ATR low-power-consumption laser exposure method, system and equipment and storage medium

Abstract

The invention provides an ATR low-power-consumption laser exposure method, system and device and a storage medium, is applied to a laser transmitter, and comprises the following steps: respectively determining a first time exposure window and a second time exposure window according to preset ATR pre-frame and post-frame counting parameters; obtaining a target point image data stream in real time and synchronously extracting a field synchronization signal; outputting a first pulse driving signal based on the field synchronization signal and the first time exposure window, and driving a laser to perform pre-exposure; and after the pre-exposure is finished, outputting a second pulse driving signal based on the field synchronization signal and the second time exposure window to drive the laser to finish formal exposure, thereby realizing low-power-consumption laser exposure control. According to the method, the system, the equipment and the storage medium, heating of the laser is reduced by adopting a pulse driving mode, and the imaging quality and stability are ensured through stage laser time sequence control on the premise of ensuring synchronous acquisition of target point image data streams.

Description

Technical Field

[0001] This invention belongs to the field of measuring instrument technology, specifically relating to an ATR low-power laser exposure method, system, device, and storage medium. Background Technology

[0002] In total station automatic target recognition (ATR) systems, a laser emitter projects a positioning beam onto the target point, working in conjunction with an image sensor to achieve rapid target identification and aiming. Currently, most common ATR laser emission methods employ continuous emission, meaning the laser operates continuously throughout the measurement cycle. While this provides a stable light signal, it significantly increases system power consumption, particularly unfavorable for battery-powered equipment or devices requiring long-term field operations, limiting their endurance and application flexibility. Furthermore, the heat accumulation from continuous emission can affect laser lifespan and output stability. On the other hand, if pulse emission, not synchronized with the image acquisition sequence, is simply used to reduce power consumption, noise can easily be introduced during image sensor frame switching or the initial exposure phase due to sudden changes in light intensity, leading to decreased image quality and reduced target recognition reliability. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an ATR low-power laser exposure method, system, device, and storage medium to solve the aforementioned problems. The method, system, device, and storage medium employ a pulse-driven approach to reduce laser heating and ensure imaging quality and stability by using staged laser timing control while ensuring synchronous acquisition of target point image data streams.

[0004] To address the aforementioned technical problems, this invention provides an ATR low-power laser exposure method, applied to a laser emitter, comprising the following steps: The first exposure window is determined based on the preset ATR frame pre-count parameters; Real-time acquisition of target point image data stream; The field synchronization signal is synchronously acquired based on the target point image data stream; Based on the field synchronization signal and the first time exposure window, a first pulse drive signal is output, and the laser emitter is driven to emit pulsed laser based on the first drive signal, thereby realizing the pre-exposure of the target point image; The second time exposure window is determined based on the preset ATR frame count parameters; After the pre-exposure is completed, a second pulse drive signal is output based on the field synchronization signal and the second time exposure window. The laser emitter is driven to emit pulsed laser based on the second pulse drive signal, thereby realizing the formal exposure of the target point image.

[0005] In the above scheme, a first exposure window is determined based on preset ATR frame pre-count parameters, and a first pulse drive signal is output based on the field synchronization signal to drive the laser emitter for pre-exposure. Subsequently, a second exposure window is determined based on preset ATR frame post-count parameters, and a second pulse drive signal is output for formal exposure, dividing laser emission into two stages: pre-exposure and formal exposure. By accurately locating the necessary imaging period using the field synchronization signal, the laser's operating time is compressed to this period, thus avoiding energy waste caused by continuous emission and effectively reducing power consumption. Secondly, the pre-exposure stage, based on the field synchronization signal, can provide a stable optical signal for the target point image data stream, preventing sudden changes in image data before formal exposure. Furthermore, the pulse drive method can reduce laser heating, thereby ensuring imaging quality and stability while ensuring synchronous acquisition of the target point image data stream, relying on staged laser timing control.

[0006] It should be noted that the field synchronization signal can be the field signal output by a CMOS (Complementary Metal-Oxide-Semiconductor) camera in a practical application scenario, and its falling edge is used as the reference point for the exposure timing. Both the first and second pulse drive signals can be ATR_PLUSE_ADJ (ATR pulse adjustment) signals, which drive the laser tube to emit laser light when high. The above scheme can be implemented on the ZYNQ (System-on-Chip) chip platform. Pre-frame counting parameters, post-frame counting parameters, and the ATR enable signal are transmitted through the AXI (Advanced Extensible Interface) bus connector. Parameter configuration and timing control are performed by the PS (Processing System) end, and the PL (Programmable Logic) end generates and outputs the pulse drive signal.

[0007] Further, determining the first exposure window based on preset ATR frame pre-count parameters includes: Obtain the ATR system clock cycle; The first exposure window is determined based on the ATR system clock cycle and the preset ATR frame pre-count parameters.

[0008] In the above scheme, by introducing the ATR system clock cycle as the reference time unit and combining it with preset ATR frame pre-count parameters, the start and duration of the first exposure window are precisely determined, achieving fine-grained timing control of the pre-exposure stage. This ensures that the laser pulse is triggered within the accurate time window before the falling edge of the camera field synchronization signal. This scheme effectively ensures strict synchronization between the pre-exposure light signal output and the image acquisition timing, avoiding image data instability or sudden changes due to timing deviations. Simultaneously, it improves the repeatability and consistency of the time window, ensuring stable operation under different working conditions, laying the foundation for subsequent formal exposure, and helping to reduce the overall power consumption of the laser and reduce equipment heat generation.

