Echo Signal Processing Method and Apparatus

An apparatus comprising:

• a processor;
• and
• a non-transitory storage medium coupled to the processor and configured to store program instructions, wherein, when executed by the processor, the program instructions cause the apparatus to:
• receive, in different directions, echo signals comprising a first echo signal and a second echo signal;
• determine a first inflection point from the first echo signal, wherein the first inflection point is a first sampling point of the first echo signal, and wherein first amplitude values of a first left neighboring sampling point of the first inflection point and a first right neighboring sampling point of the first inflection point are less than a second amplitude value of the first inflection point;
• determine a second inflection point from the second echo signal, wherein the second inflection point is a second sampling point of the second echo signal, and wherein third amplitude values of a second left neighboring sampling point of the second inflection point and a second right neighboring sampling point of the second inflection point are less than a fourth amplitude value of the second inflection point;
• making a first determination that a time difference between a first moment when the first inflection point is received from the first echo signal and a second moment when the second inflection point is received from the second echo signal is less than or equal to a first preset threshold;
• and
• combine, in response to the first determination, the first echo signal and the second echo signal to obtain a combined signal.

A computer program product comprising computer-executable instructions stored on a non-transitory computer readable medium that, when executed by a processor, cause an apparatus to:

• receive, in different directions, echo signals comprising a first echo signal and a second echo signal;
• determine a first inflection point from the first echo signal, wherein the first inflection point is a first sampling point of the first echo signal, and wherein first amplitude values of a first left neighboring sampling point of the first inflection point and a first right neighboring sampling point of the first inflection point are less than a second amplitude value of the first inflection point;
• determine a second inflection point from the second echo signal, wherein the second inflection point is a second sampling point of the second echo signal, and wherein third amplitude values of a second left neighboring sampling point of the second inflection point and a second right neighboring sampling point of the second inflection point are less than a fourth amplitude value of the second inflection point;
• making a determination that a time difference between a first moment when the first inflection point is received from the first echo signal and a second moment when the second inflection point is received from the second echo signal is less than or equal to a preset threshold;
• and
• combine, in response to the determination, the first echo signal and the second echo signal to obtain a combined signal.