Signal processing method, apparatus and terminal device

Abstract

The application provides a signal processing method applied to a terminal device, and the signal processing method comprises the following steps: after an indication signal sent by a laser receiving sensor is received, the indication signal is processed to obtain a target signal, the delay of the target signal relative to the indication signal is a preset time length, the pulse width of the target signal is a target width value, and the target signal is used for triggering laser emission; and the starting time of the laser emission is determined according to the target signal and the indication signal. Through the above method, the starting time of the laser emission can be determined more accurately, so that the laser measurement precision is improved.

Description

Technical Field

[0001] This application belongs to the field of signal processing technology, and in particular relates to signal processing methods, apparatus, terminal equipment and computer-readable storage media. Background Technology

[0002] Laser ranging has wide applications in practical scenarios. In practical applications, by determining the start time of laser emission and the time it takes for the laser receiver to receive the laser, the laser propagation time can be determined, thus enabling laser ranging. However, currently, the determined start time of laser emission suffers from significant uncertainty and jitter, which greatly affects the accuracy of the corresponding laser measurement. Summary of the Invention

[0003] In view of this, the embodiments of this application provide a signal processing method, apparatus, terminal device and computer-readable storage medium, which can more accurately determine the start time of laser emission and improve the corresponding laser detection accuracy.

[0004] In a first aspect, embodiments of this application provide a signal processing method applied to a terminal device, the signal processing method comprising:

[0005] After receiving the indication signal from the laser receiving sensor, the indication signal is processed to obtain the target signal. The delay of the target signal relative to the indication signal is a preset duration, and the pulse width of the target signal is the target width value. The target signal is used to trigger laser emission.

[0006] The start time of laser emission is determined based on the target signal and the indication signal.

[0007] Secondly, embodiments of this application provide a signal processing apparatus applied to a terminal device, the signal processing apparatus comprising:

[0008] The processing module is used to process the indication signal after receiving the indication signal from the laser receiving sensor to obtain the target signal. The delay of the target signal relative to the indication signal is a preset duration, and the pulse width of the target signal is the target width value. The target signal is used to trigger laser emission.

[0009] The determination module is used to determine the start time of laser emission based on the target signal and the indication signal.

[0010] Thirdly, embodiments of this application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the signal processing method as described in the first aspect.

[0011] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the signal processing method as described in the first aspect.

[0012] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the signal processing method described in the first aspect.

[0013] In this embodiment, after receiving the indication signal from the laser receiving sensor, the terminal device processes the indication signal to obtain a target signal. The target signal has a preset delay relative to the indication signal, and its pulse width is a target width value. The target signal is used to trigger laser emission. Based on the target signal and the indication signal, the start time of laser emission is determined. It can be seen that after the indication signal is processed by the terminal device, the pulse width of the target signal can be adjusted to the target width value, thereby meeting the control requirements of the corresponding laser emission device and triggering laser emission. Furthermore, since the delay of the target signal used to trigger laser emission relative to the indication signal is a fixed delay, the deviation of the indication signal from the start time of laser emission can be considered a fixed deviation. Based on this fixed deviation, a more accurate start time of laser emission can be obtained, avoiding large uncertainties and delay jitter when determining the start time of laser emission, thus improving the accuracy of laser measurement. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic flowchart of a signal processing method provided in an embodiment of this application;

[0016] Figure 2 This is a schematic diagram of signal transmission provided in an embodiment of this application;

[0017] Figure 3 This is yet another schematic diagram of signal transmission provided in the embodiments of this application;

[0018] Figure 4 This is another schematic diagram of signal transmission provided in an embodiment of this application;

[0019] Figure 5 This is another schematic diagram of signal transmission provided in the embodiments of this application;

[0020] Figure 6 This is a schematic diagram of the structure of a signal processing device provided in an embodiment of this application;

[0021] Figure 7 This is a schematic diagram of the structure of the terminal device provided in the embodiments of this application. Detailed Implementation

[0022] Laser ranging has a wide range of applications in practical scenarios.

[0023] Currently, laser emission is typically controlled by a control device, which generates a synchronization signal and sends it to a laser receiving sensor. The laser receiving sensor then samples the synchronization signal and determines the start time of laser emission based on the rising edge of the sampled indicator signal, and begins timing.

[0024] However, current methods for determining the start time of laser emission are easily affected by the operation of the phase-locked loops of the control device and the laser receiving sensor. This causes the operating clocks of the control device and the laser receiving sensor to be in different phases, resulting in a large uncertainty and often a large deviation between the indication signal of the laser receiving sensor and the emission time controlled by the control device to emit laser light. This leads to a large uncertainty and delay jitter in the start time of laser emission, which affects the corresponding laser measurement accuracy.

[0025] To avoid the aforementioned uncertainties and delays, the laser emission is now controlled by an indication signal from a laser receiving sensor. However, this introduces the following problems:

[0026] 1. Currently, laser emission is usually achieved through laser emission arrays. However, controlling the laser emission array through the indication signal of the laser receiving sensor would make the control circuit of the laser emission array more complex.

