System and method for sensing an object's dimensions

0001<Cross-reference to related applications> This application is filed on February 21, 2011, US Provisional Application No. 61 / 445,026 ("'026 Application") and August 9, 2011, US Provisional Application No. 61 / 521,378 ("" Claim the benefit of the priority of '378 application'). All disclosures of '026 and '378 applications are incorporated by citation.

0002One or more embodiments of the subject matter described herein relate to systems and methods of sensing distance and / or motion, such as radar and / or optical remote sensing systems and methods.

0003Known radar systems send analog electromagnetic waves to a target and receive echoes of the waves reflected from the target. The intensity and / or frequency of the received echo can vary based on the distance between the antenna transmitting the analog and the target object, and / or the movement of the target object. Echo intensity, frequency, and / or time-of-flight can be used to derive distance and / or target movement with respect to the target.

0004Some known radar systems are limited in the accuracy with which the system can measure the distance to the target. For example, the resolution at which these systems can calculate the distance to the target can be relatively large. Moreover, some of these systems may have circuits, such as transmit / receive switches, that control when the system transmits waves or receives echoes. The switch may require a non-zero period of time to allow the system to switch from transmitting waves to receiving echoes. This period is for the system to measure the distance to a relatively close target, as the transmitted wave can reflect off the target and return to the receiving antenna before the system can switch from transmit to receive. Can be prevented from being used. In addition, some known systems have energy leaks from the transmitting antenna to the receiving antenna. This energy leak can interfere with and / or obscure the measurement of distance to the target and / or the detection of motion.

<p num="0005"> In one embodiment, a method (eg, a method for measuring the separation distance to a target object) is provided. The method comprises the step of transmitting an electromagnetic first transmitted signal (hereinafter, also referred to as "first transmitted signal") to a target object separated from a transmitting antenna by a separation distance. The first transmitted signal includes a first transmission pattern representing a first sequence of digital bits. The method also receives the first echo of the first transmitted signal reflected from the target object, converts the first echo into a first digitized echo signal, and the first transmitted. In order to determine the flight time of the signal and echo, the first reception pattern representing the second sequence of digital bits is compared with the first digitized echo signal.</p><p num="0006"> In another embodiment, the system (eg, sensing system) is provided including a transmitter, a receiver, and a correlator. The transmitter is configured to generate a first electromagnetically transmitted signal that is communicated from the transmitting antenna to a target object that is separated by the separation distance. The first transmitted signal includes a first transmission pattern representing a sequence of digital bits. The receiver is configured to generate a first digitized echo signal based on the echo of the first transmitted signal reflected from the target object. The correlator is to compare the first reception pattern, which represents the second sequence of digital bits, with the first digitized echo signal to determine the flight time of the first transmitted signal and echo. It is composed of.</p><p num="0007"> In another embodiment, another method (eg, for measuring the separation distance to the target object) is provided. The method is based on the step of transmitting a first transmitted signal having a waveform representing the first transmission pattern of digital bits, and the first received echo of the first transmitted signal, the first digital. It includes a step of generating a digitized echo signal. The first digitized echo signal contains a waveform that represents a digital bit data stream. The method also applies the first reception pattern of digital bits in the first digitized echo signal to identify a subset of objects that closely matches the first reception pattern more than one or more other subsets. It involves comparing with multiple different subsets of a digital bit data stream. The method further identifies the flight times of the first transmitted signal and the first received echo based on the time delay between the start of the data stream in the first digitized echo signal and the subset of objects. Including the process of</p>

0008The subject matter will be better understood by reference to the accompanying drawings and by reference to the following description of, but not limited to, embodiments.

0009<figref num="1">FIG. 1 is a schematic diagram of one embodiment of a sensing system.</figref><figref num="2">FIG. 2 is a schematic diagram of one embodiment of the sensing device shown in FIG.</figref><figref num="3A">FIG. 3A is a schematic representation of the coarse stage determination of the flight for the transmitted signal and the corresponding echo according to one embodiment.</figref><figref num="3B">FIG. 3B is another schematic of the coarse-time stage determination of the flight for the transmitted signal and the corresponding echo, according to one embodiment.</figref><figref num="4">FIG. 4 shows one example of a correlation value calculated and averaged over several transmitted signals shown in FIG.</figref><figref num="5">FIG. 5 is another schematic of a portion or one implementation of the sensing assembly shown in FIG.</figref><figref num="6">FIG. 6 is a schematic representation of one embodiment of the front end of the sensing assembly shown in FIG.</figref><figref num="7">FIG. 7 is a circuit diagram of one embodiment of the baseband processing system of the system shown in FIG.</figref><figref num="8">FIG. 8 is one of how the comparison device compares the target bit of the baseband echo signal shown in FIG. 2 with the pattern bit of the pattern signal shown in FIG. 2 in one embodiment. It is a schematic diagram of an example.</figref><figref num="9">FIG. 9 is another example of how the comparison device shown in FIG. 7 compares the target bits of the baseband echo signal shown in FIG. 2 with the pattern bits of the pattern signal shown in FIG. Is shown.</figref><figref num="10">FIG. 10 is another example of how the comparison device shown in FIG. 7 compares the target bits of the baseband echo signal shown in FIG. 2 with the pattern bits of the pattern signal shown in FIG. Is shown.</figref><figref num="11">FIG. 11 shows, by one example, an example of the output signal provided by the measuring device shown in FIG. 7 and the energy threshold used by the CPU device shown in FIG.</figref><figref num="12">FIG. 12 is a circuit diagram of another embodiment of the baseband processing system of the system shown in FIG.</figref><figref num="13">FIG. 13 shows a projection of the components of the in-phase (I) and quadrature (Q) components of the digitized echo signal shown in FIG. 2 according to one embodiment.</figref><figref num="14">FIG. 14 shows a technique for identifying the echoes shown in FIG. 1 reflected from different target objects (104) shown in FIG. 1 according to one embodiment.</figref><figref num="15">FIG. 15 is a schematic view of the antenna according to one embodiment.</figref><figref num="16">FIG. 16 is a schematic representation of one embodiment of the front end of the sensing assembly shown in FIG.</figref><figref num="17">FIG. 17 is a cross-sectional view of one embodiment of the antenna shown in FIG. 15 along lines 17-17 of FIG.</figref><figref num="18">FIG. 18 shows one embodiment of the storage system.</figref><figref num="19">FIG. 19 shows one embodiment of a space limiting system.</figref><figref num="20">FIG. 20 shows another embodiment of the floor area ratio system.</figref><figref num="21">FIG. 21 is a schematic diagram of one embodiment of the mobile system.</figref><figref num="22">FIG. 22 is a schematic diagram of motion vectors of several objects according to one embodiment.</figref><figref num="23">FIG. 23 is a schematic representation of one example using the sensing assembly shown in FIG. 1 for medical use.</figref><figref num="24">FIG. 24 is a two-dimensional image of a human subject according to one example of the application of the system shown in FIG.</figref><figref num="25">FIG. 25 is a schematic diagram of another embodiment of the sensing system.</figref><figref num="26">FIG. 26 is a schematic diagram of another embodiment of the sensing system.</figref><figref num="27A">FIG. 27A shows one embodiment of a method for sensing the separation distance from the target object and / or the motion of the target object.</figref><figref num="27B">FIG. 27B shows one embodiment of a method for sensing the separation distance from the target object and / or the motion of the target object.</figref><figref num="28">FIG. 28 is a schematic diagram of a sensing system according to another embodiment.</figref><figref num="29">FIG. 29 is a schematic representation of the lateral size data of the target object obtained by the sensing system shown in FIG.</figref><figref num="30">FIG. 30 is another view of the sensing assembly and target object shown in FIGS. 28 and 29.</figref>

0010According to one or more embodiments of the subject described in the present invention, systems and methods are provided for measuring the distance between a sensing device and one or more targets. The distance can be determined by measuring the flight time of a transmitted signal (eg, radar, light, or other signal) reflected from the target. As an example, a signal containing a known or specified transmission pattern (such as a waveform representing a sequence of bits) is transmitted and an echo of this signal is received. This transmission pattern can be referred to as a coarse stage transmission pattern. The echo may contain information that represents a pattern in the transmitted signal. For example, echoes can be received and digitized to identify sequences or streams of data that represent noise, partial reflections of signals transmitted from one or more objects other than the target, and reflections from the target.

0011The coarse stage reception pattern can be compared to a digitized data stream based on the received echo to determine the flight time of the transmitted signal. Coarse stage reception patterns can be the same as transmission patterns or can differ from transmission patterns by having different lengths and / or sequences of bits (eg, "0" and "1"). Coarse stage reception patterns are compared to different parts of the digitized data stream to determine which parts of the data stream match more closely than one or more other parts. For example, the coarse stage reception pattern can be modified along the data stream (eg, in terms of time) to identify a portion of the data stream that matches the coarse stage reception pattern. The time delay between the start of the data stream and the matching portion of the coarse stage reception pattern can represent the flight time of the transmitted signal. This measurement of flight time can be used to calculate the separation distance to the target. As described below, this process for measuring flight time can be referred to as a coarse stage determination of flight time. Coarse staging can be done once or several times to measure flight time. For example, a single "burst" of a transmitted signal can be used to measure the time of a flight, or some "burst" of a transmitted signal (having the same or different transmission patterns). "Burst" can be used.

0012Fine stage determination can be made in addition to or on behalf of coarse stage determination. Fine staging can include sending one or more additional signals (eg, "bursts") to the target, and generating a baseband echo signal based on the received echo of the signal. .. The additional signal may include a fine stage transmission pattern that is the same as or different from the coarse stage transmission pattern. The fine stage determination can use the flight time measured by the coarse stage determination (or as input by the operator), and the fine stage reception pattern delayed by the measured flight time of the data stream. Compare with the corresponding part. For example, instead of changing the fine stage reception pattern over all or a significant portion of the baseband echo signal, the fine stage reception pattern (or part thereof) is equal to or based on the time delay measured by the coarse stage determination. The time can be changed depending on the amount. Alternatively, the fine stage reception pattern can be altered over all or a significant portion of the baseband echo signal. A time-shifted fine stage reception pattern is the amount of overlap, or instead, the amount of mismatch between the waveforms of the time-shifted fine stage reception pattern and the baseband echo signal. Can be compared with the baseband echo signal to determine. This amount of duplication or mismatch can be converted into an additional time delay. The additional time delay can be added to the time delay measured by the coarse stage determination to calculate the time delay of the fine stage. The minute stage time delay can then be used to calculate the flight time and separation distance to the target.

0013In one embodiment, ultrafine staging can be performed in addition to or on behalf of coarse and / or fine staging. Ultrafine staging can involve similar processes, albeit as fine staging, using different components of the receive pattern and / or data stream. For example, a fine staging can inspect components or channels of common mode (I) between a received pattern and a data stream to measure overlap or discrepancies between the received pattern and the data stream. Ultrafine staging can use the quadrature phase (Q) component or channel of the received pattern and the data stream to measure the additional amount of overlap and mismatch between the waveforms of the received pattern and the data stream. it can. Alternatively, hyperfine staging can inspect the received pattern and the I and Q channels of the data stream separately. The use of channels or components of I and Q is provided as an embodiment of one example. Alternatively, one or more other channels or components may be used. For example, the first component or channel and the second component or channel can be used when the phase is changed relative to each other by an amount other than 90 degrees.

0014The amount of overlap or discrepancy calculated by the ultrafine stage determination can be added to the time delay from the coarse and / or fine stage to determine the flight time and / or separation distance to the target. Can be used to calculate the time delay of. Alternatively or in addition, the amount of overlap or discrepancy between the waveforms of the I and Q channels can be examined to decompose the echo phase to detect target motion.

0015Alternatively or additionally, ultrafine staging may involve a process similar to coarse staging. For example, a coarse stage determination determines the correlation values of different subsets of a data stream, and from these correlation values, determines the subset of interest and the time of the corresponding flight, as described herein. Therefore, the reception pattern and the I channel of the data stream can be inspected. Ultrafine staging determines the receiving pattern and the Q channel of the data stream to determine the correlation values for different subsets of the data stream, and from these correlation values, to determine the subset of interest and the time of flight. Can be used. Flight times from channels I and Q can be combined (eg, averaged) to calculate flight times and / or separation distances to the target. Correlation values calculated by ultrafine stage determination can be added to the time delay from coarse and / or fine stages to determine the time and / or separation distance of the flight to the target. Can be used to calculate. Alternatively or in addition, the correlation value of the waveform between the I channel and the Q channel can be examined to decompose the phase of the echo to calculate the separation distance or motion of the target.

0016Coarse, fine, and ultrafine stage determinations can be made independently (eg, without doing one or more of the other stages) and / or together. Fine and ultrafine stage determinations can be done in parallel (eg, with a fine stage determination to inspect the I channel and an ultrafine stage determination to inspect the Q channel) or continuously (eg, with the I channel and Q). Can be done (with ultrafine staging to inspect both channels). Coarse and ultrafine staging can be done in parallel (eg, with coarse staging to inspect the I channel and ultrafine staging to inspect the Q channel) or in succession (eg, for the I and Q channels). Can be done (with ultra-fine stage determination to inspect both).

0017In one embodiment, the receive pattern mask is applied to a digitized data stream to remove (eg, remove the mask) or otherwise modify one or more parts or segments of the data stream. Can be done. The masked data stream then receives the corresponding stage determination (eg, coarse stage, fine stage, or ultrafine stage) to measure flight time, as described herein. Can be compared with patterns.

0018In one embodiment, various patterns (eg, coarse stage transmission patterns, fine stage transmission patterns, coarse stage reception patterns, fine stage reception patterns, and / or reception pattern masks) can be similar. Instead, one or more (or all) of these patterns can differ from each other. For example, different patterns may contain different bit sequences and / or sequence lengths. Various patterns used in ultrafine stages (eg, coarse stage transmission patterns, fine stage transmission patterns, coarse stage reception patterns, fine stage reception patterns, and / or reception pattern masks) are also coarse or alone. It can be different from those used in fine stages and can be different from each other.

0019FIG. 1 is a schematic diagram of one embodiment of the sensing system (100). The system (100) is used to determine the distance between the sensing device (102) and one or more targets (104) and / or to identify the movement of one or more target objects (104). It can be used, where the target object (104) can have variable or unknown positions. In one embodiment, the sensing device (102) is a radar system that transmits an electromagnetic pulse sequence as a transmitted signal (106) to a target object (104) that is at least partially reflected as an echo (108). including. Instead, the detector (102) transmits the light to the target object (104) as a transmitted signal (106) and receives the reflection of light from the target object (104) as an echo (108). Optical sensing systems, such as light detection distance measurement (LIDAR) systems, can be included. In another embodiment, another method of transmission can be used, such as sonar, to transmit the transmitted signal (106) and receive an echo (108).

0020The flight times of the transmitted signal (106) and echo (108) represent the time delay between the transmission of the transmitted signal (106) and the reception of the echo (108) of the target object (104). The time of flight can be proportional to the distance between the sensing device (102) and the target object (104). The detector (102) can measure the flight time of the transmitted signal (106) and echo (108), and based on the flight time, the detector (102) and the target object (104) The separation distance between them (110) can be calculated.

0021The sensing system (100) may include a control unit (112) (external control unit in FIG. 1) that directs the operation of the sensing device (102). The control unit (112) can include one or more logic-based hardware devices such as one or more processors, controls, and the like. The control unit (112) shown in Figure 1 is a tactile and non-transitory computer readable, such as hardware (eg, a processor) and / or hardware logic (eg, computer software stored in computer memory). It can represent one or more sets of instructions) to direct the operation of the hardware stored on the storage medium. The control unit (112) may be communicably linked to the sensing device (102) by one or more wired and / or wireless connections (eg, it may be connected to communicate a data signal). Control units (112) are in different rooms of a building, in different buildings, in different blocks, in different cities, in different counties, states, or countries, or in other geographical boundaries), etc. It can be positioned away from the sensing device (102), such as by being placed far from the meter.

0022In one embodiment, the control unit (112) may be communicatively coupled with several sensing assemblies (102) located in the same or different locations. For example, several sensing assemblies (102), located apart from each other, may be communicatively linked to a common control unit (112). The control unit (112) has a separate control message for each of the sensing assemblies (102) in order to individually start (eg, turn on) or stop (eg, turn off) the sensing assembly (102). Can be sent. In one embodiment, the control unit (112) is to make a periodic measurement of the separation distance (110) to the sensing assembly (102), and then during idle time to save power. You can instruct it to stop.

0023In one embodiment, the control unit (112) is a sensing device to transmit the transmitted signal (106), receive an echo (108), and / or measure the separation distance (110). (102) can be instructed to start (eg, turn on) or stop (eg, turn off). Instead, the control unit (112) is based on the flight time of the signal (106) and echo (108) transmitted so that it is measured by the sensor (102) and communicated to the control unit (112). The separation distance (110) can be calculated. The control unit (112) is an input device (114) such as a keyboard, electronic mouse, touch screen, microphone, stylus, and / or a computer monitor, touch screen (eg, the same touch screen as the input device (114)), speaker. Can be communicatively linked to an output device (116), such as light. The input device (114) may receive input data from the operator, such as a command to start or stop the sensing device (102). The output device (116) may present information to the operator, such as the separation distance (110) and / or the flight time of the transmitted signal (106) and echo (108). The output device (116) can also connect to a communication network, such as the Internet.

0024Depending on the application or use of the system (100), the form factor of the sensing assembly (102) can have a wide variety of different shapes. The sensing assembly (102) may be enclosed in a single enclosure (1602), such as an external housing. The shape of the enclosure (1602) is not limited, but is limited to the needs of the power source (eg, battery and / or other power connection), environmental protection, and / or the communication device (eg, transmitting measurements or other communications). / Network device for receiving) may depend on factors including. In the illustrated embodiment, the basic shape of the sensing assembly (102) is square. The size of the sensing assembly (102) can be relatively small, such as 3 inches x 6 inches x 2 inches (7.6 cm x 15.2 cm x 5.1 cm), 70 mm x 140 mm x 10 mm, or another size. .. Alternatively, the sensing assembly (102) may have one or more other dimensions.

