WO2024061015A1

WO2024061015A1 - Signal processing method and electronic device

Info

Publication number: WO2024061015A1
Application number: PCT/CN2023/117503
Authority: WO
Inventors: 赵学文; 赵喜双; 段耿耿
Original assignee: 华为技术有限公司
Priority date: 2022-09-22
Filing date: 2023-09-07
Publication date: 2024-03-28
Also published as: CN117741602A; WO2024061015A9

Abstract

The present application discloses a signal processing method and an electronic device. The method is applied to an electronic device comprising a ranging sensor. The method comprises: detecting an interference signal at a first moment by means of the ranging sensor; and controlling the ranging sensor to process the signal at a second moment according to a first ranging period, wherein a duration between the second moment and the first moment is equal to a duration for transmitting the signal and receiving the signal in the first ranging period, and the processing comprises one or more of transmitting, receiving, obtaining a ranging result, or detecting interference, so that same-frequency interference among a plurality of ranging sensors is suppressed.

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 September 22, 2022, with the application number 202211160335.0 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 devices to detect target location or distance. Ranging sensors usually use electromagnetic waves or ultrasonic waves to measure distance. Its working principle is to emit a signal of a certain frequency and receive the reflected signal that is reflected back when it encounters the target. By calculating the phase difference or time difference between the sent and received signals, You can determine the distance between the ranging sensor and the target.

However, after the ranging sensor receives the signal, it cannot distinguish whether the signal is a reflected signal of the signal emitted by itself or a signal emitted by other ranging sensors. Therefore, when there are multiple ranging sensors emitting signals with the same frequency in a certain space, co-frequency interference is likely to occur, resulting in large errors in ranging results.

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 an interference signal at a first moment through the ranging sensor; controlling the ranging sensor to The second moment processes the signal according to the first ranging period, wherein the time length between the second moment and the first moment is equal to the time length used to transmit signals and receive signals in the first ranging period, and the Processing includes one or more of transmitting, receiving, obtaining ranging results, or detecting interference.

In this method, if the electronic device including the ranging sensor detects an interference signal through the ranging sensor at the first moment, it can be determined that there is an interfering ranging sensor that generates co-frequency interference to the ranging sensor. By controlling the second time that the ranging sensor uses to transmit signals and receive signals in the first ranging cycle that is separated from the first time, the signal is processed according to the first ranging cycle, so that the interference signal from the interfering ranging sensor It will not affect the normal reception of the signal emitted by the ranging sensor. That is, the ranging sensor is dynamically allocated access to the physical channel time slot according to the time when the interference signal is detected by the ranging sensor, thereby being able to suppress multiple measurements. co-frequency interference between sensors. Moreover, the embodiment of the present application dynamically allocates time slots without fixing the time slot interval, making the time slot division flexible, thereby increasing the number of ranging sensors that can exist in a space and emitting signals with the same frequency. Time slots are reallocated to the ranging sensor according to changes in the interfering ranging sensor. In addition, the method provided by the embodiment of the present application does not require clock synchronization between multiple ranging sensors.

In a possible design, when an electronic device including a ranging sensor detects an interference signal through the ranging sensor at the first moment, it can: control the ranging sensor to process the signal according to the first ranging cycle. Before, receiving at least one signal through the ranging sensor; determining that the first signal received at the first time among the at least one signal is the interference signal, wherein the first time is later than the at least The moment of reception of other signals within a signal.

In this method, if the electronic device including the ranging sensor receives at least one signal through the ranging sensor before controlling the ranging sensor to process the signal according to the first ranging cycle, it can be determined that the ranging sensor receives At least one signal is not the signal emitted by the ranging sensor that is reflected back when it encounters the target, but interferes with the signal emitted by the ranging sensor, and then it is determined that there is at least one interfering ranging sensor that causes co-frequency interference to the ranging sensor. sensor. It can also be determined that the first signal received at the first moment among the at least one signal (that is, the latest received signal) is an interference signal, and then the interference ranging sensor that transmits the first signal is determined to be the reference interference measurement sensor of the ranging sensor. distance sensor (that is, the order in which the signal is processed according to the ranging cycle is at the previous position of the ranging sensor), so that each ranging sensor only needs to avoid the same-frequency interference of the corresponding reference interference ranging sensor, and can avoid other interference. Co-channel interference between ranging sensors, thereby being able to suppress co-channel interference between multiple ranging sensors.

In one possible design, the electronic device including the ranging sensor detects the interference signal at the first moment through the ranging sensor. After that, the first ranging period may also be determined according to the second ranging period of the interfering ranging sensor that emits the interference signal, wherein the first ranging period is used to obtain ranging results and detection. The duration of the interference signal is equal to the duration used to obtain the ranging result in the second ranging period.

In this method, after the electronic device including the ranging sensor determines that the interfering ranging sensor that emits the first signal is the reference interfering ranging sensor of the ranging sensor, the electronic device may determine based on the second ranging cycle of the reference interfering ranging sensor. The first ranging period of the ranging sensor makes the time period used to obtain ranging results and detect interference signals in the first ranging period of the ranging sensor equal to the second ranging period of the reference interference ranging sensor. The length of time to obtain the ranging results ensures that the length of the ranging cycle of the ranging sensor and the reference interference ranging sensor is consistent, and that the ranging sensor can also detect the interference signal when processing the signal according to the ranging cycle, so that it can pass subsequent processing Suppress co-channel interference between multiple ranging sensors.

In a possible design, when an electronic device including a ranging sensor detects an interference signal through the ranging sensor at the first moment, it can: control the ranging sensor to process the signal according to the first ranging cycle. When, if the second signal is received by the ranging sensor at the first time, it is determined that the second signal is the interference signal, wherein the first time is the time used in the first ranging period. at any time when interfering signals are detected.

In this method, if the electronic device including the ranging sensor controls the ranging sensor to process the signal according to the first ranging cycle, the ranging sensor is used to detect the interference signal at any time in the first ranging cycle. After receiving the first signal, it can be determined that the first signal received by the ranging sensor is not the signal emitted by the ranging sensor that is reflected back when it encounters the target, but a signal emitted by the interfering ranging sensor, that is, it is determined The first signal is an interference signal, and then it is determined that the reference interference ranging sensor of the ranging sensor has not changed. According to the moment when the ranging sensor detects the interference signal emitted by the reference interference ranging sensor, the ranging sensor can be allocated in real time. time slot of the next ranging cycle, thereby suppressing co-channel interference between multiple ranging sensors.

