Laser radar system, electronic equipment and processing method

Abstract

The invention provides a laser radar system, electronic equipment and a processing method. In the scheme, a transmitting module of the laser radar system transmits a first optical signal; a receiving module of the laser radar system can obtain a second optical signal formed by reflecting the first optical signal by a target object, and output a voltage signal based on the second optical signal, so that the voltage signal enters a saturation state after a first time period, and the voltage signal enters the saturation state after the voltage signal enters the saturation state. And compensating measurement data of the laser radar system based on the voltage signal. Through the method, the accuracy of the measurement data of the laser radar system can be improved, and the measurement precision of the laser radar is further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of perception, and in particular to a laser radar system, an electronic device and a processing method. BACKGROUND

[0002] Light detection and ranging (LiDAR) is an optical measuring device, also known as an optical sensor. The working principle is to emit a light beam and receive the light beam reflected by an object, measure the time of flight (ToF) of the light beam from emission to reflection, and thus calculate the distance between the laser radar and the target object.

[0003] Compared with a conventional radar that uses radio waves for detection, a laser radar has higher resolution and can capture details of an object, and is suitable for high-precision environmental perception. Based on considerations of cost, volume, performance and the like, laser radars have wide application in the fields of autonomous driving, obstacle detection, navigation, quality detection and the like.

[0004] The ranging accuracy of the current laser radar does not meet certain high-precision measurement scenarios. For example, in a large-screen interaction scenario in which a user interacts with a large-screen device such as a television or a display screen at a close distance, such as touch control or writing, if a traditional laser radar is used to measure the distance of a touch object, when the accuracy of the laser radar is not enough, repeated measurement jitter or inconsistent deviations in near and far distance measurements may occur, which reduces the user experience of large-screen interaction, and even causes the laser radar to be unable to be applied in scenarios requiring high-precision interaction. SUMMARY

[0005] The present application provides a laser radar system, an electronic device and a processing method for improving the measurement accuracy of a laser radar.

[0006] The first aspect provides a laser radar system, comprising: a transmitting module, a receiving module;

[0007] The transmitting module is configured to transmit a first optical signal.

[0008] The receiving module is configured to acquire a second optical signal, output a voltage signal based on the second optical signal, and cause the voltage signal to enter a saturation state after a first time period, so as to compensate measurement data of the laser radar system based on the voltage signal after the voltage signal enters the saturation state; wherein the second optical signal is an optical signal reflected by a target object from the first optical signal.

[0009] The feature of the voltage signal output by the receiving module entering the saturation state can reflect the energy of the optical signal, and can also reflect the error condition of the measurement data. Therefore, the laser radar system can utilize this principle to output the voltage signal entering the saturation state based on the received optical signal, so that the voltage signal entering the saturation state can be used subsequently to compensate the measurement data of the laser radar system, thereby improving the measurement accuracy of the laser radar system.

[0010] In a possible design, the first pulse width of the pulse of the voltage signal is 1.2 times or more of the pulse width of the first optical signal.

[0011] The greater the input signal strength, the deeper the saturation degree of the output voltage signal, and the greater the pulse broadening of the voltage signal entering the saturation state. Since the second optical signal is the optical signal emitted by the target object from the first optical signal, the pulse width of the second optical signal is basically the same as that of the first optical signal. The second optical signal is the input signal of the receiving module. Therefore, the pulse width of the voltage signal output by the receiving module is obviously wider than that of the second optical signal (or the first optical signal).

[0012] In a possible design, the width of the first pulse width of the pulse of the voltage signal is positively correlated with the reflection ability of the target object.

[0013] Since the greater the signal strength of the input signal (i.e., the second optical signal) of the receiving module, the deeper the saturation degree of the output signal (i.e., the voltage signal), and the greater the pulse broadening of the output signal. And in the case that the signal strength of the optical signal emitted by the transmitting module is fixed, the signal strength of the input signal of the receiving module is related to the reflection ability of the target object. Therefore, through this design, the reflection ability of the target object can be inferred through the width of the pulse of the voltage signal output by the receiving module.

[0014] In a possible design, the receiving module includes an amplification component; the amplification component is configured to amplify the input signal and output the voltage signal; the voltage signal entering the saturation state is equal to or close to the supply voltage of the amplification component.

[0015] Through this design, the receiving module can perform signal amplification processing through the amplification component, so as to output the voltage signal entering the saturation state.

[0016] In a possible design, the receiving module further includes a photoelectric conversion component; the photoelectric conversion component is configured to convert the second optical signal into a current signal; the amplification component is configured to amplify the input signal and output the voltage signal, including: the input signal of the amplification component is the current signal; and the amplification component is configured to convert the current signal into the voltage signal.

[0017] Through the design, the receiving module can first convert the acquired second optical signal into a current signal through the photoelectric conversion component, and then convert the current signal into a voltage signal through the amplification component.

[0018] In a possible design, the photoelectric conversion component includes any one of the following photoelectric converters: an avalanche photodiode (APD), a silicon photodiode (SiPD), and a photodiode (PD).

[0019] In a possible design, the input signal of the amplification component is the second optical signal; and the amplification component is configured to convert the second optical signal into a current signal, and convert the current signal into the voltage signal.

[0020] The amplification component has photoelectric conversion and amplification functions. Through the design, the receiving module can convert the acquired second optical signal into a current signal through the amplification component, and then convert the current signal into a voltage signal.

[0021] In a possible design, the amplification component includes a transimpedance amplifier; and the transimpedance amplifier is configured to convert the current signal into the voltage signal.

[0022] Through the design, the amplification component can convert the current signal into the voltage signal through the transimpedance amplifier.

[0023] In a possible design, the amplification component is further configured to generate a ringing signal or an enhanced ringing signal in the voltage signal; and the ringing signal or the enhanced ringing signal is located at a position different from that of a pulse of the voltage signal.

[0024] Since the rising edge (signal strength rising process) and the falling edge (signal strength falling process) of the voltage signal entering the saturation state are steeper, the pulse width error of the voltage signal pulse collected by the laser radar system in the measurement process is smaller, and thus the measurement data of the laser radar system is more accurate, and the accuracy of compensating the measurement data of the laser radar system based on the voltage signal can be higher. Through the design, the rising edge or the falling edge of the pulse of the voltage signal with the ringing signal or the enhanced ringing signal can be steeper, and thus the accuracy of the measurement compensation of the laser radar system based on the voltage signal can be improved, and the measurement precision of the laser radar can be improved.

[0025] In a possible design, the ringing signal or the enhanced ringing signal is located adjacent to the pulse of the voltage signal and after the pulse of the voltage signal.

[0026] In a possible design, no circuit pole compensation circuit is arranged in the amplification component to generate the ringing signal or the enhanced ringing signal in the voltage signal.

[0027] In a possible design, the amplification component includes at least one DC blocking capacitor; and the DC blocking capacitor is configured to shift the voltage signal including the ring signal to a positive voltage region, so as to protect devices in the amplification component.

[0028] In a possible design, the amplification component is configured to amplify the input signal by multi-stage amplification, and output the voltage signal.

[0029] By this design, the amplification component can amplify the input signal by multi-stage amplification, and ensure the amplification effect of the amplification component, so that the pulse rising edge and falling edge of the output voltage signal can be steeper.

[0030] In a possible design, the multi-stage amplification is implemented by a multi-stage amplification circuit; the multi-stage amplification circuit includes a first-stage amplification circuit and at least one subsequent-stage amplification circuit; the subsequent-stage amplification circuit is located behind the first-stage amplification circuit; the first-stage amplification circuit is configured to amplify the input signal, and obtain an intermediate voltage signal; and the at least one subsequent-stage amplification circuit is configured to amplify the intermediate voltage signal, and obtain the voltage signal output finally.

[0031] By this design, the multi-stage amplification function of the amplification component can be implemented by the multi-stage amplification circuit.

[0032] In a possible design, the first-stage amplification circuit is a current-voltage amplification circuit; and the at least one subsequent-stage amplification circuit is a voltage-voltage amplification circuit.

[0033] By this design, the amplification component can first convert a current signal into a voltage signal, and then further amplify the voltage signal.

[0034] In a possible design, the laser radar system further includes a sampling component and a processor.

[0035] The sampling component is configured to sample a pulse of the voltage signal, and output a digital sampling signal; the digital sampling signal includes a start sampling point and an end sampling point of the pulse of the voltage signal.

[0036] The processor is configured to determine a distance between the target object and a laser radar based on a time length between a start point of the pulse of the voltage signal and the start sampling point; and the laser radar includes the transmitting module, the receiving module and the sampling component.

[0037] Through the design, the processor can determine a compensation value (i.e., a time length between a pulse start point of the voltage signal and a start point sampling point) based on the digital sampling signal in the sampling component, and can compensate the measurement data of the laser radar based on the compensation value, so as to reduce an error of a distance between the determined target object and the laser radar, and improve the measurement accuracy of the laser radar system.

[0038] In a possible design, the laser radar system further includes a sampling component and a processor. The sampling component is configured to sample the pulse of the voltage signal and output a digital sampling signal. The processor is configured to determine the type of the target object according to a feature of the digital sampling signal.

[0039] Through the design, the processor can perform object recognition based on the feature of the digital sampling signal in the sampling component, and determine the type of the target object. The design can implement an object type recognition function based on the measurement data of the laser radar, and facilitate the electronic device to perform subsequent business logic based on the recognized object type.

[0040] In a possible design, the laser radar system further includes a scanning module. The scanning module is configured to adjust a transmission path of the first light signal.

[0041] In a possible design, the scanning module includes a motor and a rotating mirror. The rotating mirror is configured to adjust the transmission path of the first light signal. The motor is configured to rotate the rotating mirror.

[0042] In a possible design, the scanning module further includes an angle detection component, and the laser radar system further includes a processor. The angle detection component is configured to detect a rotation angle of the rotating mirror. The processor is configured to trigger the laser radar system to perform distance measurement when the rotation angle of the rotating mirror reaches an angle threshold.

[0043] Through the design, by controlling the rotation speed of the rotating mirror, the measurement frequency and the angle measurement accuracy of the laser radar system can be controlled. In addition, the emission module does not need to continuously emit the light signal, but emits the light signal once when the rotation angle of the rotating mirror reaches a set angle threshold, so that the stimulation of the light signal to the human eye can be reduced, the safety of the human eye is ensured, and the power consumption of the emission module is also reduced.

[0044] In a possible design, the scanning module is further configured to collect the second light signal and transmit the second light signal to the receiving module.

[0045] In a possible design, the emission module includes a laser and a lens. The laser is configured to emit the first light signal. The lens is configured to perform collimation processing on a light beam of the first light signal.

[0046] This design allows the lens to reduce the beam divergence angle of the laser-emitted light signal, thereby reducing stray light in the emission path and preventing light from non-main path returning to the receiving module, which would cause timing and energy differences and lead to ranging errors in the lidar system.

[0047] In one possible design, the laser is any of the following: a vertical cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), or a photonic crystal surface-emitting laser (PCSEL); or, the lens is a chip-on-board (COB) lens or a chip-on-carrier (COC) lens.

[0048] This design allows for various design options for the transmitting module in a lidar system.

[0049] In one possible design, the second optical signal is the optical signal reflected by the first target object during the first time period;

[0050] The transmitting module is also used to transmit a third optical signal;

[0051] The receiving module is further configured to acquire a fourth optical signal; the fourth optical signal is an optical signal reflected by the third optical signal in the second time period by the second target object; output a voltage signal based on the fourth optical signal; wherein, the first pulse width of the pulse of the voltage signal output based on the second optical signal is greater than the second pulse width of the pulse of the voltage signal output based on the fourth optical signal; and the reflectivity of the first target object is greater than the reflectivity of the second target object.

[0052] With this design, the lidar system can emit light signals at different times to perform multiple measurements.

[0053] In one possible design, the lidar system further includes: a processor; the processor being configured to determine, based on the first pulse width, to process the first target of a first type using a first business logic; and / or, based on the second pulse width, to determine to process the second target of a second type using a second business logic.

[0054] Since the pulse width of a voltage signal pulse can reflect the characteristics of a target object, in this design, the lidar system can identify the type of different targets based on the pulse width of the voltage signal output from the light signals reflected by different targets. This enables the lidar system or electronic device to perform subsequent business logic based on the identified object type, as the pulse width of the voltage signal output from the light signals reflected by different targets reflects the light signals.

[0055] In one possible design, the processor is further configured to determine, based on a third pulse width, not to process ambient noise objects; the third pulse width being the pulse width of a voltage signal output based on a fifth optical signal reflected from the ambient noise object.

[0056] Through this design, the lidar system can also identify environmental noise objects based on the pulse width of the voltage signal output by the receiving module, thereby preventing the lidar system or electronic equipment from executing subsequent business logic on environmental noise objects and avoiding environmental noise objects from affecting the interaction effect of the equipment.

[0057] In one possible design, the first business logic includes: acquiring the pressure-sensitive signal of the first target object to determine the interaction position of the first target object based on the pressure-sensitive signal and the compensated measurement data of the lidar system; or directly determining the interaction position of the first target object based on the compensated measurement data of the lidar system; or responding to the interaction of the first target object in a manner matching the first type; or not compensating the measurement data of the lidar system and directly using the originally acquired measurement data to determine the interaction position of the first target object.

[0058] Through this design, the processor can determine the first type of business logic that matches the first target object of the first type, respond to the detected first target object, and improve the interaction effect.

[0059] In one possible design, the lidar system further includes electronic equipment; the processor is located in the electronic equipment or lidar; the lidar includes the transmitting module and the receiving module.

[0060] In one possible design, the electronic device further includes a display screen; the processor is also configured to display on the display screen the result of processing the first target object of the first type using the first business logic; and / or, also to display on the display screen the result of processing the second target object of the second type using the second business logic.

[0061] In this way, the lidar system can achieve visual interaction with the user.

[0062] In one possible design, the lidar system also includes the target object.

[0063] Optionally, the target object can be an electronic device with processing and communication functions, which can communicate and interact with the lidar or electronic device through a wired or wireless communication connection. For example, the target object can be a remote control, handle, stylus, or other device.

[0064] In one possible design, the multiple components included in a lidar system can be deployed in one or more devices. When the components of a lidar system are deployed in a single device (i.e., lidar), the lidar system can be a single-device system consisting of the corresponding components within that single device.

[0065] The second aspect provides a processing method applicable to a lidar system, the method comprising:

[0066] A first optical signal is emitted; a second optical signal is acquired; a voltage signal is obtained based on the second optical signal, such that the voltage signal enters a saturated state after a first time period, so that the measurement data of the lidar system is compensated based on the voltage signal after the voltage signal enters the saturated state; wherein, the second optical signal is the optical signal reflected by the target object from the first optical signal.

[0067] In one possible design, the first pulse width of the voltage signal is 1.2 times or more the pulse width of the first optical signal.

[0068] In one possible design, the width of the first pulse width of the voltage signal is positively correlated with the reflectivity of the target object.

[0069] In one possible design, obtaining the voltage signal based on the second optical signal can be achieved through the following steps:

[0070] Based on the second optical signal, the input signal of the amplification component is obtained;

[0071] The input signal is amplified by the amplification component to output the voltage signal; wherein the voltage signal that enters the saturation state is equal to or close to the supply voltage of the amplification component.

[0072] In one possible design, obtaining the input signal of the amplification component based on the second optical signal includes: converting the second optical signal into a current signal through a photoelectric conversion component; wherein the input signal of the amplification component is the current signal.

[0073] The amplification of the input signal by the amplification component and the output of the voltage signal includes: converting the current signal into the voltage signal by the amplification component.

[0074] In one possible design, the photoelectric conversion component includes any of the following photoelectric converters: avalanche photodiode (APD), silicon photodiode (SiPD), and photodiode (PD).

[0075] In one possible design, the input signal of the amplification component is the second optical signal; the amplification of the input signal by the amplification component to output the voltage signal includes:

[0076] The amplification component converts the second optical signal into a current signal, and then converts the current signal into a voltage signal.

