WO2022156001A1

WO2022156001A1 - Imaging system and method

Info

Publication number: WO2022156001A1
Application number: PCT/CN2021/075118
Authority: WO
Inventors: 张翼; 李胜全; 张爱东; 孙晓雨; 吴金秋; 周佳琼
Original assignee: 鹏城实验室
Priority date: 2021-01-19
Filing date: 2021-02-03
Publication date: 2022-07-28
Also published as: CN112764041B; CN112764041A

Abstract

Disclosed is an imaging system, comprising: a transmitter array, a receiver array, and an imager. Each receiver in the receiver array is arranged in the receiver array according to a preset arrangement rule. The transmitter array is used for emitting a vortex acoustic wave to a target object, so that when the vortex acoustic wave reaches the target object, a reflected echo is generated. The receiver array is used for receiving the reflected echo. The imager is used for obtaining an acoustic image of the target object on the basis of the reflected echo, the acoustic image comprising target location information and target contour information of the target object. Also disclosed is an imaging method.

Description

成像***和方法Imaging systems and methods

优先权信息priority information

本申请要求于2021年1月19日申请的、申请号为202110072887.5的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application with application number 202110072887.5 filed on January 19, 2021, the entire contents of which are incorporated herein by reference.

技术领域technical field

本申请涉及成像技术领域，特别涉及一种成像***和方法。The present application relates to the field of imaging technologies, and in particular, to an imaging system and method.

背景技术Background technique

目前，在水下目标物体的定位领域中，利用光学成像技术获得水下的目标物体的光学图像，其中，光学图像包括目标物体的位置信息和轮廓信息。但是，水下透光条件较差，光学成像效果较差。At present, in the field of locating underwater target objects, optical imaging technology is used to obtain an optical image of the underwater target object, wherein the optical image includes position information and contour information of the target object. However, the underwater light transmission conditions are poor, and the optical imaging effect is poor.

相关技术中，提出了一种水下成像方法，通过声成像技术获得水下的目标物体的声图像，声图像包括目标物体的位置信息和轮廓信息；由于，相比于光学成像，声成像作用距离远，声成像技术获得的水下的目标物体的声图像准确率较高。In the related art, an underwater imaging method is proposed, and an acoustic image of an underwater target object is obtained through the acoustic imaging technology, and the acoustic image includes the position information and contour information of the target object; The longer the distance is, the higher the accuracy of the acoustic image of the underwater target object obtained by the acoustic imaging technology.

但是，采用现有的水下成像方法，虽然声成像作用距离较远，但是，获得的声图像准确率依旧较低，进而使得目标物体的位置信息和轮廓信息准确率较低。However, using the existing underwater imaging method, although the acoustic imaging has a long distance, the accuracy of the obtained acoustic image is still low, which makes the accuracy of the position information and contour information of the target object low.

发明内容SUMMARY OF THE INVENTION

本申请的主要目的是提供一种成像***和方法，旨在解决现有技术中获取水下目标物体的位置信息和轮廓信息准确率较低的技术问题。The main purpose of the present application is to provide an imaging system and method, which aims to solve the technical problem in the prior art that the accuracy of obtaining position information and contour information of an underwater target object is low.

为实现上述目的，本申请提出一种成像***，所述成像***包括：发射器阵列、接收器阵列和成像器，其中，所述接收器阵列中各接收器按照预设排列规则在所述接收器阵列中进行排列；In order to achieve the above object, the present application proposes an imaging system, the imaging system includes: a transmitter array, a receiver array and an imager, wherein each receiver in the receiver array is arranged in the receiver according to a preset arrangement rule. arranged in an array of devices;

所述发射器阵列，用于向目标物体发射涡旋声波，以使所述涡旋声波到达所述目标物体时，产生反射回波；The transmitter array is used to transmit the vortex sound wave to the target object, so that when the vortex sound wave reaches the target object, a reflection echo is generated;

所述接收器阵列，用于接收所述反射回波；the receiver array for receiving the reflected echo;

所述成像器，用于基于所述反射回波，获得所述目标物体的声图像，所述声图像包括所述目标物体的目标位置信息和目标轮廓信息。The imager is configured to obtain an acoustic image of the target object based on the reflected echo, where the acoustic image includes target position information and target contour information of the target object.

在一实施例中，所述接收器阵列包括多个接收器，每个接收器按照预设间距等间距的分布在所述接收器阵列中；In an embodiment, the receiver array includes a plurality of receivers, and each receiver is equally spaced in the receiver array according to a preset interval;

所述发射器阵列为环形发射器阵列，所述环形发射器阵列包括多个发射器，每个发射器等间距的分布在所述环形发射器阵列中。The transmitter array is a ring transmitter array, the ring transmitter array includes a plurality of transmitters, and each transmitter is equally spaced in the ring transmitter array.

在一实施例中，所述发射器阵列，用于向目标物体发射多种阶数的涡旋声波，以使所述多种阶数的涡旋声波到达所述目标物体时，产生所述多种阶数的涡旋声波对应的多种阶数的反射回波；In one embodiment, the transmitter array is used to transmit multiple orders of vortex sound waves to the target object, so that when the multiple orders of vortex sound waves reach the target object, the multiple orders of vortex sound waves are generated. Reflected echoes of various orders corresponding to vortex acoustic waves of various orders;

所述接收器阵列，用于接收所述多种阶数的反射回波；the receiver array for receiving the reflected echoes of the multiple orders;

所述成像器，用于基于所述多种阶数的反射回波，获得所述声图像。The imager is configured to obtain the acoustic image based on the reflection echoes of the various orders.

在一实施例中，所述成像器存储有所述接收器阵列中各接收器的位置信息；In one embodiment, the imager stores position information of each receiver in the receiver array;

所述成像器，还用于在基于所述多种阶数的反射回波，获得所述声图像之前，对预设角度信息进行离散化处理，以获得离散角度信息；基于所述多种阶数的反射回波和所述各接收器的位置信息，获得所述离散角度信息中每个离散角度信息对应的多种阶数的预处理波束，并基于所述每个离散角度信息对应的多种阶数的预处理波束，获得所述每个离散角度信息对应的结果角度信息和距离信息；以及基于所述结果角度信息和所述距离信息，获得所述声图像。The imager is further configured to perform discretization processing on the preset angle information before obtaining the acoustic image based on the reflection echoes of the various orders, so as to obtain discrete angle information; based on the various orders The number of reflected echoes and the position information of each receiver are obtained, and preprocessing beams of various orders corresponding to each discrete angle information in the discrete angle information are obtained, and based on the multi-order beams corresponding to each discrete angle information preprocessing beams of various orders to obtain result angle information and distance information corresponding to each discrete angle information; and obtain the acoustic image based on the result angle information and the distance information.

在一实施例中，所述成像器，还用于基于所述每个离散角度信息对应的多种阶数的预处理波束，获得所述每个离散角度信息对应的结果波束；基于所述每个离散角度信息对应的结果波束，获得所述每个离散角度信息对应的距离信息，以及对所述每个离散角度信息对应的结果波束进行归一化处理，获得所述每个离散角度信息对应的最终波束；基于所述每个离散角度信息对应的最终波束，获得所述每个离散角度信息对应的结果角度信息。In one embodiment, the imager is further configured to obtain a result beam corresponding to each discrete angle information based on the preprocessing beams of multiple orders corresponding to each discrete angle information; The resulting beams corresponding to each discrete angle information are obtained, the distance information corresponding to each discrete angle information is obtained, and the result beam corresponding to each discrete angle information is normalized to obtain the corresponding The final beam; based on the final beam corresponding to each discrete angle information, obtain the result angle information corresponding to each discrete angle information.

