CN115877356B

CN115877356B - Detection method, detection device, and computer-readable storage medium

Info

Publication number: CN115877356B
Application number: CN202310105853.0A
Authority: CN
Inventors: 雷述宇
Original assignee: Ningbo Abax Sensing Electronic Technology Co Ltd
Current assignee: Ningbo Abax Sensing Electronic Technology Co Ltd
Priority date: 2023-02-13
Filing date: 2023-02-13
Publication date: 2023-06-02
Anticipated expiration: 2043-02-13
Also published as: CN115877356A

Abstract

The application provides a detection method, detection equipment and a computer readable storage medium, and relates to the technical field of laser radar, wherein the method comprises the following steps: generating and emitting emergent light according to a preset driving sequence signal, wherein the emergent light is used for detecting a detected object; generating an echo sequence signal according to the received reflected light; mixing according to the echo sequence signal and the driving sequence signal to obtain an initial mixing signal; intermediate frequency sampling superposition is carried out on the initial mixing signal to obtain a comprehensive mixing signal; and calculating according to the comprehensive mixing signals to obtain detection parameters. According to the technical scheme, intermediate frequency sampling superposition is carried out on the initial mixing signals, a large amount of redundant data in the initial mixing signals can be screened and deleted, and the comprehensive mixing signals are obtained, so that the data volume for mixing operation can be reduced, the time spent for mixing operation can be further reduced, and the detection efficiency of detection equipment is improved.

Description

Detection method, detection device, and computer-readable storage medium

Technical Field

The present disclosure relates to the field of lidar technologies, and in particular, to a detection method, a detection device, and a computer readable storage medium.

Background

With the continuous development of radar technology, the ranging mode based on radar technology is gradually developed from time of flight (TOF) to frequency modulated continuous wave (frequency modulated continuous wave, FMCW) with stronger anti-interference capability and higher signal-to-noise ratio, so that the accuracy of ranging can be improved through FMCW.

In the related art, taking the case of performing ranging by using FMCW as an example, the laser radar may generate local oscillation light based on the outgoing light while generating the outgoing light, and the outgoing light may irradiate the detected object, thereby forming reflected light. Correspondingly, the laser radar can receive the reflected light, mix the received reflected light with the local oscillation light to obtain the frequency difference between the reflected light and the local oscillation light, and determine the distance between the laser radar and the detected object based on the frequency difference.

However, in the detection by FMCW, a large amount of data needs to be calculated, and a long time is required, so that the detection by FMCW is inefficient.

Disclosure of Invention

The application provides a detection method, detection equipment and a computer readable storage medium, which solve the problems that a large amount of data need to be operated, more time is needed to be spent and the detection efficiency is low when detection is carried out through FMCW in the prior art.

In order to achieve the above purpose, the present application adopts the following technical scheme:

in a first aspect, a detection method is provided, the method comprising:

generating and emitting emergent light according to a preset driving sequence signal, wherein the emergent light is used for detecting a detected object;

generating an echo sequence signal according to received reflected light, wherein the reflected light is formed by reflecting the emergent light by the detected object;

mixing according to the echo sequence signal and the driving sequence signal to obtain an initial mixing signal;

intermediate frequency sampling superposition is carried out on the initial mixing signal to obtain a comprehensive mixing signal;

and calculating according to the comprehensive mixing signals to obtain detection parameters.

In a first possible implementation manner of the first aspect, the mixing the local oscillator sequence signal with the echo sequence signal to obtain the initial mixed signal includes:

acquiring a discrete local oscillation signal corresponding to the current time from the local oscillation sequence signal, and acquiring a discrete echo signal corresponding to the current time from the echo sequence signal;

calculating according to the discrete local oscillation signals and the discrete echo signals to obtain discrete mixed signals;

The initial mixing signal is composed from a plurality of the discrete mixing signals generated at different times.

In a second possible implementation manner of the first aspect, the performing intermediate frequency sampling superposition on the initial mixing signal to obtain an integrated mixing signal includes:

performing low-pass integral filtering on the initial mixing signal to obtain a filtered initial mixing signal;

and superposing a plurality of groups of filtered initial mixing signals to obtain the comprehensive mixing signals.

In a third possible implementation manner of the first aspect, based on the second possible implementation manner of the first aspect, the performing low-pass integral filtering on the initial mixing signal to obtain a filtered initial mixing signal includes:

determining a signal combining interval of the initial mixing signal according to the number of the discrete mixing signals included in the initial mixing signal;

determining a plurality of discrete mixing signals included in each signal combining interval according to the sequence number corresponding to each discrete mixing signal;

summing the discrete mixed signals included in the signal combining intervals according to each signal combining interval to obtain mixed signals and values corresponding to the signal combining intervals;

And according to the mixing signals and the values respectively corresponding to each signal combination interval, forming the initial mixing signals after filtering.

Based on the second possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the superimposing the multiple sets of the filtered initial mixing signals to obtain the integrated mixing signal includes:

for each group of the filtered initial mixing signals, acquiring serial numbers corresponding to each mixing signal and each value in the filtered initial mixing signals;

based on serial numbers corresponding to the mixed signals and the values respectively, mixing signals and values with the same serial numbers in each group of filtered initial mixed signals are overlapped to obtain a plurality of mixed signal overlapped values;

and forming the comprehensive mixed signal according to the mixed signal superposition value.

