CN116626654A

CN116626654A - Detection method, detection device, and computer-readable storage medium

Info

Publication number: CN116626654A
Application number: CN202310804573.9A
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: 2023-06-30
Filing date: 2023-06-30
Publication date: 2023-08-22

Abstract

The application provides a detection method, detection equipment and a computer readable storage medium, relating to the technical field of laser radars, wherein the method comprises the following steps: determining at least one characteristic parameter corresponding to the reflected light according to the received reflected light; determining a driving voltage corresponding to at least one characteristic parameter according to a preset voltage corresponding relation; driving the filter assembly according to the driving voltage; filtering again through the filter assembly to obtain reflected light; and according to the obtained reflected light, carrying out operation by combining a preset driving sequence signal to obtain detection parameters. According to the technical scheme provided by the application, the filter assembly is driven by the determined driving voltage, so that the filter assembly can filter more reflected light formed by emergent light, the detection equipment can operate according to the reflected light formed by a large amount of emergent light, the filtering of the reflected light formed by the emergent light by the filter assembly can be reduced, and the detection accuracy of the detection equipment can be improved.

Description

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

Technical Field

The present application 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 laser radar is gradually applied to various aspects with the advantages of high accuracy, strong anti-interference capability and the like, and the related information of the detected object can be accurately obtained by emitting laser to the detected object and receiving the laser reflected by the detected object.

In the related art, the lidar may include: the device comprises a light emitting module, a receiving module and a processor, wherein the receiving module can comprise an optical filter. Correspondingly, the processor can control the light emitting module to emit laser and receive the reflected laser after filtering by the optical filter, and then the processor can determine the related information of the detected object according to the emitted laser and the reflected laser.

However, in the working process of the laser radar, the temperature may be raised due to the fact that the light emitting module emits laser, so that the temperature drift of the light emitting module is caused, the reflected laser can not be accurately filtered by the optical filter, and the accuracy of the laser radar is further affected.

Disclosure of Invention

The application provides a detection method, detection equipment and a computer readable storage medium, which solve the problems that in the prior art, the temperature is possibly increased due to the fact that a light emitting module emits laser, so that the temperature drift of the light emitting module is caused, a light filter cannot accurately filter the reflected laser, and the accuracy of a laser radar is affected.

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

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

determining at least one characteristic parameter corresponding to the reflected light according to the received reflected light;

determining a driving voltage corresponding to at least one characteristic parameter according to a preset voltage corresponding relation;

driving the filter assembly according to the driving voltage;

filtering again through the filtering component to obtain reflected light;

and according to the obtained reflected light, carrying out operation by combining a preset driving sequence signal to obtain detection parameters.

Optionally, the determining, according to a preset voltage correspondence, a driving voltage corresponding to at least one of the feature parameters includes:

according to at least one characteristic parameter, combining a preset voltage corresponding relation to determine an initial voltage;

and correcting the initial voltage according to the acquired temperature data to obtain a driving voltage.

Optionally, the determining the initial voltage according to at least one of the characteristic parameters and in combination with a preset voltage correspondence includes:

determining a parameter type corresponding to at least one characteristic parameter aiming at each characteristic parameter in the characteristic parameters;

And according to the parameter types, selecting different voltage corresponding relations to search, and obtaining initial voltages corresponding to the characteristic parameters.

Optionally, the selecting different voltage correspondence relationships according to the parameter types to search, to obtain an initial voltage corresponding to the characteristic parameter includes:

if the parameter type corresponding to the characteristic parameter is a first type parameter, searching in a first voltage corresponding relation according to the characteristic parameter to obtain an initial voltage corresponding to the characteristic parameter;

if the parameter type corresponding to the characteristic parameter is a second type parameter, selecting a target second voltage corresponding relation matched with the current driving voltage or the temperature data from a plurality of second voltage corresponding relations according to the current driving voltage and/or the temperature data;

and searching the initial voltage corresponding to the characteristic parameter in the target second voltage corresponding relation.

Optionally, the calculating according to the obtained reflected light and the preset driving sequence signal to obtain the detection parameter includes:

generating echo sequence signals according to the obtained reflected light;

Mixing the echo sequence signal with the preset driving sequence signal to obtain a mixed signal;

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

Optionally, after the filtering the reflected light by the filtering component, the method further includes:

analyzing the obtained reflected light to obtain at least one characteristic parameter corresponding to the obtained reflected light;

comparing at least one characteristic parameter corresponding to the reflected light obtained again with at least one preset standard parameter to obtain a comparison result between the characteristic parameter and the standard parameter;

and determining whether to continue adjusting the driving voltage according to the comparison result.