在一实施例中，所述成像器，还用于基于所述多种阶数的反射回波和所述各接收器的位置信息，利用公式一，获得所述离散角度信息中每个离散角度信息对应的多种阶数的预处理波束；In an embodiment, the imager is further configured to obtain each discrete angle in the discrete angle information by using formula 1 based on the reflected echoes of the multiple orders and the position information of the respective receivers. Preprocessing beams of various orders corresponding to the information;

所述公式一为：The formula one is:

其中，g为所述各接收器中的一个接收器的横坐标编号，h为该接收器的纵坐标编号，g和h均为整数，g∈[1,H]，h∈[1,H]，H为所述接收器阵列中接收器的数量，S _gh为该接收器接收的所述多种阶数的反射回波中的第l阶反射回波，w _gh为所述S _gh的加权值，ω为所述第l阶反射回波的回波频率，

为所述离散角度信息中的一个离散角度信息

对应的第l阶预处理波束，i和j均为整数，i∈[1，A],j∈[1，B]，A为所述离散角度信息中离散方位角的数量，B为所述离散角度信息中离散俯仰角的数量。 Among them, g is the abscissa number of one of the receivers, h is the ordinate number of the receiver, g and h are integers, g∈[1,H], h∈[1,H ], H is the number of receivers in the receiver array, S _gh is the first-order reflected echo in the reflected echoes of the multiple orders received by the receiver, w _gh is the S _gh Weighted value, ω is the echo frequency of the first-order reflected echo,

is one of the discrete angle information in the discrete angle information

The corresponding lth-order preprocessing beams, i and j are both integers, i∈[1, A], j∈[1, B], A is the number of discrete azimuths in the discrete angle information, and B is the The number of discrete pitch angles in the discrete angle information.

在一实施例中，所述成像器，还用于基于所述每个离散角度信息对应的多种阶数的预处理波束，利用公式二，获得所述每个离散角度信息对应的结果波束；In an embodiment, the imager is further configured to obtain a result beam corresponding to each discrete angle information by using formula 2 based on the preprocessing beams of multiple orders corresponding to each discrete angle information;

所述公式二为：The second formula is:

其中，

为所述离散角度信息

对应的结果波束，所述多种阶数的取值区间为分别为

N为大于1的自然数，

c为声音速度，J _l为第一类第l阶预处理波束的贝塞尔函数，e为自然常数，a为所述发射器阵列的半径。 in,

for the discrete angle information

The corresponding result beams, the value intervals of the various orders are respectively

N is a natural number greater than 1,

c is the speed of sound, J _l is the Bessel function of the first-order 1st-order preprocessing beam, e is a natural constant, and a is the radius of the transmitter array.

在一实施例中，所述成像器，还用于利用公式三，对所述每个离散角度信息对应的结果波束进行归一化处理，获得所述每个离散角度信息对应的最终波束；In one embodiment, the imager is further configured to perform normalization processing on the result beam corresponding to each discrete angle information by using formula 3, to obtain the final beam corresponding to each discrete angle information;

所述公式三为：The formula three is:

其中，

为所述离散角度信息

对应的最终波束。 in,

for the discrete angle information

the corresponding final beam.

在一实施例中，所述成像器，还用于对所述每个离散角度信息对应的结果波束的频率进行傅里叶变换，获得所述每个离散角度信息对应的距离信息。In an embodiment, the imager is further configured to perform Fourier transform on the frequency of the resulting beam corresponding to each discrete angle information to obtain distance information corresponding to each discrete angle information.

此外，为实现上述目的，本申请还提出了一种成像方法，用于成像***，所述成像***包括：发射器阵列、接收器阵列和成像器，其中，所述接收器阵列中各接收器按照预设排列规则在所述接收器阵列中进行排列；所述方法包括以下步骤：In addition, in order to achieve the above object, the present application also proposes an imaging method for an imaging system, the imaging system includes: a transmitter array, a receiver array and an imager, wherein each receiver in the receiver array Arrange in the receiver array according to a preset arrangement rule; the method includes the following steps:

利用所述发射器阵列向目标物体发射涡旋声波，以使所述涡旋声波到达所述目标物体时，产生反射回波；Using the transmitter array to transmit vortex sound waves to the target object, so that when the vortex sound waves reach the target object, a reflection echo is generated;

利用所述接收器阵列接收所述反射回波；receiving the reflected echo with the receiver array;

利用所述成像器基于所述反射回波，获得所述目标物体的声图像，所述声图像包括所述目标物体的目标位置信息和目标轮廓信息。Using the imager to obtain an acoustic image of the target object based on the reflected echo, the acoustic image includes target position information and target contour information of the target object.

本申请技术方案提出了一种成像***，所述成像***包括：发射器阵列、接收器阵列和成像器，其中，所述接收器阵列中各接收器按照预设排列规则在所述接收器阵列中进行排列；所述发射器阵列，用于向目标物体发射涡旋声波，以使所述涡旋声波到达所述目标物体时，产生反射回波；所述接收器阵列，用于接收所述反射回波；所述成像器，用于基于所述反射回波，获得所述目标物体的声图像，所述声图像包括所述目标物体的目标位置信息和目标轮廓信息。由于，声波在水下传播时，声波信息损失较多，使得接收到的反射回波信息量较少，导致声图像的准确率较低；而本申请的发射器阵列发射涡旋声波，涡旋声波具有螺旋形的波前相位，可以将额外的信息调制到涡旋声波上，使得涡旋声波具有较高的信息运载能力，同时，接收器阵列中各接收器按照预设排列规则在所述接收器阵列中进行排列，使得接收器阵列中各接收器接收到的反射回波包括较多的信息，从而使得成像器基于包括较多信息的反射回波，获得较高准确率的声图像，所以，利用本法发明的成像***，获得目标物体的声图像的准确率较高，从而使得目标物体的目标位置信息和目标轮廓信息准确率较高。The technical solution of the present application provides an imaging system, the imaging system includes: a transmitter array, a receiver array and an imager, wherein each receiver in the receiver array is arranged in the receiver array according to a preset arrangement rule The transmitter array is used to transmit vortex sound waves to the target object, so that when the vortex sound waves reach the target object, a reflection echo is generated; the receiver array is used to receive the vortex sound waves. Reflected echoes; the imager is configured to obtain an acoustic image of the target object based on the reflected echoes, where the acoustic image includes target position information and target contour information of the target object. Because, when the sound wave propagates underwater, the sound wave information is lost more, so that the received reflected echo information is less, resulting in a low accuracy of the sound image; while the transmitter array of the present application emits vortex sound waves, the vortex The sound wave has a spiral wavefront phase, which can modulate additional information on the vortex sound wave, so that the vortex sound wave has a higher information carrying capacity. Arrangement in the receiver array, so that the reflected echo received by each receiver in the receiver array includes more information, so that the imager can obtain an acoustic image with higher accuracy based on the reflected echo including more information, Therefore, by using the imaging system of the present invention, the accuracy of obtaining the acoustic image of the target object is high, so that the target position information and target contour information of the target object have a high accuracy.

附图说明Description of drawings

为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained according to the structures shown in these drawings without any creative effort.

图1为本申请实施例方案涉及的成像器结构示意图；FIG. 1 is a schematic structural diagram of an imager involved in an embodiment of the present application;

图2为本申请成像***第一实施例的结构框图；FIG. 2 is a structural block diagram of the first embodiment of the imaging system of the present application;

图3为本申请发射器阵列和接收器阵列的位置示意图；Fig. 3 is the position schematic diagram of the transmitter array and the receiver array of the present application;

图4为本申请成像***对应的最终波束图；FIG. 4 is the final beam pattern corresponding to the imaging system of the application;

图5为本申请成像***对应的最终波束与现有成像***对应的最终波束对比图；5 is a comparison diagram of the final beam corresponding to the imaging system of the application and the final beam corresponding to the existing imaging system;

图6为本申请成像方法第一实施例的流程图。FIG. 6 is a flowchart of the first embodiment of the imaging method of the present application.