[0009] It should be noted that the clock cycle of the ATR system can be 100MHz. The pre-frame counting parameter can be configured by the PS terminal of ZYNQ and transmitted to the transmitting circuit through the AXI bus. The time window width is equal to (pre-frame count + post-frame count) × clock cycle, realizing flexible control of the laser emission window width by the PS terminal.

[0010] Further, the step of outputting a first pulse drive signal based on the field synchronization signal and the first time exposure window, and driving the laser emitter to emit pulsed laser light based on the first drive signal, thereby achieving pre-exposure of the target point image, includes: The falling edge of the field synchronization signal is obtained so that the falling edge of the field synchronization signal is used as the exposure timing reference time point; Based on the exposure timing reference time point and the first time exposure window, a first pulse drive signal is output so that the first drive signal drives the laser emitter to emit pulsed laser within the first time exposure window, thereby achieving pre-exposure of the target point image.

[0011] In the above scheme, the falling edge of the field synchronization signal is captured as the exposure timing reference point and combined with the first exposure window to accurately output the first pulse drive signal. This drives the laser emitter to emit pulsed laser within the first exposure window, thereby achieving pre-exposure of the target point image. This ensures strict alignment between the laser pulse and the camera imaging timing, effectively avoiding image jitter or data anomalies caused by timing deviations, and significantly improving the stability of the optical signal during the pre-exposure stage. Simultaneously, the falling edge triggering enhances the anti-interference capability against signal jitter, improving the consistency and reliability of timing control.

[0012] It should be noted that the field synchronization signal can be output by the CMOS camera, and specifically may include a field signal, a line signal, and a pixel clock. The field signal is transmitted to the ATR transmitting circuit for detecting the falling edge. Pre-exposure is initiated before the frame signal end flag arrives, ensuring that the image sensor obtains a stable light signal before the formal exposure, thus avoiding pulse noise caused by sudden changes in image data.

[0013] Further, the step of outputting a first pulse drive signal based on the field synchronization signal and the first time exposure window, and driving the laser emitter to emit pulsed laser light based on the first drive signal, thereby achieving pre-exposure of the target point image, includes: A first-level signal is output based on the field synchronization signal and the first time exposure window; Within the first exposure window, the first level signal is periodically flipped based on a preset system clock signal to generate the first pulse drive signal. Based on the first drive signal, the laser emitter is driven to emit pulsed laser light, thereby achieving pre-exposure of the target point image.

[0014] In the above scheme, a first-level signal is output based on the field synchronization signal and the first exposure window. Within the first exposure window, the first-level signal is periodically flipped by a preset system clock signal to generate a first pulse drive signal, which drives the laser emitter to emit pulsed laser light to achieve pre-exposure of the target point image. This effectively improves the accuracy and stability of the laser drive timing. The width and interval of each pulse are controlled by the system clock, which improves the uniformity and consistency of light output during the pre-exposure stage, enhances the resistance to electromagnetic interference and environmental noise, and avoids signal distortion that may be caused by analog modulation.

[0015] It should be noted that the periodic switching can be based on the rising edge of the 100MHz system clock to achieve a pulse drive signal frequency of 50MHz, thereby driving the laser tube in a pulse manner within the time window and significantly reducing circuit power consumption.

[0016] Further, the step of outputting a first pulse drive signal based on the field synchronization signal and the first time exposure window, and driving the laser emitter to emit pulsed laser light based on the first drive signal, thereby achieving pre-exposure of the target point image, includes: When the falling edge of the field synchronization signal is detected, the first time counter is started so that the first time counter counts the exposure time based on the falling edge of the field synchronization signal to obtain a first time count value; When the first time count value is less than the preset ATR frame pre-count parameter, it is determined that it is within the first time window, and the first pulse drive signal is output. Based on the first drive signal, the laser emitter is driven to emit pulsed laser, thereby realizing the pre-exposure of the target point image.

[0017] In the above scheme, a first time counter is activated when the falling edge of the synchronous signal is triggered. The counter counts the exposure time based on this falling edge to obtain a first time count value, and compares the count value with a preset ATR frame pre-count parameter in real time. When the count value is less than the preset ATR frame pre-count parameter, it is determined that it is within the first time window, and a first pulse drive signal is output accordingly. This achieves precise digital control of the pre-exposure stage, ensuring that the timing and duration of the laser pulse emission strictly meet the preset timing requirements. This significantly improves the accuracy and consistency of time window determination, enhances the anti-interference capability against signal jitter and noise, and ensures the stability of the imaging process during the pre-exposure stage.

[0018] It should be noted that the first time counter can be located in the ATR transmitting circuit, and the counting and comparison logic is implemented by the PL terminal. The pre-frame counting parameters can be configured by the PS terminal through the AXI bus to achieve hardware and software coordinated timing control.

