CN116256730A

CN116256730A - Detection method, detection device, and computer-readable storage medium

Info

Publication number: CN116256730A
Application number: CN202310194820.8A
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: 2023-02-28
Filing date: 2023-02-28
Publication date: 2023-06-13

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 a driving sequence signal and a local oscillation sequence signal according to a preset driving algorithm; generating and emitting emergent light according to the driving sequence signal; generating an echo sequence signal according to the received reflected light; mixing according to the echo sequence signal and the local oscillation sequence signal to obtain a mixed signal; and calculating according to the mixed signals to obtain detection parameters. In the technical scheme provided by the application, as the reflected light and the emergent light have the same pulse frequency, the echo sequence signals and the local oscillation sequence signals with the same period and different duty ratios are mixed, the probability of mixing the low-level signals in the local oscillation sequence signals with the high-level signals in the echo sequence signals can be reduced, so that the signal-to-noise ratio of the mixed signals can be improved, and the reliability and the accuracy of detection can be 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, the noise signal in the reflected light is interfered, and the signal to noise ratio is high after the reflected light and the local oscillator light are mixed, so that the reliability and the accuracy of ranging are affected.

Disclosure of Invention

The application provides a detection method, detection equipment and a computer readable storage medium, which solve the problems that noise signals in reflected light are interfered in the prior art, and the signal to noise ratio is higher after the reflected light and local oscillator light are mixed, so that the reliability and the accuracy of ranging are affected.

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 a driving sequence signal and a local oscillation sequence signal according to a preset driving algorithm, wherein the periods of the driving sequence signal and the local oscillation sequence signal are the same, and the duty ratio of the driving sequence signal is smaller than that of the local oscillation sequence signal;

generating and emitting emergent light according to the 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 local oscillation sequence signal to obtain a mixed signal;

and calculating according to the mixed signal to obtain detection parameters.

Optionally, the generating the driving sequence signal and the local oscillation sequence signal according to a preset driving algorithm includes:

acquiring the driving algorithm from a storage space according to a preset storage path;

the driving algorithm is operated to obtain an initial driving signal and an initial local oscillator signal, wherein the initial driving signal and the initial local oscillator signal are electric signals in analog form;

And digitizing the initial driving signal and the initial local oscillation signal to obtain the driving sequence signal and the local oscillation sequence signal.

Optionally, the digitizing the initial driving signal and the initial local oscillator signal to obtain the driving sequence signal and the local oscillator sequence signal includes:

sampling the initial driving signal and the initial local oscillator signal according to a preset sampling frequency to obtain a plurality of amplitudes corresponding to the initial driving signal and a plurality of amplitudes corresponding to the initial local oscillator signal;

comparing each amplitude with a preset amplitude threshold value to obtain a comparison result corresponding to each amplitude;

according to each comparison result, binarizing each amplitude value;

and forming the driving sequence signal according to each binarized amplitude corresponding to the initial driving signal, and forming the local oscillation sequence signal according to each binarized amplitude corresponding to the initial local oscillation signal.

Optionally, binarizing each amplitude according to each comparison result, including:

for each comparison result, if the comparison result indicates that the amplitude corresponding to the comparison result is larger than the preset amplitude threshold, recording the amplitude corresponding to the comparison result as a first parameter value;

And if the comparison result indicates that the amplitude corresponding to the comparison result is smaller than or equal to the preset amplitude threshold value, recording the amplitude corresponding to the comparison result as a second parameter value.

Optionally, the mixing according to the echo sequence signal and the local oscillation sequence signal to obtain a mixed signal includes:

the local oscillation sequence signal is obtained while the emergent light is generated according to the driving sequence signal;

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

Optionally, the calculating according to the mixing signal to obtain the detection parameter includes:

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

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

Optionally, after the generating the driving sequence signal and the local oscillation sequence signal according to a preset driving algorithm, the method further includes:

storing the drive sequence signal and the local oscillator sequence signal;

after said generating and emitting outgoing light according to said driving sequence signal, the method further comprises:

acquiring the stored driving sequence signal;

and generating emergent light according to the stored driving sequence signal.