0025FIG. 2 is a schematic view of one embodiment of the sensing device (102). The sensing device (102) can be a direct sequence spread spectrum radar device that uses a relatively fast digital pulse sequence that directly modulates the carrier signal. It is then transmitted to the target object (104) as a transmitted signal (106). Echo (108) can be correlated with the same pulse sequence in transmitted signal (106) to determine the flight time of transmitted signal (106) and echo (108). The time of this flight can then be used to calculate the separation distance (110) (shown in Figure 1).

0026The sensing device (102) includes a front end (200) and a back end (202). The front end (200) may include circuits and / or other hardware that transmits the transmitted signal (106) and receives the reflected echo (108). The back end (202) forms a pulse sequence for the circuit and / or the transmitted signal (106), or the front end (200) contains a pulse sequence for inclusion in the transmitted signal (106). It may include other hardware that produces a control signal instructing it to form and / or processes (eg, analyzes) the echo (108) received by the front end (200). Both the front end (200) and the back end (202) can be included in a common housing. For example (and as described below), the front end (200) and back end (202) can be relatively close to each other (eg, within a few centimeters or meters) and / or in the same housing. Can be included. Instead, the front end (200) can be positioned away from the back end (202). The components of the front end (200) and / or the back end (202) are shown schematically as connected by lines and / or arrows in FIG. 2, which are conductive connections (eg, wires, buses). Etc.) and / or can represent a wireless connection (eg, wireless network).

0027The front end (200) includes a transmitting antenna (204) and a receiving antenna (206). The transmitting antenna (204) transmits the transmitted signal (106) to the target object (104), and the receiving antenna (206) emits an echo (108) that is at least partially reflected by the target object (104). Receive. As an example, the transmitting antenna (204) transmits a radio frequency (RF) electromagnetic signal as a transmitted signal (106), such as an RF signal having a frequency of 24 GHz (GHz) ± 1.5 GHz. Can be done. Alternatively, the transmitting antenna (204) may transmit other types of signals, such as light and / or at another frequency. In the case of optical transmission, the antenna may be replaced with a laser or LED or other device. The receiver may be replaced with a photodetector or photodiode.

0028The front-end transmitter (208) of the front-end (200) (RF front-end, transmitter, and / or TX in FIG. 2) is communicably connected to the transmitting antenna (204). The front-end transmitter (208) was transmitted to form the transmitted signal (106) and the transmitting antenna (204) communicated with (eg, transmitted) the transmitted signal (106). The signal (106) is provided to the transmitting antenna (204). In an exemplary embodiment, the front-end transmitter (208) includes a mixer (210A), (210B) and an amplifier (212). Instead, the front-end transmitter (208) may not include an amplifier (212). Mixers (210A), (210B) combine (eg, modulate) pulse sequences or patterns provided by a backend (202) with an oscillating signal (216) (eg, carrier signal) to transmit antenna (eg, modulate). ) Form the transmitted signal (106), which is communicated by. In one embodiment, the mixers (210A), (210B) are pattern signals received from one or more transmit (TX) pattern generators (228A), (228B) (baseband signal in FIG. 2). Multiply (230A), (230B) and the oscillation signal (216). The pattern signal (230) includes the pattern formed by the pattern code generator (228). As described below, the pattern signal (230) can include several bits arranged in a known or specified sequence.

0029The front-end (200) oscillating device (214) (oscillator in FIG. 2) produces an oscillating signal (216) communicated to the mixers (210A), (210B). As an example, the oscillating device (214) is provided by a power source (eg, a battery) located in the sensing device (102) and / or by a control unit (112) (shown in FIG. 1). It may include or represent a voltage controlled oscillator (VCO) that produces an oscillating signal (216) based on the voltage signal input to the oscillating device (214). The amplifier (212) can increase the strength (eg gain) of the transmitted signal (106).

0030In an exemplary embodiment, the mixer (210A) receives the in-phase (I) component or channel of the pattern signal (230A) and the I component or channel of the pattern signal (230A) with the oscillation signal (216). Combined to form the I component or channel of the transmitted signal (106). The mixer (210B) receives the quadrature phase (Q) component or channel of the pattern signal (230B), combines the I component or channel of the pattern signal (230B) with the oscillation signal (216), and transmits the signal. Form a component or channel of Q in (106).

0031When the TX baseband signal (230) flows through the mixer (210), the transmitted signal (106) (eg, one or both of the I and Q channels) is generated. The digital output gate (250) may be located between the TX pattern generator for additional control of the TX baseband signal (230) and the mixer (210). After a burst of one or more transmitted signals (106) is transmitted by the transmitting antenna (204), the sensing assembly (102) is to receive an echo (108) from the target object (104) (eg,). Can switch from transmit mode (including transmission of transmitted signal (106)) to receive mode. In one embodiment, the sensing assembly (102) may not receive or sense the echo (108) during transmit mode and / or may not transmit the signal (106) transmitted during receive mode. .. When the sensing assembly (102) switches from transmit mode to receive mode, the digital output gate (250) sends the transmitter (208) until the transmit signal (106) is eliminated (eg, reduced to zero intensity). Can reduce the time generated by. For example, the digital output gate (250) can include a tri-state function (represented by the gate (250)) and a differential high-pass filter. Before the baseband signal (230) reaches the up-conversion mixer (210), the baseband signal (230) passes through the filter. The gate (250) can be communicably linked to and controlled by the control unit (112) (shown in FIG. 1), resulting in the transmitted signal (106) (or some transmission). When the signal (106) burst) is transmitted and the sensing assembly (102) switches to receiving the echo (108), the control unit (112) tri-states (250) the filter on the gate (250). For example, enter the mode of high impedance) Can be instructed. A high-pass filter over the differential output of the gate (250) can reduce the input transmit signal (106) relatively soon after the tristate mode is entered. As a result, the transmitted signal (106) is prevented from flowing to the transmitting antenna (204) and / or leaking to the receiving antenna (206) when the sensing assembly (102) receives the echo (108). Is done.

0032The front-end receiver (218) of the front-end (200) (RF front-end, receiver, and / or RX) is communicably coupled to the receiving antenna (206). The front-end receiver (218) receives an echo signal (224) representing echo (108) (or data representing echo (108)) from the receiving antenna (206). The echo signal (224) can be an analog signal in one embodiment. The receiving antenna (206) may generate an echo signal (224) based on the received echo (108). In an exemplary embodiment, the amplifier (238) may be located between the receiving antenna (206) and the front-end receiver (218). The front-end receiver (218) can include an amplifier (220) and mixers (222A), (222B). Alternatively, one or more of the amplifiers (220), (238) may not be provided. The amplifiers (220) and (238) can increase the intensity (eg, gain) of the echo signal (224). The mixers (222A), (222B) receive different components or channels of the echo signal (224) combined with the oscillator signal (216) (or a copy of the oscillator signal (216)) from the oscillator (214), 1 It may include or represent one or more mixed devices. For example, the mixer (222A) combines the analog echo signal (224) with the I component of the oscillation signal (216) and communicates the I component of the echo signal (224) to the back end (202) of the sensing device (102). Extract to the first baseband echo signal (226A). The first baseband echo signal (226A) may include a component or channel of I of the baseband echo signal. The mixer (222B) combines the analog echo signal (224) with the Q component of the oscillation signal (216) and communicates the Q component of the analog echo signal (224) to the back end (202) of the sensing device (102). To the 2nd baseband echo signal (226B) Extract. The second baseband echo signal (226B) can include a Q component or channel of the baseband echo signal. In one embodiment, the echo signals (226A), (226B) may be collectively referred to as the baseband echo signal (226). In one embodiment, the mixers (222A), (222B) can multiply the echo signal (224) with the I and Q components of the oscillation signal (216), the baseband echo signal (226A), ( 226B) is formed.

0033The back end (202) of the sensing device (102) includes a transmit (TX) pattern code generator (228) that produces a pattern signal (230) to include in the transmitted signal (106). Transmission pattern code generators include transmission code generators (228A), (228B). In an exemplary embodiment, the transmit code generator (228A) produces a pattern signal (230A) for a component or channel of I (I TX pattern in FIG. 2), while the transmit code generator (228B). ) Is the Q component or channel pattern signal (230B) (Q in Figure 2). TX pattern ") is generated. Transmission pattern The transmission pattern generated by the code generator (228) can include binary digits, or digital pulse sequences with known or specified sequences of bits. A bit contains a unit of information that can have one of two values, such as a value of 1 or 0, high or low, ON or OFF, +1 or -1. Alternatively, the bit may be exchanged for a digit or the like, which is a unit of information that can have one of three or more values. The pulse sequence can be selected by the operator of the system (100) shown in Figure 1 (for example, by using the input device (114) shown in Figure 1) or wired to the logic of the pattern code generator (228). It can be hard-wired, programmed, or otherwise established.

0034The transmission pattern code generator (228) creates a bit pattern and communicates the patterns in the pattern signals (230A) and (230B) to the front-end transmitter (208). The pattern signals (230A) (230B) may be referred to individually or collectively as the pattern signals (230). In one embodiment, the pattern signal (230) can be communicated to the front-end transmitter (208) at frequencies below 3 GHz. Alternatively, the pattern signal (230) may be communicated to the front-end transmitter (208) at a higher frequency. The transmit pattern code generator (228) also communicates the pattern signal (230) to the correlator (232) (correlator in FIG. 2). For example, the pattern code generator (228) may produce a copy of the pattern signal sent to the correlator (232).

0035The back-end section (202) is palpable and non-tactile, such as hardware (eg, one or more processors, controllers, etc.) and / or hardware logic (eg, computer software stored in computer memory). Contains or represents one or more sets of instructions) to direct the operation of hardware stored on a temporary computer-readable storage medium. The RX back-end section (202B) receives the pattern signal (230) from the pattern code generator (228) and the baseband echo signal (226) (eg, signal (226A), (226B)) from the front-end receiver (200). One or more of) is received. The RX backend section (202B) analyzes the baseband echo signal (226) to determine the separation distance (110) and / or to track and / or detect the movement of the target object (104). Can perform one or more stages of.

0036The stages of analysis can include coarse, fine, and / or ultrafine stages, as described above. In the coarse stage, the baseband processor (232) uses the pattern signal (230) as the baseband echo signal (230) to determine the coarse or estimated flight time of the transmitted signal (106) and echo (108). Compare with 226). For example, the baseband processor (232) may include the time when the transmitted signal (106) is transmitted, the pattern signal (230) (or a portion thereof) and the baseband echo signal (or part thereof), as described below. It is possible to measure the time delay of interest between the times when the patterns in 226) match or substantially match each other. The time delay of interest can be used as an estimate of the flight time of the transmitted signal (106) and the corresponding echo (108).

0037On the fine stage, the sensing assembly (102) can compare a duplicated copy of the pattern signal (230) with the baseband echo signal (226). The duplicated copy of the pattern signal (230) may be a signal containing the pattern signal (230) delayed by the time delay of the object measured during the coarse stage. The sensing assembly (102) is a duplicated copy of the pattern signal (230) to determine the temporary amount or degree of overlap or mismatch between the duplicated pattern signal and the baseband echo signal (226). Is compared with the baseband echo signal (226). This temporary overlap or discrepancy can represent an additional portion of the flight time that can be added to the flight time calculated from the coarse stage. In one embodiment, the fine stage examines the I and / or Q components of the baseband echo signal (226) and the replicated pattern signal.

0038In the hyperfine stage, the sensing assembly (102) is also used to determine temporary overlaps or discrepancies between the baseband echo signal (226) and the I and / or Q components of the replicated pattern signal. , The I and / or Q components of the baseband echo signal (226) and the replicated pattern signal can be inspected. The Q component of the baseband echo signal (226) and the replicated pattern signal (eg, by examining the I and / or Q components) to determine a relatively accurate estimate of flight time. It can represent an additional time delay that can be added to the flight time calculated from the coarse and fine stages. Alternatively or in addition, the ultrafine stage may be used to accurately track and / or detect the movement of the target object (104) within the target bit. The terms "fine" and "ultrafine" mean that the fine stage is the flight time (t)._F) Can provide more accurate and / or accurate (eg, higher resolution) calculations and / or separation distance (110) for coarse stages, and ultrafine stages can provide flight time (t)._F) Is used to mean more accurate and / or accurate (eg, higher resolution) calculations and / or separation distances (110) for fine and coarse stages. Alternatively or additionally, the time lag of the waveform in the I and Q channels can be examined to decompose the phase of the echo to calculate the separation distance or motion of the target.

0039As described above, ultrafine staging can involve a process similar to coarse staging. For example, a coarse stage determination determines the correlation values of different subsets of a data stream, and from these correlation values, determines the subset of interest and the time of the corresponding flight, as described herein. Therefore, the reception pattern and the I channel of the data stream can be inspected. Ultrafine staging is used to determine the correlation values for different subsets of the data stream, and from these correlation values, to determine the subset of interest and the time of flight, I and / of the received pattern and data stream. Or you can use the Q channel. Flight times from channels I and Q can be combined (eg, averaged) to calculate flight times and / or separation distances to the target. Correlation values calculated by ultrafine stage determination can be added to the time delay from coarse and / or fine stages to determine the time and / or separation distance of the flight to the target. Can be used to calculate. Alternatively or in addition, the correlation value of the waveform between the I channel and the Q channel can be examined to decompose the phase of the echo to calculate the separation distance or motion of the target.

0040The backend (202) includes a first baseband processor (232A) (I baseband processor in Figure 2) and a second baseband processor (232B) (Q baseband processor in Figure 2). be able to. The first baseband processor (232A) can inspect the I component or channel of the echo signal (226A), and the second baseband processor (232B) can inspect the Q component or channel of the echo signal (226B). Can be done. The backend (202) can provide the measurement signal (234) as an output from the analysis of the baseband echo signal (226). In one embodiment, the measurement signal (234) is the measurement signal (234A) of the component or channel of I from the first baseband processor (232A) and the component or channel of Q from the second baseband processor (232B). Includes measurement signal (234B). The measurement signal (234) may include the separation distance (110) and / or the time of flight. Total position estimate) (260) is for the control unit (112) to display for one or more other uses, calculations, etc. and / or to the operator on the output device (116) (shown in Figure 1). Can be communicated to the control unit (112) (shown in FIG. 1) so that data or information representing the separation distance (110) and / or the time of flight can be used.

0041As described below, a correlation window containing the transmitted pattern (eg, a pulse sequence of bits) or a portion thereof in the transmitted signal (106) can be compared to the baseband echo signal (226). The correlation window can be progressively changed or delayed from the position of the baseband echo signal (226), which represents the start of the baseband echo signal (226) (eg, corresponds to the time the transmitted signal (106) is transmitted). However, it can be compared to different subsets or parts of the baseband echo signal (226), which can or cannot be the exact beginning of the baseband echo signal), and continuously or in any other order. .. A correlation value can be calculated that represents the degree of matching between the pulse sequence in the correlation window and a subset or portion of the baseband echo signal (226), and the time delay of interest (eg, approximate flight time) is the base. It can be determined based on the time difference between the start of the band echo signal (226) and one or more of the largest or relatively large correlation values. The largest or relatively large correlation value can represent at least a partial reflection of the signal (106) transmitted from the target object (104) and can be referred to as the correlation value of interest.

0042As used herein, the terms "maximum", "minimum", and their forms are not limited to the absolute largest and smallest values, respectively. For example, the "maximum" correlation value can contain the largest potential correlation value, while it can also contain a correlation value greater than one or more other correlation values, but not necessarily the most available. Not a large potential correlation value. Similarly, the "minimum" correlation value can contain the smallest potential correlation value, while it can also contain a correlation value that is smaller than one or more other correlation values, but it is not always possible. Not the smallest potential correlation value.

0043The time delay of interest can then be used to calculate the separation distance (110) from the coarse stage. For example, in one embodiment the separation distance (110) can be inferred or calculated as:

0044<chemistry num="1"><img id="000002" he="19" wi="115" file="JP6021189B2_D0001.tif" img-format="tif" img-content="drawing" /></chemistry>

0045In the equation, d represents the separation distance (110) and t_FRepresents the time delay of the subject (calculated from the start of the baseband echo signal (226) for identification of the correlation value of the subject), and c represents the speed of light. Alternatively, c can represent the speed at which the transmitted signal (106) and / or echo (108) travels through the medium between the sensing device (102) and the target object (104). In another embodiment, t_FThe values of and / or c are between the transmission of the transmitted signal (106) and the reception of the echo (108), not due to the flight time of the transmitted signal (106) and / or the echo (108). Can be modified by calibration factor or other factor to occupy part of the delay.

0046Subsequent reference to the sensing assembly (102) shown in FIG. 2, FIGS. 3A and 3B show coarse flight times for transmitted signal (106) and corresponding echo (108), according to one embodiment. It is a schematic diagram of a stage determination. One or more further measurements or analyzes of the same or different echo signals (224) (shown in Figure 2) generated from the reflected echo (108) by "coarse" are the time of flight (t)._F) And / or it is intended that it can be done to provide a more accurate and / or accurate measurement of the separation distance (110). The use of the term "coarse" is not intended to mean that the measurement techniques described above are inaccurate or inaccurate. As described above, the pattern generated by the pattern code generator (228) and the baseband echo signal (226) are received by the RX backend (202B). The baseband echo signal (226) can be formed by mixing (eg, multiplying) the echo signal (224) with the oscillating signal (216) in order to convert the echo signal (224) into a baseband signal. it can.