[0019] Further, after the pre-exposure is completed, a second pulse drive signal is output based on the field synchronization signal and the second time exposure window to drive the laser emitter to emit pulsed laser light, thereby achieving formal exposure of the target point image, including: When the falling edge of the field synchronization signal is detected, the second time counter is started so that the second time counter counts the exposure time based on the falling edge of the field synchronization signal after the pre-exposure is completed, and obtains the second time count value; When the second time count value is less than the preset ATR frame count parameter, it is determined that it is within the second time window, and the second pulse drive signal is output. Based on the second pulse drive signal, the laser emitter is driven to emit pulsed laser, thereby realizing the formal exposure of the target point image.

[0020] In the above scheme, a second time counter is started when the falling edge of the field synchronization signal is detected. After the pre-exposure, the exposure time is counted based on this falling edge to obtain a second time count value. The count value is compared with a preset ATR frame post-count parameter in real time. When the count value is less than the preset ATR frame post-count parameter, it is determined that it is within the second time window. Based on this, a second pulse drive signal is output to achieve precise timing control of the formal exposure stage, ensuring that the laser pulse is triggered strictly within the second time window, so that the formal exposure is completely synchronized with the effective acquisition period of the image sensor. Compared with continuous emission or simple pulse modulation methods, this improves the accuracy and repeatability of exposure timing, effectively prevents underexposure or overexposure, and ensures the consistency and reliability of image quality.

[0021] It should be noted that the second time counter can be reused or set independently from the first time counter, and the post-frame counting parameters can also be configured by the PS end. The pre-exposure and the formal exposure together constitute a complete ATR laser emission window, which significantly reduces power consumption and noise through pulse emission while ensuring image quality.

[0022] The present invention also provides an ATR low-power laser exposure system, comprising: The first time window determination module is used to determine the first time exposure window based on the preset ATR frame pre-count parameters. The image acquisition module is used to acquire image data streams of target points in real time; The pre-exposure module is used to synchronously acquire a field synchronization signal based on the target point image data stream; output a first pulse drive signal based on the field synchronization signal and a first time exposure window; and drive the laser emitter to emit pulsed laser based on the first drive signal, thereby realizing the pre-exposure of the target point image. The second time window determination module is used to determine the second time exposure window based on the preset ATR frame count parameters. The formal exposure module is used to output a second pulse drive signal based on the field synchronization signal and the second time exposure window after the pre-exposure is completed, and drive the laser emitter to emit pulsed laser based on the second pulse drive signal, thereby realizing the formal exposure of the target point image.

[0023] In the above scheme, the exposure process is divided into independent functional modules such as first time window determination, image acquisition, pre-exposure, second time window determination, and formal exposure, realizing the structured and refined laser emission control process. The image acquisition module acquires the target point image data stream in real time, providing data support for the pre-exposure module to synchronously acquire the field synchronization signal. Each module works collaboratively based on the field synchronization signal to ensure that the pre-exposure and formal exposure are strictly aligned with the effective acquisition window of the image sensor, significantly avoiding invalid light emission, reducing the overall power consumption of the system, and at the same time, relying on the pulse drive method to reduce laser heat generation, ensuring imaging quality and stability.

[0024] It should be noted that the aforementioned ATR low-power laser exposure system can be integrated into a ZYNQ chip. The image acquisition module can configure the CMOS camera through the IIC interface and receive its output Bayer data, pixel clock, line signal, and field signal. The pre-exposure module and the formal exposure module can be located at the PL terminal, receiving the pre-frame / post-frame counting parameters and enable signal sent by the PS terminal, and generating the ATR_PLUSE_ADJ drive signal based on the falling edge of the field signal, which is then output to the laser tube pin.

[0025] Further, the first time window determination module is used to determine the first time exposure window based on a preset ATR frame pre-count parameter, including: Obtain the ATR system clock cycle; The first exposure window is determined based on the ATR system clock cycle and the preset ATR frame pre-count parameters.

[0026] In the above scheme, the first time window determination module uses the ATR system clock cycle as the reference time unit and combines it with preset ATR frame pre-count parameters to accurately determine the start and duration of the first time exposure window, achieving fine-grained timing control of the pre-exposure stage. This ensures that the laser pulse can be triggered within the accurate time window before the falling edge of the camera field synchronization signal. This scheme effectively ensures strict synchronization between the pre-exposure light signal output and the image acquisition timing, avoiding image data instability or sudden changes due to timing deviations. Simultaneously, it improves the repeatability and consistency of the time window, ensuring stable operation under different working conditions, laying the foundation for subsequent formal exposure, and helping to reduce the overall power consumption of the laser and reduce equipment heat generation.

[0027] It should be noted that the clock cycle of the ATR system can be 100MHz, the pre-frame counting parameter can be configured by the PS terminal of ZYNQ via the AXI bus, and the calculation of the time window can be implemented by the hardware logic of the PL terminal to ensure high real-time performance and determinism of timing control.

[0028] The present invention also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements the steps of an ATR low-power laser exposure method as described in the present invention.

