CN115250349A - Sensor testing method and related device - Google Patents
Sensor testing method and related device Download PDFInfo
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- CN115250349A CN115250349A CN202210887285.XA CN202210887285A CN115250349A CN 115250349 A CN115250349 A CN 115250349A CN 202210887285 A CN202210887285 A CN 202210887285A CN 115250349 A CN115250349 A CN 115250349A
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Abstract
The application relates to a sensor testing method and a related device, which judges the working state of a second communication interface according to actual event data which is output by the second communication interface and is connected with the output end of a digital reading circuit and corresponds to an environment light intensity signal; when the working state of the second communication interface is a normal state, a preset pseudorandom light intensity detection signal is used as the input of the first communication interface connected with the input end of the digital readout circuit, and then pseudorandom event data output by the second communication interface is acquired; and judging the working state of the first communication interface based on the pseudorandom event data. Through the implementation of this application scheme, test the second communication interface of rear end earlier, after second communication interface test is normal, test the first communication interface of front end based on the pseudo-random signal again, guaranteed the comprehensiveness of the whole working channel test of sensor, can effectively improve the positioning efficiency of test accuracy and unusual interface.
Description
Technical Field
The present disclosure relates to the field of electronic technologies, and in particular, to a sensor testing method and related apparatus.
Background
With the continuous development of scientific technology, the computer vision technology is more and more mature. The advent of event cameras has attracted more and more attention in the field of vision. An Event-based Vision Sensor (EVS) adopted by the video camera simulates the retina of a human body, and responds to pixel point pulses with brightness change generated by movement, so that the video camera can capture the brightness change of a scene at an extremely high frame rate, record events at specific time points and specific positions in images, and form an Event stream instead of a frame stream, thereby solving the problems of information redundancy, large data storage amount, large real-time processing amount and the like of the traditional camera.
In practical application, a plurality of circuits inside the event detection visual sensor transmit signal streams through corresponding physical interfaces, and event image output is completed by cooperation of multiple circuits, however, under the influence of factors such as circuit design and chip production, communication interfaces between adjacent circuits can not be guaranteed to be in a normal state generally, so that a test method is urgently needed to perform working condition test on the physical communication interfaces of the sensor, and effective guidance is provided for subsequent sensor debugging work.
Disclosure of Invention
The embodiment of the application provides a sensor testing method and a related device, and at least solves the problem that an effective testing means is lacked for an internal communication interface of an event monitoring visual sensor in the related technology.
A first aspect of the embodiments of the present application provides a sensor testing method, which is applied to an event monitoring visual sensor, a pixel array of the event monitoring visual sensor includes a plurality of EVS pixels, each EVS pixel includes a light intensity detection circuit and a digital readout circuit, a first communication interface is disposed between the light intensity detection circuit and the digital readout circuit, and an output end of the digital readout circuit is connected to an input end of a second communication interface; the sensor testing method comprises the following steps:
judging the working state of the second communication interface according to the actual event data which is output by the second communication interface and corresponds to the ambient light intensity detection signal; the working state of the communication interface comprises a normal state and an abnormal state;
when the working state of the second communication interface is the normal state, a preset pseudorandom light intensity detection signal is used as the input of the first communication interface, and pseudorandom event data output by the second communication interface is acquired;
and judging the working state of the first communication interface based on the pseudorandom event data.
A second aspect of the embodiments of the present application provides a sensor testing apparatus, which is applied to an event monitoring visual sensor, a pixel array of the event monitoring visual sensor includes a plurality of EVS pixels, each EVS pixel includes a light intensity detection circuit and a digital readout circuit, a first communication interface is disposed between the light intensity detection circuit and the digital readout circuit, and an output end of the digital readout circuit is connected to an input end of a second communication interface; the sensor testing device includes:
the first judgment module is used for judging the working state of the second communication interface according to the actual event data which is output by the second communication interface and corresponds to the ambient light intensity detection signal; the working state of the communication interface comprises a normal state and an abnormal state;
the acquisition module is used for taking a preset pseudorandom light intensity detection signal as the input of the first communication interface when the working state of the second communication interface is the normal state, and acquiring pseudorandom event data output by the second communication interface;
and the second judging module is used for judging the working state of the first communication interface based on the pseudorandom event data.
