam includes: the processor sends a fourth control signal to the wireless sensor, the fourth control signal is used for the wireless sensor to receive multiple echo signals in the direction of the receiving beam from the receiving antenna.

[0022] The wireless sensor may be a sensor chip, which may be co-located with the processor or on a separate chip. The third control signal for the wireless sensor to generate multiple sensing signals and send them to the transmitting antenna, causing the transmitting antenna to transmit multiple sensing signals in the transmitting beam direction, may include: the third control signal for the wireless sensor to generate multiple sensing signals and send them to at least one transmitting antenna, causing the at least one transmitting antenna to transmit multiple sensing signals in the transmitting beam direction. If there are multiple transmitting antennas, the multiple transmitting antennas may transmit multiple sensing signals in the same transmitting beam direction. The fourth control signal for the wireless sensor to receive multiple echo signals in the receiving beam direction from the receiving antenna may include: the fourth control signal for the wireless sensor to receive multiple echo signals in the receiving beam direction from at least one receiving antenna. If there are multiple receiving antennas, the multiple receiving antennas may receive multiple echo signals in the same receiving beam direction. In this way, the processor can perform sensing processing based on the echo signals received by the at least one receiving antenna, obtaining sensing results for different receiving beam directions, and improving sensing capabilities in a single cycle.

[0023] In some possible designs, in each cycle, the transmitting antenna sends multiple sensing signals in the transmit beam direction to meet the following conditions: Where T represents the duration of the cycle, k1 represents the number of transmission beam directions switched by the transmitting antenna within one cycle, It represents the duration of time that the transmitting antenna sends multiple perception signals in the direction of the transmitting beam, and ΔT1 represents the duration of time that the transmitting antenna does not send a perception signal in the direction of the transmitting beam. Among them, this application does not limit the time domain resource position of ΔT1. The transmitting antenna sends multiple perception signals in the direction of the transmitting beam, and the following conditions may be met: each transmitting antenna in at least one transmitting antenna sends multiple perception signals in the direction of the transmitting beam. If there are multiple transmitting antennas, the multiple transmitting antennas can synchronously send multiple perception signals in the same transmitting beam direction. In this way, it is equivalent to the present application to synchronize the design of the beam switching period of the transmitting antenna and the periodic frame of the perception signal, which can effectively resolve the perception targets under each beam under beam switching, facilitate the fusion decision of targets in any angle domain (for example, 360° full angle domain) after a complete cycle, and improve the accuracy of the spatial position perception of the target.

[0024] In some possible designs, the receiving antenna receives multiple echo signals in the receiving beam direction and satisfies the following conditions: Where T represents the duration of the cycle, k2 represents the number of receiving beam directions switched by the receiving antenna within one cycle, Represents the duration of time that the receiving antenna receives multiple echo signals in the direction of the receiving beam, and ΔT2 represents the duration of time that the receiving antenna does not receive echo signals in the direction of the receiving beam. Among them, this application does not limit the time domain resource position of ΔT2. The receiving antenna receives multiple echo signals in the direction of the receiving beam and the following conditions are met, which may include: each receiving antenna of at least one receiving antenna receives multiple echo signals in the direction of the receiving beam. When there are multiple receiving antennas, the multiple receiving antennas can synchronously receive multiple echo signals in the same receiving beam direction. In this way, it is equivalent to the present application to synchronize the design of the beam switching period of the receiving antenna and the periodic frame of the echo signal, which can enable the effective resolution of the perception targets under each beam under beam switching, so as to facilitate the fusion decision of targets in any angle domain (such as 360° full angle domain) after a complete cycle, thereby improving the accuracy of the spatial position perception of the target.

[0025] In some possible designs, the processor processes the echo signals received from the receiving antenna within each cycle to obtain target perception results for each cycle. This includes: within each cycle, the processor receives echo signals from the receiving antenna from the wireless sensor within the ΔT2 duration corresponding to each receiving beam direction, processes the received echo signals, and obtains the perceived target for each receiving beam direction; and the processor fuses the perceived targets for each receiving beam direction to obtain the perception results for each cycle. This is equivalent to the processor processing the data for each main beam direction within each cycle to obtain target perception results for each main beam direction, such as the speed, direction, distance, and spatial coordinates of the detected target for each main beam direction. After completing a main beam switching cycle, the perception results from each beam are fused to obtain perception results in the same coordinate system. This allows decisions for human-machine interaction or other device control to be made based on the target perception results within the cycle. In this way, the perception results obtained through polling and switching of the main beam direction can achieve the perception capability of estimating the direction of the target, enhancing more refined spatial orientation perception capabilities.

[0026] In the second aspect, a perception device is provided, including: a switching module, which is used to control the transmitting antenna to switch the transmitting beam direction in each cycle, and control the transmitting antenna to send a perception signal in the transmitting beam direction, and control the receiving antenna to switch the receiving beam direction, and control the receiving antenna to receive the echo signal of the perception signal in the receiving beam direction; a perception module, which is used to perform signal processing on the echo signal received from the receiving antenna in each cycle to obtain the target perception result of each cycle.

[0027] In one possible design, the number of transmitting antennas is one or more, and the number of receiving antennas is one or more.

[0028] In one possible design, the sensing device also includes a first switching circuit, the processor is coupled to the first end of the first switching circuit, and the transmitting antenna is coupled to the second end of the first switching circuit; the switching module is used to: send a first control signal to the first switching circuit, and the first control signal is used by the first switching circuit to control the transmitting beam direction of the transmitting antenna to be the first transmitting beam direction.

[0029] In one possible design, the first switching circuit includes a first resistor, inductor, and capacitor (RLC) circuit, the first RLC circuit includes multiple first PIN diodes, and a first PIN diode is coupled between two adjacent antenna branches in the transmitting antenna; the first control signal is used to indicate that at least one first PIN diode in the first RLC circuit coupled to the transmitting antenna is turned on, so that the transmitting antenna switches to the first transmitting beam direction.

[0030] In one possible design, the first switching circuit includes a first RF switching device, which includes a first RF common port, multiple first switches and multiple first RF switch ports respectively coupled to the multiple first switches. Among two adjacent antenna branches in the transmitting antenna, one antenna branch is coupled to the first RF common port, and the other antenna branch is coupled to a first RF switch port; the first control signal is used to instruct at least one first switch in the first RF switching device coupled to the transmitting antenna to be turned on, so that the transmitting antenna switches to the first transmitting beam direction.

[0031] In one possible design, the sensing device also includes a second switching circuit, the processor is coupled to the first end of the second switching circuit, and the receiving antenna is coupled to the second end of the second switching circuit; a switching module is used to send a second control signal to the second switching circuit, and the second control signal is used by the second switching circuit to control the receiving beam direction of the receiving antenna to be the first receiving beam direction.

[0032] In one possible design, the second switching circuit includes a second RLC circuit, the second RLC circuit includes multiple second PIN diodes, and a second PIN diode is coupled between two adjacent antenna branches in the receiving antenna; the second control signal is used to indicate that at least one second PIN diode in the second RLC circuit coupled to the receiving antenna is turned on, so that the receiving antenna switches to the first receiving beam direction.

[0033] In one possible design, the second switching circuit includes a second RF switching device, which includes a second RF common port, multiple second switches and multiple second RF switch ports respectively coupled to the multiple second switches. Among two adjacent antenna branches in the receiving antenna, one antenna branch is coupled to a second RF common port, and the other antenna branch is coupled to a second RF switch port; the second control signal is used to instruct at least one second switch in the second RF switching device coupled to the receiving antenna to be turned on, so that the receiving antenna switches to the first receiving beam direction.

[0034] In one possible design, within each cycle, the number of transmitting beam directions switched by the transmitting antenna is the same as the number of receiving beam directions switched by the receiving antenna; the beam coverage range of the first transmitting beam direction is the same as the beam coverage range of the first receiving beam direction; the time domain resources occupied by the perception signal sent by the transmitting antenna in the first transmitting beam direction are the same as the time domain resources occupied by the echo signal received by the receiving antenna in the first receiving beam direction.

[0035] In one possible design, within each cycle, the number of transmitting beam directions switched by the transmitting antenna is different from the number of receiving beam directions switched by the receiving antenna; the beam coverage range of the first transmitting beam direction includes the beam coverage ranges of multiple receiving beam directions, and the multiple receiving beam directions include the first receiving beam direction; the time domain resources occupied by the transmitting antenna in sending the perception signal in the first transmitting beam direction include the time domain resources occupied by the receiving antenna in receiving the echo signal in multiple receiving beam directions.

[0036] In one possible design, the sensing device also includes a wireless sensor, which includes an input / output port, an input port, and an output port. The input / output port is coupled to the processor, the output port is coupled to the transmitting antenna, and the input port is coupled to the receiving antenna. The switching module is used to: send a third control signal to the wireless sensor, and the third control signal is used for the wireless sensor to generate multiple sensing signals and send them to the transmitting antenna, so that the transmitting antenna sends multiple sensing signals in the direction of the transmitting beam. The switching module is used to: send a fourth control signal to the wireless sensor, and the fourth control signal is used for the wireless sensor to receive multiple echo signals in the direction of the receiving beam from the receiving antenna.

[0037] In one possible design, in each cycle, the transmitting antenna sends multiple sensing signals in the transmit beam direction to meet the following conditions: Where T represents the duration of the cycle, k1 represents the number of transmission beam directions switched by the transmitting antenna within one cycle, It represents the duration during which the transmitting antenna sends multiple perception signals in the direction of the transmitting beam, and ΔT1 represents the duration during which the transmitting antenna does not send a perception signal in the direction of the transmitting beam.

[0038] In one possible design, the receiving antenna receives multiple echo signals in the receiving beam direction that meet the following conditions: Where T represents the duration of the cycle, k2 represents the number of receiving beam directions switched by the receiving antenna within one cycle, It represents the duration during which the receiving antenna receives multiple echo signals in the direction of the receiving beam, and ΔT2 represents the duration during which the receiving antenna does not receive any echo signals in the direction of the receiving beam.

[0039] In one possible design, the perception module is used to: receive the echo signal received by the receiving antenna from the wireless sensor within each cycle and within the ΔT2 duration corresponding to each receiving beam direction, and process the received echo signal to obtain the perception target in each receiving beam direction; and fuse the perception targets in each receiving beam direction to obtain the perception result for each cycle.

[0040] According to a third aspect, a perception device is provided, which includes a processor, wherein: the processor is used to control the transmitting antenna to switch the transmitting beam direction in each cycle, and control the transmitting antenna to send a perception signal in the transmitting beam direction, and the processor controls the receiving antenna to switch the receiving beam direction, and controls the receiving antenna to receive the echo signal of the perception signal in the receiving beam direction; the processor is also used to perform signal processing on the echo signal received from the receiving antenna in each cycle to obtain a target perception result for each cycle.

[0041] In a fourth aspect, a sensing device is provided, which includes the sensing device, transmitting antenna and receiving antenna involved in any of the above aspects.

[0042] In a fifth aspect, a computer-readable storage medium is provided, in which computer instructions are stored. When the computer instructions are executed on a communication device, the communication device executes the method described in the first aspect and any possible design of the first aspect.

[0043] In a sixth aspect, a computer program product is provided, comprising computer instructions, which, when executed on a communication device, cause the communication device to execute the method as described in the first aspect and any possible design of the first aspect.