Optionally, the determining whether to continue adjusting the driving voltage according to the comparison result includes:

if the comparison result indicates that the reflected light formed by the emergent light cannot be maximally received, the driving voltage is adjusted again;

if the comparison result indicates that the reflected light formed by the outgoing light can be maximally received, detection is performed based on the driving voltage.

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

the processor determines at least one characteristic parameter corresponding to the reflected light through the photoelectric converter according to the reflected light received by the receiving module;

the processor determines a driving voltage corresponding to at least one characteristic parameter according to a preset voltage corresponding relation;

the processor controls the driving circuit to drive the light filtering component according to the driving voltage;

filtering again through the filtering component to obtain reflected light;

and the processor performs operation according to the obtained reflected light and the preset driving sequence signal to obtain detection parameters.

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, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method according to any of the first aspects.

According to the detection method provided by the embodiment of the application, the detection equipment determines at least one characteristic parameter corresponding to the reflected light according to the received reflected light; determining a driving voltage corresponding to at least one characteristic parameter according to a preset voltage corresponding relation; driving the filter assembly according to the driving voltage; filtering again through the filtering component to obtain reflected light; and according to the obtained reflected light, carrying out operation by combining a preset driving sequence signal to obtain detection parameters. The filter assembly is driven by the determined driving voltage, so that the filter assembly can filter more reflected light formed by emergent light, the detection equipment can calculate according to the reflected light formed by a large amount of emergent light, the filter assembly can filter the reflected light formed by the emergent light, and the detection accuracy of the detection equipment can be improved.

Drawings

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

FIG. 1B is a schematic 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 schematic diagram of a process for determining a driving voltage according to an embodiment of the present application;

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

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

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, 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 detail.

The terminology used in the following examples 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 the present 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, a laser radar with the advantages of high accuracy, strong anti-interference capability and the like appears. The laser radar can emit laser light to the detected object, and the emitted laser light can return to the laser radar after being reflected by the detected object. The laser radar can receive the reflected laser and then combine the emitted laser to confirm the related information of the detected object.

Specifically, the lidar may include: the device comprises a light emitting module, a receiving module and a processor, wherein the receiving module comprises an optical filter. In the working process, the processor can control the light emitting module to emit laser to the detected object, the laser can irradiate the detected object, and the detected object can reflect the laser.

Correspondingly, the laser radar can receive the reflected laser through the receiving module, and filter the interference light (such as sunlight and light emitted by other light sources) received simultaneously through the optical filter in the receiving module. The processor may then perform further operations based on the emitted laser light and the filtered laser light to obtain information about the detected object.

However, in the operation process of the laser radar, a large amount of heat is generated by the light emitting module and emitted by the laser, so that the temperature of the light emitting module rises. The temperature of the laser generated by the light-emitting module is shifted, namely, the wavelength of the laser is changed when the temperature is changed due to the material limitation of the light-emitting module. In the filtering process, the optical filter may also filter the laser with the wavelength changed, thereby affecting the accuracy of detection of the laser radar.

Therefore, the embodiment of the application provides a detection method, by receiving reflected light and analyzing the received reflected light, at least one characteristic parameter corresponding to the reflected light is obtained, and then the driving voltage corresponding to the detection equipment is determined according to the at least one characteristic parameter, so that the filter assembly can be driven according to the determined driving voltage, the filter assembly can filter more to obtain the reflected light formed by the emergent light, the detection equipment can calculate according to the reflected light formed by a large amount of the emergent light, the filtering of the reflected light formed by the emergent light by the filter assembly can be reduced, and the detection accuracy of the detection equipment can be improved.

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 detected device 110 and the detected object 120 are not particularly limited in the embodiment of the present application.

During the detection of the detected object 120 by the detection device 110, the detection device 110 may generate and emit outgoing light, so that a range corresponding to a field of view (FOV) is detected by the outgoing light.

Accordingly, 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 the distance between the detection device 110 and the detected object 120, and the speed of movement of the detected object 120, based on the reflected light, in combination with the emitted light generated by the detection device 110.

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 change in the distance between the detected object 120 and the moving carrier 130, that is, determine 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 the 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, a photoelectric converter 1106 and a temperature detection module 1107.