A third aspect of embodiments of the present application provides an event monitoring visual sensor, including: the sensor testing device comprises a memory and a processor, wherein the processor is used for executing a computer program stored on the memory, and when the processor executes the computer program, the steps in the sensor testing method provided by the first aspect of the embodiment of the present application are implemented.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps in the sensor testing method provided in the first aspect of the embodiments of the present application.
Therefore, according to the sensor testing method and the related device provided by the scheme of the application, the working state of the second communication interface is judged according to the actual event data which is output by the second communication interface and is connected with the output end of the digital reading circuit and corresponds to the ambient light intensity signal; when the working state of the second communication interface is a normal state, a preset pseudorandom light intensity detection signal is used as the input of the first communication interface connected with the input end of the digital readout circuit, and then pseudorandom event data output by the second communication interface is acquired; the operating state of the first communication interface is determined based on the pseudorandom event data. Through the implementation of the scheme, the second communication interface at the rear end is tested firstly, and after the second communication interface is tested normally, the first communication interface at the front end is tested based on the pseudorandom signal, so that the comprehensiveness of the test of the whole working channel of the sensor is ensured, and the test accuracy and the positioning efficiency of the abnormal interface can be effectively improved.
Drawings
Fig. 1 is a schematic circuit structure diagram of an EVS pixel according to a first embodiment of the present application;
fig. 2 is a basic flowchart of a sensor testing method according to a first embodiment of the present disclosure;
fig. 3 is a schematic diagram of single-frame event data according to a first embodiment of the present application;
fig. 4 is a schematic diagram of first frame event data according to a first embodiment of the present application;
fig. 5 is a detailed schematic flow chart of a sensor testing method according to a second embodiment of the present application;
FIG. 6 is a schematic block diagram illustrating a program of a sensor testing device according to a second embodiment of the present application;
fig. 7 is a schematic structural diagram of an event monitoring visual sensor according to a third embodiment of the present application.
Detailed Description
In order to make the objects, features and advantages of the present invention more apparent and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments of the present application. All other embodiments obtained by a person skilled in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
In the description of the embodiments of the present application, it is to be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.
In the embodiments of the present application, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.
The above description is only exemplary of the present application and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
In order to solve the problem that an internal communication interface of an event monitoring visual sensor lacks an effective test means in the related art, a first embodiment of the present application provides a sensor test method, which is applied to the event monitoring visual sensor, a pixel array of the event monitoring visual sensor includes a plurality of EVS pixels, each of which operates independently, and outputs an event only when a luminance change of a certain pixel reaches a certain threshold, as shown in fig. 1, a circuit structure schematic diagram of the EVS pixel provided by this embodiment is provided, each EVS pixel includes a light intensity detection circuit 101 and a digital readout circuit 102, a first communication interface 103 is provided between the light intensity detection circuit 101 and the digital readout circuit 102, and an output end of the digital readout circuit 102 is connected with an input end of a second communication interface 104.
In practical application, the light intensity detection circuit outputs a voltage comparison result in response to the light intensity change, the digital readout circuit generates corresponding event output according to the voltage comparison result, in practical application, the output end of the second communication interface can be connected with the processing circuit, and then event data can be transmitted to the processing circuit to be processed in a series (for example, denoising, packaging and the like). It should be noted that, as a typical implementation of the present embodiment, the light intensity detection circuit includes an input unit configured to perform photoelectric conversion of incident light and form a photocurrent, a current-voltage conversion unit, and a comparison unit; the current-voltage conversion unit is configured to convert a photocurrent corresponding to incident light into a voltage, and the voltage and the current thereof may satisfy a logarithmic relationship; the comparing unit is configured to compare a voltage signal corresponding to the incident light with a reference voltage signal, and generate a voltage comparison result (i.e., a voltage difference), and the comparison result is transmitted to the digital readout circuit through the first communication interface.
Next, the digital readout circuit compares each voltage difference value with a preset voltage threshold range, and generates a binary value of each pixel according to the comparison result, where the binary value is used to represent whether the incident light signal changes, it should be noted that, when the voltage difference value exceeds the voltage threshold range, the generated binary value is 1, which indicates that the pixel has an event, and when the voltage difference value does not exceed the voltage threshold range, the generated binary value is 0, which indicates that the pixel has no event. And finally, embedding the pixel coordinate position information and the timestamp information into each binary value, namely generating event data, and outputting the event data through a second communication interface.
