CN116820175A

CN116820175A - Voltage adjustment method, detection device, and computer-readable storage medium

Info

Publication number: CN116820175A
Application number: CN202310803389.2A
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: 2023-09-29

Abstract

The application provides a voltage adjustment method, detection equipment and a computer readable storage medium, and relates to the technical field of laser radars, wherein the method comprises the following steps: determining a driving voltage according to the received reflected light; acquiring the current voltage for driving the optical filtering component; selecting an adjusting mode for adjusting the current voltage according to the driving voltage and the current voltage; and adjusting the current voltage according to the selected adjustment mode. According to the technical scheme provided by the application, the detection equipment can continuously select the adjustment mode matched with the voltage difference value to adjust the current voltage according to the voltage difference value between the driving voltage and the current voltage, so that the current voltage is accurately adjusted by at least one adjustment mode, the accuracy of adjusting the voltage can be further improved, and the accuracy and the reliability of detection by the detection equipment are further improved.

Description

Voltage adjustment 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 voltage adjustment 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 generate and emit emergent light, receive reflected light through the receiving module, and adjust the voltage for driving the optical filter to filter interference light in the reflected light. The processor can then determine the information about the detected object based on the outgoing light and the filtered reflected light.

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 driving voltage of the optical filter needs to be adjusted in time, but the accuracy of adjusting the driving voltage is low, and the accuracy of the laser radar is affected.

Disclosure of Invention

The application provides a voltage adjustment method, detection equipment and a computer readable storage medium, which solve the problem that the accuracy of adjusting driving voltage is low in the prior art, so that 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 voltage regulation method is provided, the method comprising:

determining a driving voltage according to the received reflected light;

acquiring the current voltage for driving the optical filtering component;

selecting an adjusting mode for adjusting the current voltage according to the driving voltage and the current voltage;

and adjusting the current voltage according to the selected adjustment mode.

Optionally, the selecting an adjustment manner for adjusting the current voltage according to the driving voltage and the current voltage includes:

determining a voltage difference between the driving voltage and the current voltage according to the driving voltage and the current voltage;

and selecting an adjustment mode matched with the voltage difference value.

Optionally, the selecting an adjustment mode matched with the voltage difference value includes:

acquiring a plurality of preset voltage thresholds;

sequencing the plurality of voltage thresholds in order from small to large;

comparing each voltage threshold with the voltage difference value according to the sequence;

for each voltage threshold, when the voltage threshold is greater than or equal to the voltage difference, determining the adjustment mode according to the voltage threshold.

Optionally, the adjusting the current voltage according to the selected adjustment mode includes:

according to the adjustment mode, determining a target adjustment range corresponding to the adjustment mode;

and adjusting the duty ratio of the driving circuit according to the target adjustment range, so that the current voltage output by the driving circuit gradually approaches the driving voltage.

Optionally, after the current voltage is adjusted according to the selected adjustment mode, the method further includes:

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

according to at least one characteristic parameter corresponding to the received reflected light, adjusting the current voltage;

and stopping adjusting the current voltage when the current voltage is detected to be consistent with the driving voltage.

Optionally, the determining the driving voltage according to the received reflected light includes:

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

and determining the driving voltage corresponding to at least one characteristic parameter according to a preset voltage corresponding relation.

Optionally, the determining the driving voltage corresponding to at least one characteristic parameter according to a preset voltage correspondence 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 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 a driving voltage according to the received reflected light;

the processor obtains the current voltage for driving the filter component through the driving circuit;

the processor selects an adjusting mode for adjusting the current voltage according to the driving voltage and the current voltage;

and the processor adjusts the current voltage according to the selected adjustment mode.

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.

According to the voltage adjustment method provided by the embodiment of the application, the detection equipment determines the driving voltage according to the received reflected light; acquiring the current voltage for driving the optical filtering component; selecting an adjusting mode for adjusting the current voltage according to the driving voltage and the current voltage; and adjusting the current voltage according to the selected adjustment mode. The detection equipment can continuously select an adjustment mode matched with the voltage difference value to adjust the current voltage according to the voltage difference value between the driving voltage and the current voltage, so that the current voltage is accurately adjusted by at least one adjustment mode, the accuracy of the adjustment voltage can be improved, and the accuracy and the reliability of detection by the detection equipment are further 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 voltage adjustment 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 voltage regulator 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 generate and emit emergent light to the detected object, the laser can irradiate the detected object, and the detected object can reflect the emergent light to form reflected light.

