WO2024022171A1

WO2024022171A1 - Signal processing method, and electronic device

Info

Publication number: WO2024022171A1
Application number: PCT/CN2023/107943
Authority: WO
Inventors: 段耿耿; 田智浩; 魏建宾
Original assignee: 华为技术有限公司
Priority date: 2022-07-29
Filing date: 2023-07-18
Publication date: 2024-02-01
Also published as: CN117518147A; WO2024022171A9

Abstract

A signal processing method, and an electronic device. The method is applied to an electronic device (100) comprising a ranging sensor (180D). The method comprises: detecting a first interference signal by means of a ranging sensor (S1301); adjusting the ranging period of the ranging sensor, wherein the duration for obtaining a ranging result within the adjusted ranging period is not equal to the duration for obtaining a ranging result within the ranging period before adjustment (S1302); and controlling the ranging sensor to process the signal according to the adjusted ranging period, wherein the processing comprises one or more of transmitting, receiving or obtaining the ranging result (S1303). The method can suppress co-frequency interference between a plurality of ranging sensors.

Description

A signal processing method and electronic device

Cross-references to related applications

This application claims priority to the Chinese patent application filed with the China Patent Office on July 29, 2022, with the application number 202210910503.7 and the application title "A signal processing method and electronic device", the entire content of which is incorporated into this application by reference. middle.

Technical field

The present application relates to the technical field of electronic equipment, and in particular, to a signal processing method and electronic equipment.

Background technique

Ranging sensors are commonly used in devices such as mobile phones, tablets, smart door locks, or vehicle-mounted terminal equipment to detect the distance of a target. Ranging sensors usually use electromagnetic waves or ultrasonic waves to measure distance. During ranging, the signal emitted by the ranging sensor will be reflected when it encounters the target. The ranging sensor receives the reflected signal and calculates the phase difference or time difference between the sent and received signals to determine the distance between the ranging sensor and the target. .

However, when electromagnetic waves or ultrasonic waves are used for ranging, they do not carry coded information. Therefore, after the ranging sensor receives the signal, it cannot distinguish whether the signal is a reflection of the signal emitted by itself or a signal emitted by other ranging sensors. The range-finding sensor has a wide field of view (FOV) coverage, so when there are multiple ranging sensors emitting signals with the same frequency in a certain space, it is easy for co-channel interference to occur, resulting in The distance measurement results have a large error.

Contents of the invention

Embodiments of the present application provide a signal processing method and electronic equipment to suppress co-channel interference between multiple ranging sensors.

In a first aspect, the present application provides a signal processing method, which is applied to an electronic device including a ranging sensor. The method includes: detecting a first interference signal through the ranging sensor; adjusting the ranging of the ranging sensor. period, wherein the time period used to obtain ranging results in the adjusted ranging period is not equal to the time period used to obtain ranging results in the ranging period before adjustment; the ranging sensor is controlled to be based on the adjusted measuring period. The signal is processed periodically, wherein the processing includes one or more of transmitting, receiving, or obtaining ranging results.

In this method, if the electronic device including the ranging sensor detects the first interference signal through the ranging sensor, it can be determined that there is an interfering ranging sensor that generates co-frequency interference to the ranging sensor. By adjusting the length of time used to obtain ranging results within the ranging cycle of the ranging sensor, the signal from the interfering ranging sensor will not be continuously received by the ranging sensor, thereby suppressing interference between multiple ranging sensors. Co-channel interference. Moreover, the process of adjusting the ranging cycle in the embodiment of the present application will not cause the ranging frequency of the ranging sensor to drop significantly, and can continue to ensure that the ranging behavior of the ranging sensor continues. In addition, the method provided by the embodiment of the present application can be implemented through software configuration without increasing the hardware complexity of the ranging sensor.

In a possible design, when the electronic device including the ranging sensor detects the first interference signal through the ranging sensor, it can: before the ranging sensor transmits the signal, receive the first interference signal through the ranging sensor. signal; determine that the first signal is the first interference signal.

In this method, if the electronic device including the ranging sensor receives the first signal through the ranging sensor before the ranging sensor transmits the signal, it can be determined that the first signal received by the ranging sensor is not the ranging sensor. The signal emitted by the distance sensor is reflected back when it encounters the target, but interferes with the signal emitted by the distance sensor, that is, the first signal is the first interference signal, and then it is determined that there is interference that causes co-frequency interference to the distance sensor ranging sensors, thereby being able to suppress co-channel interference between multiple ranging sensors through subsequent processing.

In a possible design, the absolute value of the difference between the first duration and the second duration is greater than or equal to the duration used to receive the signal in the ranging period before adjustment, wherein the first duration is the The second duration is the duration used to obtain the ranging result in the adjusted ranging period, and the second duration is the duration used to obtain the ranging result in the pre-adjusted ranging period.

In this method, the electronic device including the ranging sensor can adjust the length of time used to obtain the ranging result within the ranging cycle of the ranging sensor, so that the length of time used to obtain the ranging result within the adjusted ranging cycle is equal to The absolute value of the difference in the duration used to obtain ranging results in the ranging period before adjustment can be greater than or equal to the duration used to receive signals in the ranging period before adjustment, thereby ensuring that interference from The signal of the ranging sensor will not be continuously received by the ranging sensor, thus suppressing the same-frequency interference between multiple ranging sensors.

In a possible design, the electronic device including the ranging sensor can also: receive a second signal through the ranging sensor; if the second signal is a second interference signal, control the ranging sensor to filter the Second signal.

In this method, the electronic device including the ranging sensor may receive the second signal through the ranging sensor after controlling the ranging sensor to process the signal according to the adjusted ranging cycle, if the second signal is a second interference signal , controlling the ranging sensor to filter the second signal, thereby suppressing co-channel interference between multiple ranging sensors.

In a possible design, the electronic device including the ranging sensor may also: determine that the second signal is the second interference if the number of times the second signal is continuously received by the ranging sensor is less than a threshold. Signal.

In this method, the electronic device including the ranging sensor can determine the number of consecutive occurrences of the signal received by the ranging sensor. If the number of consecutive occurrences is not less than a threshold, it is determined that the signal is a normal signal. If the number of consecutive occurrences is less than threshold, it is determined that the signal is an interference signal, thereby suppressing co-frequency interference between multiple ranging sensors.

In a possible design, when the number of times the second signal is continuously received by the distance sensor is less than a threshold and the electronic device including the ranging sensor determines whether the second signal is a second interference signal, : If the ranging sensor receives the second signal at the first moment and does not receive the second signal at the second moment, determine that the second signal is the second interference signal, where: The duration between the second moment and the first moment is N times the duration of the adjusted ranging period, and N is a positive integer smaller than the threshold.

In this method, after the electronic device including the ranging sensor adjusts the duration used to obtain the ranging result within the ranging cycle of the ranging sensor, if the ranging sensor receives the second signal at the first moment, it can be determined by Whether the ranging sensor also receives the second signal at a second time that is N adjusted ranging cycles apart from the first time, to determine whether the number of times the second signal is continuously received by the ranging sensor is less than the threshold, if If the ranging sensor does not receive the second signal at the second moment, it can be determined that the second signal is the second interference signal, thereby ensuring that the ranging sensor can accurately filter the interference signal and suppressing the interference generated by the ranging sensor to the ranging sensor. co-channel interference.

In a possible design, the threshold value is greater than or equal to the sum of the number of the ranging sensors and the number of interfering ranging sensors.

In a possible design, the number of interference ranging sensors is determined based on the first interference signal.

In this method, the electronic device including the ranging sensor can determine the number of interfering ranging sensors that cause co-frequency interference to the ranging sensor based on all signals received by the ranging sensor before transmitting the signal. Due to the adjustment After the ranging period of the ranging sensor, the same-frequency interference caused by the interfering ranging sensor to the ranging sensor will not appear continuously. Therefore, the threshold can be set to no less than the number of the ranging sensors and the interfering ranging sensor. The sum of the number of sensors, if the number of times the signal is continuously received by the ranging sensor is less than the threshold, it can be determined that the signal is an interference signal, thereby ensuring that the ranging sensor can accurately filter the interference signal and suppress the interference of the ranging sensor. Co-frequency interference generated by distance sensors.

In a possible design, when the number of times the second signal is continuously received by the distance sensor is less than a threshold and the electronic device including the ranging sensor determines whether the second signal is a second interference signal, : Generate a narrow pulse signal corresponding to the second signal; perform frequency division processing and high-pass filtering processing on the narrow pulse signal to obtain a signal envelope, wherein the frequency division processing is used to divide the narrow pulse signal into Convert to an edge signal; if the second signal does not exist in the signal envelope, determine the second signal to be the second interference signal.