In a second aspect, there is provided a detection apparatus comprising: the device comprises a processor, a driving circuit, an optical device, 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 generating a driving sequence signal and a local oscillation sequence signal according to a preset driving algorithm, driving the laser through the driving circuit based on the driving sequence signal, generating emergent light by the laser, and transmitting the emergent light through the light emitting module, wherein the periods of the driving sequence signal and the local oscillation sequence signal are the same, and the duty ratio of the driving sequence signal is smaller than that of the local oscillation sequence signal;

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 local oscillation sequence signal to obtain a frequency mixing signal, and perform calculation according to the 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, the driving sequence signals and the local oscillation sequence signals with the same period and different duty ratios are generated, emergent light is generated through the driving sequence signals, reflected light formed after the emergent light is reflected is received, echo sequence signals are generated through the reflected light, and finally mixing calculation is carried out according to the echo sequence signals and the local oscillation sequence signals, so that a detection result is obtained. Because the reflected light and the emergent light have the same pulse frequency, the duty ratio of the echo sequence signal acquired based on the reflected light is similar to that of the driving sequence signal, and the echo sequence signal and the local oscillation sequence signal with the same period and different duty ratios are mixed, the probability of mixing the rising edge signal or the falling edge signal in the local oscillation sequence signal with the high-level signal in the echo sequence signal can be reduced, the signal-to-noise ratio of the mixed signal can be improved, and the reliability and the accuracy of detection can be further 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 block diagram of a detection device according to an embodiment of the present application;

fig. 4 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, methods of mixing calculations, and electronic devices are omitted so as not to obscure the description of the present application with unnecessary details.

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 signal, and then calculate according to the frequency difference to determine the detection parameter, namely the distance between the detected object and the laser radar.

However, the interference of the noise signal carried by the reflected light affects the reliability and accuracy of ranging by the laser radar. Therefore, the echo signal can be generated according to the reflected light, the echo signal is mixed with the driving signal for generating the local oscillation light, and then the distance measurement is carried out according to the mixed signals in a digital form, so that the interference caused by noise signals in the reflected light can be reduced, the signal-to-noise ratio of the mixed signals can be improved, and the reliability and the accuracy of the distance measurement of the laser radar can be improved.

In the process of mixing the echo signal and the local oscillation signal, the rising edge signal or the falling edge signal of the local oscillation signal may be mixed with the high level signal of the echo signal. And a part of energy is lost by a high-level signal of the echo signal after mixing, so that the amplitude of the signal after mixing is lower, and the signal to noise ratio is reduced, thereby affecting the reliability and accuracy of ranging of the laser radar.

Therefore, the embodiment of the application proposes a detection method, which generates a driving sequence signal and a local oscillation sequence signal with the same period and different duty ratios, generates emergent light through the driving sequence signal, receives reflected light formed after the emergent light is reflected, generates an echo sequence signal through the reflected light, and finally carries out mixing calculation according to the echo sequence signal and the local oscillation sequence signal to obtain detection parameters, namely the distance between the detected object and the laser radar.

Because the reflected light and the emergent light have the same pulse frequency, the duty ratio of the echo sequence signal acquired based on the reflected light is similar to that of the driving sequence signal, and the echo sequence signal and the local oscillation sequence signal with the same period and different duty ratios are mixed, the probability of mixing the rising edge signal or the falling edge signal in the local oscillation sequence signal with the high-level signal in the echo sequence signal can be reduced, the signal-to-noise ratio of the mixed signal can be improved, and the reliability and the accuracy of detection can be further 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 algorithm in a pre-set storage space, and operate the driving algorithm to obtain a local oscillation sequence signal and a driving sequence signal.