In a possible design, when the electronic device including the ranging sensor detects an interference signal at the first moment through the ranging sensor, it may also: control the ranging sensor to process according to the first ranging cycle. signal, if the second signal is not received by the ranging sensor at the first moment, control the ranging sensor to stop processing the signal according to the first ranging cycle, and pass the ranging sensor Receive at least one signal; determine that a third signal in the at least one signal received at the third time is the interference signal, wherein the third time is later than the reception of other signals in the at least one signal. time; control the ranging sensor to process signals according to the first ranging cycle at the fourth time, wherein the time length between the fourth time and the third time is equal to the time used in the first ranging cycle. The duration of transmitting and receiving signals.

In this method, if the electronic device including the ranging sensor controls the ranging sensor to process the signal according to the first ranging cycle, the ranging sensor is used to detect the interference signal at any time in the first ranging cycle. If the first signal is not received, it can be determined that the interfering ranging sensor that generates co-frequency interference to the ranging sensor has changed, and then it can be determined that the interfering ranging sensor that emits the third signal is the new reference interference measuring sensor of the ranging sensor. distance sensor, according to the moment when the distance measurement sensor detects the interference signal emitted by the new reference interference distance sensor, it allocates the time slot of the next distance measurement cycle to the distance measurement sensor in real time, thereby suppressing the interference between multiple distance measurement sensors. co-channel interference.

In a possible design, the time period used to detect interference signals in the first ranging period is equal to four times the maximum clock offset value of the ranging sensor in one ranging period.

In this method, when the electronics including the ranging sensor are used to detect the interference signal in the first ranging period, the ranging sensor and the interfering ranging sensor that generates co-frequency interference to the ranging sensor may be at the same time. If a clock offset occurs in one direction, the duration used to detect interference signals in the first ranging cycle can be determined as four times the maximum clock offset value of the ranging sensor in a ranging cycle to ensure that it can be detected in the first ranging cycle. The interference signal emitted by the unchanged reference interference ranging sensor is detected at any time during the period used to detect interference signals, so that co-frequency interference between multiple ranging sensors can be suppressed through subsequent processing.

In a possible design, the duration between the moment when the interference signal starts to be detected in the first ranging period and the moment when the signal is processed at the end of the first ranging period is equal to the first duration, wherein the first The duration is the sum of twice the maximum clock offset value of the ranging sensor in one ranging cycle and the duration used to transmit signals and receive signals in the first ranging cycle.

In this method, the electronic device including the ranging sensor can determine the time length between the time when the interference signal starts to be detected in the first ranging period and the time when the signal is processed at the end of the first ranging period, which is the time when the ranging sensor starts to detect the interference signal in a ranging period. The sum of twice the maximum clock offset value in the period and the time used to transmit and receive signals in the first ranging period ensures that the interference signal can be detected at any time in the first ranging period. The unchanged reference interferes with the interference signal emitted by the ranging sensor, thereby being able to suppress co-frequency interference between multiple ranging sensors through subsequent processing.

In a possible design, the time period used for transmitting signals in the first ranging period is equal to the time period used for transmitting signals during the second ranging period. The duration of the signal, the duration used to receive the signal in the first ranging period is equal to the duration used to receive the signal in the second ranging period.

In this method, an electronic device including a ranging sensor may determine that a duration for transmitting or receiving a signal within a first ranging period of the ranging sensor is equal to a reference of the ranging sensor interfering with a second ranging of the ranging sensor. The length of time used to transmit or receive signals within the cycle, thereby ensuring that the ranging sensor is consistent with the length of the ranging cycle of the reference interference ranging sensor of the ranging sensor, ensuring that it can be used to detect interference in the first ranging cycle The interference signal emitted by the unchanged reference interference ranging sensor is detected at any moment of the signal, so that the co-frequency interference between multiple ranging sensors can be suppressed through subsequent processing.

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 an interference signal at the first moment;

The processor is configured to control the ranging sensor to process signals according to a first ranging cycle at a second moment, wherein the duration between the second moment and the first moment is equal to the first ranging period. The duration used for transmitting and receiving signals within a cycle. The processing includes one or more of transmitting, receiving, obtaining ranging results, or detecting interference.

In a possible design, the ranging sensor is configured to detect an interference signal at the first moment in the following manner: before processing the signal according to the first ranging cycle, receive at least one signal; determine the at least one The first signal received at the first time among the signals is the interference signal, wherein the first time is later than the reception time of other signals in the at least one signal.

In a possible design, the processor is further configured to determine the first ranging period according to the second ranging period of the interfering ranging sensor that emits the interference signal, wherein the first ranging period The time period used to obtain the ranging result and detect the interference signal in the ranging period is equal to the time period used to obtain the ranging result in the second ranging period.

In a possible design, the ranging sensor is used to detect the interference signal at the first moment in the following manner: when processing the signal according to the first ranging cycle, if the first ranging sensor is received at the first moment Two signals, the second signal is determined to be the interference signal, wherein the first time is any time used to detect the interference signal within the first ranging period.

In a possible design, the ranging sensor is also configured to stop processing signals according to the first ranging cycle if the second signal is not received at the first moment. The first ranging cycle processes signals and receives at least one signal; determining that the third signal received at the third time among the at least one signal is the interference signal, wherein the third time is later than the The receiving time of other signals in at least one signal; processing the signal according to the first ranging period at a fourth time, wherein the duration between the fourth time and the third time is equal to the first ranging period The length of time used to transmit and receive signals within the cycle.

In a possible design, the time period used for transmitting signals in the first ranging period is equal to the time period used for transmitting signals during the second ranging period, and the time period used for receiving signals during the first ranging period The duration is equal to the duration used to receive signals in the second ranging period.

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, comprising a computer program, which, when executed on a computer, enables the computer to execute the method described in the first aspect or any possible design of the first aspect.