In a fifth possible implementation manner of the first aspect, the mixing according to the echo sequence signal and the driving sequence signal to obtain an initial mixed signal includes:

generating the emergent light according to the driving sequence signal and taking the driving sequence signal as a local oscillation sequence signal;

And mixing the local oscillation sequence signal with the echo sequence signal to obtain the initial mixing signal.

With reference to any one of the foregoing possible implementation manners of the first aspect, in a sixth possible implementation manner of the first aspect, the calculating according to the integrated mixing signal to obtain a detection parameter includes:

and calculating the comprehensive mixing signal by adopting a fast Fourier transform mode to obtain the detection parameter.

With reference to any one of the foregoing possible implementation manners of the first aspect, in a seventh possible implementation manner of the first aspect, before the generating and emitting the outgoing light according to the preset driving sequence signal, the method further includes:

and acquiring the pre-stored driving sequence signal in a storage space according to a pre-set storage path.

With reference to any one of the foregoing possible implementation manners of the first aspect, in an eighth possible implementation manner of the first aspect, the detection parameter is used to represent a distance between the detection parameter and the detected object.

In a second aspect, there is provided a detection apparatus comprising: the device comprises a processor, a driving circuit, a laser, a light emitting module, a receiving module and a photoelectric converter;

The processor is respectively connected with the driving circuit and the photoelectric converter, the laser is connected in series between the driving circuit and the light-emitting module, and the receiving module is connected with the photoelectric converter;

the processor is used for driving the laser through the driving circuit according to a preset driving sequence signal, generating emergent light by the laser and emitting the emergent light through the light emitting module;

the photoelectric converter is used for generating an echo sequence signal according to the reflected light received by the receiving module, and sending the echo sequence signal to the processor, wherein the reflected light is formed after the detected object reflects the emergent light;

the processor is further configured to perform frequency mixing according to the echo sequence signal and the driving sequence signal to obtain an initial frequency mixing signal, perform intermediate frequency sampling superposition on the initial frequency mixing signal to obtain a comprehensive frequency mixing signal, and perform calculation according to the comprehensive frequency mixing signal to obtain a detection parameter.

In a third aspect, there is provided a detection apparatus comprising: a memory and a processor, the memory for storing a computer program; the processor is configured to perform the method of any of the first aspects when the computer program is invoked.

In a fourth aspect, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method according to any of the first aspects.

In a fifth aspect, an embodiment of the present application provides a chip system, where the chip system includes a processor, and the processor is coupled to a memory, and the processor executes a computer program stored in the memory to implement the method according to the first aspect or any implementation manner of the first aspect.

According to the detection method provided by the embodiment of the application, the detection equipment can generate and emit emergent light to detect the detected object according to the preset driving sequence signal, and generate echo sequence signals according to the received reflected light. Then, the detection device can perform frequency mixing according to the echo sequence signal and the driving sequence signal to obtain an initial frequency mixing signal, then perform intermediate frequency sampling superposition on the initial frequency mixing signal to obtain a comprehensive frequency mixing signal, and finally perform calculation according to the comprehensive frequency mixing signal to obtain detection parameters. By performing intermediate frequency sampling superposition on the initial mixing signals, a large amount of redundant data in the initial mixing signals can be screened and deleted to obtain comprehensive mixing signals, so that the data volume for mixing operation can be reduced, the time spent for mixing operation can be further reduced, and the detection efficiency of detection equipment is improved.

Drawings

FIG. 1A is a schematic diagram of a detection system according to an embodiment of the present disclosure;

FIG. 1B is a system diagram of another detection system according to an embodiment of the present application;

fig. 1C is a schematic structural diagram of a detection device according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of a detection method according to an embodiment of the present application;

FIG. 3 is a flow chart of a method for combining integrated mixed signals according to an embodiment of the present disclosure;

fig. 4 is a block diagram of a detection device according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a detection device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods of generating outgoing light, methods of receiving reflected light, and electronic devices are omitted so as not to obscure the description of the present application with unnecessary detail.

The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include, for example, "one or more" such forms of expression, unless the context clearly indicates to the contrary.

With the continuous development of radar technology, taking the case that a laser radar adopts FMCW to perform ranging, the laser radar can generate emergent light through a laser according to a driving signal and generate local oscillation light. The outgoing light emitted by the laser radar can irradiate the detected object, and the detected object can reflect the outgoing light, so that reflected light is formed.

Correspondingly, the laser radar can receive the reflected light and mix the reflected light with the local oscillation light to obtain a mixed signal. Then, the laser radar can determine the frequency difference between the reflected light and the local oscillation light according to the mixed signals, and then calculate according to the frequency difference to determine the distance between the detected object and the laser radar.

However, the laser radar needs to calculate a large amount of data according to the reflected light and the local oscillation light, and a long time is spent to determine the distance between the detected object and the laser radar, so that the efficiency of ranging by the laser radar is low.

Therefore, the embodiment of the application provides a detection method, and the detection device can generate and emit emergent light to detect the detected object according to a preset driving sequence signal, and generate an echo sequence signal according to the received reflected light. Then, the detection device can perform frequency mixing according to the echo sequence signal and the driving sequence signal to obtain an initial frequency mixing signal, then perform intermediate frequency sampling superposition on the initial frequency mixing signal to obtain a comprehensive frequency mixing signal, and finally perform calculation according to the comprehensive frequency mixing signal to obtain detection parameters. By performing intermediate frequency sampling superposition on the initial mixing signals, a large amount of redundant data in the initial mixing signals can be screened and deleted to obtain comprehensive mixing signals, so that the data volume for mixing operation can be reduced, the time spent for mixing operation can be further reduced, and the detection efficiency of detection equipment is improved.