The processor 1101 is connected to the driving circuit 1102, the photoelectric converter 1106, and the temperature detection module 1107, 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.

In addition, the temperature detection module 1107 is further connected to the laser 1103, and is configured to detect the temperature of the laser 1103, so that the temperature detection module 1107 can send temperature data corresponding to the temperature of the laser 1103 to the processor 1101, and the processor 1101 can adjust the laser obtained by filtering by the receiving module 1105 according to the temperature data, thereby improving the accuracy of detection performed by the detection device 110.

In addition, the receiving module 1105 may include a filtering component 1105a, where the filtering component 1105a may be connected to the processor 1101 and the driving circuit 1102, respectively, for filtering interference light in the reflected light, and so on. For example, the filter assembly 1105a may be an electrochromic filter, where the electrochromic filter may be configured to filter lasers with different wavelengths respectively based on different voltages, and the embodiment of the present application does not specifically limit the filter assembly 1105 a.

Specifically, during the operation of the detection device 110, the detection device 110 may receive the reflected light through the receiving module 1105, and filter the interference light (such as sunlight or other light reflected into the receiving module 1105) in the reflected light through the filtering component 1105a, so as to obtain the reflected light for operation and detection.

Thereafter, the filtered reflected light may be irradiated to the photoelectric converter 1106, and the photoelectric converter 1106 may output an echo sequence signal to the processor 1101 based on the irradiation of the reflected light. The processor 1101 may analyze the echo sequence signal to obtain at least one characteristic parameter corresponding to the reflected light.

Accordingly, the processor 1101 may determine a driving voltage matching the characteristic parameter according to the obtained at least one characteristic parameter in combination with at least one preset correspondence, that is, determine a driving voltage matching the current reflected light.

After determining the driving voltage, the processor 1101 may adjust the voltage output by the driving circuit 1102 to the filtering component 1105a according to the determined driving voltage, so that the voltage output by the driving circuit 1102 is consistent with the determined driving voltage, thereby adjusting the filtering range of the filtering component 1105a, and filtering more by the filtering component 1105a to obtain the reflected light formed by the emergent light.

The detection device 110 may also continuously generate and emit outgoing light during the process of adjusting the driving voltage by the processor 1101. During the process of emitting outgoing light from the detection device 110, the processor 1101 may send a preset driving sequence signal to the driving circuit 1102, and the driving circuit 1102 may amplify the driving sequence signal and transmit the amplified driving 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 particularly 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 detection device 110 may receive the reflected light through the receiving module 1105, filter the interference light in the reflected light through the filtering component 1105a, and after the filtering component 1105a is driven by the adjusted driving voltage, the filtering component 1105a may filter to obtain more reflected light formed by the outgoing light.

Further, after receiving the reflected light, the detecting device 110 may analyze the reflected light and combine the local oscillation sequence signal of the outgoing light to obtain the detection information related to the detected object 120. Such as the distance between the detected object 120 and the detection device 110, the velocity of the detected object 120, and other detection information associated with the detected object 120.

Specifically, 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 thus 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 oscillation sequence signal for generating outgoing light, to obtain a mixed signal, and calculate according to the mixed signal to obtain a frequency difference between the echo sequence signal and the local oscillation sequence signal. The processor 1101 may calculate detection information corresponding to the detected object 120 based on the frequency difference.

It should be noted that, in practical application, the detecting device 110 may be provided with a plurality of driving circuits 1102, to drive the laser 1103 and the filter component 1105a respectively, so that different voltages can be output by the plurality of driving circuits 1102 respectively, to control the laser 1103 to generate laser light, and to adjust the available wavelength of the filter component 1105 a.

In addition, 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.

In addition, 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 particularly limited in the embodiment of the present application.

In addition, the detection device 110 may be used for detection alone, or may be disposed on the moving carrier 130, and perform detection during the traveling process of the moving carrier 130. For convenience of explanation, the following description will be given by taking, as an example, the detection device 110 detecting the detected object 120 and determining the distance between the detection device 110 and the detected object 120 when the detection device 110 and the detected object 120 are both in a stationary state. Taking the detection device 110 as a range finder as an example, the detection mode in the detection scene is described.

Fig. 2 is a schematic flowchart of a detection method according to 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 used as a range finder, and is described with reference to fig. 2, by way of example and not limitation, and the method includes:

step 201, determining at least one characteristic parameter corresponding to the reflected light according to the received reflected light.