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 the drawings

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

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

Figure 3 is a schematic diagram of a 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 the co-frequency interference range of a ranging sensor provided by an embodiment of the present application;

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

Figure 7 is a schematic diagram of the co-frequency interference principle of a ranging sensor provided by an embodiment of the present application;

Figure 8 is a schematic diagram of the principle of continuous co-frequency interference of a ranging sensor provided by an embodiment of the present application;

Figure 9 is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present application;

Figure 10 is a schematic diagram of the ranging cycle of another ranging sensor provided by an embodiment of the present application;

Figure 11 is a schematic diagram of the ranging cycle of yet another ranging sensor provided by an embodiment of the present application;

Figure 12(1) is a schematic diagram of the interference suppression principle of a ranging sensor provided by an embodiment of the present application;

Figure 12(2) is a schematic diagram of the interference suppression principle of a ranging sensor 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 this application, such as "upper", "lower", "left", "right", "inner", "outer", etc., are only for reference to the directions of the drawings. Therefore, use The orientation terms are used to better and more clearly describe and understand the embodiments of the present application, 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 target position or distance. Ranging sensors usually use electromagnetic waves or ultrasonic waves to measure distance. The working principle is that a signal of a certain frequency 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. The ranging sensor calculates The phase difference or time difference between the sent and received signals can determine the distance between the ranging sensor and the target.

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 those with touch Laptops with sensitive surfaces (such as touch panels), etc. 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, Figure 1 is a schematic diagram of an application scenario of a ranging sensor provided by an embodiment of the present application. Figure 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 at the smart door lock 1 of door 1, the smart door lock 2 of door 2 and Smart door lock 3 on 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 the working principle of a ranging sensor provided by an embodiment of the present application. Among them, the ranging sensor is an ultrasonic ranging sensor (also called ultrasonic equipment). At time t ₁ , an ultrasonic signal is transmitted through a transmitting device, and at time t ₂ , an ultrasonic signal reflected by the target is received through a receiving device. The ranging sensor can determine the time difference between the emitted ultrasonic signal and the reflected ultrasonic signal through a timer as Δt=t ₂ -t ₁ . Since the propagation speed of the ultrasonic signal in the air is v=340m/s, the ranging sensor The ranging result of the target can be obtained. 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).

Exemplarily, FIG. 3 is a schematic diagram of a 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 phase is used for the ranging sensor to receive signals. During the receiving phase, the ranging sensor can receive signals and record the strength of the received signals. 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 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.

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

Among them, the co-frequency interference range of the ranging sensor is related to the ranging range of the ranging sensor. For example, as shown in Figure 5, which is a schematic diagram of the co-frequency interference range of a ranging sensor provided by an embodiment of the present application, O is The spatial position of the ranging sensor, r is the detection distance of the ranging sensor. The ranging sensor has a co-frequency interference range r _max , where r _max >2r, other ranging sensors within r _max can receive to the signal emitted by the ranging sensor, that is, if there is more than one ranging sensor within r _max , there must be the same frequency interference.

Exemplarily, Figure 6 is a schematic diagram of a co-frequency interference scenario of a ranging sensor provided by an embodiment of the present application. If the ultrasonic signals emitted by ultrasonic equipment 1, ultrasonic equipment 2 and ultrasonic equipment 3 have the same signal frequency, as shown in Figure As shown in 6, r _max is the same-frequency interference range of the ultrasonic equipment 1. The signal strength of the ultrasonic signal emitted by the ultrasonic equipment 1 will gradually attenuate as the distance from the ultrasonic equipment 1 increases until it is within the range between the ultrasonic equipment 1 and the ultrasonic equipment 1. It is completely attenuated at a distance of r _max . Therefore, ultrasonic equipment 1 will not cause co-frequency interference to ultrasonic equipment 2 whose distance from ultrasonic equipment 1 is greater than r _max , but will interfere with ultrasonic equipment 2 whose distance from ultrasonic equipment 1 is not greater than r _max . 3 produces co-channel interference.

FIG. 7 is a schematic diagram of the co-frequency interference principle 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 7, 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. 8 is a schematic diagram of the principle of continuous co-frequency interference of a ranging sensor provided by an 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 8, 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 8). At this time, the ranging sensor 2 is in the receiving stage in the first ranging cycle, then the ranging sensor 2 will The signal emitted by 1 is regarded as the emitted signal of the signal emitted 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 8). At this time, the ranging sensor 2 is in the receiving stage in 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 co-channel interference between multiple ranging sensors, corresponding solutions are currently proposed at the hardware level and software level of the ranging sensors.

At the hardware level, multiple signal generation modules can be set up in the ranging sensor. When an interference signal emitted by the ranging sensor is detected, the alternative signal can be switched to suppress the same-frequency interference between multiple ranging sensors. However, This solution requires changing the hardware structure of the ranging sensor and increasing the hardware complexity of the ranging sensor.

At the software level, from the perspective of the time domain, the ranging sensor can be dynamically allocated access physical channel time slots based on the moment of the interference signal detected by the ranging sensor. Through orderly and dynamic access time slots, it can suppress Co-channel interference between multiple ranging sensors. However, in order to avoid time slot aliasing due to device clock deviation, this solution requires clock synchronization between multiple ranging sensors. However, the clock synchronization algorithm is too complex, which affects the computing power and hardware complexity of the ranging sensors. High requirements. In addition, this solution statically divides time slots. In order to avoid co-channel interference when transmitting signals in different time slots, it is necessary to limit the interval between each time slot to the maximum interference-free time, so that it can be The number of divided time slots becomes smaller, and thus the number of ranging sensors that emit signals with the same frequency that can exist in a space becomes smaller. Moreover, the fixed and constant time slot division cannot be adjusted according to changes in interfering ranging sensors. .

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 an interference signal at the first moment through the ranging sensor, it can be determined that there is an interfering ranging sensor that causes co-frequency interference to the ranging sensor. By controlling the second time that the ranging sensor uses to transmit signals and receive signals in the first ranging cycle that is separated from the first time, the signal is processed according to the first ranging cycle, so that the interference signal from the interfering ranging sensor It will not affect the normal reception of the signal emitted by the ranging sensor. That is, from the perspective of the time domain, the ranging sensor is dynamically allocated access to physical channel time slots based on the moment of the interference signal detected by the ranging sensor. Multiple ranging can be avoided through orderly and dynamic access time slots. Co-frequency interference between sensors. Moreover, the embodiment of the present application dynamically allocates time slots without fixing the time slot interval, making the time slot division flexible, thereby increasing the number of ranging sensors that can exist in a space and emitting signals with the same frequency. Time slots are reallocated to the ranging sensor according to changes in the interfering ranging sensor. In addition, the method provided by the embodiment of the present application does not require clock synchronization between multiple ranging sensors.

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. For example, Figure 9 is the The application embodiment provides a schematic diagram of the hardware structure of an electronic device. As shown in FIG. 9 , 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 the USB standard specification, and may 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, the charging management module 140 and the 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 (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). 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 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 is understood that the components shown in FIG9 do not constitute a specific limitation on the electronic device 100. The electronic device 100 may also include more or fewer components than shown, or combine some components, or split some components, or arrange the components differently. In addition, the combination/connection relationship between the components in FIG9 may 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 detection and interference suppression. The progress of each stage is described below. Line introduction.