Correspondingly, the laser radar can receive the reflected laser through the receiving module, adjust the voltage for driving the optical filter, and filter the interference light (such as sunlight and light emitted by other light sources) received simultaneously through the optical filter. Then, the processor can further calculate based on the emergent light and the reflected light to obtain the related information of 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. When the temperature changes, the temperature of the emergent light generated by the light-emitting module drifts, namely, the wavelength of the emergent light changes.

Therefore, the driving voltage for driving the filter also varies with the wavelength of the emitted light. However, the accuracy of adjusting the driving voltage is poor, which may affect the reflected light obtained by filtering the optical filter, thereby affecting the accuracy of detection by the laser radar.

Therefore, an embodiment of the present application provides a voltage adjustment method, which obtains at least one characteristic parameter according to received reflected light, determines a driving voltage corresponding to the at least one characteristic parameter, and determines a voltage difference between the driving voltage and a current voltage by combining the current voltage of a driving filter assembly. And then, different adjustment modes can be selected to adjust the current voltage according to the voltage difference, and the current voltage is detected again in the adjustment process, so that the current voltage can be adjusted by selecting the corresponding adjustment mode again according to the current voltage which is acquired again, the current voltage is gradually close to the driving voltage until the current voltage is consistent with the driving voltage, and the adjustment of the current voltage is completed.

According to the application, the detection equipment can continuously select the adjustment mode matched with the voltage difference value to adjust the current voltage according to the voltage difference value between the driving voltage and the current voltage, so that the current voltage is accurately adjusted by at least one adjustment mode, the accuracy of adjusting the voltage can be further improved, and the accuracy and reliability of detection by the detection equipment are further improved.

The following describes a detection system where a detection device capable of applying the voltage adjustment method according to an embodiment of the present application is located, 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.

The temperature detection module 1107 is further connected to the laser 1103, and is configured to detect a 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 determine, according to the temperature data, characteristic parameters such as a wavelength of the outgoing light generated by the laser 1103 at the current temperature.

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 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, and filter the interference light in the reflected light through the filtering component 1105a, so as to obtain reflected light only including the wavelength corresponding to the emergent light.

Thereafter, 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 a detection parameter corresponding to the detected object 120 based on the frequency difference.

For example, the detection parameter may be a distance between the detection device 110 and the detected object 120.

Further, during the continuous detection of the detection device 110, the laser 1103 generates a lot of heat due to the continuous generation of the outgoing light, so that the outgoing light has a temperature drift, that is, the wavelength of the outgoing light changes.

Therefore, the detecting device 110 may analyze the received reflected light by the processor 1101 to obtain at least one characteristic parameter corresponding to the reflected light, and determine the driving voltage corresponding to the at least one characteristic parameter in combination with the acquired temperature data.

The processor 1101 may then determine a voltage difference between the driving voltage and the current voltage driving the filter assembly 1105a, determine an adjustment for adjusting the current voltage based on the voltage difference, and adjust the current voltage based on the determined adjustment.

In addition, during the adjustment process, the detection device 110 may continuously analyze the received reflected light to obtain updated current voltage and voltage difference, so that the adjustment manner may be adapted again according to the updated voltage difference, so that the current voltage may gradually approach the driving voltage until the current voltage matches the driving voltage.

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 voltage adjustment 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 for explanation, and referring to fig. 2, 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.

Thus, the detection device may continuously determine the wavelength of the outgoing light. Since the reflected light can be formed after the object to be detected reflects the outgoing light, the reflected light formed by the outgoing 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. Meanwhile, the detection equipment can also detect the current temperature of the laser through the temperature detection module to obtain temperature data, so that the preset corresponding relation of parameters corresponding to the current temperature can be determined according to the temperature data. The detection device may then determine at least one characteristic parameter corresponding to the number of pulses based on the parameter correspondence matching the temperature data.

The preset parameter correspondence may be respectively directed against the mapping relationship between the pulse number and the characteristic parameter at different temperatures, that is, each temperature data is matched with a parameter correspondence, and each parameter correspondence may include the mapping relationship between the pulse number and the characteristic parameter.