0047FIG. 3A illustrates a square waveform transmitted signal (322) representing a transmitted signal (106) and a digitized echo signal (226) (shown in FIG. 1). The echo signal (226) shown in FIG. 3A may represent a component or channel of I of the echo signal (226) (eg, signal (226A)). Signals (322) and (226) are shown along the horizontal axis (304) representing time. The transmitted signal (322) includes a pattern waveform segment (326) that represents the pattern contained in the transmitted signal (106). In an exemplary embodiment, the pattern waveform segment (326) corresponds to a bit pattern of 101011, where 0 represents the low value (328) of the transmitted signal (322) and the transmitted signal (322). ) Represents the high price (330). Each of the low (328) and high (330) values occurs on bit time (332). In an exemplary embodiment, each pattern waveform segment (326) comprises 6 bits (eg, 6 0s and 1s) so as to extend over 6 bit times (332). Alternatively, one or more of the pattern waveform segments (326) can contain different sequences of low (328) or high (330) and / or occur on different numbers of bit times (332).

0048The baseband echo signal (226) contains, in one embodiment, a sequence of square waves (eg, low (328) and high (330)), but the square wave can have other shapes. The echo signal (226) can be represented as a digital echo signal (740) (shown and described below with respect to FIG. 3B). As described below, different parts or subsets of the digital echo signal (740) are a pattern sequence of the transmitted signal (106) to determine the time delay of interest, or the estimated flight time. For example, it can be compared with the pattern waveform segment (326)). As shown in FIG. 3A, the square wave of the baseband echo signal (226) (eg, low (328) and high (330)) is exactly the bit time (332) of the transmitted signal (322). May not line up.

0049FIG. 3B illustrates the digitized echo signal (740) of FIG. 3A along the time axis (304). As shown in FIG. 3B, the digitized echo signal (740) can be schematically shown as a sequence of bits (300), (302). Each bit (300), (302) in the digitized echo signal (740) has a different low (328) or high (330) (shown in FIG. 3A) of the digitized echo signal (740). Can be represented. For example, bit (300) (eg, "0") can represent the low value (328) of the digitized echo signal (740), and bit (302) (eg, "1") is digitized. It can represent the high value (330) of the echo signal (740).

0050The baseband echo signal (226) has a transmission time (t) on the axis (304)._{o o}). Transmission time (t_{o o}) Can correspond to the time the transmitted signal (106) is transmitted by the sensing assembly (102). Alternatively, the transmission time (t)_{o o}) Can be another time that occurs before or after the transmitted signal (106) is transmitted.

0051The baseband processor (232) obtains a received pattern signal (240) from the pattern generator (228) that is similar to the transmission pattern (eg, in signal (230)) contained in the transmitted signal (106). The reception pattern signal (240) may include a waveform signal representing a sequence of bits, such as the digital pulse sequence reception pattern (306) shown in FIG. The baseband processor (232) compares the received pattern (306) with the echo signal (226). In one embodiment, the reception pattern (306) is a copy of the transmission pattern of the bits contained in the signal (106) transmitted from the pattern code generator (228), as described above. Alternatively, the reception pattern (306) may be different from the transmission pattern included in the transmitted signal (106). For example, the receive pattern (306) may have different sequences of bits (eg, have one or more different waveforms representing different sequences of bits) and / or longer than the transmit pattern. Alternatively, it may have a sequence of short bits. The reception pattern (306) can be represented by one or more or parts of the pattern waveform segment (326) shown in FIG. 3A.

0052The baseband processor (232) receives a pattern (306) as a correlation window (320) that is compared to different parts of the digitized echo signal (740) to calculate the correlation value (CV) at different locations. ) All or part of. The correlation value represents a different degree of matching between the received pattern (306) and the digitized echo signal (740) over different subsets of the bits in the digitized echo signal (740). In the example illustrated in FIG. 3, the correlation window (320) includes six bits (300), (302). Alternatively, the correlation window (320) may include different bit numbers (300), (302). The correlator (731) is located at a location (eg, echo signal (226)) where the pattern in the correlation window (320) is more closely matched with the rest of more than one (or all) echo signals (740). The correlation window (320) across the echo signal (740) can be temporarily shifted to identify the subset). In one embodiment, the first baseband processor (232A) compares the correlation window (320) with the I component or channel of the echo signal (226) when operating with coarse staging.

0053For example, the correlator (731) can compare the bits in the correlation window (320) to the first subset (308) of the bits (300), (302) in the digitized echo signal (740). For example, the correlator (731) can compare the received pattern (306) with the first six bits (300), (302) of the digitized echo signal (740). Alternatively, the correlator (731) can be initiated by comparing the received pattern (306) with a different subset of the digitized echo signal (740). The correlator (731) determines how closely the sequence of bits (300), (302) in the first subset (308) matches the sequence of bits (300), (302) in the receive pattern (306). By determining, the first correlation value for the first subset (308) of bits in the digitized echo signal (740) is calculated.

0054In one embodiment, the correlator (731) has a first value (eg, +1) that matches the sequence of bits (300), (302) in the correlation window (320), the correlation window (320). Assigning different, second values (eg, -1) to those bits (300), (302) in a subset of the digitized echo signals (740) being compared to, in the correlation window (320). Assign to those bits (300), (302) in a subset of the digitized echo signals (740) being inspected that do not match the sequence of bits (300), (302). Alternatively, other values may be used. The correlator (731) can then sum these assigned values for the subset of the digitized echo signal (740) in order to derive the correlation values for the subset.

0055For the first subset (308) of bits in a digitized echo signal, only the fourth bit (eg 0) and the fifth bit (eg 1) are the fourth bit and in the correlation window (320). Matches the 5th bit. The remaining four bits in the first subset (308) do not match the corresponding bits in the correlation window (320). As a result, if +1 is assigned to the matching bits and -1 is assigned to the unmatched bits, the correlation value for the first subset (308) of the digitized echo signal (740) is , -2 is calculated. On the other hand, if +1 is assigned to the bits and 0 is assigned to the unmatched bits, the correlation value for the first subset (308) of the digitized echo signal (740) is +2. It is calculated. Other values may be used in place of +1 and / or -1, as described above.

0056The correlator (731) then compares the sequence of bits (300), (302) in the correlation window (320) with another (eg, subsequent or subsequent) subset of the digitized echo signal (740). By doing so, the correlation window (320) is changed. In an exemplary embodiment, the correlator (731) sets the correlation window (320) to the sixth to seventh bits (300) in the digitized echo signal (740) to calculate another correlation value. ), (302). As shown in FIG. 3, the subsets to which the correlation windows (320) are compared can at least partially overlap each other. For example, each of the subsets to which the correlation window (320) is compared can overlap each other by all but one bit in each subset. In another example, each of the subsets can overlap each other with a smaller number of bits in each subset, or even with no bits at all.

0057The correlator (731) may continue to compare the correlation window (320) with different subsets of the digitized echo signal (740) to calculate the correlation value for the subset. Continuing the above example, the correlator (731) calculates the correlation values shown in FIG. 3 for different subsets of the digitized echo signals (740). In Figure 3, the correlation window (320) is shown modified below the subset to be compared, and the correlation value of the subset to which the correlation window (320) is compared is (+1 for match and -1 for mismatch). Shown to the right of the correlation window (320) (using the value). As shown in the illustrated example, the correlation values associated with the 5th to 10th bits (300), (302) in the digitized echo signal (226) are one or more of the other subsets. It has a correlation value (for example, +6) that is larger than or is the largest among the correlation values of.

0058In another embodiment, the received pattern (306) contained in the correlation window (320) and compared to a subset of the digitized echo signal (740) is the transmitted signal (shown in FIG. 1). It may include a part or less than the whole of the transmission pattern included in 106). For example, if the transmission pattern in the transmitted signal (106) contains a waveform representing a digital pulse sequence of 13 (or different) bits (300), (302), the correlator (731) transmits. A reception pattern (306) may be used that includes less than 13 (or different numbers) of bits (300), (302) contained in the pattern.

0059In one embodiment, the correlator (731) applies the mask to the receive pattern (306) to form a correlation window (320) (also referred to as the masked receive pattern) as a whole. Less than received patterns (306) can be compared with the subset. With respect to the reception pattern (306) shown in FIG. 3, the correlator (731) compared only the last three bits (300), (302) with various subsets of the digitized echo signal (740). Thus, in order to remove the first three bits (300), (302) from the receive pattern (306), a mask (or another mask) containing the sequence "000111" is applied to the receive pattern (306). You may. The mask can be applied by multiplying each bit in the mask by the corresponding bit in the receive pattern (306). In one embodiment, the same mask is also applied to each of the subsets in the digitized echo signal (740) when the correlation window (320) is compared to the subset.

0060The correlator (731) can identify the largest, greater than one or more correlation values, and / or a correlation value greater than the specified threshold as the correlation value of the object (312). In the exemplary embodiment, the fifth correlation value (eg +6) may be the correlation value of the subject (312). The subset of bits in the digitized echo signal (740) that correspond to the correlation value of object (312) can be identified as a subset of object (314). In the illustrated example, a subset of objects (314) include fifth to tenth bits (300), (302) in the digitized echo signal (740). In this example, if the start of a subset of objects is used to identify the subset of objects, the object delay would be 5. Multiple subsets of interest (shown in FIG. 1) include different target objects (104) in which the transmitted signal (106) is located at a different separation distance (110) from the sensing assembly (102). Can be identified when reflected from multiple target objects (104) (shown in 1).

0061Each of the subsets of the digitized echo signal (740) is a digitized echo signal (740) (eg, t)._{o o}) And the time delay (t) between the beginning of the first bit in each subset of the digitized echo signal (740)._d) Can be related. Alternatively, the time delay for the subset (t)_d) Starts at another start time (eg, digitized echo signal (740) (t)_{o o}) Can be measured from (time before or after) and / or time delay (t)_dThe end of) can be at another position in a subset, such as in the middle, or at a subset or another bit.

0062Time delay associated with a subset of objects (t)_d) Is the flight time (t) of the transmitted signal (106) reflected from the target object (104)._F) Can be expressed. Flight time can be used to calculate the separation distance (110) between the sensing assembly (102) and the target object (104) using equation # 1 above. In one embodiment, the flight time (t)_F) Is the flight time (t)_FThe modified time delay (t), such as the time delay modified by the calibration factor to obtain)_d). As an example, flight time (t)_F) May be modified (account for) for signal propagation and / or other processing or analysis. Propagation of the echo signal (224), formation of the baseband echo signal (226), propagation of the baseband echo signal (226), etc., are performed through the components of the sensing assembly (102), the time of flight (t_F) Can affect the calculation. The time delay associated with a subset of objects in the baseband echo signal (226) can include the flight times of the transmitted signal (106) and echo (108), and can include analog and digital blocks of the system (100) (eg,). , Correlator (731) and / or pattern code generator (228) and / or mixer (210) and / or amplifier (238)) may also include times of propagation of various signals.

0063Calibration routines can be utilized to determine the propagation time of data and signals through these components. Measurements can be made on targets at known distances. For example, one or more transmitted signals (106) can be sent from the transmitting (204) and / or the receiving antenna (206) to a target object (104) at a known separation distance (110). The flight time with respect to the transmitted signal (106) can be calculated as described above and the flight time can be used to determine the calculated separation distance (110). Based on the difference between the actual known separation distance (110) and the calculated separation distance (110), the measurement error based on the propagation time through the components of the sensing assembly (102) can be calculated. This propagation time can then be used to modify (eg, shorten) the time of further flights, which is calculated using the sensing assembly (102).

0064In one embodiment, the sensing assembly (102) may transmit several bursts of the transmitted signal (106) and the correlator (731) may transmit a reflected echo (106) of the transmitted signal (106). Several correlation values can be calculated for the digitized echo signal (740) based on 108). The correlation values for some transmitted signals (106) are the same or about the same time delay (t)._dA common time delay (t), such as by calculating mean, intermediate, or other statistical measurements of the correlation values calculated for)._d) Can be grouped by. Grouped correlation values that are greater than or largest than the other correlation values are the time of flight (t) in relation to the use of a single correlation value and / or burst only._F) And the separation distance (110) can be used to calculate more accurately.

0065FIG. 4 is a diagram showing an example of a correlation value calculated and averaged via the plurality of transmitted signals (106) shown in FIG. The correlation value (400) is shown with a horizontal axis (402) representing time (eg, flight time delay or flight time) and a vertical axis (404) representing the magnitude of the correlation value (400). .. As shown in FIG. 4, several peaks (406) and (408) can be identified based on a plurality of correlation values (400), and the plurality of correlation values (400) are several transmission signals. Grouped via (106). Peaks (406), (408) can be associated with one or more target objects (104) (shown in FIG. 1), and one or more transmitted signals (106) are associated with one or more target objects (106). It reflects from 104). The time delay associated with one or more peaks (406), (408) (eg, time along the horizontal axis (402)) is one associated with peaks (406), (408), as described above. It can be used to calculate the separation distance (110) of one or more target objects (104).

0066FIG. 5 is another schematic of the sensing assembly (102) shown in FIG. The sensing assembly (102) is shown in FIG. 5 as including a wireless front end (500) and a processing back end (502). The radio front end (500) may include at least some of the components contained in the front end portion (200) (see Figure 2) of the sensing assembly (102), and the processing back end (502) may include the sensing assembly (102). Backend (202) (shown in FIG. 2), and / or one or more components of the frontend (200) (frontend transmitter (208) and / or receiver (218) shown in Figure 2). ) Includes at least some.

0067As mentioned above, the received echo signal (224) can be tuned by the circuit (506) (eg, by the front-end receiver (218) shown in FIG. 2), and in one embodiment, high speed optical communication. It can be tuned by the circuit (506) used in the system. This adjustment can only include amplification and / or quantization. The signal (224) is then a digital signal based on the signal (224) passed to the correlator (731) (discussed below) for comparison with the original transmission sequence from which subsequent flight time information is extracted. It can be passed to the generated digitizer (730). The correlation device (731) and the adjustment circuit can be collectively called the baseband processing unit of the detection device (102).

0068As mentioned above, the pattern code generator (228) generates a pattern (eg, a digital pulse sequence) and the pattern is transmitted to the pattern signal (230). Digital pulse sequences are relatively fast to shorten the pulse, increase the accuracy and / or accuracy of the system (100) (shown in Figure 1), and spread the radio energy transmitted over a very wide band. possible. If the pulse is short enough, the bandwidth can be wide enough to be classified as ultra-wideband (UWB). As a result, the system (100) can operate in the 22-27GHz_UWB band and / or the 3-10GHz UWB band, which is unlicensed and available for operation worldwide (with regional differences).

0069In one embodiment, the digital pulse sequence is generated by one or more digital circuits, for example, a relatively low power field programmable gate array (FPGA) (504). FPGA (504) may be an integrated circuit designed to be set by a customer or designer after manufacturing to run a digital or logical system. As shown in FIG. 5, the FPGA (504) can be configured to perform the functions of the pulse code generator (228) and the correlator (731). The pulse sequence can be buffered by one or more circuits (508) and / or conditioned by one or more circuits (508) and then front-end (500) (eg, front-end transmitter (eg, front-end transmitter). It is passed directly to the transmitting radio of 208)).

0070FIG. 6 is a schematic representation of an embodiment of the front end (200) of the sensing assembly (102) shown in FIG. The front end (200) of the sensing assembly (102) may optionally be referred to as the wireless front end (500) (shown in FIG. 5) or the "radio" of the sensing assembly (102). In one embodiment, the front end (200), along with a common frequency reference generator (604) (VCO chip in FIG. 6), is a direct converter transmitter (600) (TX chip in FIG. 6) and a receiver. Includes machine (602) (RX chip in Figure 6). The transmitter (600) can include or represent a front-end transmitter (208) (see FIG. 2), and the receiver (602) includes a front-end receiver (218) (shown in FIG. 2). Or can be represented.

0071The common frequency reference generator (604) may be the oscillator (214) shown in FIG. 2 or may include the oscillator (214) shown in FIG. The common frequency reference generator (604) may be a voltage controlled oscillator (VCO), which produces a frequency reference signal such as the oscillation signal (216). In one embodiment, the frequency of the reference signal (216) is half the specified carrier frequency or the desired carrier frequency of the transmitted signal (106) (shown in FIG. 1). Alternatively, the reference signal (216) can be another frequency, for example the same frequency as the carrier frequency, an integral multiple or divisor of the carrier frequency.

0072In one embodiment, the reference generator (604) emits a reference signal (216) with a sinusoidal frequency at half the carrier frequency. The reference signal is evenly divided and supplied to the transmitter (600) and the receiver (602). The reference generator (604) may be able to change the frequency of the reference signal (216) according to the input control voltage, but the reference generator (604) is a fixed frequency reference to the reference generator (604). It can be operated at a fixed control voltage to output the signal (216). This is acceptable as it can automatically maintain frequency coherence between the transmitter (600) and the receiver (602). In addition, this configuration can allow coherence between the transmitter (600) and receiver (602) without the need for a phase-locked loop (PLL) or other control structure, said phase-locked loop. (PLL) or other control structure may limit the accuracy or speed at which the sensing assembly (102) operates. In another embodiment, the PLL may be added for other purposes, such as stabilizing the carrier frequency or controlling the carrier frequency.

0073The reference signal (216) can be split and transmitted to the transmitter (600) and receiver (602). The reference signal (216) drives the transmitter (600) and the receiver (602) as described above. The transmitter (600) may drive the transmitting antenna (204) (shown in FIG. 2) (eg, actuate to transmit the transmitting signal (106) shown in FIG. 1). The receiver (602) can receive the reflected echo signal via the receiving antenna (206) (see FIG. 2), which is separated from the transmitting antenna (204). This can reduce the need for a T / R (transmit / receive) switch located between the transmitter (600) and the receiver (602). To drive the transmit antenna (204) to transmit the transmit signal (106) (shown in FIG. 1), the transmitter (600) up-converts the timing reference signal (216) and up-converts it. The RF transmit signal (606) can be transmitted via the transmit antenna (204). In one embodiment, the output of the transmitter (600) may be at a higher frequency than the maximum frequency or one or more of the other frequencies of the sensing assembly (102) (shown in FIG. 1). For example, the transmitted signal (606) from the transmitter (600) may be a carrier frequency. The transmit signal (606) can be fed directly to the transmit antenna (204) in order to minimize or reduce the loss caused by the transmit signal (606).