In this method, after the electronic device including the ranging sensor adjusts the time period used to obtain the ranging result within the ranging cycle of the ranging sensor, if the ranging sensor receives the second signal, it can generate the second signal corresponding to The narrow pulse signal is generated, and all generated narrow pulse signals are divided by two and high-pass filtered to obtain the signal envelope. Since the number of times the interference signal is continuously received by the ranging sensor is less than the threshold, frequency divided by two and high-pass filtered The processing will filter the narrow pulse signal corresponding to the interference signal so that there is no interference signal in the obtained signal envelope. Therefore, if there is no second signal in the obtained signal envelope, the second signal can be determined to be the interference signal, thus ensuring The ranging sensor can accurately filter interference signals and suppress the same-frequency interference caused by the interfering ranging sensor to the ranging sensor.

In a second aspect, this application also provides an electronic device, including a ranging sensor and a processor; the ranging sensor and the processor have any possible design method for implementing the above first aspect or the first aspect. The functions can be implemented by hardware, or can be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

Wherein, the ranging sensor is used to detect the first interference signal;

The processor is configured to adjust the ranging period of the ranging sensor, wherein the time used to obtain the ranging results in the adjusted ranging period is not equal to the time used to obtain the ranging results in the ranging period before adjustment. duration;

The ranging sensor is also used to process signals according to the adjusted ranging cycle, wherein the processing includes transmitting, receiving, Or obtain one or more of the ranging results.

In a possible design, the ranging sensor is used to detect the first interference signal in the following manner: before the ranging sensor transmits the signal, receive the first signal; determine that the first signal is the first interference signal. An interference signal.

In a possible design, the ranging sensor is also used to receive a second signal; the ranging sensor is also used to filter the second signal if the second signal is a second interference signal.

In a possible design, the processor is further configured to determine that the second signal is the second interference signal if the number of times the second signal is continuously received by the ranging sensor is less than a threshold.

In a possible design, the processor is configured to determine that the second signal is the second interference signal if the number of times the second signal is continuously received by the ranging sensor is less than a threshold. : If the ranging sensor receives the second signal at the first moment and does not receive the second signal at the second moment, determine that the second signal is the second interference signal, where: The duration between the second moment and the first moment is N times the duration of the adjusted ranging period, and N is a positive integer smaller than the threshold.

In a possible design, the processor is configured to determine that the second signal is the second interference signal if the number of times the second signal is continuously received by the ranging sensor is less than a threshold. : Generate a narrow pulse signal corresponding to the second signal; perform frequency division processing and high-pass filtering processing on the narrow pulse signal to obtain a signal envelope, wherein the frequency division processing is used to divide the narrow pulse signal into Convert to an edge signal; if the second signal does not exist in the signal envelope, determine the second signal to be the second interference signal.

In a third aspect, the present application provides a computer-readable storage medium. The computer-readable storage medium is used to store a computer program. When the computer program is run on a computer, it causes the computer to execute the above-mentioned first aspect or A first aspect of any possible design is the method described.

In a fourth aspect, the present application provides a computer program product, including a computer program, which when the computer program is run on a computer, causes the computer to execute as described in the above first aspect or any possible design of the first aspect. Methods.

For the beneficial effects in the above second to fourth aspects and their possible designs, reference can be made to the above description of the beneficial effects of the method described in the first aspect and any possible designs thereof.

Description of drawings

Figure 1 is a schematic diagram of an application scenario of the ranging sensor provided by the embodiment of the present application;

Figure 2 is a schematic diagram of a working principle of the ranging sensor provided by the embodiment of the present application;

Figure 3 is a schematic diagram of the ranging cycle of a ranging sensor provided by an embodiment of the present application;

Figure 4 is a schematic diagram of a ranging histogram provided by an embodiment of the present application;

Figure 5 is a schematic diagram of co-frequency interference of the ranging sensor provided by the embodiment of the present application;

Figure 6 is a schematic diagram of continuous co-frequency interference of the ranging sensor provided by the embodiment of the present application;

Figure 7 is a schematic diagram of a time-sharing avoidance provided by an embodiment of the present application;

Figure 8 is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present application;

Figure 9 is a schematic diagram of co-channel interference judgment provided by an embodiment of the present application;

Figure 10 is a schematic diagram of adjusting the ranging period provided by an embodiment of the present application;

Figure 11 is a schematic diagram for determining interference signals provided by an embodiment of the present application;

Figure 12 is another schematic diagram for determining interference signals provided by an embodiment of the present application;

Figure 13 is a schematic flow chart of a signal processing method provided by an embodiment of the present application;

FIG. 14 is a schematic diagram of the hardware structure of another electronic device provided by an embodiment of the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

Some terms involved in the embodiments of the present application are explained below to facilitate understanding of the embodiments of the present application.

(1) At least one of the embodiments of the present application involves one or more; where multiple means greater than or equal to two. In addition, it should be understood that in the description of this specification, words such as "first" and "second" are only used for the purpose of distinguishing the description, and cannot be understood to express or imply relative importance, nor can they be understood to express Or suggestive order. For example, the first object and the second object do not represent the importance of the two or the order of the two, but are only used to distinguish the description. In the embodiment of this application, "and/or" only describes the association relationship, indicating that three relationships can exist, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone. these three situations. In addition, the character "/" in this article generally indicates that the related objects are an "or" relationship.

In the description of the embodiments of this application, it should be noted that, unless otherwise clearly stated and limited, the terms "installation" and "connection" should be understood in a broad sense. For example, "connection" can be detachably connected, or can be detachably connected. It is non-detachably connected; it can be directly connected or indirectly connected through an intermediate medium. The directional terms mentioned in the embodiments of the present application, such as "upper", "lower", "left", "right", "inner", "outer", etc., are only for reference to the direction of the drawings. Therefore, use The orientation terms are used to describe and understand the embodiments of the present application better and more clearly, but do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. Limitations of Application Examples. "Plural" means at least two.

Reference herein to "one embodiment" or "some embodiments" or the like means that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments provided herein. Thus, the various appearances herein of the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in further embodiments," etc., are not necessarily all References to the same embodiment are intended to mean "one or more, but not all, embodiments" unless otherwise specifically emphasized. The terms “including,” “includes,” “having,” and variations thereof all mean “including but not limited to,” unless otherwise specifically emphasized.

(2) Ranging sensor is one of the commonly used smart sensors and can be used to detect distance. Ranging sensors usually use electromagnetic waves or ultrasonic waves to measure distance. During ranging, the signal emitted by the transmitting device of the ranging sensor will be reflected back to the receiving device of the ranging sensor when it encounters a target. By calculating the phase difference or time difference between the sending and receiving signals, the distance between the ranging sensor and the target can be determined. distance between.

Ranging sensors have been widely used in electronic devices to detect target position or distance. In some embodiments of the present application, electronic devices may be portable devices, such as mobile phones, tablets, wearable devices with wireless communication functions (for example, watches, bracelets, helmets, headphones, etc.), vehicle-mounted terminal devices, augmented reality ( augmented reality (AR)/virtual reality (VR) devices, laptops, ultra-mobile personal computers (UMPC), netbooks, personal digital assistants (personal digital assistant, PDA), etc. Electronic devices can also be smart home devices (such as smart TVs, smart speakers, smart door locks, etc.), smart cars, smart robots, workshop equipment, wireless terminals in self-driving (Self Driving), remote medical surgery (Remote Medical Surgery) ), a wireless terminal in a Smart Grid, a wireless terminal in Transportation Safety, a wireless terminal in a Smart City, or a wireless terminal in a Smart Home , flying equipment (such as intelligent robots, hot air balloons, drones, airplanes), etc.

In some embodiments of the present application, the electronic device may also be a portable terminal device that also includes other functions such as a personal digital assistant and/or a music player function. Exemplary embodiments of portable terminal devices include, but are not limited to, carrying Or portable terminal devices with other operating systems. The above-mentioned portable terminal device may also be other portable terminal devices, such as a laptop computer (Laptop) with a touch-sensitive surface (such as a touch panel). It should also be understood that in other embodiments of the present application, the above-mentioned electronic device may not be a portable terminal device, but a desktop computer with a touch-sensitive surface (such as a touch panel).

For example, ranging sensors are used in smart door locks. The smart door lock can detect whether someone is approaching within a preset distance around the smart door lock through the included ranging sensor, thereby activating face recognition when someone is detected approaching. Illustratively, FIG. 1 is a schematic diagram of an application scenario of a ranging sensor provided by an embodiment of the present application. FIG. 1 takes a smart door lock including a ranging sensor as an example. Figure 1 shows a scenario where multiple households face each other. The ranging sensor 1, ranging sensor 2 and ranging sensor 3 in Figure 1 are respectively installed in the smart door lock 1 of door 1 and the smart door lock 2 of door 2. On the smart door lock 3 of the door 3. Alternatively, the ranging sensor is applied in a vehicle-mounted terminal device. The vehicle-mounted terminal device can detect whether there are foreign objects, pedestrians or other vehicles in the driving direction of the vehicle corresponding to the vehicle-mounted terminal device through the included ranging sensor, thereby detecting the presence of foreign objects, pedestrians or other vehicles. or other vehicles automatically brake or change direction.