[0044] In a seventh aspect, a chip is provided, wherein the chip stores computer execution instructions. When the computer execution instructions are executed, the method described in the first aspect and any possible design of the first aspect is executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] FIG1 is a schematic diagram of a top-angle installation of a sensing device in a single-beam direction provided by an embodiment of the present application;

[0046] FIG2 is a schematic diagram of the structure of a communication system provided in an embodiment of the present application;

[0047] FIG3 is a flow chart of a sensing method according to an embodiment of the present application;

[0048] FIG4 is a schematic diagram of a system framework of a sensing device provided in an embodiment of the present application;

[0049] FIG5 is a schematic diagram of a flow chart of a sensing method provided in an embodiment of the present application;

[0050] FIG6 is a schematic diagram of switching multiple main beam directions within a single cycle provided by an embodiment of the present application;

[0051] FIG7 is a schematic diagram of periodic control signal settings of a switching circuit under multiple main beam direction switching according to an embodiment of the present application;

[0052] FIG8 is a schematic diagram showing the correspondence between multiple radar signal frames and periodic control signals received by a switching circuit according to an embodiment of the present application;

[0053] FIG9 is a schematic diagram of a sensing device performing polling switching of multiple transmission beam directions within one cycle, provided by an embodiment of the present application;

[0054] FIG10 is a schematic diagram of the installation position of a sensing device provided in an embodiment of the present application;

[0055] FIG11 is a schematic structural diagram of a sensing device provided in an embodiment of the present application;

[0056] FIG12 is a schematic diagram of beam switching for multiple coverage areas provided in an embodiment of the present application;

[0057] FIG13 is a schematic structural diagram of a sensing device provided in an embodiment of the present application;

[0058] FIG14 is a schematic diagram of beam polling switching under a multi-antenna array provided in an embodiment of the present application;

[0059] FIG15 is a schematic structural diagram of a sensing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] The embodiments of the present application may apply wireless sensing technology to a communication device for wireless sensing.

[0061] Wireless sensing technology (also known as sensorless scene perception technology) analyzes changes in wireless signals during propagation to determine the characteristics of the signal propagation space (channel), enabling scene perception. This scene includes both human factors (such as the presence of people and their location, posture, and movements) and other external factors.

[0062] Wireless sensing technology can sense objects including the environment, objects, and people, offering a wide range of potential applications. Taking human sensing as an example, wireless sensing technology can be used for passive human sensing. "Passive" here means that the person does not need to carry any electronic devices. This contrasts with traditional wireless positioning systems, which locate people by locating their own electronic devices. This approach is also known as device-free or non-invasive. Passive human detection can be widely used in various ubiquitous computing applications to provide enhanced location-based services. For example, museums can automatically play exhibit descriptions when visitors approach a specific exhibit, supermarkets can count the most popular items, or count passengers in elevators and trains. Sensorless sensing can also serve as a new form of human-computer interaction, remotely controlling electronic devices (computers, game consoles, smart hardware, etc.) by recognizing human behavior (posture, movements, gestures, and other subtle movements) to perform specific functions or provide interactive motion-sensing games. It can also be used for smart medical monitoring, detecting sleep quality, and detecting falls among the elderly. Passive sensing also meets the needs of security and safety applications. In security-related applications such as confidential area monitoring, personnel intrusion detection, disaster emergency response, and protection of important items, it is necessary to promptly detect whether people (staff or intruders) who do not carry any wireless communication devices appear in sensitive areas and monitor their activities.

[0063] In addition, wireless sensing technology can also be applied to spatial areas such as smart homes, smart cockpits, and smart offices. By sensing the existence and spatial orientation of human targets, it can provide active interactive services and equipment control, such as lighting control, air conditioning on and off, and air conditioning "wind follows people's movement".

[0064] In practical applications, wireless sensing must balance sensing performance with low-cost coverage solutions, which depends on wireless coverage solutions. Figure 1 shows a schematic diagram of a sensing device installed at a top corner in a single beam direction. In this scenario, the main lobe of the antenna device of sensing device 10 can only cover one main beam width direction for target sensing. Sensing device 10 can only be installed at a top corner or on a wall. The beam coverage range only covers area A2, not area A1. Sensing device 10 cannot support central installation to achieve a larger coverage area.

[0065] For example, in one design, beam coverage can be achieved by switching channels and antenna arrays to improve angular resolution. For example, a wireless transceiver device may be equipped with multiple transmitting antennas and multiple receiving antennas. Multiple switches can be coupled to each of these antennas, and the switches can be switched at different times to switch the RF channels of the transmitting and receiving antennas. For example, at one time, the switching of multiple switches can activate a portion of the receiving antennas and a portion of the transmitting antennas. At a second time, the switching of multiple switches can activate another portion of the receiving antennas and another portion of the transmitting antennas. This allows for periodic switching of the transceiver channels and antenna array, increasing the number of virtual channels and improving the angular resolution of the beam in both horizontal and elevation angles. However, while switching channels and antenna arrays in this design can achieve a greater number of virtual antennas, the improvement only occurs within a fixed beam coverage environment; the actual beam direction remains fixed. In other words, once the antenna design is fixed, the beam coverage is also fixed. If applied to a sensing device, the sensing capability of the device would be low if the beam coverage were fixed.

[0066] Therefore, an embodiment of the present application provides a perception method and a perception device, in which the processor in the perception device can periodically control the beam switching of the transmitting antenna and the receiving antenna, and process the wireless perception signals in each beam direction in one cycle according to the periodic signal. In this way, the coverage range of a single transmitting antenna or receiving antenna in multiple beam directions in the horizontal or pitch dimension can be achieved, thereby improving the perception capability of the perception device.

[0067] The sensing device in the present application can be, for example, a sensing device applied to the aforementioned various scenarios, such as a sensing device installed in a large living room, a large conference room, an office area, etc. In particular, in the case of a single transmitting antenna or receiving antenna switching multiple beam directions in the horizontal or elevation dimensions as in the present application, functions such as azimuth perception and spatial positioning of moving targets can be achieved under 360° or other angles of wireless coverage, thereby enhancing the sensing capability of the sensing device.

[0068] FIG2 is a schematic diagram of the structure of a communication system 20 applicable to the present application. The communication system 20 includes a central control device 201 , a sensing device 202 , and a controlled device 203 .

[0069] Among them, the central control device 201 can also be called a central control device, etc. If the communication system 20 is applied in a wireless local area network (WLAN), the central control device 201 can also be called a wireless control device. If the communication system 20 is applied to power line communication (PLC) technology, the central control device 201 can also be called a PLC control device. Among them, PLC refers to a technology that modulates information data onto a suitable carrier frequency and transmits it using power lines as a physical medium to achieve communication or control between data terminals. For example, household appliances such as telephones, televisions, stereos or refrigerators in the house can be connected to the central control device 201 using PLC for centralized control to realize a "smart home". In this application, the central control device 201 can receive the perception results from the sensing device 202 and control the controlled device 203 according to the target perception results of the sensing device 202.

[0070] The sensing device 202 can be understood as a device that can transmit a sensing signal and receive an echo signal of the sensing signal, and perform signal processing on the echo signal to obtain a target sensing result. For example, in a smart home scenario, the sensing device and other smart home devices, such as a smart switch control device, can be connected to a WLAN. When the sensing device senses that a person is approaching a light, the sensing device can send control information to an access point (AP) in the WLAN, such as a router, to instruct the AP to control the smart switch control device to turn on the light. Or the sensing device directly instructs the smart switch control device to turn on the light. Alternatively, in PLC technology, the sensing device 202 sends the target sensing result to the central control device 201, and the central control device 201 controls the switch control device to turn on the light, or the sensing device 202 directly controls the light to turn on through the PLC. In this application, during the sensing process, the sensing device 202 can periodically switch the transmitting beam of the transmitting antenna and the receiving beam of the receiving antenna in the sensing device 202, so that the transmitting antenna and the receiving antenna switch multiple beam directions in the horizontal or pitch dimension in one cycle for sensing.

[0071] In addition, in other possible cases, the perception device 202 may be other perception devices that provide wireless communication functions for the perception device 202. The embodiments of the present application do not limit the specific technology and specific device form adopted by the perception device. For the convenience of description, in the embodiments of the present application, a device that can perceive a person or an object is referred to as a perception device. For example, the perception device may also be a device that can support the perception device to implement the function, such as a chip system, which can be installed in the perception device. In the technical solutions provided in the embodiments of the present application, the technical solutions provided in the embodiments of the present application are described with a device for implementing the function of the perception device, such as a perception device.

[0072] Controlled device 203 can be, for example, a device in a smart home, smart cockpit, smart office, or other scenario, such as a lamp, air conditioner, television, or refrigerator (203a-203d). If used in a WLAN, controlled device 203 can receive control information wirelessly transmitted from central control device 201, such as an AP, and respond to the control information to turn the lamp, air conditioner, television, or refrigerator on or off. If used in a PLC, controlled device 203 can respond to the control information transmitted by central control device 201 via the power line.

[0073] In some scenarios, the sensing method of the present application can also be applied to the Internet of Things (IoT), the purpose of which is to connect all objects to the network for easy identification and management. For example, it can be applied to scenarios where WLAN + IoT is combined, or to scenarios where PLC + IoT is combined. In these scenarios, the controlled device 203 can be called an IoT device.

[0074] Applying the above communication scenario, some embodiments of the present application are introduced below.

[0075] As shown in Figure 3, it is a flow chart of a perception method provided in an embodiment of the present application. The method is applied to a perception device, and the perception device includes a processor. The method includes the following process.

[0076] 301. In each cycle, the sensing device controls the transmitting antenna to switch the transmitting beam direction, and controls the transmitting antenna to send a sensing signal in the transmitting beam direction, and the sensing device controls the receiving antenna to switch the receiving beam direction, and controls the receiving antenna to receive the echo signal of the sensing signal in the receiving beam direction.

[0077] In some embodiments, the sensing device may include the sensing equipment mentioned in the above scenario. The sensing device may include a processor (main processor), and the sensing equipment may include a processor, a transmitting antenna, and a receiving antenna.

[0078] In some embodiments, steps 301 and 302 can be performed by a processor in the sensing device, that is, the processor controls the transmitting antenna to switch the transmitting beam direction, and controls the transmitting antenna to send the sensing signal in the transmitting beam direction, and the processor controls the receiving antenna to switch the receiving beam direction, and controls the receiving antenna to receive the echo signal of the sensing signal in the receiving beam direction.

[0079] In some embodiments, the number of transmitting antennas is one or more, and the number of receiving antennas is one or more.

[0080] Based on this, in some embodiments, the present application can be applied to scenarios where there is one transmitting antenna and one receiving antenna, or a scenario where there is one transmitting antenna and multiple receiving antennas, or a scenario where there are multiple transmitting antennas and one receiving antenna, or a scenario where there are multiple transmitting antennas and multiple receiving antennas.

[0081] Exemplarily, within each cycle, the sensing device controlling the transmitting antenna to switch the transmission beam direction includes: the processor controlling a single transmitting antenna to switch the transmission beam direction, or the processor controlling multiple transmitting antennas to simultaneously switch the same transmission beam direction. That is, at a given point in time, the transmission beam directions of the multiple transmitting antennas are the same. Controlling the transmitting antenna to transmit a sensing signal in the transmission beam direction includes: the processor controlling a single transmitting antenna to transmit the sensing signal in the transmission beam direction, or the processor controlling multiple transmitting antennas to simultaneously transmit the sensing signal in the same transmission beam direction.

[0082] During each cycle, the sensing device controls the receiving antenna to switch the receiving beam direction, including: the processor controlling a single receiving antenna to switch the receiving beam direction, or the processor controlling multiple receiving antennas to simultaneously switch the same receiving beam direction. That is, at a given point in time, the receiving beam directions of the multiple receiving antennas are the same. Controlling the receiving antenna to receive the echo signal of the sensing signal in the receiving beam direction includes: the processor controlling a single receiving antenna to receive the echo signal of the sensing signal in the receiving beam direction, or the processor controlling multiple receiving antennas to simultaneously receive the echo signal of the sensing signal in the same receiving beam direction.