1. Interference detection.

In the embodiment of the present application, the ranging sensor may have two states: detection state and ranging state.

Among them, the ranging sensor in the detection state may not transmit signals but only receive signals in the corresponding detection period. The detection period can be used for the ranging sensor to receive signals. During the detection period, the ranging sensor can receive signals and record the strength of the received signals.

The ranging sensor in the ranging state can transmit signals, receive signals, obtain ranging results, and detect interference signals within the corresponding ranging period. Optionally, the ranging period includes the ranging period in the normal mode and the ranging period in the interference mode. Among them, the ranging cycle in the normal mode can be used for the ranging sensor to transmit signals, receive signals and obtain ranging results. For example, as shown in Figure 3, a ranging cycle can include a transmitting phase, a receiving phase and a data processing phase. these three stages. 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 may neither transmit nor receive signals, may process the signals received in the receiving stage to obtain ranging results, or may not process the signals received in the receiving stage. Therefore, this data processing stage can also be called an idle stage. The following description takes the data processing stage as an example. The ranging period in the interference mode can be used for the ranging sensor to transmit signals, receive signals, obtain ranging results, and detect interference signals. For example, Figure 10 is a diagram of the ranging period of another ranging sensor provided by an embodiment of the present application. Schematically, as shown in Figure 10, a ranging cycle may include four stages: a transmitting stage, a receiving stage, a data processing stage, and an interference detection stage. The interference detection phase divides the data processing phase into two parts. During the interference detection phase, the ranging sensor receives the signal and records the strength of the received signal. The duration of the data processing phase and the detection interference phase in the ranging cycle in the interference mode shown in Figure 10 is equal to the duration of the data processing phase in the ranging cycle in the normal mode shown in Figure 3 .

In the example of this application, the electronic device including the ranging sensor as shown in Figure 9 can control the ranging sensor before controlling the ranging sensor to process the signal according to the ranging period in the normal mode or the ranging period in the interference mode. The sensor enters the detection state and maintains one or more detection cycles. 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, the electronic device can determine that there is no measurement in the environment that causes co-frequency interference to the ranging sensor. distance sensor, which can then control the ranging sensor to enter the ranging state and process the signal according to the ranging cycle in the normal mode; or, if the ranging sensor receives at least one signal within one or more detection cycles, and the received If the strength of at least one signal is not less than the set threshold, the electronic device can determine that there is at least one ranging sensor in the environment that generates co-frequency interference to the ranging sensor, and then can control the ranging sensor to enter the ranging state according to the interference mode. The ranging cycle processes the signal. In the embodiment of the present application, a ranging sensor that generates co-frequency interference to the ranging sensor may be called an interference ranging sensor.

The electronic device may also select a reference interference ranging sensor of the ranging sensor from the above-mentioned at least one interference ranging sensor, wherein the sequence of the reference interference ranging sensor starting to process the signal according to the ranging cycle of the reference interference ranging sensor is in the sequence. The previous digit of the ranging sensor. Specifically, the electronic device may determine that the first signal received at the first time among the above-mentioned at least one signal is an interference signal, wherein the first time is later than the reception time of other signals in the at least one signal, that is, the first signal is the latest signal. The signal received later is then determined to be the interference ranging sensor that emits the first signal as the reference interference ranging sensor of the ranging sensor.

The electronic device may also determine the ranging period in the interference mode of the ranging sensor based on the ranging period in the normal mode of the reference interference ranging sensor, wherein the ranging period in the interference mode of the ranging sensor is used for The duration of transmitting signals is equal to the duration used to transmit signals in the normal mode during the ranging period of the reference interference ranging sensor, and the duration used to receive signals during the ranging period in the interference mode of the ranging sensor is equal to the reference interference ranging. The length of time used to receive signals during the ranging period of the sensor in the normal mode. The time used to obtain ranging results and detect interference signals during the ranging period of the ranging sensor in the interference mode is equal to the ordinary time of the reference interference ranging sensor. The length of time used to obtain ranging results within the ranging cycle in mode. Specifically, the electronic device can query the model of the reference interference ranging sensor, and then obtain the reference interference ranging sensor corresponding to the model of the reference interference ranging sensor, which is used to transmit signals, receive signals, and obtain ranging during the ranging period. The duration of the result, for example, the model of the reference interference ranging sensor is model A, and the duration for transmitting signals, receiving signals, and obtaining ranging results in the ranging cycle corresponding to model A are 6ms, 14ms, and 130ms respectively; or, You can also query the length of the ranging cycle of the reference interference ranging sensor, and then obtain the range period of the reference interference ranging sensor that corresponds to the length of the ranging cycle of the reference interference ranging sensor for transmitting signals and receiving signals. And the time to obtain the ranging results. For example, the length of the ranging period of the reference interference ranging sensor is 100ms, and the ranging period corresponding to 100ms is used to transmit signals, The time to receive the signal and obtain the ranging results is 2ms, 8ms and 90ms respectively. The embodiments of the present application do not impose any limitation on this.

Exemplarily, in the smart door lock scenario shown in Figure 1, the ranging sensor 1 and the ranging sensor 2 in Figure 1 are respectively arranged on the smart door lock 1 of the household door 1 and the smart door lock 2 of the household door 2, and the ranging sensor 1 and the ranging sensor 2 have the same signal frequency, which is 75KHz, for example. The duration of the ranging cycle of the ranging sensor 1 in the normal mode is 100ms, and the duration for transmitting signals, receiving signals and obtaining ranging results in the ranging cycle of the ranging sensor 1 in the normal mode is 2ms, 8ms and 90ms respectively.

Smart door lock 1 needs to detect whether someone is approaching within a preset distance around smart door lock 1. Smart door lock 1 can control the power on of distance sensor 1, and after controlling the power on of distance sensor 1, control the distance sensor 1 to enter. Detection status and maintain a detection period such as 10s. For example, if the ranging sensor 1 does not receive a signal within these 10 seconds, the smart door lock 1 can determine that there is no interference with the ranging sensor 1 in the environment, and then the smart door lock 1 can control the ranging sensor 1 to enter the ranging state. And maintain one or more ranging cycles in the normal mode, and determine whether anyone is approaching within a preset distance around the smart door lock 1 based on the ranging results of the ranging sensor 1 .