0074In one embodiment, the transmitter (600) has a separate in-phase (I) and quadrature (Q) digital pattern from the pattern generator (604) and / or the pattern code generator (228) (shown in FIG. 2). Or it can take a digital signal. This can allow for increased flexibility of the transmit signal (606) and / or change the transmit signal (606) during "on the fly". Alternatively, it can be changed during transmission of the transmission signal (106).

0075As mentioned above, the receiver (602) can receive a copy of the frequency reference signal (216) from the reference generator (604). The return echo (108) (shown in FIG. 1) is received by the receiving antenna (206) (see FIG. 2) and can be supplied directly to the receiver (602) as an echo signal (224). This configuration gives the system a maximum value, or because the echo signal (224) propagates a minimal or relatively short distance before the echo signal (224) enters the receiver (602). It is possible to give an increased possible input signal-to-noise ratio (SNR). For example, the echo signal (224) does not propagate or otherwise passes through a switch such as a transmit / receive (TX / RX) switch.

0076The receiver (602) downconverts a relatively wide block of the center frequency spectrum of the carrier frequency to generate a baseband signal (eg, the baseband echo signal (226), as shown in FIG. 2). Can be done. The baseband signal is the flight time (t)_F) Can be processed by the baseband analog section (shown in FIG. 1) of the correlator (731) (see Figure 2) and / or the sensing assembly (102) such as one or more other components. As mentioned above, this received echo signal (224) contains a delayed copy of the TX pattern signal. The delay represents the round trip of the transmitted signal (106) and the corresponding echo (108), the time of flight, and / or can be a measurement.

0077The frequency reference signal (216) may or may contain two or more individual signals as I and Q components whose phases are shifted from each other. The phase-shifted signal can be generated internally by the transmitter (600) and receiver (602). For example, the signal (216) can be generated to include two or more phase-shifted components (eg, I and Q components or channels), or it contains two or more phase-shifted components. Will be changed to

0078In one embodiment, the front end (200) provides a relatively high isolation between the transmit signal (606) and the echo signal (224). This separation can be achieved in one or more ways. First, the transmitting and receiving elements (eg, transmitter (600) and receiver (602)) can be placed on physically separate chips, circuits, or other hardware. Second, the reference generator (604) can operate at half the carrier frequency so that feedthrough can be reduced. Third, the transmitter (600) and receiver (602) can have dedicated (eg, separate) antennas (204), (206) that are physically separated from each other. This separation can allow the removal of TX / RX switches that would otherwise be included in the system (100). By avoiding the use of the TX / RX switch, the switchover time between the transmission of the transmission signal (106) and the reception of the echo (108) shown in FIG. 1 can be eliminated. Reducing the switchover time allows the system (100) to accurately and / or accurately measure distance to a relatively close target object (104). For example, by reducing this switchover time, the sensing assembly (102) may measure the separation distance (110) shown in FIG. 1 before the transmit signal (106) is received as an echo (108). The threshold distance that can be required between the sensing assembly (102) and the target object (104) can be reduced.

0079FIG. 7 is a circuit diagram of an embodiment of the baseband processing system (232) of the system (100) shown in FIG. In one embodiment, the baseband processing system (232) is included in the sensing assembly (102) (shown in FIG. 1) or is separate from the system (100) but of the systems (100) and (232). Operatively coupled to the system (100) to communicate one or more signals in between. For example, the baseband processing system (232) is a front-end receiver 218 (shown in FIG. 2) for receiving echo signals (226) (eg, echo signals (226A) and / or (226B)). Can be combined with. For example, at least a portion of the system (232) may be located between the front-end receiver (218) and the control and processing unit (CPU) (270) shown in FIG. The baseband processing system (232) can provide coarse and / or fine and / or ultrafine staging as described above.

0080In one embodiment, the system (100) comprises a fine transmission pattern (eg, a transmission pattern for fine stage determination) in the signal (106) transmitted after the coarse stage determination (shown in FIG. 1). For example, using a coarse stage, the first transmit signal (106) (and / or one or more transmit signals) to calculate the time delay of the echo signal (226) (and / or flight time). After transmitting the first transmission pattern (burst of (106)), the second transmission pattern is a subsequent second transmission signal (106) for fine stage determination of flight time (or part thereof). Can be included in. The transmission pattern in the coarse stage may be the same as the transmission pattern in the fine stage. Alternatively, the transmission pattern of the fine stage may differ from the transmission pattern of the coarse stage, such as by including one or more different waveforms or bits in the pulse sequence pattern of the transmission signal (106).

0081The baseband processing system (232) is an echo signal (I component or channel of 226A and / or an echo signal (226B) from the echo signal (226) (eg, the front-end receiver (218) (shown in FIG. 1)). ) Receives the Q component or channel). The echo signal (226) received from the front-end receiver (218) is referred to as the "I or Q baseband signal" in FIG. 7. As will be described later, the system ( The 232) can also receive a pattern signal (728) (I or Q fine alignment pattern in FIG. 7) from the pattern code generator (228) (shown in FIG. 2), as shown in FIG. 2 or 7. Although not, the pattern code generator (228) and system (232) can be coupled by one or more conductive paths (eg, bus, wire, cable, etc.) to communicate with each other. System (232) Provides output signals (702A), (702B) (collectively or individually, referred to as output signal (702), referred to as "digital energy guess for I or Q channel" in Figure 7). In one embodiment, the baseband processing system (232) is an analog processing system. In another embodiment, the baseband processing system (232) is essentially analog and / or digital with its components. It is a hybrid analog and digital system composed of signals.

0082The digitized echo signal (226) received by the system (232) uses a conversion amplifier (704) (for example, an amplifier that converts the baseband echo signal (226), such as converting a current to a voltage signal). It can be adjusted by the signal adjustment element of the baseband processing system (232), such as changing the signal. In one embodiment, the conversion amplifier (704) includes or represents a transimpedance amplifier, or "TIA" as shown in FIG. The signal conditioning element can include a second amplifier (706) (eg, a limiting amplifier or "Lim. Amp" in FIG. 7). The conversion amplifier (704) can operate with a relatively small input signal, which can be a single-ended (eg, non-differential) signal to produce a differential signal (708) (and a conversion). Amplifier (704) and / or can be amplified and / or buffered by one or more other components). The amplitude of this difference signal (708) may be relatively small. In one embodiment, the difference signal (708) is then passed to a second amplifier (706) that increases the gain of the difference signal (708). Alternatively, if the conversion amplifier (704) produces a sufficiently large output difference signal (710) (eg, in terms of amplitude and / or energy), then the second amplifier (706) is in the system (232). It does not have to be included. The second amplifier (706) can provide a relatively large gain and can withstand the saturation output (710). There may be positive feedback inside the second amplifier (706) so that a relatively small input difference in the difference signal (708) can produce a larger output signal (710). In one embodiment, the second amplifier (706) quantizes the amplitude of the received difference signal (708) in order to generate the output signal (710).

0083A second amplifier (706) can be used to determine the sign of the input difference signal (708) and time, at which the sign changes from one value to another. For example, the second amplifier (706) may, in one embodiment, act as an analog-to-digital converter with a precision of only 1 bit. Alternatively, the second amplifier (706) may be a high speed analog-to-digital converter that periodically samples the difference signal (708) at a relatively high rate. Alternatively, the second amplifier can act as an amplitude quantizer while preserving the timing information of the baseband signal (226). The use of a limiting amplifier as a second amplifier (706) can provide a relatively high gain and a relatively large input dynamic range. As a result, the relatively small difference signal (708) supplied to the limiting amplifier can result in a stable (eg, relatively high amplitude and / or signal-to-noise ratio) output signal (710). Also, a larger differential signal (708) that would otherwise be overdriven by another amplifier (eg, with relatively high amplitude and / or energy) could instead be in a controlled output state (eg,). , Control operation of the limiting controller). The second amplifier (706) may be relatively fast or may have no recovery time at all. As a result, the second amplifier (706) cannot enter an error or saturation state and may continue to respond to the differential signal (708) input to the second amplifier 706. When the input difference signal (708) returns to an acceptable level (eg, lower amplitude and / or energy), the second amplifier (706) is out of the overdrive state (caused by the input difference signal (708)). It may avoid the time required for other amplifiers for recovery. The second amplifier (706) can avoid losing the input signal it is receiving during such a recovery time.

0084Switch the output difference signal (710) (eg, from the second amplifier (706)) The device (712) (switch in FIG. 7) can control where the output difference signal (710) is transmitted. .. For example, the switch device (712) can alternate between states, in one state (eg, coarse capture or decision state), and the switch device (712) is in the first path (716) to the digitizer (730). Along the output difference signal (710), then to the correlator (731). The digitizer (730) contains one or more analog or digital components such as a processor, controller, buffer, digital gate, delay line, sampler, etc., and receives the signal to the digital echo described above in connection with FIG. 3B. Digitize into digital signals such as signal (740). The first route (716) is used to provide a coarse-time stage determination for the flight, as described above. In one embodiment, the signal (710) passes through another amplifier (714) and / or one or more other components before reaching the correlator (731) for coarse stage determination. Can be done. In another state, the switch device (712) directs a different output difference signal (710) along the second path (718) to one or more other components (discussed below). The second route (718) is used in the illustrated embodiment to determine the fine stage of flight time.

0085The switch device (712) may alternate the direction of flow of the signal (eg, the output difference signal (710)) from the first path (716) to the second path (718). Control can be provided by the control unit (112) (shown in FIG. 1), for example, the control unit (112) to control where the signal flows after passing through the switch device (712). The control signal can be communicated with the switch device (712).

0086The output difference signal (710) received by the switch device (712) can communicate with the comparison device (720) on the second path (718). Alternatively, the switch device (712) (or other component) can be converted to a single-ended signal (710) input to the difference comparison device (720). The comparison device (720) receives the pattern signal (728) from the pattern generator (228) (shown in FIG. 2). The received pattern signal (728) is referred to as an "I or Q fine alignment pattern" in FIG. Upon receiving the pattern signal (728), it may include a copy of the same transmission pattern transmitted on the transmission signal (106) used to generate the echo signal (226) analyzed by the system (232). .. Alternatively, the received pattern signal (728) can be different from the transmitted signal transmitted by the transmitted signal (106) used to generate the echo signal (226) analyzed by the system (232).

0087The comparison device (720) compares the signal received from the switch device (712) with the reception pattern signal (728) to identify the difference between the echo signal (226) and the reception pattern signal (728).

0088In one embodiment, the received pattern signal (728) includes a pattern delayed by a time delay due to a delay identified by a coarse stage determination (eg, flight time). The comparison device (720) then compares the time delay pattern in the pattern signal (728) with the echo signal (226) (corrected by, for example, the amplifiers (704), (710)) and the time delay pattern signal ( Identify duplicates or discrepancies between 728) and the echo signal (226).

0089In one embodiment, the comparison device (720) may include or represent a limiting amplifier that acts as a relatively fast XOR gate. An "XOR gate" receives two signals and produces a first output signal (eg, a "high" signal) when the two signals are different, and a second output signal (eg, a "high" signal) when the two signals are not different. , "Low" signal) or includes devices that produce no signal.

0090In other embodiments, the system may include a coarse baseband processing circuit (716) or a fine baseband processing circuit (718). In this case, the switch (712) can also be removed. For example, this reduces the cost and complexity of the entire system. As another example, the system does not require fine precision and a quick response of the coarse circuit section (716) is desired. Coarse stages, fine stages, and ultrafine stages can use any combination at different times to balance different performance criteria. Intelligent control automatically controls assembly (102) based on one or more sets (such as software modules or programs) stored in a tactile computer-readable storage medium (eg, computer memory). It can be provided by an operator or manually by a processor or controller (eg, control unit (112), etc.). Intelligent control can be switched when and / or is used, based on feedback from one or more other stages, either manually or automatically. For example, based on a decision from a coarse stage (eg, estimated time of flight or separation distance), the sensing assembly (102) manually or automatically switches to fine and / or ultrafine stages, and then flies or separates. And / or monitor the movement of the target object (104).

0091Continuing with reference to FIG. 7, FIG. 8 shows that in one embodiment the comparison device (720) has a portion (802) of the time delay pattern signal (728) and a portion (800) of the baseband echo signal (226). It is a schematic diagram which shows an example of the method of comparison. Only a part (800), (802) of the pattern signal (728) and the echo signal (226) is shown, but the comparison device (720) has the pattern signal (728) and a further echo signal (226) or You can compare everything. A portion (800) of the echo signal (226) and a portion (802) of the pattern signal (728) are shown arranged on the horizontal axis (804) indicating each other and time. The output signal (806) represents a signal output from the comparison device (720). The output signal (806) represents the difference (eg, time lag, overlap, or other measure) between the portion (800) of the echo signal (226) and the portion (802) of the pattern signal (728). .. The comparison device (720) can output a difference signal as a single-ended output signal (806) or output signal (806) (having components (806A) and (806B) as shown in FIG. 8).

0092In one embodiment, the comparison device (720) generates an output signal (806) based on the difference between the portion (800) of the echo signal (226) and the portion (802) of the time delay pattern signal (728). For example, if the magnitude or amplitude of both parts (800), (802) is "high" (eg, a positive value), or if the magnitude or amplitude of both parts (800), (802) is "". "Low" (eg, zero or negative value), the comparison device (720) can generate the output signal (806) to have a first value. In the illustrated example, this first value is zero. When the magnitudes or amplitudes of both parts (800), (802) are different (eg, one has a high value and the other has a zero or low value), the comparison device (720) has a high value, etc. An output signal (806) with a second value can be generated.

0093In the example of FIG. 8, the part (800) of the echo signal (226) and the part (802) of the pattern signal (728) have the same or similar values except for the time interval (808) and (810). Between these time intervals (808) and (810), the comparison device (720) produces an output signal (806) to have a "high" value. Each of these time intervals (808) and (810) can represent a time lag or delay between parts (800) and parts (802). During other time intervals, the comparison device (720) produces an output signal (806) to have different values, for example a "low" or zero value, as shown in FIG. A similar output signal (806) can be generated for the echo signal (226) and other parts of the pattern signal (728).

0094FIG. 9 shows another example of how the comparison device (720) compares the portion (902) of the pattern signal (728) with the portion (900) of the baseband echo signal (226). The portions (900), (902) have the same or similar values except for the time interval (904), (906). Between these time intervals (904) and (906), the comparison device (720) produces an output signal (806) to have a "high" value. During other time intervals, the comparison device (720) produces an output signal (806) to have a value different from, for example, "low" or zero. As mentioned above, the comparison device (720) can compare an additional portion of the output signal (806) or a pattern signal (728) that produces a waveform with an additional portion of the baseband signal (226).

0095FIG. 10 shows another example of how the comparison device (720) compares the signal portion (1002) of the pattern (230) with the baseband echo signal (226) portion (1000). Part (1000), (1002) have the same or similar values over time, as shown in FIG. As a result, the output signal (806) produced by the comparison device (720) does not contain any "high" values that represent the differences in parts (1000), (1002). As mentioned above, the comparison device (720) can compare the additional portion of the output signal (806) or the pattern signal (728) that produces the waveform with the additional portion of the baseband signal (226). The output signal (806) shown in FIGS. 8, 9 and 10 is provided as an embodiment only and is not intended to be limited to all embodiments disclosed herein.

0096The output signal (806) generated by the comparison device (720) is between the baseband echo signal (226) and the pattern signal (728) delayed by the flight time or time delay measured by the coarse stage measurement. Represents a temporary inconsistency. Temporary inconsistency of flight time of transmitted signal (106) (shown in Figure 1) and echo (108) (see Figure 1) to determine separation distance (110) (shown in Figure 1) It can be an additional part.

0097The temporary inconsistency between the baseband signal (226) and the pattern signal (728) can be called a time lag. The time lag can be represented by the time intervals (808), (810), (904), and (906). For example, the time lag of the data stream (226) in FIG. 8 is the time interval (808) or (810), or the baseband signal (226) part (802) is the pattern signal (728) part (800). It can be the time included by the time following the lag. Similarly, the time lag for portion (902) of the baseband signal (226) may be the time interval (904) or (906). In the example shown in FIG. 10, the baseband signal portion (1000) does not lag behind the pattern signal portion (728) (1002). As mentioned above, some time lag can be measured by comparing more of the time delay pattern signal (728) with the baseband signal (226).

0098The output signal (806) is transmitted from the converter (720) to one or more filters (722) to measure the temporary mismatch between the baseband signal (226) and the time delay pattern signal. You may. In one embodiment, the filter (722) is a low frequency pass filter. The filter (722) produces an energy signal (724) that is proportional to the energy of the signal output signal (806). The energy of the output signal (806) is represented by the magnitude (for example, width) of the waveforms (812) and (910) of the output signal (806). As the temporary inconsistency between the baseband signal (226) and the pattern signal (728) increases, the magnitude (and energy) of the waveforms (812) and (910) increases. As a result, the amplitude and / or energy carried or communicated by the energy signal (724) increases. Conversely, as the temporary inconsistency between the baseband signal (226) and the time delay pattern signal (728) decreases, so does the magnitude and / or amplitude and / or energy of the waveforms (812) and (910). To do. As a result, the energy carried or communicated by the energy signal (724) is reduced.

0099As another example, when the baseband signal (226) and the time delay pattern signal (728) are the same, a "low" signal is generated, and when the baseband signal (226) and the time delay pattern signal (728) are different, " The system can be implemented using the opposite polarity, such as an XNOR comparison device that produces a "high" signal. In this example, increasing the temporary inconsistency between the baseband signal (226) and the pattern signal (728) increases the magnitude (and energy) of the waveforms (812), (910). As a result, the amplitude and / or energy carried or communicated by the energy signal (724) is reduced. Conversely, reducing the temporary inconsistency between the baseband signal (226 and the time delay pattern signal (728)) also increases the magnitude, amplitude, and / or energy of the waveforms (812) and (910). As a result, the energy carried or communicated by the energy signal (724) increases.