The local oscillation sequence signal is similar to the driving sequence signal, but the duty ratio of the driving sequence signal is smaller than that of the local oscillation sequence signal. For example, the amplitude of the local oscillation sequence signal and the drive sequence signal are both 1, and the period is 100 nanoseconds (ns), but the duty cycle of the local oscillation sequence signal is 50%, and the duty cycle of the drive sequence signal is 30%.

The detection device 110 may further store the obtained local oscillation sequence signal and the driving sequence signal, so that the detection device 110 may generate the outgoing light according to the stored driving sequence signal, and perform mixing calculation according to the stored local oscillation sequence signal, to obtain detection data.

Of course, the detecting device 110 may also acquire the local oscillation sequence signal and the driving sequence signal in other manners, and the manner in which the detecting device 110 acquires the local oscillation sequence signal and the driving sequence signal is not specifically limited in this embodiment of the present application.

Accordingly, after generating the vibration sequence signal and the driving sequence signal, the detection device 110 may generate the outgoing light corresponding to the driving sequence signal according to the driving sequence signal, so as to detect a range corresponding to a field of view (FOV) by the outgoing light.

Further, in the process of detecting by the outgoing light, the outgoing light can detect the region corresponding to the FOV. When the outgoing light irradiates the detected object 120, reflected light is formed by reflection of the detected object 120. The partially reflected light may propagate in a direction opposite to the propagation direction of the outgoing light, i.e. the partially reflected light may propagate in a direction opposite to the propagation direction of the outgoing 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.

The detection device 110 may determine a frequency difference between the reflected light and the local oscillation sequence signal according to the reflected light in combination with the local oscillation sequence signal generated by the detection device 110, 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 apparatus 110, the processor 1101 may acquire a pre-stored driving algorithm in the storage space according to a pre-set storage path, and generate a local oscillation sequence signal and a driving sequence signal through the driving algorithm.

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 is a digital electrical signal (e.g. a sequence consisting of digital 0 and digital 1), which is not specifically limited in the embodiment 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 a local oscillator sequence signal generated and stored by the processor 1101. The processor 1101 may then calculate a frequency difference between the echo sequence signal and the local oscillator sequence signal based on the mixed signal. The processor 1101 may calculate a detection parameter, i.e. the distance between the detection device 110 and the detected object 120, based on the frequency difference.

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.

The following description is made with respect to the detection method in the detection scenario.

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 preset driving algorithm is obtained.

In the ranging process of the detection device, the detection device needs to emit emergent light to the detected object and receive reflected light formed by the emergent light, so that the detection parameter, namely the distance between the detection device and the detected object, can be determined according to the reflected light.

In the process of emitting emergent light, the detection equipment can acquire a pre-stored driving algorithm, so that in the subsequent steps, the detection equipment can acquire a driving sequence signal and a local oscillation sequence signal by running the driving algorithm, so that the emergent light can be generated by the driving sequence signal, and the mixing calculation is performed based on the local oscillation sequence signal, thereby completing the distance measurement.

Thus, the detection device may acquire the driving algorithm before generating the outgoing light.

In particular, the detection device may detect a triggered start operation. The detection device may start to operate when a start-up operation for the detection device trigger is detected. Then, the detection device may acquire a preset driving algorithm in the corresponding storage space according to the preset 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 acquire a preset driving algorithm by reading a COE file in a storage space of the FPGA according to a preset storage path.

Wherein the driving algorithm may be a function formula y=cos (2pi×f ₀ *t+π*k*t ² +θ ₀ ) The function formula is used for outputting a chirp signal, y is used for representing the amplitude of the chirp signal, f ₀ For the initial frequency of the chirp signal, T is time, k is frequency modulation slope and k=b/T, B is chirp signal bandwidth, T is chirp signal period, Δt is system time stepping interval and has t=n×Δt, N is positive integer, θ ₀ Is the initial phase of the chirp signal.

Step 202, outputting an initial driving signal and an initial local oscillation signal according to a driving algorithm.