[0077] In one possible design, the amplification component includes a transimpedance amplifier; the conversion of the current signal into the voltage signal via the amplification component includes:

[0078] The current signal is converted into the voltage signal by the transimpedance amplifier.

[0079] In one possible design, the method further includes: generating a ringing signal or enhanced ringing signal in the voltage signal via the amplification component; the position of the ringing signal or enhanced ringing signal is different from the position of the pulse of the voltage signal.

[0080] In one possible design, the position of the ringing signal or enhanced ringing signal is adjacent to the pulse position of the voltage signal and follows the pulse of the voltage signal.

[0081] In one possible design, the amplification component does not include a circuit pole compensation circuit to generate the ringing signal or an enhanced ringing signal in the voltage signal.

[0082] In one possible design, the amplification component includes at least one DC blocking capacitor; the method further includes:

[0083] The voltage signal, including the ringing signal, is shifted to a positive voltage region by the DC blocking capacitor to protect the devices in the amplification assembly.

[0084] In one possible design, amplifying the input signal and outputting the voltage signal via the amplification component includes:

[0085] The input signal is amplified in multiple stages by the amplification component to output the voltage signal.

[0086] In one possible design, the multi-stage amplification is achieved through a multi-stage amplifier circuit; wherein the multi-stage amplifier circuit includes a first-stage amplifier circuit and at least one subsequent amplifier circuit; the subsequent amplifier circuit is located after the first-stage amplifier circuit.

[0087] The step of amplifying the input signal through the amplification component in multiple stages to output the voltage signal includes:

[0088] The input signal is amplified by the first-stage amplifier circuit to obtain an intermediate voltage signal;

[0089] The intermediate voltage signal is amplified by the at least one subsequent amplifier circuit to obtain the voltage signal.

[0090] In one possible design, the first-stage amplifier circuit is a current-to-voltage amplifier circuit; and the at least one subsequent amplifier circuit is a voltage-to-voltage amplifier circuit.

[0091] In one possible design, the method further includes: sampling the pulses of the voltage signal to obtain a digital sampling signal; wherein the digital sampling signal includes a starting sampling point and an ending sampling point of the pulses of the voltage signal; and determining the distance between the target and the lidar based on the duration between the starting point of the voltage signal pulses and the starting sampling point.

[0092] In one possible design, the method further includes: sampling the pulses of the voltage signal and outputting a digital sampling signal; and determining the type of the target object based on the characteristics of the digital sampling signal.

[0093] In one possible design, the method further includes adjusting the transmission path of the first optical signal via a scanning module.

[0094] In one possible design, the scanning module includes a motor and a rotating mirror; adjusting the transmission path of the first optical signal via the scanning module includes: adjusting the transmission path of the first optical signal via the rotating mirror; and rotating the rotating mirror via the motor.

[0095] In one possible design, the scanning module further includes an angle detection component; the method further includes:

[0096] The rotation angle of the rotating mirror is detected by the angle detection component; when the rotation angle of the rotating mirror reaches the angle threshold, the lidar system is triggered to perform distance measurement.

[0097] In one possible design, acquiring the second optical signal includes: acquiring the second optical signal through the scanning module.

[0098] In one possible design, emitting the first optical signal includes: emitting the first optical signal via a laser; and collimating the beam of the first optical signal via a lens.

[0099] In one possible design, the laser is any of the following: a vertical cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), or a photonic crystal surface-emitting laser (PCSEL); or, the lens is a chip-on-board (COB) lens or a chip-on-carrier (COC) lens.

[0100] In one possible design, the second optical signal is the optical signal reflected by the first target object during a first time period; the method further includes:

[0101] A third optical signal is emitted; a fourth optical signal is acquired; the fourth optical signal is the optical signal reflected by the third optical signal by the second target object in the second time period; a voltage signal is obtained based on the fourth optical signal; wherein, the first pulse width of the pulse of the voltage signal output based on the second optical signal is greater than the second pulse width of the pulse of the voltage signal output based on the fourth optical signal; the reflectivity of the first target object is greater than the reflectivity of the second target object.

[0102] In one possible design, the method further includes: determining, based on the first pulse width, to process the first target object of the first type using a first business logic; and / or, determining, based on the second pulse width, to process the second target object of the second type using a second business logic.

[0103] In one possible design, the method further includes: determining, based on a third pulse width, that no action should be taken on the environmental noise object; the third pulse width being the pulse width of a voltage signal output based on a fifth optical signal reflected by the environmental noise object.

[0104] In one possible design, the first business logic includes:

[0105] Acquire the pressure-sensitive signal of the first target object, and determine the interaction position of the first target object based on the pressure-sensitive signal and the compensated measurement data of the lidar system; or,

[0106] The interaction position of the first target object is determined directly based on the measurement data of the compensated lidar system; or,

[0107] Respond to the interaction of the first target object in a manner that matches the first type; or,

[0108] The measurement data from the lidar system is not compensated; the interaction position of the first target is determined directly using the original measurement data.

[0109] In one possible design, the method further includes: displaying on the display screen the result of processing the first target object of the first type using the first business logic; and / or, displaying on the display screen the result of processing the second target object of the second type using the second business logic.

[0110] The third aspect provides a processing method applied to an electronic device. The method executor can refer to the electronic device itself, or to a processor, module, chip, or chip system within the electronic device that implements the method. The method includes:

[0111] The system receives first measurement data from a lidar, which is a digital sampling signal obtained by sampling pulses of a voltage signal measured by the lidar. The voltage signal is obtained by the lidar based on a second light signal reflected by a target object from a first emitted light signal, and the voltage signal enters a saturation state after a first time period. The digital sampling signal includes the start and end sampling points of the voltage signal pulses.

[0112] Based on the first measurement data, the duration between the pulse start point of the voltage signal and the starting point sampling point is determined; and based on the duration between the pulse start point of the voltage signal and the starting point sampling point, the distance between the target object and the lidar is determined.

[0113] Using this method, electronic devices can determine a compensation value (i.e., the duration between the pulse start point of the first voltage signal and the sampling point of the start point) based on the measurement data of the lidar. This compensation value can then be used to compensate for the ranging data of the lidar, thereby reducing the error in the distance between the target and the lidar.

[0114] In one possible design, the first measurement data includes: the duration between the starting sampling point and the ending sampling point; determining the duration between the pulse start point of the voltage signal and the starting sampling point based on the first measurement data includes:

[0115] The duration between the pulse start point and the start point sampling point of the voltage signal is determined based on the duration between the start point sampling point and the end point sampling point.

[0116] In one possible design, the first measurement data includes: the digital sampling signal and the voltage signal; determining the duration between the pulse start point of the voltage signal and the start sampling point based on the first measurement data includes:

[0117] Based on the voltage signal and the data sampling signal, determine the duration between the pulse start point of the voltage signal and the start point sampling point.

[0118] In one possible design, the method further includes: determining the interaction position of the target object based on the distance between the target object and the lidar; and performing a corresponding task in response to the target object according to the interaction position of the target object.

[0119] In one possible design, the task includes any of the following:

[0120] Drawing trajectories, touch selection, and gesture control.

[0121] In one possible design, the electronic device is a smart screen.

[0122] The fourth aspect provides a processing method that can be applied to electronic devices. The method executor can refer to the electronic device itself, or to a processor, module, chip, or chip system within the electronic device that implements the method. The method includes:

[0123] The system receives first measurement data from a lidar, which is used to indicate the characteristics of a first digital sampling signal. The first digital sampling signal is obtained by the lidar sampling pulses of a measured first voltage signal. The first voltage signal is obtained by the lidar based on a second light signal reflected by a first target object from an emitted first light signal. The first voltage signal enters a saturation state after a first time period.

[0124] The first target object is determined based on the characteristics of the first digital sampling signal. The type of the first target object can be a first type.

[0125] Using this method, electronic devices can determine the characteristics of the digital sampling signal generated by the lidar based on the lidar's measurement data. Since the characteristics of the data sampling signal can reflect the characteristics of the voltage signal generated by the lidar, and the characteristics of the voltage signal can reflect the characteristics of the target object, the electronic device can determine the type of the target object based on the characteristics of the digital sampling signal, realizing the object type recognition function based on lidar measurement data. This allows the electronic device to execute subsequent business logic based on the identified object type.

[0126] In one possible design, the first measurement data includes the first digital sampled signal and / or features of the first digital sampled signal.

[0127] In one possible design, the method further includes:

[0128] The system receives second measurement data from the lidar, the second measurement data being used to indicate the characteristics of a second digital sampling signal; the second digital sampling signal is obtained by the lidar sampling pulses of a measured second voltage signal; the second voltage signal is obtained by the lidar based on a fourth light signal reflected by a second target object from an emitted third light signal, and the second voltage signal enters a saturation state after a second time period;

[0129] The second target object is determined based on the characteristics of the second digital sampling signal. The type of the second target object can be a second type.

[0130] In one possible design, the method further includes:

[0131] The first target object of the first type is processed using a first business logic; and / or the second target object of the second type is processed using a second business logic.

[0132] In one possible design, the first business logic includes:

[0133] Acquire the pressure-sensitive signal of the first target object, and determine the interaction position of the first target object based on the pressure-sensitive signal and the compensated measurement data of the lidar; or

[0134] The interaction position of the first target object is determined directly based on the compensated measurement data from the lidar; or

[0135] Respond to the interaction of the first target object in a manner matching the first type; or

[0136] The measurement data from the lidar is not compensated; the interaction position of the first target is determined directly using the original measurement data.

[0137] In one possible design, the electronic device has a display screen; the method further includes:

[0138] The display screen shows the result of processing the first target object of the first type using the first business logic; and / or, the display screen shows the result of processing the second target object of the second type using the second business logic.

[0139] In one possible design, the method further includes:

[0140] The system receives third measurement data from the radar device; wherein the third measurement data is used to indicate the characteristics of a third digital sampling signal; the third digital sampling signal is obtained by the lidar sampling pulses of a measured third voltage signal; the third voltage signal is obtained by the lidar based on a sixth light signal reflected by an environmental noise object from a fifth emitted light signal;

[0141] Based on the characteristics of the third digital sampling signal, it is determined that the environmental noise will not be processed.

[0142] In one possible design, the electronic device is a smart screen.

[0143] The fifth aspect provides an electronic device including a unit for performing the steps of the third or fourth aspect above.

[0144] A sixth aspect provides an electronic device including a transceiver and a processor; the transceiver is used to receive and transmit data, for example, to receive measurement data from a lidar sensor; the processor is used to execute the methods provided in the third or fourth aspect above. Optionally, the electronic device further includes a memory; wherein one or more programs are stored in the memory, and when the one or more programs are executed by the processor, the electronic device causes the electronic device to perform the methods provided in the third or fourth aspect above. The electronic device may also have a display screen.

[0145] The seventh aspect provides a program product (also referred to as a computer program product) that, when run on a device, causes the device to perform the methods provided by any one of the second to fourth aspects. It should be understood that the device can be an electronic device as provided by the above aspects.

[0146] The eighth aspect provides a readable storage medium (also referred to as a computer-readable storage medium) storing a program that, when executed by a device, causes the device to perform the methods provided in any of the second to fourth aspects above. It should be understood that the device can be an electronic device as provided in the above aspects.

[0147] A ninth aspect provides a chip for reading a program stored in a memory and executing the method provided in any one of the second to fourth aspects. Optionally, the chip may include a processor coupled to the memory for reading the program stored in the memory and implementing the method provided in the above embodiments. Optionally, the chip may further include components such as a memory and a communication interface. The memory is used to store the program; the communication interface is used to receive and send data.

[0148] A tenth aspect provides a chip system including a processor for supporting a device in implementing the methods provided in any of the second to fourth aspects. In one possible design, the chip system further includes a memory for storing programs and data necessary for the device. The chip system may be composed of chips or may include chips and other discrete devices.

[0149] The technical effects that can be achieved by any of the second to tenth aspects can be described with reference to the technical effects that can be achieved by any possible design in the first aspect above. Where there is overlap, no further discussion will be given. Attached Figure Description

[0150] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0151] Figure 2 A structural diagram of an electronic device provided in an embodiment of this application;

[0152] Figure 3A A schematic diagram of a lidar system provided in an embodiment of this application;

[0153] Figure 3B A schematic diagram of a signal waveform provided in an embodiment of this application;

[0154] Figures 3C to 3G A schematic diagram of a lidar system provided in an embodiment of this application;

[0155] Figure 3H A schematic diagram of a signal waveform provided in an embodiment of this application;

[0156] Figure 4A A circuit topology diagram of a multi-stage reverse circuit in an amplification component provided in this application embodiment;

[0157] Figure 4B A schematic diagram of a signal waveform provided in an embodiment of this application;

[0158] Figure 5A A schematic diagram of a lidar system provided in an embodiment of this application;

[0159] Figure 5B A schematic diagram of a compensation scheme provided in an embodiment of this application;

[0160] Figure 5C A schematic diagram of a compensation curve provided for an embodiment of this application;

[0161] Figures 5D to 5H A schematic diagram of a lidar system provided in an embodiment of this application;

[0162] Figure 6A schematic diagram of a lidar system provided in an embodiment of this application;

[0163] Figure 7 This is a schematic diagram of the structure of a lidar provided in an embodiment of this application;

[0164] Figure 8 A circuit topology diagram provided for an embodiment of this application;

[0165] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0166] Figures 10 to 12 A flowchart of the processing method provided in the embodiments of this application. Detailed Implementation

[0167] This application provides a lidar system, electronic device, and processing method for improving the measurement accuracy of lidar.

[0168] The following explanations of some terms used in this application are provided to facilitate understanding by those skilled in the art.

[0169] 1) LiDAR is an optical sensor that uses a laser beam to detect and measure the distance to objects in the surrounding environment. It calculates the distance between the lidar and the target object by emitting a laser beam and measuring the time of flight (ToF) from emission to reflection from the target object.

[0170] The basic principles of lidar involve the following stages:

[0171] Emission phase: Laser pulse signals (i.e., light signals) are emitted, and these pulse signals are shot toward the target object at extremely high speed.

[0172] Reflection stage: When a light signal hits a target object, some of the light is reflected.

[0173] Receiving phase: LiDAR can capture the light signals reflected back from the target object and convert them into electrical signals.

[0174] Calculation stage: Based on the principle of the constancy of the speed of light, the distance (d) between the lidar and the target object can be calculated by measuring the round-trip time of the light signal (i.e., ToF, which can be represented by t below), such as d = c * t / 2, where c is the speed of light.

[0175] Based on the above principle analysis, it can be seen that a lidar has at least a transmitting module and a receiving module. The processor or processing module that performs the distance calculation function can be located in the lidar, or it can be a processor or accessory in other devices deployed separately from the lidar; this application does not limit this.

[0176] Optionally, the measurement functions of a lidar may include ranging and / or angle measurement. Therefore, the measurement accuracy of a lidar may include ranging accuracy and / or angle measurement accuracy (i.e., angular resolution).

[0177] 2) Component: A part or component used to make up a machine, equipment or system, i.e., a part of a machine, equipment or system.

[0178] It should be noted that a component may also consist of one or more devices, and this application does not limit this.

[0179] Examples include amplification components and photoelectric conversion components. An amplification component may include one or more amplifiers, as well as other auxiliary devices such as capacitors and resistors. Similarly, a photoelectric conversion component may include a photoelectric converter, as well as amplifiers or other auxiliary devices.

[0180] 3) The amplification component enters saturation (or the amplification component is saturated), and the output signal of the amplification component (or the amplified signal) enters saturation.

[0181] When an amplifier reaches saturation, it means that the input signal increases to a certain level, causing the active components inside the amplifier (such as transistors and operational amplifiers) to exceed their linear operating range and no longer be able to amplify the input signal proportionally. Once in saturation, the amplifier loses its normal amplification capability. In this state, the output signal reaches its maximum value, and even if the input signal strength continues to increase, the output signal strength cannot increase further. Therefore, the output signal exhibits waveform distortion, such as clipping or waveform aberration, and the signal strength remains at a fixed level for a certain period.