[0027] 2. In practical applications of various hardware, control signals are typically required to be narrow pulse signals, meaning the signal width is less than a preset width. However, the indication signal generated by the laser receiving sensor is not a narrow pulse, making it difficult to apply in subsequent control applications and failing to meet the requirements of the control system.

[0028] Through the embodiments of this application, the start time of laser emission can be determined more accurately, and a target signal with adjustable pulse width can be obtained to trigger laser emission.

[0029] Specifically, Figure 1 A flowchart of a signal processing method provided in an embodiment of this application is shown, which can be applied to a terminal device.

[0030] The terminal device can be a device distinct from the laser receiving sensor. For example, the terminal device can be a programmable device, server, desktop computer, mobile phone, tablet computer, wearable device, in-vehicle device, augmented reality (AR) / virtual reality (VR) device, laptop computer, ultra-mobile personal computer (UMPC), netbook, personal digital assistant (PDA), etc. This application embodiment does not impose any limitation on the specific type of terminal device.

[0031] The terminal device can communicate with both the laser receiving sensor and the laser driver to transmit data. For example, the terminal device can send a trigger signal to the laser receiving sensor to start timing based on the trigger signal. Simultaneously, the terminal device can also send a target signal to the laser driver to drive the laser emitting diode to achieve laser emission.

[0032] In one specific example, the terminal device can be a programmable device.

[0033] The specific type of programmable device is not limited here. For example, a programmable device can be a Field Programmable Gate Array (FPGA), a Complex Programmable Logic Device (CPLD), or an Erasable Programmable Logic Device (EPLD), etc. In practical applications, users can program the programmable device to perform specific functions.

[0034] like Figure 1 As shown, the signal processing method may include:

[0035] Step S101: After receiving the indication signal from the laser receiving sensor, the indication signal is processed to obtain the target signal. The delay of the target signal relative to the indication signal is a preset duration, and the pulse width of the target signal is the target width value. The target signal is used to trigger laser emission.

[0036] In this embodiment, the laser receiving sensor can be used to detect laser light, which may be emitted by a laser emitter and then reflected by an obstacle before reaching the laser receiving sensor. In applications such as distance detection, distance detection can be performed using both a laser emitter and a laser receiving sensor.

[0037] The indicator signal can be used to instruct the laser receiving sensor to start timing. Specifically, the laser receiving sensor can be triggered to start timing based on the rising edge of the indicator signal, or the indicator signal can be generated synchronously with the start of timing by the laser receiving sensor.

[0038] In some examples, the indication signal may be generated after the laser receiving sensor receives a trigger signal, which may be sent by the terminal device or other control device executing the embodiments of this application. In other examples, the indication signal may be generated by the laser receiving sensor after detecting user operation on a specific button on the laser receiving sensor.

[0039] In this embodiment, the terminal device can process the indication signal to obtain the target signal in various ways. For example, the terminal device can delay the indication signal using a specified delay unit to obtain a delayed indication signal, and then process the pulse width of the delayed indication signal to obtain the target signal. Alternatively, the pulse width of the indication signal can be processed first, and then the pulse-width-processed indication signal can be delayed to obtain the target signal. In this case, the delay operation performed using a specified delay unit can usually ensure good delay accuracy, making the delay between the obtained target signal and the indication signal a fixed delay.

[0040] The pulse signal with a pulse width equal to the target width value can be preset or obtained based on an indication signal.

[0041] The preset duration can be determined by the user based on the actual needs of the scenario. The preset duration can be 0 or greater than 0.

[0042] In one example, the terminal device may include a combinational logic module;

[0043] After receiving the indication signal from the laser receiving sensor, the indication signal is processed to obtain the target signal, which may include:

[0044] After receiving the indication signal from the laser receiving sensor, the combinational logic module processes the indication signal to obtain the target signal.

[0045] The combinational logic module may include combinational logic units such as a first delay unit and a first AND unit, thereby enabling the processing of the indication signal to obtain the target signal.

[0046] For example, in some examples, the indicator signal can be delayed by the first delay unit in the combinational logic module to obtain the delayed indicator signal, and then the delayed indicator signal can be ANDed with the pulse signal with the pulse width of the target width by the first AND unit to obtain the target signal.

[0047] Since the processing of indicator signals through combinational logic modules does not involve sequential logic operations, no clock is involved in the operation. Therefore, there is no uncertainty delay jitter between the output and input of combinational logic modules due to different phases of the corresponding working clocks.

[0048] like Figure 2 The diagram shown is a schematic of a signal transmission method in this example.

[0049] The terminal device sends a trigger signal to the laser receiving sensor to trigger the laser receiving sensor to generate an indication signal. The time corresponding to the rising edge of the indication signal is the trigger time of the indication signal, and the laser receiving sensor starts timing at the trigger time.