0100The energy signal (724) can communicate with the measuring device (726) (ADC in FIG. 7). The measuring device (726) can measure the energy of the energy signal (724). The measured energy can then be used to determine an additional portion of the flight time represented by a temporary mismatch between the baseband signal (226) and the time delay pattern signal (728). it can. In one embodiment, the measuring device (726) periodically samples the energy and / or amplitude of the energy signal (724) in order to measure the energy of the energy signal (724). For example, the measuring device (726) includes or represents an analog-to-digital converter (ADC) to measure or estimate the matching (or mismatch) between the echo signal (226) and the pattern signal (728). To sample the amplitude and / or energy of the energy signal (724). The sampled energy is measured as an output signal (702) to the control unit (112) or other output device or element (shown as "digital energy guesser for I or Q channel" in Figure 7). ) Can be communicated.

0101The control unit (112) (or other element that receives the output signal (710)) examines the measured energy of the energy signal (724) and combines the baseband signal (226) with the time delay pattern signal (728). It is possible to calculate an additional portion of the flight time that is represented by a temporary inconsistency between them. The control unit (112) can calculate the additional portion of the separation distance (110) associated with the temporary inconsistency. In one embodiment, the control unit (112) compares the measured energy with one or more energy thresholds. Different energy thresholds can be associated with different amounts of temporary alignment. Based on the comparison, a temporary inconsistency could be identified and added to the flight time calculated using the coarse stage determination described above. The separation distance (110) can then be calculated based on a combination of the coarse stage determination of the flight time and the additional portion of the flight time determination of the fine stage determination.

0102FIG. 11 is an example of an output signal supplied to the measuring device (726) and the control unit (112) or other component or device (shown in FIG. 2) according to one embodiment. The output signal (702) is shown with a horizontal axis (1102) representing time and a vertical axis (1104) representing which energy. Some energy thresholds (1106), if any, are shown on the horizontal axis (1102). Eight output signals (724A-724H) and eight energy thresholds (1106A-1106H) are shown, but instead different numbers of output signals (724) and / or energy thresholds (1106) are used. May be good.

0103The measuring device (726) can digitize the energy signal (724) to generate the energy data output signal (702). When the output signal (702) is received by the CPU (270) from the measuring device (726) (shown in FIG. 7), the output signal (706) exceeds the energy threshold (1106). ) Is compared to the energy threshold (1106) to determine if there is. For example, the output signal (702) having less energy (eg, lower magnitude) associated with the output signal (702A) does not exceed the threshold (1106), while the output signal (702A) is at the threshold (1106A). ) Approaches or reaches. The output signal 702B is determined to exceed the threshold 1106A, but not to exceed the threshold (1106B). As shown in FIG. 11, the other output signal 702 can exceed some thresholds (1106) but not other thresholds (1106).

0104In one embodiment, different energy thresholds (1106) are associated with different temporary inconsistencies between the echo signal (226) and the time delay pattern signal (728). For example, the energy threshold (1106A) can represent a temporary mismatch of 100 picoseconds, the energy threshold (1106B) can represent a temporary mismatch of 150 picoseconds, and the energy threshold (1106C). Can represent a temporary inconsistency of 200 picoseconds, an energy threshold (1106D) can represent a temporary inconsistency of 250 picoseconds, and so on. For example, (724B) can be the result of the situation shown in FIG. 8 and (724E) can be the result of the situation shown in FIG.

0105The measured energy of the output signal (702) can be compared to the threshold (1106) to determine if the measured energy exceeds one or more of the thresholds (1106). Temporary inconsistencies associated with the maximum threshold (1106) approaching or reaching or representing the energy of the output signal (702) are between the echo signal (226) and the time delay pattern signal (728). It can be identified as a temporary inconsistency. In one embodiment, the temporary inconsistency can be identified for an output signal (702) that has less energy than the threshold (1106A) or represents less energy than the threshold (1106A).

0106The energy threshold (1106) is represented by the output signal (702), positioning the known separation distance (110) from the sensing assembly (102) (shown in FIG. 1) to the target object (104) (shown in FIG. 1). It can be established by observing the level of energy reached or approached.

0107As an addition or alternative to making fine stage determinations of flight time, ultrafine stages (eg, increasing resolution) refine flight time measurements (increasing that resolution) and track motion. , And / or can be used to detect the movement of the target object (104) (see Figure 1). In one embodiment, the hyperfine stage comprises comparing various elements or components or channels of an echo signal that are the same as or different from the fine stage (226). For example, in one embodiment, the coarse stage determination is based on the echo signal (108) received from the transmission of the first set or burst of one or more transmit signals (106) as described above. The flight time can be measured from 226). Subtle stage determinations are received from transmissions of one or more second sets or bursts (which may use the same or different transmissions as the first set or burst of transmitted signal (106)). The amount of temporary inconsistency or duplication between echo signals (226) can be measured based on the echo (108). The fine stage determination is the pattern received as the echo signal (226) from the second set or burst of the transmitted signal (106) and the time delayed by the flight time measured by the coarse stage as described above. Temporary inconsistencies between signals (which can be the same or different reception patterns as those used by coarse stage determination) can be measured. In one embodiment, the fine stage determination examines the I and / or Q components or channels of the echo signal (226). The ultrafine stage determination is a fine stage determination, the second set of transmitted signals (106) or the echo signal from the burst (226), or the subsequent third set of transmitted signals (106). Temporary inconsistencies in the echo signal (226) from can be measured. Hyperfine stage determination is a temporary mismatch between the echo signal (226) and the reception pattern signal (fine stage determination). It can be measured (same or different from the received pattern signal used in the constant), which is time-delayed by the time of the flight measured on the coarse stage. In one embodiment, the hyperfine stage measures the temporary inconsistency of the I and / or Q components or channels, while the fine stage measures the Q and / or of a signal that is the same as or different from the echo signal (226). Measure the temporary inconsistency of the I component or channel. Temporary inconsistencies in component I are communicated as an output signal (702) to the control unit (112) (or other component or device) (as described above), while temporary inconsistencies in component Q are , Can be communicated to the control unit (112) (or other component or device) as an output signal (1228). Alternatively or additionally, the time lag between the I-channel and Q-channel waveforms can be examined to resolve the echo phase in order to calculate the separation distance and target movement.

0108As mentioned above, ultrafine stage determination can optionally include a process similar to coarse stage determination. For example, the data stream can be inspected to determine the correlation values of the I-channel of the reception pattern of the coarse stage determination and different subsets of the data stream. From the correlation value, a subset of time of flight corresponding to the target is determined. The ultra-fine stage determination uses the data stream to determine the correlation values between the Q channel of the received pattern and the different subsets of the data stream, and from those correlation values, the subset of time of flight corresponding to the target. Can be decided. The I-channel and Q-channel time-of-flight can be combined (eg, averaged) to calculate the time of flight to the target and / or the time of separation distance. An addition that the correlation value calculated by the ultrafine stage determination can be added to the time delay from the coarse and / or fine stage to determine the time of flight to the target and / or the time of separation distance. Can be used to calculate the time delay. Alternatively or additionally, the correlation values of the I-channel and Q-channel waveforms can be examined to resolve the echo phase in order to calculate the separation distance and target movement.

0109FIG. 12 is a circuit diagram of another embodiment of the baseband processing system (1200) of the system (100) shown in FIG. In one embodiment, the baseband processing system (1200) is similar to the baseband processing system (232) (shown in FIG. 7). For example, the baseband processing system (1200) is coupled to the front-end receiver (218), pattern code generator (228), and / or baseband processor (232) of the sensing assembly (102). It may be included in 102 (shown in FIG. 1). The baseband processing system (1200) is a two or more parallel paths (1202), through which the baseband echo signal (226) and the I and Q components of the pattern signal can flow for processing and analysis. 1204) is included. For example, the first path (1202) can process and analyze the I component of the echo signal (224) and the baseband echo signal (226), and the second path (1204) can process and analyze the echo signal (224). ) And the Q component of the baseband echo signal (226) can be processed and analyzed. In the illustrated embodiment, each of the routes (1202), (1204) includes the baseband processing system (232) described above. Alternatively, one or more of the paths (1202), (1204) may include one or more other components for processing and / or analyzing the signal. In another embodiment, only a single path (1202), (1204) processes and / or analyzes multiple different components of the baseband echo signal (224) and / or the baseband echo signal (226). be able to. For example, path (1202) examines the I component of the signal (224) and / or (226) during the first time interval and then during a different (eg, subsequent or preceding) second time interval. , Signal (224) and / or the Q component of (226) can be inspected.

0110During operation, the echo signal (224) is received by the front-end receiver (218) and separated into separate I-signals (1206) and Q-signals (1208) (also referred to herein as I and Q channels). The separate I-signals (1206) and Q-signals (1208) contain the corresponding I- or Q-components of the echo signal (224) and are related to the baseband processing system (232) shown in FIG. It can be processed and analyzed in the same manner as the signal described above. For example, each of the I signal (1206) and Q signal (1208) converts the difference signal (similar to the signal (708) shown in FIG. 7) to another conversion amplifier (1212) (conversion amplifier (706) in FIG. 7). ) Can be received and / or amplified by a conversion amplifier (1210) (similar to a conversion amplifier (704)) in each path (1202), (1204) to output to). .. The amplifier (1212) can generate a signal with increased gain (eg, similar to the signal (710) shown in FIG. 7) supplied by the switch device (1214). The switch device (1214) can be similar to the switch device (712) (shown in FIG. 7), from amplifier (1212) to amplifier (1216), as described above, for identification of coarse-time stages of flight. ) (Similar to the amplifier (714) shown in FIG. 7) and / or the signal to the correlator (232) can be communicated.

0111In connection with the switch device (712) (shown in FIG. 7), the switch device (1214) transfers the signal from the amplifier (1212) to the comparison device (1218) (comparison shown in FIG. 7). Device (720) may be similar), filter (1220) (which may be similar to filter (722) shown in FIG. 7), and measuring device (1222) (with measuring device (726) shown in FIG. 7). Can be similar). The comparison device (1218) can receive various components of the received pattern signal from each pattern code generator (228). For example, the first path (1202) comparison device (1218) can receive the I component of the pattern signal for the fine stage, and the second path (1202) comparison device (1218) is super It is possible to receive the Q component of the reception pattern signal for a fine stage. The comparison device (1218) produces an output signal that represents a temporary mismatch between the received pattern signal and the I component (1224) or Q component (1226), similar to that described above. For example, the comparison device (1218) in the first path (1202) represents a temporary inconsistency between the I component of the baseband echo signal (226) and the I component of the time delay reception pattern signal (eg,). It can output a signal with energy (proportionally). The comparison device (1218) in the second path (1204) provides energy that represents a temporary mismatch between the Q component of the baseband echo signal (226) and the Q component of the time delay pattern signal (728). It is possible to output another signal having. Alternatively, there may be a single path (700 may be) as shown in Figure 7, which can be shared between I and Q actions. This can be achieved by alternating or switching between the I and Q components of the baseband echo signals (226A) and (226B).

0112As mentioned above, the energy of the signal output from the comparison device (1218) can pass through the filter (1220) and is temporary associated with the I and Q components of the echo and pattern reception signals. Measured by measuring device (1222) to determine each inconsistency. These temporary inconsistencies can be added together and added to the flight time as determined by the coarse stage determination means. Use by the baseband processor (232) to calculate the total flight time separation distance (110) (as shown in Figure 1) of the coarse stage temporary inconsistency determination as described above. Can be done. Since the I and Q components of the echo signal and the time delay pattern signal are phase-shifted by about 90 degrees from each other, by examining the I and Q components separately, the return signal (108) is according to Equation 2 below. It is possible to calculate the transport phase of the transmission signal (106) and the resolution of 1/8 or better (smaller) magnitude of the wavelength of the transport signal of the transmission signal (106) and the echo (108). Alternatively, there can be three or more components that are separated by an amount other than 90 degrees.

0113In one embodiment, the ultrafine stage determination described above can be used to determine a relatively small movement that changes the separation distance (110) (shown in FIG. 1). For example, a hyperfine stage can be used to identify relatively small movements within a portion of the separation distance (110) associated with a subset of objects in the baseband echo signal (226).

0114FIG. 13 is a diagram showing prediction of I and Q components of the baseband echo signal (226) according to one embodiment. The ultrafine stage determination can include a baseband processor (232) (shown in FIG. 2) that projects the characteristics of the I and Q components of the echo signal (226) onto the baseband with respect to the vector. As shown in FIG. 13, the vector (1300) is shown along the horizontal axis (1302) and the vertical axis (1304). Backend (202) or control unit (112) or other processing by inspection of data signals (234), (702), (1228), (260), or other signals or some or all combinations of such signals. The device or calculator is as a projection of the characteristics of the I component (eg, amplitude) of the echo signal along the horizontal axis (1302) and the characteristics of the Q component of the echo signal along the vertical axis (1304) (eg, amplitude). ) Can be determined as a vector (1300). For example, the vector (1300) can be extended to a position along the horizontal axis (1302) by an amount representing the I component of the echo signal, and to a position along the vertical axis by an amount representing the amplitude of the Q component of the echo signal. .. The phase of the carrier wave can be calculated as follows.

0115<chemistry num="2"><img id="000003" he="20" wi="114" file="JP6021189B2_D0001.tif" img-format="tif" img-content="drawing" /></chemistry>

0116Where φ is the phase, I is the I projection (1320), and Q is the Q projection (1321). The change in carrier phase or carrier phase can be used to calculate the distance, or distance or change, through the following equation.

0117<chemistry num="3"><img id="000004" he="20" wi="114" file="JP6021189B2_D0001.tif" img-format="tif" img-content="drawing" /></chemistry>

0118Here, λ is the wavelength of the carrier frequency, φ is the phase, and is expressed by the degree calculated from the above equation 2.

0119The baseband processor (232) (shown in Figure 2) has an additional vector based on the echo (108) (see Figure 1) received from the additional transmitted signal (106) (shown in Figure 1). (1306) and (1308) can be determined. Based on the change of vector (1306) to vector (1306) or vector (1308), the baseband processor (232) is within the portion of the separation distance (110) (see Figure 1) associated with the subset of interest. The movement of the target object (104) (see Figure 1) can be identified. For example, the rotation of the vector (1300) counterclockwise (1310) towards the position of the vector (1306) is the movement (or target object (104)) of the target object (104) towards the sensing assembly (102) shown in FIG. ) Can represent the movement of the sensing assembly (102). The rotation of the vector (1300) in the clockwise direction (1312) towards the position of the vector (1308) moves the target object (104) away from the sensing assembly (102) (or the sensing assembly (102) towards the target object (104). ) Movement) can be expressed. Alternatively, the movement of the vector (1300) in the counterclockwise direction (1310) moves away from the sensing assembly (102) (or towards the target object (104)). The clockwise (1312) movement of the vector (1300) is the movement (or target object) of the target object (104) towards the sensing assembly (102) as shown in FIG. The movement of the sensing assembly (102) towards (104)) can be represented. The correlator (232) can be calibrated by moving the target object (104) towards or away from the detector (102) and clockwise by moving it in any direction. (

0120The above-mentioned coarse, fine, and/Alternatively, ultrafine stage determination can be used in various combinations. For example, a detector(102)(Figure1Shown in)From target object(104)(Figure1Shown in)Approximate distance to(Figure1Shown in)Even if is not known, the coarse stage determination is the separation distance(110)Can be used to calculate. Alternatively, the coarse stage is the separation distance(110)Fine and fine to get a more accurate calculation of/Alternatively, it can be used in ultrafine stage determination. Coarse, fine, and ultrafine stages can be used in any combination at different times to balance different performance metrics.

0121As another example, if the separation distance (110) (see Figure 1) is known, the fine stage or ultrafine stage determination first uses the coarse stage determination to determine the bit of interest. It can be activated without the need for identification. For example, system (100) (shown in FIG. 1) may be in "tracking" mode, where updates from an initial known separation distance (110) are identified using fine and / or hyperfine state determination. And / or recorded.

0122Returning to the description of the system (100) shown in FIG. 1, in another embodiment the system (100) distinguishes between echoes (108) reflected from various target objects (104). For example, in some applications of the system (100), the transmitted signal (106) is reflected from multiple target objects (104). If the target object (104) is located at a different separation distance (110) from the sensing assembly (102), a single baseband echo signal (226) (shown in Figure 2) will be a different target object (104). ) Can represent multiple sequences of bits representing the echo. As described below, the mask can be applied to the pattern in the correlation window to be compared with the baseband echo signal (226) to distinguish between the baseband echo signal (226) and the different target object (104). it can.

0123FIG. 14 shows a technique for distinguishing echoes (108) (shown in FIG. 1) reflected from different target objects (104) (shown in FIG. 1) according to one embodiment. When the first transmit signal (106) (or series of first transmit signals (106)) shown in FIG. 1 is reflected from a plurality of target objects (104), the pattern signal (230) (shown in FIG. 2). The digital pulse sequence (eg, bit pattern) in) is in the first transmit signal (106) for transmission of the second transmit signal (106) (or series of second transmit signals (106)). Can be modified for digital pulse sequences. The echo (108) of the second transmit signal (106) and the corresponding baseband echo signal (226) (see Figure 2) are used to distinguish between multiple target objects (104) (different target objects (104)). And (to calculate the time and / or separation distance (110) of the associated different flights), can be compared with the modified digital pulse sequence.