Exemplarily, FIG. 2 is a schematic diagram of a working principle of the ranging sensor provided by the embodiment of the present application. Among them, the ranging sensor transmits ultrasonic waves through the transmitting device at time _t1 , and receives the ultrasonic waves reflected by the target through the receiving device at time _t2 . The ranging sensor can determine the time difference between the emitted ultrasonic wave and the reflected ultrasonic wave through a timer as Δt=t ₂ -t ₁ , due to the propagation of ultrasonic waves in the air The speed is v=340m/s, then the ranging sensor can obtain the ranging result of the target. For example, the ranging result of the target is the distance between the ranging sensor and the target, and the distance is s=(v·Δt) /2.

The ranging frequency of the ranging sensor, also known as the working frequency, represents the number of ranging times of the ranging sensor within a unit time. For example, the ranging frequency is 10 Hertz (Hz), which means that the ranging sensor measures the ranging 10 times per second, that is, the ranging period of the ranging sensor is 100 milliseconds (ms).

For example, FIG. 3 is a schematic diagram of the ranging cycle of a ranging sensor provided by an embodiment of the present application. A ranging cycle may include three durations, or three phases. For example, the three phases in a ranging cycle are a transmitting phase, a receiving phase, and a data processing phase.

Among them, the transmitting stage is used for the ranging sensor to transmit signals. During the emission phase, the ranging sensor can emit signals. For ranging sensors of the same model, the duration of the emission phase can be the same.

The receiving stage is used for the ranging sensor to receive signals. During the reception phase, the ranging sensor receives the signal and also records the strength of the received signal. The duration of the receiving phase is related to the ranging range of the ranging sensor. For example, the larger the ranging range, the longer the duration of the receiving phase.

The data processing stage is used to process signals from the ranging sensor. Among them, the signal processing by the ranging sensor can also be understood as the ranging sensor obtaining the ranging result. That is, the data processing stage can also be understood as being used by the ranging sensor to obtain the ranging result. In the data processing stage, the ranging sensor can neither transmit nor receive signals, but determine the ranging results based on the signals received in the receiving stage. For example, during the receiving stage, the ranging sensor records a ranging histogram based on the received signal. Then, during the data processing stage, the ranging sensor can determine the ranging result based on the ranging histogram. Among them, the abscissa of the ranging histogram represents the distance of the target, and the ordinate represents the signal strength of the signal reflected by the target.

For example, FIG. 4 is a schematic diagram of a ranging histogram provided by an embodiment of the present application. As shown in Figure 4, the abscissa represents the distance to the target, and the ordinate represents the signal strength of the signal reflected by the target. The ranging sensor can determine the signal strength of the signal reflected from the target within the ranging range of the ranging sensor through the ranging histogram. If there is a signal strength greater than or equal to the set threshold, the distance corresponding to the signal strength can be as the ranging result. If there are multiple signal strengths greater than or equal to the set threshold, the ranging result with the smallest distance can be used as the final ranging result.

In addition, during the data processing stage, the ranging sensor can also supplement the configuration of the ranging frequency through delay. For example, if the ranging frequency of the ranging sensor is 10Hz, then the ranging cycle of the ranging sensor is 100ms. If the duration of the transmitting phase in the ranging cycle is set to 1ms, the duration of the receiving phase in the ranging cycle is set to 19ms. , the length of time that the ranging sensor uses to obtain the ranging result in the data processing stage of the ranging cycle is 20ms. After obtaining the ranging result, the data processing stage of the ranging cycle needs to be extended by 60ms, thereby extending the ranging cycle. The duration is supplemented to 100ms.

(3) Co-channel interference. When electromagnetic waves or ultrasonic waves are used for distance measurement, they do not carry coded information. Therefore, after ranging sensors receive signals, they cannot distinguish whether the signal is a reflection of the signal emitted by itself or a signal emitted by other ranging sensors. The range-finding sensors that use electromagnetic waves or ultrasonic waves to measure distance have a wide coverage range of the field of view. Therefore, when there are multiple ranging sensors with the same signal frequency in a certain space, co-channel interference is prone to occur. For example, the signal received by the receiving device of any ranging sensor may be a reflected signal of the signal emitted by the transmitting device of the ranging sensor, but it may also be a signal emitted by the transmitting device of other ranging sensors with the same signal frequency. This results in a large error in the ranging results. As shown in Figure 1, if each household uses ranging sensors with the same signal frequency, that is, the signal frequencies of ranging sensor 1, ranging sensor 2 and ranging sensor 3 are the same, then serious co-frequency interference problems will occur. , and co-channel interference will frequently wake up the smart door lock to start face recognition, resulting in a decrease in the smart door lock's battery life.

FIG. 5 is a schematic diagram of co-frequency interference of a ranging sensor provided by an embodiment of the present application. For example, the signal frequency of the ranging sensor 1 is the same as the signal frequency of the ranging sensor 2. As shown in Figure 5, the ranging sensor 1 emits a signal in the transmission phase of the ranging cycle. When the signal reaches the ranging sensor 2 after a period of time, because the ranging sensor 2 is in the receiving stage of the ranging cycle, the ranging sensor 2 will regard the signal emitted by the ranging sensor 1 as a reflected signal of the signal emitted by itself. . This may lead to a large error in the ranging results obtained by the ranging sensor 2 during the data processing stage of the ranging cycle.

FIG. 6 is a schematic diagram of continuous co-frequency interference of the ranging sensor provided by the embodiment of the present application. For example, the signal frequency of distance sensor 1 and the signal frequency of distance sensor 2 are the same, and the distance measurement frequency of distance sensor 1 and the distance measurement frequency of distance sensor 2 are also the same. In addition, the clock of the ranging sensor 1 and the clock of the ranging sensor 2 may not follow a unified reference clock. Alternatively, the clock of ranging sensor 1 and the clock of ranging sensor 2 follow a unified reference clock, but over time, the clock of ranging sensor 1 and the clock of ranging sensor 2 may deviate. Therefore, the stages in the ranging cycle of the two sensors are not completely synchronized. The ranging sensor 1 will cause co-frequency interference to the ranging sensor 2, and this will last for a period of time. As shown in Figure 6, the ranging sensor 1 transmits a signal in the transmitting phase of the first ranging cycle. The signal reaches the ranging sensor 2 after a period of time (corresponding to the signal propagation process 1 in Figure 6). At this time, the ranging sensor 2 When it is in the receiving stage in the first ranging cycle, the ranging sensor 2 will regard the signal transmitted by the ranging sensor 1 as the transmission signal of the signal transmitted by itself. This results in a large error in the ranging result obtained by the ranging sensor 2 during the data processing stage in the first ranging cycle. In addition, the ranging sensor 1 emits a signal during the transmission phase in the second ranging cycle. The signal reaches the ranging sensor 2 after a period of time (corresponding to the signal propagation process 2 in Figure 6). At this time, the ranging sensor 2 is in the receiving stage of the second ranging cycle, then the ranging sensor 2 will The signal emitted by 1 is regarded as the reflected signal of the signal emitted by itself. This distance measurement sensor 2 will also obtain a distance measurement result with a large error in the data processing stage in the second distance measurement cycle. It can be seen that ranging sensor 1 will continue to affect ranging sensor 2.

In order to suppress the same-frequency interference between multiple ranging sensors, time-sharing avoidance mechanisms and frequency-division avoidance mechanisms are currently proposed.

Time-sharing avoidance refers to setting the working time separately for each ranging sensor, so that the working time of each ranging sensor is completely separated, and only one ranging sensor is allowed to work at the same time, thereby reducing interference. For example, FIG. 7 is a schematic diagram of time-sharing avoidance provided by an embodiment of the present application. As shown in Figure 7, test sensor 1 works from time T1 to time T2, test sensor 2 works from time T2 to time T3, test sensor 3 works from time T3 to time T4, and test sensor 4 works from time T4 to time T5. The test sensor 5 operates from time T5 to time T6. However, time-sharing avoidance not only requires all ranging sensors to follow a unified reference clock, but also requires each ranging sensor to eliminate clock deviations generated over time after following a unified reference clock. Moreover, time-sharing avoidance will also cause the ranging frequency of each ranging sensor to be reduced by n times, where n is the number of ranging sensors working simultaneously in the same space. For example, the ranging frequency of ranging sensor 1 is 10Hz. When five ranging sensors work simultaneously in the same space, the ranging frequency of ranging sensor 1 changes from 10Hz to 2Hz.