[0083] In some embodiments, the sensing signal may be a radar signal, such as a chirp radar signal or a millimeter wave radar signal. The echo signal is a signal reflected back from a person or object when the radar signal reaches the person or object.

[0084] 302. The sensing device processes the echo signal received from the receiving antenna in each cycle to obtain a target sensing result for each cycle.

[0085] In some embodiments, the processor in the sensing device may perform signal processing on the echo signal received from the receiving antenna in each cycle to obtain the target sensing result of each cycle.

[0086] In some embodiments, the processor may receive echo signals from the wireless sensor's receiving antenna and process them to obtain a sensed target for each receive beam direction. The processor then fuses the sensed targets for each receive beam direction to produce a sensed result for each cycle. For example, if the sensed result is a person's location, the sensing device may send this location result to the central control device, which then controls the airflow direction of the air conditioner based on the location result, achieving "wind follows the person" ("the wind follows the person").

[0087] In this way, in this application, it is equivalent to the processor being able to periodically and synchronously control the beam switching of all antennas of the sensing device, and synchronously process the echo signals in each beam direction according to the periodic signal, to achieve coverage perception capability within any angle range in the horizontal or pitch dimension. For example, within one cycle, the beam direction of all antennas can be switched to achieve coverage perception capability within a full angle range of 360° in the horizontal or pitch dimension, thereby improving the perception capability of the sensing device. The sensing device can support more flexible installation methods such as centered ceiling installation. Compared with the existing method of switching the RF channel and antenna array of the antenna through a switch, or realizing the change control of the beam width through different switch switching, which are all achieved under the condition that the beam direction is fixed, the present application can achieve full-angle domain coverage perception capability in the horizontal or pitch dimension at a low cost by controlling the beam direction switching of the antenna and the echo signal processing of the sensing signal.

[0088] FIG4 is a schematic diagram of a system architecture of a sensing device 40 provided in an embodiment of the present application. Sensing device 40 may be sensing device 202 shown in FIG2 . Sensing device 40 may include a processor 401 (main controller), a wireless sensor 402, a switching circuit 403, and a transceiver antenna 404. Transceiver antenna 404 includes at least one transmitting antenna and at least one receiving antenna.

[0089] Processor 401 may include two core units: a periodic control signal unit and a perception signal processing unit. The periodic control signal unit may be used to send a periodic control signal to switching circuit 403 to periodically control switching circuit 403 on and off, enabling periodic beam direction switching between the transmitting and receiving antennas. Furthermore, the periodic control signal unit may be used to synchronously configure the signal frame (perception signal) of wireless sensor 402 so that the signal frame transmission period of wireless sensor 402 is consistent with the on-off control period and time of switching circuit 403. The perception signal processing unit may be used to process the echo signal of the perception signal received from wireless sensor 402 and transmitted back to processor 401 based on the on-off control of the periodic control signal, thereby implementing perception processing of a single beam direction and perception fusion decision-making over a complete cycle.

[0090] The wireless sensor 402 may be configured to transmit a sensing signal and receive an echo signal through the transceiver antenna 404 according to the configuration of the signal frame, and transmit the echo signal back to the processor 401 .

[0091] The switching circuit 403 may be configured to enable the transmitting antenna and the receiving antenna to perform periodic beam direction switching according to the periodic control signal sent by the periodic control signal unit of the processor 401 .

[0092] In some embodiments, there is one switching circuit 403. If there is only one transmitting antenna and one receiving antenna, one output of the switching circuit 403 may be coupled to the transmitting antenna, another output to the receiving antenna, and one input to the switching circuit 403 may be coupled to an output of the processor 401. If there are multiple transmitting antennas and multiple receiving antennas, the multiple outputs of the switching circuit 403 may be coupled to the multiple transmitting antennas and multiple receiving antennas, respectively, one output may be coupled to one transmitting antenna or one receiving antenna, and one input to the switching circuit 403 may be coupled to an output of the processor 401. This single switching circuit 403 may synchronously control the multiple receiving antennas and the multiple transmitting antennas to switch beam directions based on a received periodic control signal. In this case, the transmit beam direction of the transmitting antenna is consistent with the receive beam direction of the receiving antenna.

[0093] In some embodiments, there are multiple switching circuits 403. When there are multiple transmitting antennas and multiple receiving antennas, multiple switching circuits 403 are coupled to the multiple transmitting antennas and multiple receiving antennas, respectively. That is, the number of switching circuits 403 is the sum of the number of transmitting antennas and the number of receiving antennas. One output terminal of each switching circuit 403 is coupled to one transmitting antenna or one receiving antenna, and one input terminal of each switching circuit 403 is coupled to the processor 401. Each switching circuit 403 can synchronously receive a periodic control signal from the processor 401 and synchronously control the multiple transmitting antennas to switch the transmit beam direction, as well as the multiple receiving antennas to switch the receive beam direction. In this case, the transmit beam direction of the transmitting antenna and the receive beam direction of the receiving antenna can be consistent or inconsistent, as will be explained in detail below.

[0094] The transceiver antenna 404 is used to periodically switch the antenna beam direction according to the on / off switching of the switching circuit 403, thereby completing wireless coverage of beam switching at any angle in the horizontal or elevation dimension, for example, any angle is 360°.

[0095] In some embodiments, the processor 401 may be designed on a system-on-chip (SoC), and the wireless sensor 402 may be a separate sensor chip. The sensor chip is coupled to the SoC, which is further coupled to the switching circuit 403. Alternatively, the processor 401 and the wireless sensor 402 may both be designed on the SoC, with the processor 401 and the wireless sensor 402 coupled, and the SoC further coupled to the switching circuit 403. The switching circuit 403 and the wireless sensor 402 are both coupled to the transceiver antenna 404.

[0096] Based on the introduction of the system framework in FIG4 , FIG5 is a flow chart of a perception method provided in an embodiment of the present application, which includes the following process.

[0097] 501 . The processor 401 configures parameters for the switching circuit 403 to receive a periodic control signal, and configures parameters for the wireless sensor 402 to send and receive signals.

[0098] In some embodiments, the wireless sensor is a radar chip that can generate and transmit radar signals and receive echo signals of the radar signals.

[0099] In some embodiments, the periodic control signal may determine the duration of transmitting radar signals and receiving echo signals in each main beam direction based on the number of main beam directions switched by polling within a single period and the duration of the single period. Of course, the number of transmit beam directions and receive beam directions switched within a single period may be the same or different.

[0100] For example, as shown in FIG6 (a), a schematic diagram of switching the four main beam directions in a single cycle is shown. If the switching circuit 403 is designed to implement a polling process in which the main beam directions of the transmitting antenna and the receiving antenna are switched from 45° to 135°, then to 225°, then to 315°, and finally back to 45° according to the high and low voltage switching, the period control signal can be used to set the period length T=4T rlc , T rlc Indicates the duration of beam radiation in each main beam direction. Figure 7(a) shows a schematic diagram of the periodic control signal settings for switching circuit 403 when switching between four main beam directions. Within one cycle, 360° beam coverage can be achieved. For the transmitting antenna, the main beam direction is the transmit beam direction, and for the receiving antenna, the main beam direction is the receive beam direction.

[0101] FIG6( b ) is a schematic diagram showing switching of two main beam directions within a single cycle. If the switching circuit 403 is designed to implement polling switching between 45° and 135° of the main beam directions of the transmitting antenna and the receiving antenna based on the high and low voltage switching, the period control signal can be used to set the period length T = 2T. rlc FIG7( b ) shows a schematic diagram of periodic control signal settings of the switching circuit 403 when the two main beam directions are switched, which is equivalent to achieving semicircular coverage within one cycle.

[0102] FIG6(c) shows another schematic diagram of switching the two main beam directions within a single cycle. If the switching circuit 403 is designed to implement polling switching between 45° & 225° and 135° & 315° for the main beam directions of the transmitting antenna and the receiving antenna based on the high and low voltage switching, then a single switch can simultaneously achieve beam radiation in two main beam directions. This periodic control signal can be used to set the period length T = 2T rlc , which is different from the example in Figure 6 (b) in that a T rlc During this period, main beam radiation can be performed simultaneously in 45° and 225° directions. During level switching, main beam radiation can be performed simultaneously in 135° and 315° directions. Figure 7(c) shows a schematic diagram of the periodic control signal settings for switching circuit 403 during two main beam direction switching cycles, achieving 360° coverage within one cycle.

[0103] From the above examples, it can be seen that the period control signal can be used to configure a single period T = k × T rlc ,The configuration can be designed according to the coverage area and sensing requirements, and k represents the number of main beam directions switched by the antenna in one cycle.

[0104] In some embodiments, the sensing signal generation period T of the wireless sensor 402 is p The settings need to meet the following requirements: p =T rlc -ΔT, that is, at T p The transmission of the sensing signal is completed within 1 second, so that the processor 401 can p The timestamp or high-low level switching trigger signal is used to identify the current main beam direction of the antenna. Taking the radar signal as an example, the switching circuit 403 enables the 45° main beam radiation and the 135° main beam radiation at the same time, that is, when the high-low level is switched, the main beam direction switches from 45° to 135°, or from 135° to 45°. If T=2T rlc To achieve a full-angle perception frame rate of 10 Hz or other frequencies in this mode, the radar signal frame design can be implemented through the following design.

[0105] 1) A single cycle T satisfies T = k × T rlc =k×(T P +ΔT). For example, for a single cycle of 2 main beam directions, the high and low voltage switching time or level switching time T p ≤50ms. If the 45° main beam direction lasts for 50ms within 100ms, if it switches to the 135° main beam direction, the duration of the 135° main beam direction will be less than or equal to 50ms. Within each cycle T, (k×ΔT) time can be reserved for no radar signal transmission or reception.

[0106] 2) Within a single cycle T, for the transmitting antenna, each T p n that can be emitted within the time chirp radar signals, the duration of a single radar signal is Tc≤T p / n chirp For example, in T p ≤50ms, n chirp =128, the duration of a single radar signal Tc≤0.390625ms.

[0107] 3) One T p The reserved ΔT duration must satisfy the processor 401 to complete the data analysis of a frame signal n chirp The time required for a radar signal to be transmitted must satisfy T = k × T p +k×ΔT, where k is 2, for example.

[0108] 4) The processor 401 designs the signal frame format of the wireless sensor 402 according to the above rules so that the processor 401 can identify the main beam direction of the transmitting and receiving antennas according to the level switching period. ΔT is the delay required for signal processing.

[0109] For example, FIG8 is a schematic diagram showing the correspondence between various radar signal frames and the periodic control signal received by the switching circuit 403. Assuming that the duration of a single period T is 100ms, k=2, and a T p During the time duration, the transmitting antenna simultaneously transmits radar signals with beam directions of 45° and 225°, and the receiving antenna simultaneously receives echo signals with beam directions of 45° and 225°. p During the time duration, the transmitting antenna simultaneously transmits radar signals with beam directions of 135° and 315°, and the receiving antenna simultaneously receives echo signals with beam directions of 45° and 225°. rlc The duration can be 50ms, and the present application does not limit the time domain resource position occupied by the 2 ΔT durations within the period T. For example, as shown in (a) of FIG8 , the T can be set at beam directions of 45° and 225°.rlc At the end of the duration, a ΔT duration is reserved, and the T rlc The start of the duration is reserved for ΔT duration. In this case, for each T rlc T within the duration p Duration, T p Alternatively, as shown in (b) of Figure 8, the T rlc Two ΔT durations are reserved at the end of the duration. Thus, the beam directions are 45° and 225°. rlc T within the duration p ≤50m, beam direction 135° and 315° T rlc T within the duration p =50m. Alternatively, as shown in FIG8(c), the beam direction can be 135° and 315°. rlc Two ΔT durations are reserved at the beginning of the duration, so that the beam directions are T of 135° and 315°. rlc T within the duration p ≤50m, beam direction 45° and 225° T rlc T within the duration p =50m.