The following describes a detection system related to a detection method provided by an embodiment of the present application, referring to fig. 1A, fig. 1A is a schematic system diagram of a detection system provided by an embodiment of the present application, and as shown in fig. 1A, the detection system may include: a detection device 110 and a detected object 120.

Wherein the detecting device 110 and the detected object 120 are respectively distributed at different positions. Moreover, the detection device 110 may be stationary or may be moving; similarly, the object 120 to be detected may be stationary or moving. For example, the detection device 110 may be a stationary range finder or a lidar mounted on a vehicle; the detected object 120 may be a stationary tree or a guardrail, or may be a moving vehicle or a pedestrian, and the embodiment of the present application does not specifically limit the detecting device 110 and the detected object 120.

In the process of detecting the detected object 120 by the detecting device 110, the detecting device 110 may acquire a pre-stored driving sequence signal in a pre-set storage space, and generate outgoing light corresponding to the driving sequence signal based on the driving sequence signal, so as to detect a range corresponding to a field of view (FOV) by the outgoing light.

The driving sequence signal may be pre-generated by the detecting device and stored in the storage space of the detecting device 110, and in practical application, the detecting device 110 may also output the driving sequence signal in real time according to a preset driving algorithm, and the manner of acquiring the driving sequence signal by the detecting device 110 in the embodiment of the present application is not specifically limited.

Further, in the detection process, the emergent light can detect the region corresponding to the FOV. When the emergent light is reflected, reflected light can be formed, and part of the reflected light can propagate along the opposite propagation direction of the emergent light. Accordingly, the detection device 110 may receive the counter-propagating reflected light, and implement detection of the region corresponding to the FOV according to the received reflected light.

For example, with respect to the detected object 120 in the FOV, after the outgoing light irradiates the detected object 120, the detected object 120 may reflect the outgoing light, thereby forming reflected light. Part of the reflected light may be returned to the detection device 110 in a propagation direction opposite to the outgoing light, which the detection device 110 may then receive.

Accordingly, the detection device 110 may determine a frequency difference between the reflected light and the driving sequence signal according to the reflected light, in combination with the driving sequence signal used by the detection device 110 to generate the outgoing light, so that a distance between the detection device 110 and the detected object 120, and a movement speed of the detected object 120 may be determined according to the frequency difference.

Referring to fig. 1B, fig. 1B is a schematic system diagram of another detection system provided in an embodiment of the present application, as shown in fig. 1B, in practical application, the detection system may further include: the carrier 130 is moved.

The mobile carrier 130 may be a vehicle, an unmanned aerial vehicle, a robot, or other devices capable of traveling, and the embodiment of the present application does not specifically limit the mobile carrier 130.

Moreover, the detection device 110 may be provided on the moving carrier 130. While the moving carrier 130 is in motion, the detection device 110 may detect the environment around the moving carrier 130, thereby determining the distance between the detected object 120 and the moving carrier 130, as well as the speed of motion of the detected object 120.

Further, the moving carrier 130 may determine a trend of a distance between the detected object 120 and the moving carrier 130, that is, whether the detected object 120 is moving away from the moving carrier 130 or moving close to the moving carrier 130, according to the determined movement speed of the detected object 120 in combination with the traveling speed of the moving carrier 130.

For example, the detection device 110 may be provided on a vehicle to detect pedestrians and other vehicles around the vehicle; alternatively, the detection device 110 may be disposed on an unmanned aerial vehicle, where the detection device may scan and detect a current area during the flight of the unmanned aerial vehicle; alternatively, the detection device 110 may be provided on the robot, and a travel route may be constructed for the robot by data collected by the detection device 110.

In addition, in practical application, the detection device 110 may be not only disposed on the mobile carrier 130, but also fixed at a certain position, so that the detection device 110 may be applied to different scenes respectively.

For example, the detection device 110 may be disposed above the conveyor belt to detect material transported on the conveyor belt; the detection device 110 may also be provided at a toll booth, count vehicles passing therethrough, and detect the size of each vehicle to determine whether the vehicle can drive into a highway.

Of course, the detection device 110 may also be applied to other scenarios, and the application scenario of the detection device 110 is not specifically limited in this embodiment of the present application.

Further, referring to fig. 1C, fig. 1C is a schematic structural diagram of a detection device according to an embodiment of the present application, as shown in fig. 1C, the detection device 110 may include: a processor 1101, a driving circuit 1102, a laser 1103, a light emitting module 1104, a receiving module 1105 and a photoelectric converter 1106.

The processor 1101 is connected to the driving circuit 1102 and the photoelectric converter 1106, the laser 1103 is connected in series between the driving circuit 1102 and the light emitting module 1104, and the receiving module 1105 is connected to the photoelectric converter 1106.

Specifically, during the process of emitting outgoing light by the detection device 110, the processor 1101 may acquire a pre-stored driving sequence signal in the storage space according to a pre-set storage path. The processor 1101 may then send the drive sequence signal to the drive circuit 1102, which drive circuit 1102 may amplify and transmit the amplified drive sequence signal to the laser 1103.

The driving sequence signal may be an electrical signal in digital form (e.g. a sequence consisting of digital "0" and digital "1"), which is not specifically limited in the embodiments of the present application.

Further, the laser 1103 may receive the amplified driving sequence signal transmitted by the driving circuit 1102, and control the laser 1103 to emit light or to turn off according to the amplified driving sequence signal. When the laser 1103 emits light, the light emitting module 1104 can adjust the light emitted by the laser 1103, so as to form emergent light; when the laser 1103 is extinguished, no more outgoing light is generated.