Frequency division avoidance refers to setting the frequency of the signal emitted by each ranging sensor separately. Different ranging sensors emit signals at different frequencies, thereby reducing interference. For example, the frequency of the signal emitted by the ranging sensor 1 is set to 75KHz ultrasonic wave, and the frequency of the signal emitted by the ranging sensor 2 is set to 80KHz ultrasonic wave. However, frequency division avoidance requires configuring different signal generation modules for different signal frequencies, which cannot be achieved through simple software configuration. Instead, it requires changing the hardware structure of the ranging sensor and increasing the hardware complexity of the ranging sensor.

In view of this, technical solutions of embodiments of the present application are provided. In the embodiment of the present application, if the electronic device including the ranging sensor detects the first interference signal through the ranging sensor, it can be determined that there is an interfering ranging sensor that generates co-frequency interference to the ranging sensor. By adjusting the length of time used to obtain ranging results within the ranging cycle of the ranging sensor, the signal from the interfering ranging sensor will not be continuously received by the ranging sensor, thereby suppressing interference between multiple ranging sensors. Co-channel interference. Moreover, the process of adjusting the ranging cycle in the embodiment of the present application will not cause the ranging frequency of the ranging sensor to drop significantly, and can continue to ensure that the ranging behavior of the ranging sensor continues. In addition, the method provided by the embodiment of the present application can be implemented through software configuration without increasing the hardware complexity of the ranging sensor.

The technical features involved in the embodiments of the present application are described below to facilitate understanding of the embodiments of the present application.

The signal processing method provided by the embodiment of the present application can be applied to electronic devices including ranging sensors. Exemplarily, FIG. 8 is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present application. As shown in Figure 8, the electronic device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, and a battery 142 , Antenna 1, Antenna 2, mobile communication module 150, wireless communication module 160, audio module 170, speaker 170A, receiver 170B, microphone 170C, headphone interface 170D, sensor module 180, button 190, motor 191, indicator 192, camera 193 , display screen 194, and subscriber identification module (subscriber identification module, SIM) card interface 195, etc.

The processor 110 may include one or more processing units. For example, the processor 110 may include an application processor (application processor, AP), a modem processor, a graphics processing unit (GPU), and an image signal processor. (image signal processor, ISP), controller, memory, video codec, digital signal processor (digital signal processor, DSP), baseband processor, and/or neural-network processing unit (NPU) wait. Among them, different processing units can be independent devices or integrated in one or more processors. The controller may be the nerve center and command center of the electronic device 100 . The controller can generate operation control signals based on the instruction operation code and timing signals to complete the control of fetching and executing instructions. The processor 110 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in processor 110 is cache memory. This memory may hold instructions or data that have been recently used or recycled by processor 110 . If the processor 110 needs to use the instructions or data again, it can be called directly from the memory. Repeated access is avoided and the waiting time of the processor 110 is reduced, thus improving the efficiency of the system.

The USB interface 130 is an interface that complies with USB standard specifications, and may specifically be a Mini USB interface, a Micro USB interface, a USB Type C interface, etc. The USB interface 130 can be used to connect a charger to charge the electronic device 100, and can also be used to transmit data between the electronic device 100 and peripheral devices. The charging management module 140 is used to receive charging input from the charger. The power management module 141 is used to connect the battery 142. Charging management module 140 and processor 110. The power management module 141 receives input from the battery 142 and/or the charging management module 140, and supplies power to the processor 110, internal memory 121, external memory, display screen 194, camera 193, wireless communication module 160, etc.

The wireless communication function of the electronic device 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor and the baseband processor. Antenna 1 and Antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in electronic device 100 may be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve antenna utilization. For example: Antenna 1 can be reused as a diversity antenna for a wireless LAN. In other embodiments, antennas may be used in conjunction with tuning switches.

The mobile communication module 150 can provide solutions for wireless communication including 2G/3G/4G/5G applied on the electronic device 100 . The mobile communication module 150 may include at least one filter, switch, power amplifier, low noise amplifier (LNA), etc. The mobile communication module 150 can receive electromagnetic waves through the antenna 1, perform filtering, amplification and other processing on the received electromagnetic waves, and transmit them to the modem processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modem processor and convert it into electromagnetic waves through the antenna 1 for radiation. In some embodiments, at least part of the functional modules of the mobile communication module 150 may be disposed in the processor 110 . In some embodiments, at least part of the functional modules of the mobile communication module 150 and at least part of the modules of the processor 110 may be provided in the same device.

The wireless communication module 160 can provide applications on the electronic device 100 including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) network), Bluetooth (bluetooth, BT), and global navigation satellites. System (global navigation satellite system, GNSS), frequency modulation (frequency modulation, FM), near field communication technology (near field communication, NFC), infrared technology (infrared, IR) and other wireless communication solutions. The wireless communication module 160 may be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2 , frequency modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 110 . The wireless communication module 160 can also receive the signal to be sent from the processor 110, frequency modulate it, amplify it, and convert it into electromagnetic waves through the antenna 2 for radiation.

In some embodiments, the antenna 1 of the electronic device 100 is coupled to the mobile communication module 150, and the antenna 2 is coupled to the wireless communication module 160, so that the electronic device 100 can communicate with the network and other devices through wireless communication technology. The wireless communication technology may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), broadband Code division multiple access (wideband code division multiple access, WCDMA), time division code division multiple access (time-division code division multiple access, TD-SCDMA), long term evolution (long term evolution, LTE), BT, GNSS, WLAN, NFC , FM, and/or IR technology, etc. The GNSS may include global positioning system (GPS), global navigation satellite system (GLONASS), Beidou navigation satellite system (BDS), quasi-zenith satellite system (quasi) -zenith satellite system (QZSS) and/or satellite based augmentation systems (SBAS).

The display screen 194 is used to display a display interface of an application, such as displaying a display page of an application installed on the electronic device 100 . Display 194 includes a display panel. The display panel can use a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active matrix organic light emitting diode or an active matrix organic light emitting diode (active-matrix organic light). emitting diode (AMOLED), flexible light-emitting diode (FLED), Miniled, MicroLed, Micro-oLed, quantum dot light emitting diode (QLED), etc. In some embodiments, the electronic device 100 may include 1 or N display screens 194, where N is a positive integer greater than 1.

Camera 193 is used to capture still images or video. The object passes through the lens to produce an optical image that is projected onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then passes the electrical signal to the ISP to convert it into a digital image signal. ISP outputs digital image signals to DSP for processing. DSP converts digital image signals into standard RGB, YUV and other format image signals. In some embodiments, the electronic device 100 may include 1 or N cameras 193, where N is a positive integer greater than 1.

Internal memory 121 may be used to store computer executable program code, which includes instructions. The processor 110 executes instructions stored in the internal memory 121 to execute various functional applications and data processing of the electronic device 100 . The internal memory 121 may include a program storage area and a data storage area. The stored program area can store an operating system, software code of at least one application program, etc. The storage data area may store data generated during use of the electronic device 100 (such as captured images, recorded videos, etc.). In addition, the internal memory 121 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, universal flash storage (UFS), etc.

The external memory interface 120 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the electronic device. The external memory card communicates with the processor 110 through the external memory interface 120 to implement the data storage function. For example, save pictures, videos, etc. files on an external memory card.

The electronic device 100 can implement audio functions through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the headphone interface 170D, and the application processor. Such as music playback, recording, etc.

Among them, the sensor module 180 may include a pressure sensor 180A, an acceleration sensor 180B, a touch sensor 180C, etc.

The pressure sensor 180A is used to sense pressure signals and can convert the pressure signals into electrical signals. In some embodiments, pressure sensor 180A may be disposed on display screen 194 .

Touch sensor 180C, also known as "touch panel". The touch sensor 180C can be disposed on the display screen 194. The touch sensor 180C and the display screen 194 form a touch screen, which is also called a "touch screen". The touch sensor 180C is used to detect a touch operation on or near the touch sensor 180C. The touch sensor can pass the detected touch operation to the application processor to determine the touch event type. Visual output related to the touch operation may be provided through display screen 194 . In other embodiments, the touch sensor 180C may also be disposed on the surface of the electronic device 100 at a location different from that of the display screen 194 .

In the embodiment of the present application, the sensor module 180 may also include a ranging sensor 180D. The ranging sensor 180D may include a transmitting end and a receiving end. The ranging sensor 180D can transmit a signal through the transmitting end, receive the signal through the receiving end, and obtain the distance between the ranging sensor 180D and the target by calculating the phase difference or time difference between the sending and receiving signals.