[0050] The indication signal from the laser receiving sensor can be sent to the combinational logic module of the terminal device. The combinational logic module processes the indication signal to obtain the target signal, which can be used to control the laser driver, causing the laser driver to drive the laser emitter to emit laser light. The trigger time of the indication signal can be the time when the laser receiving sensor starts timing. Therefore, the delay between the start time of laser emission and the start time of the laser receiving sensor's timing is a preset duration, thus avoiding the problem of significant uncertainty in the timing of laser emission and the emission time controlled by the control device.

[0051] Figure 2 The feedback signal can be found in [reference]. Figure 4 The relevant implementation details will not be repeated here.

[0052] In some embodiments, the indication signal is generated by sampling the trigger signal through a laser receiving sensor, and the trigger signal is sent from the terminal device to the laser receiving sensor.

[0053] In this context, the terminal device is the device that executes the embodiments of this application. In practical applications, the terminal device may send a trigger signal to the laser receiving sensor. After the laser receiving sensor's operating clock samples the trigger signal, the laser receiving sensor can generate an indication signal and start timing based on the rising edge of the indication signal.

[0054] At this point, the terminal device can control the laser receiving sensor to enter the measurement state and start timing via a trigger signal. Simultaneously, it can process the indication signal to obtain the target signal used to trigger laser emission. The delay of the target signal relative to the indication signal is a preset duration. The deviation of the indication signal from the start time of laser emission can be considered a fixed deviation. Based on this fixed deviation, a relatively accurate start time of laser emission can be obtained. Therefore, the terminal device can efficiently control the related operations of the laser receiving sensor and the laser emission operation, with a clear and concise information transmission process, avoiding cumbersome control procedures.

[0055] Step S102: Determine the start time of laser emission based on the target signal and the indication signal.

[0056] Specifically, the start time of laser emission can be determined based on the delay of the target signal relative to the indicator signal (i.e., the preset duration) and the trigger time corresponding to the indicator signal.

[0057] The trigger time corresponding to the indicator signal is the time when the laser receiving sensor starts timing. The laser receiving sensor starts timing based on the rising edge of the indicator signal to enter the measurement state. After determining that the delay of the target signal relative to the indicator signal is a preset duration, the preset duration can be extended backward from the trigger time corresponding to the indicator signal to obtain the start time of laser emission.

[0058] Since the trigger time corresponding to the indication signal is the time when the laser receiving sensor starts timing, and the delay of the target signal relative to the indication signal is a preset duration, and the target signal is used to trigger laser emission, it can be seen that the deviation of the indication signal relative to the start time of laser emission is determined based on the preset duration. Since the preset duration is a fixed delay value, it can be considered that the deviation of the indication signal relative to the start time of laser emission is a fixed deviation. Based on this fixed deviation, a more accurate start time of laser emission can be obtained.

[0059] Furthermore, the pulse width of the target signal is the target width value. Therefore, by determining a reasonable target width value (such as setting it to a narrow pulse width), the target signal can meet the control requirements of the corresponding laser emitting device and trigger laser emission.

[0060] It is evident that the embodiments of this application can be optimized in at least the following two aspects:

[0061] 1. It can make the delay between the target signal used to control laser emission and the indication signal of the laser receiving sensor a fixed delay, thereby determining the start time of laser emission more accurately;

[0062] 2. The pulse width of the target signal can be adjusted to the target width value. At this time, by determining a reasonable target width value (such as setting it to a narrow pulse width), the target signal can meet the control requirements of the corresponding laser emitting device and can efficiently trigger laser emission without the need for conversion processing through other complex circuits.

[0063] In some embodiments, the terminal device includes a combinational logic module, which includes a first delay unit, an inversion unit, and a first AND unit.

[0064] After receiving the indication signal from the laser receiving sensor, the indication signal is processed to obtain the target signal, including:

[0065] After receiving the indication signal from the laser receiving sensor, a first signal and a second signal are obtained based on the indication signal through a first delay unit and an inversion unit;

[0066] The target signal is obtained by performing an AND operation on the first signal and the second signal using the first AND unit.

[0067] In this embodiment, the first delay unit is used to delay the corresponding input signal, and the inversion unit is used to invert the corresponding input signal.

[0068] The specific locations of the first delay unit and the inverting unit are not restricted here.

[0069] Specifically, such as Figure 3 As shown, the specific locations of the first delay unit, the inverting unit, and the first AND unit in the combinational logic module include at least the following three cases:

[0070] 1. For example Figure 3 As shown in (a) in the figure, in a specific example, the indicator signal can be delayed by the first delay unit, and then the delayed indicator signal can be inverted by the inverting unit to obtain the first signal, while the second signal can be the indicator signal.

[0071] The rising edge of the target signal is determined based on the rising edge of the second signal, while the falling edge of the target signal is determined based on the falling edge of the first signal.