[0182] When an amplified signal enters a saturation state, it means that the waveform of the amplified signal is distorted, such as clipping or waveform distortion, and the signal strength remains at a certain fixed level for a certain period of time.

[0183] Therefore, the amplification component entering saturation is the cause, while the amplified signal entering saturation is the direct result and external manifestation. These are different perspectives describing the same state; therefore, these two descriptions can be considered equivalent and interchangeable in some scenarios.

[0184] 4) An amplification component, used to amplify the input signal and output a signal with amplified intensity. Optionally, the amplification component may include one or more amplifiers, and may also include other devices. This application does not limit the type of amplifier in the amplification component, such as a trans-impedance amplifier (TIA), an operational amplifier (OP) (abbreviated as op-amp), etc.

[0185] Amplifier type is defined based on the type of its input and output signals.

[0186] 5) A photoelectric conversion component for converting optical signals into electrical signals. Optionally, the photoelectric conversion component may include a photoelectric converter (also known as a photodetector), and may also include other devices. This application does not limit the type of photoelectric converter in the photoelectric conversion component, such as avalanche photodiode (APD), silicon photodiode (SiPD), photodiode (PD), etc.

[0187] 6) Lasers, used to emit laser signals (also known as optical signals or laser beams). Examples include vertical cavity surface emitting lasers (VCSELs), edge-emitting lasers (EELs), and photonic crystal surface-emitting lasers (PCSELs).

[0188] 7) Electronic equipment, which is a device or apparatus with data connectivity, data calculation and processing functions. Electronic equipment may have a display screen capable of displaying a user interface.

[0189] For example, the electronic device in this application can be a smart large screen (such as a home smart TV, office large screen, projection screen, etc.), tablet computer, personal computer (PC), laptop computer, computer, netbook, in-vehicle computer, in-vehicle terminal, smartphone, smart wearable device (such as smartwatch, smart bracelet, smart glasses, smart helmet, etc.), personal digital assistant (PDA), smart home device (such as smart TV, smart mirror, smart speaker, etc.). This application does not limit the specific form of the electronic device.

[0190] Electronic devices can perform their functions and provide services to users through an operating system they run. For example, the electronic device may, but is not limited to, running an operating system... Or other operating systems.

[0191] It should be understood that in the embodiments of this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, a and b, a and c, b and c, or a, b, and c, where a, b, and c can be single or multiple.

[0192] In the embodiments of this application, descriptions such as "when," "under the circumstances," "if," and "if" all refer to the control device making corresponding actions under certain objective circumstances. They are not time limits, nor do they require the control device to make judgments during implementation, nor do they imply any other limitations.

[0193] It should be noted that in this application, "used for indicating" can include both direct and indirect indication. When describing information as being used to indicate A, it can include whether the information directly or indirectly indicates A, but does not necessarily mean that the information contains A. Taking first information used to indicate first content as an example, the first information can contain the first content, or a part of the first content, or an identifier, index, indicator, etc., of the first content, and can also contain algorithms, calculation parameters, etc., for determining the first content. This application does not limit the manner of "indication".

[0194] In this application, "containing / including A" may be equivalent to "containing / including information A". Information A is used to indicate A.

[0195] In addition, it should be understood that in the description of this application, the words "first" and "second" are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance or order.

[0196] As described in the background section, compared to conventional radar that uses radio waves, lidar has higher resolution and higher measurement accuracy (such as ranging and angle measurement), making it suitable for various high-precision environmental perception scenarios.

[0197] For example, with the technological advancements in large-screen devices such as TVs and smart screens, interactive needs have arisen for large-screen touch control and large-screen writing. Therefore, external LiDAR sensors can be used on large-screen devices to achieve measurement and sensing in large-screen interactions. Figure 1As shown in (a), the LiDAR can be configured and installed on any bezel of the large-screen device. The LiDAR can control the direction of the emitted light signal, allowing it to cover the display screen. The light signals emitted by the LiDAR at various angles form a scanning area, also known as the light plane or scanning plane, as shown by the dotted lines in the figure. The LiDAR can emit light signals within the scanning area. When a target object (such as a stylus or a user's finger) approaches the large screen, the light signal hits the target object and is reflected. The LiDAR can receive the reflected light signal and determine the time of flight based on the reflected and emitted light signals. Thus, the LiDAR or large-screen device can calculate the distance d between the target object and the LiDAR based on the time of flight, as shown in the figure. Further processing can then be performed based on this distance d, enabling interaction between the large-screen device and the user. The stylus can use the signals emitted and received by the LiDAR to perform touch and writing operations on the large-screen device.

[0198] However, in Figure 1 In the large-screen interactive scenario shown in (a), the LiDAR is required to have high measurement accuracy. When the measurement accuracy of the LiDAR is not high, repeated measurements of the same target will produce large jitter, inconsistent deviations in measurements at different distances, and other problems, which will reduce the responsiveness and interactive effect of the large-screen device, and ultimately reduce the user experience.

[0199] For example, such as Figure 1 As shown in (b), when a user writes on a large screen using a stylus, the drawing trajectory (solid line) displayed by the large screen device based on LiDAR measurement data will fluctuate relative to the actual trajectory of the stylus (dashed line).

[0200] For example, such as Figure 1 As shown in (c), when the user's stylus is close to the LiDAR, the drawing trajectory displayed by the large-screen device based on the LiDAR measurement data has a small deviation from the actual trajectory of the stylus and basically overlaps with it; however, when the user's stylus is far from the LiDAR, the drawing trajectory displayed by the large-screen device deviates significantly from the actual trajectory of the stylus, resulting in poor responsiveness.

[0201] Based on this, this application provides a design scheme for a lidar system. In this scheme, the transmitting module of the lidar system emits a first optical signal; the receiving module of the lidar system can acquire a second optical signal reflected by the target object from the first optical signal, and output a voltage signal based on the second optical signal, so that the voltage signal enters a saturation state after a first time period. After the voltage signal enters the saturation state, the measurement data of the lidar system is compensated based on the voltage signal. This method can improve the accuracy of the measurement data of the lidar system, thereby improving the measurement precision of the lidar.

[0202] The solutions provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0203] The design scheme of the lidar system provided in this application can be applied to, for example... Figure 1 The application scenario shown in (a) includes at least a lidar and an electronic device. The lidar can be configured and mounted on the frame or outer casing of the electronic device and can be fixed by a fixing mechanism. The lidar can measure the target object based on the emitted light signal and the received light signal reflected from the target object, obtain measurement data, and send the measurement data to the electronic device. This measurement data may include the distance between the target object and the lidar and / or the angle of the target object relative to a reference azimuth; or it may include data used to determine the distance and / or angle. Based on the measurement data, the electronic device can determine the distance between the target object and the lidar, and / or the angle of the target object relative to the reference azimuth, and then perform subsequent processing on the target object based on the determined distance and / or angle, such as determining the interactive position coordinates of the target object on the electronic device's display screen, thereby enabling interaction between the electronic device and the user.

[0204] Optionally, the electronic device can also have a display screen on which the processing results of the target object can be displayed. The lidar can scan the area where the display screen is located to detect objects on or near the display screen, enabling interaction on the screen.

[0205] It should be noted that this application does not limit the method by which the electronic device performs subsequent processing on the target object, nor does it limit the method of displaying the processing results. For example, the electronic device can display a drawn trajectory representing the motion trajectory of the target object, such as... Figure 1 As shown in (b) or (c) above. For example, an electronic device can determine the interaction position of a target object, determine the control operation to be performed on the target object based on that interaction position, execute the control operation, and display the execution result of the control operation on a display screen.

[0206] Optionally, embodiments of this application provide an electronic device that can implement the design scheme of the above-described lidar system. See below for reference.Figure 2 The structure of the electronic device provided in the embodiments of this application will be described.

[0207] like Figure 2 As shown, the electronic device 200 may include: a processor 210, an external memory interface 220, an internal memory 221, a USB interface 230, a power management module 241, a battery 242, an antenna 1, an antenna 2, a mobile communication module 250, a wireless communication module 260, an audio module 270, a speaker 270A, a receiver 270B, a microphone 270C, a sensor module 280, buttons 290, a camera 291, a display screen 292, and a SIM card interface 293, etc.

[0208] Processor 210 may include one or more processing units. For example, processor 210 may include a central processing unit (CPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors. The controller may serve as the central nervous system and command center of electronic device 200. The controller can generate operation control signals based on instruction opcodes and timing signals to control instruction fetching and execution.

[0209] The processor 210 may also include a memory for storing instructions and data. In some embodiments, the memory in the processor 210 is a cache memory. This memory can store instructions or data that the processor 210 has just used or that are used repeatedly. If the processor 210 needs to use the instruction or data again, it can retrieve it directly from this memory. By providing a memory, the number of times the processor 210 accesses data in the internal memory 221 can be reduced, thus reducing the processor 210's waiting time and improving system efficiency.

[0210] Display screen 292 is used to display images, videos, etc. Display screen 292 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), a Minied, MicroLED, Micro-OLED, quantum dot light-emitting diode (QLED), etc. In some embodiments, electronic device 200 may include one or N displays 292, where N is a positive integer greater than 1. Display screen 292 can be used to display information input by the user (such as information input by the user through operation of an object) or information provided to the user, as well as various graphical user interfaces (GUIs). For example, display screen 292 can display windows, photos, videos, web pages, or documents, etc. Furthermore, it is understood that in some embodiments, the status bar may also include Bluetooth icons, WiFi icons, external device icons, etc. In some embodiments, after receiving measurement data from the lidar, the processor 210 can determine the distance between the target and the lidar, and / or the angle of the target relative to a reference orientation, based on the measurement data. Then, based on the determined distance and / or angle, it can perform subsequent processing on the target and display the processing results on the display screen 292, thereby enabling interaction between the electronic device and the user. For example, the processor 210 can determine the interactive operation position or operation mode performed on the target based on the determined distance and / or angle, and execute the corresponding action (such as drawing a motion trajectory, performing control operations on controls, etc.), and display the execution result of the action (such as displaying the drawn trajectory, the execution result of the control operation, etc.) on the display screen 292.

[0211] Camera 291 is used to capture still images or videos, or to capture user actions or body shapes. Optionally, electronic device 200 may include 1 to N cameras 291.

[0212] Internal memory 221 can be used to store computer executable program code, which includes instructions. Processor 210 executes various functional applications and data processing of electronic device 200 by running the instructions stored in internal memory 221. Internal memory 221 may include a program storage area and a data storage area. The program storage area may store the operating system, program code for at least one application, etc. The operating system may include, but is not limited to, […]. The data storage area can store data created during the use of the electronic device 200, etc.

[0213] The internal memory 221 may also store one or more computer programs for performing the processing methods provided in the embodiments of this application. These one or more computer programs, stored in the internal memory 221 and configured to be executed by one or more processors 210, include instructions that can be used to perform the steps in the following embodiments.

[0214] In addition, the internal memory 221 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, universal flash storage (UFS), etc.

[0215] The sensor module 280 may include, but is not limited to, pressure sensors, magnetic sensors, temperature sensors, ambient light sensors, and air pressure sensors.

[0216] A pressure sensor may be disposed on the display screen 292. The pressure sensor detects pressure signals from user actions applied to it and transmits these signals to a processor, enabling the processor to determine a touch operation and provide visual output related to the user action via the display screen 292. In other embodiments, the pressure sensor may also be disposed on the surface of the electronic device 200, in a different location than the display screen 292.

[0217] The wireless communication function of electronic device 100 can be implemented through antenna 1, antenna 2, mobile communication module 150, wireless communication module 160, modem processor, and baseband processor. Antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals. Mobile communication module 150 can provide wireless communication solutions for electronic device 100, including 2G / 3G / 4G / 5G. Wireless communication module 160 can provide wireless communication solutions for electronic device 100, including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), Nearlink, near field communication (NFC), and infrared (IR) technologies. Optionally, electronic device 100 can connect to other electronic devices or peripherals through wireless communication module 160; for example, electronic device 100 can connect to peripherals such as LiDAR and cameras through wireless communication module 160. Optionally, peripherals such as cameras and LiDAR can also be electrically connected to the electronic device 100. Optionally, peripherals such as cameras, LiDAR, and microphones can be integrated into a housing device, such as a SmartBar.

[0218] USB interface 230 is used to enable wired communication functions for electronic devices, supporting high-speed data transfer, device charging, and peripheral connection. For example, USB interface 230 can connect devices such as USB flash drives, keyboards, mice, and LiDAR scanners.

[0219] It should be understood that Figure 2 The electronic device 200 shown is merely an example and does not constitute a limitation on the electronic device. In practical applications, the electronic device 200 may have more or fewer components than those shown in the figure, may combine two or more components, or may have different component configurations. The various components shown in the figure may be implemented in hardware, software, or a combination of hardware and software, including one or more signal processing and / or application-specific integrated circuits.

[0220] To improve the measurement accuracy of lidar, this application provides a lidar system. The structure of the lidar system provided in this application embodiment will be described below with reference to the accompanying drawings. It should be noted that in the solution of this application embodiment, the multiple components included in the lidar system can be deployed in one or more devices. When the components of the lidar system are deployed in one device (i.e., the lidar), the lidar system can be a single-device system composed of corresponding components within a single device.

[0221] See Figure 3A As shown, a lidar system may include a transmitting module and a receiving module.

[0222] The transmitting module is used to transmit the first optical signal.

[0223] The receiving module is used to acquire a second optical signal, which is the optical signal reflected by the target object from the first optical signal. Based on the second optical signal, it outputs a voltage signal, causing the voltage signal to saturate after a first time period. This voltage signal is then used to compensate for the measurement data of the lidar system after saturation. Understandably, there is an energy accumulation phase at the initial excitation of the device, followed by saturation after the first time period. However, this first time period can be very short in practical applications, such as between 400 picoseconds (ps) and 2 nanoseconds (ns). The length of this first time period can vary depending on the reflectivity of the target object.

[0224] Typically, the aforementioned transmitting and receiving modules are located within the lidar.

[0225] For ease of distinction, in the following description of the embodiments, the voltage signal output by the receiving module based on the second optical signal can be referred to as the first voltage signal.

[0226] Optionally, the measurement data of the lidar system may include, but is not limited to, at least one of the following:

[0227] The distance between the target and the lidar, the angle of the target relative to the reference azimuth, distance-related measurement data used to determine the distance between the target and the lidar, and angle-related measurement data used to determine the angle of the target relative to the reference azimuth.

[0228] For example, the reference orientation can be determined with reference to the transmission direction of a specific optical signal emitted by the transmitting module. For instance, the reference orientation can be parallel to the edge of the scanning area of ​​the lidar, or parallel to the line of symmetry of the scanning area, or directly in front of the lidar.

[0229] As explained in point 3) above, waveform distortion will occur after the first voltage signal enters saturation.Figure 3B As shown in (b) and (c), compared to the voltage signal that has not entered saturation (the dashed line in the figure), the voltage signal that has entered saturation (the solid black line in the figure) exhibits clipping, waveform distortion, and a signal strength that remains at a fixed level for a certain period of time. It should be noted that... Figure 3B The waveform diagram is a schematic diagram. In practical applications, the duration of a voltage signal that has entered saturation and remains at a fixed level is significantly longer than the duration of the signal strength increase process and also significantly longer than the duration of the signal strength decrease process.

[0230] like Figure 3B As shown in (b) and (c) above, relative to the input signal of the receiving module (such as... Figure 3B As shown in (a) in the figure, or the voltage signal output based on the input signal that has not entered a saturated state (the dashed part in the figure), the pulse of the voltage signal that has entered a saturated state will broaden. Furthermore, the greater the input signal strength, the deeper the saturation of the output voltage signal, and the greater the pulse broadening of the voltage signal entering a saturated state. Since the second optical signal is the optical signal emitted by the target object from the first optical signal, the pulse width of the second optical signal is basically the same as that of the first optical signal. The second optical signal is the input signal of the receiving module. Based on this, in one embodiment, the pulse width of the first voltage signal output by the receiving module will be significantly wider than the pulse width of the second optical signal (or the first optical signal). Optionally, the first pulse width of the first voltage signal output by the receiving module is 1.2 times or more the pulse width of the first optical signal (or the second optical signal).