本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。The realization, functional characteristics and advantages of the purpose of the present application will be further described with reference to the accompanying drawings in conjunction with the embodiments.

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

参照图1，图1为本申请实施例方案涉及的成像器结构示意图。Referring to FIG. 1 , FIG. 1 is a schematic structural diagram of an imager involved in an embodiment of the present application.

成像器可以是移动电话、智能电话、笔记本电脑、数字广播接收器、个人数字助理(PDA)、平板电脑(PAD)等用户设备(User Equipment，UE)、手持设备、车载设备、可穿戴设备、计算设备或连接到无线调制解调器的其它处理设备、移动台(Mobile station，MS)等。成像器可能被称为用户终端、便携式终端、台式终端等。The imager can be a User Equipment (UE) such as a mobile phone, a smart phone, a notebook computer, a digital broadcast receiver, a personal digital assistant (PDA), a tablet computer (PAD), a handheld device, an in-vehicle device, a wearable device, A computing device or other processing device connected to a wireless modem, a mobile station (MS), etc. The imager may be referred to as a user terminal, a portable terminal, a desktop terminal, or the like.

通常，成像器包括：至少一个处理器301、存储器302以及存储在所述存储器上并可在所述处理器上运行的定位程序，所述定位程序配置为实现如前所述的成像方法的步骤。Typically, an imager includes at least one processor 301, a memory 302, and a positioning program stored on the memory and executable on the processor, the positioning program being configured to implement the steps of the imaging method as previously described .

处理器301可以包括一个或多个处理核心，比如4核心处理器、8核心处理器等。处理器301可以采用DSP(Digital Signal Processing，数字信号处理)、FPGA(Field－Programmable Gate Array，现场可编程门阵列)、PLA(Programmable Logic Array，可编程逻辑阵列)中的至少一种硬件形式来实现。处理器301也可以包括主处理器和协处理器，主处理器是用于对在唤醒状态下的数据进行处理的处理器，也称CPU(Central ProcessingUnit，中央处理器)；协处理器是用于对在待机状态下的数据进行处理的低功耗处理器。在一些实施例中，处理器301可以在集成有GPU(Graphics Processing Unit，图像处理器)，GPU用于负责显示屏所需要显示的内容的渲染和绘制。处理器301还可以包括AI(Artificial Intelligence，人工智能)处理器，该AI处理器用于处理有关成像方法操作，使得成像方法模型可以自主训练学习，提高效率和准确度。The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 301 can use at least one hardware form among DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), and PLA (Programmable Logic Array, programmable logic array). accomplish. The processor 301 may also include a main processor and a coprocessor. The main processor is a processor used to process data in the wake-up state, also called CPU (Central Processing Unit, central processing unit); A low-power processor for processing data in a standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used for rendering and drawing the content that needs to be displayed on the display screen. The processor 301 may further include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is used to process operations related to the imaging method, so that the imaging method model can be trained and learned autonomously to improve efficiency and accuracy.

存储器302可以包括一个或多个计算机可读存储介质，该计算机可读存储介质可以是非暂态的。存储器302还可包括高速随机存取存储器，以及非易失性存储器，比如一个或多个磁盘存储设备、闪存存储设备。在一些实施例中，存储器302中的非暂态的计算机可读存储介质用于存储至少一个指令，该至少一个指令用于被处理器301所执行以实现本申请中方法实施例提供的成像方法。 Memory 302 may include one or more computer-readable storage media, which may be non-transitory. Memory 302 may also include high-speed random access memory, as well as non-volatile memory, such as one or more disk storage devices, flash storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 302 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 301 to implement the imaging method provided by the method embodiment of the present application .

在一些实施例中，终端还可选包括有：通信接口303和至少一个***设备。处理器301、存储器302和通信接口303之间可以通过总线或信号线相连。各个***设备可以通过总线、信号线或电路板与通信接口303相连。具体地，***设备包括：射频电路304、显示屏305和电源306中的至少一种。In some embodiments, the terminal may also optionally include: a communication interface 303 and at least one peripheral device. The processor 301, the memory 302 and the communication interface 303 may be connected through a bus or a signal line. Various peripheral devices can be connected to the communication interface 303 through a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 304, a display screen 305 and a power supply 306.

通信接口303可被用于将I/O(Input/Output，输入/输出)相关的至少一个***设备连接到处理器301和存储器302。在一些实施例中，处理器301、存储器302和通信接口303被集成在同一芯片或电路板上；在一些其他实施例中，处理器301、存储器302和通信接口303中的任意一个或两个可以在单独的芯片或电路板上实现，本实施例对此不加以限定。The communication interface 303 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 301 and the memory 302 . In some embodiments, the processor 301, the memory 302, and the communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or both of the processor 301, the memory 302, and the communication interface 303 are integrated It may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

射频电路304用于接收和发射RF(Radio Frequency，射频)信号，也称电磁信号。射频电路304通过电磁信号与通信网络以及其他通信设备进行通信。射频电路304将电信号转换为电磁信号进行发送，或者，将接收到的电磁信号转换为电信号。可选地，射频电路304包括：天线***、RF收发器、一个或多个放大器、调谐器、振荡器、数字信号处理器、编解码芯片组、用户身份模块卡等等。射频电路304可以通过至少一种无线通信协议来与其它终端进行通信。该无线通信协议包括但不限于：城域网、各代移动通信网络(2G、3G、4G及5G)、无线局域网和/或WiFi(Wireless Fidelity，无线保真)网络。在一些实施例中，射频电路304还可以包括NFC(Near Field Communication，近距离无线通信)有关的电路，本申请对此不加以限定。The radio frequency circuit 304 is used for receiving and transmitting RF (Radio Frequency, radio frequency) signals, also called electromagnetic signals. The radio frequency circuit 304 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 304 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 304 includes an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and the like. The radio frequency circuit 304 may communicate with other terminals through at least one wireless communication protocol. The wireless communication protocols include, but are not limited to, metropolitan area networks, mobile communication networks of various generations (2G, 3G, 4G and 5G), wireless local area networks and/or WiFi (Wireless Fidelity, wireless fidelity) networks. In some embodiments, the radio frequency circuit 304 may further include a circuit related to NFC (Near Field Communication, short-range wireless communication), which is not limited in this application.

显示屏305用于显示UI(User Interface，用户界面)。该UI可以包括图形、文本、图标、视频及其它们的任意组合。当显示屏305是触摸显示屏时，显示屏305还具有采集在显示屏305的表面或表面上方的触摸信号的能力。该触摸信号可以作为控制信号输入至处理器301进行处理。此时，显示屏305还可以用于提供虚拟按钮和/或虚拟键盘，也称软按钮和/或软键盘。在一些实施例中，显示屏305可以为一个，电子设备的前面板；在另一些实施例中，显示屏305可以为至少两个，分别设置在电子设备的不同表面或呈折叠设计；在再一些实施例中，显示屏305可以是柔性显示屏，设置在电子设备的弯曲表面上或折叠面上。甚至，显示屏305还可以设置成非矩形的不规则图形，也即异形屏。显示屏305可以采用LCD(LiquidCrystal Display，液晶显示屏)、OLED(Organic Light-Emitting Diode, 有机发光二极管)等材质制备。The display screen 305 is used for displaying UI (User Interface, user interface). The UI can include graphics, text, icons, video, and any combination thereof. When the display screen 305 is a touch display screen, the display screen 305 also has the ability to acquire touch signals on or above the surface of the display screen 305 . The touch signal may be input to the processor 301 as a control signal for processing. At this time, the display screen 305 may also be used to provide virtual buttons and/or virtual keyboards, also referred to as soft buttons and/or soft keyboards. In some embodiments, the display screen 305 may be one, which is the front panel of the electronic device; in other embodiments, the display screen 305 may be at least two, which are respectively disposed on different surfaces of the electronic device or in a folded design; In some embodiments, the display screen 305 may be a flexible display screen disposed on a curved or folded surface of the electronic device. Even, the display screen 305 can also be set as a non-rectangular irregular figure, that is, a special-shaped screen. The display screen 305 can be made of materials such as LCD (Liquid Crystal Display, liquid crystal display), OLED (Organic Light-Emitting Diode, organic light emitting diode).