The smart door lock 2 needs to detect whether someone is approaching within a preset distance around the smart door lock 2. The smart door lock 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 Enter the detection state and maintain a detection period such as 10s. For example, the ranging sensor 2 received three signals within these 10 seconds, namely signal 0 received at time T ₀ , signal 1 received at time T ₁ , and signal 2 received at time T ₂ . For example, the time between T ₀ and T ₁ is equal to the time between T ₁ and T ₂ , then the smart door lock 2 can determine that signal 0, signal 1 and signal 2 are signals emitted by the same ranging sensor, and then It can be determined that there is one interfering ranging sensor of ranging sensor 2. For example, the time between T ₀ and T ₁ is not equal to the time between T ₁ and T ₂ , then the smart door lock 2 can determine that signal 0, signal 1 and signal 2 are signals emitted by different ranging sensors, Furthermore, it can be determined that there are three interfering ranging sensors of the ranging sensor 2 . If the smart door lock 2 determines that there is an interfering ranging sensor of the ranging sensor 2, the smart door lock can determine that the signal 2 received at time _T2 is an interfering signal, and further can determine that the interfering ranging sensor that transmits the signal 2 is The reference of the ranging sensor 2 interferes with the ranging sensor, and based on the reference of the ranging sensor 2 interfering with the ranging cycle of the ranging sensor, the ranging cycle of the ranging sensor 2 in the interference mode is determined. For example, the length of the ranging cycle of the reference interference ranging sensor of the ranging sensor 2 is 100 ms, then the smart door lock can determine that the length of the ranging cycle of the ranging sensor 2 in the interference mode is 2 ms, for The duration of receiving the signal is 8ms, and the duration of obtaining the ranging results and detecting the interference signal is 90ms. The smart door lock 2 can control the ranging sensor 2 to enter the ranging state and maintain one or more ranging cycles in the interference mode, and determine whether there is anyone within a preset distance around the smart door lock 2 based on the ranging results of the ranging sensor 2 near.

2. Interference suppression.

If the electronic device determines that there is an interfering ranging sensor of the ranging sensor in the environment, 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, it can be based on the The moment when the interfering signal is detected by the ranging sensor, the access physical channel time slot is dynamically allocated to the ranging sensor, that is, the starting time of signal processing is dynamically allocated to multiple ranging sensors according to the ranging cycle in the interference mode, so that multiple ranging sensors can The time when each ranging sensor transmits and receives signals is staggered, thereby suppressing co-channel interference between multiple ranging sensors.

In the embodiment of the present application, after the above-mentioned electronic device enters the detection state through the ranging sensor and detects the interference signal emitted by the reference interference ranging sensor at the first moment, it can control the ranging sensor to enter the ranging state at the second moment according to The ranging period of the ranging sensor in the interference mode processes the signal, wherein the time length between the second moment and the first moment is equal to the distance used for transmitting signals and receiving signals during the ranging period of the ranging sensor in the interference mode. duration.

Specifically, when the electronic device controls the ranging sensor to enter the ranging state and processes the signal according to the ranging cycle in the interference mode of the ranging sensor, it can determine whether the second signal is received by the ranging sensor at the third moment, The third time is any time used to detect interference signals within the ranging period of the ranging sensor in the interference mode. If the second signal is received by the ranging sensor at the third moment, the electronic device can determine that the interference to the ranging sensor has not changed, determine that the second signal is an interference signal, and control the ranging sensor to The signal is processed at the fourth moment according to the ranging period in the interference mode of the ranging sensor, wherein the time length between the fourth moment and the third moment is equal to the ranging period used to transmit the signal in the interference mode of the ranging sensor. and the duration of receiving the signal;

Alternatively, if the second signal is not received by the ranging sensor at the third moment, the electronic device may determine that the interference ranging sensor of the ranging sensor has changed, and it is necessary to re-determine the reference interference ranging of the ranging sensor. sensor. Specifically, the electronic device can control the ranging sensor to exit the ranging state, stop processing signals according to the ranging cycle in the interference mode of the ranging sensor, and control the ranging sensor to re-enter the detection state and maintain one or more detection cycles. . If at least one signal is received through the ranging sensor within one or more detection periods, and the intensity of the at least one received signal is not less than the set threshold, the electronic device can determine to The third signal received at the fifth time among the less than one signal is an interference signal, wherein the fifth time is later than the reception time of other signals among the at least one signal, that is, the third signal is the latest received signal and will be transmitted The third signal interferes with the ranging sensor as a new reference of the ranging sensor and interferes with the ranging sensor. The electronic device may also control the ranging sensor to perform ranging according to the interference mode of the ranging sensor at the sixth moment after the ranging sensor detects the interference signal emitted by the new reference interference ranging sensor at the fifth moment. The signal is processed periodically, wherein the duration between the sixth moment and the fifth moment is equal to the duration used for transmitting and receiving signals within the ranging period in the interference mode of the ranging sensor.

In the embodiment of the present application, the electronic device enters the detection state through the ranging sensor and detects the interference signal emitted by the reference interference ranging sensor at the first moment, and controls the ranging sensor to enter the ranging state at the second moment according to the measurement. After processing the signal in the ranging cycle in the interference mode of the distance sensor, theoretically the electronic device can detect the interference signal emitted by the reference interference ranging sensor again at the seventh moment through the ranging sensor. Among them, the duration between the seventh moment and the first moment is equal to the duration of the ranging cycle in the interference mode of the ranging sensor (that is, the duration of the ranging cycle of the ranging sensor's reference interference ranging sensor). The seventh moment The length of time between the end of the ranging period of the ranging sensor in the interference mode and the time when the signal is processed is equal to the length of time used for transmitting and receiving signals during the ranging period of the ranging sensor in the interference mode. However, the ranging sensor and the reference interference ranging sensor may have clock offsets in the same direction. For example, δΤ is the maximum clock offset value of the ranging sensor in a ranging cycle. The clock offset The range of may be (-2δT, 2δT), so in fact the electronic device can detect the interference signal emitted by the reference interference ranging sensor again within the time range of adding 2δT or subtracting 2δT through the ranging sensor at the seventh moment.