[0029] Another embodiment of the present invention provides a computer-readable storage medium item, including: a stored computer program, which, when the computer program is running, controls the device where the computer-readable storage medium is located to perform the steps of an ATR low-power laser exposure method as described in the present invention. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of an ATR low-power laser exposure method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of an ATR low-power laser exposure system architecture provided in an embodiment of the present invention. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Please see Figure 1 This embodiment provides an ATR low-power laser exposure method applied to a laser emitter, including the following steps: Step S1: Determine the first exposure window based on the preset ATR frame pre-count parameters; Step S2: Acquire the target point image data stream in real time; Step S3: Acquire the field synchronization signal based on the target point image data stream; Step S4: Based on the field synchronization signal and the first time exposure window, output the first pulse drive signal, and drive the laser emitter to emit pulsed laser based on the first drive signal, thereby realizing the pre-exposure of the target point image; Step S5: Determine the second time exposure window based on the preset ATR frame count parameters; Step S6: After the pre-exposure is completed, a second pulse drive signal is output based on the field synchronization signal and the second time exposure window. The laser emitter is driven to emit pulsed laser based on the second pulse drive signal, thereby realizing the formal exposure of the target point image.

[0033] In this embodiment, a first exposure window is determined based on preset ATR frame pre-count parameters, and a first pulse drive signal is output based on the field synchronization signal to drive the laser emitter for pre-exposure. Subsequently, a second exposure window is determined based on preset ATR frame post-count parameters, and a second pulse drive signal is output for formal exposure, dividing laser emission into two stages: pre-exposure and formal exposure. By accurately locating the necessary imaging period using the field synchronization signal, the laser's operating time is compressed to this period, thereby avoiding energy waste caused by continuous emission and effectively reducing power consumption. Secondly, the pre-exposure stage, based on the field synchronization signal, can provide a stable optical signal for the target point image data stream, preventing sudden changes in image data before formal exposure. Furthermore, the pulse drive method can reduce laser heating, thus ensuring imaging quality and stability while ensuring synchronous acquisition of the target point image data stream, relying on staged laser timing control.

[0034] In one specific embodiment, a hardware implementation scheme for an ATR low-power laser exposure method is provided. This hardware implementation scheme consists of a camera, an ATR transmitting circuit, a ZYNQ (System-on-a-Chip) PS (Processing System) terminal, and an AXI (Advanced Scalable Interface) bus connector. During operation, the ZYNQ PS terminal first sends preset configuration parameters to the ATR transmitting circuit via the AXI bus connector, including pre-frame counting parameters, post-frame counting parameters, and an ATR enable signal. Simultaneously, after the camera completes register configuration at the ZYNQ PS terminal via the IIC (Integrated Circuit Interconnect Bus) protocol, it begins acquiring images and outputting corresponding digital signals, including: an 8-bit data signal representing the raw data of the Bayer array CMOS (Complementary Metal-Oxide-Semiconductor) sensor, a 1-bit pixel clock signal, a 1-bit horizontal sync signal, and a 1-bit vertical sync signal. The vertical sync signal is directly fed to the ATR transmitting circuit.

[0035] The ATR transmitting circuit triggers its internal timing based on the falling edge of the field synchronization signal. Upon detecting the falling edge, the circuit first determines the first exposure window based on the received pre-frame count parameters and generates a first pulse drive signal (ATR_PLUSE_ADJ1) to drive the laser tube to emit the first pulse laser, completing the pre-exposure of the target point image. After the pre-exposure phase, the circuit then determines the second exposure window based on the post-frame count parameters and generates a second pulse drive signal (ATR_PLUSE_ADJ2) again based on the falling edge of the same field synchronization signal, driving the laser tube to emit the second pulse laser, thus completing the formal exposure of the target point image.

[0036] In this embodiment, high-precision, low-latency laser pulse control is achieved by combining programmable time window parameter configuration with a dedicated hardware timing generation circuit. The inherent field synchronization signal of the image sensor serves as a unified timing reference for the entire system, ensuring strict synchronization between the laser pulse and the image exposure cycle. By using pre-frame and post-frame counting parameters, the precise emission times of two laser pulses can be arbitrarily programmed within the field synchronization cycle. This compresses the effective emission time of the laser to the two extremely short periods absolutely necessary for the image sensor's light sensitivity, completely avoiding continuous operation or standby power consumption during ineffective periods, achieving significant energy savings. Simultaneously, the direct response mechanism of the hardware circuit ensures the accuracy and stability of the pulse timing, eliminating timing jitter that may be caused by software intervention, providing a reliable hardware foundation for high-quality imaging. The pre-exposure stage settings provide a stable light environment initialization for the sensor, helping to improve the stability and consistency of the image signal during the formal exposure.

[0037] Further, determining the first exposure window based on preset ATR frame pre-count parameters includes: Obtain the ATR system clock cycle; The first exposure window is determined based on the ATR system clock cycle and the preset ATR frame pre-count parameters.

[0038] In this embodiment, by introducing the ATR system clock cycle as the reference time unit and combining it with preset ATR frame pre-count parameters, the start and duration of the first exposure window are precisely determined, achieving fine-grained timing control of the pre-exposure stage. This ensures that the laser pulse is triggered within the accurate time window before the falling edge of the camera field synchronization signal. This embodiment effectively ensures strict synchronization between the pre-exposure light signal output and the image acquisition timing, avoiding image data instability or sudden changes due to timing deviations. Simultaneously, it improves the repeatability and consistency of the time window, ensuring stable operation under different working conditions, laying the foundation for subsequent formal exposure, and helping to reduce the overall power consumption of the laser and reduce equipment heat generation.