In the detection process, the detection device can continuously generate and emit emergent light through the laser, and the laser can generate a large amount of heat, so that the temperature of the laser changes, and the emergent light generated by the laser is caused to drift in temperature, namely, the wavelength of the emergent light changes along with the temperature change of the laser.

Therefore, the detection device can continuously determine the wavelength of the emergent light, and the reflected light can be formed after the detected object reflects the emergent light, so that the reflected light formed by the emergent light can be included in the reflected light received by the detection device. Correspondingly, the detection device can determine the characteristic parameters of the emergent light according to the received reflected light.

The characteristic parameter is used to represent an attribute of the reflected light, for example, the characteristic parameter may be an attribute of wavelength, frequency, amplitude, energy, or the like of the reflected light, which is not limited in the embodiment of the present application.

Specifically, the detection device can receive the reflected light through the receiving module, and filter the interference light in the reflected light through the filtering component to obtain the reflected light formed by the emergent light. And then, the detection equipment can control the filtered reflected light to irradiate the photoelectric converter to obtain an echo sequence signal corresponding to the reflected light, analyze the echo sequence signal and determine at least one characteristic parameter corresponding to the reflected light.

Further, in the process of analyzing the echo sequence signal, the detection device may first count the number of pulses in the echo sequence signal by using the processor, to obtain the number of pulses. Then, the detection device can determine the characteristic parameters corresponding to the pulse number according to the pulse number and combining the driving voltage of the filtering component and the filtering range corresponding to the driving voltage by the filtering component.

The detection device or the electronic device connected with the detection device can establish a characteristic corresponding relation between the pulse number and the characteristic parameter of the reflected light according to different driving voltages of the light filtering component and the obtained pulse number when the reflected light with different wavelengths passes through the light filtering component.

Correspondingly, the detection equipment can search the characteristic parameters corresponding to the pulse number in the characteristic corresponding relation matched with the driving voltage according to the counted pulse number and the driving voltage corresponding to the filtering assembly currently.

In practical application, a certain pulse number in the feature corresponding relation of any driving voltage matching may correspond to one feature parameter or may correspond to a group of feature parameters, which is not particularly limited in the embodiment of the present application.

Step 202, determining a driving voltage corresponding to at least one characteristic parameter according to a preset voltage corresponding relation.

After determining at least one characteristic parameter corresponding to the reflected light, the detection device can find out a corresponding initial voltage in a preset voltage corresponding relation according to any one characteristic parameter, so that in a subsequent step, the voltage of the driving filter assembly can be adjusted through the determined initial voltage.

In addition, in order to improve the accuracy of the driving voltage, the detection equipment can also collect temperature data of the laser, and the initial voltage is further corrected through the collected temperature data to obtain the driving voltage, so that the voltage of the driving filter assembly can be more accurately adjusted through the driving voltage.

Thus, this step 202 may include step 202a, or may include both step 202a and step 202b.

Step 202a, determining an initial voltage according to at least one characteristic parameter and combining a preset voltage corresponding relation.

The voltage correspondence is used for representing a mapping relationship between at least one characteristic parameter and the initial voltage.

The detection equipment can determine the parameter type corresponding to the characteristic parameter based on the determined characteristic parameter, select the matched voltage corresponding relation according to the parameter type, and find out the initial voltage corresponding to the characteristic parameter in the selected voltage corresponding relation.

Specifically, for each of the at least one characteristic parameter, the detection device may first determine a parameter type corresponding to the characteristic parameter. If the parameter type corresponding to the characteristic parameter is a first type parameter, the detection device can search in a preset first voltage corresponding relation according to the characteristic parameter to obtain an initial voltage corresponding to the characteristic parameter.

If the parameter type corresponding to the characteristic parameter is a second type parameter, the detection device can determine the current driving voltage for driving the optical filtering component and/or the current temperature data of the laser, so that a target second voltage corresponding relation matched with the current driving voltage or the temperature data can be selected from a plurality of second voltage corresponding relations according to the current driving voltage and/or the current temperature data. Then, the detection device may search for an initial voltage corresponding to the characteristic parameter in the target second voltage correspondence according to the characteristic parameter.