0124In the first digitized echo signal (1400) of FIG. 14, the transmitted signal (106) (shown in FIG. 1) has a first separation distance (110) (110) from the sensing assembly (102) (shown in FIG. 1). (Shown in Figure 1) represents the sequence of bits that can be generated when reflecting from the first target object (104). The second digitized echo signal (1402) is reflected by a different second target object (104), where the transmitted signal (106) is a second separation distance (110) different from the detection assembly (102). Shows the sequence of bits that can be generated when Instead of generating the digitized echo signals (1400), (1402) separately, the detection assembly (102) represents a combination of echoes (108) from a different target object (104) than the echoes (108). A combined digitized echo signal (1404) can be generated. The combined digitized echo signal (1404) can represent a combination of the digitized echo signals (1400), (1402).

0125Correlation window (1406) is intended to determine a subset of objects, such as subsets of objects (1408), (1410), to determine the time of flight to each target object (104) (shown in Figure 1). Includes a sequence of bits (1414) that can be compared to either the digitized echo signal (1401) or (1402). However, when the echoes (108) (shown in FIG. 1) are combined from the target object (104) to generate the combined digitized echo signal (1404), the correlation window (1406) is one or more. To determine the time of flight to the target object (104) of is incorrect or cannot be determined. For example, a separate comparison of the correlation window (1406) with each of the digitized echo signals (1400), (1402) yields a +6 correlation value calculated for the subsets (1408), (1410). While it can result, a comparison of the correlation window (1406) to the digitized echo signal (1404) shows the 1st to 6th bits, the 3rd to 8th bits, and the 7th bit in the combined digital echo signal. It can be a correlation value of +5, +4, and +4 for a subset containing bits to 12th bit. As a result, the baseband processor (232) cannot distinguish between different target objects (104) (shown in FIG. 1) by the baseband processor (232) (shown in FIG. 2).

0126In one embodiment, the mask (1412) can be applied to the sequence of bits (1414) in the correlation window (1406) to change the sequence of bits (1414) in the correlation window (1406). The mask (1412) can delete or change the value of one or more bits of the correlation window (1406). The mask (1412) produces a modified correlation window (1418) with a sequence of bits (1414) in the correlation window (1406) and a sequence of sequences 1420 different from the sequence of bits (1414). Can contain a sequence of bits (1416) applied to (by multiplying by). In the illustrated example, the mask (1412) contains the first part of the first 3 bits (101) and the second part of the last 3 bits (000). Alternatively, another mask (1412) with a different sequence of bits and / or a sequence of bits of different lengths can be used. Applying a mask (1412) to the correlation window (1406) eliminates the last 3 bits (011) of the sequence of bits (1414) in the correlation window (1406). As a result, it contains only the first 3 bits (101) of the modified correlation window (1418). In another embodiment, the mask (1412) adds an additional bit to the correlation window (1406) and / or changes the value of the bit in the correlation window (1406).

0127The sequence of bits (1420) in the modified correlation window (1418) can be used to modify the sequence of bits in the pattern signal (230) (shown in Figure 2), which pattern signal (230) It is transmitted to the transmitter for inclusion in the transmit signal (106) (shown in FIG. 1). For example, the sequence of bits in a pattern transmitted towards a target object (104) after being digitized and receiving a composite signal and indistinguishable between different target objects (104) (shown in Figure 1) is modified. It can be modified to include a sequence of bits (1420) in some other sequence of bits to help identify the sequence of bits in the correlated window (1412) or a different target object (104). An additional synthesized digitized echo signal (1422) can be received based on the echo (108) of the transmit signal (106), which includes a sequence of bits (1420).

0128The modified correlation window (1418) is then compared to a further digitized echo signal (1422) to identify a subset of objects associated with different target objects (104) (shown in Figure 1). obtain. In an illustrated embodiment, as described above, the modified correlation window (1418) is a digitized echo signal (1426) to identify the first and second subsets (1424), (1426) of interest. Can be compared with different subsets of 1422). For example, the first subset of objects (1424) and the second subset (1426) are identified as having a higher or highest correlation value with respect to the other subset of the digitized echo signal (1422). Can be done.

0129When the transmitted signal (106) is reflected from a plurality of target objects (104) during operation, the pattern transmitted in the signal (106) is an echo signal (226) in which one or more target objects (104) are digitized. It can be changed relatively quickly during a continuous burst of transmitted signal (106) if it cannot be identified from the inspection of. The modified pattern can be used to distinguish the target object (104) of the digitized echo signal (740) using a correlation window containing the modified pattern.

0130In other embodiments, the digital pulse sequence of the bits contained in the transmitted signal (106) (shown in FIG. 1) may differ from the digital pulse sequence of the bits contained in the correlation window, and the baseband echo signal (226). Can be compared with (shown in Figure 2). For example, the pattern code generator (228) (shown in FIG. 2) can create heterogeneous patterns in the pattern signal (230) (see Figure 2) to the transmitter (208) and baseband processor (232). Communicate inhomogeneous patterns. The transmitter (208) can mix the first pattern of bits in the transmit signal (106), and the baseband processor (232) is based on the echo (108) (see Figure 1) of the transmit signal (106). The baseband echo signal (226) generated in the above can be compared with the second pattern of different bits. For the example described above in connection with FIG. 14, the sequence of bits (1414) in the correlation window (1406) can be included in the transmitted signal (106), while the sequence of bits in the mask (1416) or the correlation window (1416). The bit sequence of 1418) (1420) can be compared to the digitized echo signal (1422). Using these different patterns, as mentioned above, the sensing assembly (102) (shown in FIG. 1) can distinguish between multiple target objects (104). Using these different patterns, the sensing assembly (102) (shown in Figure 1) further includes mitigation, signal-to-noise improvement, anti-jamming, anti-spoofing, and anti-eaves dropping. Other functions, not limited to these, can be performed.

0131FIG. 15 is a schematic view of the antenna (1500) according to the embodiment. The antenna (1500) can be used as a transmitting antenna (204) and / or a receiving antenna (206), both of which are shown in FIG. Alternatively, other antennas may be used for the transmitting antenna (204) and / or (the receiving antenna (206). The antenna (1500) is multidimensional (eg, two-dimensional) of the antenna unit cell (1504). Includes an array (1502). A unit cell (1504) can represent or include a microstrip patch antenna. Alternatively, a unit cell (1504) can represent another type of antenna. Multiple. Unit cells (1504) are conductively connected to each other in series to form a series feed array (1506). In an exemplary embodiment, the unit cells are linearly connected in series. Alternatively. , The unit cell (1504) can be connected in another form.

0132Several series-fed arrays (1506) are electrically connected in parallel to form an array (1502) in an illustrated embodiment. A large number of unit cells (1504) and a series feed array (1506), shown in FIG. 15, are provided as examples. Different numbers of unit cells (1504) and / or arrays (1506) may be included in the antenna (1500). The antenna (1500) uses multiple unit cells (1504) to concentrate the energy of the transmitted signal (106) (shown in FIG. 1) through productive and / or destructive interference of the transmitted signal. Can be done.

0133FIG. 16 is a schematic representation of an embodiment of the front end (200) of the sensing assembly (102) (shown in FIG. 1). The antenna (1500) can be used as a transmitting antenna (204) and a receiving antenna (206), as shown in FIG. Each antenna (1500) can be directly connected to a receiver (602) or transmitter (600) by a relatively short length transmission line (1600) (eg, antenna (1500) and receiver (eg, antenna (1500) and receiver (1500)). 602) or without other components placed between the transmitter (600)).

0134The front end (200) of the sensing assembly (102) can be housed in a housing (1602) such as a metal or conductive housing with a transmitting window (1604) on the antenna (1500). Alternatively, the front end (200) may be housed in a non-metal (eg, dielectric) enclosure. The window on the antenna (1500) cannot be cut out from the housing (1602), but instead the transmit signal (106) and echo (108) are windowed from the antenna (1500) or to the antenna (1500). It can represent a portion of the housing (1602) through which (1604) can be passed.

0135The housing (1602) wraps around the antenna (1500) so that the antenna is effectively received within the conductor of the housing (1602), and the housing (1602) is further between the antennas (1500). Separation can be improved. Alternatively, in the case of a non-conductive enclosure (1602), the antenna (1500) may be completely enclosed by the enclosure (1602) and additional metal foil and / or absorbent material. Alternatively, other means may be added to improve the separation between the antennas (1500). In one embodiment, if the separation is high enough, the transmitting and receiving antennas (1500) can operate simultaneously if the return echo (108) is strong enough. This is the case when the target is in a very close range. The case where the sensing assembly (102) can be operated without a transmit / receive switch.

0136FIG. 17 is a cross-sectional view of an embodiment of the antenna (1500) along lines 17-17 of FIG. The antenna (1500) (plane antenna in Figure 17) has a cover layer (1700) (Superstrate in Figure 17) of an electrically insulating material (such as a dielectric or other non-conductive material). There is. Examples of such materials for the cover layer (1700) include, but are not limited to, quartz, sapphire, various polymers, and the like.

0137The antenna (1500) can be placed on the surface of a substrate (1706) that supports the antenna (1500). The conductive ground plane (1708) may be located on the opposite surface of the substrate (1706) or may be located elsewhere.

0138The cover layer (1700) can be separated from the antenna (1500) by an air gap (1704) (air in FIG. 17). Alternatively, the void between the cover layer (1700) and the antenna (1500) may be at least partially filled with other material or a fluid other than air. Another alternative is to eliminate the void. The cover layer (1700) may be mounted directly on the antenna (1500). The cover layer (1700) removes the antenna (1500) from mechanical damage caused by environmental and / or external objects. In one embodiment, the cover layer (1700) concentrates the energy of the transmitted signal (106) emitted by the antenna (1500) on the beam and a reflected echo (108) towards the antenna (1500). ) Provides a lens effect that concentrates the energy.

0139This lens effect is due to the material in which the transmitted signal (106) and / or echo (108) is placed between the antenna (1500) and the target object (104) (eg, polymer®). ), Polycarbonate, or an insulator such as another polymer) allows it to pass through an additional layer (1702) (shown in Figure 1). For example, the sensing assembly (102) can be attached to a monitored object (eg, the top of the tank of fluid measured by said sensing assembly (102)), while the lens effect is the sensing assembly (102). ) Send a signal (106) through the top of the tank and receive an echo (108) without cutting a window or opening through the top of the tank.

0140In one embodiment, the substrate (1708) may have a thickness dimension between facing surfaces that are thinner than the wavelength of the transmitted signal (106) and / or the carrier signal of the echo (108). For example, the thickness of the substrate (1708) can be approximately l / 20 of the wavelength. The thickness of the voids (1704) and / or super straights (1700) can be larger, such as 1/3 of the wavelength. One or both of the voids (1704) and super straights (1700) can be removed together.

0141One or more embodiments of the system (100) and / or sensing assembly (102) described herein are the separation distance (110) and / or the time of flight as measured by said sensing assembly (102). Can be used for various applications using. Some specific examples of the application of the system (100) and / or the sensing assembly (102) are described herein, but all applications or uses of the system (100) or the sensing assembly (102). It is not limited to what is described herein. For example, many applications that use separation distance (110) detection (eg, depth measurements) can use or incorporate the system (100) and / or sensing assembly (102).

0142FIG. 18 illustrates one embodiment of a containment system (1800). The system (1800) includes a containment device (1802) such as a fluid tank that holds or stores one or more fluids (1806). The sensing assembly (102) can be located on the containment device (1802) or on its upper edge (1804), directing the transmitted signal (106) to the fluid (1806). The reflected echo (108) from the fluid (1806) is received by the sensing assembly (102) for measuring the separation distance (110) between the sensing assembly (102) and the top surface of the fluid (1806). The location of the sensing assembly (102) is known so that the separation distance (110) to the fluid (1806) can be used to measure how much fluid (1806) is in the containment device (1802). Can be calibrated to the bottom of the containment device (1802). The sensing assembly (102) can accurately measure the separation distance (110) using one or more coarse, fine, and / or ultrafine staging techniques described herein. obtain.

0143Alternatively or additionally, the sensing device (102) may direct the transmitted signal (106) to a port (eg, a filling port through which the fluid (1806) passes and enters the containment device (1802)). The movement of fluid (1806) at or near the port can be monitored. For example, if the separation distance (110) from the sensing assembly (102) to the port is known to be the bit of interest for the echo (108), then the ultrafine staging is said to be said. It is probably used to measure whether a fluid (1806) in or near a port is moving (eg, turbulent). This movement may indicate that the fluid (1806) is flowing into or out of the containment device (1802). The sensing assembly (102) can use this measurement as a warning or other indicator when fluid (1806) is flowing into or out of the containment device (1802). Alternatively, the sensing assembly (102) has various operating conditions and parameters (eg, fluid volume, fluid movement, etc.) with or without turbulence and / or intensity (eg, degree or amount of movement). Will be placed or targeted at other strategically important positions that can indicate. The sensing assembly (102) can periodically switch between these measurement modes (eg, one mode for measuring the separation distance (110), another mode for monitoring movement), and then the control unit (112). ) Will report the data and measurements (shown in Figure 1). Alternatively, the control unit (112) directs the sensing assembly (102) to make different types of measurements (eg, measure separation distance (110) or monitor motion) at different times. Let's go.

0144FIG. 19 illustrates one embodiment of a region limiting system (1900). The system (1900) directs the transmitted signal (106) (shown in FIG. 1) to a first region (1902) (eg, a region on the floor, a volume in space, etc.) in a sensing assembly (102). May include. The human operator (1906) can be placed in a different second area (1904) to perform various missions. The first area (1902) is a restricted area in which the operator (1906) stays outside when one or more machines (eg, an automated robot or other component) operate for the safety of the operator (1906). Can represent a volume. The sensing assembly (102) directs the transmitted signal (106) to the first region (1902) and receives it in order to determine whether the operator (1906) enters the first region (1902). The echo (108) that was made can be monitored. For example, an operator (1906) intrusion into a first region (1902) identifies motion using one or more coarse, fine, and / or ultrafine staging techniques described herein. Can be detected by. If the sensing assembly (102) is aware of the distance to the first region (1902) (eg, the separation distance to the floor (110) in the first region (1902)), the sensing assembly (102) will As mentioned above, movement within a subset of objects in the echo signal generated based on the echo can be monitored. When the sensing assembly (102) detects an operator (1906) entry into the first region (1902), the sensing assembly (102) receives the first region (1902) to avoid damaging the operator (1906). It is possible to notify the control unit (112) (shown in FIG. 1) which can invalidate the operation of the machine in the vicinity of).

0145FIG. 20 shows another embodiment of the volume limiting system (2000). The system (2000) may include a sensing assembly (102) that directs a signal (106) (shown in FIG. 1) transmitted towards a safety volume (2002) (safety zone in FIG. 20). Machines (2004), such as automatic or manual control robotic devices, are arranged or configured to move within a safety volume (2002). The volume through which the transmitted signal (106) is communicated may be referred to as the protected volume (2006). The protected area (2006) may represent a restricted area or volume in which a human or other object remains external during the operation of the machine (2004). The sensing assembly (102) passes the transmitted signal (106) through the protection volume (2006) to determine if there is any identified movement outside the region (2002) but within the protection region (2006). Can be instructed to monitor the received echo (108). For example, human intrusion into the protected volume (2006) can be detected by motion identification using the ultrafine staging described above. When the sensing assembly (102) detects an entry into the protection volume (2006), the sensing assembly (102) will use the machine (2004) to avoid injuring any person or object that has entered the protection volume (2006). Can be notified to the control unit (112) (shown in Figure 1), which can be disabled.

0146FIG. 21 is a schematic representation of one embodiment of a mobile system (2100) that includes a sensing assembly (102). The system (2100) includes a mobile device (2102) to which the sensing assembly (102) is coupled. In the illustrated embodiment, the mobile device (2102) is a mobilization robot system. Alternatively, the mobile device (2102) may represent another type of mobile device, such as an automobile, underground drillship, or another type of vehicle. The system (2100) may use the measurements made by the sensing assembly (102) to navigate around or through the object. The system (2100) is assisted with automatic navigation based on the detection of motion and / or measurement of the separation distance (110) between the sensing assembly (102) and other objects, and / or such measurement and detection. Can be useful for navigation.

0147For example, the sensing assembly (102) may measure the separation distance (110) between the sensing assembly (102) and a plurality of objects (2104A-D) in the vicinity of the moving device (2102). The mobile device (2102) is used to measure how much the mobile device (2102) can move before it needs to change direction or change direction to avoid contact with the object (2104A-D). , These separation distances (110) can be used.

0148In one embodiment, the mobile device (2102) may use multiple sensing assemblies (102) to determine the layout or map of the enclosed neighborhood (2106) around the mobile device (102). it can. This neighborhood (2106) can be bounded by walls such as rooms, buildings and tunnels. The first sensing assembly (102) on the moving device (2102) measures the separation distance (110) to one or more boundaries (eg, walls or surfaces) of the neighborhood (2106) along the first direction. The second sensing assembly (102) can be oriented so that it measures the separation distance (110) to one or more other boundaries of the neighborhood (2106) along different (eg, orthogonal) directions. Can be oriented to. The separation distance (110) to the boundary of the neighborhood (2106) can provide the mobile device (2102) with information about the size of the neighborhood (2106) and the current position of the mobile device (2102). The mobile device (2102) then moves to the neighborhood (2106), while one or more sensing assemblies (102) provide an updated separation distance (110) to one or more boundaries of the neighborhood (2106). get. Based on the change in separation distance (110), the mobile device (2102) can measure where it is located in the neighborhood (2106). For example, the initial separation distance (110) to the first wall of a room is measured as 10 feet (3 meters), and the initial separation distance (110) to the second wall of the room is 5 feet (1.5 meters). When measured, the mobile device (2102) initially positions itself in the room. If the separation distance (110) after the first wall is 4 feet (1.2 meters) and the separation distance (110) after the second wall is 7 feet (2.1 meters), then the moving device ( 2102) can determine that it itself has moved 6 feet (1.8 meters) towards the first wall and 2 feet (0.6 meters) towards the second wall.