电源306用于为电子设备中的各个组件进行供电。电源306可以是交流电、直流电、一次性电池或可充电电池。当电源306包括可充电电池时，该可充电电池可以支持有线充电或无线充电。该可充电电池还可以用于支持快充技术。 Power supply 306 is used to power various components in the electronic device. The power source 306 may be alternating current, direct current, a primary battery, or a rechargeable battery. When the power source 306 includes a rechargeable battery, the rechargeable battery can support wired charging or wireless charging. The rechargeable battery can also be used to support fast charging technology.

本领域技术人员可以理解，图1中示出的结构并不构成对成像器的限定，可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置。Those skilled in the art can understand that the structure shown in FIG. 1 does not constitute a limitation on the imager, and may include more or less components than shown, or combine some components, or arrange different components.

此外，本申请实施例还提出一种计算机可读存储介质，所述计算机可读存储介质上存储有定位程序，所述定位程序被处理器执行时实现如上文所述的成像方法的步骤。因此，这里将不再进行赘述。另外，对采用相同方法的有益效果描述，也不再进行赘述。对于本申请所涉及的计算机可读存储介质实施例中未披露的技术细节，请参照本申请方法实施例的描述。确定为示例，程序指令可被部署为在一个成像器上执行，或者在位于一个地点的多个成像器上执行，又或者，在分布在多个地点且通过通信网络互连的多个成像器上执行。In addition, an embodiment of the present application further provides a computer-readable storage medium, where a positioning program is stored on the computer-readable storage medium, and when the positioning program is executed by a processor, the steps of the imaging method as described above are implemented. Therefore, it will not be repeated here. In addition, the description of the beneficial effects of using the same method will not be repeated. For technical details not disclosed in the computer-readable storage medium embodiments involved in the present application, please refer to the description of the method embodiments of the present application. Determined as an example, program instructions may be deployed to execute on one imager, or multiple imagers located at one site, or alternatively, multiple imagers distributed across multiple sites and interconnected by a communication network execute on.

本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，上述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，上述的计算机可读存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random AccessMemory，RAM)等。Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing the relevant hardware through a computer program, and the above program can be stored in a computer-readable storage medium, and the program is in During execution, it may include the processes of the embodiments of the above-mentioned methods. The above-mentioned computer-readable storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

参照图2，图2为本申请成像***第一实施例的结构框图，所述成像***包括：发射器阵列10、接收器阵列20和成像器30，其中，所述接收器阵列中各接收器按照预设排列规则在所述接收器阵列中进行排列；Referring to FIG. 2, FIG. 2 is a structural block diagram of a first embodiment of an imaging system of the present application. The imaging system includes: a transmitter array 10, a receiver array 20 and an imager 30, wherein each receiver in the receiver array Arrange in the receiver array according to a preset arrangement rule;

所述发射器阵列10，用于向目标物体发射涡旋声波，以使所述涡旋声波到达所述目标物体时，产生反射回波；The transmitter array 10 is used for transmitting vortex sound waves to the target object, so that when the vortex sound waves reach the target object, a reflection echo is generated;

所述接收器阵列20，用于接收所述反射回波；the receiver array 20, for receiving the reflected echo;

所述成像器30，用于基于所述反射回波，获得所述目标物体的声图像，所述声图像包括所述目标物体的目标位置信息和目标轮廓信息。The imager 30 is configured to obtain an acoustic image of the target object based on the reflected echo, where the acoustic image includes target position information and target contour information of the target object.

需要说明的时，本申请的发射器阵列中的发射器可以是换能器，接收器阵列中的接收器可以是水听器；成像器可以是上述任意一种成像器，本申请不做限制。It should be noted that the transmitter in the transmitter array of the present application may be a transducer, and the receiver in the receiver array may be a hydrophone; the imager may be any of the above-mentioned imagers, which is not limited in this application .

通常，成像***用于水下定位，确定一个目标区域，目标区域中的目标物体即是需要获得目标位置信息和目标轮廓信息的物体；在目标区域布置发射器阵列，用于向目标物体发射涡旋声波，同时，为了发射涡旋声波，发射器阵列为环形阵列，另外，还需要在目标区域布置接收器阵列，用于接收涡旋声波到达目标物体之后，反射的反射回波；最后利用成像器基于反射回波，获得目标区域中的目标物体的声图像，声图像包括目标位置信息和目标轮廓信息，目标位置信息即为目标物体的位置信息，目标位置信息通常为包括方位角、俯仰角和距离的三维信息，目标轮廓信息即为目标物体的轮廓信息，目标轮廓信息包括目标物体的大小和形状等；可以理解的是，声图像是一种三维图像，同时，在目标物体为运动物体时，可以是获得目标物体在连续一段时间内对应的多个声图像，多个声图像组成目标视频，目标视频用于描述目标物体的状态，目标视频的每一帧图像都包括该帧所对应时刻，目标物体的目标位置信息和目标轮廓信息。Usually, the imaging system is used for underwater positioning to determine a target area, and the target object in the target area is the object that needs to obtain target position information and target contour information; the transmitter array is arranged in the target area to transmit vortex to the target object. At the same time, in order to transmit the vortex sound wave, the transmitter array is a ring array. In addition, the receiver array needs to be arranged in the target area to receive the reflected echo after the vortex sound wave reaches the target object; Based on the reflected echo, the sensor obtains the acoustic image of the target object in the target area. The acoustic image includes the target position information and the target contour information. The target position information is the position information of the target object. The target position information usually includes the azimuth angle and the pitch angle. and distance three-dimensional information, the target contour information is the contour information of the target object, and the target contour information includes the size and shape of the target object. At the time, it can be to obtain multiple acoustic images corresponding to the target object in a continuous period of time, and multiple acoustic images form a target video, the target video is used to describe the state of the target object, and each frame of the target video includes the corresponding image of the frame. At the moment, the target position information and target contour information of the target object.

进一步的，所述接收器阵列20包括多个接收器，每个接收器按照预设间距等间距的分布在所述接收器阵列中。Further, the receiver array 20 includes a plurality of receivers, and each receiver is equally spaced in the receiver array according to a preset interval.

所述发射器阵列10为环形发射器阵列，所述环形发射器阵列包括多个发射器，每个发射器等间距的分布在所述环形发射器阵列中。The transmitter array 10 is a ring transmitter array, and the ring transmitter array includes a plurality of transmitters, and each transmitter is equally spaced in the ring transmitter array.