Fig. 2 is a schematic basic flow chart of a sensor testing method provided in this embodiment, where the sensor testing method includes the following steps:
Specifically, in this embodiment, the working state of the second communication interface at the rear end of the integrated circuit is tested, and the working state of the physical communication interface includes a normal state and an abnormal state. In this embodiment, whether the interface is normal is determined by referring to the event data output by the second communication interface, as shown in fig. 3, which is a schematic diagram of single-frame event data provided in this embodiment, each value in the diagram corresponds to a pixel position, it should be understood that the binary value 0 in the diagram is only to indicate that no event is generated at the pixel position, and the binary value 0 may not be output in practical application.
In an implementation manner of this embodiment, the step of determining the operating state of the second communication interface according to the actual event data corresponding to the ambient light intensity detection signal output by the second communication interface includes: aiming at actual event data which is output by the second communication interface and corresponds to the ambient light intensity detection signal, comparing a binary value of a target pixel position in the actual event data of the target frame serial number with a corresponding binary value in cache event data of the digital readout circuit, and judging a working state corresponding to the second communication interface according to a comparison result; the binary value comprises a first value and a second value, the first value indicates that the pixel has an event and the second value indicates that the pixel has no event.
Specifically, the cache event stream of the event monitoring visual sensor includes multi-frame event data, that is, the digital readout circuit generates multi-frame event data with adjacent time sequences to be cached and output through the second communication interface, in this embodiment, a form of frame, row, column is used to determine data to be compared, that is, a value of a specific pixel position in specific frame event data output by the second communication interface is compared with a value of a corresponding pixel position in a corresponding frame in the cache event data, and whether the second communication interface of the pixel is normal is determined according to whether the comparison is consistent, generally speaking, if the comparison is consistent, it indicates that the second communication interface inside the pixel at the selected pixel position is normal. As shown in fig. 4, which is a schematic diagram of the event data of the first frame provided in this embodiment, the frame =1, and if the interface test is performed for 401 pixels in the drawing, row =2 and column =3.
Further, in an implementation manner of this embodiment, the step of comparing the binary value of the target pixel position in the actual event data of the target frame number with the corresponding binary value in the cache event data of the digital readout circuit, and determining the working state corresponding to the second communication interface according to the comparison result includes: comparing the binary values of the same target pixel position in the actual event data of a plurality of target frame serial numbers with the corresponding binary values in the cache event data of the digital readout circuit respectively; and if the number of the comparison results which are consistent reaches a preset number threshold value, judging that the working state of the second communication interface corresponding to the target pixel position is a normal state.
Specifically, in order to improve the accuracy of interface state determination, in this embodiment, for each pixel, the binary value of the pixel position in the multi-frame event data is compared with the binary value in the corresponding cache event data one by one, and when the number of the compared values is large, or even all the compared values are consistent, it is determined that the second communication interface at the pixel position is in a normal state, so as to avoid an accidental error caused by comparing only the binary value in the single-frame event data.
In another embodiment of this embodiment, the step of determining the operating state of the second communication interface according to the actual event data corresponding to the ambient light intensity detection signal output by the second communication interface includes: uniformly resetting binary values of all pixel positions in actual event data corresponding to the ambient light intensity detection signal output by the second communication interface into one value to obtain first reset event data; the binary value comprises a first value and a second value, the first value indicates that the pixel has an event and the second value indicates that the pixel has no event; and determining the working state corresponding to the second communication interface based on the first reset event data.
Specifically, different from the previous embodiment, in the embodiment, an interface test may be performed without depending on the buffered event data, but in consideration of the characteristic that the binary value of the abnormal pixel of the communication interface cannot be changed in practical application, the binary values of all pixel positions in the single frame of event data are uniformly assigned, that is, reset to the target value, that is, the first value or the second value, and then it is determined whether the binary values of all pixel positions of the reset event data are the target values, and if not, it is determined that the second communication interface of the pixel position whose value is not successfully reset is abnormal.
Further, in an implementation manner of this embodiment, before the step of determining the operating state corresponding to the second communication interface based on the first reset event data, the method further includes: and uniformly resetting the binary values of all the pixel positions in the actual event data into another value to obtain second reset event data. Correspondingly, the step of determining the working state corresponding to the second communication interface based on the first reset event data includes: and determining the working state corresponding to the second communication interface by combining the first reset event data and the second reset event data.
