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CN-122027776-A - Sensing device, control method of sensing device and multi-device image synchronization system

CN122027776ACN 122027776 ACN122027776 ACN 122027776ACN-122027776-A

Abstract

The present disclosure provides a sensing device, a control method of the sensing device, and a multi-device image synchronization system. The sensing device comprises a first sensor and a processing unit. The first sensor is configured to generate a first trigger signal during a sensing operation. The processing unit receives the first trigger signal, determines a preset delay time according to the type of the first sensor and the type of the sensor of the receiving end, determines the polarity of the input signal of the second trigger signal according to the polarity of the input signal of the first trigger signal and the trigger logic of the receiving end, generates the second trigger signal based on the preset delay time and the polarity of the input signal corresponding to the second trigger signal, and outputs the second trigger signal to the receiving end so that the receiving end executes corresponding sensing operation.

Inventors

  • CHEN YIFAN

Assignees

  • 钜嘉联合科技股份有限公司

Dates

Publication Date
20260512
Application Date
20260213

Claims (14)

  1. 1. A sensing device, comprising: a first sensor configured to generate a first trigger signal during the execution of the sensing operation, and A processing unit electrically connected to the first sensor, the processing unit configured to: receiving the first trigger signal; determining a preset delay time according to the respective sensor types of the first sensor and the receiving end; Determining the polarity of the input signal of a second trigger signal according to the polarity of the input signal of the first trigger signal and the trigger logic of the receiving end; Generating the second trigger signal based on the predetermined delay time and the polarity of the input signal corresponding to the second trigger signal, and And outputting the second trigger signal to the receiving end so that the receiving end executes corresponding sensing operation.
  2. 2. The sensing device of claim 1, characterized in that the sensing device further comprises: A second sensor electrically connected to the processing unit; Wherein the receiving end is the second sensor; Wherein the processing unit is further configured to compare the trigger logic of the second sensor with the input signal polarity of the first trigger signal and to determine whether to invert the input signal polarity of the first trigger signal based thereon to determine the input signal polarity of the second trigger signal input to the second sensor.
  3. 3. The sensing device of claim 2, wherein: The trigger logic defines the second sensor to activate in response to a rising edge trigger edge or a falling edge trigger edge; When the trigger logic of the second sensor is not matched with the polarity of the input signal of the first trigger signal, the processing unit performs a polarity inversion operation on the first trigger signal to convert the first trigger signal into the second trigger signal so as to conform to the trigger logic of the second sensor.
  4. 4. The sensing device of claim 2, wherein the step of determining the predetermined delay time based on the respective sensor types of the first sensor and the receiving end comprises: in response to determining that the receiving end is of the sensor type that is internal to the sensing device and that is different from the first sensor, the processing unit sets the predetermined delay time to zero; in response to determining that the receiving end is an external device or the same sensor type as the first sensor and is an active luminescence sensor, the processing unit sets the predetermined delay time to a predetermined value greater than zero such that a luminescence period of the first sensor is staggered from a luminescence period of the receiving end.
  5. 5. The sensing device of claim 1, wherein the processing unit includes a universal input output interface and a timer, and wherein the step of the processing unit generating the second trigger signal comprises: Detecting an interrupt event of the first trigger signal by using the general input/output interface; in response to the interrupt event, starting the timer to count for the predetermined delay time, and And outputting the second trigger signal by using the general input/output interface after the preset delay time is over.
  6. 6. The sensing device of claim 1, characterized in that the sensing device further comprises: the synchronous output interface is electrically connected with the processing unit, wherein the receiving end is another processing unit of another sensing device which is externally connected; Wherein the processing unit is configured to transmit the second trigger signal to the further processing unit via the synchronous output interface.
  7. 7. The sensing device of claim 1, wherein the processing unit is configured to switch between a master mode and a slave mode, In the master control mode, the processing unit generates the second trigger signal according to the first trigger signal to trigger the receiving end, and synchronously generates a third trigger signal to be output to an external device; wherein in the slave mode, the processing unit instead receives an external input signal from an external device as a synchronization source and generates an internal trigger signal based on the external input signal to trigger the first sensor to perform the sensing operation.
  8. 8. The sensing device of claim 1, wherein the processing unit comprises a timer, The processing unit generates a periodic interrupt signal by using the timer to replace the first trigger signal, and triggers the first sensor and the receiving end to execute the sensing operation simultaneously through the periodic interrupt signal.
  9. 9. The sensing device of claim 1, wherein the predetermined delay time is less than a unit frame time length to ensure that the sensing operation of the first sensor and the receiving end are within the same image frame period.
  10. 10. A control method of a sensing device, the sensing device including a first sensor and a processing unit, characterized in that the control method includes: generating a first trigger signal by the first sensor during a sensing operation; receiving, by the processing unit, the first trigger signal; Determining a preset delay time by the processing unit according to the respective sensor types of the first sensor and the receiving end; Determining, by the processing unit, an input signal polarity of a second trigger signal according to the input signal polarity of the first trigger signal and the trigger logic of the receiving end; Generating, by the processing unit, the second trigger signal based on the predetermined delay time and the input signal polarity of the second trigger signal, and And outputting the second trigger signal to the receiving end so that the receiving end executes corresponding sensing operation.
  11. 11. A multi-device image synchronization system, comprising: a primary sensing device configured to generate a primary synchronization signal, and The plurality of slave sensing devices are electrically connected with the master sensing device; Wherein each of the master sensing device and the plurality of slave sensing devices comprises a processing unit configured to execute a synchronization procedure comprising receiving an input signal, applying a delay time and a signal conversion procedure to the input signal to generate an output signal, thereby triggering the corresponding sensor to execute a sensing operation or transmitting the output signal to a next slave sensing device; wherein the processing unit of each of the plurality of slave sensing devices is configured to set the delay time such that the light emission timings of the active light sources between the plurality of slave sensing devices are staggered from each other.
  12. 12. The multi-device image synchronization system of claim 11, wherein the master sensing device and the plurality of slave sensing devices employ a serial connection architecture: the output end of the master sensing device is connected to the input end of a first slave sensing device in the plurality of slave sensing devices; the output end of each stage of the slave sensing device except the last slave sensing device is connected to one input end of the next stage of the slave sensing device; Wherein the processing unit of each stage of slave sensing devices is configured to receive the output signal of a preceding stage as the input signal, perform the synchronization procedure to generate another output signal, and transmit the generated another output signal to a next stage of slave sensing devices.
  13. 13. The multi-device image synchronization system of claim 11, wherein the master sensing device and the plurality of slave sensing devices employ a radial connection architecture: the master sensing device comprises a plurality of synchronous output pins which are respectively and directly connected to the input ends of the plurality of slave sensing devices; Wherein the processing unit of the master sensing device is configured to calculate and apply a different delay time for each of the plurality of synchronous output pins, and respectively send the output signals with different timings to the corresponding slave sensing devices to centrally control the trigger timings of all the slave sensing devices.
  14. 14. The multi-device image synchronization system of claim 11, wherein a delay time between generating the master synchronization signal from the master sensing device to a last triggered slave sensing device of the plurality of slave sensing devices to begin performing the sensing operation is less than a unit frame time length to ensure that the sensing operations of the master sensing device and the plurality of slave sensing devices are within a same image frame period.