通常，在目标区域中确定出目标形状的第一选定区域，在第一选定区域内按照预设间距(预设间距通常为涡旋声波半波长)等间距设置多个接收器，以获得所述接收器阵列，即接收器阵列中的接收器密度分布均匀。其中，目标形状可以是圆形或正方形，本申请不做限制。Usually, a first selected area of the target shape is determined in the target area, and a plurality of receivers are arranged at equal intervals in the first selected area according to a preset interval (the preset interval is usually a half wavelength of the vortex acoustic wave), so as to obtain The receiver array, ie the receiver density distribution in the receiver array is uniform. The target shape may be a circle or a square, which is not limited in this application.

另外，通常以第一选定区域的中心为环形的第二选定区域的圆心，在第一选定区域内做最大的内接圆，圆周对应的区域即为环形的第二选定区域，将发射器布置在环形的第二选定区域，以获得发射器阵列；其中，第二选定区域的发射阵列中的发射器均匀布置，即，等间距布置。In addition, usually the center of the first selected area is the center of the annular second selected area, and the largest inscribed circle is made in the first selected area, and the area corresponding to the circumference is the annular second selected area, The transmitters are arranged in an annular second selected area to obtain an array of transmitters; wherein the transmitters in the transmit array of the second selected area are uniformly arranged, ie, equally spaced.

另外，可以将第二选定区域(环形区域)周围的部分水听器用收发合置的换能器，并将其移动到第二选定区域(环形区域)而得到发射器阵列。In addition, a part of the hydrophone around the second selected area (annular area) can be combined with transducers and moved to the second selected area (annular area) to obtain a transmitter array.

参照图3，图3为本申请发射器阵列和接收器阵列的位置示意图；目标区域中确定的第一选定区域为边长10(单位长度为涡旋声波波长)的正方形，正方形内部等间距的设置预设接收布阵点，预设接收布阵点之间的间距均为预设间距即，涡旋声波半波长，一个预设接收布阵点用于放置一个接收器，将全部接收布阵点完成接收器的放置后，获得所述接收器阵列；另外，基于第一选定区域——边长为10的正方形，将正方形中心确定为圆心，并利用该圆心，在第一选定区域内做最大的内接圆，圆周所对应的区域为环形第二选定区域，圆周上的一个点表示一个发射器的发射布阵点，用于放置一个发射器，整个圆周对应的全部发射器即为所述发射器阵列。Referring to Fig. 3, Fig. 3 is a schematic diagram of the position of the transmitter array and the receiver array of the application; the first selected area determined in the target area is a square with a side length of 10 (unit length is a vortex acoustic wave wavelength), and the inside of the square is equidistant The setting of the preset receiving array points, the spacing between the preset receiving array points is the preset spacing, that is, the half wavelength of the vortex sound wave, one preset receiving array point is used to place a receiver, and all the receiving array points are After the placement of the receivers at the lattice points is completed, the receiver array is obtained; in addition, based on the first selected area—a square with a side length of 10, the center of the square is determined as the center of the circle, and the center of the circle is used in the first selected area. Make the largest inscribed circle in the area. The area corresponding to the circumference is the second selected area of the ring. A point on the circumference represents the emission array point of a transmitter, which is used to place a transmitter. The entire circumference corresponds to all the transmitters. The transmitter is the transmitter array.

参照图3，第一选定区域和第二选定区域所在的目标区域的横坐标跨度为-5到+5，纵坐标跨度为-5到+5，横纵坐标用于表示各接收器和各发射器的位置坐标。用户可以根据自己的需求设定其他类型的坐标，本申请不做限制，例如，横坐标跨度为0到10，纵坐标跨度为0到10等，只要可以表示各接收器和各发射器的位置坐标即可，位置坐标可以是相对位置坐标或世界坐标。Referring to FIG. 3 , the abscissa of the target area where the first selected area and the second selected area are located has a span of -5 to +5, and the ordinate span of -5 to +5, and the abscissa and ordinate are used to represent each receiver and The location coordinates of each transmitter. Users can set other types of coordinates according to their own needs, which is not limited in this application. For example, the span of the horizontal coordinate is 0 to 10, and the span of the vertical coordinate is 0 to 10, etc., as long as the position of each receiver and each transmitter can be represented. The coordinates can be used, and the position coordinates can be relative position coordinates or world coordinates.

进一步的，所述发射器阵列10，用于向目标物体发射多种阶数的涡旋声波，以使所述多种阶数的涡旋声波到达所述目标物体时，产生所述多种阶数的涡旋声波对应的多种阶数的反射回波；Further, the transmitter array 10 is used to emit vortex sound waves of various orders to the target object, so that when the vortex sound waves of various orders reach the target object, the various orders of vortex sound waves are generated. The reflected echoes of various orders corresponding to the number of vortex acoustic waves;

所述接收器阵列20，用于接收所述多种阶数的反射回波；the receiver array 20, for receiving the reflected echoes of the various orders;

所述成像器30，用于基于所述多种阶数的反射回波，获得所述声图像。The imager 30 is configured to obtain the acoustic image based on the reflection echoes of the various orders.

需要说明的是，所述发射器阵列可以每次发射一种阶数的涡旋声波，同时接收器阵列接收一种阶数的反射回波；在具体应用中，为了保证获得的目标位置信息准确率较高，需要利用所述发射器阵列进行多次涡旋声波的发射，每次发射不同种阶数的涡旋声波，以使接收器阵列接收不同种阶数的反射回波。例如，发射器阵列分别发射6次，发射了6种阶数的涡旋声波，接收器阵列接收6次，接收到6种阶数的反射回波。较优的，涡旋声波的阶数取值不小于6，即至少需要发射6种阶数的涡旋声波。It should be noted that the transmitter array can transmit vortex acoustic waves of one order at a time, while the receiver array receives reflected echoes of one order; in specific applications, in order to ensure that the obtained target position information is accurate The rate is high, and the transmitter array needs to be used to transmit vortex acoustic waves multiple times, and each time vortex acoustic waves of different orders are transmitted, so that the receiver array can receive reflected echoes of different orders. For example, the transmitter array transmits 6 times respectively and transmits vortex acoustic waves of 6 orders, and the receiver array receives 6 times and receives the reflected echoes of 6 orders. Preferably, the order of the vortex sound waves is not less than 6, that is, at least 6 orders of vortex sound waves need to be emitted.

通常，发射器的数量为P，第p个发射器发射的涡旋声波信号为：

代表发射调相，e为自然常数，l为涡旋声波的阶数，ω为涡旋声波的频率，

t为时间。 Usually, the number of transmitters is P, and the vortex acoustic wave signal emitted by the pth transmitter is:

represents the emission phase modulation, e is a natural constant, l is the order of the vortex sound wave, ω is the frequency of the vortex sound wave,

t is time.

具体应用中，假设目标物体为亮点模型，由M个理想的散射点组成，第m个点的球坐标为

散射系数为σ _m。其中，接收器的坐标为(x _g，y _h)，g和h均为整数，g为接收器的横坐标编号，h为该接收器的纵坐标编号，g∈[1,H]，h∈[1,H](接收器阵列共有H个接收器)。则反射回波为： In the specific application, it is assumed that the target object is a bright spot model, which consists of M ideal scattering points, and the spherical coordinate of the mth point is

The scattering coefficient is σ _m . Among them, the coordinates of the receiver are (x _g , y _h ), g and h are integers, g is the abscissa number of the receiver, h is the ordinate number of the receiver, g∈[1,H], h ∈ [1,H] (the receiver array has a total of H receivers). Then the reflected echo is:

其中，波数

c为声音速度，J _l为第一类第l阶涡旋声波的贝塞尔函数，通常，第一类第l阶涡旋声波的贝塞尔函数对应的第一类第l阶反射回波的贝塞尔函数是相同的。 Among them, the wave number

c is the speed of sound, J _l is the Bessel function of the first type l-th order vortex sound wave, generally, the first type l-th order reflection echo corresponding to the Bessel function of the first type l-th order vortex sound wave The Bessel function is the same.