The initial driving signal and the initial local oscillator signal may be electrical signals in analog form, for example, waveforms corresponding to the initial driving signal and/or the initial local oscillator signal may be sinusoidal, sawtooth or square wave, which are not specifically limited in the embodiment of the present application.

Since the local oscillator sequence signal is similar to the drive sequence signal, the two are only different in duty cycle. Therefore, the detection equipment can respectively generate the local oscillation sequence signal and the driving sequence signal by combining parameters respectively corresponding to the local oscillation sequence signal and the driving sequence signal through a driving algorithm.

Specifically, after the detection device acquires the driving algorithm, a first operation parameter corresponding to the local oscillation sequence signal can be acquired first, and the driving algorithm is operated based on the first operation parameter, so as to obtain a plurality of groups of initial local oscillation signals output by the driving algorithm. Then, the detection device can acquire a second operation parameter corresponding to the driving sequence signal, and operate the driving algorithm based on the second operation parameter to obtain a plurality of groups of initial driving signals output by the driving algorithm.

Wherein, corresponding to the example of step 201, the first operation parameter and the second operation parameter may each include each parameter involved in the function formula corresponding to the driving algorithm. For example, the first operational parameter and the second operational parameter may each include: initial frequency f of chirp signal ₀ Time T, chirp signal bandwidth B, chirp signal period T, and system time step interval Δt.

In practical application, the detection device may output multiple groups of initial local oscillation signals first, and when the number of the output initial local oscillation signals reaches the preset number requirement, the detection device may output multiple groups of initial driving signals through the driving algorithm until the number of the initial driving signals also meets the preset number requirement.

For example, if the detection device needs 50 sets of initial local oscillation signals and 50 sets of initial driving signals, the detection device may first start to generate the initial local oscillation signals according to the driving algorithm and in combination with the first operation parameters corresponding to the local oscillation sequence signals.

Meanwhile, the detection device can set a timer according to the time length required by outputting each group of initial local oscillation signals and start timing. After the timer indicates that the timing is finished, it is indicated that the driving algorithm has output 50 groups of initial local oscillation signals, and the detection device may stop outputting the initial local oscillation signals and start outputting initial driving signals according to the driving algorithm and in combination with second operation parameters corresponding to the driving sequence signals.

Similarly, when the detection device outputs the initial driving signal, the detection device may also set a timer to count the output initial driving signals until the driving algorithm outputs 50 sets of initial driving signals.

Of course, the detection device may also count the generated initial local oscillation signal and the initial driving signal by using a counter or other manners, and the manner of counting the initial local oscillation signal and the initial driving signal in the embodiment of the present application is not specifically limited.

In addition, the foregoing description is given by taking the example of outputting the initial local oscillation signal and then outputting the initial driving signal as an example, but in practical application, the detection device may also output the initial driving signal first and then output the initial local oscillation signal.

Furthermore, the detection device can also store the driving algorithm and the local oscillation algorithm at the same time, so that the initial driving signal can be output through the driving algorithm, and meanwhile, the initial local oscillation signal can be output through the local oscillation algorithm, so that the efficiency of the detection device for generating the initial driving signal and the initial local oscillation signal is improved.

Step 203, respectively digitizing the initial driving signal and the initial local oscillation signal to generate and store a driving sequence signal and a local oscillation sequence signal.

The driving sequence signal may be a digital sequence signal, and is used for driving a laser of the detection device. Correspondingly, the laser can intermittently generate laser pulses according to the triggered driving sequence signals, so that emergent light can be formed according to a plurality of laser pulses. For example, the laser may generate outgoing light of an arbitrary duty cycle from the drive sequence signal.

Similarly, the local oscillation sequence signal may be a digital sequence signal, which is used to mix the echo sequence signal generated by the received reflected light, so as to calculate according to the mixed signal and determine the ranging distance.