[0231] Because the greater the signal strength of the input signal (i.e., the second optical signal) of the receiving module, the deeper the saturation of the output signal (i.e., the first voltage signal), and the greater the pulse broadening of the output signal. Furthermore, given a fixed signal strength of the optical signal emitted by the transmitting module, the signal strength of the input signal of the receiving module is related to the reflectivity of the target object. Therefore, in one embodiment, the width of the first pulse width of the first voltage signal output by the receiving module is positively correlated with the reflectivity of the target object.

[0232] Optionally, the reflectivity of a target object may be related to factors such as its object type, material, feature components, and surface smoothness. In some scenarios, the reflectivity of a target object can be reflected by its emissivity. In other scenarios, components or coatings with obvious reflective characteristics can be added to the target object to achieve the scene's purpose.

[0233] In one implementation, the lidar system can be as follows: Figure 3CAs shown, the receiving module includes an amplification component; this amplification component amplifies the input signal and outputs the voltage signal. Due to the characteristics of the amplification component, it requires a supply voltage to operate normally. Optionally, the first voltage signal entering saturation is equal to or close to the supply voltage of the amplification component.

[0234] Wherein, the first voltage signal entering the saturation state is close to the power supply voltage of the component of the method, which may include, but is not limited to: the difference between the voltage value of the first voltage signal entering the saturation state and the voltage value of the power supply voltage is less than a first difference threshold; or, the difference between the voltage value ratio and 1 is less than a second difference threshold, wherein the voltage value ratio is the ratio between the voltage value of the first voltage signal entering the saturation state and the voltage value of the power supply voltage.

[0235] Optionally, in one design, the lidar system can be as follows: Figure 3D As shown, the receiving module may further include a photoelectric conversion component; this photoelectric conversion component is used to convert the second optical signal into a current signal. Based on this, the input signal to the amplification component is the current signal output by the photoelectric conversion component; the amplification component is used to convert this current signal into a first voltage signal.

[0236] Optionally, the photoelectric conversion component may include a photoelectric converter, or it may include other devices; this application embodiment does not limit this. For example, the photoelectric conversion component includes any of the following photoelectric converters: APD, SiPD, PD, etc.

[0237] Optionally, in another design, the amplification component has photoelectric conversion and amplification functions. Based on this, the input signal to the amplification component is a second optical signal; the amplification component is used to convert the second optical signal into a current signal, and then convert the current signal into a first voltage signal. Optionally, such as... Figure 3E The lidar system shown may include a photoelectric converter and at least one amplifier in the amplification component; the photoelectric converter is used to convert a second optical signal into a current signal, and the at least one amplifier is used to convert the current signal into a first voltage signal.

[0238] Optionally, in both of the above designs, the amplification component may include a transimpedance amplifier (TIA) used to convert a current signal into a voltage signal. For example, based on... Figure 3D The lidar system shown, with the amplification component including a transimpedance amplifier, has the following structure: Figure 3F As shown in (a) in the figure; based on Figure 3E The lidar system shown, with the amplification component including a transimpedance amplifier, has the following structure: Figure 3FAs shown in (b) above. Optionally, the transimpedance amplifier can have a high gain-bandwidth product, thereby amplifying the current signal into a voltage signal thousands or tens of thousands of times.

[0239] Optionally, in addition to the transimpedance amplifier, the amplification assembly may also include at least one other amplifier. This at least one other amplifier may be located before or after the transimpedance amplifier; alternatively, some of the other amplifiers may be located before the transimpedance amplifier, and some may be located after it. This embodiment does not limit the positional relationship between the transimpedance amplifier and the at least one other amplifier in the amplification assembly. Based on Figure 3F The lidar systems shown in (a) and (b) further include at least one operational amplifier in the amplification assembly, with the at least one operational amplifier located after the transimpedance amplifier. The structure of the lidar system is as follows: Figure 3G As shown in (a) and (b) in the figure.

[0240] The steeper the rising edge (signal strength increase) and falling edge (signal strength decrease) of the first voltage signal entering saturation, the smaller the pulse width error of the pulse of the first voltage signal acquired by the lidar system during measurement, thus making the measurement data of the lidar system more accurate. Therefore, the accuracy of compensating for the measurement data of the lidar system based on the first voltage signal can be higher. Based on this, in one design, the amplification component is also used to generate a ringing signal or an enhanced ringing signal in the first voltage signal; the position of this ringing signal or enhanced ringing signal is different from the position of the pulse of the first voltage signal.

[0241] Optionally, the position of the ringing signal or enhanced ringing signal is adjacent to the pulse position of the first voltage signal and follows the pulse of the first voltage signal. For example, the waveform diagram of the first voltage signal can be as follows: Figure 3H As shown in (a) or (b), the ringing signal or enhanced ringing signal is adjacent to and follows the pulse of the first voltage signal. Clearly, through... Figure 3H As can be seen from the waveforms in (a) or (b), the falling edge of the pulse adjacent to the ringing signal or the enhanced ringing signal is steeper than the rising edge of the pulse.

[0242] Typically, to prevent the generation of poles in a circuit, which could lead to overshoot and ringing signals, thus affecting device lifespan or the signal strength of the circuit, a pole compensation circuit is incorporated into the circuit. Therefore, in this embodiment, to prevent the first voltage signal output by the amplification component from generating a ringing signal or an enhanced ringing signal, a pole compensation circuit may not be included in the amplification component. Optionally, the lidar system can configure the topology or parameter values ​​of the circuit in the amplification component to prevent self-oscillation, thereby avoiding pulse distortion of the first voltage signal and impacting device lifespan.

[0243] Optionally, the amplification assembly includes at least one DC blocking capacitor; this at least one DC blocking capacitor is used to shift the first voltage signal, including the ringing signal, to a positive voltage region to protect the devices in the amplification assembly. Optionally, the DC blocking capacitor may be located after the devices in the amplification assembly used to generate or enhance the ringing signal in the first voltage signal.

[0244] In one design, an amplification component is used to amplify the input signal through multiple stages of amplification and output the first voltage signal.

[0245] Optionally, the multi-stage amplification can be implemented by a multi-stage amplifier circuit; wherein the multi-stage amplifier circuit includes a first-stage amplifier circuit and at least one subsequent amplifier circuit; any subsequent amplifier circuit is located after the first-stage amplifier circuit.

[0246] This first-stage amplifier circuit is used to amplify the input signal of the amplification component to obtain an intermediate voltage signal;

[0247] The at least one post-amplifier circuit is used to amplify the intermediate voltage signal to obtain the final output first voltage signal.

[0248] Optionally, the first-stage amplifier circuit is a current-to-voltage amplifier circuit; the at least one subsequent amplifier circuit is a voltage-to-voltage amplifier circuit.

[0249] Optionally, the structure of the multi-stage amplifier circuit in the amplification component can be referenced. Figure 3G The structures of the TIA and at least one operational amplifier in the amplification components shown in (a) and (b) are illustrated. Exemplarily, each stage of the amplification circuit can be represented as an amplifier. For example, a single-stage amplification circuit could be... Figure 3G In (a) and (b) of the diagram, at least one of the subsequent amplifier circuits can be... Figure 3G At least one of (a) and (b) in the above.

[0250] For example, Figure 4A This is a schematic diagram of the circuit topology of a multi-stage amplifier circuit in an amplification component. For example... Figure 4A As shown, the amplification component may include a first-stage amplifier circuit and a second-stage amplifier circuit. The second-stage amplifier circuit is also referred to as the subsequent amplifier circuit.

[0251] The basic components in a first-stage amplifier circuit are a transimpedance amplifier (TIA) and a capacitor (C). in ), resistance (R) in The resistor (Rf) is a parasitic component of the TIA, meaning it is a component not intended for use in the circuit. The resistor connects the first input and output of the TIA. f Rf is the current, V1 is the input voltage at the first input terminal of TIA, and I...in To input the current at the first input terminal of TIA, I in This refers to the current output by the photoelectric conversion component, which converts optical signals. (V) ref1 This is the supply voltage for the TIA, used to power the TIA through its second input terminal. ref This is the supply current to the second input terminal of the TIA. V o1 This is the voltage at the output terminal of TIA. This first-stage amplifier circuit can convert the input current signal I... in Converted to voltage signal V o1 Optionally, the TIA can have a high-gain-bandwidth product, capable of converting current signal I... in Amplified to thousands or tens of thousands of times the voltage signal V o1 .

[0252] The basic component in a two-stage amplifier circuit is an operational amplifier (OP); resistor (R1) connects the output of the first-stage amplifier circuit to the first input of the OP; resistor (R2) connects the first input and output of the OP. ref2 This is the supply voltage for the op-operated (OP), used to power the OP through its second input terminal. V o2 This is the output voltage of the OP. This two-stage amplifier circuit can convert the input voltage signal V... o1 Further amplified into a voltage signal V o2 .

[0253] Optionally, at least one additional subsequent amplifier circuit can exist after the second-stage amplifier circuit to further amplify the voltage signal. When no other subsequent amplifier circuit exists after the second-stage amplifier circuit, V o2 This is the voltage signal ultimately output by the amplification component.

[0254] Optionally, the supply voltage values ​​of each stage of the amplifier circuit in the amplification component should be the same, and the supply voltage of each stage of the amplifier circuit can be collectively referred to as the supply voltage of the amplification component. Furthermore, since the voltage signal input to the subsequent amplifier circuit has entered a saturation state, the voltage signal output by the subsequent amplifier circuit also enters a saturation state. The subsequent amplifier circuit can adjust the rising and falling edges of the input voltage signal pulse to make the rising and falling edges of the output voltage signal pulse steeper, without adjusting the pulse width and maximum signal strength of the voltage signal pulse. For example, such as... Figure 4B As shown, assume the input current signal I of the first-stage amplifier circuit is... in The waveform is as follows Figure 4B As shown in (a), the voltage signal V output by the first-stage amplifier circuit o1 The waveform is Figure 4B As shown in (b), the voltage signal V output by the second-stage amplifier circuit o2 The waveform is Figure 4BAs shown in (c) above. Clearly, relative to... Figure 4B The signal waveform in (b) is shown in the figure. Figure 4B In signal waveform (c), the rising and falling edges of the pulse are steeper.

[0255] exist Figure 4A In the circuit shown, when I in When the signal strength is sufficiently large, TIA enters saturation, and correspondingly, the output voltage signal V... o1 It has also entered a saturated state.

[0256] exist Figure 4A In the circuit shown, C in Rf can generate poles of TIA, which can act inversely on the circuit to reduce the phase margin. This allows for a sufficiently large bandwidth within the dynamic range (TIA saturation region), enabling overshoot and minor ringing without causing self-oscillation, i.e., within V... o1 A ringing signal is generated, such as Figure 3H As shown in (a) above. Based on this, V o2 This can generate an enhanced ringing signal, such as... Figure 3H As shown in (b) above. In this state, the falling edge of the voltage signal pulse output by the amplification component is steeper. It should also be noted that, in order for the circuit to generate the poles of TIA, no circuit pole compensation circuit is provided in the first-stage amplifier circuit. For example, a conventional circuit pole compensation circuit can be a capacitor connected in parallel with RF between the first input and output terminals of TIA.

[0257] In addition, Figure 4A In the circuit shown, a capacitor (C) can be included between the first-stage amplifier circuit and the second-stage amplifier circuit. This capacitor is a DC-blocking capacitor. Utilizing the characteristic of a DC-blocking capacitor to convert a DC-coupled signal into an AC-coupled signal, capacitor C can block the V signal, including the ringing signal. o1 It is shifted to the positive pressure region to protect the components in the amplification assembly.

[0258] Figure 4A The circuit shown can utilize the ringing signal generated by reducing the phase margin of the circuit, and through AC coupling and voltage amplification, enable the amplification component to output a voltage signal with a steep falling edge. This is beneficial for observing the pulse width of the voltage signal, improving the accuracy of pulse width determination, and reducing data jitter. This not only improves the accuracy of measurement data, but also improves the accuracy of compensating for the measurement data of the lidar system based on the voltage signal, ultimately improving the measurement accuracy of the lidar system.

[0259] Further explanation is needed. Figure 4AThe circuit shown is for illustrative purposes only and does not constitute any limitation on the circuitry of the amplification component. In practical applications, the amplification component may have more or fewer components than shown in the figure, and may combine multiple components or have different circuit topologies.

[0260] In one implementation, the lidar system can be as follows: Figure 5A As shown, the lidar system also includes: a sampling component and a first processor.

[0261] The sampling component is used to sample the pulses of the first voltage signal output by the receiving module and output a digital sampling signal; wherein, the digital sampling signal includes the start sampling point and the end sampling point of the pulse of the first voltage signal.

[0262] The first processor is used to determine the distance between the target and the lidar based on the time between the pulse start point of the first voltage signal and the start sampling point in the digital sampling signal; wherein the lidar may include a transmitting module, a receiving module and a sampling component.

[0263] Optionally, the receiving module and the sampling component can be coupled into a single receiving and sampling module, or the sampling component can be coupled into the receiving module. Optionally, the first processor can be located within the lidar or in an electronic device connected to the lidar.

[0264] In one design, the sampling component may include a sampling circuit for sampling the start and end points of a pulse, wherein the positions of the start and end sampling points of the pulse, which includes a first voltage signal, are located in the digital sampled signal.

[0265] In another design, the sampling component may include a comparator for comparing a first voltage signal with a set voltage threshold and outputting a digital sampled signal. In this digital sampled signal, the period between the start and end sampling points of the first voltage signal pulse is high, while other points are low. Optionally, the set voltage threshold is the same as the supply voltage of the comparator. Based on this, the high level of the digital sampled signal is the pulse sampled signal of the first voltage signal pulse.

[0266] In addition, a lidar system can use a comparator to output a digital sampling signal for ranging, thus reducing the production cost of the lidar system.

[0267] See Figure 5BAs shown, based on the basic working principle of lidar (i.e., direct time-of-flight (dToF) principle), the duration (t) between the start time of the pulse of the first voltage signal and the start time (T0) of the first optical signal emitted by the transmitting module is the duration that the lidar system needs to sense, i.e., the actual optical flight time. However, due to limitations in circuit implementation, it is currently impossible to directly obtain the start time of the pulse in the first voltage signal. After the first voltage signal passes through a comparator, a digital sampling signal can be output. For example... Figure 5B As shown, when the signal strength in the first voltage signal is lower than a set voltage threshold, the comparator outputs a low level; when the signal strength in the first voltage signal is greater than or equal to the set voltage threshold, the comparator outputs a high level. Based on the current circuit implementation, the lidar system can acquire the start position (T1) and end position (T2) of the high level of the digital sampling signal, for example, by determining T1 and T2 through a time-to-digital converter (TDC). Here, T1 is the starting sampling point of the pulse of the first voltage signal, and T2 is the ending sampling point of the pulse of the first voltage signal. Based on this, the lidar system can acquire two time pieces of information: the duration (t1) between the start time (T0) of the first optical signal and the starting sampling point (T1) of the pulse of the first voltage signal, and the duration (t2) between the start time (T0) of the first optical signal and the ending sampling point (T2) of the pulse of the first voltage signal. t1 is the time of flight of light measured by the lidar. However, through... Figure 5B As can be seen from the signal diagram, there is an error of dt1 between the actual time of flight of light (t) and the measured time of flight of light (t1). This error will lead to a large error in the distance between the target and the lidar calculated based on t1.

[0268] To improve the measurement accuracy of a lidar system, the lidar system can calculate dt1 to compensate for the measured time of flight of light (t1), so that the compensated time of flight of light (t1-dt1) is close to or equal to the actual time of flight of light (t). As a result, the distance error between the target object and the lidar calculated based on the compensated time of flight of light (t1-dt1) is small, such as reaching the millimeter level.