The buttons 190 include a power button, a volume button, etc. Key 190 may be a mechanical key. It can also be a touch button. The electronic device 100 may receive key inputs and generate key signal inputs related to user settings and function control of the electronic device 100 . The motor 191 can generate vibration prompts. The motor 191 can be used for vibration prompts for incoming calls and can also be used for touch vibration feedback. For example, touch operations for different applications (such as taking pictures, audio playback, etc.) can correspond to different vibration feedback effects. The touch vibration feedback effect can also be customized. The indicator 192 may be an indicator light, which may be used to indicate charging status, power changes, or may be used to indicate messages, missed calls, notifications, etc. The SIM card interface 195 is used to connect a SIM card. The SIM card can be connected to and separated from the electronic device 100 by inserting it into the SIM card interface 195 or pulling it out from the SIM card interface 195 .

It can be understood that the components shown in FIG. 8 do not constitute a specific limitation on the electronic device 100. The electronic device 100 may also include more or fewer components than shown in the figure, or combine some components, or decompose some components. components, or different arrangements of components. In addition, the combination/connection relationship between the components in Figure 8 can also be adjusted and modified.

The signal processing method provided by the embodiment of the present application is introduced below.

The signal processing method provided by the embodiment of the present application may include two stages: interference determination and interference suppression. Each stage is introduced below.

1. Interfering with judgment.

In the embodiment of the present application, the ranging sensor may have two states: detection state and ranging state. The ranging sensor in the detection state may not emit signals but only receive signals during the corresponding detection period. The ranging sensor in the ranging state can transmit signals, receive signals and obtain ranging results within the corresponding ranging period. The electronic device including the ranging sensor as shown in FIG. 8 can control the ranging sensor to enter the detection state and maintain one or more detection periods before the ranging sensor emits a signal. Among them, the detection period can be used for the ranging sensor to receive signals. During the detection cycle, the ranging sensor can receive signals and also record the strength of the received signals. The ranging cycle can be used for the ranging sensor to transmit signals, receive signals and obtain processing results. For example, a ranging cycle can have three stages: transmitting stage, receiving stage and data processing stage. During the emission phase, the ranging sensor can emit signals. During the reception phase, the ranging sensor receives the signal and also records the strength of the received signal. In the data processing stage, the ranging sensor can neither transmit nor receive signals, but obtain ranging results based on the signals received in the receiving stage. For example, the electronic device can control the ranging sensor to enter the detection state and maintain one or more detection periods after the ranging sensor is powered on and before it enters the ranging state; or, the electronic device can also control the ranging sensor to end a measurement period. After the ranging period and before entering the next ranging period, the ranging sensor is controlled to enter the detection state and maintain one or more detection periods, which is not limited in the embodiment of the present application. If the ranging sensor does not receive a signal within one or more detection cycles, or the strength of the received signal is less than the set threshold, it can be determined that there is no ranging sensor that causes co-frequency interference to the ranging sensor; or , if the ranging sensor receives a signal within one or more detection cycles, and the intensity of the received signal is not less than the set threshold, it can be determined that there is a ranging sensor that causes co-frequency interference to the ranging sensor. The electronic device may also determine the number of ranging sensors that cause co-channel interference to the ranging sensor based on part or all of the signals received by the ranging sensor before transmitting the signal. In the embodiment of the present application, the ranging sensor that interferes with the ranging sensor can be called interference. Distance sensor.

Exemplarily, FIG. 9 is a schematic diagram for determining co-channel interference provided by an embodiment of the present application. FIG. 9 takes an intelligent driving scenario as an example. Intelligent driving refers to technology that uses machines to assist driving and completely replace human driving under special circumstances. A vehicle that adopts intelligent driving can automatically brake or change direction by detecting whether there are foreign objects, pedestrians or other vehicles in the direction of travel through the ranging sensor installed on the vehicle. The ranging sensor 1, the ranging sensor 2 and the ranging sensor 3 in Figure 9 are respectively arranged on the vehicle-mounted terminal equipment 1 of the vehicle 1, the vehicle-mounted terminal equipment 2 of the vehicle 2 and the vehicle-mounted terminal equipment 3 of the vehicle 3. The ranging sensors 1. The ranging sensor 2 and the ranging sensor 3 have the same signal frequency, the same ranging frequency and the same distance detection range. The signal frequency is, for example, 75 KHz, the ranging frequency is, for example, 10 Hz, and the detection range is, for example, 1.5 meters (m). Then the ranging periods of ranging sensor 1, ranging sensor 2 and ranging sensor 3 are all 100ms, and the duration of the receiving phase in the ranging cycle is 1.5m*2/(340m/s)=9ms.

For example, the vehicle-mounted terminal device 1 needs to detect whether there are foreign objects, pedestrians or other vehicles in the driving direction of the vehicle 1. The vehicle-mounted terminal device 1 can control the ranging sensor 1 to be powered on, and after controlling the ranging sensor 1 to be powered on, control the measuring Distance sensor 1 enters the detection state and maintains a detection period, such as 10s. For example, if the ranging sensor 1 does not receive a signal within these 10 seconds, the vehicle-mounted terminal device 1 can determine that there is no interfering ranging sensor that causes co-frequency interference to the ranging sensor 1, and then the vehicle-mounted terminal device 1 can control the ranging sensor 1 to enter. The ranging state is maintained for one or more ranging periods, and based on the ranging results of the ranging sensor 1, it is determined whether there are foreign objects, pedestrians or other vehicles in the driving direction of the vehicle 1.

The vehicle-mounted terminal device 2 needs to detect whether there are foreign objects, pedestrians or other vehicles in the driving direction of the vehicle 2. The vehicle-mounted terminal device 2 can control the ranging sensor 2 to be powered on, and after controlling the ranging sensor 2 to be powered on, it can control the ranging Sensor 2 enters the detection state and maintains a detection period, such as 10 seconds. For example, if the ranging sensor 2 receives a signal within these 10 seconds, the vehicle-mounted terminal device 2 can determine that there is a ranging sensor that causes co-frequency interference to the ranging sensor 2 . The vehicle-mounted terminal equipment 2 can determine the number of interfering ranging sensors based on part or all of the signals received by the ranging sensor 2 within these 10 seconds. For example, the ranging sensor 2 receives a total of three signals within these 10 seconds, which are the first signal received at the first time, the second signal received at the second time, and the third signal received at the third time. For example, the duration between the first moment and the second moment is equal to the duration between the second moment and the third moment, then the vehicle-mounted terminal device 2 can determine that the first signal, the second signal and the third signal are the same ranging sensor according to the measurement. From the signals sent periodically, it can be determined that the number of interfering ranging sensors that cause co-frequency interference to the ranging sensor 2 is 1. For example, the duration between the first moment and the second moment is not equal to the duration between the second moment and the third moment, then the vehicle-mounted terminal device 2 can determine that the first signal, the second signal and the third signal are different ranging sensors based on According to the signals sent during the ranging period, it can be determined that the number of interfering ranging sensors that cause co-frequency interference to the ranging sensor 2 is three.

The vehicle-mounted terminal device 3 needs to detect whether there are foreign objects, pedestrians or other vehicles in the driving direction of the vehicle 3. The vehicle-mounted terminal device 3 can control the ranging sensor 2 to be powered on, and after controlling the ranging sensor 3 to be powered on, control the ranging sensor. 3 Enter the detection state and maintain a detection period such as 10s. For example, if the ranging sensor 3 receives a signal within these 10 seconds, the vehicle-mounted terminal device 3 can determine that there is a ranging sensor that causes co-frequency interference to the ranging sensor 3 . The vehicle-mounted terminal equipment 3 can determine the number of interfering ranging sensors that cause co-frequency interference to the ranging sensor 3 based on part or all of the signals received by the ranging sensor 3 within these 10 seconds. For example, the ranging sensor 3 received a total of four signals in these 10 seconds, including the first signal received at the first moment, the second signal received at the second moment, the third signal received at the third moment, and The fourth signal received at the fourth moment. For example, the duration between the first moment and the third moment is equal to the duration between the third moment and the fourth moment, then the vehicle-mounted terminal device 3 can determine that the first signal, the third signal and the fourth signal are the same ranging sensor according to the measurement. The signal is sent periodically. In addition, for example, the duration between the first moment and the second moment is not equal to the duration between the second moment and the third moment, and the duration between the first moment and the second moment is not equal to the period between the second moment and the fourth moment. and the duration before the second moment and the third moment is not equal to the duration before the third moment and the fourth moment, then the vehicle-mounted terminal device 3 can determine that the second signal is a signal sent by another ranging sensor according to the ranging cycle , and then the vehicle-mounted terminal equipment 3 can determine that the number of interfering ranging sensors is 2.

2. Interference suppression.

If the electronic device determines that an interfering ranging sensor is present, the interfering signal can be given additional characteristics since the signal emitted by the interfering ranging sensor is indistinguishable in time and/or frequency from the reflected signal of the signal emitted by the ranging sensor.