[0039] Further, the step of outputting a first pulse drive signal based on the field synchronization signal and the first time exposure window, and driving the laser emitter to emit pulsed laser light based on the first drive signal, thereby achieving pre-exposure of the target point image, includes: The falling edge of the field synchronization signal is obtained so that the falling edge of the field synchronization signal is used as the exposure timing reference time point; Based on the exposure timing reference time point and the first time exposure window, a first pulse drive signal is output so that the first drive signal drives the laser emitter to emit pulsed laser within the first time exposure window, thereby achieving pre-exposure of the target point image.

[0040] In this embodiment, the falling edge of the field synchronization signal is captured as the exposure timing reference point and combined with the first exposure window to accurately output the first pulse drive signal. This drives the laser emitter to emit pulsed laser light within the first exposure window, thereby achieving pre-exposure of the target point image. This ensures strict alignment between the laser pulse and the camera imaging timing, effectively avoiding image jitter or data anomalies caused by timing deviations, and significantly improving the stability of the optical signal during the pre-exposure stage. Simultaneously, the falling edge triggering enhances the anti-interference capability against signal jitter, improving the consistency and reliability of timing control.

[0041] Further, the step of outputting a first pulse drive signal based on the field synchronization signal and the first time exposure window, and driving the laser emitter to emit pulsed laser light based on the first drive signal, thereby achieving pre-exposure of the target point image, includes: A first-level signal is output based on the field synchronization signal and the first time exposure window; Within the first exposure window, the first level signal is periodically flipped based on a preset system clock signal to generate the first pulse drive signal. Based on the first drive signal, the laser emitter is driven to emit pulsed laser light, thereby achieving pre-exposure of the target point image.

[0042] In this embodiment, a first-level signal is output based on the field synchronization signal and the first exposure window. Within the first exposure window, the first-level signal is periodically flipped using a preset system clock signal to generate a first pulse drive signal. This signal drives the laser emitter to emit pulsed laser light to pre-expose the target point image, effectively improving the accuracy and stability of the laser drive timing. The width and interval of each pulse are controlled by the system clock, improving the uniformity and consistency of light output during the pre-exposure stage, enhancing resistance to electromagnetic interference and environmental noise, and avoiding signal distortion that may be caused by analog modulation.

[0043] In one specific embodiment, a hardware system implementation scheme for an ATR low-power laser exposure method is provided. The system includes a ZYNQ (System-on-a-Chip) chip, whose PS (System-on-a-Chip) terminal is responsible for configuration and control, and whose PL (Programmable Logic) terminal constitutes the ATR transmitting circuit. The system also includes a laser tube and a CMOS (Complementary Metal-Oxide-Semiconductor) camera. The ATR transmitting circuit is connected to the camera and the laser tube, and its key control and drive signals include an ATR enable signal, ATR pre-frame counting parameters, ATR post-frame counting parameters, and an ATR_PLUSE_ADJ (ATR pulse adjustment) drive signal. The ATR enable signal controls the switching of laser emission; the ATR pre-frame counting parameters are defined as the counting length of the pre-exposure stage before the falling edge of the camera's field synchronization signal, corresponding to the pulse width of the pre-exposure laser pulse; the ATR post-frame counting parameters are defined as the counting length of the formal exposure stage after the falling edge of the field synchronization signal, corresponding to the pulse width of the formal exposure laser pulse; the ATR_PLUSE_ADJ signal is a level signal driving the laser tube, and a high level drives the laser tube to emit laser light.

[0044] First, the ZYNQ's PS terminal sends preset configuration parameters, including the ATR enable signal, ATR pre-frame count parameters, and ATR post-frame count parameters, to the ATR transmitter circuit at the PL terminal via an internal bus. After configuration at the ZYNQ's PS terminal via IIC (Integrated Circuit Interconnect Bus), the camera begins acquiring images, obtaining the target point image data stream in real time, and outputting the target point image data stream and synchronization signals, including a field synchronization signal. The ATR transmitter circuit receives this field synchronization signal and detects its falling edge, using the falling edge of the field synchronization signal as the reference time point for the entire exposure sequence. Based on this reference point, the circuit performs the first exposure window determination step: acquiring the ATR system clock period (e.g., a 10ns period corresponding to a 100MHz clock), and based on the ATR system clock period and the received ATR pre-frame count parameters, accurately calculating and determining the start time and duration of the first exposure window, achieving fine-grained timing control of the pre-exposure stage. Within the first exposure window, the circuit generates a first pulse drive signal to drive the laser tube for pre-exposure. The generation of the driving signal can be configured in two modes: In continuous emission mode, a first-level signal is output based on the falling edge reference point of the field synchronization signal and the first time exposure window, so that the ATR_PLUSE_ADJ signal is continuously pulled high within the first time exposure window, driving the laser tube to emit laser stably, providing a stable light signal for the target point image data stream, and preventing sudden changes in image data before formal exposure; In pulse emission mode, a first-level signal is output based on the falling edge reference point of the field synchronization signal and the first time exposure window. Within the first time exposure window, the first-level signal is periodically flipped based on the rising edge of a preset ATR system clock signal (e.g., 100MHz), thereby generating a high-frequency pulse sequence (e.g., an ATR_PLUSE_ADJ signal with a 50MHz duty cycle), generating the first pulse driving signal, and driving the laser tube to emit pulsed laser. In this mode, the width and interval of each pulse are controlled by the ATR system clock, improving the uniformity and consistency of light output in the pre-exposure stage, enhancing the resistance to electromagnetic interference and environmental noise, and avoiding signal distortion that may be caused by analog modulation.