[0110] Generally, as shown in the examples of Figures 6 to 8, the same periodic design and beam direction switching design are used between different antenna elements of the transmitting antenna and the receiving antenna. Based on the requirements of specific scenarios, this application may choose to perform different transmit and receive antenna designs or beam switching between the transmitting antenna and the receiving antenna, but it is necessary to ensure that within a single period, the beam coverage overlaps and the coverage range is the same in all time slots, while ensuring the design consistency between the transmitting antennas and the design consistency between the receiving antennas. That is, within a single period, the coverage range of the multiple transmit beam directions polled by the transmitting antenna and the coverage range of the multiple receive beam directions polled by the receiving antenna are the same, and the time domain resources are the same.

[0111] For example, as shown in (a) of FIG9 , the sensing device 40 performs polling switching of two transmit beam directions within one cycle, and the two transmit beam directions switched by the transmit antenna are 90° and 270° respectively. As shown in (b) of FIG9 , the sensing device 40 performs polling switching of four receive beam directions within one cycle, and the four receive beam directions switched by the receive antenna are 45°, 135°, 225° and 315° respectively. The duration of each of the four receive beam directions is T rlc In the case of , the duration of the transmitting antenna's 90° beam direction is 2T rlc , and the duration of the transmitting antenna's 270° beam direction is also 2T rlcThe two transmit beam directions of the transmit antenna switch cover a 360° range, and the four receive beam directions of the receive antenna switch also cover a 360° range.

[0112] In this way, as shown in Figure 10, which is a schematic diagram of the installation position of a sensing device 40, is different from the existing corner installation or wall-mounted installation position of the sensing device. In this application, when the antenna beam direction covers 360°, the sensing device 40 can support centered ceiling installation or other more flexible installation methods. Compared with the situation in Figure 1, the beam coverage range A of this application is larger.

[0113] 502. The processor 401 sends a periodic T signal to the switching circuit 403 coupled to the transmitting antenna according to the parameters of the configured periodic control signal. p The wireless sensor 402 is synchronously started to transmit and receive signals according to the signal frame design parameters of the wireless sensor 402.

[0114] The parameters of the periodic control signal may include the above parameters k, T p 、T rlc and T, the signal frame design parameters may include parameters Tc, n chirp and ΔT.

[0115] In some embodiments, if there are multiple transmitting antennas and multiple receiving antennas, each transmitting antenna or receiving antenna is coupled to a switching circuit 403. The processor 401 can ensure the synchronous start-up of each switching circuit 403 coupled to the transmitting antenna and the receiving antenna and the wireless sensor 402 according to the synchronization control signal, so as to enable each transmitting antenna and the receiving antenna to switch to the same main beam direction, and enable the wireless sensor 402 to transmit and receive a complete frame of perception signals (radar signals).

[0116] 503. In each T rlc (T p +ΔT), the wireless sensor 402 transmits the echo signal received by the receiving antenna back to the processor 401, and the processor 401 processes the echo signal received by each antenna channel to obtain each T rlc Perceptual information of moving targets within a certain time period.

[0117] In some embodiments, the wireless sensor 402 includes an analog-to-digital converter (ADC) and a digital-to-analog converter (DAC). When the wireless sensor 402 generates a digital signal based on the signal frame design parameters, the DAC can perform digital-to-analog conversion on the digital signal to obtain an analog signal, which is then transmitted through the transmitting antenna, thereby transmitting the sensing signal. When the wireless sensor 402 receives an analog signal from the receiving antenna, the ADC performs analog-to-digital conversion on the received analog signal to obtain a digital signal, which is then transmitted back to the processor 401, thereby transmitting the echo signal.

[0118] In some embodiments, the processor 401 processes each T rlc The echo signal received within the time period is processed, which can be estimated by performing 1D fast Fourier transform (FFT), 2DFFT and angle spectrum, so as to obtain the current T rlc The orientation, speed, and spatial position of multiple targets within a certain time period are calculated, and a point cloud coordinate set of the moving targets in the current main beam direction is generated. i=1,2,…,k p , that is, the perception information of the moving target can be understood as the point cloud coordinate set here. p Represents a point, Represents the coordinates of a point, which can be understood as the coordinates of a point in a local coordinate system. A point cloud is a massive collection of points that express the spatial distribution and surface characteristics of an object in the same spatial reference system. After obtaining the spatial coordinates of each sampling point on the object's surface, the resulting collection of points is called a "point cloud."

[0119] 504. The processor 401 performs each T according to the multiple beam directions switched in one cycle. rlc The polar coordinate position conversion of the spatial orientation of the target within the time period makes each T rlc The coordinate positions of the moving targets within the time range are in the same coordinate system.

[0120] In some embodiments, it is equivalent to multiple T rlc The local coordinates of the same point in time are converted to global coordinates, or in other words, multiple T rlc Multiple local coordinate sets within a time period to one global coordinate set This is because for indoor coverage scenarios, the moving target has a low moving speed. It can be assumed that the position change of the moving target detected in all beam directions is small within the current cycle T. Therefore, the position change of each T within the cycle T can berlc The point clouds of the moving targets detected within the time are merged, that is, the global coordinates are concentrated, i = 1, 2, ..., k T , k T For each T rlc Duration k p sum.

[0121] 505. The processor 401 performs point cloud clustering, target association, and tracking according to the global coordinates of each point cloud to obtain a target perception result of the moving target.

[0122] In other words, the processor 401 can obtain the target perception result of the moving target at time T within a cycle T, that is, at the end of a complete round of multi-beam direction switching cycle.

[0123] 506. The processor 401 performs human-computer interaction or other device control operations according to the target perception result at time T within a period T.

[0124] For example, if the target sensing result at time T within a period T is that someone is approaching a light in a room, the processor 401 may control the light to turn on.

[0125] Therefore, in this application, the transmitting antenna and receiving antenna of the perception device can perform polling switching of multiple beam directions within one cycle, and obtain the target perception result of one cycle based on the perception information obtained from each beam direction within this cycle, which can realize perception of any angle domain in the horizontal or pitch dimension, and enhance the perception capability of the perception device.

[0126] Based on the introduction of the sensing device in Figures 5 to 9, the following is an exemplary introduction to the sensing process of single-transmit and single-receive antenna beam switching, that is, the sensing device is one transmitting antenna and one receiving antenna, which can be abbreviated as 1T1R.

[0127] The following description uses an example in which a sensing device includes two switching circuits 403, with one transmitting antenna coupled to a first switching circuit and one receiving antenna coupled to a second switching circuit. That is, for the transmitting antenna, the switching circuit 403 is the first switching circuit, and for the receiving antenna, the switching circuit 403 is the second switching circuit.

[0128] Based on this, in some embodiments, the sensing device / sensing apparatus includes a first switching circuit, the processor 401 is coupled to the first end of the first switching circuit, and the transmitting antenna is coupled to the second end of the first switching circuit. This is equivalent to the first switching circuit being coupled between the processor 403 and the transmitting antenna. The first end is the input end of the first switching circuit, and the second end is the output end of the first switching circuit.

[0129] In this way, the processor 401 controls the transmit antenna to switch the transmit beam direction, including: the processor 403 sends a first control signal to the first switching circuit, where the first control signal is used by the first switching circuit to control the transmit beam direction of the transmit antenna to the first transmit beam direction. The first control signal can be understood as the periodic control signal mentioned above.

[0130] Similarly, in some embodiments, the sensing device (sensing means) 40 further includes a second switching circuit, wherein the processor 401 is coupled to a first terminal of the second switching circuit, and the receiving antenna is coupled to a second terminal of the second switching circuit. This is equivalent to the second switching circuit being coupled between the processor 403 and the receiving antenna. The first terminal is the input terminal of the second switching circuit, and the second terminal is the output terminal of the second switching circuit.

[0131] In this way, the processor 401 controls the receiving antenna to switch the receiving beam direction, including: the processor 401 sends a second control signal to the second switching circuit, and the second control signal is used by the second switching circuit to control the receiving beam direction of the receiving antenna to be the first receiving beam direction.

[0132] In some embodiments, the first switching circuit and the second switching circuit may be implemented by a resistance-inductance-capacitor (RLC) circuit.

[0133] In some embodiments, FIG11(a) shows a schematic diagram of the structure of a 1T1R sensing device 11. The first switching circuit includes a first RLC circuit 111, which includes multiple first P-type-I-type-N-type (positive-intrinsic-negative, PIN) diodes 1111. A first PIN diode 1111 is coupled between two adjacent antenna branches 1121 of a transmitting antenna 112 (Tx). Thus, the first control signal can be used to instruct at least one first PIN diode 1111 in the first RLC circuit 111 coupled to the transmitting antenna 112 to conduct, causing the transmitting antenna 112 to switch to a first transmit beam direction.

[0134] Similarly, the second switching circuit includes a second RLC circuit 113, which includes multiple second PIN diodes 1131. One second PIN diode 1131 is coupled between two adjacent antenna branches 1141 in the receiving antenna 114 (Rx). Thus, the second control signal is used to instruct at least one second PIN diode 1131 in the second RLC circuit 113 coupled to the receiving antenna 114 to conduct, causing the receiving antenna 114 to switch to the first receive beam direction.

[0135] Although the first PIN diode 1111 is illustrated outside the first RLC circuit 111 and the second PIN diode 1131 is illustrated outside the second RLC circuit 113 in FIG11 , it should be understood that the first RLC circuit 111 includes the first PIN diode 1111 and the second RLC circuit 113 includes the second PIN diode 1131 .

[0136] The first control signal and the second control signal are generated by the processor 401 according to the configuration of the periodic control signal parameters, and the first control signal and the second control signal can be executed by the periodic control signal unit in the processor 401. The first control signal and the second control signal can be understood as the periodic control signal, or T p The processor 401 can be used to generate a high level signal or a low level signal according to T p The main beam directions of the transmitting antenna 112 and the receiving antenna 114 are identified by the timestamp or the high-low level switching trigger signal.

[0137] It should be understood that in the transmitting antenna 112 and the receiving antenna 114 shown in (a) of Figure 11, each antenna includes 4 antenna branches. This application does not limit the number of antenna branches to 4, and the number can also be more than 4 or less than 4.

[0138] In this way, the processor 401 can control at least one first PIN diode 1111 to be turned on and at least one first PIN diode 1111 to be turned off through the first RLC circuit 111, thereby switching the transmit beam direction of the transmit antenna 112. Similarly, the processor 401 can control at least one second PIN diode 1131 to be turned on and at least one second PIN diode 1131 to be turned off through the second RLC circuit 113, thereby switching the receive beam direction of the receive antenna 114.

[0139] It should be understood that when two or more first PIN diodes 1111 are turned on, it is equivalent to one T in one cycle. rlc Similarly, when two or more second PIN diodes 1131 are turned on, it is equivalent to a T rlc Multiple receiving beam directions are performing beamforming at the same time within the duration.

[0140] Of course, within a single cycle, when the beam coverage overlaps and the coverage range of all time slots is the same, the processor 401 needs to simultaneously control the first RLC circuit 111 and the second RLC circuit 113 to achieve synchronous switching of the transmitting antenna 112 and the receiving antenna 114.