0149In one embodiment, the mobile device (2102) can use the information generated by the sensing assembly (102) to distinguish between immovable and moving objects in the neighborhood (2106). Some of the objects (2104A), (2104B), and (2104D) can be stationary objects such as walls, furniture, and the like. The other object (210C) can be a moving object such as a human or other mobile device passing through the neighborhood (2106). The mobile device (2102) changes the separation distance (110) between the mobile device (2102) and the objects (2104A), (2104B), (2104C), (2104D) when the mobile device (102) moves. Can be tracked. The separation distance (110) between the moving device (2102) and the object (2104) can change as the moving device (2102) moves, so the stationary object (2104A), (2 (104B)), ( Both the 2104D) and the moving object (2104C) appear to move to the moving device (2102). This perceived movement of stationary objects (2104A), (2 (104B)), (2104D) observed by the sensing assembly (102) and the moving device (2102) is the sensing assembly (102) and the moving device (2102). It is due to the movement of. To calculate the movement (eg, speed) of the moving device (2102), the moving device (210) tracks the change in the separation distance (110) to the object (2104) and changes to the separation distance (110). Based on this, the motion vector of the object related to the object (2104) can be generated.

0150FIG. 22 shows a plurality of objects generated based on a change in the separation distance (110) between the mobile device (2102) and the object (eg, the object (2104) in FIG. 21) according to one embodiment. It is a schematic diagram of a motion vector. The motion vector (2200) AF of an object can be generated by tracking changes in the separation distance (110) over time. To infer the motion characteristics of the moving device (2102) (eg, velocity and / or heading), the motion vectors (2200) of these objects add up and / or the motion vectors (2200) of the objects. It can be combined by averaging and so on. For example, the motion vector (2202) of the moving device (102) is inferred by measuring the vector that is the average of the motion vectors (2200) of the object and then measuring the vector opposite to the motion vector (2202). be able to. By combining the motion vectors (2200) of multiple objects, pseudo due to other moving objects in the environment, such as motion vectors (2200C), (2200F) of objects based on the movement of other moving objects in the neighborhood. The motion vector of the object tends to be corrected.

0151The mobile device (2102) can learn (remember) which objects are part of the environment, can be used for tracking movements of the mobile device (2102), and can be called permanent objects. .. Other objects that have been observed to be inconsistent with known permanent objects are called temporary objects. For temporary objects, the object's motion vectors have fluctuating trajectories and may not match well with each other or with permanent objects. Temporary objects can be identified not only by their radial distance from the mobile device (2102), but also by their trajectory (eg, the walls of the tunnel remain at that distance), but on the other hand they are primary. The object passes closer to the mobile device (2102).

0152In another embodiment, the mobile device (2102) may include a sensing system (100) and / or a sensing assembly (102) for communicating information between each other. For example, the mobile device (2102) may each use a sensing assembly (102) to detect when the mobile device (2102) is at a threshold distance to each other. The mobile device (2102) then transmits a signal (106) transmitted to measure the separation distance (110) and / or to detect motion, thus transmitting to communicate other information. It is possible to switch to transmitting the signal (106). For example, instead of generating a digital pulse sequence to measure the separation distance (110), at least one of the mobile devices (2102) is sent towards another mobile device (2102) to communicate information. A binary code sequence (eg, 1 and 0) in a pattern signal can be used. Another mobile device (2102) may receive the transmitted signal (106) to identify the transmitted pattern signal and decode the encoded information in the pattern signal.

0153FIG. 23 is a schematic diagram showing an example of using a sensing assembly (102) in a medical application. The sensing assembly (102) is one or more of the above-mentioned stages (eg, coarse stage, fine stage, ultrafine stage) to monitor changes in the position of the patient (2300) and / or relatively small movements of the patient. ) Can be used. For example, the ultrafine staging of movements described above can be used for respiratory rate detection, heart rate detection, gross movement or muscle movement monitoring, and the like. Respiratory rate, heart rate and activity can be useful in diagnosing sleep disorders, and the non-contact detection makes them more comfortable for the observed patient. As an example, the separation distance (110) to the abdomen and / or chest of the patient (2300) is determined to be within 1 bit of the digital pulse sequence (eg, the bit of interest), as described above. The sensing assembly (102) can then track relatively small movements of the chest and / or abdomen within a subset of subjects to track respiratory rate and / or heart rate. Additional or alternative, a sensing assembly (102) was known, measured, and observed to track chest and / or abdominal movements and estimate the exhaled ventilation of the patient (2300). , Or a combination of exercise with the abdomen of the specified size. Additional or alternative, the sensing assembly (102) can track chest and abdominal movements together to detect abdominal breathing in the patient (2300).

0154As another example, the sensing assembly (102) can communicate a transmitted signal (106) that penetrates the body of the patient (2300) and can sense the movement or absolute position of various internal structures such as the heart. Many of these positions or movements can be relatively small and insignificant, and the sensing assembly (102) makes ultrafine staging of movements or separation distances (110) to sense movements or absolute positions of the internal structure. Can be used.

0155The use of a non-contact sensing assembly (102) can be to use a wired sensor (eg, a sensor that is attached directly to the subject and connected back to the medical monitor by wire) on the patient (2300). It can be useful in situations where it is impossible or inconvenient. For example, in highly active situations where conventional wired sensors can get in the way, the sensing assembly (102) can monitor the movement of the patient (2300) from a separation distance (110) and / or from a distance.

0156In another example, the sensing assembly (102) can be used for postural recognition and overall motion or activity sensing. It can be used for long-term observation of patients (2300), especially for chronic illnesses such as depression and fatigue, and for the overall health of patients at risk such as the elderly. In the case of illnesses with relatively late onset, such as depression, long-term observation with the sensing assembly (102) can be used for early detection of the illness. Also, because the unit can detect medical parameters or quantities without attaching anything to the patient (2300), and the sensing assembly (102), the patient (2300) without the knowledge and cooperation of the patient (2300). ) Can be used to make measurements. This can be useful in many situations, such as dealing with children who will be upset when the sensor is attached. It can also provide an indicator of the patient's (2300) mental state so that when he becomes nervous, his breath becomes quick and shallow. This would give rise to the functionality of the remote lie detector.

0157In another embodiment, the data generated by the sensing assembly (102) can be combined with the data generated or acquired by one or more other sensors. For example, the calculation of separation distance (110) by sensing assembly (102) can be used as a depth measurement combined with other sensor data. Such a combination of data from different sensors, referred to herein as sensor fusion, is two or more separate streams of sensor data to form a more complete image of the phenomenon or object or environment being detected. Including fusion of.

0158As an example, the separation distance (110) calculated using the sensing assembly (102) can be combined with the 2D image data acquired by the camera. For example, without a separation distance (110), a computer or other machine may not be able to determine the actual physical size of an object in a 2D image.

0159FIG. 24 is a two-dimensional image (2404) of a human subject (2400) and (2402), which is consistent with an example of application of the system (100) shown in FIG. The image (2404) can be acquired by a two-dimensional image forming apparatus such as a camera. The image forming apparatus may acquire an image for use by another system such as a security system, an automatically controlled (movable) robot system. Human subjects (2400), (2402) can be about the same size (eg, height). In reality, the human subject (2400) is farther from the image forming apparatus that acquired the image (2404) than the human subject (2402). However, the immobility of the image forming apparatus for determining the relative separation distance between the image forming apparatus and each of the subject (2400) and (2402) recognizes the subject (2400) and (2402). A system that relies on an image forming apparatus for this is whether the subject (2400) is located far away (eg, the position of (2400A)) or is much smaller than the subject (2402) (eg,). It may not be possible to determine (the size represented by (2400B)).

0160The sensing assembly (102) (shown in FIG. 1) provides an image forming apparatus (eg, a sensing assembly (102) placed in or near the image forming apparatus) to provide a depth context for the image (2404). The separation distance (110) between (having) and each of the subject (2400) and (2402) can be measured. For example, an image forming apparatus or system that uses an image (2404) for one or more actions may determine that the subject (2400), (2402) is about the same size. Separation distances (110) to each of (2402) can be used and the subject (2400) is located farther than the subject (2402).

0161The information on this separation distance (110) (shown in FIG. 1) and the optics used to capture the two-dimensional image (2400) give the subject (2400), (2402) the actual physical size. It is also possible to assign. For example, if you know the physical size contained in different parts (for example, pixels or pixel groups) of the image (2400), and know the separation distance (110) to each subject (2400) and (2402), 1 Image forming devices and / or systems that use images (2404) for one or more movements can calculate the size (eg, height and / or width) of the subject (2400), (2402). ..

0162FIG. 25 is a schematic representation of a sensing system (2500) that may include a sensing assembly (102) (shown in FIG. 1) that matches one embodiment. Many types of sensors, such as light level sensors, radiation sensors, and moisture sensors, can change when the separation distance (110) between the sensor and the target object (104) fluctuates. Measurement of the target object (104). To get. The sensing system (2500) shown in FIG. 25 may include or represent one or more sensors that acquire information that changes as the separation distance (110) changes, and may include a sensing assembly (102). Distance information from the sensing system (2500) and the target object (104) (eg, separation distance (110)) depends on the distance between the sensor and the object read or monitored by the sensor. A calibration or correction of sensor information can be provided.

0163For example, the sensing system (2500) may include information (eg, light) from the target objects (104A), (104B) and the separation distances (110A), (110B) to the target objects (104A), (104B). Level, radiation, moisture, heat, etc.) can be obtained or measured. Separation distances (110A), (110B) can be used to correct or calibrate the measured information. For example, if the target objects (104A), (104B) both provide the same light level, radiation, moisture, heat, etc., different separation distances (110A), (110B) will result in sensing. The system (2500A), (2500B) leads to the measurement of different light levels, radiation, moisture, heat, etc. The information measured for the target object (104A) and / or (104B) by the sensing assembly (102) (shown in FIG. 1) measuring the separation distances (110A), (110B) is the measured information. Can be corrected to be more accurate than not correcting the measured information for different separation distances (110) (eg, the magnitude of the separation distance (110A) for the target object (104A)). (Increased based on, and decreased based on the magnitude of the separation distance (110B) for the target object (104B)).

0164As another embodiment, the sensing system (2500) may include a reflective pulse oximetry sensor and a sensing assembly (102). Two or more different wavelengths of light are directed by the system (2500) to the surface of the target object (104), and the photodetector of the system (2500) inspects the scattered light. The ratio of reflected power can be used to determine the oxygenation level of blood in the target object (104). Instead of being directly attached (eg, engaged) to the patient's body, which is the target object (104), the sensing system (2500) can be spaced away from the patient's body.

0165The surface of the patient's body can be illuminated with a light source, and the sensing assembly (102) (shown in FIG. 1) measures the separation distance (110) to the target object (104) (eg, to the surface of the skin). can do. The oxygenation level of the patient's blood can be calibrated or corrected due to the reduction in the reflected power of light caused by the sensing system (2500) being away from the patient.

0166In another embodiment, the sensing assembly (102) and / or system (100) shown in FIG. 1 communicates with other sensors, controls, computers, etc. to add the above functionality to various sensor systems. Can be provided as a stand-alone unit. The software-implemented system can collect and aggregate information streams from the sensors and deliver the sensed information to the control system, where isolation measured by assembly (102) and / or system (100). The distance (110) is used with the sensed information. Alternatively or additionally, the separation distance (110) measured by the assembly (102) is with other markers such as a time stamp or geographic location without direct communication with other sensors, controls, computers, etc. Can be collected together. The software-implemented system can then adjust the separation distance (110) and other sensor data to align the measurements with each other.

0167The examples of sensor fusion described herein are not limited to just a combination of sensing assembly (102) and one other sensor. Additional sensors can be used to aggregate the separation distance (110) and / or motion detected by the sensing assembly (102) with the data stream acquired by two or more additional sensors. For example, the separation distance (110) and / or movement from audio data (from the microphone), video data (from the camera), and sensing assembly (102) should be aggregated to give a more complete understanding of the physical environment. Can be done.

0168FIG. 28 is a schematic representation of a sensing system (2800) that may include a sensing assembly (102) that is consistent with one embodiment. The sensing system (2800) is equipped with a sensor (2802) that acquires lateral size data of the target object (2804). For example, the sensor (2802) can be a camera that captures a two-dimensional image of a box or package. FIG. 29 is a schematic diagram showing the lateral size data of the target object (2804) acquired by the sensor (2802). The sensor (2802) (or control unit communicatively coupled to the sensor (2802)) can measure the two-dimensional size of a target object (2804) such as a length dimension (2806) and a width dimension (2808). .. For example, the two-dimensional surface area (2900) of the target object (2804) can be calculated from the image acquired by the sensor (2802). In one embodiment, the number of pixels or other units in the image formed by the sensor (2802) is counted or measured to determine the surface area (2900) of the target object (2804).

0169FIG. 30 is another view of the sensing assembly (102) and the target object (2804) shown in FIGS. 28 and 29. To calculate the volume or three-dimensional outer surface area of the target object (2804), the sensing assembly (102) can be used to measure the depth dimension of the target object (2804). For example, the sensing assembly (102) is the separation distance (110) between the sensing assembly (102) and the surface (3000) (eg, top surface) of the target object (2804) imaged by the sensor (2802). Can be measured. If the separation distance (3002) between the sensing assembly (102) and the indicator surface (3004) on which the target object (2804) is located is known or previously measured, the separation distance ( 110) can be used to calculate the depth dimension (2810) of the target object (2804). For example, the measured separation distance (110) can be subtracted from the known or previously measured separation distance (3002) to calculate the depth dimension (2810). The depth dimension (2810) is the lateral size data (eg, width dimension (2808) and length dimension (2806)) of the target object (2804) to calculate the volume of the target object (2804). )) Can be combined (eg, by multiplying). In another example, the depth dimension (2810) can be combined with lateral size data to calculate the surface area of each or more surfaces of the target object (2804), and then Can be combined to calculate the outer surface area of the target object (2804). Combining the depth data obtained from the sensing assembly (102) with the two-dimensional or lateral data obtained by the sensor (2802) is the size, volume, or surface of the target object (2804). Area is package shipment, identification of target objects of different sizes

0170FIG. 26 is a schematic representation of another embodiment of the sensing system (2600). The sensing system (2600) can be similar to the system (100) shown in FIG. For example, the system (2600) may include a sensing assembly (2602) (radar unit) similar to the sensing assembly (102) (shown in FIG. 1). The sensing assembly (2602) is labeled as a radar unit in FIG. 26, but instead, the sensing assembly (2602) measures the separation distance (110) in relation to the system (100) as described above. And / or another technique or medium may be used to detect the movement of the target object (104) (eg, light).

0171The assembly (2602) includes a transmitting antenna (2604) that may be similar to the transmitting antenna (204) (shown in FIG. 2) and a receiving antenna (2606) that may be similar to the receiving antenna (206) (shown in FIG. 2). In the illustrated embodiment, the antennas (2604), (2606) are connected to the assembly (2602) using a cable (2608). The cable (2608) can be flexible because the antennas (2604), (2606) can be repositioned with respect to the on-the-fly target object (104). For example, the antennas (2604), (2606) are transmitted to the target object (104) and / or the transmitted signal (106) is transmitted to the target object (104) and / or. The echo (108) can be moved to each other or between the transmitted signal (106) and the reception of the echo (108) so that it is received from the target object (104).

0172Antennas (2604), (2606) can be moved to provide pseudo-bistatic operation of the system (2600). For example, the antennas (2604), (2606) can be moved to various or arbitrary positions to capture the echo (108) that can be lost if fixed in place. In one embodiment, the antennas (2604), (2606) oppose the target object (104) to verify the transmission of the transmitted signal (106) through the target object (104). It could be placed on the side. Changes in the transmission of the transmitted signal (106) via the target object (104) can indicate a physical change in the detected target object (104).

0173This concept can be used with a larger number of antennas (2604) and / or (2606). For example, multiple receiving antennas (2606) can be used to detect target objects (104) that can otherwise be difficult to detect. Multiple transmitting antennas (2604) can be used to illuminate the target object (104) with transmitted signals (106) that may not be detected elsewhere. Multiple transmitting antennas (2604) and multiple receiving antennas (2606) can be used at the same time. The transmitting antenna (2604) and / or the receiving antenna (2606) can be used simultaneously, transmitting a copy of the transmitted signal (106) or receiving multiple echoes (108), or the sensing assembly (2602). Can be switched between the transmitting antenna (2604) and / or the receiving antenna (2606), and observations (eg, separation distance (110) and / or detected motion) are made over time.

0174FIG. 27A-B shows one embodiment of the method (2700) for sensing the separation distance from the target object and / or the movement of the target object. Method (2700) can be used in combination with one or more of the systems or sensing assemblies described herein.

0175In (2702), the decision is made regarding whether or not to use it for a coarse stage determination of flight time and / or separation distance. For example, an operator of system (100) (shown in FIG. 1) may manually provide input to system (100) and / or does system (100) automatically use the coarse stage determination described above? You can decide whether or not. If coarse staging is used, the flow of method (2700) proceeds to (2704). Alternatively, the flow of method (2700) can proceed to (2718). In one embodiment, the coarse stage is a single channel of transmitted and received echo signals to determine flight time and / or separation distance, as also described above. For example, use either the I channel or the Q channel).

0176At (2704), the oscillating signal is mixed with a coarse transmission pattern to create the transmitted signal. For example, the oscillation signal (216) (shown in FIG. 2) is a transmission pattern signal (230) (shown in FIG. 2) to form the transmitted signal (106) (shown in FIG. 1) as described above. ) Is mixed with the digital pulse sequence.

0177At (2706), the transmitted signal is transmitted towards the target object. For example, the transmitting antenna (204) (shown in FIG. 2) receives the signal (106) (shown in FIG. 1) transmitted towards the target object (104) (shown in FIG. 1) as described above. Can be sent.