[0269] As can be seen from the above description, since t1 and t2 can be determined, or T1 and T2 in the digital sampling signal can be determined, the lidar system can determine the pulse width measurement value (dt2) of the pulse of the first voltage signal, that is, dt2 = t1 - t1, or dt2 = T2 - T1.

[0270] Based on this, dt2 can be used to determine dt1 in the embodiments of this application. Based on the lidar system provided in the embodiments of this application, it is known that the stronger the light energy of the second optical signal received by the receiving module, the steeper the rising edge and the shorter the rise time of the first voltage signal entering saturation output by the receiving module, and therefore the smaller the dt1 that needs to be compensated; and the wider the pulse width of the first voltage signal entering saturation. In summary, the wider the pulse width of the first voltage signal (or the pulse width (dt2) of the pulse sampling signal in the digital sampling signal), the smaller the dt1 that needs to be compensated. Based on this, there is a negative correlation between the pulse width of the first voltage signal and the compensation value. This application does not limit the correspondence between the pulse width and the compensation value; it can be a linear relationship or a non-linear relationship. For example, the correspondence between the pulse width and the compensation value can be as follows: Figure 5C The compensation curve 1 or compensation curve 2 is shown in the figure.

[0271] Based on the above description, in one design, the first processor can analyze the digital sampling signal to determine the pulse width measurement value (dt2) of the pulse of the first voltage signal. Then, based on the pulse width measurement value (dt2) and the correspondence between the pulse width and the compensation value, it determines the target compensation value (i.e., dt1) corresponding to the pulse width measurement value (dt2), that is, it determines the duration between the pulse start point of the first voltage signal and the starting sampling point in the digital sampling signal. After that, the first processor can compensate the time of flight (t1) of the light measured by the lidar system based on the duration between the pulse start point of the first voltage signal and the starting sampling point in the digital sampling signal, and obtain the compensated time of flight (t1-dt1). Finally, the first processor can use the compensated time of flight to calculate the distance between the target object and the lidar. The specific process can be referred to the principle of dToF.

[0272] In another design, such as Figure 5D As shown, the lidar system may also include a time-to-digital converter (TDD) component. This DTD component outputs, based on the input digital sampling signal, the measured time of flight of the light (i.e., t1 mentioned above) and the pulse width measurement of the first voltage signal (i.e., dt2 mentioned above). Thus, the first processor can determine the target compensation value (i.e., dt1 mentioned above) corresponding to the pulse width measurement based on the pulse width measurement of the first voltage signal and the correspondence between the pulse width and the compensation value. This target compensation value is the duration between the pulse start point of the first voltage signal and the starting sampling point in the digital sampling signal. Subsequent steps can be referred to the previous design and will not be repeated here.

[0273] Optionally, the time-to-digital conversion component may include a TDC, or other devices, which are not limited in this application.

[0274] The above compensation scheme can significantly reduce the error in the distance between the target object and the lidar calculated by the first processor, such as reaching the millimeter level, thereby improving the ranging accuracy of the lidar system.

[0275] Furthermore, as described in the above compensation scheme, the steeper the rising and falling edges of the pulse of the first voltage signal output by the receiving module, the higher the accuracy of the starting and ending sampling points of the pulse of the first voltage signal in the data sampling signal output by the sampling component. This, in turn, makes the various measurement data (such as T1, T2, t1, t2, dt2, etc.) of the lidar system more accurate. Additionally, the steeper the rising and falling edges of the pulse of the first voltage signal output by the receiving module, the wider the pulse width, and the shorter the compensation time required. This also makes it easier to relatively improve the accuracy of the final calculated distance between the target and the lidar.

[0276] Based on this, the lidar system can utilize a high-gain, high-saturation receiving module to output voltage signals with steep rising and falling edges, thereby reducing ranging jitter and minimizing measurement errors caused by changes in the target's position and type. This ensures consistent measurement accuracy across interactive scenarios involving targets at varying distances and of different materials. Furthermore, this lidar system can expand its measurement range, enabling high-precision measurement of targets in larger spaces, such as close-range and long-range (within a space of more than 2 meters from the lidar) interactive scenarios.

[0277] In one implementation, the lidar system can be as follows: Figure 5A As shown, the lidar system also includes: a sampling component and a first processor.

[0278] This sampling component is used to sample the pulses of the first voltage signal and output a digital sampled signal;

[0279] The first processor is used to determine the type of the target object based on the characteristics of the digitally sampled signal.

[0280] Optionally, the digital sampling signal may include a pulse sampling signal of a pulse of the first voltage signal, and / or the start sampling point and the end sampling point of the pulse of the first voltage signal.

[0281] Regarding the relationship between the sampling component and the receiving module, the composition of the sampling component can be referred to the description in the aforementioned embodiments, and will not be repeated here.

[0282] For example, the output sampling signal can be referenced Figure 5B The digital sampled signal output by the comparator is shown in the figure.

[0283] In one design, the first processor can determine the characteristics of the digital sampled signal based on the digital sampled signal, and thus determine the type of the target object. Optionally, the first processor can determine the pulse width measurement value (also called the first pulse width) of the pulse of the first voltage signal based on the pulse width of the pulse sampled signal in the digital sampled signal; or, the first processor can determine the pulse width measurement value of the pulse of the first voltage signal based on the start and end sampling points of the pulse of the first voltage signal in the digital sampled signal. Then, the first processor can determine the type of the target object based on the pulse width measurement value of the first voltage signal.

[0284] In another design, such as Figure 5D As shown, the lidar system may also include a time-to-digital converter (TDD) component. This DTD component is used to output a pulse width measurement of the pulse of a first voltage signal based on the input digital sampling signal. Thus, the first processor can determine the type of the target object based on the pulse width measurement of the first voltage signal (i.e., the first pulse width).

[0285] As described above, the pulse width of the first voltage signal is related to the reflectivity of the target object, and the reflectivity of the target object is related to its type, material, and / or special structural components or coatings. Therefore, the pulse width of the first voltage signal is related to the type of the target object. Thus, the first processor can determine the type of the target object based on the first pulse width of the first voltage signal.

[0286] Optionally, when the first pulse width is greater than or equal to the first pulse width threshold, the first processor can determine that the target object is an object with high reflectivity, such as a stylus or remote control. The material of the object with high reflectivity is generally a high-reflectivity material, such as a microprism, glass, metal, or other retroreflective materials, but it can also be other high-reflectivity materials.

[0287] When the first pulse width is less than the first pulse width threshold and greater than or equal to the second pulse width threshold, the first processor can determine that the target object is an object without high reflectivity, such as a user's body or clothing. The second pulse width threshold is less than the first pulse width threshold.

[0288] When the first pulse width is less than the second pulse width threshold, the first processor can determine that the target object is environmental noise.

[0289] Optionally, when the first processor is located within the lidar, after determining the type of the target object, the first processor transmits the type of the target object to the electronic device connected to the lidar, so that the electronic device executes the business logic corresponding to that type for the target object. Optionally, when the first processor is located within the electronic device connected to the lidar, the first processor can execute the business logic corresponding to that type for the target object.

[0290] For example, when the target object is of the first type (such as an object with high reflectivity), the first processor or electronic device can activate the stylus function and then perform stylus drawing or control operations based on the distance between the target object and the lidar.

[0291] For example, when the target object is of the second type (an object without high reflectivity), the first processor or electronic device can activate the eraser function or the motion sensing function, and then execute the eraser function or the motion sensing function according to the distance between the target object and the lidar.

[0292] In one implementation, such as Figure 5E As shown in (a) or (b), the lidar system further includes: a scanning module; the scanning module is used to adjust the transmission path of the first optical signal emitted by the transmitting module.

[0293] This application does not limit the scanning form of the scanning module. For example, the scanning module can be a rotating mirror, solid-state radar, micro-electro-mechanical system (MEMS) galvanometer, phased array radar, and other scanning forms.

[0294] In one design, the scanning module is a rotating mirror type. The scanning module may include a motor and a rotating mirror. The rotating mirror is used to adjust the transmission path of the first optical signal; the motor is used to rotate the rotating mirror.

[0295] Additionally, the scanning module may include an angle detection component, and the lidar system also includes a second processor. The angle detection component detects the rotation angle of the rotating mirror. The second processor is used to trigger the lidar system to perform ranging when the rotation angle of the rotating mirror reaches an angle threshold, such as triggering the transmitting module to emit a light signal.

[0296] Optionally, the second processor may be located within the lidar or in an electronic device connected to the lidar; this application does not limit this. For example, the motor may be a three-phase brushless motor or other types of motors; this application does not limit this.

[0297] It should be noted that the term "second processor" is used primarily for ease of describing the functions it can implement. However, in a specific product structure, the second processor may be the same processor as the processor mentioned in this application for implementing other functions, or it may be a different processor. No restrictions are placed here.

[0298] In this way, by controlling the rotation speed of the rotating mirror, the measurement frequency and angle measurement accuracy of the lidar system can be controlled. For example, by increasing the rotation angle of the rotating mirror, the lidar system can achieve an emission frequency of 30Hz to 60Hz for the optical signal. Even if the measurement frequency of the lidar system reaches 30Hz to 60Hz, the angle measurement accuracy of the lidar system can still be improved, reaching 10... -1 Or 10 -2 Grade 1 angular measurement accuracy.

[0299] In addition, with this design, the transmitting module does not need to continuously emit light signals, but emits a light signal once when the rotation angle of the rotating mirror reaches a set angle threshold. This reduces the stimulation of the human eye by the light signal and ensures the safety of the human eye.

[0300] In a design, such as Figure 5E As shown in (b), the scanning module is also used to collect the second light signal reflected by the target object and transmit the second light signal to the receiving module.

[0301] In one implementation, such as Figure 5F As shown, the transmitting module in a lidar system may include a laser and a lens. The laser is used to emit a first optical signal; the lens is used to collimate the beam of the first optical signal to reduce its divergence angle. Optionally, the lens may also be called a collimating lens.

[0302] For example, the laser may be, but is not limited to, any of the following: VCSEL, EEL, PCSEL. The lens may be, but is not limited to, a chip-on-board (COB) lens or a chip-on-carrier (COC) lens.

[0303] Optionally, the transmitting module may include one or more lasers. Any laser may be a single-aperture laser or a multi-aperture laser; this application does not limit this to either.

[0304] When a lidar system's transmitting module contains a single laser, and that laser is a single-aperture laser, the lidar system can be called a single-line lidar. When a lidar system's transmitting module contains multiple lasers, or includes multi-aperture lasers, the lidar system can be called a multi-line lidar.

[0305] When the transmitting module includes multiple lasers, or includes a multi-aperture laser, the transmitting module has the ability to transmit multiple optical signals simultaneously. Based on this, a lidar system can have multiple receiving modules, or receiving modules with multiple signal processing circuits, to process in parallel the optical signals reflected back by at least one object.

[0306] Optionally, the lens can collimate the light signal to a small divergence angle (e.g., around 0.1°), thereby achieving a small spot size (e.g., φ) within the dynamic range.

[0307] (Within 10mm). Under the premise of small spot size, the multi-quantum-well design in the laser can increase the light energy of the emitted light signal, so as to ensure that the voltage signal obtained by the receiving module based on the light signal reflected from the object can enter the saturation state.

[0308] In one embodiment, the lidar system can emit optical signals at different times to perform multiple measurements. Based on this, the second optical signal is the optical signal reflected by the first target object from the first optical signal during a first time period. The transmitting module is also used to emit a third optical signal. The receiving module is also used to acquire a fourth optical signal; the fourth optical signal is the optical signal reflected by the third optical signal from the second target object during a second time period; a second voltage signal is output based on the fourth optical signal; wherein the first pulse width of the pulse of the first voltage signal is greater than the second pulse width of the pulse based on the second voltage signal; the reflectivity of the first target object is greater than the reflectivity of the second target object, or the reflectivity of the first target object is greater than the reflectivity of the second target object. Optionally, the process by which the lidar system obtains the second voltage signal can refer to the process for obtaining the first voltage signal described above, and will not be repeated here.

[0309] In a design, such as Figure 5G As shown, the lidar system also includes a third processor. It should be noted that the term "third processor" is used primarily for ease of description regarding its functionalities; however, in a specific product structure, this third processor may be the same processor as the processor mentioned in this application used to implement other functions, or it may be a different processor; no restrictions are placed here.

[0310] The third processor is configured to determine, based on a first pulse width, to process a first target object of a first type using a first business logic; and / or, based on a second pulse width, to determine to process a second target object of a second type using a second business logic. The first business logic and the second business logic are different.

[0311] Optionally, the third processor is also configured to determine, based on a third pulse width, not to process the ambient noise object; the third pulse width being the pulse width of the third voltage signal output according to the fifth optical signal reflected by the ambient noise object.

[0312] The process by which the third processor acquires the first pulse width, the second pulse width, and the third pulse width can be referred to in the above embodiments regarding the process of acquiring the pulse width measurement value of the first voltage signal pulse, and will not be repeated here.

[0313] Optionally, depending on the business or application scenario currently being executed by the third processor, the business logic adopted by the third processor for different types of targets may also differ. The following example illustrates that the first type of business logic may include, but is not limited to, any of the following:

[0314] Method 1: Acquire the pressure-sensitive signal of the first target object, and determine the interaction position of the first target object based on the pressure-sensitive signal and the measurement data of the LiDAR system. For example, in a scenario using a stylus, the third processor can determine which LiDAR measurement data to use based on the pressure-sensitive signal of the stylus, in order to improve output accuracy, provide users with better responsiveness, and enhance the user experience.

[0315] Method 2: Determine the interaction position of the first target directly based on the measurement data of the lidar system.

[0316] Optionally, unlike Method 1, in Method 2, the third processor can determine the interaction position of the first target object without requiring its pressure-sensitive signal, even if the pressure-sensitive signal of the first target object is collected, or in other possible scenarios where the first target object cannot provide a pressure-sensitive signal, such as a user's finger. Alternatively, in this scenario, the third processor can directly determine the interaction position of the target object based on the measurement data from the compensated LiDAR system.

[0317] Method 3: Respond to the interaction of the first target object in a manner that matches the first type.

[0318] For example, the method of matching the first type may include activating the function matching the first type, setting the brush settings matching the first type (such as brush size, brush color, brush type, etc.), and performing the interactive operation matching the first type (such as drawing operation, control operation, etc.).

[0319] Method 4: Without compensating the measurement data of the lidar system, the interaction position of the first target object is determined directly using the original acquired measurement data (i.e., uncompensated measurement data).

[0320] The implementation method of the second business logic can be referenced in the description of the first business logic above, and will not be limited here. It should be noted that the two business logics are different, allowing users to determine the effectiveness of the LiDAR system in sensing different objects through the execution results of the business logic.

[0321] In a design, such as Figure 5H As shown in (a) or (b), the lidar system also includes electronic equipment; the third processor is located within the electronic equipment or lidar. The lidar includes at least a transmitting module and a receiving module.

[0322] Optionally, the electronic device may also include a display screen. Based on this, the third processor is further configured to display on the display screen the result of processing a first target object of the first type using the first business logic; and / or, to display on the display screen the result of processing a second target object of the second type using the second business logic.

[0323] In this way, the lidar system can achieve visual interaction with the user.

[0324] In one embodiment, as shown in the structure of the lidar system in the figures above, the lidar system further includes the target object. Optionally, the target object can be an electronic device with processing and communication functions, capable of communicating and interacting with the lidar or electronic device via a wired or wireless communication connection. For example, the target object can be a remote control, a handle, a stylus, or other such device.

[0325] It should be noted that the first processor, the second processor, and the third processor mentioned above can be different processors, or they can be the same processor, or any two processors can be the same processor. This application does not limit this.

[0326] It should also be noted that the various implementation methods in the embodiments of this application can be implemented individually or in combination with each other, and this application does not limit them.

[0327] In summary, this application provides a lidar system. In this system, the transmitting module emits a first optical signal; the receiving module acquires a second optical signal reflected from the target object, and outputs a voltage signal based on the second optical signal. After a first time period, this voltage signal enters a saturation state, and after saturation, the measurement data of the lidar system is compensated based on this voltage signal. This approach improves the accuracy of the lidar system's measurement data, thereby enhancing its measurement precision.