[0045] After the pre-exposure stage, the circuit performs the step of determining the second time exposure window: based on the preset ATR frame count parameters and the ATR system clock cycle, it calculates and determines the start time and duration of the second time exposure window. Using the falling edge of the same field synchronization signal as a reference, the circuit outputs a second pulse drive signal based on the field synchronization signal and the second time exposure window, and drives the laser tube to complete the formal exposure using the same signal generation mode as the first pulse drive signal.

[0046] The total width of the two exposure windows is equal to the sum of the pre-frame counting parameter value and the post-frame counting parameter value multiplied by the ATR system clock cycle, thereby enabling flexible and precise control of the laser emission timing and duration by the PS terminal of ZYNQ.

[0047] In this embodiment, by introducing programmable pre- and post-frame counting parameters and utilizing a high-precision system clock as the timing reference, fine-grained timing control of the pre-exposure and formal exposure stages is achieved. Using the falling edge of the field synchronization signal as a unified timing reference ensures strict synchronization between laser pulse emission and the image sensor's exposure cycle, effectively avoiding image data instability or jitter caused by timing deviations, and improving the system's anti-interference capability and timing consistency. Specifically, in pulsed emission mode, generating a pulse drive signal with a precise duty cycle under high-frequency clock control significantly reduces the average operating current of the laser tube and the overall system power consumption, while also reducing device heat generation. Furthermore, setting the pre-exposure stage before the falling edge of the field synchronization signal provides a stable and uniform initial light signal to the image sensor, contributing to better image quality and signal-to-noise ratio during formal exposure. This allows for further shortening of the laser pulse width while achieving the same imaging effect, thereby achieving deeper energy savings. Compared to continuous emission schemes, this scheme has significant advantages in terms of power consumption and thermal management. At the same time, while ensuring the synchronous acquisition of target point image data streams, it relies on staged laser timing control to guarantee imaging quality and stability.

[0048] Further, the step of outputting a first pulse drive signal based on the field synchronization signal and the first time exposure window, and driving the laser emitter to emit pulsed laser light based on the first drive signal, thereby achieving pre-exposure of the target point image, includes: When the falling edge of the field synchronization signal is detected, the first time counter is started so that the first time counter counts the exposure time based on the falling edge of the field synchronization signal to obtain a first time count value; When the first time count value is less than the preset ATR frame pre-count parameter, it is determined that it is within the first time window, and the first pulse drive signal is output. Based on the first drive signal, the laser emitter is driven to emit pulsed laser, thereby realizing the pre-exposure of the target point image.

[0049] In this embodiment, a first time counter is activated when the falling edge of the field synchronization signal is triggered. The counter counts the exposure time based on this falling edge to obtain a first time count value, and compares the count value with a preset ATR frame pre-count parameter in real time. When the count value is less than the preset ATR frame pre-count parameter, it is determined that it is within the first time window, and a first pulse drive signal is output accordingly. This achieves precise digital control of the pre-exposure stage, ensuring that the laser pulse emission timing and duration strictly meet the preset timing requirements. This significantly improves the accuracy and consistency of time window determination, enhances the anti-interference capability against signal jitter and noise, and ensures the stability of the imaging process during the pre-exposure stage.

[0050] Further, after the pre-exposure is completed, a second pulse drive signal is output based on the field synchronization signal and the second time exposure window to drive the laser emitter to emit pulsed laser light, thereby achieving formal exposure of the target point image, including: When the falling edge of the field synchronization signal is detected, the second time counter is started so that the second time counter counts the exposure time based on the falling edge of the field synchronization signal after the pre-exposure is completed, and obtains the second time count value; When the second time count value is less than the preset ATR frame count parameter, it is determined that it is within the second time window, and the second pulse drive signal is output. Based on the second pulse drive signal, the laser emitter is driven to emit pulsed laser, thereby realizing the formal exposure of the target point image.

[0051] In this embodiment, a second time counter is activated upon detecting the falling edge of the field synchronization signal. After the pre-exposure, the exposure time is counted based on this falling edge to obtain a second time count value. This count value is then compared in real time with a preset ATR frame post-count parameter. When the count value is less than the preset ATR frame post-count parameter, it is determined that the exposure is within the second time window. Accordingly, a second pulse drive signal is output to achieve precise timing control of the formal exposure stage. This ensures that the laser pulse is triggered strictly within the second time window, making the formal exposure completely synchronized with the effective acquisition period of the image sensor. Compared with continuous emission or simple pulse modulation methods, this improves the accuracy and repeatability of exposure timing, effectively prevents underexposure or overexposure, and ensures the consistency and reliability of image quality.