Accordingly, the outgoing light may irradiate the detected object 120 to form reflected light. The reflected light may propagate along a path opposite to the outgoing light towards the detection device 110. The receiving module 1105 may receive the reflected light and irradiate the photoelectric converter 1106 with the received reflected light.

When the reflected light irradiates the photoelectric converter 1106, the photoelectric converter 1106 may absorb the reflected light, so that a circuit in which the photoelectric converter 1106 is located is turned on, and a level signal may be output to the processor 1101. Accordingly, the photoelectric converter 1106 can continuously receive the reflected light and continuously output the level signal to the processor 1101, resulting in an echo sequence signal composed of a plurality of level signals.

The processor 1101 may mix the received echo sequence signal with the drive sequence signal stored by the processor 1101. The processor 1101 may then calculate a frequency difference between the echo sequence signal and the drive sequence signal based on the mixed signals. The processor 1101 may calculate a detection parameter based on the frequency difference. For example, the detection parameter may be a distance between the detection device 110 and the detected object 120.

In practical applications, the processor 1101 may be a central processing unit (central processing unit, CPU), a field programmable gate array (field programmable gate array, FPGA), a micro control unit (micro control unit, MCU) or a digital signal processor (digital signal processing, DSP), and the embodiment of the present application does not specifically limit the processor 1101.

Similarly, the laser 1103 may be a semiconductor laser, a solid state laser, or other type of laser. If the laser 1103 is a semiconductor laser, the laser 1103 may be a vertical-cavity-emitting laser (VCSEL) or an edge-emitting semiconductor laser (EEL), and the embodiment of the present application does not specifically limit the laser 1103.

The outgoing light emitted by the laser 1103 may be a laser having a certain wavelength, for example, the outgoing light may be a laser having a wavelength of 905 nanometers (nm), 950nm, or 1550nm, and the wavelength of the outgoing light is not specifically limited in the embodiments of the present application.

In addition, the photoelectric converter 1106 may be an optocoupler, a photodiode, or other devices with photoelectric conversion function, for example, if the photoelectric converter 1106 is a photodiode, the photoelectric converter 1106 may be a single photon avalanche diode (single photon avalanche diode, SPAD), which is not specifically limited in the embodiments of the present application for the photoelectric converter 1106.

It should be noted that, in practical application, the detection device 110 may be used to detect alone, or may be disposed on the moving carrier 130, and detect during the running process of the moving carrier 130. For convenience of explanation, the distance between the detecting device 110 and the detected object 120 is determined by detecting the detected object 120 by the detecting device 110 when the detecting device 110 and the detected object 120 are both in a stationary state. Taking the detection device 110 as a range finder as an example, the detection mode in the detection scene is described.

Fig. 2 is a schematic flowchart of a detection method provided in an embodiment of the present application, which may be applied to the detection device in the detection scenario described above, and the detection device is described as a range finder, by way of example and not limitation, and referring to fig. 2, the method includes:

step 201, a driving sequence signal is acquired.

The driving sequence signal may be a digital sequence signal, and is used for driving a laser of the detection device. The duty ratio of the driving sequence signal may be 50%, may be less than 50%, or may be greater than 50%, which is not particularly limited in the embodiment of the present application.

For example, the drive sequence signal may be a sequence of a number 0 and a number 1, such as 1, 0, 1, 0, or 1, 0, 1, 0, or 1, 0, 1 0, 1, 0, the digital sequence of the driving sequence signal is not particularly limited in the embodiment of the present application.

During operation of the detection device, the detection device can generate emergent light to irradiate the detected object, so that reflected light is formed. In the process of generating emergent light, the laser of the detection device needs to be driven by the driving sequence signal, so that laser pulses matched with the driving sequence signal, namely the emergent light, are generated by the laser.

Therefore, the detection device needs to acquire the pre-stored driving sequence signal, so that in a subsequent step, the detection device can generate emergent light according to the acquired driving sequence signal, thereby realizing detection of the detected object and determining the distance between the detection device and the detected object.

Specifically, after detecting the triggered start operation, the detection device may first acquire a storage path corresponding to the drive sequence signal, and then search for a pre-stored drive sequence signal in a storage space of the detection device according to the storage path.

The storage space of the detection device may be a memory built in the detection device, a memory included in a processor of the detection device, or a memory connected with the detection device.

For example, if the processor of the detection device is an FPGA, the detection device may obtain, according to a preset storage path, a prestored driving sequence signal in a storage space of the FPGA by reading a COE file.

It should be noted that, in practical application, the driving sequence signal may be calculated according to a driving algorithm that is preset in operation. For example, MATLAB (a mathematical software) may be run through an electronic device, and a preset driving algorithm is loaded in the MATLAB, so that a driving sequence signal may be output and obtained, and the driving sequence signal may be stored in a COE file format, so that a COE file including the driving sequence signal may be transferred to the FPGA of the detection device.

Step 202, generating and emitting emergent light based on the driving sequence signal.

The emergent light is a laser beam generated by the detection device according to the driving sequence signal and is used for determining the distance between the detection device and the detected object.

Since the detection device needs to generate the emergent light through the laser, the current voltage required by the laser when generating the emergent light is higher, and the current voltage of the driving sequence signal is smaller, the laser cannot generate the emergent light through the driving sequence signal.