In order to improve the detection accuracy of the detection equipment, after the detection equipment obtains the initial driving signal and the initial local oscillator signal in analog form, the initial driving signal and the initial local oscillator signal can be continuously optimized, namely, the initial driving signal and the initial local oscillator signal are digitized, so that a driving sequence signal and a local oscillator sequence signal in digital form are obtained.

Specifically, for the initial driving signal, after obtaining the initial driving signal, the detecting device may periodically sample the initial driving signal according to a preset sampling frequency and according to each time corresponding to the sampling frequency, so as to obtain the amplitude values corresponding to each time of the initial driving signal.

For each sampled amplitude, the detection device may compare the amplitude with a preset amplitude threshold, and binarize the amplitude according to the comparison result, so as to form a driving sequence signal according to each binarized amplitude.

Further, in the process of binarizing, the detection device may perform different binarization operations according to different comparison results, respectively. If the acquired amplitude is larger than a preset amplitude threshold, binarizing the amplitude and recording the amplitude as a first parameter value; if the acquired amplitude is smaller than or equal to the amplitude threshold, the amplitude can be binarized and recorded as a second parameter value.

Accordingly, the detecting device may arrange the plurality of first parameter values and the plurality of second parameter values binarized in time order, so that a driving sequence signal including only the first parameter values and the second parameter values may be obtained.

It should be noted that, based on the nyquist theorem, the sampling period of the detection device may be less than or equal to a half period of the initial driving signal, that is, the sampling frequency of the detection device may be greater than or equal to twice the frequency of the initial driving signal. For example, the sampling frequency f=2.5×f of the detection device ₀ Wherein f ₀ For the frequency of the initial drive signal, or, f= 4*f ₀ The sampling frequency of the detection device is not particularly limited in the embodiment of the present application.

Moreover, the detection device may adjust the amplitude threshold according to the duty cycle required by the drive sequence signal. The smaller the duty cycle required to drive the sequence signal, the larger the amplitude threshold may be. For example, if the duty cycle required to drive the sequence signal is less than 1/2, the amplitude threshold may be greater than 0 and less than or equal to the maximum amplitude of the initial drive signal. Also, the larger the amplitude threshold, the smaller the duty cycle of the drive sequence signal.

For example, the initial driving signal is a sine wave signal, a certain period of the initial driving signal is 100 nanoseconds (ns), and the maximum amplitude of the initial driving signal is 1. Also, the amplitude threshold is 0.5 and the sampling frequency is 40 Megahertz (MHZ), i.e. every 25 ns. In addition, the first parameter value for binarization may be 1 and the second parameter value may be 0.

Correspondingly, the detection equipment can respectively sample at the moments of 25ns, 50ns, 75ns, 100ns and the like, and the sampled amplitudes are respectively 1, 0, -1 and 0. The detection equipment compares the obtained amplitude values of the samples with a preset amplitude threshold value of 0.5. And respectively executing different binarization operations according to the comparison result to obtain a sequence consisting of 4 numbers of 1, 0 and 0, namely a driving sequence signal.

Similarly, if the preset amplitude threshold is-0.5, after comparing the sampled amplitudes 1, 0, -1 and 0 with the amplitude threshold-0.5, respectively, different binarization operations can be executed according to the comparison result, so as to obtain a sequence consisting of 4 numbers of 1, 0 and 1.

Similar to the above process of digitizing the initial driving signal, the detection device may also optimize the initial local oscillation signal to obtain a digital local oscillation sequence signal in a similar manner to the above process for the initial local oscillation signal, which is not described herein.

In addition, after the driving sequence signal and the local oscillation sequence signal are obtained, the driving sequence signal and the local oscillation sequence signal can be stored through a preset storage space, so that the detecting device can send the stored driving sequence signal to the driving circuit in the subsequent operation process, the driving sequence signal is not required to be generated again, and the frequency mixing is carried out based on the stored local oscillation sequence signal, thereby reducing the detecting time of the detecting device and improving the detecting efficiency and reliability of the detecting device.