进一步的，所述成像器存储有所述接收器阵列中各接收器的位置信息；Further, the imager stores the position information of each receiver in the receiver array;

所述成像器30，还用于在基于所述多种阶数的反射回波，获得所述声图像之前，对预设角度信息进行离散化处理，以获得离散角度信息；基于所述多种阶数的反射回波和所述各接收器的位置信息，获得所述离散角度信息中每个离散角度信息对应的多种阶数的预处理波束，并基于所述每个离散角度信息对应的多种阶数的预处理波束，获得所述每个离散角度信息对应的结果角度信息和距离信息；以及基于所述结果角度信息和所述距离信息，获得所述声图像。The imager 30 is further configured to perform discretization processing on preset angle information before obtaining the acoustic image based on the reflection echoes of the various orders, so as to obtain discrete angle information; The reflected echo of the order and the position information of each receiver, obtain the preprocessing beams of various orders corresponding to each discrete angle information in the discrete angle information, and based on the corresponding discrete angle information Preprocessing beams of multiple orders to obtain the resultant angle information and distance information corresponding to each discrete angle information; and to obtain the acoustic image based on the resultant angle information and the distance information.

具体的，所述成像器30，还用于基于所述每个离散角度信息对应的多种阶数的预处理波束，获得所述每个离散角度信息对应的结果波束；基于所述每个离散角度信息对应的结果波束，获得所述每个离散角度信息对应的距离信息，以及对所述每个离散角度信息对应的结果波束进行归一化处理，获得所述每个离散角度信息对应的最终波束；基于所述每个离散角度信息对应的最终波束，获得所述每个离散角度信息对应的结果角度信息。Specifically, the imager 30 is further configured to obtain a result beam corresponding to each discrete angle information based on the preprocessing beams of multiple orders corresponding to each discrete angle information; The resulting beam corresponding to the angle information, obtains the distance information corresponding to each discrete angle information, and normalizes the result beam corresponding to each discrete angle information to obtain the final corresponding to each discrete angle information. beam; based on the final beam corresponding to each discrete angle information, obtain the result angle information corresponding to each discrete angle information.

需要说明的是，各接收器的位置信息可以是上文所述的坐标信息，例如，(x _g，y _h)。预设角度信息可以是整个空间的涉及的全部角度信息，即预设角度信息包括的俯仰角范围为0°-360°，预设角度信息包括的方位角范围为0°-360°，预设角度信息为俯仰角和方位角的组合信息。 It should be noted that the location information of each receiver may be the coordinate information described above, for example, (x _g , y _h ). The preset angle information may be all the angle information involved in the entire space, that is, the preset angle information includes a pitch angle range of 0°-360°, and the preset angle information includes an azimuth angle range of 0°-360°. The angle information is the combined information of the pitch angle and the azimuth angle.

可以理解的是，空间内预设角度信息包括的俯仰角和方位角均是连续的无穷多值，需要对其进行离散化处理，获得离散角度信息，离散角度信息包括有限的离散俯仰角和有限的离散方位角，预设角度信息离散化处理后的其中一个离散角度信息可以为

i和j均为整数，i∈[1，A],j∈[1，B]，A和B均为自然数，分别表示预设角度信息的方位角和俯仰角离散化之后，离散方位角和离散俯仰角的数量。其中，离散化之后离散方位角的数量A和离散俯仰角的数量B的值基于成像器等硬件设备的分辨率确定，本申请不做限定。 It can be understood that the pitch angle and azimuth angle included in the preset angle information in the space are continuous infinite values, which need to be discretized to obtain discrete angle information. The discrete angle information includes limited discrete pitch angle and limited discrete angle. The discrete azimuth angle of

i and j are both integers, i∈[1, A], j∈[1, B], A and B are both natural numbers, respectively representing the azimuth and pitch angles of the preset angle information after discretization, the discrete azimuth and The number of discrete pitch angles. The values of the number A of discrete azimuth angles and the number B of discrete pitch angles after discretization are determined based on the resolution of hardware devices such as imagers, which are not limited in this application.

进一步的，所述成像器30，还用于基于所述多种阶数的反射回波和所述各接收器的位置信息，利用公式一，获得所述离散角度信息中每个离散角度信息对应的多种阶数的预处理波束；Further, the imager 30 is further configured to obtain the corresponding information of each discrete angle in the discrete angle information by using formula 1 based on the reflected echoes of the various orders and the position information of the respective receivers. preprocessing beams of various orders;

所述公式一为：The formula one is:

为所述离散角度信息中的一个离散角度信息

对应的第l阶预处理波束，i 和j均为整数，i∈[1，A],j∈[1，B]，A为所述离散角度信息中离散方位角的数量，B为所述离散角度信息中离散俯仰角的数量。 Among them, g is the abscissa number of one of the receivers, h is the ordinate number of the receiver, g and h are integers, g∈[1,H], h∈[1,H ], H is the number of receivers in the receiver array, S _gh is the first-order reflected echo in the reflected echoes of the multiple orders received by the receiver, w _gh is the S _gh Weighted value, ω is the echo frequency of the first-order reflected echo,

is one of the discrete angle information in the discrete angle information

For the corresponding lth-order preprocessing beam, i and j are both integers, i∈[1, A], j∈[1, B], A is the number of discrete azimuths in the discrete angle information, and B is the The number of discrete pitch angles in the discrete angle information.

需要说明的是，第l阶反射回波的回波频率与对应的第l阶涡旋声波的频率是相同的，不变；w _gh基于该接收器从

方向接收反射回来的反射回波的延迟确定。 It should be noted that the echo frequency of the first-order reflected echo is the same as the corresponding frequency of the first-order vortex _acoustic wave and remains unchanged;

The direction of receiving the reflected echo back is determined by the delay.

进一步的，所述成像器30，还用于基于所述每个离散角度信息对应的多种阶数的预处理波束，利用公式二，获得所述每个离散角度信息对应的结果波束；Further, the imager 30 is further configured to obtain the result beam corresponding to each discrete angle information by using formula 2 based on the preprocessing beams of various orders corresponding to each discrete angle information;

所述公式二为：The second formula is:

其中，

为所述离散角度信息

对应的结果波束，所述多种阶数的取值区间为分别为

N为大于1的自然数，

for the discrete angle information

N is a natural number greater than 1,

需要说明的是，通常N可以去5-15的整数，即涡旋声波的阶数通常为5-15阶为优，一般而言，N还可以是发射器阵列发射器的数量。其中，第一类第l阶预处理波束的贝塞尔函数与第一类第l阶涡旋声波(或反射回波)的贝塞尔函数是相同的。It should be noted that N can usually be an integer of 5-15, that is, the order of the vortex acoustic wave is usually 5-15. Generally speaking, N can also be the number of transmitters in the transmitter array. Wherein, the Bessel function of the first type of the lth-order preprocessing beam is the same as the Bessel function of the first type of the lth-order vortex acoustic wave (or reflected echo).

进一步的，所述成像器30，还用于利用公式三，对所述每个离散角度信息对应的结果波束进行归一化处理，获得所述每个离散角度信息对应的最终波束；Further, the imager 30 is further configured to perform normalization processing on the result beam corresponding to each discrete angle information by using formula 3, to obtain the final beam corresponding to each discrete angle information;

所述公式三为：The formula three is:

其中，

为所述离散角度信息

对应的最终波束。 in,

for the discrete angle information

the corresponding final beam.