[0052] Please see Figure 2 This embodiment also provides an ATR low-power laser exposure system, including: The first time window determination module is used to determine the first time exposure window based on the preset ATR frame pre-count parameters. The image acquisition module is used to acquire image data streams of target points in real time; The pre-exposure module is used to synchronously acquire a field synchronization signal based on the target point image data stream; output a first pulse drive signal based on the field synchronization signal and a first time exposure window; and drive the laser emitter to emit pulsed laser based on the first drive signal, thereby realizing the pre-exposure of the target point image. The second time window determination module is used to determine the second time exposure window based on the preset ATR frame count parameters. The formal exposure module is used to output a second pulse drive signal based on the field synchronization signal and the second time exposure window after the pre-exposure is completed, and drive the laser emitter to emit pulsed laser based on the second pulse drive signal, thereby realizing the formal exposure of the target point image.

[0053] In this embodiment, the exposure process is divided into independent functional modules such as first time window determination, image acquisition, pre-exposure, second time window determination, and formal exposure, realizing the structured and refined laser emission control process. The image acquisition module acquires the target point image data stream in real time, providing data support for the pre-exposure module to synchronously acquire the field synchronization signal. Each module works collaboratively based on the field synchronization signal to ensure that the pre-exposure and formal exposure are strictly aligned with the effective acquisition window of the image sensor, significantly avoiding invalid light emission, reducing the overall power consumption of the system, and at the same time, relying on the pulse drive method to reduce laser heat generation, ensuring imaging quality and stability.

[0054] In one specific embodiment, an ATR low-power laser exposure system is provided, applied to an embedded image processing platform. This ATR low-power laser exposure system is implemented on a ZYNQ (System-on-a-Chip) chip and connected to a CMOS camera module. The CMOS camera module is connected to the corresponding I / O (input / output) interface of the ZYNQ chip via an FPC (Flexible Printed Circuit) cable. The ZYNQ chip also outputs a pulse level signal ATR_PLUSE_ADJ to drive the laser tube through an I / O pin; this signal is connected to the control pin of the laser tube. The specific working process of this embodiment of the ATR low-power laser exposure system includes the following steps: First, the relevant registers of the CMOS camera are configured through the IIC (Integrated Circuit Interconnect Bus) interface of the ZYNQ chip. After configuration, the camera begins to acquire images of the target point and returns the generated image data stream and related frame synchronization signals to the ATR exposure control circuit within the ZYNQ chip.

[0055] Subsequently, based on the preset ATR pre-frame counting parameters, the first exposure window is determined. The ATR exposure control circuit receives and parses the field synchronization signal returned by the camera. Based on the timing relationship between the field synchronization signal and the first exposure window, it generates a first pulse drive signal and outputs it through the ATR_PLUSE_ADJ pin, thereby driving the laser tube to emit the first pulse laser to complete the pre-exposure of the target point image.

[0056] After the pre-exposure stage ends, a second exposure window is determined based on preset ATR frame count parameters. Then, based on the timing relationship between the field synchronization signal and the second exposure window, a second pulse drive signal is generated and output through the ATR_PLUSE_ADJ pin, thereby driving the laser tube to emit a second pulse laser, completing the formal exposure of the target point image.

[0057] In this embodiment, the laser emission process is divided into two stages: pre-exposure and formal exposure, each controlled by a different time window. Precise timing control is achieved using a field synchronization signal synchronously acquired from the image data stream. This design strictly compresses the laser's operating time to the necessary time for imaging, avoiding continuous laser operation and effectively reducing system power consumption. Simultaneously, the pre-exposure stage provides a stable initial light signal to the image sensor, helping to suppress abrupt changes in image data before formal exposure and improving signal stability. Furthermore, using pulsed drive instead of DC drive further reduces laser heat generation. By ensuring the quality of synchronous acquisition of the image data stream, the staged laser timing control guarantees the reliability and stability of the overall imaging process.

[0058] Further, the first time window determination module is used to determine the first time exposure window based on a preset ATR frame pre-count parameter, including: Obtain the ATR system clock cycle; The first exposure window is determined based on the ATR system clock cycle and the preset ATR frame pre-count parameters.

[0059] In this embodiment, the first time window determination module uses the ATR system clock cycle as the reference time unit and combines it with preset ATR frame pre-count parameters to accurately determine the start and duration of the first time exposure window. This achieves fine-grained timing control of the pre-exposure stage, ensuring that the laser pulse is triggered within the accurate time window before the falling edge of the camera field synchronization signal. This embodiment effectively ensures strict synchronization between the pre-exposure light signal output and the image acquisition timing, avoiding image data instability or sudden changes due to timing deviations. Simultaneously, it improves the repeatability and consistency of the time window, ensuring stable operation under different working conditions, laying the foundation for subsequent formal exposure, and helping to reduce the overall power consumption of the laser and reduce equipment heat generation.

[0060] Based on the above-described embodiment of the ATR low-power laser exposure method, another embodiment of the present invention provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements an ATR low-power laser exposure method according to any embodiment of the present invention.

[0061] For example, in this embodiment, the computer program can be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the terminal device.

[0062] The terminal device may be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0063] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device via various interfaces and lines.