In the embodiment of the present application, after detecting interference with the ranging sensor through the ranging sensor, the above-mentioned electronic device can adjust the ranging cycle of the ranging sensor and control the ranging sensor to enter the ranging state according to the adjusted measurement. The signal is processed periodically, and processing the signal includes one or more of transmitting a signal, receiving a signal, or obtaining a ranging result. For example, the ranging sensor can transmit signals in the transmitting phase of the adjusted ranging cycle, receive signals in the receiving phase of the adjusted ranging cycle, and obtain measurement data in the data processing phase of the adjusted ranging cycle. results and generates an interrupt signal. For example, this ranging sensor is used to detect dynamic targets or obtain target distance, such as If the ranging sensor detects a dynamic target or obtains a target distance during the data processing stage in the adjusted ranging cycle, an interrupt signal can be generated to notify the subsequent stage of the ranging sensor to read the dynamic target or target distance. Related Information. This prevents the signal from the interfering ranging sensor from being continuously received by the ranging sensor in the measurement and control state. This can suppress co-channel interference between multiple ranging sensors. Moreover, the processing of the ranging sensor caused by adjusting the ranging cycle in the embodiment of the present application will not cause the ranging frequency of the ranging sensor to drop significantly, and can continue to ensure that the ranging behavior of the ranging sensor continues. In addition, the method provided by the embodiment of the present application can be implemented through software configuration without increasing the hardware complexity of the ranging sensor.

Optionally, the electronic device can adjust the ranging cycle of the ranging sensor according to the length of the receiving phase in the ranging cycle before adjustment, so that the length of the data processing phase in the adjusted ranging cycle is not equal to that before adjustment. The duration of the data processing phase in the ranging cycle. For example, the absolute value of the difference between the duration of the data processing phase in the ranging cycle after adjustment and the duration of the data processing phase in the ranging cycle before adjustment may be greater than or equal to the receiving phase in the ranging cycle before adjustment. The length of time can ensure that after the ranging sensor receives the signal from the interfering ranging sensor at any moment in the receiving phase of the ranging cycle, it does not need to receive signals from the interfering ranging sensor at a moment that is one duration of the ranging cycle away from this moment. The signal that interferes with the ranging sensor, that is, it can be ensured that the signal from the interfering ranging sensor will not be continuously received by the ranging sensor, thereby suppressing the same-frequency interference between multiple ranging sensors.

Illustratively, FIG. 10 is a schematic diagram of adjusting the ranging period provided by an embodiment of the present application. For example, the ranging periods of ranging sensor 1 and ranging sensor 2 are both 100ms. Among them, the duration of the transmitting phase is set to 1ms, the duration of the receiving phase is set to 19ms, and the duration of the data processing phase is set to 80ms. For example, ranging sensor 1 and ranging sensor 2 may not follow a unified reference clock, or the clock of ranging sensor 1 and the clock of ranging sensor 2 follow a unified reference clock, but over time, the ranging sensor The clock of 1 and the clock of ranging sensor 2 may deviate, so the stages in the ranging cycles of ranging sensor 1 and ranging sensor 2 are not completely synchronized.

As shown in (1) of Figure 10. Initially, for example, distance sensor 1 and distance sensor 2 are not powered on. An electronic device (for example, electronic device 1) including the ranging sensor 1 can control the ranging sensor 1 to enter the detection state and maintain a detection period after the range sensor 1 is powered on and before entering the ranging state. If the ranging sensor 1 does not detect interference with the ranging sensor during the detection period, the electronic device 1 can control the ranging sensor 1 to transmit the first signal at the first moment within the first ranging period of the ranging sensor 1. The distance sensor 1 emits the second signal at the second time within the second distance measurement period, and the distance sensor 1 emits the third signal at the third time within the third distance measurement period. The electronic device including the ranging sensor 2 (for example, called electronic device 2) can control the ranging sensor 2 to enter the detection state and maintain a detection period after the range sensor 1 is powered on and before entering the ranging state. During this detection period, the ranging sensor 2 receives three signals, which are the first signal received at the fourth time, the second signal received at the fifth time, and the third signal received at the sixth time. For example, the duration between the fourth moment and the fifth moment is equal to the duration between the fifth moment and the sixth moment, then the electronic device 2 can determine that the first signal, the second signal and the third signal are the same ranging sensor, such as ranging. Based on the signal sent by sensor 1 during the ranging period, it can be determined that the number of interfering ranging sensors that cause co-frequency interference to ranging sensor 2 is 1.

After detecting interference with the ranging sensor through the ranging sensor 2 , the electronic device 2 can adjust the duration of the data processing phase in the ranging cycle of the ranging sensor 2 to 100 ms, and control the ranging sensor 2 to enter the ranging state. After the electronic device 2 adjusts the ranging period of the ranging sensor 2, the ranging sensor 2 may no longer receive the signal from the ranging sensor 1, or may receive the signal from the ranging sensor 1 again, but only once. The signal from the ranging sensor 1 is as shown in (2) of Figure 10. After the electronic device 2 adjusts the ranging cycle of the ranging sensor 2, the ranging sensor 2 will receive the signal from the ranging sensor 1 again, but For example, after only receiving a signal from ranging sensor 1 once, after adjusting the ranging cycle of ranging sensor 2 and controlling ranging sensor 2 to enter the ranging state, ranging sensor 1 is in the fourth ranging cycle of ranging sensor 1. The signal transmitted at the seventh time in the range reaches the ranging sensor 2 at the eighth time after a period of transmission time. At this time, the ranging sensor 2 is in the receiving stage of the first ranging cycle of the ranging sensor 2 . The signal emitted by the ranging sensor 1 at the ninth time within the fifth ranging cycle of the ranging sensor 1 reaches the ranging sensor 2 at the tenth time after a period of transmission time. Among them, the interval between the seventh time and the ninth time is 100ms, and the interval between the eighth time and the tenth time is 100ms. Since the electronic device 2 adjusts the ranging cycle of the ranging sensor 2, and the ranging sensor 2 is in the transmitting stage in the second ranging cycle of the ranging sensor 2, the ranging sensor 2 does not need to receive the signal at the tenth moment. The signal emitted by the ranging sensor 1 at the ninth moment. This prevents the ranging sensor 1 from causing two consecutive co-channel interferences to the ranging sensor 2. Similarly, the ranging sensor 2 will not produce two consecutive co-channel interferences from the ranging sensor 1.

In the embodiment of this application, after the electronic device adjusts the ranging cycle of the ranging sensor, it cannot completely guarantee that the ranging sensor will not receive a signal from the interfering ranging sensor, but can only guarantee that the ranging sensor will not receive a signal from the interfering ranging sensor. The signal will not be continuously received by this distance sensor. Therefore, even if the electronic device adjusts the ranging period, it can still perform the corresponding interference judgment mechanism. For example, the electronic device can determine whether the signal is an interference signal based on the number of times the signal is continuously received by the ranging sensor. If the signal is ranged If the number of times the signal is continuously received by the sensor is not less than the threshold, it is determined that the signal is a normal signal, or it is determined that the signal is not an interference signal; or if the number of times the signal is continuously received by the ranging sensor is less than the threshold, it is determined that the signal is an interference signal , or determine that the signal is not a normal signal. If it is determined that a signal is an interference signal, the electronic device can control the ranging sensor to filter the signal, and then filter the ranging result corresponding to the signal. This can further suppress the co-frequency interference caused by the interfering ranging sensor to the ranging sensor.

For example, the threshold is 2 and the ranging sensor is used to detect dynamic targets. If the ranging sensor receives a signal at the first moment of the receiving phase in the adjusted ranging cycle, it also receives the signal at a second moment that is separated from the first moment by a duration of the adjusted ranging cycle. Then the electronic device can determine that the signals received at the first moment and the second moment are normal signals, and then determine that the ranging sensor detects a dynamic target in two consecutive adjusted ranging cycles. The electronic device can control the ranging sensor to generate an interrupt signal to notify the subsequent stage of the ranging sensor to read relevant information of the dynamic target. Or, if the ranging sensor receives a signal at the first moment of the receiving phase in the adjusted ranging cycle, and does not receive a signal at the second moment that is separated from the first moment by the duration of the adjusted ranging cycle. . Then the electronic device can determine that the signal received at the first moment is an interference signal, and then determine that the ranging sensor detects a dynamic target only in an adjusted ranging cycle. The electronic device can control the ranging sensor not to generate an interrupt signal, thereby filtering the dynamic target.