The first type of parameter may be a characteristic parameter for representing an attribute of the reflected light, for example, the first type of parameter may be a parameter such as a wavelength, a frequency, or an energy amplitude of the reflected light, and the characteristic parameter included in the first type of parameter is not specifically limited in the embodiment of the present application.

The second type of parameters may be characteristic parameters that can be directly obtained by the detection device according to the received reflected light, for example, the second type of parameters may be parameters such as the number of pulses in the echo sequence signal corresponding to the reflected light, and the characteristic parameters included in the second type of parameters are not specifically limited in the embodiment of the present application.

It should be noted that, in the above embodiment, the detection device determines the initial voltage according to one characteristic parameter, and in practical application, the detection device may determine the initial voltage according to a plurality of detection parameters. In order to improve accuracy of the initial voltage, the detection device may calculate the integrated initial voltage by combining parameters corresponding to each initial voltage according to weights corresponding to each characteristic parameter.

In addition, after determining the initial voltage, the detecting device may adjust the voltage for driving the filter assembly according to the initial voltage or the integrated initial voltage, that is, perform step 203. Of course, the detecting device may also continue to execute step 202b to further correct the initial voltage so as to improve the accuracy of filtering by the filtering component.

And 202b, correcting the initial voltage according to the acquired temperature data to obtain the driving voltage.

In order to improve the accuracy of the initial voltage, the detection device can further combine temperature data on the basis of determining the initial voltage to determine the current temperature of the laser of the detection device, and correct the initial voltage according to the temperature data.

Specifically, the detection device may acquire temperature data of the laser through the temperature detection module, and then feed back the temperature data to the processor of the detection device. Correspondingly, the detection device can determine the laser wavelength of the emergent light currently generated by the laser according to the temperature data, and determine the reference voltage corresponding to the laser wavelength according to the laser wavelength.

Then, the detection device may correct the initial voltage according to the reference voltage to obtain a corrected driving voltage. In the correction process, the detection device can calculate according to the initial voltage and the reference voltage to obtain a voltage difference value between the initial voltage and the reference voltage, and then determine weights corresponding to the initial voltage and the reference voltage respectively according to the parameter of the voltage difference value.

Correspondingly, the detection device can calculate according to the weights corresponding to the initial voltage and the reference voltage respectively and with the parameters corresponding to the initial voltage and the reference voltage respectively, so as to obtain a corrected driving voltage, so that in the subsequent step, the optical filtering assembly can be driven according to the driving voltage.

Further, in the process of determining the weights corresponding to the initial voltage and the reference voltage, the detection device may compare the difference threshold value with the voltage difference value one by one according to the parameters of a plurality of preset difference threshold values in order from small to large, so as to obtain a magnitude relation between the two.

If a certain difference threshold is smaller than the voltage difference, the detection device may continue to compare the magnitude relation between the voltage difference and other difference thresholds until the difference threshold is greater than or equal to any voltage difference. If a certain difference threshold is greater than or equal to the voltage difference, the detection device may use the difference threshold as a target difference threshold, obtain a first weight and a second weight corresponding to the target difference threshold, use the first weight as a weight corresponding to the initial voltage, and use the second weight as a weight corresponding to the reference voltage.

It should be noted that, in practical application, if the detecting device has acquired the temperature data in step 202a, the detecting device does not need to acquire the temperature data again in step 202b, and the initial voltage may be corrected by using the acquired temperature data.

Step 203, driving the filter assembly according to the driving voltage.

After determining the driving voltage, the detection device may output the driving voltage to the filtering component, so that the filtering component may operate based on the driving voltage, and a filtering range of the filtering component may be matched with a wavelength of the outgoing light, so that in a subsequent step, the filtering component may filter more to obtain reflected light formed by the outgoing light.

Specifically, after determining the driving voltage, the processor of the detecting device may adjust the voltage output by the driving circuit, so that the voltage output by the driving circuit for driving the filter component may be matched with the determined driving voltage, that is, the processor may control the driving circuit to output the driving voltage, so as to drive the filter component through the driving voltage.

It should be noted that, in practical application, the detection device may include a driving circuit, so that the laser and the filter assembly may be driven by the driving circuit at the same time; the detection device may also include two driving circuits, where the laser and the filter assembly are driven by different driving circuits, and the number of driving circuits is not specifically limited in the embodiment of the present application.

Step 204, receiving the reflected light filtered by the filter assembly through the filter assembly driven by the driving voltage.