[0072] As can be seen, in this example, the pulse width of the obtained target signal is determined by the duration of the delay by the first delay unit, and the delay of the target signal relative to the indication signal can be considered as 0.

[0073] 2. For example Figure 3As shown in (b) in another specific example, the indicator signal can be inverted by the inverting unit first, and then the inverted signal can be input into the first delay unit for delay to obtain the first signal. The second signal can be the indicator signal.

[0074] In this example, the pulse width of the obtained target signal is determined by the duration of the delay by the first delay unit, and the delay of the target signal relative to the indication signal can be considered as 0.

[0075] In the two examples above, the inverting unit is connected in series with the first delay unit, but the order of the series connection is different.

[0076] 3. For example Figure 3 As shown in (c) above, in another specific example, the indicator signal is delayed by a first delay unit to obtain a first signal. Furthermore, the indicator signal is inverted by an inverting unit to obtain a second signal.

[0077] In this example, the pulse width of the target signal is determined by the delay time of the first delay unit, and the delay of the target signal relative to the indicator signal can be considered as the pulse width of the indicator signal. Since this pulse width can be predetermined, the value of the pulse width of the indicator signal can be obtained as the delay of the target signal relative to the indicator signal, i.e., as the preset duration.

[0078] In this embodiment, the first delay unit, the inversion unit, and the first AND unit are all combinational logic units. Therefore, the corresponding delay, inversion, and AND operations do not involve clock operations, and there will be no uncertainty delay jitter between the target signal and the indication signal due to different phases of the corresponding working clocks.

[0079] Furthermore, in this embodiment, the pulse width (i.e., the target width value) of the target signal can be determined by the delay duration of the first delay unit. Since the delay duration of the first delay unit can be easily and flexibly adjusted, the pulse width of the target signal can also be adjusted accordingly to meet the pulse width requirements of control signals in various application scenarios. For example, in some examples, a target signal with a narrower pulse width can be obtained by adjusting the delay duration of the first delay unit to meet the requirement of the relevant control hardware that the control signal is a narrow pulse. In some embodiments, the second signal is an indication signal.

[0080] In this embodiment, the delay between the second signal and the indication signal can be considered to be 0. At this time, the preset duration is 0, therefore, it can be considered that there is no delay between the target signal and the indication signal, and the moment when the laser receiving sensor starts timing is the start time of laser emission.

[0081] In some embodiments, the second signal is obtained by delaying the indication signal using a second delay unit.

[0082] In this embodiment, considering the potential delay issues caused by the charging and discharging of capacitors in the processing unit during the processing of the indication signal to obtain the first signal, a second delay unit can be used to delay the indication signal to obtain the second signal. The second delay unit can be a combinational logic unit. In this case, delaying the indication signal using the second delay unit does not involve the operating clock, thus avoiding uncertainties and jitter caused by different phases of the corresponding operating clocks, ensuring the stability of the delay between the second signal and the indication signal.

[0083] In some embodiments, determining the start time of laser emission based on the target signal and the indication signal includes:

[0084] Obtain the current temperature detected by the temperature sensor;

[0085] The start time of laser emission is determined based on the current temperature, indicator signal, and target signal.

[0086] The specific location of the temperature sensor can be determined based on the actual hardware layout and other factors. The temperature sensor can be installed on the terminal device executing the embodiments of this application to detect the temperature of the terminal device, or it can be installed in the external environment to detect the temperature of the environment in which the terminal device is located.

[0087] In practical use, temperature changes may affect the delay in processing indication signals by combinational logic modules and other processing components, causing a slight deviation in the expected delay. Therefore, in this embodiment, different methods can be used to determine the start time of laser emission for different temperature conditions to eliminate temperature deviations and improve measurement accuracy.

[0088] If, at the current temperature, the drift caused by the delay of components such as the combinational logic module in the terminal device has a small impact on measurement accuracy, the start time of laser emission can be determined based on a preset duration (i.e., the delay duration of the target signal relative to the indication signal) and the trigger time corresponding to the indication signal. However, if, at the current temperature, the drift caused by the delay of combinational logic devices such as the processing unit is large and has a significant impact on measurement accuracy, the feedback signal of the laser driver can be acquired, and the delay value between the feedback signal of the laser driver and the specified signal can be detected to determine the start time of laser emission.

[0089] In some embodiments, determining the start time of laser emission based on the current temperature, an indication signal, and a target signal includes:

[0090] If the current temperature is within the preset temperature range, the start time of laser emission is determined according to the preset duration and the indication signal.

[0091] The start time of laser emission can be determined based on a preset duration and the trigger time corresponding to the indicator signal. The trigger time corresponding to the indicator signal is the time when the laser receiving sensor starts timing, and the laser receiving sensor starts timing based on the rising edge of the indicator signal.