The electronic device may determine that the duration used to detect the interference signal within the ranging cycle in the interference mode of the ranging sensor is equal to four times the maximum clock offset value of the ranging sensor within one ranging cycle, and the ranging sensor The time length between the time when the interference signal starts to be detected in the ranging cycle in the interference mode and the time when the ranging cycle in the interference mode of the ranging sensor ends processing the signal is equal to the first time length, where the first time length is the measurement time. The sum of twice the maximum clock offset value of the distance sensor within a ranging cycle and the time used to transmit and receive signals within the ranging cycle in interference mode of the ranging sensor. Exemplarily, FIG. 11 is a schematic diagram of the ranging cycle of another ranging sensor provided by the embodiment of the present application. 4δT is the time period during which the interference signal starts to be detected in the ranging cycle of the ranging sensor in the interference mode. The time when the interference signal starts to be detected in the ranging cycle of the ranging sensor in the interference mode t _start =T-(S+R+2δT), where T is the end of the signal processing of the ranging cycle in the interference mode of the ranging sensor At the moment, S is the time period for transmitting signals in the ranging period of the ranging sensor in the interference mode, R is the time period for receiving signals during the ranging period of the ranging sensor in the interference mode, and δΤ is the measuring period. The maximum clock offset value from the sensor within a ranging cycle.

Exemplarily, FIG. 12(1) and FIG. 12(2) are schematic diagrams of the interference suppression principle of a ranging sensor provided by an embodiment of the present application. As shown in FIG. 12(1) and FIG. 12(2), FIG. 12(1) and the ranging sensor 1, the ranging sensor 2 and the ranging sensor 3 in Figure 12(2) have the same signal frequency, and the signal frequency is, for example, 75KHz. Initially, ranging sensor 1, ranging sensor 2 and ranging sensor 3 are not powered on.

As shown in Figure 12(1), after controlling the ranging sensor 1 to be powered on, the electronic device (for example, the electronic device 1) including the ranging sensor 1 controls the ranging sensor 1 to enter the detection state and maintain a detection period. For example, if the ranging sensor 1 does not receive a signal within the detection period, the electronic device 1 can determine that there is no interfering ranging sensor in the environment, and then the electronic device 1 can control the ranging sensor 1 to enter the ranging state and Maintain one or more ranging periods T1 in normal mode. Among them, the time period used to transmit signals in the ranging period T1 is S, the time period used in the ranging period T1 to receive signals is R, and the time period used in the ranging period T1 to obtain the ranging results is N. For example, the electronic device 1 can control the ranging sensor 1 to transmit the signal a at time A within the first ranging period T1 of the ranging sensor 1, and to transmit the signal b at time B within the second ranging period T1 of the ranging sensor 1, The signal c is emitted at time C within the third ranging period T1 of the ranging sensor 1 .

After controlling the ranging sensor 2 to be powered on, the electronic device (e.g., electronic device 2) including the ranging sensor 2 controls the ranging sensor 2 to enter a detection state and maintain a detection cycle. For example, the ranging sensor 2 receives three signals in the detection cycle, namely, signal a received at time A1, signal b received at time B1, and signal c received at time C1. For example, if the duration between time A1 and time B1 is equal to the duration between time B1 and time C1, the electronic device 2 can determine that the signals a, b, and c are signals emitted by the same ranging sensor, such as the ranging sensor 1, and further determine that there is an interfering ranging sensor of the ranging sensor 2. The electronic device 2 can also determine that the signal c received at time C1 is an interference signal, and the interfering ranging sensor, such as the ranging sensor 1, that emits the signal c is a reference interfering ranging sensor of the ranging sensor 2, and determine the ranging cycle T2 of the ranging sensor 2 in the interference mode according to the ranging cycle T1 of the reference interfering ranging sensor of the ranging sensor 2, such as the ranging sensor 1 in the normal mode. The duration for transmitting the signal in the ranging cycle T2 is S, the duration for receiving the signal is R, the duration for obtaining the ranging result and detecting the interference signal is N, and the duration for detecting the interference signal is 4δΤ. The electronic device 2 can also control the ranging sensor 2 to detect the interference signal at time D1 according to the ranging sensor. The electronic device 2 processes the signal during the ranging period T2 in the interference mode of the ranging sensor 2, wherein the duration between the time D1 and the time C1 is equal to the duration for transmitting and receiving signals in the ranging period T2 in the interference mode of the ranging sensor 2, such as S+R. For example, the electronic device 2 can control the ranging sensor 2 to transmit the signal d at the time D1 in the first ranging period T2 of the ranging sensor 2.

After controlling the ranging sensor 3 to be powered on, the electronic device (for example, the electronic device 3 ) including the ranging sensor 3 controls the ranging sensor 3 to enter a detection state and maintain a detection period. For example, the ranging sensor 3 receives four signals during the detection period, including signal a received at time A2, signal b received at time B2, signal c received at time C2, and signal received at time D2. The signal d arrives. For example, the duration between A2 moment and B2 moment is equal to the duration between B2 moment and C2 moment, the duration between A2 moment and B2 moment is equal to the duration between B2 moment and D2 moment, and the duration between A2 moment and C2 moment. is equal to the time length between C2 time and D2 time, and the time length between B2 time and C2 time is equal to the time length between C2 time and D2 time, then the electronic device 2 can determine that signal a, signal b and signal c are the same ranging sensor For example, the signal emitted by the ranging sensor 1, the signal d is the signal emitted by other ranging sensors such as the ranging sensor 2, and then it can be determined that there are two interfering ranging sensors of the ranging sensor 3. The electronic device 3 can also determine that the signal d received at time D2 is an interference signal, and the interference ranging sensor that transmits the signal d, such as the ranging sensor 2, is the reference interference ranging sensor of the ranging sensor 3, and according to the interference ranging sensor of the ranging sensor 3 The ranging period T3 in the interference mode of the ranging sensor 3 is determined with reference to the ranging period T2 in the interference mode of the interfering ranging sensor, such as the ranging sensor 2 . Among them, the time period for transmitting signals in the ranging period T3 is S, the time period for receiving signals is R, the time period for obtaining ranging results and detecting interference signals is N, and the time period for detecting interference signals is 4δT. The electronic device 3 can also control the ranging sensor 3 to process the signal according to the ranging period T3 in the interference mode of the ranging sensor 3 at the E2 moment, where the time length between the E2 moment and the D2 moment is equal to the ranging sensor 3 in the interference mode. The duration used for transmitting signals and receiving signals within the ranging period T3 is, for example, S+R. For example, the electronic device 3 can control the ranging sensor 3 to transmit the signal e at time E2 within the first ranging period T3 of the ranging sensor 3 .