Therefore, the detection device can input the driving sequence signal into the driving circuit, and amplify the current and/or voltage of the driving sequence signal through the driving circuit, so that the laser is driven through the amplified driving sequence signal, and the laser generates emergent light.

Specifically, after the detection device acquires the driving sequence signal, the driving sequence signal can be input to the driving circuit through the processor, and the current and/or the voltage of the driving sequence signal can be amplified through the driving circuit according to the rated current and/or the rated voltage corresponding to the laser, so as to obtain the current and/or the voltage matched with the laser.

Correspondingly, the driving circuit can output an amplified driving sequence signal to the laser, and the laser can generate laser pulses corresponding to the level signals in the driving sequence signal according to the amplified driving sequence signal, so that a group of emergent light corresponding to the driving sequence signal can be formed according to a plurality of digital signals in the driving sequence signal.

For example, if the 1-group drive sequence signal includes 6 digital signals of "1, 0", the laser may generate a laser pulse at a time corresponding to the digital signal 1 and maintain an off state at a time corresponding to the digital signal 0, thereby generating a group of emitted light corresponding to the drive sequence signal.

It should be noted that, in practical application, the detection device may periodically send the same 1-group driving sequence signal to the driving circuit through the processor. Similarly, the drive circuit may also periodically amplify the drive sequence signal. Likewise, the laser may also periodically output multiple sets of outgoing light. For convenience of description, the embodiments of the present application will be described only by taking a laser generating a set of outgoing light as an example.

Step 203, generating echo sequence signals corresponding to the reflected light according to the received reflected light.

The reflected light is formed by reflecting emergent light by the detected object. Accordingly, the reflected light may propagate along various paths, and a portion of the reflected light may propagate along a path opposite to the outgoing light, so that the detection device may receive the reflected light, and thus may generate an echo sequence signal from the reflected light, so that in a subsequent step the detection device may determine a distance between the detection device and the detected object from the echo sequence signal.

Specifically, the detection device may receive the reflected light through the receiving module and focus the reflected light, so that the reflected light may be focused on the photoelectric converter. Accordingly, if the reflected light irradiates the photoelectric converter, the photodiode in the photoelectric converter may be turned on by the irradiation of the reflected light, so that a circuit branch where the photodiode is located forms a path, and a high level signal is output. If the photoelectric converter is not irradiated by the reflected light, the photodiode in the optical terminal converter is in an off state, and a circuit branch where the photodiode is located cannot form a path, so that a low-level signal is output.

Taking the example that the photoelectric converter receives a group of reflected light, the photoelectric converter can continuously receive a plurality of reflected light pulses included in the reflected light and output a high-level signal or a low-level signal according to each reflected light pulse, so that echo sequence signals corresponding to the group of reflected light can be formed according to a time sequence according to the plurality of high-level signals and the low-level signal.

For example, corresponding to the example of step 202, a set of outgoing light is generated based on a drive sequence signal consisting of 6 total digital signals "1, 0", and then the reflected light also corresponds to the set of drive sequence signals. Thus, the echo sequence signal obtained based on the reflected light may also include 6 digital signals of "1, 0".

It should be noted that, in practical application, the detection device may continuously emit multiple groups of outgoing light to detect the detected object, where each group of outgoing light may be reflected by the detected object to form multiple corresponding groups of reflected light, and the photoelectric converter may also receive multiple groups of reflected light to form echo sequence signals corresponding to each group of reflected light respectively.

For example, the detection device may emit 10 sets of exit light within 100 milliseconds (ms), i.e. 1 set of exit light within 10 ms. And each set of outgoing light may comprise 10 ten thousand laser pulses, each set of outgoing light having an emission period of 100ns, in each of which the detection device may emit laser pulses lasting 10 ns.

Step 204, mixing is performed according to the echo sequence signal and the driving sequence signal, so as to obtain an initial mixing signal.

After the detection device obtains the echo sequence signal through the photoelectric converter, the echo sequence signal may be sent to a processor of the detection device. Correspondingly, the processor can mix frequencies according to the echo sequence signals and with the prestored driving sequence signals to obtain initial mixed signals, so that in the subsequent steps, the detection equipment can determine the frequency difference between the echo sequence signals and the local oscillation sequence signals according to the initial mixed signals, and the distance between the detection equipment and the detected object can be determined according to the frequency difference.

It should be noted that, while the detecting device performs step 202 to emit the outgoing light based on the driving sequence signal, step 204 may also be performed to use the driving sequence signal as the local oscillation sequence signal, so that the local oscillation sequence signal may be mixed with the received echo sequence signal.

Since the outgoing light emitted by the detection device needs to be transmitted for a period of time and the reflected light also needs to be transmitted for a period of time, there is a time difference between the moment when the detection device uses the driving sequence signal as the local oscillation sequence signal and the moment when the detection device receives the reflected light and generates the echo sequence signal. Accordingly, the detection device may perform mixing based on the time difference, resulting in an initial mixing signal.

Specifically, before generating the echo sequence signal, the detection device may first use the driving sequence signal as a local oscillation sequence signal, and mix the local oscillation sequence signal with a low-level signal output by the photoelectric converter of the detection device until the photoelectric converter outputs the echo sequence signal.

Accordingly, after generating the echo sequence signal, the detection device may mix the echo sequence signal with the local oscillation sequence signal to obtain an initial mixed signal. That is, the detection device may acquire a discrete local oscillation signal corresponding to the current time in the local oscillation sequence signal, and acquire a discrete echo signal corresponding to the current time in the echo sequence signal. Then, the detection device can multiply the discrete echo signals and the discrete local oscillation signals acquired at the same moment to obtain products between the discrete echo signals and the discrete local oscillation signals, so that the products can be used as one discrete mixing signal in the initial mixing signals, a large number of products obtained by multiplication can be further sequenced according to a time sequence by combining the multiplication moment corresponding to each product, and the initial mixing signals formed by a plurality of products are obtained.