[0092] The preset temperature range can be determined based on a fixed temperature and a preset allowable temperature variation range. The fixed temperature and the temperature variation range can be determined based on the actual application scenario and experiments. For example, in one example, the fixed temperature can be a temperature at which the delay of the target signal relative to the indication signal is predetermined, and the temperature variation range can be experimentally determined such that within this temperature variation range, the drift in the delay of components such as the combinational logic module in the terminal device is less than a preset drift amount.

[0093] If the current temperature is within the preset temperature range, the offset caused by the delay of components such as the combinational logic module in the terminal device has a small impact on the measurement accuracy. Therefore, the start time of laser emission can be determined based on the preset duration and the trigger time corresponding to the indicator signal. In this case, the delay duration of the target signal relative to the indicator signal is a fixed duration. Therefore, it is not necessary to calculate the delay duration of the target signal relative to the indicator signal every time the laser receiving sensor is used, thereby reducing the consumption of related hardware and software resources and improving data processing efficiency.

[0094] In one specific example, if the current temperature is within a preset temperature range and the duration of the current temperature being within the preset temperature range is greater than a first duration threshold, then the start time of laser emission can be determined based on the preset duration and the indication signal.

[0095] At this point, if the duration for which the current temperature remains within the preset temperature range exceeds the first duration threshold, it can be considered that the current temperature is stably within the preset temperature range, rather than experiencing temperature fluctuations at certain times. Therefore, this example demonstrates that the system is unaffected by temperature detection errors and fluctuations inherent in temperature sensors, avoiding frequent switching of the method for determining the laser emission start time and ensuring system stability.

[0096] In some embodiments, determining the start time of laser emission based on the current temperature, an indication signal, and a target signal includes:

[0097] If the current temperature is not within the preset temperature range, the target delay time of the feedback signal relative to the indication signal is obtained. The feedback signal is the signal generated by the laser driver based on the target signal.

[0098] The start time of laser emission is determined based on the target delay duration and the indication signal.

[0099] In this embodiment of the application, if the current temperature is not within the preset temperature range, the offset caused by the delay of components such as the combinational logic module in the terminal device has a significant impact on the measurement accuracy. Therefore, the start time of laser emission cannot be determined directly based on the preset duration and the trigger time corresponding to the indication signal. Instead, a corresponding feedback signal can be generated at the same time as the laser driver is triggered by the target signal.

[0100] At this point, the target delay duration includes not only the fixed delay of the target signal relative to the indication signal, but also the temperature-dependent offset between the target signal and the indication signal, as well as the offset when the laser driver generates the feedback signal based on the target signal. Therefore, the target delay duration can be considered as the total delay corresponding to the moment when the laser receiving sensor starts timing. Delaying the laser receiving sensor's timing start time by the target delay duration yields the laser emission start time.

[0101] In one specific example, if the current temperature is not within a preset temperature range and the duration of the current temperature not being within the preset temperature range is greater than a second duration threshold, then the target delay duration of the feedback signal relative to the indication signal is obtained, and the feedback signal is a signal generated by the laser driver based on the target signal.

[0102] In this case, if the duration for which the current temperature is not within the preset temperature range exceeds the second duration threshold, it can be considered that the current temperature has been stably outside the preset temperature range for a period of time, rather than experiencing temperature fluctuations at certain moments. Therefore, this example demonstrates that the system is unaffected by temperature detection errors and fluctuations inherent in temperature sensors, avoiding frequent switching of the method for determining the laser emission start time and ensuring system stability.

[0103] The feedback signal can be a signal generated by the laser driver based on the target signal. The feedback signal can be sent to a laser receiving sensor, which determines the target delay duration of the feedback signal relative to the indication signal, and then sends the target delay duration to the terminal device executing the embodiments of this application. Alternatively, the feedback signal can also be sent to the terminal device, and the terminal device can determine the target delay duration of the feedback signal relative to the indication signal.

[0104] In one example, the laser receiving sensor can start timing based on the rising edge of the indicator signal, sample during the timing process, and after detecting the feedback signal through sampling, determine the deviation of the time when the feedback signal was sampled from the time when timing started. This deviation is the target delay time of the feedback signal relative to the indicator signal.

[0105] At this point, by delaying the target delay time after the trigger time corresponding to the indication signal, the start time of laser emission can be obtained.

[0106] Figure 4 An exemplary transmission diagram of a signal is provided in an embodiment of this application.

[0107] After the target signal is transmitted to the laser driver, the laser driver can generate a feedback signal based on the target signal and transmit it to the laser receiving sensor. After sampling the feedback signal, the laser receiving sensor can calculate the deviation between the sampling time of the feedback signal and the start time of the timer, thereby obtaining the target delay time of the feedback signal relative to the indication signal.

[0108] In some embodiments, determining the start time of laser emission based on the target signal and the indication signal includes:

[0109] Acquire at least one target path signal, where each target path signal is the path signal of a laser emitting unit in a laser emitting array;

[0110] For each target path signal, the second AND unit performs an AND operation between the target path signal and the target signal to obtain the third signal;

[0111] Based on the third signal and the indication signal, determine the start time of laser emission of the laser emitting unit corresponding to at least one target path signal.