[0064] Based on the above-described method embodiments, another embodiment of the present invention provides a computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute an ATR low-power laser exposure method as described in any of the above-described method embodiments of the present invention.

[0065] The modules or units integrated into the terminal device, if implemented as software functional units and sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0066] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A low-power laser exposure method for ATR, characterized in that, When applied to a laser emitter, the following steps are included: The first exposure window is determined based on the preset ATR frame pre-count parameters; Real-time acquisition of target point image data stream; The field synchronization signal is synchronously acquired based on the target point image data stream; Based on the field synchronization signal and the first time exposure window, a first pulse drive signal is output, and the laser emitter is driven to emit pulsed laser based on the first drive signal, thereby realizing the pre-exposure of the target point image; The second time exposure window is determined based on the preset ATR frame count parameters; After the pre-exposure is completed, a second pulse drive signal is output based on the field synchronization signal and the second time exposure window. The laser emitter is driven to emit pulsed laser based on the second pulse drive signal, thereby realizing the formal exposure of the target point image.

2. The ATR low-power laser exposure method according to claim 1, characterized in that, The determination of the first exposure window based on preset ATR frame pre-count parameters includes: Obtain the ATR system clock cycle; The first exposure window is determined based on the ATR system clock cycle and the preset ATR frame pre-count parameters.

3. The ATR low-power laser exposure method according to claim 1, characterized in that, The step of outputting a first pulse drive signal based on the field synchronization signal and the first time exposure window, and driving the laser emitter to emit pulsed laser based on the first drive signal, thereby achieving pre-exposure of the target point image, includes: The falling edge of the field synchronization signal is obtained so that the falling edge of the field synchronization signal is used as the exposure timing reference time point; Based on the exposure timing reference time point and the first time exposure window, a first pulse drive signal is output so that the first drive signal drives the laser emitter to emit pulsed laser within the first time exposure window, thereby achieving pre-exposure of the target point image.

4. The ATR low-power laser exposure method according to claim 1, characterized in that, The step of outputting a first pulse drive signal based on the field synchronization signal and the first time exposure window, and driving the laser emitter to emit pulsed laser based on the first drive signal, thereby achieving pre-exposure of the target point image, includes: A first-level signal is output based on the field synchronization signal and the first time exposure window; Within the first exposure window, the first level signal is periodically flipped based on a preset system clock signal to generate the first pulse drive signal. Based on the first drive signal, the laser emitter is driven to emit pulsed laser light, thereby achieving pre-exposure of the target point image.

5. The ATR low-power laser exposure method according to claim 1, characterized in that, The step of outputting a first pulse drive signal based on the field synchronization signal and the first time exposure window, and driving the laser emitter to emit pulsed laser based on the first drive signal, thereby achieving pre-exposure of the target point image, includes: When the falling edge of the field synchronization signal is detected, the first time counter is started so that the first time counter counts the exposure time based on the falling edge of the field synchronization signal to obtain a first time count value; When the first time count value is less than the preset ATR frame pre-count parameter, it is determined that it is within the first time window, and the first pulse drive signal is output. Based on the first drive signal, the laser emitter is driven to emit pulsed laser, thereby realizing the pre-exposure of the target point image.

6. The ATR low-power laser exposure method according to claim 1, characterized in that, After the pre-exposure is completed, a second pulse drive signal is output based on the field synchronization signal and the second time exposure window. This second pulse drive signal drives the laser emitter to emit pulsed laser light, thereby achieving the formal exposure of the target point image. This includes: When the falling edge of the field synchronization signal is detected, the second time counter is started so that the second time counter counts the exposure time based on the falling edge of the field synchronization signal after the pre-exposure is completed, and obtains the second time count value; When the second time count value is less than the preset ATR frame count parameter, it is determined that it is within the second time window, and the second pulse drive signal is output. Based on the second pulse drive signal, the laser emitter is driven to emit pulsed laser, thereby realizing the formal exposure of the target point image.

7. An ATR low-power laser exposure system, characterized in that, include: The first time window determination module is used to determine the first time exposure window based on the preset ATR frame pre-count parameters. The image acquisition module is used to acquire image data streams of target points in real time; The pre-exposure module is used to synchronously acquire a field synchronization signal based on the target point image data stream; Based on the field synchronization signal and the first time exposure window, a first pulse drive signal is output, and the laser emitter is driven to emit pulsed laser based on the first drive signal, thereby realizing the pre-exposure of the target point image; The second time window determination module is used to determine the second time exposure window based on the preset ATR frame count parameters. The formal exposure module is used to output a second pulse drive signal based on the field synchronization signal and the second time exposure window after the pre-exposure is completed, and drive the laser emitter to emit pulsed laser based on the second pulse drive signal, thereby realizing the formal exposure of the target point image.

8. The ATR low-power laser exposure system according to claim 7, characterized in that, The first time window determination module is used to determine the first time exposure window based on a preset ATR frame pre-count parameter, including: Obtain the ATR system clock cycle; The first exposure window is determined based on the ATR system clock cycle and the preset ATR frame pre-count parameters.

9. A terminal device, characterized in that, The method includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements an ATR low-power laser exposure method as described in any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, include: A stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform an ATR low-power laser exposure method as described in any one of claims 1-6.

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