For example, the detection device may generate and emit outgoing light in a period corresponding to 7ns to 106ns, and the detection device may mix the driving sequence signal as the local oscillation sequence signal starting from 7 ns. If 2ns are spent in the process of transmitting the emergent light and the reflected light, the detection device can mix the discrete local oscillation signals of the local oscillation sequence signals with the low-level signals output by the photoelectric converter at the moments of 7ns and 8 ns. Then, in a time period corresponding to 9ns to 106ns, the detection device may mix the local oscillation sequence signal with the echo sequence signal according to each discrete echo signal and a time corresponding to each discrete local oscillation signal, so as to obtain an initial mixed signal.

In addition, the discrete echo signal is any one of the digital sequences corresponding to the echo sequence signals; similarly, the discrete local oscillation signal is any one of the digital sequences corresponding to the local oscillation sequence signals, that is, any one of the digital sequences corresponding to the driving sequence signals; similarly, the discrete mixed signal is any one of the digital sequences corresponding to the initial mixed signal.

For example, if the number sequence corresponding to the initial mixing signal is "0, 1, 0 and 0", any one number "1" or any one number "0" in the number sequence is a discrete mixing signal included in the initial mixing signal, and in the embodiment of the present application, the discrete echo signal, the discrete local oscillation signal and the discrete mixing signal are not specifically limited.

Step 205, combining to obtain a comprehensive mixed signal according to the multiple groups of initial mixed signals.

Corresponding to step 204, the detection device may receive the plurality of sets of reflected light and generate echo sequence signals. For each group of echo sequence signals corresponding to the received reflected light, the detection device can mix the echo sequence signals with the driving sequence signals serving as local oscillation sequence signals, so that a plurality of groups of initial mixed signals can be obtained.

Because each group of initial mixing signals comprises a large number of discrete mixing signals, a large amount of operation is needed for combining a plurality of groups of initial mixing signals, in order to reduce the calculation amount of the detection equipment and improve the ranging efficiency of the detection equipment, the detection equipment can pre-process each group of initial mixing signals and then combine all the pre-processed groups of initial mixing signals to obtain a comprehensive mixing signal, so that the time spent by the detection equipment for ranging can be reduced through the comprehensive mixing signals.

Accordingly, referring to fig. 3, step 205 may include: step 205a and step 205b.

Step 205a, for each group of initial mixing signals, performing low-pass integral filtering on each discrete mixing signal in the initial mixing signals to obtain filtered initial mixing signals.

In order to reduce the calculation amount of the detection device, for each group of initial mixing signals, the detection device may preprocess the group of initial mixing signals, that is, combine the discrete mixing signals according to the ordering corresponding to the discrete mixing signals in the initial mixing signals, thereby screening out redundant data included in each group of initial mixing signals, and further reducing the calculation amount of the detection device. Moreover, by combining the discrete mixed signals, the signal-to-noise ratio of the detection device in the ranging process can be improved.

Specifically, for each set of initial mixing signals, the detection device may first determine, according to the number of discrete mixing signals included in the initial mixing signals, a signal combining interval corresponding to the initial mixing signals. The detection device may determine a plurality of discrete mixed signals included in each signal combining interval according to the sequence numbers corresponding to each discrete mixed signal.

Then, for each signal combining interval, the detection device may sum each discrete mixing signal included in the signal combining interval to obtain a mixing signal sum value corresponding to the signal combining interval, so as to obtain a mixing signal sum value corresponding to each signal combining interval, and further obtain a filtered initial mixing signal composed of each mixing signal sum value.

For example, the initial mixing signal may include discrete mixing signals of 0, 1, 0, and 0, respectively, and the detection apparatus may determine the signal combining interval of the initial mixing signal as: discrete mixed signals 1 to 4 and discrete mixed signals 5 to 8. Correspondingly, after the detection equipment combines the discrete mixed signals in each signal combination interval, a filtered initial mixed signal consisting of 2 and 0 is obtained.

And step 205b, superposing the filtered initial mixed signals of each group to obtain a comprehensive mixed signal.

After the filtering of each group of initial mixing signals is finished, the detection equipment can continuously superimpose each group of filtered initial mixing signals to obtain comprehensive mixing signals, so that the signal amplitude of the comprehensive mixing signals can be improved, and the accuracy of ranging of the detection equipment is improved.

Specifically, after acquiring each set of filtered initial mixing signals, the detection device may first determine, for each set of filtered initial mixing signals, a sequence number corresponding to each mixing signal and value in the filtered initial mixing signals. And then, the detection equipment can superimpose the mixed signals and the values with the same serial numbers in each group of filtered initial mixed signals based on serial numbers corresponding to the mixed signals and the values respectively to obtain a plurality of mixed signal superimposed values, so that the integrated mixed signals can be formed according to the mixed signal superimposed values.

For example, the digital signals corresponding to the 3 groups of filtered initial mixing signals are respectively: "0, 1 and 0", and "0, 1 and 1", the integrated mixing signals consisting of "0, 3 and 1" can be obtained by superimposing the sets of filtered initial mixing signals.