In the working process of the detection equipment, the reflected light can be continuously received, and the emergent light can be continuously generated and emitted. Therefore, after the detection device drives the light filtering component according to the driving voltage, the detection device can continuously receive the reflected light, so that the detected object is detected.

Specifically, after the detection device determines the driving voltage in step 202, the detection device may control the driving circuit to output the driving voltage through the processor, so as to drive the filter assembly through the driving voltage. While the driving circuit adjusts the voltage output to the filter assembly, the internal characteristics of the filter assembly are correspondingly changed, so that the filtering range of the filter assembly is changed along with the driving voltage.

When the voltage of the driving light filtering component is consistent with the determined driving voltage, the light filtering component can maximally receive the reflected light formed by the emergent light, so that the probability of the detection equipment obtaining the reflected light is improved, and the detection accuracy of the detection equipment can be improved.

Step 205, according to the reflected light, the detection parameters are obtained by performing operation in combination with a preset driving sequence signal.

After the detection device obtains the reflected light through the light filtering component, the echo sequence signal obtained by irradiating the photoelectric converter based on the reflected light can be combined with a preset driving sequence signal to perform mixing calculation, so that the distance between the detection device and the detected object and other detection parameters related to the detected object are obtained.

Specifically, the reflected light received by the detection device may illuminate a photoelectric converter of the detection device, and an echo sequence signal corresponding to the reflected light is obtained. The detection device may then multiply the echo sequence signal with the drive sequence signal to obtain the product between the two, i.e. mix the echo sequence signal with the drive sequence signal.

The detection device can analyze the mixed signals to determine the frequency difference between the emergent light and the reflected light, and then determine the time difference between the emergent light and the reflected light according to the frequency difference, so that the distance of the emergent light and the distance of the reflected light can be determined according to the time difference, and the distance between the detection device and the detected object can be further obtained.

For example, the detection device may process the mixed signal by means of a fast fourier transform (fast fourier transform, FFT) 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.

It should be noted that, after the step 204 is performed, the embodiment of the present application is described by taking the step 205 and the step 206 to be performed first as an example, but in practical application, the step 206 may be performed first and the step 205 may be performed later, and the step 205 and the step 206 may be performed simultaneously, and the execution sequence of the step 205 and the step 206 is not limited specifically in the embodiment of the present application.

And 206, analyzing the reflected light again to obtain at least one characteristic parameter of the reflected light.

In order to ensure the reliability of detection by the detection device, after the detection device adjusts the driving voltage of the optical filtering component, the detection device can verify the driving voltage and the optical filtering component according to the received reflected light, and determine whether the detection device can receive the reflected light formed by the emergent light.

Because the process of determining the at least one characteristic parameter in this step 206 is similar to the process of determining the at least one characteristic parameter in step 201, the description thereof will not be repeated.

Step 207, determining whether the reflected light formed by the outgoing light can be maximally received according to at least one characteristic parameter of the reflected light.

After obtaining at least one characteristic parameter corresponding to the reflected light, the detection device may compare the at least one characteristic parameter with a preset standard parameter, and determine, according to a comparison result, whether the detection device can maximally receive the reflected light formed by the outgoing light.

The standard parameter may be a characteristic parameter of the reflected light corresponding to the driving voltage.

Specifically, for each determined characteristic parameter, the detection device may determine the type to which the characteristic parameter belongs, acquire a standard parameter matched with the type, and compare the standard parameter with the characteristic parameter to obtain a parameter difference value therebetween.

Correspondingly, the detection device can compare with a preset error parameter according to the parameter difference value. If the parameter difference is less than or equal to the error parameter, the detection device may determine that the detection device is able to maximally receive the reflected light formed by the outgoing light, based on the comparison result.

However, if the parameter difference is greater than the error parameter, which means that the deviation between the characteristic parameter obtained from the received reflected light and the standard parameter is greater, the detection device may determine that the detection device cannot maximally receive the reflected light formed by the outgoing light according to the comparison result.

It should be noted that, in practical applications, the detection device may also determine whether the detection device can normally receive the reflected light formed by the outgoing light by adopting other manners, which is not limited in particular in the embodiment of the present application.

For example, the detection device may compare a certain characteristic parameter with a preset parameter range belonging to the same type, and determine whether the characteristic parameter is within the parameter range. If the characteristic parameter is within the parameter range, it is determined that the reflected light formed by the outgoing light can be maximally received; however, if the characteristic parameter is not within the parameter range, it can be determined that the reflected light formed by the outgoing light cannot be maximally received.