[0112] In practical applications, lasers are typically emitted using laser emission arrays to allow for flexible adjustment of the laser intensity. A laser emission array can include multiple laser emission units arranged in a regular pattern; each laser emission unit can be a laser-emitting diode or other device capable of emitting laser light.

[0113] In this embodiment of the application, at least one target path signal can be obtained according to the needs of the application scenario, wherein the target path signal may be the path signal of the laser emitting unit that needs to be triggered at present.

[0114] For each target path signal, the target path signal is ANDed with the target signal by the corresponding second AND unit to obtain the trigger signal for each laser emitting unit that needs to be triggered at the moment. This determines the start time of laser emission of at least one laser emitting unit corresponding to the target path signal, so as to facilitate subsequent control of each laser emitting unit that needs to be triggered at the moment to emit laser.

[0115] In some embodiments, acquiring at least one target path signal includes:

[0116] Send the path signals of at least two laser emitting units to the gating switch unit;

[0117] The target path signal is obtained by selecting the path signals of multiple laser emitting units through a gating switch unit.

[0118] like Figure 5 The diagram shown is a schematic representation of signal transmission in an embodiment of this application.

[0119] The first and second signals can be ANDed using the first AND unit to obtain the target signal. The target signal can then be ANDed with the target path signal using the second AND unit to obtain the third signal. The gating switch unit can select one of the path signals from at least two laser emitting units, or it can simultaneously select the path signals from multiple laser emitting units. Through the gating switch unit, the laser emitting units that need to emit laser light can be flexibly adjusted as needed.

[0120] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0121] Corresponding to the signal processing method described in the above embodiments, Figure 6 A structural block diagram of a signal processing apparatus according to an embodiment of this application is shown. This information processing apparatus can be applied to a terminal device. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0122] Reference Figure 6 The signal processing device 6 includes:

[0123] The processing module 601 is used to process the indication signal after receiving the indication signal from the laser receiving sensor to obtain the target signal. The delay of the target signal relative to the indication signal is a preset duration, and the pulse width of the target signal is the target width value. The target signal is used to trigger laser emission.

[0124] The determination module 602 is used to determine the start time of laser emission based on the target signal and the indication signal.

[0125] Optionally, the terminal device includes a combinational logic module, which includes a first delay unit, an inverting unit, and a first AND unit;

[0126] Processing module 601 includes:

[0127] The first processing unit is configured to, after receiving the indication signal emitted by the laser receiving sensor, obtain a first signal and a second signal based on the indication signal through a first delay unit and an inversion unit.

[0128] The second processing unit is used to perform an AND operation on the first signal and the second signal through the first AND unit to obtain the target signal.

[0129] Optionally, the second signal is an indication signal.

[0130] Optionally, the determining module 602 includes:

[0131] The first acquisition unit is used to acquire the current temperature detected by the temperature sensor;

[0132] The first determining unit is used to determine the start time of laser emission based on the current temperature, indication signal, and target signal.

[0133] Optionally, the determining unit is used for:

[0134] If the current temperature is within the preset temperature range, the start time of laser emission is determined according to the preset duration and the indication signal.

[0135] Optionally, the determined unit includes:

[0136] The acquisition subunit is used to acquire the target delay time of the feedback signal relative to the indication signal if the current temperature is not within the preset temperature range. The feedback signal is a signal generated by the laser driver based on the target signal.

[0137] The determination sub-unit is used to determine the start time of laser emission based on the target delay duration and the indication signal.

[0138] Optionally, the indication signal is generated by sampling the trigger signal through a laser receiving sensor, and the trigger signal is sent from the terminal device to the laser receiving sensor.

[0139] Optionally, the determining module 602 includes:

[0140] The second acquisition unit is used to acquire at least one target path signal, each target path signal being the path signal of a laser emitting unit in a laser emitting array;

[0141] The third processing unit is used to perform a bitwise AND operation between the target path signal and the target signal through the second AND unit for each target path signal to obtain the third signal;

[0142] The second determining unit is used to determine the start time of laser emission of at least one laser emitting unit corresponding to a target path signal based on the third signal and the indication signal.

[0143] Optionally, the second acquisition unit includes:

[0144] The transmitting subunit is used to send the path signals of at least two laser emitting units to the gating switch unit;

[0145] The gating subunit is used to select the path signals of multiple laser emitting units through the gating switch unit to obtain the target path signal.

[0146] In this embodiment, after receiving the indication signal from the laser receiving sensor, the terminal device processes the indication signal to obtain a target signal. The target signal has a preset delay relative to the indication signal, and its pulse width is a target width value. The target signal is used to trigger laser emission. Based on the target signal and the indication signal, the start time of laser emission is determined. It can be seen that after the indication signal is processed by the terminal device, the pulse width of the target signal can be adjusted to the target width value, thereby meeting the control requirements of the corresponding laser emission device and triggering laser emission. Furthermore, since the delay of the target signal used to trigger laser emission relative to the indication signal is a fixed delay, the deviation of the indication signal from the start time of laser emission can be considered a fixed deviation. Based on this fixed deviation, a more accurate start time of laser emission can be obtained, avoiding large uncertainties and delay jitter when determining the start time of laser emission, thus improving the accuracy of laser measurement.