[0141] For example, as shown in (b) of FIG11 , each of the transmitting antenna 112 and the receiving antenna 114 includes four antenna branches. The first RLC circuit 111 can be coupled to each antenna branch 1121 (1121a to 1121d) in the transmitting antenna 112, and a first PIN diode 1111 (one of 1111a to 111d) is coupled between every two adjacent antenna branches 1121. For the transmitting antenna 112, when the switching of the transmission beam direction in four directions is polled within a period T, when the first T rlc During the time duration, the first control signal is a high-level signal, indicating that the first PIN diode 1111a in the first RLC circuit 111 is turned on and the first PIN diodes 1111b to 1111d are all turned off. The antenna branches 1141a and 1141b in the transmitting antenna 112 are in operation, and the antenna branches 1141c and 1141d are inoperable. The transmitting antenna 112 can perform beamforming in the first transmitting beam direction of 45°, that is, transmit a sensing signal. The transmitting beam directions of 135°, 225°, and 315° do not perform beamforming, that is, do not transmit a sensing signal. Similarly, when in the second T rlc During the time duration, the first control signal is a low-level signal, which is used to indicate that the first PIN diode 1111b in the first RLC circuit 111 is turned on, and the first PIN diodes 1111a, 1111c to 1111d are all turned off. The antenna branches 1141b and 1141c in the transmitting antenna 112 are in operation, and the antenna branches 1141a and 1141d are inoperative. The transmitting antenna 112 can perform beamforming in the first transmitting beam direction of 135°, that is, transmit a sensing signal. The transmitting beam directions of 45°, 225°, and 315° do not perform beamforming, that is, do not transmit a sensing signal. Polling is performed in this way, and in the third T rlc During the time duration, the first control signal is a high level signal, and the transmitting antenna 112 can perform beamforming in the first transmitting beam direction of 225°. rlc During the time period, the first control signal is a low-level signal, and the transmitting antenna 112 can perform beamforming in the first transmit beam direction of 315°. In this way, the transmitting antenna 112 can pollingly switch the transmit beam directions of 45°, 135°, 225°, and 315° within one period T.

[0142] Similar to the transmitting antenna 112, the second RLC circuit 113 can be coupled to each antenna branch 1141 in the receiving antenna 114. A second PIN diode 1131 is coupled between every two adjacent antenna branches 1141 in the receiving antenna 114. The present application can also implement the above process to implement polling switching of the receiving beam direction of the receiving antenna 114 among 45°, 135°, 225°, and 315° within a period T.

[0143] Based on the above-mentioned beam switching design of the transmitting antenna 112 and the receiving antenna 114, the present application can be adaptively designed according to actual application scenarios. Figure 12 shows a schematic diagram of beam switching in various application scenarios.

[0144] Figure 12(a) shows a schematic diagram of beam switching for a long, strip-shaped coverage area, such as a large conference room or corridor. Transmitting antenna 112 can implement two transmit beam directions (e.g., 45° and 225°) by switching two first PIN diodes 1111 on and off, transmitting sensing signals to the target area. Receiving antenna 114 simultaneously implements two receive beam directions (e.g., 45° and 225°) by switching two second PIN diodes 1131, receiving echo signals from the target area.

[0145] Figure 12(b) shows a schematic diagram of beam switching for an arc-shaped or sector-shaped area, or an area with a central isolation device. Transmitting antenna 112 can transmit sensing signals to the target area by switching between two transmit beam directions (e.g., 45° and 135°) by switching between two first PIN diodes 1111. Receiving antenna 114 can also receive echo signals from the target area by switching between two receive beam directions (e.g., 45° and 135°) by switching between two second PIN diodes 1131.

[0146] Figure 12(c) shows a schematic diagram of beam switching for scenes such as large offices, exhibition halls, and living rooms. In one design, the transmitting antenna 112 and the receiving antenna 114 can be designed to simultaneously perform polling switching of four beam directions (45°, 135°, 225°, and 315°) through four PIN diodes, or the transmitting antenna 112 and the receiving antenna 114 can be designed to simultaneously perform polling switching of four beam directions (45°, 135°, 225°, and 315°) through two PIN diodes. rlc The beam forming is performed in pairs with beam directions of 45° and 225° within the time. rlc The system performs paired beamforming with beam directions of 135° and 315° within a certain time period to achieve coverage perception.

[0147] In some embodiments, within each cycle, the number of transmit beam directions switched by transmit antenna 112 is the same as the number of receive beam directions switched by receive antenna 114. The beam coverage of the first transmit beam direction is the same as the beam coverage of the first receive beam direction. The time domain resources occupied by the perception signal transmitted by transmit antenna 112 in the first transmit beam direction are the same as the time domain resources occupied by the echo signal received by receive antenna 114 in the first receive beam direction.

[0148] For example, referring to the application scenarios shown in (a) and (b) of FIG12 , within a period T, the number of transmission beam directions switched by the transmitting antenna 112 and the number of reception beam directions switched by the receiving antenna 114 are 2. For example, in T rlc During this time, when the processor 401 sends a first control signal to the first RLC circuit 111 indicating that the first transmit beam direction of the transmit antenna 112 is 45°, the processor 401 simultaneously sends a second control signal to the second RLC circuit 113 indicating that the first receive beam direction of the receive antenna 114 is also 45°. Moreover, the time domain resources occupied by the sensing signal sent by the transmit antenna 112 in the first transmit beam direction of 45° are the same as the time domain resources occupied by the echo signal received by the receive antenna 114 in the first receive beam direction of 45°, that is, the T rlc While sending the sensing signal within the time, it also transmits the T signal at 45° in the direction of the first receiving beam. rlc Receive the echo signal within the time.

[0149] Based on the above description of FIG. 9 and in conjunction with the description of FIG. 11 , in some embodiments, within each cycle, the number of transmit beam directions switched by transmit antenna 112 is different from the number of receive beam directions switched by receive antenna 114. The beam coverage of a first transmit beam direction includes the beam coverage of multiple receive beam directions, and the multiple receive beam directions include the first receive beam direction. The time domain resources occupied by transmit antenna 112 in transmitting the perception signal in the first transmit beam direction include the time domain resources occupied by receive antenna 114 in receiving the echo signal in the multiple receive beam directions.

[0150] For example, referring to the description of FIG9 , within a period T, the number of transmission beam directions switched by the transmitting antenna 112 is 2: 90° and 270°, and the number of reception beam directions switched by the receiving antenna 114 is 4: 45°, 135°, 225°, and 315°. When the processor 401 instructs the first RLC circuit 111 to switch the transmission beam direction of the transmitting antenna 112 to the first transmission beam direction of 90° through the first control signal being a high level signal, and to maintain the first transmission beam direction for a time period of T rlc1 When the second control signal is high, the second RLC circuit 113 is instructed to switch the receiving antenna 114 to the first receiving beam direction of 45° and maintain the first receiving beam direction for a time period of T rlc2 When the processor 401 determines that the duration of the first receiving beam direction of 45° reaches T rlc2 When the updated second control signal is a low level signal, the second RLC circuit 113 is instructed to switch the receiving beam direction of the receiving antenna 114 to the second receiving beam direction of 135°, and the time length of maintaining the second receiving beam direction is T rlc2When the transmitting beam direction of the transmitting antenna 112 is 90°, the time domain resource T occupied by the transmitting antenna 112 in transmitting the sensing signal in the first transmitting beam direction 90° is rlc1 , which is equal to the time domain resource T occupied by the receiving antenna 114 receiving the echo signal at 45° in the first receiving beam direction rlc2 The time domain resource T occupied by the receiving antenna 114 receiving the echo signal in the second receiving beam direction 135° rlc2 That is, T rlc1 =2×T rlc2 Moreover, the beam coverage of the first transmit beam direction includes the beam coverage of the first receive beam direction of 45° and the beam coverage of the second receive beam direction of 135°.

[0151] Similarly, when the processor 401 instructs the first RLC circuit 111 to switch the transmission beam direction of the transmitting antenna 112 to the second transmission beam direction of 270° through the first control signal as a low level signal, and maintains the second transmission beam direction for a time period of T rlc1 When the second control signal is high, the second RLC circuit 113 is instructed to switch the receiving beam direction of the receiving antenna 114 to the third receiving beam direction of 225°, and the duration of maintaining the third receiving beam direction is T rlc2 When the processor 401 determines that the duration of the third receiving beam direction 225° reaches T rlc2 When the updated second control signal is a low level signal, the second RLC circuit 113 is instructed to switch the receiving antenna 114 to the fourth receiving beam direction 315°, and the duration of the fourth receiving beam direction is T rlc2 When the transmitting beam direction of the transmitting antenna 112 is the second transmitting beam direction of 270°, the time domain resource T occupied by the transmitting antenna 112 in sending the sensing signal in the second transmitting beam direction of 270° is rlc1 , which is equal to the time domain resource T occupied by the receiving antenna 114 receiving the echo signal in the third receiving beam direction 225° rlc2 The time domain resource T occupied by the receiving antenna 114 receiving the echo signal in the fourth receiving beam direction 315° rlc2 That is, T rlc1 =2×T rlc2 Moreover, the beam coverage of the second transmit beam direction includes the beam coverage of the third receive beam direction of 45° and the fourth receive beam direction of 135°.

[0152] In some embodiments, the first switching circuit and the second switching circuit may be implemented by a radio frequency switching device.

[0153] In some embodiments, FIG13 shows a schematic diagram of the structure of a 1T1R sensing device 13. Referring to FIG13(a), the first switching circuit includes a first RF switch device 131, which is equivalent to being coupled between the processor 401 and the transmitting antenna 112. Referring to FIG13(b), the first RF switch device 131 includes a first common RF port p, a plurality of first switches 1311 (e.g., 1311a to 1311d), and a plurality of first RF switch ports q (q1 to q4) coupled to the plurality of first switches 1311. Of two adjacent antenna branches 1121 (1121a to 1121b) in the transmitting antenna 112, one antenna branch 1121 is coupled to the first common RF port p, and the other antenna branch 1121 is coupled to a first RF switch port p (FIG1(b) only illustrates that q1 is coupled to antenna branch 1121a, and p is coupled to antenna branch 1121b).

[0154] The first RF switch device 131 further includes a driving circuit, a power supply port, a voltage port, etc., and the voltage port can be coupled to the processor 401 .

[0155] It should be understood that although Figure 13 shows that the first RF switch device 131 includes four first switches 1311, corresponding to four antenna branches 1131 of the transmitting antenna 112, the present application does not limit the number of first switches 1311 of the first RF switch device 131 to four, and may be more than four or less than four, and the number of antenna branches 1131 of the transmitting antenna 112 may also be more than four or less than four.

[0156] In this way, in some embodiments, when controlling the transmission beam direction of the transmitting antenna 112, the first control signal sent by the processor 401 to the first RF switch device 131 can be used to instruct at least one first switch 1311 in the first RF switch device 131 coupled to the transmitting antenna 112 to be turned on, so that the transmitting antenna 112 switches to the first transmission beam direction.

[0157] Similarly, referring to FIG13(a), the second switching circuit includes a second RF switch device 133, which is equivalent to the second RF switch device 133 being coupled between the processor 401 and the receiving antenna 114. Referring to FIG13(b), the second RF switch device is implemented similarly to the first RF switch device 131, and includes a second RF common port, multiple second switches, and multiple second RF switch ports coupled to the multiple second switches. Of the two adjacent antenna branches in the receiving antenna 114, one antenna branch is coupled to the second RF common port, and the other antenna branch is coupled to a second RF switch port.

[0158] Similarly, the present application does not limit the number of second switches of the second RF switch device 133 to 4, and may be more than 4 or less than 4. The number of antenna branches 1141 of the receiving antenna 114 may also be more than 4 or less than 4.