For example, the detection device may store the acquired drive sequence signal in a COE file of the FPGA. After that, the probe device can acquire the drive sequence signal by reading the COE file without generating the drive sequence signal again.

In addition, the steps 201 to 203 are performed by the detection device, and in practical applications, the detection device may be further disposed on the mobile carrier, and then the detection device may be electrically connected to the mobile carrier, and the steps 201 to 203 are performed by the mobile carrier, so the execution subject for performing the steps 201 to 203 is not specifically limited in this embodiment of the present application.

For example, when the detection device is a range finder, the range finder may be disposed on a vehicle and connected to an on-vehicle device in the vehicle, and the range finder may perform steps 201 to 203 described above through the on-vehicle device and transmit the generated driving sequence signal and local oscillation sequence signal to the range finder, so that the range finder may perform the subsequent steps to complete the ranging.

Step 204, 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 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 set of driving sequence signals 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 205, 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 focused reflected light irradiates the photoelectric converter, the photodiode in the photoelectric converter can 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 204, 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 206, mixing according to the echo sequence signal and combining the local oscillation sequence signal to obtain a mixed 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 the local oscillation sequence signals which are generated and stored in advance, so as to obtain mixed signals, and 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 mixed signals, so that 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 204 to emit the outgoing light based on the driving sequence signal, step 206 may also be performed to obtain a local oscillation sequence signal, and mix the local oscillation sequence signal 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 time when the local oscillator sequence signal is acquired by the detection device and the time when the reflected light is received by the detection device and the echo sequence signal is generated. Accordingly, the detection device may perform mixing based on the time difference, resulting in a mixed signal.

Specifically, before generating the echo sequence signal, the detection device may acquire the local oscillation sequence signal and mix with the low level signal output by the photoelectric converter of the detection device until the photoelectric converter outputs the echo sequence signal.

Accordingly, after the echo sequence signal is acquired, the detection device can acquire the discrete echo signal in the echo sequence signal and the discrete local oscillation signal in the local oscillation sequence signal at the same time, multiply the discrete echo signal and the discrete local oscillation signal acquired at the same time to obtain the product between the discrete echo signal and the discrete local oscillation signal, so that the product can be used as one discrete mixing signal in the mixing signals, a large number of products obtained by multiplication can be further obtained, and the mixing signals formed by a plurality of products are obtained by sequencing according to the time sequence and combining the multiplied times corresponding to each product.

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 digital signal in the digital sequence corresponding to the local oscillation sequence signal; 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.

Further, in order to improve the accuracy of the ranging performed by the detection device, the detection device may further process each discrete mixed signal of the mixed signals. For example, after the detection device obtains the mixed signals, the detection device may perform low-pass integral filtering on each discrete mixed signal in the mixed signals, so as to screen redundant data in the mixed signals; alternatively, the detection device may superimpose multiple sets of mixing signals such that the multiple sets of mixing signals are combined into a new set of mixing signals; alternatively, the detection device may first perform low-pass integral filtering on the mixed signal, and then superimpose the mixed signal after the low-pass integral filtering.

Of course, the detection device may also process the mixed signal in other manners to improve the accuracy of ranging performed by the detection device.

In addition, since the local oscillation sequence signal is generally composed of a digital "1" and a digital "0", when the high level signal in the echo sequence signal is mixed with the rising edge signal or the falling edge signal in the local oscillation sequence signal, a part of the high level signal in the echo sequence signal is mixed with the low level signal of the local oscillation sequence signal, that is, mixed with the digital "0" in the local oscillation sequence signal, a part of the high level signal in the echo sequence signal is mixed into the low level signal (digital "0"), thereby causing energy loss of the part of the high level signal.

Therefore, in practical application, the low-level signal corresponding to the number "0" in the local oscillation sequence signal can be replaced by the low-level signal corresponding to the number "-1". Correspondingly, in the process of mixing the local oscillation sequence signal and the echo sequence signal, if part of high-level signals in the echo sequence signal are mixed with low-level signals (digital '-1') of the local oscillation sequence signal, the signals obtained by mixing are low-level signals (digital '-1'), so that the energy of part of high-level signals in the echo sequence signal can be reserved, and the reliability and the accuracy of ranging can be improved in the subsequent steps.