Specifically, considering that the binary value of a part of pixel positions in the actual event data output by the second communication interface is itself the binary value to be reset, the pixel position does not actually have a value resetting behavior, and it cannot be determined that the second communication interface is necessarily normal substantially for the part of pixel positions. Based on this, considering that there are only two types of selectable binary value types, in this embodiment, after one value is adopted to reset event data once, another value is adopted to reset actual event data output by the second communication interface once again, so that it is ensured that all pixel positions execute value resetting operation, and finally, the event data after two times of resetting is combined to determine whether the second communication interface of an event pixel is normal, it should be understood that if the value of a specific pixel position in the event data after two times of resetting satisfies a corresponding target value, the second communication interface of the pixel position is in a normal working state.
Specifically, in this embodiment, after it is determined that the second communication interface at the rear end is normal, the first communication interface at the front end is tested, the whole test path different from the second communication interface includes the light intensity detection circuit, but the light intensity detection circuit is not triggered when the first communication interface is tested, a preset pseudorandom light intensity detection signal is used as an input of the first communication interface, the pseudorandom light intensity detection signal is a signal with a certain rule, and is used for simulating an output signal of the light intensity detection circuit and can be generated based on a pseudorandom number generator, and then the digital readout circuit generates corresponding event data based on the pseudorandom light intensity detection signal and outputs the corresponding event data through the second communication interface.
Specifically, in this embodiment, whether the first communication interface at the corresponding pixel position is normal is determined based on the binary value of each pixel position in the pseudorandom event data, and since the second communication interface in the entire transmission path is determined to be normal, the comparison result of the pseudorandom event data at this time can accurately reflect the working state of the first communication interface.
In an implementation manner of this embodiment, the step of determining the operating state of the first communication interface based on the pseudorandom event data includes: performing analog-to-digital conversion on the pseudorandom light intensity detection signal based on a preset algorithm model to generate reference event data; comparing the pseudo-random event data with reference event data; and judging the working state of the first communication interface according to the comparison result.
Specifically, in this embodiment, an algorithm model is used to calculate the pseudorandom light intensity detection signal, and then event data obtained by calculation is used as a comparison reference of event data output by the second communication interface, and the event data obtained by calculation of the algorithm model is standard event data under the condition that a channel is normal.
It should be noted that, in practical applications, a hardware circuit may be further used to obtain the reference event data, that is, a test working path in a normal working state is used to process the pseudorandom event data to obtain the reference event data, and the test working path may include a pseudorandom number generator, a first communication interface, a digital readout circuit, and a second communication interface.
Further, in an implementation manner of this embodiment, the step of determining the working state of the first communication interface according to the comparison result includes: when the pseudo-random event data is compared with the reference event data to be consistent, comparing the pseudo-random event data with the cache event data of the digital reading circuit; and when the pseudorandom event data is compared with the cache event data to be consistent, judging that the working state of the first communication interface is a normal state.
Specifically, considering that a determination error occurs in the working state of the second communication interface in practical application, that is, the second communication interface in an abnormal state is erroneously determined to be in an abnormal state, when the pseudorandom event data is compared with the reference event data to be consistent, it cannot be guaranteed that the first communication interface is always in a normal state, and in order to avoid a situation that the error data of the first communication interface is erroneously corrected by the second communication interface when the two communication interfaces are abnormal at the same time, the embodiment further compares the pseudorandom event data with the cache event data corresponding to the pseudorandom light intensity detection signal, rechecks whether the second communication interface is normal again, and if so, uniquely determines that the first communication interface is in a normal state, thereby effectively improving the accuracy of the test result.
Based on the technical scheme of the embodiment of the application, the working state of the second communication interface is judged according to the actual event data which is output by the second communication interface and is connected with the output end of the digital reading circuit and corresponds to the ambient light intensity signal; when the working state of the second communication interface is a normal state, a preset pseudorandom light intensity detection signal is used as the input of the first communication interface connected with the input end of the digital reading circuit, and then pseudorandom event data output by the second communication interface is obtained; the operating state of the first communication interface is determined based on the pseudorandom event data. Through the implementation of this application scheme, test the second communication interface of rear end earlier, after second communication interface test is normal, test the first communication interface of front end based on the pseudo-random signal again, guaranteed the comprehensiveness of the whole working channel test of sensor, can effectively improve the positioning efficiency of test accuracy and unusual interface.