[0328] Based on the lidar system provided in the above embodiments, this application also provides some embodiments of lidar systems. The embodiments provided in this application will be described below with reference to the accompanying drawings.

[0329] In one embodiment, see Figure 6As shown, the lidar system includes a transmitting module, a scanning module, a receiving module, and a processor. Optionally, the lidar system may also include a calibration module. The receiving module may consist of a photoelectric conversion component, an amplification component, a sampling component, and a time-to-digital conversion component. Optionally, the multiple components included in the lidar system may be deployed in one or more devices. When the components of a lidar system are deployed in a single device (i.e., a lidar or lidar device), each component in the lidar system constitutes a single-device system, and this device is the lidar. When the lidar system includes both a lidar and electronic equipment, the processor may be located within the electronic equipment.

[0330] The transmitting module is used to transmit optical signals.

[0331] In order for the receiving module to enter a saturation state and for it to obtain a saturated voltage signal based on the light signal reflected from the target object, the transmitting module needs to emit a sufficiently strong light signal. This requires the transmitting module to emit a high-energy light signal with low optical path loss.

[0332] Optionally, to ensure the measurement accuracy of the lidar system, the energy of the optical signal emitted by the transmitting module each time needs to be kept as consistent as possible. This ensures that there is an energy reference between different optical signals received by the receiving module, and also improves the accuracy of the compensation value calculated by the lidar system based on the voltage signal in the receiving module, reduces the ranging jitter of the lidar system, and improves measurement accuracy.

[0333] In addition, stray light should be minimized in the transmitting optical path to prevent light from non-main path returning to the receiving module, causing timing and energy differences, and resulting in ranging deviations in the lidar system.

[0334] The receiving module works by converting the received optical signal into a current signal through photoelectric conversion, and then amplifying and broadening the current signal into a saturated voltage signal. This voltage signal is then processed by the sampling component and the time-to-digital conversion component, and finally converted into a high-precision ranging distance.

[0335] For details on the specific functions of the photoelectric conversion component, amplification component, sampling component, and time-to-digital conversion component, please refer to the relevant descriptions in the above embodiments, which will not be repeated here.

[0336] Through the examples Figure 5BAnalysis and compensation schemes show that the steeper the rising and falling edges of the voltage signal pulse output by the amplification component, the higher the accuracy of the starting and ending sampling points of the voltage signal pulse in the data sampling signal output by the sampling component. This, in turn, makes the various measurement data (such as T1, T2, t1, t2, dt2, etc.) of the lidar system more accurate. Furthermore, the steeper the rising and falling edges of the voltage signal pulse output by the amplification component, the wider the pulse width, and the shorter the compensation time required, which also improves the accuracy of the final calculated distance between the target and the lidar.

[0337] Based on this, the lidar system can utilize high-gain, high-saturation amplification components to output voltage signals with steep rising and falling edges of the pulses. This reduces ranging jitter and measurement errors caused by variations in the target's position and type, ensuring consistent measurement accuracy across different target environments, both near and far, and regardless of material. Furthermore, this lidar system can expand its measurement range, enabling high-precision measurement of targets in larger spaces, such as near-field and long-field (within 2 meters of the lidar) interaction scenarios.

[0338] The processor is used to execute the compensation scheme and determine the distance between the target and the lidar. The specific process can be found in the description above and will not be repeated here.

[0339] It should also be noted that in scenarios where no target object exists within the target area (such as the area where the display screen of an electronic device is located), environmental targets surrounding the target area will also be detected by the LiDAR system. The LiDAR system can then expand the control area of ​​the electronic device's display screen based on these environmental targets, such as enabling border gestures and off-screen interaction. Furthermore, if the LiDAR system cannot satisfy the aforementioned saturation control logic based on the received light signal due to the object's excessive distance or low reflectivity, the system can perform filtering. For example, if the processor determines that the pulse width measurement of the voltage signal is less than a set value, it will not perform further processing; or, if the receiving module determines that the voltage signal output by the amplification component has not entered a saturation state, subsequent components will no longer process that voltage signal.

[0340] Optionally, the lidar system may also include a calibration module for calibrating the scanning angle of the scanning module. In such cases... Figure 1In the application scenario shown in (a), the calibration module can be used to calibrate the relationship between the light plane and the display screen of an electronic device. Since a LiDAR system can only measure objects scanned by the emitted light signal, a large deviation between the light plane and the display screen plane will increase the deviation of the LiDAR system's measurement results. Therefore, to improve the ranging accuracy of the LiDAR system, the calibration module can adjust the scanning angle of the scanning module so that the light plane of the LiDAR system is as close as possible to the display screen. Optionally, the calibration module can adjust the scanning module during the LiDAR system initialization process.

[0341] In one embodiment, see Figure 7 As shown, the lidar includes a transmitting module, a scanning module, and a receiving module. Optionally, the lidar may also include a calibration module. The functions of each module can be found in the descriptions of the embodiments above. The transmitting board, motor reader board, receiving board, and control board in the figure can be circuit boards, such as printed circuit boards (PCBs).

[0342] The emitting module includes a laser (i.e., a VCSEL), a driver, and a COB lens. The driver and VCSEL are located in the emitting plate.

[0343] The driver is used to trigger the laser to emit a single optical signal. The VCSEL is used to emit an optical signal based on the trigger. The COB lens, also known as a COB collimating lens, is used to collimate the optical signal emitted by the VCSEL, reducing the beam divergence angle (for example, after passing through the COB lens, the beam divergence angle can be around 0.1°), thereby achieving a small spot size (within φ10mm) within the dynamic range. Under the premise of a small spot size, the multi-quantum-well design in the VCSEL can increase the energy of the emitted optical signal, ensuring that the voltage signal obtained by the receiving module based on the reflected light from the object can reach saturation.

[0344] The scanning module includes: a motor (including a motor stator and a motor rotor), a rotating mirror, a window, a light guide column, a motor driver, a first power supply module, an encoder disk, and a phototransistor. The motor driver, phototransistor, and first power supply module can be located on the motor reader board.

[0345] The motor drive is used to drive and control the motor. The first power supply module supplies power to the various electrical components in the scanning module and also to the electrical components in the transmitting module. The rotating mirror is used to adjust the transmission path of the optical signal emitted by the VCSEL. The motor stator generates a magnetic field to drive the motor rotor to rotate. The motor rotor rotates itself, thereby rotating the rotating mirror located on the motor rotor. The code disk and photoelectric pair constitute an angle detection component to detect the rotation angle of the rotating mirror. When the angle detection component detects that the rotation angle of the rotating mirror reaches an angle threshold (e.g., 0.1 degrees), it triggers the lidar to emit an optical signal once. For example, the angle detection component can send a signal to the processing unit in the lidar when the rotation angle of the rotating mirror reaches the angle threshold. The processing unit can then control the drive in the transmitting board to trigger the laser to emit an optical signal based on this signal. By setting the angle threshold, the angular resolution of the lidar's ranging can be improved. When the angle of the rotating mirror does not change, the laser is not triggered to emit an optical signal. In this way, the laser does not need to continuously emit an optical signal, reducing the laser's power consumption and ensuring eye safety.

[0346] Optionally, a three-phase brushless motor can be used in the scanning module. By increasing the motor speed, the measurement frequency of the lidar can be increased.

[0347] The window allows light signals to pass through while physically isolating the internal components of the lidar.

[0348] The light guide column is used to transmit the light signal collected by the scanning module to the receiving module.

[0349] The receiver module mainly consists of analog and digital sections. The analog section primarily comprises an APD, a TIA, an amplifier (also known as a two-stage amplifier circuit), and a comparator path. The circuit topology of the TIA, amplifier, and comparator can be seen as follows: Figure 8 As shown, that is, in Figure 4A Based on the circuit topology shown, a comparator is added after the amplifier OP. The first input of the comparator is connected to the output of OP, V... ref3 This is the supply voltage for the comparator, used to power the comparator through its second input terminal. The comparator output V... o3 This refers to the data sampling signal in the above embodiments.

[0350] The digital section includes a Time-of-Flight Converter (TDC), which samples the data signal from the comparator output and outputs a digital signal. Optionally, this digital signal may include: the measured time of flight of light (i.e., the time of flight of the light). Figure 5B t1) voltage signal (V o2 The pulse width measurement value of the pulse (i.e.) Figure 5B(dt2 in the above). In this way, the processor in the lidar (such as the FPGA in the control board) or the processor in the electronic device can calculate the distance between the target and the lidar based on the above digital signal and perform a time compensation scheme.

[0351] about Figure 8 For a description of the devices and their working principles, please refer to the relevant descriptions in the above embodiments, which will not be repeated here.

[0352] The receiver module contains an APD, TIA, amplifier, comparator, microcontroller unit (MCU), and a second power supply module, all located on the receiver board. The MCU controls the other devices on the receiver board. The second power supply module powers the devices on the receiver board.

[0353] The receiving module includes a TDC (Transmitter Control Unit), FPGA (FPGA), and stepper motor driver. A third power supply module is located on the control board. The stepper motor driver powers the two stepper motors in the calibration module. The third power supply module powers the devices on the control board. The FPGA is used for data processing and controlling the MCUs on both the control board and the receiving board. A USB interface connects the LiDAR to electronic devices.

[0354] The calibration mechanism in the calibration module includes an x-axis stepper motor and a y-axis stepper motor. These motors are used to adjust the position of the housing or fixing mechanism to calibrate the scanning angle of the scanning module, ensuring that the laser radar's light plane is as close as possible to the display screen of the electronic device connected to the laser radar.

[0355] In one embodiment, the VCSEL in the transmitting module can be replaced with an EEL, PCSEL, or other laser; or the COB module can be replaced with a COC module, etc. The key is that the energy of the light signal emitted by the transmitting module is sufficient to detect and cover the area where the electronic device's display screen is located.

[0356] In one embodiment, the scanning module can be various scanning forms such as rotating mirror, solid-state radar, MEMS galvanometer, phased array radar, etc.

[0357] In one embodiment, the APD in the receiver module can also be replaced with SiPD, PD, etc. The amplification circuit in the receiver module can be a single-stage amplification (i.e., the receiver module only includes the TIA, not the amplifier) ​​or a two-stage amplification (i.e., the receiver module includes the TIA and an amplifier, such as...). Figure 7 or Figure 8 As shown), it can also be multi-level amplification of three or more levels.

[0358] In one embodiment, the calibration module can be simplified through production line calibration or replaced by manual adjustment.

[0359] In one embodiment, the target object can be any object with highly reflective characteristics, such as a pen, eraser, or remote control. Optionally, the material of the object with highly reflective characteristics can be a retroreflective material such as a microprism or glass microbeads, or other highly reflective materials.

[0360] It should be noted that in the solutions provided in the above embodiments, the compensation value decreases after the receiving module enters a saturation state, and it possesses the physical characteristic that the compensation value decreases as the reflectivity of the target object increases. After the lidar system obtains a saturated voltage signal based on the reflected light signal from the target object, the pulse width of this voltage signal can reflect the reflectivity intensity of the reflecting target object. The lidar system can compensate for distance measurement errors based on the reflectivity intensity or the pulse width of the voltage signal, thereby improving the measurement accuracy of the lidar system. In addition, the lidar system can also use the reflectivity intensity of the target object (e.g., the pulse width of the voltage signal generated based on the reflected light signal from the target object) to determine the type of target object.

[0361] In the above scheme, the lidar system can adopt a single measurement scheme (sending one light signal is enough to perform one measurement), thereby improving the system measurement efficiency, thereby increasing the repetition frequency of the lidar system, increasing the data point frequency, and with the high-speed scanning module, achieving high detection frequency and high angular accuracy.

[0362] Based on the lidar system or lidar solution provided in the above embodiments, this application also provides embodiments of some electronic devices. The embodiments of this application will be described below with reference to the accompanying drawings.

[0363] like Figure 9 As shown, the electronic device 900 includes a transceiver 901 and a processor 902. Optionally, the electronic device 900 may also include a display screen 903. For example, the above-mentioned devices can be connected via one or more communication buses. For example, the electronic device 900 may also include a memory, in which one or more computer programs are stored and configured to be executed by the processor 902. The one or more computer programs include instructions that can be used to cause the processor 902 to perform the functions of the processor in the above embodiments. Optionally, the transceiver 901 may include a transmitter and a receiver. Optionally, the electronic device is a smart screen, applied in office or home scenarios, where it can also be called a television in a home scenario; or, the electronic device may also be an office whiteboard, projector, etc. In the case of a configuration where the host and the projection screen or projection wall are separate, the LiDAR can be placed around the projection screen or wall, such as in the upper area.

[0364] In one embodiment, transceiver 901 is configured to receive first measurement data from a lidar, the first measurement data being a digital sampling signal obtained by sampling pulses of a first voltage signal measured by the lidar; the first voltage signal being obtained by the lidar based on a second light signal reflected by a target object from an emitted first light signal, the first voltage signal being a voltage signal that has entered a saturation state; the digital sampling signal includes the start point and end point of the pulses of the first voltage signal.

[0365] The processor 902 is configured to determine the duration between the pulse start point of the first voltage signal and the starting point sampling point based on the first measurement data; and to determine the distance between the target object and the lidar based on the duration between the pulse start point of the first voltage signal and the starting point sampling point.

[0366] Optionally, the first measurement data includes the duration between the starting sampling point and the ending sampling point; based on this, the processor 902 is used to:

[0367] The duration between the pulse start point and the start point sampling point of the first voltage signal is determined based on the duration between the start point sampling point and the end point sampling point.

[0368] Optionally, the first measurement data includes: a digital sampling signal and a first voltage signal; the processor 902 is used for:

[0369] Based on the first voltage signal and the data sampling signal, determine the duration between the pulse start point and the start sampling point of the first voltage signal.

[0370] Optionally, the processor 902 is also used to determine the interaction position of the target based on the distance between the target and the lidar;

[0371] Responding to the target object, perform the corresponding task based on the interaction position of the target object.

[0372] Optionally, the task may include any of the following: drawing a trajectory, touch selection, or gesture control.

[0373] Through this embodiment, the electronic device can determine a compensation value (i.e., the duration between the pulse start point of the first voltage signal and the sampling point of the start point) based on the measurement data of the lidar, thereby compensating the ranging data of the lidar based on the compensation value, thereby reducing the error in the distance between the target and the lidar.

[0374] In one embodiment, transceiver 901 is used to receive first measurement data from a lidar, the first measurement data being used to indicate the characteristics of a first digital sampling signal; the first digital sampling signal is obtained by the lidar sampling pulses of a measured first voltage signal; the first voltage signal is obtained by the lidar based on a second light signal reflected by a first target object from an emitted first light signal, and the first voltage signal enters a saturation state after a first time period.

[0375] The processor 902 is used to determine the type of the first target object as a first type based on the characteristics of the first digital sampling signal.

[0376] Optionally, the first measurement data includes a first digital sampled signal, or characteristics of the first digital sampled signal.

[0377] Optionally, transceiver 901 is also used to receive second measurement data from lidar, the second measurement data being used to indicate the characteristics of a second digital sampling signal; the second digital sampling signal is obtained by lidar sampling pulses of a measured second voltage signal; the second voltage signal is obtained by lidar based on a fourth light signal reflected by a second target object from a emitted third light signal, and the second voltage signal enters a saturation state after a second time period.

[0378] The processor 902 is also used to determine the type of the second target object as a second type based on the characteristics of the second digital sampling signal.

[0379] Optionally, the processor 902 is further configured to process a first target object of a first type using a first business logic; and / or to process a second target object of a second type using a second business logic.

[0380] Optionally, the first type of business logic includes:

[0381] Acquire the pressure signal of the first target object, and determine the interaction position of the first target object based on the pressure signal and the compensated lidar measurement data; or

[0382] The interaction position of the first target can be determined directly based on the measurement data from the compensated lidar; or

[0383] Respond to the interaction of the first target object in a manner that matches the first type; or

[0384] The interaction position of the first target object is determined directly using the original measurement data without compensation for the lidar measurement data.