In step 208, if the reflected light formed by the emitted light cannot be received maximally, the driving voltage is adjusted again.

Corresponding to step 207, if the detection device determines that the reflected light formed by the outgoing light cannot be maximally received, it is indicated that the optical filter assembly may filter the reflected light formed by the outgoing light after the outgoing light emitted by the detection device is reflected, so as to affect the accuracy of the detection device.

Therefore, the detection device can continuously adjust the driving voltage of the light filtering component, so that the light filtering range of the light filtering component is continuously changed until the light filtering component can filter the reflected light formed by the emergent light.

Specifically, the detection device may continue to increase or decrease the driving voltage and continue to verify the received reflected light until the detection device may maximize reception of the reflected light formed by the outgoing light. However, if the number of times the driving voltage is adjusted is greater than or equal to the preset threshold value of the number of times of adjustment, the detecting device may be abnormal, and the detecting device may re-acquire temperature data and re-determine the driving voltage based on the re-acquired temperature data.

In step 209, if the reflected light formed by the emitted light can be maximally received, detection is performed based on the determined driving voltage.

Corresponding to step 208, if the detection device determines that the reflected light formed by the outgoing light can be maximally received, it is described that the maximum reflected light formed by the outgoing light is included in the reflected light obtained by filtering by the filter assembly of the detection device, and the detection device may continue to drive the filter assembly by using the determined driving voltage.

In addition, in the continuous working process of the detection equipment, the laser of the detection equipment continuously generates laser light and also generates a large amount of heat, so that the detection equipment can continuously acquire temperature data, and the driving voltage is adjusted in real time according to the acquired temperature data, so that the detection accuracy of the detection equipment can be further improved.

Meanwhile, the detection device can analyze the received reflected light in a manner corresponding to the step 201 in real time to determine at least one characteristic parameter of the reflected light, so as to adjust the driving voltage of the optical filtering assembly according to the at least one characteristic parameter.

It should be noted that, in the normal operation process of the above detection device, the detection device may continuously emit the outgoing light. Specifically, the detection device can drive the filter assembly through the determined driving voltage, and can also drive the laser to generate and emit emergent light through the driving circuit in combination with a preset driving sequence signal.

Specifically, the detection device may acquire a pre-stored driving sequence signal, and send the driving sequence signal to the driving circuit through the processor, so that the driving circuit amplifies the driving sequence signal, and drives the laser through the amplified driving sequence signal, and the laser may generate and emit outgoing light matched with the driving sequence signal.

The time when the detection device generates and emits the emergent light is not particularly limited.

In summary, the embodiment of the application provides a detection method, which receives reflected light, analyzes the received reflected light to obtain at least one characteristic parameter corresponding to the reflected light, and determines a driving voltage currently corresponding to a detection device according to the at least one characteristic parameter, so that a filter assembly can be driven according to the determined driving voltage, so that the filter assembly can filter more to obtain reflected light formed by emergent light, the detection device can operate according to the reflected light formed by a large amount of emergent light, filtering of the reflected light formed by the emergent light by the filter assembly can be reduced, and detection accuracy of the detection device can be improved.

After the initial voltage is determined according to at least one characteristic parameter, the detection equipment determines the reference voltage corresponding to the temperature data according to the acquired temperature data, and corrects the initial voltage according to the reference voltage to obtain the driving voltage. The accuracy of the voltage for driving the filter assembly can be further improved by correcting the obtained driving voltage, so that reflected light formed by emergent light can be obtained through more filtering, and the accuracy of detection by the detection equipment can be improved.

In addition, the detection device analyzes the received reflected light to obtain at least one detection parameter corresponding to the reflected light, compares the detection parameter with a preset standard parameter, and determines whether the detection device can normally receive the reflected light formed by the emergent light according to a comparison result, so that whether the driving voltage needs to be continuously adjusted or not can be determined according to a judgment result, and the reliability of detection of the detection device 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, and should not limit the implementation process of the embodiment of the present application.

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

Referring to fig. 4, the apparatus includes:

a first determining module 401, configured to determine at least one characteristic parameter corresponding to the reflected light according to the received reflected light;

a second determining module 402, configured to determine a driving voltage corresponding to at least one of the characteristic parameters according to a preset voltage correspondence;

a driving module 403, configured to drive the optical filter assembly according to the driving voltage;

a filtering module 404, configured to filter the reflected light again by the filtering component;

the calculating module 405 is configured to calculate, according to the obtained reflected light, with reference to a preset driving sequence signal, to obtain a detection parameter.