进一步的，所述成像器30，还用于对所述每个离散角度信息对应的结果波束的频率进行傅里叶变换，获得所述每个离散角度信息对应的距离信息。Further, the imager 30 is further configured to perform Fourier transform on the frequency of the resulting beam corresponding to each discrete angle information to obtain distance information corresponding to each discrete angle information.

需要说明的是结果波束的频率，与原始涡旋声波的频率相同，即原始涡旋声波、原始涡旋声波对应的反射回波、反射回波对应的预处理波束、预处理波束对应的结果波束和结果波束对应的最终波束的频率均相同，为原始涡旋声波的频率。It should be noted that the frequency of the resulting beam is the same as the frequency of the original vortex acoustic wave, that is, the original vortex acoustic wave, the reflected echo corresponding to the original vortex acoustic wave, the preprocessing beam corresponding to the reflected echo, and the result beam corresponding to the preprocessing beam. The frequency of the final beam corresponding to the result beam is the same, which is the frequency of the original vortex sound wave.

基于所述每个离散角度信息对应的最终波束，获得所述每个离散角度信息对应的结果角度信息；基于所述结果角度信息和所述距离信息，获得所述声图像，以基于声图像，获得所述目标物体的目标位置信息和目标轮廓信息。即通过遍历所述离散角度信息中的全部离散角度信息和全部距离信息，获得目标物体的方位角-俯仰角-距离，以及获得目标物体的目标轮廓信息。Based on the final beam corresponding to each discrete angle information, obtain the resultant angle information corresponding to each discrete angle information; and obtain the acoustic image based on the resultant angle information and the distance information, so as to Obtain target position information and target contour information of the target object. That is, by traversing all the discrete angle information and all the distance information in the discrete angle information, the azimuth angle-elevation angle-distance of the target object is obtained, and the target contour information of the target object is obtained.

可以理解的是，成像器基于多种阶数的反射回波，获得的信息为声图像，声图像具有所述目标位置信息和所述目标轮廓信息。It can be understood that the information obtained by the imager based on reflection echoes of various orders is an acoustic image, and the acoustic image has the target position information and the target contour information.

另外，还可以生成不同频率的涡旋声波，对于每一种频率的涡旋声波发射多种阶数的涡旋声波，以获得不同频率涡旋声波分别对应的目标物体的多个声图像(每个声图像均包括目标位置信息和目标轮廓信息，一种频率的多种阶数的涡旋声波对应一个声图像)；基于多个声图像，确定目标物体的最终声图像，最终声图像包括最终目标位置信息和最终目标轮廓信息，最终目标位置信息和最终目标轮廓信息的准确率会进一步提高。In addition, vortex sound waves of different frequencies can also be generated, and vortex sound waves of various orders are emitted for each frequency of vortex sound waves, so as to obtain multiple acoustic images of the target object corresponding to the vortex sound waves of different frequencies (each Each acoustic image includes target position information and target contour information, and vortex acoustic waves of one frequency and multiple orders correspond to one acoustic image); based on the multiple acoustic images, the final acoustic image of the target object is determined, and the final acoustic image includes the final acoustic image. Target position information and final target contour information, and the accuracy of final target position information and final target contour information will be further improved.

参照图4-5，图4为本申请成像***对应的最终波束图；图5为本申请成像***对应的最终波束与现有成像***对应的最终波束对比图；在图4中，可以看到本申请成像***对应的最终波束主瓣尖锐和旁瓣级别低；图5中，本申请的成像***与现有的成像***均是具有相同数量的接收器，A曲线为本申请成像***对应的最终波束，B曲线为现有成像***对应的最终波束图，可见，本申请成像***对应的最终波束图具有较尖锐的主瓣和更低的旁瓣。Referring to Figures 4-5, Figure 4 is a final beam diagram corresponding to the imaging system of the application; Figure 5 is a comparison diagram of the final beam corresponding to the imaging system of the application and the final beam corresponding to the existing imaging system; In Figure 4, it can be seen The final beam main lobe corresponding to the imaging system of the present application is sharp and the side lobe level is low; in FIG. 5 , the imaging system of the present application and the existing imaging system both have the same number of receivers, and curve A corresponds to the imaging system of the present application. The final beam, the B curve is the final beam pattern corresponding to the existing imaging system. It can be seen that the final beam pattern corresponding to the imaging system of the present application has sharper main lobes and lower side lobes.

参照图6，图6为本申请成像方法第一实施例的流程图，方法用于成像***，所述成像***包括：发射器阵列、接收器阵列和成像器，其中，所述接收器阵列中各接收器按照预设排列规则在所述接收器阵列中进行排列；所述方法包括以下步骤：Referring to FIG. 6, FIG. 6 is a flow chart of the first embodiment of the imaging method of the present application. The method is used in an imaging system, and the imaging system includes: a transmitter array, a receiver array, and an imager, wherein, in the receiver array Each receiver is arranged in the receiver array according to a preset arrangement rule; the method includes the following steps:

步骤S11：利用所述发射器阵列向目标物体发射涡旋声波，以使所述涡旋声波到达所述目标物体时，产生反射回波；Step S11: using the transmitter array to transmit vortex sound waves to the target object, so that when the vortex sound waves reach the target object, a reflection echo is generated;

步骤S12：利用所述接收器阵列接收所述反射回波；Step S12: using the receiver array to receive the reflected echo;

步骤S13：利用所述成像器基于所述反射回波，获得所述目标物体的声图像，所述声图像包括所述目标物体的目标位置信息和目标轮廓信息。Step S13: Using the imager to obtain an acoustic image of the target object based on the reflected echo, where the acoustic image includes target position information and target contour information of the target object.

参照上文描述，此处不再赘述。Referring to the above description, details are not repeated here.

以上所述仅为本申请的可选实施例，并非因此限制本申请的专利范围，凡是在本申请的发明构思下，利用本申请说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本申请的专利保护范围内。The above descriptions are only optional embodiments of the present application and are not intended to limit the scope of the patent of the present application. Under the inventive concept of the present application, any equivalent structural transformations made by using the contents of the description and drawings of the present application, or direct/indirect Applications in other related technical fields are included in the scope of patent protection of this application.

Claims

一种成像***，其中，所述成像***包括：发射器阵列、接收器阵列和成像器，其中，所述接收器阵列中各接收器按照预设排列规则在所述接收器阵列中进行排列；An imaging system, wherein the imaging system comprises: a transmitter array, a receiver array and an imager, wherein each receiver in the receiver array is arranged in the receiver array according to a preset arrangement rule;

所述发射器阵列，用于向目标物体发射涡旋声波，以使所述涡旋声波到达所述目标物体时，产生反射回波；The transmitter array is used to transmit vortex sound waves to the target object, so that when the vortex sound waves reach the target object, a reflection echo is generated;

所述接收器阵列，用于接收所述反射回波；the receiver array for receiving the reflected echo;

所述成像器，用于基于所述反射回波，获得所述目标物体的声图像，所述声图像包括所述目标物体的目标位置信息和目标轮廓信息。The imager is configured to obtain an acoustic image of the target object based on the reflected echo, where the acoustic image includes target position information and target contour information of the target object.
如权利要求1所述的成像***，其中，所述接收器阵列包括多个接收器，每个接收器按照预设间距等间距的分布在所述接收器阵列中；The imaging system of claim 1, wherein the receiver array comprises a plurality of receivers, and each receiver is equally spaced in the receiver array according to a preset interval;