[0159] In this way, in some embodiments, when controlling the transmission beam direction of the receiving antenna 114, the second control signal sent by the processor 401 to the second RF switch device 133 can be used to instruct at least one second switch in the second RF switch device 133 coupled to the receiving antenna 114 to turn on, so that the receiving antenna 114 switches to the first receiving beam direction.

[0160] Of course, within a single cycle, when the beam coverage of the transmitting antenna 112 and the receiving antenna 114 overlap and the coverage range is the same in all time slots, the processor 401 needs to simultaneously control the first RF switch device 131 and the second RF switch device 133 to achieve synchronous on and off of the transmitting antenna 112 and the receiving antenna 114.

[0161] For example, as shown in (b) of FIG13 , each of the transmitting antenna 112 and the receiving antenna 114 includes four antenna branches. For the transmitting antenna 112, when the switching of the transmitting beam direction in four directions is polled within a period T, when the first T rlc During the time duration, the first control signal is used to instruct the first switch 1311a in the first RF switch device 131 to turn on, and when the first switches 1311b to 1311d are all turned off, the antenna branches 1121a and 1121b in the transmitting antenna 112 work, and the antenna branches 1121c and 1121d do not work. The transmitting antenna 112 can perform beamforming in the first transmitting beam direction of 45°, that is, transmit a sensing signal, and does not perform beamforming in the transmitting beam directions of 135°, 225°, and 315°, that is, does not transmit a sensing signal. Similarly, when in the second T rlc During the time duration, the first control signal is used to instruct the first switch 1311b in the first RF switch device 131 to turn on. When the first switches 1311a, 1311c to 1311d are all turned off, the antenna branches 1121b and 1121c in the transmitting antenna 112 work, and the antenna branches 1121a and 1121d do not work. The transmitting antenna 112 can perform beamforming in the first transmitting beam direction of 135°, that is, transmit a sensing signal. The transmitting beam directions of 45°, 225°, and 315° do not perform beamforming, that is, do not transmit a sensing signal. Polling is performed in this way, and in the third T rlc During the time duration, the first control signal is a high level signal, and the transmitting antenna 112 can perform beamforming in the first transmitting beam direction of 225°. rlcDuring the time period, the first control signal is a low-level signal, and the transmitting antenna 112 can perform beamforming in the first transmit beam direction of 315°. In this way, the transmitting antenna 112 can pollingly switch the transmit beam directions of 45°, 135°, 225°, and 315° within one period T.

[0162] Similar to the transmitting antenna 112 , the receiving antenna 114 can also perform polling switching of the receiving beam directions of 45°, 135°, 225° and 315° within a period T through the above process.

[0163] 11 and 13 , it can be seen that the sensing device 11 / 13 further includes a wireless sensor 402, which includes an input / output port e, an input port f, and an output port g. The input / output port e is coupled to the processor 401, the output port g is coupled to the transmitting antenna 112, and the input port f is coupled to the receiving antenna 114.

[0164] In some embodiments, the input / output port e is an input / output (I / O) port, such as a serial peripheral interface (SPI), a universal asynchronous receiver / transmitter (UART) port, or an inter-integrated circuit (I2C) port. The input port f can be understood as a receiving RF port, and the output port g can be understood as a transmitting RF port.

[0165] Based on this, in some embodiments, controlling the transmitting antenna 112 to send a perception signal in the direction of the transmitting beam includes: the processor 401 sends a third control signal to the wireless sensor 402, and the third control signal is used for the wireless sensor 402 to generate multiple perception signals and send them to the transmitting antenna 112, so that the transmitting antenna 112 sends multiple perception signals in the direction of the transmitting beam.

[0166] Controlling the receiving antenna 114 to receive the echo signal of the sensing signal in the receiving beam direction includes: the processor 401 sending a fourth control signal to the wireless sensor 402 , where the fourth control signal is used for the wireless sensor 402 to receive multiple echo signals in the receiving beam direction from the receiving antenna 114 .

[0167] In some embodiments, the third control signal and the fourth control signal are generated by the processor 401 according to the configuration of the signal frame design parameters for wireless sensing, and the third control signal and the fourth control signal can be generated by the wireless sensor unit in the processor 401.

[0168] In some embodiments, the third control signal may include signal frame design parameters of the sensing signal generated by the wireless sensor 402, or signal frame design parameters of the sensing signal transmitted by the transmitting antenna 112, for example, the signal frame design parameters include T of a single transmitting beam direction. rlc1 The signal duration of a single radar signal is T c , the number of radar signals n chirp1 The fourth control signal includes the signal frame design parameters of the echo signal received by the wireless sensor 402, or the signal frame design parameters of the echo signal received by the receiving antenna 114. For example, the signal frame design parameters include the T rlc2 The signal duration of a single radar signal is T c2 , the number of radar signals n chirp2 and the ΔT2 duration when no radar signal is received.

[0169] The third control signal and the fourth control signal may be included in one message and transmitted to the wireless sensor 402 through the input / output port e, or may be included in two messages and transmitted to the wireless sensor 402 through the input / output port e, which is not limited in this application.

[0170] In this way, when the processor 401 sends T to the first RLC circuit 111 or the first RF switch device 131, p The first control signal of the duration is used to instruct the first RLC circuit 111 or the first RF switch device 131 to switch the transmission beam direction of the transmitting antenna 112 to the first transmission beam direction. At the same time, the wireless sensor 402 can generate multiple perception signals according to the third control signal and send T to the transmitting antenna 112 through the output port g. p1 (T rlc1 -ΔT1) time-length perception signal, so as to transmit the T through the transmitting antenna 112 p1 For example, here T p1 The perceptual signals of duration include n chirp1 Chirp radar signals, the signal length of each chirp radar signal is T c1 ≤T p1 / n chirp1 .

[0171] Similarly, within a single period T, when the beam coverage of the transmitting antenna 112 and the receiving antenna 114 overlap and the coverage range of all time slots is the same, the signal frame design parameters in the third control signal and the signal frame design parameters in the fourth control signal are the same. When the processor 401 sends T to the second RLC circuit 113 or the second RF switch device 133 pThe second control signal of the duration is used to instruct the second RLC circuit 113 or the second RF switch device 133 to switch the receiving beam direction of the receiving antenna 114 to the first receiving beam direction. At the same time, the wireless sensor 402 can receive the T signal from the receiving antenna 114 through the input port f according to the fourth control signal. p Length of echo signal.

[0172] For example, in a single cycle T, when the processor 401 sends T to the first RLC circuit 111 p The high-level signal of the duration is used to instruct the first RLC circuit 111 to switch the transmission beam direction of the transmitting antenna 112 to the first transmission beam direction 45°. At the same time, the wireless sensor 402 can generate multiple sensing signals according to the third control signal and send T to the transmitting antenna 112 through the output port g. p The sensing signal of the duration is transmitted by the transmitting antenna 112 in the first transmitting beam direction of 45°. p Perceptual signal of duration.

[0173] At the same time, the processor may send T to the first RLC circuit 111. p At the same time, a high level signal of T is sent to the second RLC circuit 113. p The high level signal of the duration is used to instruct the second RLC circuit 113 to switch the receiving beam direction of the receiving antenna 114 to the first receiving beam direction of 45°. At the same time, the wireless sensor 402 can receive the T signal received by the receiving antenna 114 in the first receiving beam direction of 45° through the input port f according to the fourth control signal. p Length of echo signal.

[0174] In some embodiments, the transmitting antenna 112 transmits multiple sensing signals in the transmit beam direction and satisfies the following condition 1:

[0175] Wherein, T represents the duration of the cycle, k1 represents the number of transmission beam directions switched by the transmitting antenna 112 within one cycle, represents the duration during which the transmitting antenna 112 transmits multiple perception signals in the direction of the transmitting beam, and ΔT1 represents the duration during which the transmitting antenna 112 does not transmit a perception signal in the direction of the transmitting beam.

[0176] The receiving antenna 114 receives multiple echo signals in the receiving beam direction that meet the following condition 2:

[0177] Wherein, T represents the duration of a cycle, k2 represents the number of receiving beam directions switched by the receiving antenna 114 within one cycle, represents the duration during which the receiving antenna 114 receives multiple echo signals in the direction of the receiving beam, and ΔT2 represents the duration during which the receiving antenna 114 does not receive any echo signals in the direction of the receiving beam.

[0178] In some embodiments, k1=k2, ΔT1=ΔT2, wherein k1=k2 is a positive integer greater than or equal to 2, 4, etc. ΔT1 and ΔT2 are both positive numbers.

[0179] For example, referring to the case (b) in FIG11 , when a single cycle T is 100 ms, k1=k2=2, T rlc1 =T rlc2 ,Right now The time duration during which the transmitting beam direction of the transmitting antenna 112 is 45° of the first transmitting beam direction is T rlc1 , but the duration of the transmitting antenna 112 sending the perception signal in the first transmitting beam direction of 45° The transmitting antenna 112 is at T rlc1 No perception signal is sent during the ΔT1 duration. Similarly, the receiving beam direction of the receiving antenna 114 is 45° to the first receiving beam direction for a duration of T. rlc2 , but the duration of the receiving antenna 114 receiving the echo signal in the first receiving beam direction 45° The receiving antenna 114 is at T rlc2 No echo signal is received within the ΔT2 duration within the duration. This situation corresponds to the following situation in the present application: within each cycle, the number of transmit beam directions switched by the transmit antenna 112 is the same as the number of receive beam directions switched by the receive antenna 114. The beam coverage of the first transmit beam direction is the same as the beam coverage of the first receive beam direction. The time domain resources occupied by the perception signal sent by the transmit antenna 112 in the first transmit beam direction are the same as the time domain resources occupied by the echo signal received by the receive antenna 114 in the first receive beam direction.

[0180] In some embodiments, m·k1=k2, ΔT1=m·ΔT2, where m is an integer. For example, similar to the case of FIG11 , within a single period T, the number of transmission beam directions switched by the transmitting antenna 112 is k1, which is 2, and the number of reception beam directions switched by the receiving antenna 114 is k2, which is 4, and m=2. Based on this, the number of sensing signals sent by the transmitting antenna 112 in one transmission beam direction is The duration can be equal to the duration that the receiving antenna 114 receives the echo signal in the two receiving beam directions, that is, The duration ΔT1 during which the transmitting antenna 112 does not transmit a sensing signal in one transmitting beam direction is equal to the duration during which the receiving antenna 114 does not receive an echo signal in two receiving beam directions, that is, ΔT1 = 2ΔT2.

[0181] Based on this, within the ΔT2 period in each receive beam direction when receive antenna 114 does not receive an echo signal, wireless sensor 402 can convert the analog signal of the echo signal received from receive antenna 114 into a digital signal and transmit it back to processor 401, so that processor 401 can obtain the sensed target in the current receive beam direction. Once processor 401 obtains the sensed targets corresponding to multiple receive beam directions in a single cycle, or in other words, the sensed target information, it can fuse the sensed targets in multiple receive beam directions to obtain the target sensing result for the single cycle.

[0182] Therefore, in some embodiments, processor 401 performs signal processing on the echo signal received from receiving antenna 114 in each cycle to obtain the target perception result for each cycle, including: in each cycle, processor 401 receives the echo signal received by receiving antenna 114 from wireless sensor 402 within the duration ΔT2 corresponding to each receiving beam direction, and processes the received echo signal to obtain the perceived target in each receiving beam direction. Processor 401 performs fusion processing on the perceived target in each receiving beam direction to obtain the perception result for each cycle.