The method in fig. 5 is a detailed sensor testing method provided in the second embodiment of the present application, and is applied to an event monitoring visual sensor, a pixel array of the event monitoring visual sensor includes a plurality of EVS pixels, each EVS pixel includes a light intensity detection circuit and a digital readout circuit, a first communication interface is disposed between the light intensity detection circuit and the digital readout circuit, and an output end of the digital readout circuit is connected to an input end of a second communication interface; the sensor testing method comprises the following steps:
Specifically, the light intensity detection circuit of this embodiment generates a voltage comparison result in response to a light intensity change, and then transmits the voltage comparison result to the digital readout circuit through the first communication interface, and the digital readout circuit generates corresponding event data according to the voltage comparison result, and then outputs the event data through the second communication interface.
Specifically, in this embodiment, the frame, row, column and frame are used to extract the data to be compared from the actual event data, and then the buffered event data is used as the reference data for comparison.
In practical application, if the event data output through the second communication interface is consistent with the cache event data of the digital readout circuit, it indicates that the second communication interface is in a normal state.
Specifically, in the embodiment, when the first communication interface is tested, the front end does not rely on the light intensity detection circuit to input the light intensity detection signal, but directly inputs a pseudo-random light intensity detection signal through the first communication interface, and generates corresponding pseudo-random event data accordingly.
And 505, performing analog-to-digital conversion on the pseudo-random light intensity detection signal based on a preset algorithm model to generate reference event data.
Specifically, in this embodiment, an algorithm model is used to calculate the pseudorandom light intensity detection signal, and then the event data obtained by calculation is used as a comparison reference of the event data output by the second communication interface.
And 507, judging the working state of the first communication interface according to the comparison result.
Specifically, since the second communication interface in the entire transmission path is determined to be normal, the comparison result of the pseudorandom event data at this time can accurately reflect the working state of the first communication interface, and if the comparison result is consistent, it indicates that the first communication interface is in a normal state.
Based on this, whether the second communication interface at the output end of the digital reading circuit is normal is tested firstly, and whether the first communication interface between the light intensity detection circuit and the digital reading circuit is normal is tested continuously after the test is normal, so that the working channel of the EVS pixel is ensured to be tested comprehensively and accurately, and effective guidance can be provided for the subsequent sensor debugging work.
It should be understood that, the size of the serial number of each step in this embodiment does not mean the execution sequence of the steps, and the execution sequence of each step should be determined by the function and the inherent logic of the step, and should not be limited uniquely to the implementation process of the embodiment of the present application.
Fig. 6 is a sensor testing apparatus provided in a third embodiment of the present application, and is applied to an event monitoring visual sensor, a pixel array of the event monitoring visual sensor includes a plurality of EVS pixels, each EVS pixel includes a light intensity detection circuit and a digital readout circuit, a first communication interface is disposed between the light intensity detection circuit and the digital readout circuit, and an output end of the digital readout circuit is connected to an input end of a second communication interface. As shown in fig. 6, the sensor testing device mainly includes:
the first determination module 601 is configured to determine a working state of the second communication interface according to actual event data corresponding to the ambient light intensity detection signal output by the second communication interface; the working state of the communication interface comprises a normal state and an abnormal state;
an obtaining module 602, configured to use a preset pseudorandom light intensity detection signal as an input of the first communication interface to obtain pseudorandom event data output by the second communication interface when the working state of the second communication interface is a normal state;
the second determining module 603 is configured to determine the working state of the first communication interface based on the pseudorandom event data.
In some implementations of this embodiment, the first determining module is specifically configured to: aiming at actual event data which is output by the second communication interface and corresponds to the ambient light intensity detection signal, comparing a binary value of a target pixel position in the actual event data of the target frame serial number with a corresponding binary value in cache event data of the digital readout circuit, and judging the working state of the second communication interface according to a comparison result; the binary value comprises a first value and a second value, the first value indicates that the pixel has an event and the second value indicates that the pixel has no event.
Further, in some embodiments of this embodiment, the first determining module is specifically configured to: aiming at actual event data which is output by a second communication interface and corresponds to the ambient light intensity detection signal, comparing binary values of the same target pixel position in the actual event data of a plurality of target frame numbers with corresponding binary values in cache event data of a digital readout circuit respectively; and if the number of the comparison results which are consistent reaches a preset number threshold value, judging that the working state of the second communication interface corresponding to the target pixel position is a normal state.