[0385] Optionally, when the electronic device 900 has a display screen 903, the processor 902 is further configured to display on the display screen 903 the result of processing a first target object of the first type using a first business logic; and / or, display on the display screen 903 the result of processing a second target object of the second type using a second business logic.

[0386] Optionally, transceiver 901 is also used to receive third measurement data from radar equipment; wherein the third measurement data is used to indicate the characteristics of a third digital sampling signal; the third digital sampling signal is obtained by the lidar sampling the pulses of the measured third voltage signal; the third voltage signal is obtained by the lidar based on a sixth light signal reflected by environmental noise objects from a fifth light signal emitted by the lidar.

[0387] The processor 902 is also used to determine, based on the characteristics of the third digital sampled signal, whether to process environmental noise.

[0388] Through this embodiment, electronic devices can determine the characteristics of the digital sampling signal generated by the lidar based on the measurement data of the lidar. Since the characteristics of the data sampling signal can reflect the characteristics of the voltage signal generated by the lidar, and the characteristics of the voltage signal can reflect the characteristics of the target object, electronic devices can determine the type of the target object based on the characteristics of the digital sampling signal, realizing the object type recognition function based on lidar measurement data. This allows the electronic devices to execute subsequent business logic based on the identified object type.

[0389] Based on the same technical concept, this application also provides some embodiments of the processing methods. The different embodiments are described below with reference to the accompanying drawings.

[0390] See Figure 10 As shown in the figure, this application provides a processing method that can be applied to a lidar system, including the following steps:

[0391] Step 1001: Transmit the first optical signal.

[0392] Step 1002: Acquire a second optical signal, obtain a first voltage signal based on the second optical signal, and make the first voltage signal enter a saturation state after a first time period, so as to compensate the measurement data of the lidar system based on the first voltage signal after the first voltage signal enters the saturation state; wherein, the second optical signal is the optical signal reflected by the target object from the first optical signal.

[0393] In one embodiment, the first pulse width of the pulse of the first voltage signal is 1.2 times or more the pulse width of the first optical signal.

[0394] In one implementation, the width of the first pulse width of the first voltage signal is positively correlated with the reflectivity of the target object.

[0395] In one implementation, obtaining a first voltage signal based on a second optical signal includes:

[0396] Based on the second optical signal, the input signal of the amplification component is obtained;

[0397] The input signal is amplified by the amplification component to output a first voltage signal; wherein, the first voltage signal that enters the saturation state is equal to or close to the supply voltage of the amplification component.

[0398] In one implementation, the input signal of the amplification component is obtained based on the second optical signal, including:

[0399] The second optical signal is converted into a current signal by a photoelectric conversion component; wherein the input signal of the amplification component is the current signal.

[0400] The input signal is amplified by an amplification component to output a first voltage signal, including:

[0401] The current signal is converted into the first voltage signal by an amplification component.

[0402] Optionally, the photoelectric conversion component includes any of the following photoelectric converters: avalanche photodiode (APD), silicon photodiode (SiPD), or photodiode (PD).

[0403] Optionally, the input signal to the amplification component is a second optical signal; the amplification component amplifies this input signal and outputs a first voltage signal, including:

[0404] The second optical signal is converted into a current signal by an amplification component, and then the current signal is converted into a first voltage signal.

[0405] Optionally, the amplification component includes a transimpedance amplifier; the amplification component converts the current signal into a first voltage signal, including:

[0406] The current signal is converted into a first voltage signal by a transimpedance amplifier.

[0407] In one embodiment, the method further includes: generating a ringing signal or an enhanced ringing signal in the first voltage signal by an amplification component; the position of the ringing signal or the enhanced ringing signal is different from the position of the pulse of the first voltage signal.

[0408] In one embodiment, the position of the ringing signal or enhanced ringing signal is adjacent to the pulse position of the first voltage signal and follows the pulse of the first voltage signal.

[0409] Optionally, the amplification component may not include a circuit pole compensation circuit to generate the ringing signal or an enhanced ringing signal in the first voltage signal.

[0410] Optionally, the amplification assembly includes at least one DC blocking capacitor; the method further includes: shifting a first voltage signal, including a ringing signal, to a positive voltage region via the DC blocking capacitor to protect the devices in the amplification assembly.

[0411] In one embodiment, the input signal is amplified by an amplification component to output a first voltage signal, including:

[0412] The input signal is amplified in multiple stages by an amplification component to output the first voltage signal.

[0413] Optionally, the multi-stage amplification is implemented through a multi-stage amplification circuit; wherein the multi-stage amplification circuit includes a first-stage amplification circuit and at least one subsequent amplification circuit; the subsequent amplification circuit is located after the first-stage amplification circuit; the input signal is amplified through multiple stages by the amplification components to output a first voltage signal, including:

[0414] The input signal is amplified by a first-stage amplifier circuit to obtain an intermediate voltage signal;

[0415] The intermediate voltage signal is amplified by at least one subsequent amplifier circuit to obtain the first voltage signal.

[0416] Optionally, the first-stage amplifier circuit is a current-to-voltage amplifier circuit; at least one subsequent amplifier circuit is a voltage-to-voltage amplifier circuit.

[0417] In one embodiment, the method further includes: sampling the pulses of the first voltage signal to obtain a digital sampling signal; wherein the digital sampling signal includes a starting sampling point and an ending sampling point of the pulses of the first voltage signal; and determining the distance between the target and the lidar based on the duration between the starting point of the pulses of the first voltage signal and the starting sampling point.

[0418] In one embodiment, the method further includes: sampling pulses of the first voltage signal and outputting a digital sampling signal; and determining the type of the target object based on the characteristics of the digital sampling signal.

[0419] In one embodiment, the method further includes: adjusting the transmission path of the first optical signal through a scanning module.

[0420] Optionally, the scanning module includes a motor and a rotating mirror; adjusting the transmission path of the first optical signal via the scanning module includes:

[0421] The transmission path of the first optical signal is adjusted by rotating the mirror; the mirror is rotated by a motor.

[0422] Optionally, the scanning module further includes an angle detection component; the method further includes: detecting the rotation angle of the rotating mirror through the angle detection component;

[0423] When the rotation angle of the rotating mirror reaches the angle threshold, the lidar system is triggered to measure the distance.

[0424] Optionally, acquiring the second optical signal includes:

[0425] The second optical signal is acquired through the scanning module.

[0426] In one implementation, transmitting a first optical signal includes:

[0427] The first optical signal is emitted through a laser;

[0428] The beam of the first optical signal is collimated using a lens.

[0429] Optionally, the laser is any of the following: a vertical cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), or a photonic crystal surface-emitting laser (PCSEL); or, the lens is a chip-on-board (COB) lens or a chip-on-carrier (COC) lens.

[0430] In one embodiment, the second optical signal is an optical signal reflected by the first optical signal from the first target object during a first time period; the method further includes:

[0431] A third optical signal is emitted; a fourth optical signal is acquired; the fourth optical signal is the optical signal reflected by the third optical signal in the second time period by the second target object; a second voltage signal is obtained based on the fourth optical signal; wherein, the first pulse width of the pulse based on the first voltage signal is greater than the second pulse width of the pulse based on the second voltage signal; the reflectivity of the first target object is greater than the reflectivity of the second target object.

[0432] Optionally, the method further includes: determining, based on a first pulse width, to process a first target object of a first type using a first business logic; and / or, determining, based on a second pulse width, to process a second target object of a second type using a second business logic.

[0433] Optionally, the method further includes: determining, based on a third pulse width, that no processing is required for environmental noise objects; wherein the third pulse width is the pulse width of the voltage signal output based on the fifth optical signal reflected by the environmental noise objects.

[0434] Optionally, the first type of business logic includes:

[0435] Acquire the pressure signal of the first target object, and determine the interaction position of the first target object based on the pressure signal and the measurement data of the compensated lidar system; or

[0436] The interaction position of the first target object is determined directly based on the measurement data of the compensated lidar system; or

[0437] Respond to the interaction of the first target object in a manner that matches the first type; or,

[0438] There is no need to compensate for the measurement data of the lidar system; the interaction position of the first target object can be determined directly using the original measurement data.

[0439] Optionally, the method further includes:

[0440] The display screen shows the result of processing a first target object of a first type using the first business logic; and / or, the display screen shows the result of processing a second target object of a second type using the second business logic. For example, for different types of interactive targets, the content or style displayed on the display screen may differ in response to the same operation method; or, for different types of interactive targets, the available interactive capabilities or interactive range may differ, etc.

[0441] See Figure 11 As shown in the figure, this application provides a processing method that can be applied to electronic devices, including the following steps:

[0442] Step 1101: Receive first measurement data from the lidar. The first measurement data is a digital sampling signal obtained by sampling the pulses of the first voltage signal measured by the lidar. The first voltage signal is obtained by the lidar based on the second light signal reflected by the target object from the first light signal emitted by the lidar. The first voltage signal enters a saturation state after a first time period. The digital sampling signal includes the start sampling point and the end sampling point of the pulse of the first voltage signal.

[0443] Step 1102: Based on the first measurement data, determine the duration between the pulse start point and the starting sampling point of the first voltage signal; and based on the duration between the pulse start point and the starting sampling point of the first voltage signal, determine the distance between the target and the lidar.

[0444] In one implementation, the first measurement data includes: the duration between the starting sampling point and the ending sampling point; determining the duration between the pulse start point and the starting sampling point of the first voltage signal based on the first measurement data includes:

[0445] The duration between the pulse start point and the start sampling point of the first voltage signal is determined based on the duration between the start sampling point and the end sampling point.

[0446] In one implementation, the first measurement data includes: a digital sampling signal and a first voltage signal; determining the duration between the pulse start point and the start sampling point of the first voltage signal based on the first measurement data includes:

[0447] Based on the first voltage signal and the data sampling signal, determine the duration between the pulse start point and the start sampling point of the first voltage signal.

[0448] In one embodiment, after step 1102, the method further includes:

[0449] Based on the distance between the target and the lidar, the interaction position of the target is determined; and in response to the target, the corresponding task is executed according to the interaction position of the target.

[0450] Optionally, the task may include any of the following:

[0451] Drawing trajectories, touch selection, and gesture control.

[0452] For example, the electronic device is a smart screen.

[0453] See Figure 12 As shown in the figure, this application provides a processing method that can be applied to electronic devices, including the following steps:

[0454] Step 1201: Receive first measurement data from the lidar, the first measurement data being used to indicate the characteristics of the first digital sampling signal; the first digital sampling signal is obtained by the lidar sampling the pulses of the measured first voltage signal; the first voltage signal is obtained by the lidar based on the second light signal reflected by the first target object from the emitted first light signal, and the first voltage signal enters a saturation state after a first time period;

[0455] Step 1202: Determine the first target object based on the characteristics of the first digital sampling signal.

[0456] Optionally, the first measurement data includes a first digital sampling signal, or features of the first digital sampling signal. The type of the first target object can be a first type.

[0457] In one implementation, the method further includes:

[0458] The system receives second measurement data from the lidar, which is used to indicate the characteristics of the second digital sampling signal. The second digital sampling signal is obtained by the lidar sampling the pulses of the measured second voltage signal. The second voltage signal is obtained by the lidar based on the fourth light signal reflected by the second target object from the emitted third light signal. The second voltage signal enters a saturation state after a second time period.

[0459] Based on the characteristics of the second digital sampling signal, a second target object is determined. The type of the second target object can be a second type.

[0460] In one implementation, the method further includes: determining to process a first target object of a first type using a first business logic; and / or, processing a second target object of a second type using a second business logic.

[0461] Optionally, the first type of business logic includes:

[0462] Acquire the pressure signal of the first target object, and determine the interaction position of the first target object based on the pressure signal and the compensated lidar measurement data; or

[0463] The interaction position of the first target can be determined directly based on the measurement data from the compensated lidar; or

[0464] Respond to the interaction of the first target object in a manner that matches the first type; or

[0465] The interaction position of the first target object is determined directly using the original measurement data without compensation for the lidar measurement data.

[0466] In one embodiment, the electronic device has a display screen; the method further includes:

[0467] The display screen shows the result of processing the first target object of the first type using the first business logic; and / or, the display screen shows the result of processing the second target object of the second type using the second business logic.

[0468] In one implementation, the method further includes:

[0469] The system receives third measurement data from a radar device; wherein the third measurement data is used to indicate the characteristics of a third digital sampling signal; the third digital sampling signal is obtained by the lidar sampling the pulses of the measured third voltage signal; the third voltage signal is obtained by the lidar based on a sixth light signal reflected by environmental noise objects from a fifth light signal emitted by the lidar.

[0470] Based on the characteristics of the third digital sampling signal, it was determined that environmental noise should not be processed.

[0471] For example, the electronic device is a smart screen.

[0472] It should be noted that in the above embodiments, the concepts and explanations of the same terms can be referred to each other, and the same or similar steps can also be referred to each other. In addition, different embodiments can be combined with each other to form new embodiments.

[0473] It should also be noted that each step in the above embodiments can be executed by the corresponding device, or by components such as chips, processors, or chip systems within that device. The embodiments of this application do not limit their execution. The above embodiments are merely illustrative examples of execution by the corresponding device. Furthermore, the specific implementation methods or examples in the above embodiments do not limit the solutions provided by the embodiments of this application.

[0474] It should be noted that in the above embodiments, some steps may be selected for implementation, and the order of the steps in the figures may be adjusted. This application does not limit this. It should be understood that performing some of the steps in the figures, adjusting the order of the steps, or combining them in a specific implementation all fall within the protection scope of this application.

[0475] It is understood that, in order to achieve the functions described in the above embodiments, each device involved in the above embodiments includes a hardware structure and / or software module corresponding to perform each function. Those skilled in the art should readily recognize that, based on the units and method steps of the various examples described in conjunction with the embodiments disclosed in this application, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0476] It is understood that the architecture and application scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of the present invention, and do not constitute a limitation on the technical solutions provided by the embodiments of the present invention. As those skilled in the art will know, with the evolution of network architecture and the emergence of new services, the technical solutions provided by the embodiments of the present invention are also applicable to similar technical problems.

[0477] It should be noted that the "steps" in the embodiments of this application are merely illustrative and are intended to better understand one method of presentation used in the embodiments. They do not constitute a substantial limitation on the execution of the solution of this application. For example, the "step" can also be understood as a "feature". Furthermore, the steps do not constitute any limitation on the execution order of the solution of this application. Any changes to the order of steps, or the merging or splitting of steps made on this basis without affecting the overall solution implementation, resulting in a new technical solution, are also within the scope of disclosure of this application.

[0478] Based on the same concept, embodiments of this application also provide an electronic device, which includes units for performing the various steps of the methods provided in the above embodiments.

[0479] For details on the specific functions of each module, please refer to the above embodiments; they will not be repeated here.

[0480] Based on the above embodiments, this application also provides a computer program product, which includes instructions; when the computer program is run on a computer, it causes the computer to execute the method provided in the above embodiments.

[0481] Based on the above embodiments, this application also provides a computer-readable storage medium storing computer program instructions, which, when executed by a computer, cause the computer to perform the methods provided in the above embodiments.

[0482] Optionally, the aforementioned computer may include, but is not limited to, control devices.

[0483] The storage medium can be any available medium that a computer can access. For example, but not limited to, a computer-readable medium can include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.

[0484] Based on the above embodiments, this application also provides a chip for reading a computer program stored in a memory to implement the method provided in the above embodiments. Optionally, the chip may include a processor and a memory, wherein the processor is coupled to the memory and is used to read the computer program stored in the memory to implement the method provided in the above embodiments.

[0485] Based on the above embodiments, this application provides a chip system including a processor for supporting a computer device in implementing the functions involved in the control device in the above embodiments. In one possible design, the chip system further includes a memory for storing necessary programs and data of the computer device. This chip system may be composed of chips or may include chips and other discrete components.

[0486] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0487] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure One One or more processes and / or boxes Figure One A device that provides the functions specified in one or more boxes.