Description

Sensing device, control method of sensing device and multi-device image synchronization system Technical Field The disclosure relates to the field of image processing and sensing technologies, and in particular, to a sensing device applied to synchronous control between a plurality of sensing modules or devices, a control method of the sensing device, and a multi-device image synchronization system. Background With the development of machine vision and stereoscopic imaging technologies, modern image products often incorporate a variety of different types of sensors, such as color image sensors (RGB sensors) and time-of-flight ranging sensors (ToF sensors), to obtain color and depth information simultaneously. To ensure consistency of the data acquired by the different sensors on the time axis, the sensors must be synchronously controlled. In addition, in many application scenarios, it is necessary to use a plurality of image capturing devices in series to expand the field of view or to perform multi-angle shooting. Existing synchronization practices typically physically connect the synchronization pins (e.g., fsync) of all the sense modules directly. One of the modules is set as a Master (Master), and the other modules are set as Slave (Slave). When the master control end sends out the synchronous pulse signal, all the slave terminals are directly triggered to take images. However, there are significant technical limitations to this manner of hardware direct connection. First, different types of sensors may have different trigger polarity requirements, e.g., an RGB sensor may be triggered on the lower edge, while a ToF sensor may be triggered on the upper edge. If the connection is direct, the trigger timing is misplaced, and a hardware reversing circuit must be additionally added to solve the problem, which increases the complexity and cost of circuit design. Second, when a system includes multiple active luminescence sensors (such as VCSEL light sources of the ToF module), if all modules are triggered and emit light at the same time, optical Crosstalk (cross talk) is easily generated, resulting in ranging data errors. Disclosure of Invention In view of the above, in order to solve the problems of signal polarity mismatch and optical interference between multiple active light sources caused by direct connection of hardware in the prior art, the present disclosure provides a sensing device with programmable trigger signal adjustment function, a control method of the sensing device, and a multi-device image synchronization system. According to the method, the processing unit is configured in the sensing device to serve as an intermediate control hub of the synchronous signal, and the polarity and the delay time of the synchronous signal are flexibly adjusted in a software-defined mode, so that accurate and anti-interference synchronous control is realized on the premise that an additional hardware circuit is not added. An embodiment of the present disclosure provides a sensing device including a first sensor and a processing unit. The first sensor is configured to generate a first trigger signal during a sensing operation. The processing unit is electrically connected to the first sensor. The processing unit is configured to receive the first trigger signal and determine a predetermined delay time according to the first sensor and a sensor type of a receiving end. The processing unit determines an input signal polarity of a second trigger signal according to an input signal polarity of the first trigger signal and a trigger logic of the receiving end. The processing unit generates a second trigger signal based on a predetermined delay time and the polarity of the input signal corresponding to the second trigger signal. The processing unit outputs a second trigger signal to the receiving end so that the receiving end executes a corresponding sensing operation. Another embodiment of the present disclosure provides a method for controlling a sensing device, where the sensing device includes a first sensor and a processing unit. The control method comprises the steps of generating a first trigger signal by a first sensor during a period of executing a sensing operation, receiving the first trigger signal by a processing unit, determining a preset delay time by the processing unit according to the first sensor and a sensor type of a receiving end, determining an input signal polarity of a second trigger signal by the processing unit according to an input signal polarity of the first trigger signal and a trigger logic of the receiving end, generating the second trigger signal by the processing unit according to the preset delay time and the input signal polarity of the second trigger signal, and outputting the second trigger signal to the receiving end so that the receiving end executes a corresponding sensing operation. Yet another embodiment of the present disclosure provides a multi-device image synchronization