It should be noted that, in practical application, the detecting device may determine the number of the filtered initial mixing signals used for superposition according to the number of mixing signals and values included in each set of the filtered initial mixing signals, in combination with the computing capability of the processor of the detecting device and the accuracy required for the detecting device to detect, that is, the detecting device may determine how many sets of the filtered initial mixing signals are to be superposed according to the three data.

For example, a set of outgoing light emitted by the detection device may correspond to a drive sequence signal comprising 100 tens of thousands of discrete drive signals. Accordingly, the echo sequence signal generated based on the reflected light corresponding to the outgoing light may also include 100 tens of thousands of discrete echo signals. In the process of mixing and filtering, the detection device can take the interval corresponding to each 2500 discrete mixing signals in the initial mixing signals as a signal combining interval, so that 400 mixing signals and values respectively corresponding to 400 signal combining intervals can be obtained. And then, the detection equipment can superpose 10 groups of filtered initial mixing signals to obtain a comprehensive mixing signal based on 10 groups of reflected light.

Step 206, determining the distance between the detection device and the detected object according to the comprehensive mixing signal.

After the comprehensive mixed signal is obtained through the operation of the processor, the detection equipment can further calculate according to the comprehensive mixed signal, so that the distance between the detection equipment and the detected object can be calculated, and the detection of the detection equipment to the surrounding environment is realized.

Specifically, the detection device may analyze the integrated mixing signal by using the processor, determine a frequency difference between the outgoing light and the reflected light according to the integrated mixing signal, and determine a time difference between the outgoing light and the reflected light according to the frequency difference, so that a distance traveled by the outgoing light and a distance traveled by the reflected light may be determined according to the time difference, and further obtain a distance between the detection device and the detected object.

For example, the detection device may process the integrated mixing signal in a fast fourier transform (fast fourier transform, FFT) manner to determine the frequency difference between the outgoing light and the reflected light. Of course, the detecting device may also determine the frequency difference between the outgoing light and the reflected light in other manners, and the manner of determining the frequency difference is not particularly limited in the embodiments of the present application.

In summary, according to the detection method provided by the embodiment of the present application, the detection device generates and emits the outgoing light according to the preset driving sequence signal, where the outgoing light is used for detecting the detected object; generating an echo sequence signal according to the received reflected light; mixing according to the echo sequence signal and the driving sequence signal to obtain an initial mixing signal; intermediate frequency sampling superposition is carried out on the initial mixing signal to obtain a comprehensive mixing signal; and calculating according to the comprehensive mixing signals to obtain detection parameters. By performing intermediate frequency sampling superposition on the initial mixing signals, a large amount of redundant data in the initial mixing signals can be screened and deleted to obtain comprehensive mixing signals, so that the data volume for mixing operation can be reduced, the time spent for mixing operation can be further reduced, and the detection efficiency of detection equipment is improved.

And by carrying out low-pass integral filtering on each group of initial mixing signals, redundant data in the initial mixing signals can be screened out, so that the detection equipment can filter interference caused by the redundant data when carrying out operation through the initial mixing signals, thereby improving the signal-to-noise ratio and further improving the reliability of ranging of the detection equipment.

Further, by superposing the plurality of groups of filtered initial mixing signals to obtain a comprehensive mixing signal, the amplitude of each signal in the comprehensive mixing signal can be improved, so that the detection equipment can recognize the improved amplitude, and the accuracy of ranging by the detection equipment can be improved.

In addition, the outgoing light is generated and emitted by the detection device according to a preset drive sequence signal. In the process of generating the emergent light, the emergent light is only generated when the driving sequence signal is at a high level, so that the energy consumption required by the generation of the emergent light can be reduced, and the power and the energy consumption of the detection equipment can be reduced.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.

Corresponding to the detection method described in the above embodiments, fig. 4 is a block diagram of a detection device provided in the embodiment of the present application, and for convenience of explanation, only a portion related to the embodiment of the present application is shown.

Referring to fig. 4, the apparatus includes:

the emission module 401 is configured to generate and emit outgoing light according to a preset driving sequence signal, where the outgoing light is used to detect a detected object;

a generating module 402, configured to generate an echo sequence signal according to received reflected light, where the reflected light is formed by reflecting the outgoing light by the detected object;

an initial mixing module 403, configured to mix according to the echo sequence signal and the driving sequence signal, to obtain an initial mixing signal;

the comprehensive mixing module 404 is configured to perform intermediate frequency sampling superposition on the initial mixing signal to obtain a comprehensive mixing signal;

and the calculating module 405 is configured to calculate according to the integrated mixing signal to obtain a detection parameter.

Optionally, the initial mixing module 403 is specifically configured to obtain, from the local oscillation sequence signal, a discrete local oscillation signal corresponding to a current time, and obtain, from the echo sequence signal, a discrete echo signal corresponding to the current time; calculating according to the discrete local oscillation signal and the discrete echo signal to obtain a discrete mixing signal; the initial mixing signal is composed from a plurality of the discrete mixing signals generated at different times.

Optionally, the integrated mixing module 404 is specifically configured to perform low-pass integral filtering on the initial mixing signal to obtain a filtered initial mixing signal; and superposing a plurality of groups of filtered initial mixed signals to obtain the comprehensive mixed signal.

Optionally, the integrated mixing module 404 is further specifically configured to determine a signal combining interval of the initial mixing signal according to the number of discrete mixing signals included in the initial mixing signal; determining a plurality of discrete mixing signals included in each signal combining interval according to the sequence number corresponding to each discrete mixing signal; summing each discrete mixing signal included in the signal combining interval aiming at each signal combining interval to obtain a mixing signal sum value corresponding to the signal combining interval; and according to the mixing signal sum value corresponding to each signal combining interval, forming the filtered initial mixing signal.