In other embodiments of this embodiment, the first determining module is specifically configured to: uniformly resetting binary values of all pixel positions in actual event data corresponding to the ambient light intensity detection signal output by the second communication interface into one value to obtain first reset event data; the binary value comprises a first value and a second value, the first value indicates that the pixel has an event and the second value indicates that the pixel has no event; and determining the working state corresponding to the second communication interface based on the first reset event data.
Further, in some implementations of this embodiment, the first determining module is specifically configured to: uniformly resetting the binary values of all pixel positions in the actual event data corresponding to the ambient light intensity detection signal output by the second communication interface to one value to obtain first reset event data, and uniformly resetting the binary values of all pixel positions in the actual event data to another value to obtain second reset event data; and determining the working state of the second communication interface by combining the first reset event data and the second reset event data.
In some embodiments of this embodiment, the second determination module is specifically configured to: performing analog-to-digital conversion on the pseudo-random light intensity detection signal based on a preset algorithm model to generate reference event data; comparing the pseudo-random event data with reference event data; and judging the working state of the first communication interface according to the comparison result.
Further, in some embodiments of this embodiment, when the second determining module executes the function of determining the operating state of the first communication interface according to the comparison result, the second determining module is specifically configured to: when the pseudo-random event data is compared with the reference event data to be consistent, comparing the pseudo-random event data with the cache event data of the digital reading circuit; and when the pseudorandom event data is consistent with the cache event data in comparison, judging that the working state of the first communication interface is a normal state.
It should be noted that the sensor testing method in the first embodiment can be implemented based on the sensor testing device provided in this embodiment, and it can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the sensor testing device described in this embodiment may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
According to the sensor testing device provided by the embodiment, the working state of the second communication interface is judged according to the actual event data which is output by the second communication interface and is connected with the output end of the digital reading circuit and corresponds to the environment light intensity signal; when the working state of the second communication interface is a normal state, a preset pseudorandom light intensity detection signal is used as the input of the first communication interface connected with the input end of the digital reading circuit, and then pseudorandom event data output by the second communication interface is obtained; the operating state of the first communication interface is determined based on the pseudorandom event data. Through the implementation of this application scheme, test the second communication interface of rear end earlier, after second communication interface test is normal, test the first communication interface of front end based on the pseudo-random signal again, guaranteed the comprehensiveness of the whole working channel test of sensor, can effectively improve the positioning efficiency of test accuracy and unusual interface.
Fig. 7 is an event monitoring visual sensor according to a fourth embodiment of the present application. The event monitoring visual sensor can be used for realizing the sensor testing method in the embodiment, and mainly comprises the following steps:
a memory 701, a processor 702 and a computer program 703 stored on the memory 701 and executable on the processor 702, the memory 701 and the processor 702 being communicatively connected. The processor 702, when executing the computer program 703, implements the method of one or both of the preceding embodiments. Wherein the number of processors may be one or more.
The Memory 701 may be a high-speed Random Access Memory (RAM) Memory or a non-volatile Memory (non-volatile Memory), such as a disk Memory. The memory 701 is used for storing executable program code, and the processor 702 is coupled with the memory 701.
Further, the present application also provides a computer-readable storage medium, which may be the event monitoring visual sensor provided in the foregoing embodiments, and the computer-readable storage medium may be the memory in the foregoing embodiment shown in fig. 7.
The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the sensor testing method in the foregoing embodiments. Further, the computer-readable medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a RAM, a magnetic disk, or an optical disk, and various media capable of storing program codes.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of modules is merely a logical division, and other divisions may be realized in practice, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some interfaces, indirect coupling or communication connection between devices or modules, and may be in an electrical, mechanical or other form.
Modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application, or portions or all or portions of the technical solutions that contribute to the prior art, may be embodied in the form of a software product, which is stored in a readable storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the methods according to the embodiments of the present application. And the aforementioned readable storage medium includes: a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various media capable of storing program codes.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art will appreciate that the embodiments described in this specification are presently considered to be preferred embodiments and that acts and modules are not required in the present application.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In view of the above description of the sensor testing method and the related apparatus provided in the present application, those skilled in the art will recognize that changes may be made in the embodiments and applications of the method and apparatus provided in the present application.