Step 207, determining the distance between the detection device and the detected object according to the mixing signal.

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

Specifically, the detection device may analyze the mixing signal by using the processor, determine a frequency difference between the outgoing light and the reflected light according to the 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 mixed 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 application, the detection device generates the driving sequence signal and the local oscillation sequence signal with the same period and different duty ratios, generates the emergent light through the driving sequence signal, receives the reflected light formed after the emergent light is reflected, generates the echo sequence signal through the reflected light, and finally carries out mixing calculation according to the echo sequence signal and the local oscillation sequence signal to obtain the detection parameter, namely the distance between the detected object and the laser radar. Because the reflected light and the emergent light have the same pulse frequency, the duty ratio of the echo sequence signal acquired based on the reflected light is similar to that of the driving sequence signal, and the echo sequence signal and the local oscillation sequence signal with the same period and different duty ratios are mixed, the probability of mixing the rising edge signal or the falling edge signal in the local oscillation sequence signal with the high-level signal in the echo sequence signal can be reduced, the signal-to-noise ratio of the mixed signal can be improved, and the reliability and the accuracy of detection can be further improved.

Moreover, the initial driving signal and the initial local oscillation signal in analog form are digitized to obtain the driving sequence signal and the local oscillation sequence signal in digital form, so that the laser of the detection device can be controlled by the driving sequence signal to generate laser pulses with the same energy, each laser pulse of reflected light can be prevented from respectively having different energies, and then each laser pulse with the same energy in the reflected light can be identified, and the accuracy and reliability of ranging can be improved.

In addition, through carrying out intermediate frequency sampling superposition on the mixed signal, a large amount of redundant data in the mixed signal can be screened and deleted, so that the data volume operated by the detection equipment can be reduced, the time spent by the detection equipment for ranging can be further reduced, and the efficiency of the detection equipment for ranging is improved.

In addition, through carrying out low-pass integral filtering on each group of mixed signals, redundant data in the mixed signals can be screened out, so that when the detection equipment operates through the mixed signals, interference caused by the redundant data can be filtered out, the signal-to-noise ratio can be improved, and the reliability of ranging of the detection equipment can be improved.

Further, by superposing a plurality of groups of mixed signals, the amplitude of each signal in the mixed signals 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.

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. 3 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. 3, the apparatus includes:

the first generating module 301 is configured to generate a driving sequence signal and a local oscillation sequence signal according to a preset driving algorithm, where periods of the driving sequence signal and the local oscillation sequence signal are the same, and a duty ratio of the driving sequence signal is smaller than that of the local oscillation sequence signal;

the emission module 302 is configured to generate and emit outgoing light according to the driving sequence signal, where the outgoing light is used to detect the detected object;

a second generating module 303, configured to generate an echo sequence signal according to received reflected light, where the reflected light is formed after the detected object reflects the outgoing light;

the mixing module 304 is configured to mix frequencies according to the echo sequence signal and the local oscillation sequence signal to obtain a mixed signal;

the calculating module 305 is configured to calculate according to the mixing signal, and obtain a detection parameter.

Optionally, the first generating module 301 is specifically configured to obtain the driving algorithm in the storage space according to a preset storage path; running the driving algorithm to obtain an initial driving signal and an initial local oscillator signal, wherein the initial driving signal and the initial local oscillator signal are electric signals in analog form; and digitizing the initial driving signal and the initial local oscillation signal to obtain the driving sequence signal and the local oscillation sequence signal.