Optionally, the second determining module 402 is specifically configured to determine an initial voltage according to at least one of the feature parameters in combination with a preset voltage correspondence; and correcting the initial voltage according to the acquired temperature data to obtain a driving voltage.

Optionally, the second determining module 402 is specifically configured to determine, for each of at least one of the feature parameters, a parameter type corresponding to the feature parameter; and according to the parameter types, selecting different voltage corresponding relations to search, and obtaining initial voltages corresponding to the characteristic parameters.

Optionally, the second determining module 402 is specifically configured to, if the parameter type corresponding to the characteristic parameter is a first type parameter, search in a first voltage corresponding relation according to the characteristic parameter, and obtain an initial voltage corresponding to the characteristic parameter; if the parameter type corresponding to the characteristic parameter is a second type parameter, selecting a target second voltage corresponding relation matched with the current driving voltage or the temperature data from a plurality of second voltage corresponding relations according to the current driving voltage and/or the temperature data; and searching the initial voltage corresponding to the characteristic parameter in the target second voltage corresponding relation.

Optionally, the calculating module 405 is specifically configured to generate an echo sequence signal according to the obtained reflected light; mixing the echo sequence signal with the preset driving sequence signal to obtain a mixed signal; and calculating according to the mixed signals to obtain the detection parameters.

Optionally, the apparatus further includes:

a third determining module 406, configured to analyze the obtained reflected light to obtain at least one characteristic parameter corresponding to the obtained reflected light;

A comparison module 407, configured to compare at least one preset standard parameter with at least one feature parameter corresponding to the obtained reflected light to obtain a comparison result between the feature parameter and the standard parameter;

a fourth determining module 408, configured to determine whether to continue adjusting the driving voltage according to the comparison result.

Optionally, the fourth determining module 408 is specifically configured to adjust the driving voltage again if the comparison result indicates that the reflected light formed by the outgoing light cannot be received maximally; if the comparison result indicates that the reflected light formed by the outgoing light can be maximally received, detection is performed based on the driving voltage.

In summary, the embodiment of the application provides a detection device, which receives reflected light, analyzes the received reflected light to obtain at least one characteristic parameter corresponding to the reflected light, and determines a driving voltage currently corresponding to a detection device according to the at least one characteristic parameter, so that a filter assembly can be driven according to the determined driving voltage, so that the filter assembly can filter more to obtain reflected light formed by emergent light, the detection device can operate according to the reflected light formed by a large amount of emergent light, filtering of the reflected light formed by the emergent light by the filter assembly can be reduced, and detection accuracy of the detection device can be 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, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

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

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

The embodiment of the 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 embodiment of the method.

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 may implement 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, and when the computer program is executed by a processor, the computer program 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 the present 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 the present description 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 ]".

Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a 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 application has been described in detail with reference to the foregoing embodiments, it will 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 application.

Claims

1. A method of detection, the method comprising:

driving the filter assembly according to the driving voltage;

filtering again through the filtering component to obtain reflected light;

2. The method according to claim 1, wherein determining the driving voltage corresponding to at least one of the characteristic parameters according to the preset voltage correspondence relation includes:

3. The method according to claim 2, wherein determining the initial voltage according to at least one of the characteristic parameters in combination with a preset voltage correspondence comprises:

4. The method of claim 3, wherein selecting different voltage correspondences for searching according to the parameter types to obtain an initial voltage corresponding to the characteristic parameter comprises:

5. The method according to claim 1, wherein the calculating according to the obtained reflected light and the preset driving sequence signal to obtain the detection parameter includes:

Generating echo sequence signals according to the obtained reflected light;

6. The method of any one of claims 1 to 5, wherein after said filtering by said filter assembly to obtain reflected light, said method further comprises:

7. The method of claim 6, wherein determining whether to continue adjusting the drive voltage based on the comparison result comprises:

8. A detection apparatus, characterized by comprising: the device comprises a processor, a driving circuit, a laser, a light emitting module, a receiving module, a photoelectric converter and a temperature detection module, wherein the receiving module can comprise a light filtering component;

filtering again through the filtering component to obtain reflected light;

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.