[0183] For example, referring to the case (b) in FIG9 , in each period T, when the wireless sensor 402 receives the echo signal of the first polling receiving beam direction 45° from the receiving antenna 114, the first T rlc2 The analog signal of the received echo signal is converted into digital form within the ΔT2 duration and transmitted back to the processor 401. The processor 401 processes the digital signal within the first ΔT2 duration to obtain the perceived target under the receiving beam direction of 45°. The processing includes performing 1D fast Fourier transform (FFT), distance Doppler spectrum calculation and angle spectrum estimation on the received digital signal to obtain the current T rlc The information of the orientation, speed and spatial position of multiple targets within a certain time period is obtained, and a point cloud coordinate set of the moving targets among the multiple targets at 45° in the current main beam direction is generated.

[0184] Similarly, when the wireless sensor 402 receives the echo signal of the second polling receiving beam direction 135° from the receiving antenna 114, it can rlc2During the ΔT2 duration within the duration, the analog signal of the received echo signal is converted into a digital signal and transmitted back to the processor 401. The processor 401 processes the digital signal within the second ΔT2 duration to obtain the perceived target in the receiving beam direction of 135°. The processing process is similar to the processing process for the receiving beam direction of 45°.

[0185] Similarly, the processor 401 can obtain the sensing targets corresponding to the receiving beam directions of 45°, 135°, 225° and 315° respectively. In addition, the processor 401 can obtain the sensing targets corresponding to the fourth T corresponding to the receiving beam direction of 315°. rlc2 The perception results of each cycle are obtained by fusing the perceived targets in each receiving beam direction within the ΔT2 duration. This fusion process includes transforming the point cloud coordinates of the perceived targets (moving targets) obtained in each receiving beam direction into the same global coordinate system. The point clouds of the perceived targets are then clustered, associated, and tracked based on the global coordinates in the global coordinate system to obtain the target perception results of the moving targets.

[0186] In this way, the processor 401 can perform human-computer interaction or control operations of other devices based on the target perception result at time T within a cycle T.

[0187] Therefore, in this application, the processor can periodically and synchronously control the switching of the antenna main beam based on the PIN diode or the RF switch, and synchronously receive and process the perception signal. This flexible main beam design can achieve full-angle domain (360°) coverage perception capability in the horizontal or pitch dimension at a low cost, and the angle domain in the horizontal or pitch dimension can be changed according to the actual scene to adapt to the actual scene.

[0188] Moreover, the present application's synchronous design of the beam switching period and the signal frame of the perception signal can effectively analyze the perception targets under each beam under beam switching, and further facilitates the fusion decision of the full-angle domain targets after a complete period T, thereby improving the accuracy of the spatial position perception of the target.

[0189] In this application, this multi-beam switching design using a single antenna can better adapt to 360° full coverage scenarios and improve the detection distance in any beam direction compared to single beam or omnidirectional beam.

[0190] In this application, compared with the existing method of achieving angular resolution in the horizontal and pitch dimensions under beam coverage through chip cascading, the sensing device / sensing equipment of this application can achieve polling coverage in multiple beam directions under a single wireless sensor chip, and can be adapted to a variety of application scenarios, reducing the requirements for the number of antenna arrays or sensor chips, improving the sensing coverage capability while reducing costs.

[0191] The present application may also be applicable to a beam switching process in an antenna array including multiple transmitting antennas 112 and multiple receiving antennas 114 .

[0192] Therefore, in some embodiments, the sensing device in the present application may include, in addition to the processor 401, multiple first switching circuits. The processor 401 is coupled to the first end of each of the multiple first switching circuits, and each of the multiple transmitting antennas 112 is coupled to the second end of one of the multiple first switching circuits. The processor 401 controlling the transmitting antenna 112 to switch the transmit beam direction includes: the processor 401 synchronously sending a first control signal to each of the multiple first switching circuits. The first control signal is used by the first switching circuit to control the transmit beam direction of the transmitting antenna 112 to be the first transmit beam direction. This is equivalent to the transmit beam direction of the multiple transmitting antennas 112 being the first transmit beam direction.

[0193] Similarly, the sensing device in the present application may further include a second switching circuit, wherein the processor 401 is coupled to the first end of each of the plurality of second switching circuits, and each of the plurality of receiving antennas 114 is coupled to the second end of a second switching circuit. The processor 401 controlling the receiving antenna 114 to switch the receiving beam direction includes: the processor 401 synchronously sending a second control signal to each of the plurality of second switching circuits, wherein the second control signal is used by the second switching circuit to control the receiving beam direction of the receiving antenna 114 to be the first receiving beam direction. This is equivalent to the receiving beam direction of the plurality of receiving antennas 114 being the first receiving beam direction.

[0194] Similar to the case where the sensing device is a single-transmit, single-receive device, in some embodiments, each of the multiple first switching circuits may include a first RLC circuit 111. Each first RLC circuit 111 includes multiple first PIN diodes 1111. A first PIN diode 1111 is coupled between two adjacent antenna branches 1121 in each transmitting antenna 112. For each transmitting antenna 112, the first control signal is used to instruct at least one first PIN diode 1111 in the first RLC circuit 111 coupled to the transmitting antenna 112 to conduct, causing the transmitting antenna 112 to switch to the first transmit beam direction. In this way, when at least one first PIN diode 1111 in the first RLC circuit 111 coupled to each transmitting antenna 112 is conducted, the multiple transmitting antennas 112 can be synchronously switched to the first transmit beam direction.

[0195] Each of the multiple second switching circuits may include a second RLC circuit 113, each second RLC circuit 113 including multiple second PIN diodes 1131. One second PIN diode 1131 is coupled between two adjacent antenna branches in each receive antenna 114. For each receive antenna 114, the second control signal is used to instruct at least one second PIN diode 1131 in the second RLC circuit coupled to receive antenna 114 to conduct, allowing receive antenna 114 to synchronously switch to the first receive beam direction. In this way, when at least one second PIN diode 1131 in the second RLC circuit coupled to each receive antenna 114 conducts, multiple receive antennas 114 can synchronously switch to the first receive beam direction.

[0196] Similar to the single-transmit, single-receive scenario, in some embodiments, within each cycle, the number of transmit beam directions switched by each of the multiple transmit antennas 112 is the same as the number of receive beam directions switched by each of the multiple receive antennas 114. For example, the beam coverage of each transmit antenna 112 in the first transmit beam direction is the same as the beam coverage of each receive antenna 114 in the first receive beam direction. The time domain resources occupied by the sensing signal transmitted by each transmit antenna 112 in the first transmit beam direction are the same as the time domain resources occupied by the echo signal received by each receive antenna 114 in the first receive beam direction.

[0197] Alternatively, within each cycle, the number of transmit beam directions switched by each transmit antenna 112 among the multiple transmit antennas 112 is different from the number of receive beam directions switched by each receive antenna 144 among the multiple receive antennas 114. For example, the beam coverage of each transmit antenna 112 in a first transmit beam direction includes the beam coverage of multiple receive beam directions, and the multiple receive beam directions include the first receive beam direction. The time domain resources occupied by each transmit antenna 112 in transmitting the perception signal in the first transmit beam direction include the time domain resources occupied by each receive antenna 114 in receiving the echo signal in the multiple receive beam directions.

[0198] For example, FIG14 shows a schematic diagram of beam polling switching under a multi-antenna array. As shown in FIG14(a), the sensing device 14 is a 2T4R antenna array, which includes transmitting antennas Tx1 and Tx2, and receiving antennas Rx1, Rx2, Rx3, and Rx4. Among them, the transmitting antenna Tx is equivalent to the above-mentioned transmitting antenna 112, and the receiving antenna Rx is equivalent to the above-mentioned receiving antenna 114. The sensing device also includes a 2T4R sensing chip 141 and a processor 401. The 2T4R sensing chip 141 is equivalent to the above-mentioned wireless sensor 402. The sensing device also includes multiple RLC circuits, each transmitting antenna of the transmitting antennas Tx1 and Tx2 is coupled to a first RLC circuit 111, and each receiving antenna of the receiving antenna Rx is coupled to a second RLC circuit 113.

[0199] As shown in (b) in Figure 14, when the number of antenna branches of each of the transmitting antenna 112 and the receiving antenna 114 is 4, each first PIN diode 1111 (1111a~1111d) in each first RLC circuit 111 is coupled between two adjacent antenna branches in the transmitting antenna, and each second PIN diode 1131 (1131a~1131d) in each second RLC circuit 113 is coupled between two adjacent antenna branches in the receiving antenna.

[0200] It should be understood that although each transmitting antenna and receiving antenna is independently coupled to an RLC circuit for controlling the main beam direction of the antenna, in some embodiments, when the coverage of multiple transmitting antennas and receiving antennas overlaps and the full time slots are the same, multiple transmitting antennas and multiple receiving antennas can also be jointly coupled to an RLC circuit for synchronously controlling the main beam directions of multiple transmitting antennas and receiving antennas.

[0201] In some embodiments, the antenna array can be arranged according to scenario requirements to achieve angular resolution in both horizontal and vertical directions. Similarly to the single-transmit, single-receive scenario, each RLC circuit is periodically switched on and off by the synchronous control signal unit in processor 401 to drive each antenna to synchronously switch between the same beam directions.

[0202] In some embodiments, the processor 401 may configure the parameters of the beam switching period of the transmitting antenna Tx and the receiving antenna Rx, as well as the parameters of the signal frame period of the 2T4R sensing chip 141 according to the above-mentioned conditions 1 and 2, to satisfy the correspondence between the polling beam switching period of the transmitting antenna Tx and the perception signal period, and the correspondence between the polling beam switching period of the receiving antenna Rx and the echo signal period.

[0203] In some embodiments, similar to the single-transmit-single-receive scenario, during real-time sensing, the processor 401 can simultaneously identify the main beam direction (receiving beam direction) from which the echo signal received by the 2T4R sensing chip 141 comes based on a synchronous control signal (such as the aforementioned Tp timestamp or a high-low level switching trigger signal), and perform signal processing on the data in the current main beam direction to obtain target sensing results in the current main beam direction, including the speed, direction, distance, and spatial coordinates of the detected target in the current main beam direction. In other words, the sensed target in each receiving beam direction in a single cycle is obtained.

[0204] Processor 401 then fuses the sensed targets in each receive beam direction to obtain a perception result for each cycle. Specifically, after switching the main beam for a cycle, processor 401 fuses the sensed targets for each beam, transforms the features of the sensed targets in each beam, obtains a perception result in the same coordinate system, and then performs a target perception result for another cycle to make decisions for human-computer interaction or other device control.

[0205] Of course, in this antenna array scenario, the first RLC circuit 111 and the second RLC circuit 113 can also be replaced by radio frequency switching devices to perform beam direction polling switching, which will not be repeated here.

[0206] Therefore, in this application, when the sensing device includes an antenna array, the processor can synchronize high and low level switching control of the switching circuits of all antennas, thereby enabling horizontal or pitch angle perception in a multi-antenna array. In particular, it can achieve 360° polling beam switching coverage while enabling the array formation capability of the antenna array, thereby achieving the ability to estimate the azimuth of the target and providing more refined spatial orientation perception capabilities.

[0207] It is understandable that in order to implement the functions in the above embodiments, the sensing device includes hardware structures and / or software modules that perform the corresponding functions. Those skilled in the art should easily realize that, in combination with the units and method steps of each example described in the embodiments disclosed in this application, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0208] FIG15 is a schematic diagram of the structure of a possible sensing device 150 provided in an embodiment of the present application. These sensing devices 150 can be used to implement the functions of the sensing device in the above-mentioned method embodiments, thereby also achieving the beneficial effects of the above-mentioned method embodiments. In the embodiments of the present application, the sensing device can be the sensing device 202 shown in FIG2 , or the sensing device 40 shown in FIG4 , or a module (such as a chip) applied to the sensing device or the sensing device.