Claims (10)
1. The sensor testing method is characterized by being applied to an event monitoring visual sensor, wherein a pixel array of the event monitoring visual sensor comprises a plurality of EVS pixels, each EVS pixel comprises a light intensity detection circuit and a digital readout circuit, a first communication interface is arranged between the light intensity detection circuit and the digital readout circuit, and the output end of the digital readout circuit is connected with the input end of a second communication interface; the sensor testing method comprises the following steps:
judging the working state of the second communication interface according to the actual event data which is output by the second communication interface and corresponds to the ambient light intensity detection signal; the working state of the communication interface comprises a normal state and an abnormal state;
when the working state of the second communication interface is the normal state, a preset pseudorandom light intensity detection signal is used as the input of the first communication interface, and pseudorandom event data output by the second communication interface is acquired;
and judging the working state of the first communication interface based on the pseudorandom event data.
2. The method for testing a sensor according to claim 1, wherein the step of determining the operating status of the second communication interface according to the actual event data corresponding to the ambient light level detection signal outputted by the second communication interface comprises:
aiming at actual event data which is output by the second communication interface and corresponds to the ambient light intensity detection signal, comparing a binary value of a target pixel position in the actual event data of a target frame number with a corresponding binary value in cache event data of the digital readout circuit, and judging the working state of the second communication interface according to a comparison result; the binary value comprises a first value and a second value, the first value indicates that the pixel has an event and the second value indicates that the pixel has no event.
3. The sensor testing method according to claim 2, wherein the step of comparing the binary value of the target pixel position in the actual event data of the target frame number with the corresponding binary value in the cache event data of the digital readout circuit, and determining the operating state of the second communication interface according to the comparison result comprises:
comparing the binary values of the same target pixel position in the actual event data of a plurality of target frame serial numbers with the corresponding binary values in the cache event data of the digital reading circuit respectively;
if the number of the comparison results which are consistent reaches a preset number threshold, the working state of the second communication interface corresponding to the target pixel position is judged to be the normal state.
4. The method of claim 1, wherein the step of determining the operating status of the second communication interface based on the actual event data corresponding to the ambient light level detection signal output by the second communication interface comprises:
uniformly resetting binary values of all pixel positions in actual event data corresponding to the ambient light intensity detection signal output by the second communication interface into one value to obtain first reset event data; the binary value comprises a first value and a second value, wherein the first value indicates that the pixel has an event and the second value indicates that the pixel has no event;
determining an operational state of the second communication interface based on the first reset event data.
5. The sensor testing method of claim 4, wherein said step of determining an operational state of said second communication interface based on said first reset event data is preceded by the step of:
uniformly resetting binary values of all pixel positions in the actual event data to another value to obtain second reset event data;
the step of determining an operational state of the second communication interface based on the first reset event data comprises:
and determining the working state corresponding to the second communication interface by combining the first reset event data and the second reset event data.
6. The method of any one of claims 1 to 5, wherein the step of determining the operating state of the first communication interface based on the pseudorandom event data comprises:
performing analog-to-digital conversion on the pseudo-random light intensity detection signal based on a preset algorithm model to generate reference event data;
comparing the pseudorandom event data with the reference event data;
and judging the working state of the first communication interface according to the comparison result.
7. The method according to claim 6, wherein the step of determining the operating status of the first communication interface according to the comparison result comprises:
when the pseudo-random event data is compared with the reference event data to be consistent, comparing the pseudo-random event data with cache event data of the digital readout circuit;
and when the pseudorandom event data is compared with the cache event data to be consistent, judging that the working state of the first communication interface is the normal state.
8. The sensor testing device is characterized by being applied to an event monitoring visual sensor, wherein a pixel array of the event monitoring visual sensor comprises a plurality of EVS pixels, each EVS pixel comprises a light intensity detection circuit and a digital readout circuit, a first communication interface is arranged between the light intensity detection circuit and the digital readout circuit, and the output end of the digital readout circuit is connected with the input end of a second communication interface; the sensor testing device includes:
the first judgment module is used for judging the working state of the second communication interface according to the actual event data which is output by the second communication interface and corresponds to the ambient light intensity detection signal; the working state of the communication interface comprises a normal state and an abnormal state;
the acquisition module is used for taking a preset pseudorandom light intensity detection signal as the input of the first communication interface when the working state of the second communication interface is the normal state, and acquiring pseudorandom event data output by the second communication interface;
and the second judging module is used for judging the working state of the first communication interface based on the pseudorandom event data.
9. An event monitoring visual sensor, comprising a memory and a processor, wherein:
the processor is configured to execute a computer program stored on the memory;
the processor, when executing the computer program, performs the steps of the method of any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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