Alternatively, the threshold is 2 and this ranging sensor is used to obtain the target distance. If the ranging sensor receives a signal at the first moment of the reception phase in the first adjusted ranging cycle, it also receives the signal at a second moment that is separated from the first moment by the duration of the adjusted ranging cycle. . Then the electronic device can determine that the signals received at the first moment and the second moment are normal signals, and then determine that the ranging sensor has obtained a certain target distance in two consecutive adjusted ranging cycles. The electronic device can control the ranging sensor to generate an interrupt signal to notify the subsequent stage of the ranging sensor to read relevant information about the target distance. Or, if the ranging sensor receives a signal at the first moment of the receiving phase in the adjusted ranging cycle, and does not receive a signal at the second moment that is separated from the first moment by the duration of the adjusted ranging cycle. . Then the electronic device can determine that the signal received at the first moment is an interference signal, and then determine that the ranging sensor only obtains a certain target distance in an adjusted ranging cycle. The electronic device can control the ranging sensor not to generate an interrupt signal, thereby filtering the target distance; or the electronic device can also control the ranging sensor to generate an interrupt signal to notify the subsequent stage of the ranging sensor to read relevant information about the target distance. , the electronic device controls the rear stage of the ranging sensor to filter abnormal target distances that only occur once through software algorithms such as sliding window averaging, difference detection, etc.

Optionally, the electronic device can set the threshold value to be greater than or equal to the sum of the number of ranging sensors and the number of interfering ranging sensors. For example, if the number of interfering ranging sensors is 1, the electronic device can set the threshold to 2. After the ranging sensor receives a signal at the first moment of the receiving phase in the adjusted ranging cycle, if the ranging sensor also receives a signal at a second moment that is separated from the first moment by a duration of the adjusted ranging period After receiving the signal, the electronic device can determine that the signals received at the first moment and the second moment are normal signals. For example, if the number of interfering ranging sensors is 2, the electronic device can set the threshold to 3. After the ranging sensor receives the signal at the first moment of the receiving phase in the adjusted ranging cycle, even if the ranging sensor receives the signal at a second moment that is separated from the first moment by a duration of the adjusted ranging period. When the signal is received, the electronic device cannot determine that the signals received at the first moment and the second moment are normal signals. Because the signal received at the first moment may be a signal from the interfering ranging sensor 1, and the signal received at the second moment may be a signal from the interfering ranging sensor 2, if the ranging sensor is two times apart from the second moment Only when the signal is also received at the third moment of the adjusted duration of the ranging cycle, the electronic device can determine that the signals received at the first moment, the second moment and the third moment are normal signals. This ensures that the ranging sensor can accurately filter interference signals and suppress the same-frequency interference caused by the interfering ranging sensor to the ranging sensor.

Optionally, the electronic device can determine whether the number of times the signal received by the ranging sensor is continuously received by the ranging sensor is less than a threshold through various methods. Examples are introduced below.

method one. If the ranging sensor receives a signal at a first moment, the electronic device may determine whether the ranging sensor receives a signal at a second moment, where the duration between the second moment and the first moment is the adjusted ranging period. N times the duration, N is a positive integer smaller than the threshold, for example, the threshold is 3, N is 1 or 2. If the ranging sensor does not receive a signal at the second moment, the electronic device may determine that the signals received by the ranging sensor at the first moment and the second moment are interference signals.

For example, FIG. 11 is a schematic diagram for determining interference signals provided by an embodiment of the present application. The ranging periods of ranging sensor 1 and ranging sensor 2 are both 100ms, in which the duration of the transmitting phase is set to 1ms, the duration of the receiving phase is set to 19ms, and the duration of the data processing phase is set to 80ms. Since the ranging sensor 1 will cause co-channel interference to the ranging sensor 2, the electronic device including the ranging sensor 2 (for example, called the electronic device 2) can adjust the ranging cycle of the ranging sensor 2, so that the ranging sensor 2 adjusts The ranging period is 120ms, in which the duration of the transmitting phase is set to 1ms, the duration of the receiving phase is set to 19ms, and the duration of the data processing phase is set to 80ms.

As shown in Figure 11, the ranging sensor 2 receives a signal at the first moment, and the electronic device 2 can determine whether the ranging sensor 2 receives the signal at the second moment. The time between the first moment and the second moment is 120 ms. If the ranging sensor 2 receives a signal at the second moment, the electronic device 2 can determine that the signal received by the ranging sensor 2 at the first moment is a reflected signal of the signal emitted by the ranging sensor 2 , that is, it is a normal signal. If the ranging sensor 2 does not receive a signal at the second moment, the electronic device 2 can determine that the signal received by the ranging sensor 2 at the first moment is a signal emitted by the ranging sensor 1 , that is, an interference signal. This ensures that the ranging sensor can accurately filter interference signals and suppress the same-frequency interference caused by the interfering ranging sensor to the ranging sensor.

In the second method, when the ranging sensor receives a signal, the electronic device can generate a narrow pulse signal corresponding to the signal. Among them, the pulse signal can also be called a square wave. The duty cycle of the square wave signal is generally 50%. The narrow pulse signal is a square wave signal with a duty cycle less than 50%. For example, the frequency of the square wave signal is 1KHz, that is, the period of the square wave signal is 1ms, but the pulse width is only 50ns. The square wave signal is a narrow pulse signal. The generated narrow pulse signal is divided by two to obtain the edge signal corresponding to the narrow pulse signal. Among them, the frequency division by two is to pass the narrow pulse signal through a circuit structure with frequency division function. When the clock triggers two cycles, the circuit outputs a periodic signal. This periodic signal is the edge signal corresponding to the narrow pulse signal. Perform high-pass filtering on the obtained edge signal to obtain the signal envelope corresponding to the edge signal. Among them, high-pass filtering is to pass high-frequency signals normally, while blocking and weakening low-frequency signals below the set threshold. If the signal is not present in the resulting signal envelope, the electronic device can determine that the signal is an interference signal.

Exemplarily, Figure 12 is another schematic diagram for determining interference signals provided by an embodiment of the present application. As shown in Figure 12, when the ranging sensor receives a signal, the electronic device can generate a narrow pulse signal corresponding to the signal, All generated narrow pulse signals are subjected to two-frequency division processing and high-pass filtering processing to obtain the signal envelope. Since the number of times the interference signal is continuously received by the ranging sensor is less than the threshold, the two-frequency division processing and high-pass filtering processing will reduce the interference signal. The corresponding narrow pulse signal is filtered so that there is no interference signal in the signal envelope. Therefore, if the signal does not exist in the obtained signal envelope, the electronic device can determine that the signal is an interference signal, thereby ensuring that the ranging sensor can accurately filter Interfering signals suppress the co-frequency interference caused by the interfering ranging sensor to the ranging sensor.

Based on the above embodiments, this application also provides a signal processing method. The method may be performed by the electronic device including the ranging sensor shown in FIG. 8 . Please refer to Figure 13, which is a flow chart of the signal processing method.

S1301: The electronic device detects the first interference signal through the ranging sensor.

For S1301, please refer to the introduction of the interference judgment process in the previous article. For example, before the ranging sensor transmits a signal, the electronic device can control the ranging sensor to enter the detection state and maintain one or more detection periods. If the ranging sensor receives a signal within one or more detection periods, and the received signal If the intensity is not less than the set threshold, the ranging sensor can determine that the received signal is the first interference signal.

S1302: The electronic device adjusts the ranging cycle of the ranging sensor.

Among them, the time period used to obtain the ranging results in the adjusted ranging period is not equal to the time period used to obtain the ranging results in the ranging period before the adjustment.

For S1302, please refer to the introduction to the interference suppression process in the previous article. For example, the absolute value of the difference between the time period used to obtain ranging results in the adjusted ranging period and the time period used to obtain ranging results in the ranging period before adjustment can be greater than or equal to the period in the ranging period before adjustment. The duration used to receive the signal.

S1303: The electronic device controls the ranging sensor to process signals according to the adjusted ranging cycle.

The processing includes one or more of transmitting, receiving, or obtaining ranging results.

For S1302, please refer to the introduction to the interference suppression process in the previous article. For example, the ranging sensor can transmit a signal in the transmitting phase of the adjusted ranging cycle, receive the signal in the receiving phase of the adjusted ranging cycle, and obtain the ranging signal in the data processing phase of the adjusted ranging cycle. result.

Optional, after executing S1303, the electronic device cannot fully guarantee that the ranging sensor will not receive signals from the interfering ranging sensor, but can only guarantee that the signals from the interfering ranging sensor will not be continuously received by the ranging sensor. arrive. Therefore, even if the electronic device adjusts the ranging period, it can still perform the corresponding interference judgment mechanism. For example, the electronic device can determine whether the signal is an interference signal based on the number of times the signal is continuously received by the ranging sensor. Also includes the following steps A and B:

Step A: The electronic device receives the signal through the ranging sensor.