[0209] As shown in Figure 15, the sensing device 150 includes a switching module 1501 and a sensing module 1502. The sensing device 150 is used to implement the functions of the sensing device or sensing equipment in the method embodiments shown in Figures 3 and / or 5 above.

[0210] When the sensing device 150 is used to implement the functions of the sensing device in the method embodiment shown in FIG3 , the switching module 1501 is configured to control the transmitting antenna to switch the transmission beam direction and transmit the sensing signal in the transmission beam direction, and to control the receiving antenna to switch the reception beam direction and receive the echo signal of the sensing signal in the reception beam direction, during each cycle. The sensing module 1502 is configured to process the echo signal received from the receiving antenna during each cycle to obtain the target sensing result for each cycle.

[0211] When the sensing device 150 is used to implement the sensing device functions of the method embodiment shown in FIG5 , the switching module 1501 is configured to transmit periodic high and low level signals of duration Tp to a switching device coupled to a transmitting antenna according to the parameters of a configured periodic control signal, and simultaneously activate the wireless sensor to transmit and receive signals according to the signal frame design parameters of the wireless sensor. The sensing module 1502 is configured to process the received echo signals from each antenna channel to obtain sensing information of a moving target within each Trlc duration; convert the spatial orientation of the target within each Trlc duration into polar coordinates based on the multiple beam directions switched within a period, so that the coordinate positions of the moving targets within each Trlc duration within a period are in the same coordinate system; cluster, associate, and track the point clouds based on the global coordinates of each point cloud to obtain a target sensing result for the moving target; and perform human-computer interaction or other device control operations based on the target sensing result at time T within a period T.

[0212] For a more detailed description of the switching module 1501 and the perception module 1502, please refer to the relevant description in the method embodiments shown in Figures 3 and 5.

[0213] When the sensing device 150 is a chip used in a sensing device, the chip implements the functions of the sensing device or sensing device in the above-mentioned method embodiment. The chip receives the echo signal from the target, which can be understood as the echo signal being first received by other modules in the sensing device (such as a radio frequency module or antenna) and then sent to the chip by these modules. The chip may include a processor and a wireless sensor. The chip sends the sensing signal, which can be understood as the information being first sent to other modules in the sensing device (such as a radio frequency module or antenna) and then sent out by these modules.

[0214] In this application, when entity A sends information to entity B, it can be done directly from A to B or indirectly through another entity. Similarly, when entity B receives information from entity A, it can be done directly from entity B or indirectly through another entity. Entities A and B herein can be RAN nodes or terminals, or modules within a RAN node or terminal. The sending and receiving of information can be information exchange between a RAN node and a terminal, for example, between a base station and a terminal; the sending and receiving of information can also be information exchange between two RAN nodes, for example, between a CU and a DU; the sending and receiving of information can also be information exchange between different modules within a device, for example, between a terminal chip and other modules in the terminal, or between a base station chip and other modules within the base station.

[0215] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0216] The method steps in the embodiments of the present application can be implemented in hardware or in software instructions that can be executed by a processor. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disk, mobile hard disk, CD-ROM or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. The storage medium can also be an integral part of the processor. The processor and storage medium can be located in an ASIC. In addition, the ASIC can be located in a base station or a terminal. The processor and storage medium can also exist in a base station or a terminal as discrete components.

[0217] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are performed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable device. The computer program or instructions may be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions may be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

[0218] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0219] In this application, "at least one" means one or more, and "more" means 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 mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of this application, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "Including at least one of A, B and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B and C.

[0220] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

Claims

1. A sensing method, characterized in that: The method is applied to a sensing device, the sensing device includes a processor, and the method includes: In each cycle, the processor controls the transmitting antenna to switch the transmission beam direction, and controls the transmitting antenna to send the perception signal in the transmission beam direction, and the processor controls the receiving antenna to switch the receiving beam direction, and controls the receiving antenna to receive the echo signal of the perception signal in the receiving beam direction; The processor performs signal processing on the echo signal received from the receiving antenna in each cycle to obtain a target perception result in each cycle.

2. The method according to claim 1, characterized in that The number of the transmitting antennas is one or more, and the number of the receiving antennas is one or more.

3. The method according to claim 1 or 2, characterized in that: The sensing device further includes a first switching circuit, the processor is coupled to a first end of the first switching circuit, and the transmitting antenna is coupled to a second end of the first switching circuit; The processor controls the transmitting antenna to switch the transmission beam direction, including: the processor sends a first control signal to the first switching circuit, and the first control signal is used by the first switching circuit to control the transmission beam direction of the transmitting antenna to be a first transmission beam direction.

4. The method according to claim 3, characterized in that The first switching circuit includes a first resistance, inductance and capacitance RLC circuit, the first RLC circuit includes a plurality of first P-type-I-type-N-type PIN diodes, and one of the first PIN diodes is coupled between two adjacent antenna branches in the transmitting antenna; The first control signal is used to instruct at least one of the first PIN diodes in the first RLC circuit coupled to the transmitting antenna to be turned on, so that the transmitting antenna switches to the first transmitting beam direction.

5. The method according to claim 3, characterized in that: The first switching circuit includes a first RF switch device, the first RF switch device includes a first RF common port, a plurality of first switches, and a plurality of first RF switch ports respectively coupled to the plurality of first switches, and of two adjacent antenna branches in the transmitting antenna, one antenna branch is coupled to the first RF common port, and the other antenna branch is coupled to one of the first RF switch ports; The first control signal is used to instruct at least one of the first radio frequency switch devices coupled to the transmitting antenna to be turned on, so that the transmitting antenna switches to the first transmitting beam direction.

6. The method according to any one of claims 3 to 5, characterized in that: The sensing device further includes a second switching circuit, the processor is coupled to a first end of the second switching circuit, and the receiving antenna is coupled to a second end of the second switching circuit; The processor controls the receiving antenna to switch the receiving beam direction, including: the processor sends a second control signal to the second switching circuit, and the second control signal is used by the second switching circuit to control the receiving beam direction of the receiving antenna to be the first receiving beam direction.

7. The method according to claim 6, characterized in that The second switching circuit includes a second RLC circuit, the second RLC circuit includes a plurality of second PIN diodes, and one of the second PIN diodes is coupled between two adjacent antenna branches in the receiving antenna; The second control signal is used to instruct at least one of the second PIN diodes in the second RLC circuit coupled to the receiving antenna to be turned on, so that the receiving antenna is switched to the first receiving beam direction.

8. The method according to claim 6, characterized in that The second switching circuit includes a second RF switch device, the second RF switch device includes a second RF common port, a plurality of second switches and a plurality of second RF switch ports respectively coupled to the plurality of second switches, and of two adjacent antenna branches in the receiving antenna, one antenna branch is coupled to one of the second RF common ports, and the other antenna branch is coupled to one of the second RF switch ports; The second control signal is used to instruct at least one of the second RF switch devices coupled to the receiving antenna to turn on, so that the receiving antenna switches to the first receiving beam direction.

9. The method according to any one of claims 6 to 8, characterized in that: In each cycle, the number of transmission beam directions switched by the transmitting antenna is the same as the number of reception beam directions switched by the receiving antenna; The beam coverage range of the first transmitting beam direction is the same as the beam coverage range of the first receiving beam direction; The time domain resources occupied by the perception signal sent by the transmitting antenna in the direction of the first transmitting beam are the same as the time domain resources occupied by the echo signal received by the receiving antenna in the direction of the first receiving beam.

10. The method according to any one of claims 6 to 8, characterized in that: In each cycle, the number of transmission beam directions switched by the transmitting antenna is different from the number of reception beam directions switched by the receiving antenna; The beam coverage of the first transmission beam direction includes beam coverage of multiple reception beam directions, and the multiple reception beam directions include the first reception beam direction; The time domain resources occupied by the transmitting antenna for sending the perception signal in the first transmitting beam direction include the time domain resources occupied by the receiving antenna for receiving the echo signal in the multiple receiving beam directions.

11. The method according to any one of claims 1 to 10, characterized in that: The sensing device further includes a wireless sensor, the wireless sensor including an input / output port, an input port and an output port, the input / output port is coupled to the processor, the output port is coupled to the transmitting antenna, and the input port is coupled to the receiving antenna; The controlling the transmitting antenna to send the perception signal in the direction of the transmitting beam comprises: the processor sending a third control signal to the wireless sensor, the third control signal being used for the wireless sensor to generate a plurality of perception signals and send the plurality of perception signals to the transmitting antenna, so that the transmitting antenna sends the plurality of perception signals in the direction of the transmitting beam; The controlling the receiving antenna to receive the echo signal of the perception signal in the receiving beam direction includes: the processor sending a fourth control signal to the wireless sensor, and the fourth control signal is used for the wireless sensor to receive multiple echo signals in the receiving beam direction from the receiving antenna.

12. The method according to claim 11, characterized in that In each cycle, the transmitting antenna sends the multiple perception signals in the transmit beam direction to meet the following conditions: Wherein, T represents the duration of the cycle, k1 represents the number of transmission beam directions switched by the transmitting antenna within one cycle, represents the duration during which the transmitting antenna sends the multiple perception signals in the direction of the transmitting beam, and ΔT1 represents the duration during which the transmitting antenna does not send a perception signal in the direction of the transmitting beam.

13. The method according to claim 11 or 12, characterized in that: The receiving antenna receives the multiple echo signals in the receiving beam direction to meet the following conditions: Wherein, T represents the duration of the cycle, k2 represents the number of receiving beam directions switched by the receiving antenna within one cycle, represents the duration during which the receiving antenna receives the multiple echo signals in the direction of the receiving beam, and ΔT2 represents the duration during which the receiving antenna does not receive the echo signal in the direction of the receiving beam.

14. The method according to claim 13, characterized in that The processor performs signal processing on the echo signal received from the receiving antenna in each cycle to obtain a target perception result for each cycle, including: In each cycle, the processor receives the echo signal received by the receiving antenna from the wireless sensor within the ΔT2 duration corresponding to each receiving beam direction, and processes the received echo signal to obtain a sensing target in each receiving beam direction; The processor performs fusion processing on the sensing target in each receiving beam direction to obtain the sensing result of each cycle.

15. A sensing device, characterized in that: include: A switching module, used to control the transmitting antenna to switch the transmission beam direction in each cycle, and control the transmitting antenna to send a perception signal in the transmission beam direction, and control the receiving antenna to switch the receiving beam direction, and control the receiving antenna to receive an echo signal of the perception signal in the receiving beam direction; The perception module is used to perform signal processing on the echo signal received from the receiving antenna in each cycle to obtain the target perception result of each cycle.

16. A sensing device, characterized in that: The sensing device comprises a processor, wherein: The processor is used to control the transmitting antenna to switch the transmission beam direction in each cycle, and control the transmitting antenna to send the perception signal in the transmission beam direction, and the processor controls the receiving antenna to switch the receiving beam direction, and controls the receiving antenna to receive the echo signal of the perception signal in the receiving beam direction; The processor is also used to perform signal processing on the echo signal received from the receiving antenna in each cycle to obtain a target perception result for each cycle.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a communication device, the communication device is caused to execute the method according to any one of claims 1 to 14.

18. A computer program product, characterized in that The method comprises computer instructions, which, when executed on a communication device, cause the communication device to execute the method according to any one of claims 1 to 14.

19. A chip, characterized in that: The chip stores computer-executable instructions, and when the computer-executable instructions are executed, the method of any one of claims 1 to 14 is executed.

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