所述发射器阵列为环形发射器阵列，所述环形发射器阵列包括多个发射器，每个发射器等间距的分布在所述环形发射器阵列中。The transmitter array is a ring transmitter array, the ring transmitter array includes a plurality of transmitters, and each transmitter is equally spaced in the ring transmitter array.
如权利要求1所述的成像***，其中，所述发射器阵列，用于向目标物体发射多种阶数的涡旋声波，以使所述多种阶数的涡旋声波到达所述目标物体时，产生所述多种阶数的涡旋声波对应的多种阶数的反射回波；The imaging system according to claim 1, wherein the transmitter array is used to transmit multiple orders of vortex sound waves to the target object, so that the multiple orders of vortex sound waves reach the target object When , generating reflection echoes of various orders corresponding to the vortex acoustic waves of various orders;

所述接收器阵列，用于接收所述多种阶数的反射回波；the receiver array for receiving the reflected echoes of the multiple orders;

所述成像器，用于基于所述多种阶数的反射回波，获得所述声图像。The imager is configured to obtain the acoustic image based on the reflection echoes of the various orders.
如权利要求3所述的成像***，其中，所述成像器存储有所述接收器阵列中各接收器的位置信息；The imaging system of claim 3, wherein the imager stores position information for each receiver in the receiver array;

所述成像器，还用于在基于所述多种阶数的反射回波，获得所述声图像之前，对预设角度信息进行离散化处理，以获得离散角度信息；基于所述多种阶数的反射回波和所述各接收器的位置信息，获得所述离散角度信息中每个离散角度信息对应的多种阶数的预处理波束，并基于所述每个离散角度信息对应的多种阶数的预处理波束，获得所述每个离散角度信息对应的结果角度信息和距离信息；以及基于所述结果角度信息和所述距离信息，获得所述声图像。The imager is further configured to perform discretization processing on the preset angle information before obtaining the acoustic image based on the reflection echoes of the various orders, so as to obtain discrete angle information; based on the various orders The number of reflected echoes and the position information of each receiver are obtained, and preprocessing beams of various orders corresponding to each discrete angle information in the discrete angle information are obtained, and based on the multi-order beams corresponding to each discrete angle information preprocessing beams of various orders to obtain result angle information and distance information corresponding to each discrete angle information; and obtain the acoustic image based on the result angle information and the distance information.
如权利要求4所述的成像***，其中，所述成像器，还用于基于所述每个离散角度信息对应的多种阶数的预处理波束，获得所述每个离散角度信息对应的结果波束；基于所述每个离散角度信息对应的结果波束，获得所述每个离散角度信息对应的距离信息，以及对所述每个离散角度信息对应的结果波束进行归一化处理，获得所述每个离散角度信息对应的最终波束；基于所述每个离散角度信息对应的最终波束，获得所述每个离散角度信息对应的结果角度信息。The imaging system according to claim 4, wherein the imager is further configured to obtain a result corresponding to each discrete angle information based on the preprocessing beams of various orders corresponding to each discrete angle information beam; based on the result beam corresponding to each discrete angle information, obtain the distance information corresponding to each discrete angle information, and normalize the result beam corresponding to each discrete angle information to obtain the The final beam corresponding to each discrete angle information; and based on the final beam corresponding to each discrete angle information, the result angle information corresponding to each discrete angle information is obtained.
如权利要求5所述的成像***，其中，所述成像器，还用于基于所述多种阶数的反射回波和所述各接收器的位置信息，利用公式一，获得所述离散角度信息中每个离散角度信息对应的多种阶数的预处理波束；The imaging system according to claim 5, wherein the imager is further configured to obtain the discrete angle by using formula 1 based on the reflected echoes of the multiple orders and the position information of the respective receivers Preprocessing beams of various orders corresponding to each discrete angle information in the information;

所述公式一为：The formula one is:

其中，g为所述各接收器中的一个接收器的横坐标编号，h为该接收器的纵坐标编号，g和h均为整数，g∈[1,H]，h∈[1,H]，H为所述接收器阵列中接收器的数量，S _gh为该接收器接收的所述多种阶数的反射回波中的第l阶反射回波，w _gh为所述S _gh的加权值，ω为所述第l阶反射回波的回波频率，
为所述离散角度信息中的一个离散角度信息
对应的第l阶预处理波束，i和j均为整数，i∈[1，A],j∈[1，B]，A为所述离散角度信息中离散方位角的数量，B为所述离散角度信息中离散俯仰角的数量。 Among them, g is the abscissa number of one of the receivers, h is the ordinate number of the receiver, g and h are integers, g∈[1,H], h∈[1,H ], H is the number of receivers in the receiver array, S _gh is the first-order reflected echo in the reflected echoes of the multiple orders received by the receiver, w _gh is the S _gh Weighted value, ω is the echo frequency of the first-order reflected echo,
is one of the discrete angle information in the discrete angle information
The corresponding lth-order preprocessing beams, i and j are both integers, i∈[1, A], j∈[1, B], A is the number of discrete azimuths in the discrete angle information, and B is the The number of discrete pitch angles in the discrete angle information.
如权利要求6所述的成像***，其中，所述成像器，还用于基于所述每个离散角度信息对应的多种阶数的预处理波束，利用公式二，获得所述每个离散角度信息对应的结果波束；The imaging system according to claim 6, wherein the imager is further configured to obtain each discrete angle based on the preprocessing beams of various orders corresponding to the information of each discrete angle by using formula 2 The resulting beam corresponding to the information;

所述公式二为：The second formula is:

其中，
为所述离散角度信息
对应的结果波束，所述多种阶数的取值区间为分别为
N为大于1的自然数，
c为声音速度，J _l为第一类第l阶预处理波束的贝塞尔函数，e为自然常数，a为所述发射器阵列的半径。 in,
for the discrete angle information
The corresponding result beams, the value intervals of the various orders are respectively
N is a natural number greater than 1,
c is the speed of sound, J _l is the Bessel function of the first-order 1st-order preprocessing beam, e is a natural constant, and a is the radius of the transmitter array.
如权利要求7所述的成像***，其中，所述成像器，还用于利用公式三，对所述每个离散角度信息对应的结果波束进行归一化处理，获得所述每个离散角度信息对应的最终波束；The imaging system according to claim 7, wherein the imager is further configured to perform normalization processing on the result beam corresponding to each discrete angle information by using formula 3 to obtain each discrete angle information the corresponding final beam;

所述公式三为：The formula three is:

其中，
为所述离散角度信息
对应的最终波束。 in,
for the discrete angle information
the corresponding final beam.
如权利要求8所述的成像***，其中，所述成像器，还用于对所述每个离散角度信息对应的结果波束的频率进行傅里叶变换，获得所述每个离散角度信息对应的距离信息。The imaging system according to claim 8, wherein the imager is further configured to perform Fourier transform on the frequency of the result beam corresponding to each discrete angle information, to obtain the frequency corresponding to each discrete angle information distance information.
一种成像方法，其中，用于成像***，所述成像***包括：发射器阵列、接收器阵列和成像器，其中，所述接收器阵列中各接收器按照预设排列规则在所述接收器阵列中进行排列；所述方法包括以下步骤：An imaging method, which is used in an imaging system, the imaging system includes: a transmitter array, a receiver array and an imager, wherein each receiver in the receiver array is arranged in the receiver according to a preset arrangement rule Arranged in an array; the method includes the following steps:

利用所述发射器阵列向目标物体发射涡旋声波，以使所述涡旋声波到达所述目标物体时，产生反射回波；Using the transmitter array to transmit vortex sound waves to the target object, so that when the vortex sound waves reach the target object, a reflection echo is generated;

利用所述接收器阵列接收所述反射回波；receiving the reflected echo with the receiver array;

利用所述成像器基于所述反射回波，获得所述目标物体的声图像，所述声图像包括所述目标物体的目标位置信息和目标轮廓信息。Using the imager to obtain an acoustic image of the target object based on the reflected echo, the acoustic image includes target position information and target contour information of the target object.