0178At (2708), an echo of the transmitted signal reflected from the target object is received. For example, the echo (108) (shown in FIG. 1) reflected from the target object (104) (shown in FIG. 1) is received by the receiving antenna (206) (shown in FIG. 2) as described above. The object.

0179At (2710), the received echo is down-converted to obtain a baseband signal. For example, echo (108) (shown in FIG. 1) is converted to a baseband echo signal (226) (shown in FIG. 2). For example, the received echo signal (224) is the same oscillation mixed with the coarse transmit pattern signal (230) (shown in FIG. 2) to generate the transmitted signal (106) (shown in FIG. 1). Can be mixed with signal (216) (shown in Figure 2). The echo signal (224) can be mixed with the oscillation signal (216) to generate the baseband echo signal (226) (shown in FIG. 2) as a coarse received data stream, as described above.

0180At (2712), the baseband signal is digitized to obtain a coarse received data stream. For example, it may pass through a baseband processor (232) that includes a digitizer (730) to generate a digitized echo signal (740).

0181In (2714), the correlation window (eg, coarse correlation window) and coarse mask are compared to the data stream to identify a subset of objects. Alternatively, masks (eg, masks that remove or modify one or more parts of the data stream) may not be used. In one embodiment, the coarse correlation window (320) (shown in FIG. 3) containing all or part of the coarse transmission pattern contained in the transmitted signal (106) (shown in FIG. 1) is as described above. , Compared to various subsets or parts of the digitized echo signal (740) (shown in FIG. 2). Correlation values can be calculated for different subsets of the data stream (226), such as identifying subsets that have a higher correlation value than the largest or one or more other subsets of interest. It can be identified by comparing the values.

0182In (2716), the flight times of the transmitted signal and echo are calculated based on the time delay of the subset of interest. The time of this flight can be called the time of a coarse flight. As mentioned above, the subset of interest is the time between the transmission of the transmitted signal (106) (shown in FIG. 1) and the first bit (or other bit within the subset of interest) of the subset of interest. Delay (t_d) Can be associated. Flight time can be equal to time dilation, or flight time can be based on time dilation, and corrections or correlation factors (eg, for signal propagation) are relative to flight time, as described above. Used to correct time delays.

0183In (2718), the decision is made regarding whether or not to use the fine staging of the separation distance. For example, the determination is to use a fine stage determination to further refine the measurement of separation distance (110) (shown in FIG. 1), as described above, and / or the target object (104) (FIG. 1). It is done automatically or manually to monitor or track the movements (shown in 1). When a fine stage is used, the flow of method (2700) proceeds to (2720). On the other hand, if no fine stage is used, the flow of method (2700) can return to (2702).

0184At (2720), the oscillating signal is mixed with a digital pulse sequence to produce the transmitted signal. As mentioned above, the transmission pattern used in the fine stage can be different from the transmission pattern used in the coarse stage. Alternatively, the transmission pattern may be the same for coarse and fine stages.

0185At (2722), the transmitted signal is transmitted towards the target object, as described above in connection with (2706).

0186At (2724), the echo of the transmitted signal reflected by the target object is received as described above in connection with (2708).

0187At (2726), the received echo is down-converted to obtain a baseband signal. For example, the echo (108) (shown in FIG. 1) is converted into a baseband echo signal (226) (shown in FIG. 2).

0188At (2728), the baseband signal (226) is compared to a fine reception pattern. Fine reception patterns can be delayed by coarse flight times as described above. For example, instead of comparing a baseband signal with a receive pattern to both a receive baseband signal with the same starting or initial time reference and a receive pattern, the receive pattern is with a time delay measured by coarse stage determination. Can be delayed by the same amount of time. This delayed reception pattern can also be referred to as a "coarsely delayed fine extraction pattern" (728).

0189At (2730), the time delay between the fine data stream and the time-delayed reception pattern is calculated. This time delay can represent a primary overlap or discrepancy between the wavelength in the fine data stream and the time-delayed reception pattern, as described above in connection with FIGS. 8-11. Time dilation can be measured as wavelength energy that indicates an overlap between a fine data stream and a time-delayed reception pattern. As mentioned above, the periods (808), (810), (904), (906) (shown in FIGS. 8 and 9) representing the time dilation can be calculated.

0190In (2732), the flight time measured by the coarse stage (eg, "flight time estimate") is refined by time dilation. For example, the time dilation calculated in (2730) can be added to the flight time calculated in (2716). Alternatively, the time dilation is added to the specified flight time, such as the flight time associated with or calculated from the specified or known separation distance (110) (shown in Figure 1). obtain.

0191In (2734), the flight time (including the time dilation calculated in (2732)) is used to calculate the separation distance from the target object, as described above. The flow of method (2700) then returns to (2702) in a loop-like fashion. The above method uses parallel paths as shown in FIG. 12 or switches or multiple paths as described above to draw the difference between the I and Q channels, with respect to the I and Q channels separately or in parallel. Can be repeated. These differences can be examined to resolve the phase of the echo.

0192In one embodiment, the performance of fine staging (eg, described in relation to (2732) to (2720)) is the channel I or Q of the transmitted and echo signals, as described above. Demonstrated with respect to ingredients. For example, the I channel of the echo signal (226) (shown in FIG. 2) is used to measure the amount of primary overlap between the time-delayed reception pattern and the echo signal (226), as described above. Can be inspected. Similar tests can be performed on other components or channels of the echo signal, such as the Q channel, to make hyperfine stage determinations. For example, an I-channel analysis of the echo signal (226) (eg, a fine stage) can be performed in parallel or simultaneously with a Q-channel analysis of the same echo signal (226) (eg, an ultrafine stage). Alternatively, fine and ultrafine stages can be performed continuously, with echo signals and time-delayed reception patterns before either the Q or I channel is examined to determine primary overlap. The other of the I or Q channels is examined to measure time overlap. The primary overlap of the I and Q channels is used to calculate the time delay that can be added to the coarsely staged or estimated flight time (eg, the time delay of the I and Q channels). The time of this flight can be used to determine the separation distance (110) (shown in FIG. 1) as described above. Alternatively or additionally, the time dilation of the I-channel and Q-channel waveforms can be examined to decompose the echo phase to calculate the separation distance or the motion of the object.

0193As mentioned above, ultrafine staging may include alternative or additional processes similar to coarse staging. For example, a coarse stage determination can inspect the I-channel and data stream of a received pattern to determine the correlation values of different subsets of the data stream, as described above, and from those correlation values, it corresponds to the subset of interest. The time of the flight can be measured. As mentioned above, the ultrafine stage determination can use the Q channel and data stream of the received pattern to measure the correlation values of different subsets of the data stream, and from those correlation values, the subset of interest and You can measure the time of the flight. Flight times from channels I and Q can be combined to calculate flight times and / or separation distances to the target (eg, averaging). The correlation values calculated by the ultrafine stage determination are used to calculate the additional time that can be added to the time delay from the coarse or fine stage to determine the flight time and / or separation distance to the target. be able to. Alternatively or additionally, the correlation value of the I-channel and Q-channel waveforms can be examined to decompose the phase of the echo in order to calculate the separation distance and the movement of the target.

0194In other embodiments, other methods (eg, methods for measuring the separation distance to the target object) are provided. The method involves transmitting a first electromagnetically transmitted signal from the transmitting antenna towards a target object that is separated from the transmitting antenna by a separation distance. The first transmitted signal includes a first transmission pattern representing a first sequence of digital bits. The method also involves receiving the first echo of the first transmitted signal reflected from the target object, converting the first echo into a first digitized echo signal, and the first. In order to inspect the time of flight of one transmitted signal and echo, it involves comparing a first reception pattern representing a second sequence of digital bits with a first digitized echo signal.

0195In another aspect, the method also comprises calculating the separation distance to the target object based on the time of flight.

0196In another embodiment, the method also comprises mixing at least a first portion of the oscillating signal with a first transmission pattern in order to generate an oscillating signal and form a first transmitted signal.

0197In another embodiment, the step of converting the first echo to the first digitized echo signal is based on the first echo received from the target object at least the second part of the oscillating signal. Includes the step of mixing with the echo signal.

0198In another embodiment, the step of comparing the first reception pattern matches the sequence of digital bits of the first reception pattern to the subset of the first digitized echo signal in order to calculate the correlation value for the subset. Including letting. The correlation value represents the degree of matching between the sequence of digital bits in the first reception pattern and the subset of the first digitized echo signal.

0199In another embodiment, at least one of the digitized echo signal subsets is identified as a subset of interest based on the correlation value. The time of flight can be determined based on the time delay between the transmission of the transmitted signal and the occurrence of a subset of objects.

0200In another aspect, the method also comprises transmitting an electromagnetic second transmitted signal towards the target object. The second transmitted signal includes a second transmission pattern representing a second sequence of digital bits. The method involves receiving a second echo of the second transmitted signal reflected from the target object, converting the second echo into a second digitized echo signal, and a second. A second representing a third sequence of digital bits to measure the temporary inconsistency between one or more waveforms of the baseband echo signal of and one or more waveforms of the second reception pattern. It includes a step of comparing the received pattern with the second baseband echo signal. A temporary inconsistency representing the time delay between the second reception pattern and the second digitized echo signal is extracted, and then the temporary time delay is calculated.

0201In another aspect, the method also comprises adding a time delay to the flight time.

0202In another embodiment, the step of converting the second echo into a second digitized echo signal is the in-phase (I) channel of the second baseband echo signal and the quadrature phase (Q) of the second baseband echo signal. ) Is included. The steps of comparing the second reception pattern are the step of comparing the I channel of the second reception pattern with the second digitized echo signal in order to determine the I component of the temporary inconsistency, and the temporary step. In order to determine the Q component of the mismatch, the step of comparing the Q channel of the second reception pattern with the Q channel of the second digitized echo signal is included.

0203In another embodiment, the time dilation added to the flight time comprises a temporary inconsistent I component and a temporary inconsistent Q component.

0204In another embodiment, the method comprises decomposing the phases of the first and second echoes by examining the temporary inconsistent I component and the temporary inconsistent Q component, wherein the flight. Time is calculated based on the decomposed phase.

0205In another embodiment, at least two of the first transmission pattern, the first reception pattern, the second transmission pattern, or the second reception pattern are different from each other.

0206In another embodiment, at least two of the first transmit pattern, the first receive pattern, the second transmit pattern, or the second receive pattern include a common sequence of digital bits.

0207In other embodiments, a system (eg, a sensing system) that includes a transmitter, a receiver, and a baseband processor is provided. The transmitter is configured to generate a first electromagnetically transmitted signal that is communicated from the transmitting antenna towards a target object that is distant from the transmitting antenna by a separation distance. The first transmitted signal contains the first transmission pattern representing a sequence of digital bits. The receiver is configured to generate a first digitized echo signal that is based on the echo of the first transmitted signal reflected from the target object. The correlator is to compare the first reception pattern, which represents the second sequence of digital bits, with the first digitized echo signal to determine the flight time of the first transmitted signal and echo. It is composed of.

0208In another embodiment, the baseband processor is configured to calculate the separation distance to the target object based on the time of flight.

0209In another aspect, the system also includes an oscillating device configured to generate an oscillating signal. The transmitter is configured to mix at least the first portion of the oscillating signal with the first transmission pattern in order to form the first transmitted signal.

0210In another embodiment, the receiver receives at least a second portion of the oscillating signal and mixes at least the second portion of the oscillating signal with the echo signal representing the echo in order to produce a first baseband echo signal. It is configured as follows.

0211In another embodiment, the baseband echo signal is digitized into a first digitized echo signal in order to calculate the correlation value for the subset, and the correlator is the first digitized subset of the digital bits of the first receive pattern. It is configured to be compared with a subset of the digitized echo signals of 1. The correlation value represents the match between the first reception pattern and the digital bits of the digitized echo signal.

0212In another embodiment, at least one of the digitized echo signal subsets is identified by the correlator as a subset of interest based on the correlation value. The time of flight is determined based on the time delay between the transmission of the first transmitted signal and the transmission of the occurrence of a subset of objects of the first digitized echo signal.

0213In another aspect, the transmitter is configured to transmit an electromagnetic second transmitted signal towards the target object. The second transmitted signal includes a second transmission pattern that represents a second sequence of digital bits. The receiver is configured to generate a second digitized echo signal based on the second echo of the second transmitted signal reflected from the target object.

0214In another aspect, the receiver is configured to form a homeomorphic (I) channel for the second digitized echo signal and a quadrature (Q) channel for the second digitized echo signal. The system is also configured to compare the I channel of the second receive pattern with the I channel of the second digitized echo signal to determine the I component of the temporary inconsistency, baseband. It can include a processing system. The baseband processing system is also configured to compare the Q channel of the second receive pattern with the Q channel of the second digitized echo signal to determine the Q component of the temporary mismatch. ..

0215In another aspect, the time dilation added to the flight time includes a temporary inconsistent I component and a temporary inconsistent Q component.

0216In another aspect, the baseband processing system is configured to decompose the first and second echo phases based on the temporary inconsistent I component and the temporary inconsistent Q component. Flight times are calculated based on the phase to be decomposed. For example, flight time can be increased or decreased by a predetermined or specified amount based on the identified or measured difference in the phase to be degraded.

0217In another embodiment, another method (eg, for measuring the separation distance to the target object) is provided. The method is based on the step of transmitting a first transmitted signal having a waveform representing the first transmission pattern of digital bits, and the first received echo of the first transmitted signal. It includes a step of generating a digitized echo signal. The first digitized echo signal contains a waveform that represents a digital bit data stream. The method also uses a first digital bit of a first reception pattern to identify a subset of objects that indicate the presence and / or temporary location of the first reception pattern more than one or more other subsets. It involves comparing a plurality of different subsets of a digital bit data stream in a digitized echo signal. The method was the first received based on the flight time of the first transmitted signal and the time delay between the start of the data stream in the first digitized echo signal and the subset of interest. Includes the step of identifying echoes.

0218In another aspect, the method also transmits a second transmitted signal having a waveform representing a second transmission pattern of digital bits, and a second with the in-phase (I) component of the second baseband echo signal. Includes the step of generating a quadrature phase (Q) component of the second baseband echo signal based on the second received echo of the transmitted signal. The second baseband echo signal contains a waveform that represents a digital bit data stream. The method also includes comparing the time-delayed second reception pattern of the waveform representing the sequence of digital bits with the second baseband echo signal. The second reception pattern is delayed from the time of transmission of the second transmitted signal by the time delay of the subset of interest. The common mode (I) component of the second reception pattern is the I component of the second baseband echo signal to identify the first temporary mismatch between the second reception pattern and the second baseband echo signal. Is compared with. The common mode (Q) component of the second reception pattern is the Q component of the second baseband echo signal to identify the second temporary mismatch between the second reception pattern and the second baseband echo signal. Is compared with. The method also includes the step of increasing flight time by first and second temporary inconsistencies.

0219In another aspect, the method also comprises identifying the motion of the target object based on one or more changes in the first or second temporary inconsistency.

0220In another aspect, the first transmission pattern is different from the first reception pattern.

0221It should be understood that the above description is exemplary and intended to be non-limiting. For example, the embodiments described above (and / or aspects thereof) may be used in combination with each other. Moreover, many changes may be made to adapt a particular situation or material to the teachings of the subject matter of the invention without departing from its scope. The dimensions and types of materials described herein are intended to define the parameters of the subject matter of the invention, but are by no means limiting and are typical embodiments. Many other embodiments will be apparent to those skilled in the art by the examination described above. Therefore, the scope of the subject matter described herein should be determined with respect to the appended claims, along with a sufficient range of equivalents to which such claims are given. In the accompanying claims, the terms "including" and "here (in)" "which)" is used as the equivalent of the respective terms Plain English as "comprising" and "where in". Moreover, in the following claims, the terms "first", "second" and "third" etc. are used merely as labels and are not intended to impose a number requirement on those objects. Furthermore, the following claims limitation is not written in the means-plus-function format, and such claims limitation is the phrase "means for". ) And is not intended to be construed under the United States Code, Vol. 35, Article 112, Paragraph 6, unless and until it is explicitly used and subsequently described as a function lacking further structure.

0222This written description is for disclosing some embodiments of the subject matter of the invention, including the best mode, and one of ordinary skill in the art will also manufacture any device or system. Examples are used to enable the embodiments disclosed herein to be implemented, including using and performing any incorporated method. The patentable scope of the subject matter is defined by the claims and may include other examples conceived by those skilled in the art. Other examples of this are equivalent if they have structural elements that are not different from the literal term in the claim, or if they have an insubstantial difference from the literal term in the claim. If it contains a structural element, it is intended to be within the scope of the claims.

0223The aforementioned description of a particular embodiment of the subject matter disclosed will be better understood when referred to in conjunction with the accompanying drawings. Functional blocks do not necessarily indicate divisions between hardware circuits to the extent that the figures show diagrams of functional blocks of various embodiments. Thus, for example, one or more functional blocks (eg, processor or memory) may be implemented on a single hardware (eg, general purpose signal processor, microcontroller-, random access memory, hard disk, etc.). Similarly, the program may be, for example, a stand-alone program, incorporated as a subroutine in the operating system, or a feature in an installed software package. The various embodiments are not limited to the arrangement and instrumentality shown in the drawings.

0224As used herein, elements or steps detailed in the singular and advanced with the words "a" or "an" exclude multiple said elements or steps unless explicitly stated. Please understand that you do not. Moreover, reference to "one embodiment" of the subject matter of the present invention is not intended to be construed as excluding the existence of additional embodiments that also incorporate the features detailed. Moreover, unless explicitly stated to the contrary, "comprising", "including", or "having" implementation of an element or elements having a particular property. The form may include additional such elements that do not have that property.

0225All of the subjects shown above or in the accompanying drawings are the same as the present specification, as certain changes are made in the systems and methods described above without departing from the spirit and scope of the subject matter relating herein. It is intended to be understood merely as an example exemplifying the concept of the invention and not to be construed as limiting the subject matter disclosed.