[0488] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure One One or more processes and / or boxes Figure One The function specified in one or more boxes.

[0489] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure One One or more processes and / or boxes Figure One The steps of the function specified in one or more boxes.

Claims

1. A lidar system, characterized in that, The lidar system includes: a transmitting module and a receiving module; The transmitting module is used to transmit a first optical signal; The receiving module is used to acquire a second optical signal and output a voltage signal based on the second optical signal, so that the voltage signal enters a saturation state after a first time period, so as to compensate the measurement data of the lidar system based on the voltage signal after the voltage signal enters the saturation state; wherein, the second optical signal is the optical signal reflected by the target object from the first optical signal.

2. The lidar system as described in claim 1, characterized in that, The first pulse width of the voltage signal is 1.2 times or more the pulse width of the first optical signal.

3. The lidar system as described in claim 1 or 2, characterized in that, The width of the first pulse width of the voltage signal is positively correlated with the reflectivity of the target object.

4. The lidar system according to any one of claims 1-3, characterized in that, The receiving module includes an amplification component; the amplification component is used to amplify the input signal and output the voltage signal. The voltage signal that enters saturation is equal to or close to the supply voltage of the amplification component.

5. The lidar system as described in claim 4, characterized in that, The receiving module also includes a photoelectric conversion component; The photoelectric conversion component is used to convert the second optical signal into a current signal; The amplification component is used to amplify the input signal and output the voltage signal, including: The input signal of the amplification component is the current signal; The amplification component is used to convert the current signal into the voltage signal.

6. The lidar system as described in claim 4, characterized in that, The input signal of the amplification component is the second optical signal; The amplification component is used to convert the second optical signal into a current signal and the current signal into a voltage signal.

7. The lidar system as described in claim 5 or 6, characterized in that, The amplification component includes a transimpedance amplifier; the transimpedance amplifier is used to convert the current signal into the voltage signal.

8. The lidar system according to any one of claims 4-7, characterized in that, The amplification component is also used to generate a ringing signal or an enhanced ringing signal in the voltage signal; the position of the ringing signal or the enhanced ringing signal is different from the position of the pulse of the voltage signal.

9. The lidar system as described in claim 8, characterized in that, The position of the ringing signal or enhanced ringing signal is adjacent to the pulse position of the voltage signal and follows the pulse of the voltage signal.

10. The lidar system as described in claim 8 or 9, characterized in that, The amplification component does not include a circuit pole compensation circuit to generate the ringing signal or an enhanced ringing signal in the voltage signal.

11. The lidar system according to any one of claims 8-10, characterized in that, The amplification assembly includes at least one DC blocking capacitor; the DC blocking capacitor is used to shift the voltage signal, including the ringing signal, to a positive voltage region to protect the devices in the amplification assembly.

12. The lidar system according to any one of claims 4-11, characterized in that, The amplification component is used to amplify the input signal through multi-stage amplification and output the voltage signal.

13. The lidar system as described in claim 12, characterized in that, The multi-stage amplification is achieved through a multi-stage amplification circuit; wherein, the multi-stage amplification circuit includes a first-stage amplification circuit and at least one subsequent amplification circuit; the subsequent amplification circuit is located after the first-stage amplification circuit; The first-stage amplifier circuit is used to amplify the input signal to obtain an intermediate voltage signal; The at least one post-amplifier circuit is used to amplify the intermediate voltage signal to obtain the final output voltage signal.

14. The lidar system according to any one of claims 1-13, characterized in that, The lidar system also includes: a sampling component and a processor; The sampling component is used to sample the pulses of the voltage signal and output a digital sampling signal; wherein, the digital sampling signal includes the start sampling point and the end sampling point of the pulse of the voltage signal; The processor is used to determine the distance between the target and the lidar based on the duration between the pulse start point of the voltage signal and the start point sampling point; the lidar includes the transmitting module, the receiving module and the sampling component.

15. The lidar system according to any one of claims 1-14, characterized in that, The lidar system also includes: a sampling component and a processor; The sampling component is used to sample the pulses of the voltage signal and output a digital sampling signal; The processor is configured to determine the type of the target object based on the characteristics of the digital sampling signal.

16. The lidar system according to any one of claims 1-15, characterized in that, The second optical signal is the optical signal reflected by the first target object from the first optical signal during the first time period; The transmitting module is also used to transmit a third optical signal; The receiving module is further configured to acquire a fourth optical signal; the fourth optical signal is an optical signal reflected by the third optical signal in the second time period by the second target object; and output a voltage signal based on the fourth optical signal; wherein the first pulse width of the voltage signal output based on the second optical signal is greater than the second pulse width of the voltage signal output based on the fourth optical signal. The reflectivity of the first target object is greater than that of the second target object.

17. The lidar system as described in claim 16, characterized in that, The lidar system also includes: a processor; The processor is configured to determine, based on the first pulse width, to process the first target object of the first type using a first business logic; and / or, The processor is configured to determine, based on the second pulse width, to process the second target object of the second type using a second business logic.

18. The lidar system as described in claim 17, characterized in that, The processor is further configured to determine, based on a third pulse width, that no processing is required for environmental noise objects; the third pulse width is the pulse width of the voltage signal output based on the fifth optical signal reflected by the environmental noise object.

19. The lidar system as described in claim 17 or 18, characterized in that, The first type of business logic includes: Acquire the pressure-sensitive signal of the first target object, and determine the interaction position of the first target object based on the pressure-sensitive signal and the compensated measurement data of the lidar system; or The interaction position of the first target object is determined directly based on the measurement data of the compensated lidar system; or Respond to the interaction of the first target object in a manner matching the first type; or The measurement data from the lidar system is not compensated; the interaction position of the first target is determined directly using the original measurement data.

20. The lidar system according to any one of claims 17-19, characterized in that, The lidar system also includes electronic equipment; The processor is located in the electronic device or lidar; the lidar includes the transmitting module and the receiving module.

21. The lidar system as described in claim 20, characterized in that, The electronic device also includes a display screen; The processor is further configured to display on the display screen the result of processing the first target object of the first type using the first business logic; and / or, also to display on the display screen the result of processing the second target object of the second type using the second business logic.

22. The lidar system according to any one of claims 1-21, characterized in that, The lidar system also includes the target object.

23. A processing method applied to a lidar system, characterized in that, The method includes: Transmit the first optical signal; A second optical signal is acquired, and a voltage signal is obtained based on the second optical signal, such that the voltage signal enters a saturated state after a first time period, so that the measurement data of the lidar system is compensated based on the voltage signal after the voltage signal enters the saturated state; wherein, the second optical signal is the optical signal reflected by the target object from the first optical signal.

24. The method as described in claim 23, characterized in that, The first pulse width of the voltage signal is 1.2 times or more the pulse width of the first optical signal.

25. The method as described in claim 23 or 24, characterized in that, The width of the first pulse width of the voltage signal is positively correlated with the reflectivity of the target object.

26. The method according to any one of claims 23-25, characterized in that, The process of obtaining a voltage signal based on the second optical signal includes: Based on the second optical signal, the input signal of the amplification component is obtained; The input signal is amplified by the amplification component to output the voltage signal; wherein the voltage signal that enters the saturation state is equal to or close to the supply voltage of the amplification component.

27. The method as described in claim 26, characterized in that, The step of obtaining the input signal of the amplification component based on the second optical signal includes: The second optical signal is converted into a current signal by a photoelectric conversion component; wherein the input signal of the amplification component is the current signal. The input signal is amplified by the amplification component to output the voltage signal, including: The current signal is converted into the voltage signal by the amplification component.

28. The method as described in claim 26, characterized in that, The input signal of the amplification component is the second optical signal; the amplification of the input signal by the amplification component to output the voltage signal includes: The amplification component converts the second optical signal into a current signal, and then converts the current signal into a voltage signal.

29. The method as described in claim 26 or 27, characterized in that, The amplification component includes a transimpedance amplifier; the conversion of the current signal into the voltage signal via the amplification component includes: The current signal is converted into the voltage signal by the transimpedance amplifier.

30. The method according to any one of claims 26-29, characterized in that, The method further includes: The amplification component generates a ringing signal or an enhanced ringing signal in the voltage signal; the position of the ringing signal or the enhanced ringing signal is different from the position of the pulse of the voltage signal.

31. The method as described in claim 30, characterized in that, The position of the ringing signal or enhanced ringing signal is adjacent to the pulse position of the voltage signal and follows the pulse of the voltage signal.

32. The method as described in claim 30 or 31, characterized in that, The amplification component does not include a circuit pole compensation circuit to generate the ringing signal or an enhanced ringing signal in the voltage signal.

33. The method according to any one of claims 30-32, characterized in that, The amplification component includes at least one DC blocking capacitor; the method further includes: The voltage signal, including the ringing signal, is shifted to a positive voltage region by the DC blocking capacitor to protect the devices in the amplification assembly.

34. The method according to any one of claims 26-33, characterized in that, The step of amplifying the input signal through the amplification component and outputting the voltage signal includes: The input signal is amplified in multiple stages by the amplification component to output the voltage signal.

35. The method as described in claim 34, characterized in that, The multi-stage amplification is achieved through a multi-stage amplification circuit; wherein, the multi-stage amplification circuit includes a first-stage amplification circuit and at least one subsequent amplification circuit; the subsequent amplification circuit is located after the first-stage amplification circuit; The step of amplifying the input signal through the amplification component in multiple stages to output the voltage signal includes: The input signal is amplified by the first-stage amplifier circuit to obtain an intermediate voltage signal; The intermediate voltage signal is amplified by the at least one subsequent amplifier circuit to obtain the voltage signal.

36. The method according to any one of claims 23-35, characterized in that, The method further includes: The voltage signal pulses are sampled to obtain a digital sampled signal; wherein, the digital sampled signal includes the start sampling point and the end sampling point of the voltage signal pulses; The distance between the target and the lidar is determined based on the duration between the pulse start point of the voltage signal and the start point sampling point.

37. The method according to any one of claims 23-36, characterized in that, The method further includes: The voltage signal pulses are sampled, and a digital sampled signal is output; The type of the target object is determined based on the characteristics of the digital sampling signal.

38. The method according to any one of claims 23-37, characterized in that, The second optical signal is the optical signal reflected by the first target object from the first optical signal during the first time period; the method further includes: Transmit a third optical signal; Acquire a fourth optical signal; the fourth optical signal is the optical signal reflected by the third optical signal in the second time period by the second target object; obtain a voltage signal based on the fourth optical signal; wherein, the first pulse width of the pulse of the voltage signal output based on the second optical signal is greater than the second pulse width of the pulse of the voltage signal output based on the fourth optical signal; The reflectivity of the first target object is greater than that of the second target object.

39. The method as described in claim 38, characterized in that, The method further includes: Based on the first pulse width, it is determined that the first type of the first target object will be processed using the first business logic; and / or, Based on the second pulse width, it is determined that the second type of the second target object will be processed using the second business logic.

40. The method as described in claim 39, characterized in that, The method further includes: Based on the third pulse width, it is determined that no processing will be performed on the environmental noise object; the third pulse width is the pulse width of the voltage signal output based on the fifth optical signal reflected by the environmental noise object.

41. The method as described in claim 38 or 39, characterized in that, The first type of business logic includes: Acquire the pressure-sensitive signal of the first target object, and determine the interaction position of the first target object based on the pressure-sensitive signal and the compensated measurement data of the lidar system; or The interaction position of the first target object is determined directly based on the measurement data of the compensated lidar system; or Respond to the interaction of the first target object in a manner matching the first type; or The measurement data from the lidar system is not compensated; the interaction position of the first target is determined directly using the original measurement data.

42. The method according to any one of claims 38-41, characterized in that, The method further includes: The display screen shows the result of processing the first target object of the first type using the first business logic; and / or, the display screen shows the result of processing the second target object of the second type using the second business logic.

43. A processing method applied to an electronic device, characterized in that, The method includes: The system receives first measurement data from a lidar, which is a digital sampling signal obtained by sampling pulses of a voltage signal measured by the lidar. The voltage signal is obtained by the lidar based on a second light signal reflected by a target object from a first emitted light signal, and the voltage signal enters a saturation state after a first time period. The digital sampling signal includes the start and end sampling points of the voltage signal pulses. Based on the first measurement data, the duration between the pulse start point of the voltage signal and the starting point sampling point is determined; and based on the duration between the pulse start point of the voltage signal and the starting point sampling point, the distance between the target object and the lidar is determined.

44. The method as described in claim 43, characterized in that, The first measurement data includes: the duration between the starting sampling point and the ending sampling point; determining the duration between the pulse start point of the voltage signal and the starting sampling point based on the first measurement data includes: The duration between the pulse start point and the start point sampling point of the voltage signal is determined based on the duration between the start point sampling point and the end point sampling point.

45. The method as described in claim 43 or 44, characterized in that, The method further includes: The interaction position of the target is determined based on the distance between the target and the lidar. In response to the target object, perform the corresponding task based on the interaction position of the target object.

46. ​​The method as described in claim 45, characterized in that, The task includes any one of the following: Drawing trajectories, touch selection, and gesture control.

47. The method according to any one of claims 43-46, characterized in that, The electronic device is a smart screen.

48. A processing method applied to an electronic device, characterized in that, The method includes: The system receives first measurement data from a lidar, which is used to indicate the characteristics of a first digital sampling signal. The first digital sampling signal is obtained by the lidar sampling pulses of a measured first voltage signal. The first voltage signal is obtained by the lidar based on a second light signal reflected by a first target object from an emitted first light signal. The first voltage signal enters a saturation state after a first time period. The first target object is determined based on the characteristics of the first digital sampling signal.

49. The method as described in claim 48, characterized in that, The first measurement data includes the first digital sampled signal, or features of the first digital sampled signal.

50. The method as described in claim 48 or 49, characterized in that, The first target object is of type 1, and the method further includes: The system receives second measurement data from the lidar, the second measurement data being used to indicate the characteristics of a second digital sampling signal; the second digital sampling signal is obtained by the lidar sampling pulses of a measured second voltage signal; the second voltage signal is obtained by the lidar based on a fourth light signal reflected by a second target object from an emitted third light signal, and the second voltage signal enters a saturation state after a second time period; Based on the characteristics of the second digital sampling signal, the second target object is determined, wherein the type of the second target object is a second type.

51. The method as described in claim 50, characterized in that, The method further includes: The first target object of the first type is processed using a first business logic; and / or the second target object of the second type is processed using a second business logic.

52. The method as described in claim 51, characterized in that, The first type of business logic includes: Acquire the pressure-sensitive signal of the first target object, and determine the interaction position of the first target object based on the pressure-sensitive signal and the compensated measurement data of the lidar; or The interaction position of the first target object is determined directly based on the compensated measurement data from the lidar; or Respond to the interaction of the first target object in a manner matching the first type; or The measurement data from the lidar is not compensated; the interaction position of the first target is determined directly using the original measurement data.

53. The method as described in claim 51 or 52, characterized in that, The electronic device has a display screen; the method further includes: The display screen shows the result of processing the first target object of the first type using the first business logic; and / or, the display screen shows the result of processing the second target object of the second type using the second business logic.

54. The method according to any one of claims 48-53, characterized in that, The method further includes: The system receives third measurement data from the radar device; wherein the third measurement data is used to indicate the characteristics of a third digital sampling signal; the third digital sampling signal is obtained by the lidar sampling pulses of a measured third voltage signal; the third voltage signal is obtained by the lidar based on a sixth light signal reflected by an environmental noise object from a fifth emitted light signal; Based on the characteristics of the third digital sampling signal, it is determined that the environmental noise will not be processed.

55. The method according to any one of claims 48-54, characterized in that, The electronic device is a smart screen.

56. An electronic device, characterized in that, The electronic device includes: a transceiver and a processor; The transceiver is used to receive and send data; The processor is configured to perform the method as described in any one of claims 43-55.

57. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processing circuit, implement the method as described in any one of claims 43-55.

58. A computer program product containing instructions, characterized in that, When the computer program product is run on a computer, it causes the computer to perform the method as described in any one of claims 43-55.

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