As shown in FIG12 (2), when the electronic device 2 controls the ranging sensor 2 to process the signal according to the ranging period T2 in the interference mode of the ranging sensor 2 at time D1, and the electronic device 3 controls the ranging sensor 3 to process the signal according to the ranging period T3 in the interference mode of the ranging sensor 3 at time E2, the signal transmitted by the ranging sensor 1 reaches the ranging sensor 2 after the time length _dt12 , and reaches the ranging sensor 3 after the time length _dt13 . The time when the signal transmitted by the ranging sensor 1 reaches the ranging sensor 2 is any time in the 4δΤ interval used to detect the interference signal in the ranging period T2 in the interference mode of the ranging sensor 2, and the ranging sensor is in the Rx state where the signal can be received. The time when the signal transmitted by the ranging sensor 1 reaches the ranging sensor 3 is not any time in the 4δΤ interval used to detect the interference signal in the ranging period T3 in the interference mode of the ranging sensor 3, and the ranging sensor is not in the Rx state where the signal can be received. Therefore, the distance sensor 2 only receives the signal transmitted by the distance sensor 1 in the 4δΤ interval used for detecting interference signals in the distance measurement period T2, and does not receive the signal transmitted by the distance sensor 1 in the interval used for receiving signals in the distance measurement period T2, and the distance sensor 3 does not receive the signal transmitted by the distance sensor 1, that is, the distance sensor 1 does not generate co-frequency interference to the distance sensor 2 and the distance sensor 3. After receiving the signal transmitted by the distance sensor 1 through the distance sensor 2, the electronic device 2 can control the distance sensor 2 to wait for the duration S+R of transmitting and receiving signals in the distance measurement period T2 under the interference mode of the distance sensor 2.

The signal emitted by the ranging sensor 2 reaches the ranging sensor 1 after a time period of dt ₂₁ , and reaches the ranging sensor 3 after a time period of dt _23. Theoretically, dt ₁₂ = dt ₂₁ . The moment when the signal emitted by the ranging sensor 2 reaches the ranging sensor 1 is not any moment used to receive the signal during the ranging period T2 in the normal mode of the ranging sensor 1, and the ranging sensor is not in the Rx state that can receive the signal. The moment when the signal emitted by the ranging sensor 2 reaches the ranging sensor 3 is any moment in the 4δT interval for detecting interference signals within the ranging period T3 in the interference mode of the ranging sensor 3. The ranging sensor is in a position where it can receive the signal. Rx status. Therefore, the ranging sensor 3 only receives the signal emitted by the ranging sensor 2 in the 4δT area used to detect interference signals in the ranging period T3, and does not receive the ranging sensor 2 in the area used to receive signals in the ranging period T3. For the signal emitted, the ranging sensor 1 did not receive the signal emitted by the ranging sensor 2, that is, the ranging sensor 2 did not cause co-channel interference to the ranging sensor 1 and the ranging sensor 3. After receiving the signal transmitted by the distance sensor 2 through the distance sensor 3, the electronic device 3 can control the distance sensor 3 to wait for the duration of the distance measurement period T3 in the interference mode of the distance measurement sensor 3 for transmitting and receiving signals. The signal is emitted after S+R.

The signal emitted by the ranging sensor 3 reaches the ranging sensor 1 after a time period of dt ₃₁ , and reaches the ranging sensor 3 after a time period of dt _32. Theoretically, dt ₃₁ = dt ₁₃ and dt ₃₂ = dt ₂₃ . The moment when the signal emitted by the ranging sensor 3 reaches the ranging sensor 1 is not any moment used to receive the signal in the ranging period T2 of the ranging sensor 1 in the normal mode, and the ranging sensor is not in the Rx state that can receive the signal. The moment when the signal emitted by the ranging sensor 3 reaches the ranging sensor 2 is not any moment in the 4δT interval for detecting interference signals within the ranging period T2 in the interference mode of the ranging sensor 2, and the ranging sensor is not in a position to receive the signal. Rx status. Therefore, the ranging sensor 2 does not receive the signal emitted by the ranging sensor 3, and the ranging sensor 1 does not receive the signal emitted by the ranging sensor 3. That is, the ranging sensor 3 does not generate any synchronization between the ranging sensor 1 and the ranging sensor 3. frequency interference.

It can be seen that the above scheme dynamically divides a ranging cycle into three time slots and allocates different time slots to ranging sensor 1, ranging sensor 2 and ranging sensor 3, that is, the dynamic range is ranging sensor 1, ranging sensor 1, ranging sensor 2 and ranging sensor 3. Sensing 2 and ranging sensor 3 allocate the starting time of signal processing according to the ranging cycle in interference mode, so that the time of transmitting and receiving signals of ranging sensor 1, ranging sensor 2 and ranging sensor 3 is staggered, thereby suppressing Co-channel interference between ranging sensor 1, ranging sensor 2 and ranging sensor 3. In addition, when the dynamic range is ranging sensor 1, ranging sensor 2 and ranging sensor 3, since the interval between each time slot does not need to be limited, the number of time slots that can be divided in a ranging cycle increases, and then a The number of ranging sensors that emit signals with the same frequency that can exist in the space also increases.

In the example of this application, the electronic device can determine the number m of ranging sensors that can exist in a space and emit signals with the same frequency, specifically:

Among them, tc is the average time for the signal emitted by each ranging sensor to reach other devices. The ideal situation is tc=0. The non-ideal situation tc is related to the co-frequency interference range r _max of each ranging sensor. For example, the ranging period of each ranging sensor is T, as shown in Figure 12(2). If there are two ranging sensors in a space that emit signals with the same frequency, these two ranging sensors The occupied time slot is: 2(S+R)+2dt ₁₂ ; if there are three ranging sensors in a space that emit signals with the same frequency, the occupied time slots of these three ranging sensors are: 3(S+R )+dt ₁₂ +dt ₂₃ +dt ₃₁ , and so on, if there are 4 ranging sensors with the same frequency of emitted signals in a space, the time slots occupied by these 4 ranging sensors are: 4(S+R) +dt ₁₂ +dt ₂₃ +dt ₃₄ +dt ₄₁ .

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. 9 . Please refer to Figure 13, which is a flow chart of the signal processing method.