Optionally, the first generating module 301 is further specifically configured to sample the initial driving signal and the initial local oscillation signal according to a preset sampling frequency, so as to obtain a plurality of amplitudes corresponding to the initial driving signal and a plurality of amplitudes corresponding to the initial local oscillation signal; comparing each amplitude value with a preset amplitude value threshold value to obtain a comparison result corresponding to each amplitude value; according to each comparison result, binarizing each amplitude value; and forming the driving sequence signal according to each binarized amplitude corresponding to the initial driving signal, and forming the local oscillation sequence signal according to each binarized amplitude corresponding to the initial local oscillation signal.

Optionally, the first generating module 301 is further specifically configured to record, for each comparison result, if the comparison result indicates that the amplitude corresponding to the comparison result is greater than the preset amplitude threshold, the amplitude corresponding to the comparison result as a first parameter value; and if the comparison result indicates that the amplitude corresponding to the comparison result is smaller than or equal to the preset amplitude threshold value, recording the amplitude corresponding to the comparison result as a second parameter value.

Optionally, the mixing module 304 is specifically configured to obtain the local oscillation sequence signal while generating the outgoing light according to the driving sequence signal; 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 signal and the discrete echo signal to obtain a discrete mixing signal; the mixing signal is composed from a plurality of the discrete mixing signals generated at different times.

Optionally, the calculating module 305 is specifically configured to calculate the mixing signal by using a fast fourier transform manner, so as to obtain the detection parameter.

Optionally, the apparatus further comprises:

a storage module 306, configured to store the driving sequence signal and the local oscillation sequence signal;

an acquisition module 307 for acquiring the stored driving sequence signal;

the emitting module 302 is further configured to generate outgoing light according to the stored driving sequence signal.

In summary, according to the detection device provided by the embodiment of the application, the detection equipment generates the driving sequence signal and the local oscillation sequence signal with the same period and different duty ratios, generates the emergent light through the driving sequence signal, receives the reflected light formed after the emergent light is reflected, generates the echo sequence signal through the reflected light, and finally carries out mixing calculation according to the echo sequence signal and the local oscillation sequence signal to obtain the detection parameter, namely the distance between the detected object and the laser radar. Because the reflected light and the emergent light have the same pulse frequency, the duty ratio of the echo sequence signal acquired based on the reflected light is similar to that of the driving sequence signal, and the echo sequence signal and the local oscillation sequence signal with the same period and different duty ratios are mixed, the probability of mixing the rising edge signal or the falling edge signal in the local oscillation sequence signal with the high-level signal in the echo sequence signal can be reduced, the signal-to-noise ratio of the mixed signal can be improved, and the reliability and the accuracy of detection can be further 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. 4 is a schematic structural diagram of a detection device provided in an embodiment of the present application, as shown in fig. 4, where the detection device provided in the embodiment may include: a memory 41 and a processor 42, the memory 41 for storing a computer program 43; the processor 42 is arranged to perform the method described in the method embodiments above when the computer program 43 is called.

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 as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described 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:

and calculating according to the mixed signal to obtain detection parameters.

2. The method of claim 1, wherein generating the drive sequence signal and the local oscillator sequence signal according to a preset drive algorithm comprises:

3. The method of claim 2, wherein digitizing the initial drive signal and the initial local oscillator signal to obtain the drive sequence signal and the local oscillator sequence signal comprises:

according to each comparison result, binarizing each amplitude value;

4. A method according to claim 3, wherein said binarizing each of said magnitudes based on each of said comparison results, comprises:

5. The method of claim 1, wherein said mixing based on said echo sequence signal and said local oscillator sequence signal to obtain a mixed signal comprises:

6. The method according to any one of claims 1 to 5, wherein said calculating from said mixing signal to obtain said detection parameter comprises:

7. The method according to any one of claims 1 to 5, wherein after the generating the drive sequence signal and the local oscillator sequence signal according to a preset drive algorithm, the method further comprises:

storing the drive sequence signal and the local oscillator sequence signal;

acquiring the stored driving sequence signal;

and generating emergent light according to the stored driving sequence signal.

8. 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;

9. 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 7 when the computer program is invoked.

10. 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 7.