Step B: If the signal is a second interference signal, the electronic device controls the ranging sensor to filter the signal.

For steps A and B, please refer to the introduction to the interference suppression process in the previous article. For example, if the number of times the signal is continuously received by the ranging sensor is not less than the threshold, it is determined that the signal is a normal signal, or it is determined that the signal is not a second interference signal; or if the number of times the signal is continuously received by the ranging sensor is less than the threshold, then It is determined that the signal is a second interference signal, or that the signal is not a normal signal.

For the specific execution of the above steps, please refer to the relevant introduction in the above embodiment, and will not be described again in this example.

It should be noted that the specific implementation process provided by the above examples is only an illustration of the method process applicable to the embodiments of the present application. The execution order of each step can be adjusted accordingly according to actual needs, and other steps can also be added or some steps can be reduced. .

Based on the above embodiments and the same concept, embodiments of the present application also provide an electronic device, which is used to implement the method performed by the electronic device including a ranging sensor provided by the embodiment of the present application.

As shown in Figure 14, electronic device 1400 may include: memory 1401, one or more processors 1402, and one or more computer programs (not shown in the figure). The various devices described above may be coupled through one or more communication buses 1403. Optionally, when the electronic device 1400 is used to implement the method performed by the electronic device including a ranging sensor provided by the embodiment of the present application, the electronic device 1400 may also include a ranging sensor 1404.

Among them, one or more computer programs (codes) are stored in the memory 1401, and the one or more computer programs include computer instructions; one or more processors 1402 call the computer instructions stored in the memory 1401, so that the electronic device 1400 executes the application. The signal processing method provided by the embodiment. The ranging sensor 1404 is used to transmit signals through the transmitting end, receive signals through the receiving end, and obtain the distance between the ranging sensor 1404 and the target by calculating the phase difference or time difference between the sent and received signals.

In a specific implementation, the memory 1401 may include high-speed random access memory, and may also include non-volatile memory, such as one or more disk storage devices, flash memory devices or other non-volatile solid-state storage devices. The memory 1401 can store an operating system (hereinafter referred to as the system), such as an embedded operating system such as ANDROID, IOS, WINDOWS, or LINUX. The memory 1401 can be used to store the implementation program of the embodiment of the present application. The memory 1401 can also store a network communication program that can be used to communicate with one or more additional devices, one or more user devices, and one or more network devices. One or more processors 1402 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more processors for controlling the present application. Scheme program execution on the integrated circuit.

It should be noted that FIG. 14 is only an implementation manner of the electronic device 1400 provided by the embodiment of the present application. In actual applications, the electronic device 1400 may also include more or fewer components, which is not limited here.

Based on the above embodiments and the same concept, embodiments of the present application also provide a computer-readable storage medium. The computer-readable storage medium stores a computer program. When the computer program is run on a computer, it causes the computer to execute the steps provided in the above embodiments. The method is performed by an electronic device including a ranging sensor.

Based on the above embodiments and the same concept, embodiments of the present application also provide a computer program product. The computer program product includes a computer program or instructions. When the computer program or instructions are run on a computer, the computer is caused to execute the method provided in the above embodiments. A method performed by an electronic device including a ranging sensor.

Those skilled in the art will understand that embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present application may 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.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the present application. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a use A device for realizing the functions specified in one process or multiple processes of the flowchart and/or one block or multiple blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device. Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.

Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. In this way, if these modifications and variations of the present application fall within the scope of the claims of this application and its equivalent technology, then this application is also intended to include these modifications and variations.

Claims

A signal processing method, characterized in that it is applied to an electronic device including a ranging sensor, and the method includes:

A first interference signal is detected by the ranging sensor;

Adjust the ranging period of the ranging sensor, wherein the time period used to obtain the ranging results in the adjusted ranging period is not equal to the time period used to obtain the ranging results in the ranging period before adjustment;

The ranging sensor is controlled to process signals according to the adjusted ranging cycle, wherein the processing includes one or more of transmitting, receiving, or obtaining ranging results.
The method of claim 1, wherein detecting the first interference signal through the ranging sensor includes:

Before the ranging sensor transmits a signal, receiving a first signal through the ranging sensor;

The first signal is determined to be the first interference signal.
The method according to claim 1 or 2, characterized in that the absolute value of the difference between the first duration and the second duration is greater than or equal to the duration used to receive signals in the ranging period before adjustment, wherein, The first duration is the duration used to obtain the ranging results in the adjusted ranging period, and the second duration is the duration used to obtain the ranging results in the pre-adjusted ranging period.
The method according to any one of claims 1-3, characterized in that the method further includes:

Receive a second signal through the ranging sensor;

If the second signal is a second interference signal, the ranging sensor is controlled to filter the second signal.
The method of claim 4, further comprising:

If the number of times the second signal is continuously received by the ranging sensor is less than a threshold, the second signal is determined to be the second interference signal.
The method of claim 5, wherein if the number of times the second signal is continuously received by the ranging sensor is less than a threshold, determining the second signal to be the second interference signal includes: :

If the ranging sensor receives the second signal at the first time and does not receive the second signal at the second time, it is determined that the second signal is the second interference signal, wherein: The duration between the second moment and the first moment is N times the duration of the adjusted ranging period, and N is a positive integer smaller than the threshold.
The method according to claim 5 or 6, characterized in that the threshold value is greater than or equal to the sum of the number of the ranging sensors and the number of interfering ranging sensors.
The method of claim 7, wherein the number of interference ranging sensors is determined based on the first interference signal.
The method of claim 5, wherein if the number of times the second signal is continuously received by the ranging sensor is less than a threshold, determining the second signal to be the second interference signal includes: :

Generate a narrow pulse signal corresponding to the second signal;

Perform frequency division processing and high-pass filtering processing on the narrow pulse signal to obtain a signal envelope, wherein the frequency division processing is used to convert the narrow pulse signal into an edge signal;

If the second signal does not exist in the signal envelope, the second signal is determined to be the second interference signal.
An electronic device, characterized by including a ranging sensor and a processor, wherein,

The ranging sensor is used to detect the first interference signal;

The processor is configured to adjust the ranging period of the ranging sensor, wherein the time used to obtain the ranging results in the adjusted ranging period is not equal to the time used to obtain the ranging results in the ranging period before adjustment. duration;

The ranging sensor is further configured to process signals according to the adjusted ranging cycle, wherein the processing includes one or more of transmitting, receiving, or obtaining ranging results.
The electronic device according to claim 10, wherein the ranging sensor is used to detect the first interference signal in the following manner:

Before the ranging sensor transmits a signal, receive a first signal;

The first signal is determined to be the first interference signal.
The electronic device according to claim 10 or 11, wherein the absolute value of the difference between the first duration and the second duration is greater than or equal to the duration used to receive signals in the ranging period before adjustment, wherein, The first duration is the duration used to obtain the ranging result in the adjusted ranging period, and the second duration is the duration used to obtain the ranging result in the pre-adjusted ranging period.
The electronic device according to any one of claims 10-12, characterized in that:

The ranging sensor is also used to receive a second signal;

The ranging sensor is also used to filter the second signal if the second signal is a second interference signal.
The electronic device as claimed in claim 13, characterized in that:

The processor is further configured to determine that the second signal is the second interference signal if the number of times the second signal is continuously received by the ranging sensor is less than a threshold.
The electronic device of claim 14, wherein the processor is configured to determine that the second signal is: if the number of times the second signal is continuously received by the ranging sensor is less than a threshold; The second interference signal:

If the ranging sensor receives the second signal at the first time and does not receive the second signal at the second time, it is determined that the second signal is the second interference signal, wherein: The duration between the second moment and the first moment is N times the duration of the adjusted ranging period, and N is a positive integer smaller than the threshold.
The electronic device according to claim 14 or 15, wherein the threshold value is greater than or equal to the sum of the number of the ranging sensors and the number of interfering ranging sensors.
The electronic device of claim 16, wherein the number of interference ranging sensors is determined based on the first interference signal.
The electronic device of claim 14, wherein the processor is configured to determine that the second signal is: if the number of times the second signal is continuously received by the ranging sensor is less than a threshold The second interference signal:

Generate a narrow pulse signal corresponding to the second signal;

Perform frequency division processing and high-pass filtering processing on the narrow pulse signal to obtain a signal envelope, wherein the frequency division processing is used to convert the narrow pulse signal into an edge signal;

If the second signal does not exist in the signal envelope, the second signal is determined to be the second interference signal.
A computer-readable storage medium, characterized in that the computer-readable storage medium is used to store a computer program. When the computer program is run on a computer, it causes the computer to execute any one of claims 1-9. method described in the item.
A computer program product, characterized in that it includes a computer program, which when the computer program is run on a computer, causes the computer to perform the method described in any one of claims 1-9.