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

For S1301, please refer to the introduction of the interference detection process and interference suppression process in the previous article. For example, the electronic device can control the ranging sensor to enter the detection state and maintain one or more detection periods before controlling the ranging sensor to process the signal according to the ranging period in the normal mode or the ranging period in the interference mode. If the ranging sensor is in If a signal is received within one or more detection cycles, and the strength of the received signal is not less than the set threshold, the ranging sensor can determine that the received signal is an interference signal. Alternatively, when controlling the ranging sensor to enter the ranging state and processing the signal according to the ranging cycle in the interference mode of the ranging sensor, the electronic device can determine that the ranging sensor is used in the ranging cycle in the interference mode of the ranging sensor. If a signal is received at any time when the interference signal is detected, the ranging sensor can determine that the received signal is an interference signal.

S1302: The electronic device controls the ranging sensor to process the signal according to the first ranging cycle at the second moment.

Wherein, the duration between the second moment and the first moment is equal to the duration used for transmitting and receiving signals in the first ranging period, and the processing includes one or more of transmitting, receiving, obtaining ranging results, or detecting interference. item.

For S1302, please refer to the introduction to the interference suppression process in the previous article.

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. Memory 1401 is available To store the implementation program of the embodiment of this application. The memory 1401 may also store a network communication program that may 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 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. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present 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, the method comprising:

An interference signal is detected at the first moment by the ranging sensor;

Control the ranging sensor to process signals according to the first ranging cycle at a second moment, wherein the time length between the second moment and the first moment is equal to the sum of the signals used to transmit signals in the first ranging period and The duration of receiving a signal, and the processing includes one or more of transmitting, receiving, obtaining ranging results, or detecting interference.
The method of claim 1, wherein the interference signal is detected by the ranging sensor at the first moment, and the method includes:

before controlling the ranging sensor to process signals according to the first ranging cycle, receiving at least one signal through the ranging sensor;

The first signal received at the first time among the at least one signal is determined to be the interference signal, wherein the first time is later than the reception time of other signals among the at least one signal.
The method of claim 2, wherein after the interference signal is detected by the ranging sensor at the first moment, the method further includes:

The first ranging period is determined according to the second ranging period of the interfering ranging sensor that emits the interfering signal, wherein the time period used to obtain the ranging result and detect the interfering signal in the first ranging period is equal to The duration used to obtain ranging results in the second ranging period.
The method of claim 1, wherein the interference signal is detected by the ranging sensor at the first moment, and the method includes:

When controlling the ranging sensor to process signals according to the first ranging cycle, if a second signal is received by the ranging sensor at the first moment, it is determined that the second signal is the interference signal, Wherein, the first time is any time used for detecting interference signals within the first ranging period.
The method of claim 4, further comprising:

When controlling the ranging sensor to process signals according to the first ranging cycle, if the ranging sensor does not receive the second signal at the first moment, the ranging sensor is controlled to stop processing the signal according to the first ranging period. The first ranging cycle processes signals and receives at least one signal through the ranging sensor;

Determining that the third signal received at the third time among the at least one signal is the interference signal, wherein the third time is later than the reception time of other signals among the at least one signal;

Controlling the ranging sensor to process signals according to the first ranging period at a fourth moment, wherein the duration between the fourth moment and the third moment is equal to the time used for transmitting in the first ranging period signal and the duration of receiving the signal.
The method according to any one of claims 1 to 5, characterized in that the duration used to detect interference signals in the first ranging period is equal to the maximum clock offset value of the ranging sensor in one ranging period. four times.
The method according to any one of claims 1 to 6, characterized in that the time length between the time when the interference signal starts to be detected in the first ranging period and the time when the signal processing ends in the first ranging period is equal to the first ranging period. A time length, wherein the first time length is twice the maximum clock offset value of the ranging sensor in a ranging period and the time length used to transmit signals and receive signals in the first ranging period. and.
The method according to any one of claims 3 to 7, characterized in that the duration used to transmit signals in the first ranging period is equal to the duration used to transmit signals in the second ranging period, and the The time period used to receive signals in one ranging period is equal to the time period used to receive signals in the second ranging period.
An electronic device, characterized by including a ranging sensor and a processor, wherein,

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

The processor is configured to control the ranging sensor to process signals according to a first ranging cycle at a second moment, wherein the duration between the second moment and the first moment is equal to the first ranging period. The duration used for transmitting and receiving signals within a cycle. The processing includes one or more of transmitting, receiving, obtaining ranging results, or detecting interference.
The electronic device of claim 9, wherein the ranging sensor is configured to detect an interference signal at the first moment in the following manner:

receiving at least one signal before processing the signal according to the first ranging period;

The first signal received at the first time among the at least one signal is determined to be the interference signal, wherein the first time is later than the reception time of other signals among the at least one signal.
The electronic device according to claim 10, characterized in that:

The processor is further configured to determine the first ranging period according to the second ranging period of the interfering ranging sensor that emits the interference signal, wherein the first ranging period is used to obtain the ranging period. The result and the duration of detecting the interference signal are equal to the duration used to obtain the ranging result in the second ranging period.
The electronic device of claim 9, wherein the ranging sensor is configured to detect an interference signal at the first moment in the following manner:

When processing signals according to the first ranging cycle, if a second signal is received at the first time, it is determined that the second signal is the interference signal, wherein the first time is the first Used to detect interference signals at any time within the ranging period.
The electronic device as claimed in claim 12, characterized in that:

The ranging sensor is also configured to stop processing signals according to the first ranging cycle if the second signal is not received at the first moment when processing signals according to the first ranging cycle, and receive at least one signal;

Determine that a third signal among the at least one signal received at the third time is the interference signal, wherein the third time is later than a reception time of other signals among the at least one signal;

The signal is processed according to the first ranging period at a fourth moment, wherein the duration between the fourth moment and the third moment is equal to the duration for transmitting and receiving signals in the first ranging period. .
The electronic device according to any one of claims 9 to 13, wherein the duration used to detect interference signals in the first ranging period is equal to the maximum clock offset of the ranging sensor in one ranging period. four times the value.
The electronic device according to any one of claims 9 to 14, characterized in that the duration between the moment when the interference signal is detected in the first ranging cycle and the moment when the signal processing is finished in the first ranging cycle is equal to a first duration, wherein the first duration is the sum of twice the maximum clock offset value of the ranging sensor in one ranging cycle and the duration used to transmit and receive signals in the first ranging cycle.
The electronic device according to any one of claims 11 to 15, characterized in that the time period used for transmitting signals in the first ranging period is equal to the time period used for transmitting signals during the second ranging period, and The time period used for receiving signals in the first ranging period is equal to the time period used for receiving signals during the second ranging period.
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 1-8. 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 execute the method described in any one of claims 1-8.