Optionally, the comprehensive mixing module 404 is further specifically configured to obtain, for each set of the filtered initial mixing signals, a sequence number corresponding to each of the mixing signals and the values in the filtered initial mixing signals; based on serial numbers corresponding to the mixed signals and the values respectively, mixing signals and values with the same serial numbers in each group of filtered initial mixed signals are overlapped to obtain a plurality of mixed signal overlapped values; and forming the comprehensive mixed signal according to the respective mixed signal superposition values.

Optionally, the initial mixing module 403 is further specifically configured to use the driving sequence signal as a local oscillation sequence signal while generating the outgoing light according to the driving sequence signal; and mixing the local oscillation sequence signal with the echo sequence signal to obtain the initial mixed signal.

Optionally, the calculating module 405 is specifically configured to calculate the integrated mixing signal by using a fast fourier transform manner, so as to obtain the detection parameter.

Optionally, the apparatus further comprises:

an obtaining module 406, configured to obtain the pre-stored driving sequence signal in the storage space according to a pre-set storage path.

Optionally, the detection parameter is used to represent a distance to the detected object.

In summary, according to the detection device provided by the embodiment of the present application, the detection device generates and emits the outgoing light according to the preset driving sequence signal, where the outgoing light is used for detecting the detected object; generating an echo sequence signal according to the received reflected light; mixing according to the echo sequence signal and the driving sequence signal to obtain an initial mixing signal; intermediate frequency sampling superposition is carried out on the initial mixing signal to obtain a comprehensive mixing signal; and calculating according to the comprehensive mixing signals to obtain detection parameters. By performing intermediate frequency sampling superposition on the initial mixing signals, a large amount of redundant data in the initial mixing signals can be screened and deleted to obtain comprehensive mixing signals, so that the data volume for mixing operation can be reduced, the time spent for mixing operation can be further reduced, and the detection efficiency of detection equipment is improved.

The detection device provided in this embodiment may perform the above method embodiment, and its implementation principle is similar to that of the technical effect, and will not be described herein.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

Based on the same inventive concept, the embodiment of the application also provides a detection device. Fig. 5 is a schematic structural diagram of a detection device provided in an embodiment of the present application, and as shown in fig. 5, the detection device provided in this embodiment may include: a memory 51 and a processor 52, the memory 51 for storing a computer program 53; the processor 52 is arranged to perform the method described in the method embodiments above when the computer program 53 is invoked.

The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the method described in the above method embodiment.

The present application also provides a computer program product which, when run on a detection device, causes the detection device to execute the method described in the above method embodiments.

The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable storage medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/device and method may be implemented in other manners. For example, the apparatus/device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in this specification and the appended claims, the term "if" may be interpreted in context as "when … …" or "upon" or "in response to determining" or "in response to detecting". Similarly, the phrase "if a condition or event is determined" or "if a condition or event is detected" may be interpreted in the context to mean "upon determination" or "in response to determination" or "upon detection of a condition or event, or" in response to detection of a condition or event.

In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

Reference in the specification 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 of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of detection, the method comprising:

calculating according to the comprehensive mixing signals to obtain detection parameters;

the step of mixing according to the echo sequence signal and the driving sequence signal to obtain an initial mixing signal comprises the following steps:

forming the initial mixing signal according to a plurality of discrete mixing signals generated at different moments;

The step of performing intermediate frequency sampling superposition on the initial mixing signal to obtain a comprehensive mixing signal comprises the following steps:

superposing a plurality of groups of the filtered initial mixing signals to obtain the comprehensive mixing signals;

the low-pass integral filtering is performed on the initial mixing signal to obtain a filtered initial mixing signal, which comprises the following steps:

2. The method of claim 1, wherein said mixing based on said echo sequence signal and said drive sequence signal to obtain an initial mixed signal comprises:

3. The method of claim 1, wherein the superimposing the plurality of sets of the filtered initial mix signals to obtain the integrated mix signal comprises:

4. A method according to any one of claims 1 to 3, wherein said calculating from said integrated mixing signal results in a detection parameter comprising:

5. A detection apparatus, characterized by comprising: the device comprises a processor, a driving circuit, a laser, a light emitting module, a receiving module and a photoelectric converter;

the processor is further configured to obtain a discrete local oscillation signal corresponding to a current time in a local oscillation sequence signal, obtain a discrete echo signal corresponding to the current time in the echo sequence signal, calculate according to the discrete local oscillation signal and the discrete echo signal to obtain a discrete mixing signal, compose an initial mixing signal according to a plurality of discrete mixing signals generated at different times, determine a signal merging section of the initial mixing signal according to the number of the discrete mixing signals included in the initial mixing signal, determine a plurality of discrete mixing signals included in each signal merging section according to a sequence number corresponding to each discrete mixing signal, sum each discrete mixing signal included in each signal merging section for each signal merging section to obtain a mixing signal and a value corresponding to the signal merging section, compose a filtered initial mixing signal according to the mixing signal and the value corresponding to each signal merging section, superimpose a plurality of groups of filtered initial mixing signals to obtain a comprehensive mixing signal, and calculate according to the comprehensive mixing parameters.

6. A detection apparatus, characterized by comprising: a memory and a processor, the memory for storing a computer program; the processor is configured to perform the method of any of claims 1 to 4 when the computer program is invoked.

7. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any one of claims 1 to 4.