[0147] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0148] Figure 7 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Figure 7 As shown, the terminal device 7 of this embodiment includes: at least one processor 70 ( Figure 7 (Only one is shown in the diagram), memory 71, and computer program 72 stored in the memory 71 and executable on at least one processor 70, wherein the processor 70 executes the computer program 72 to implement the steps in any of the above-described signal processing method embodiments.

[0149] The aforementioned terminal device 7 can be a programmable device, server, mobile phone, wearable device, augmented reality (AR) / virtual reality (VR) device, desktop computer, laptop, PC, and handheld computer, etc. This terminal device may include, but is not limited to, processor 70 and memory 71. Those skilled in the art will understand that... Figure 7This is merely an example of terminal device 7 and does not constitute a limitation on terminal device 7. It may include more or fewer components than shown, or combine certain components, or different components. For example, it may also include input devices, output devices, network access devices, etc. Among them, the above-mentioned input devices may include keyboards, touchpads, fingerprint collection sensors (for collecting the user's fingerprint information and fingerprint orientation information), microphones, cameras, etc., and output devices may include displays, speakers, etc.

[0150] The processor 70 described above can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0151] In some embodiments, the aforementioned memory 71 may be an internal storage unit of the terminal device 7, such as a hard disk or memory of the terminal device 7. In other embodiments, the aforementioned memory 71 may be an external storage device of the terminal device 7, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the terminal device 7. Furthermore, the aforementioned memory 71 may include both internal storage units and external storage devices of the terminal device 7. The aforementioned memory 71 is used to store operating systems, applications, boot loaders, data, and other programs, such as the program code of the aforementioned computer programs. The aforementioned memory 71 may also be used to temporarily store data that has been output or will be output.

[0152] In addition, although not shown, the terminal device 7 may also include a network connection module, such as a Bluetooth module, a Wi-Fi module, a cellular network module, etc., which will not be described in detail here.

[0153] In this embodiment, when the processor 70 executes the computer program 72 to implement the steps in any of the signal processing method embodiments, after receiving the indication signal from the laser receiving sensor, the terminal device processes the indication signal to obtain a target signal. The delay of the target signal relative to the indication signal is a preset duration, and the pulse width of the target signal is a target width value. The target signal is used to trigger laser emission. Based on the target signal and the indication signal, the start time of laser emission is determined. It can be seen that after the indication signal is processed by the terminal device, the pulse width of the obtained target signal can be adjusted to the target width value, thereby meeting the control requirements of the corresponding laser emission device and triggering laser emission. Furthermore, since the delay of the target signal used to trigger laser emission relative to the indication signal is a fixed delay, the deviation of the indication signal relative to the start time of laser emission can be considered a fixed deviation. Based on this fixed deviation, a more accurate start time of laser emission can be obtained, avoiding large uncertainties and delay jitter when determining the start time of laser emission, thus improving the accuracy of laser measurement.

[0154] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps in the various method embodiments described above.

[0155] This application provides a computer program product that, when run on a terminal device, enables the terminal device to implement the steps described in the various method embodiments above.

[0156] If the integrated units described above are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0157] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0158] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0159] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0160] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0161] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A signal processing method, characterized in that, The signal processing method, applied to terminal devices, includes: After receiving the indication signal from the laser receiving sensor, the indication signal is processed to obtain the target signal. The delay of the target signal relative to the indication signal is a preset duration, which is a fixed value. The pulse width of the target signal is a target width value. The target signal is used to trigger laser emission. The start time of laser emission is determined based on the target signal and the indication signal; The terminal device includes a combinational logic module, which includes a first delay unit, an inversion unit, and a first AND unit. The step of processing the indication signal after receiving the indication signal from the laser receiving sensor to obtain the target signal includes: After receiving the indication signal from the laser receiving sensor, a first signal and a second signal are obtained based on the indication signal through the first delay unit and the inversion unit; The target signal is obtained by performing an AND operation on the first signal and the second signal using the first AND unit; The second signal is the indication signal.

2. The signal processing method as described in claim 1, characterized in that, Determining the start time of laser emission based on the target signal and the indication signal includes: Obtain the current temperature detected by the temperature sensor; The start time of laser emission is determined based on the current temperature, the indication signal, and the target signal.

3. The signal processing method as described in claim 2, characterized in that, Determining the start time of laser emission based on the current temperature, the indication signal, and the target signal includes: If the current temperature is within a preset temperature range, the start time of laser emission is determined based on the preset duration and the indication signal.

4. The signal processing method as described in claim 2, characterized in that, Determining the start time of laser emission based on the current temperature, the indication signal, and the target signal includes: If the current temperature is not within the preset temperature range, the target delay time of the feedback signal relative to the indication signal is obtained, and the feedback signal is a signal generated by the laser driver based on the target signal; The start time of laser emission is determined based on the target delay duration and the indication signal.

5. The method as described in claim 1, characterized in that, The indication signal is generated by sampling the trigger signal through the laser receiving sensor, and the trigger signal is sent from the terminal device to the laser receiving sensor.

6. The signal processing method according to any one of claims 1 to 5, characterized in that, Determining the start time of laser emission based on the target signal and the indication signal includes: At least one target path signal is acquired, wherein each target path signal is a path signal of a laser emitting unit in a laser emitting array; For each target path signal, a third signal is obtained by performing an AND operation between the target path signal and the target signal through the second AND unit; Based on the third signal and the indication signal, the start time of laser emission of the laser emitting unit corresponding to the at least one target path signal is determined.

7. The signal processing method as described in claim 6, characterized in that, The acquisition of at least one target path signal includes: Send the path signals of at least two laser emitting units to the gating switch unit; The target path signal is obtained by selecting the path signals of multiple laser emitting units through a gating switch unit.

8. A signal processing apparatus, characterized in that, The signal processing device, applied to terminal equipment, includes: The processing module is used to process the indication signal after receiving the indication signal from the laser receiving sensor to obtain a target signal. The delay of the target signal relative to the indication signal is a preset duration, the preset duration is a fixed value, and the pulse width of the target signal is a target width value. The target signal is used to trigger laser emission. The determining module is used to determine the start time of laser emission based on the target signal and the indication signal; The terminal device includes a combinational logic module, which includes a first delay unit, an inversion unit, and a first AND unit. The processing module includes: The first processing unit is configured to, after receiving an indication signal from a laser receiving sensor, obtain a first signal and a second signal based on the indication signal through the first delay unit and the inversion unit; The second processing unit is used to perform an AND operation on the first signal and the second signal through the first AND unit to obtain the target signal; The second signal is the indication signal.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it performs the following steps: After receiving the indication signal from the laser receiving sensor, the indication signal is processed to obtain the target signal. The delay of the target signal relative to the indication signal is a preset duration, which is a fixed value. The pulse width of the target signal is a target width value. The target signal is used to trigger laser emission. The start time of laser emission is determined based on the target signal and the indication signal; The terminal device includes a combinational logic module, which includes a first delay unit, an inversion unit, and a first AND unit. The step of processing the indication signal after receiving the indication signal from the laser receiving sensor to obtain the target signal includes: After receiving the indication signal from the laser receiving sensor, a first signal and a second signal are obtained based on the indication signal through the first delay unit and the inversion unit; The target signal is obtained by performing an AND operation on the first signal and the second signal using the first AND unit; The second signal is the indication signal.

10. The terminal device as described in claim 9, characterized in that, When the processor executes the computer program, determining the start time of laser emission based on the target signal and the indication signal includes: Obtain the current temperature detected by the temperature sensor; The start time of laser emission is determined based on the current temperature, the indication signal, and the target signal.

11. The terminal device as described in claim 10, characterized in that, When the processor executes the computer program, determining the start time of laser emission based on the current temperature, the indication signal, and the target signal includes: If the current temperature is within a preset temperature range, the start time of laser emission is determined based on the preset duration and the indication signal.

12. The terminal device as described in claim 10, characterized in that, When the processor executes the computer program, determining the start time of laser emission based on the current temperature, the indication signal, and the target signal includes: If the current temperature is not within the preset temperature range, the target delay time of the feedback signal relative to the indication signal is obtained, and the feedback signal is a signal generated by the laser driver based on the target signal; The start time of laser emission is determined based on the target delay duration and the indication signal.

13. The terminal device as described in claim 9, characterized in that, The indication signal is generated by sampling the trigger signal through the laser receiving sensor, and the trigger signal is sent from the terminal device to the laser receiving sensor.

14. The terminal device as described in any one of claims 9 to 13, characterized in that, When the processor executes the computer program, determining the start time of laser emission based on the target signal and the indication signal includes: At least one target path signal is acquired, wherein each target path signal is a path signal of a laser emitting unit in a laser emitting array; For each target path signal, a third signal is obtained by performing an AND operation between the target path signal and the target signal through the second AND unit; Based on the third signal and the indication signal, the start time of laser emission of the laser emitting unit corresponding to the at least one target path signal is determined.

15. The terminal device as described in claim 14, characterized in that, When the processor executes the computer program, acquiring at least one target path signal includes: Send the path signals of at least two laser emitting units to the gating switch unit; The target path signal is obtained by selecting the path signals of multiple laser emitting units through a gating switch unit.

16. A computer-readable storage medium storing a computer program, characterized in that, The computer program is executed by a processor to implement the method as described in any one of claims 1 to 7.

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