For example, the detection device or an electronic device connected to the detection device may establish, according to the filter assembly, a parameter correspondence between the number of pulses and a characteristic parameter of the reflected light for different driving voltages and/or temperature data based on different driving voltages and temperature data and the obtained number of pulses when the reflected light having different wavelengths passes through the filter assembly.

Correspondingly, the detection equipment can search at least one characteristic parameter corresponding to the pulse number in the parameter corresponding relation matched with the driving voltage and/or temperature data according to the counted pulse number and combining the driving voltage and/or temperature data corresponding to the filtering component currently.

It should be noted that, in practical application, in any parameter correspondence relationship of matching driving voltage and/or temperature data, a certain pulse number may correspond to one feature parameter, or may correspond to a set of feature parameters formed by a plurality 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 for driving the optical filtering component can be adjusted through the determined initial voltage.

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

Thus, the present step 202 may include the step 202a, or may include both the step 202a and the step 202b, which is not limited in this embodiment of the present application.

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 firstly 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 then search for 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 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 voltage or the temperature data can be selected from a plurality of second voltage corresponding relations according to the current voltage and/or the 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.

However, 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 obtained by statistics according to an 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 as an example, 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 the current voltage of the current driving filter assembly and/or the current temperature of the laser on the basis of determining the initial voltage, and correct the initial voltage according to the current voltage and/or temperature data.

The process of correcting the initial voltage will be described below by taking the temperature of the laser determined from the temperature data as an example.

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. The detection device can determine the laser wavelength of the emergent light currently generated by the laser according to the acquired temperature data, and determine the reference voltage corresponding to the laser wavelength according to the laser wavelength.

Then, the detection device can correct the initial voltage according to the reference voltage to obtain the 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, determining a current voltage for driving the filter assembly.

After determining the driving voltage, the current voltage for driving the filter assembly may be adjusted by the driving voltage. Before the adjustment, the detecting device may further determine the current voltage of the filter assembly, that is, the driving voltage currently output by the driving circuit for the filter assembly, so that in a subsequent step, the detecting device may determine the manner of adjusting the current voltage according to the current voltage and the determined driving voltage.

Specifically, the detection device may acquire temperature data of the laser through the temperature detection module, and feed back the temperature data to the processor of the detection device. Accordingly, the processor may determine, based on the temperature data, a voltage, i.e., a current voltage, for driving the filter assembly corresponding to the temperature data.

Alternatively, the detection device may detect the voltage output by the driving circuit according to a voltage detection module built in the driving circuit, obtain voltage data, and feed back the voltage data to the processor. Accordingly, the processor may determine the current voltage of the filter assembly based on the voltage data.

It should be noted that, in the embodiment of the present application, the step 202 is executed first and then the step 203 is executed, but in practical application, the detecting device may execute the step 203 first and then the step 202, or may execute the step 202 and the step 203 simultaneously, and the order of the step 202 and the step 203 is not limited in particular.

In addition, if the detecting device performs step 202 first, the detecting device may determine the current voltage based on the temperature data acquired in step 202 during the process of performing step 203.

Step 204, determining a voltage difference between the driving voltage and the current voltage according to the driving voltage and the current voltage.

Based on step 202 and step 203, after determining the driving voltage and the current voltage, the detecting device may calculate, based on the determined two voltages, a difference between the two voltages, so that the difference may be used as a voltage difference, so that in a subsequent step, the detecting device may determine an adjustment manner according to the voltage difference.

For example, the detecting device may subtract the parameters corresponding to the driving voltage and the current voltage by the processor to obtain a difference therebetween, and then use an absolute value of the difference as the calculated voltage difference.

In addition, the detecting device may determine the magnitude relation between the driving voltage and the current voltage in the process of calculating the voltage difference, for example, the magnitude relation between the difference between the driving voltage and the current voltage and 0 may be compared, so as to determine the magnitude relation between the driving voltage and the current voltage, so that in a subsequent step, the current voltage may be adjusted in an assisted manner.

Step 205, selecting an adjustment mode matched with the voltage difference.

After the voltage difference is calculated by the detection equipment, the adjustment mode for adjusting the current voltage can be determined according to the parameter corresponding to the voltage difference. That is, when the parameter corresponding to the voltage difference is larger, the detection device can adjust the current voltage in a larger-range adjustment mode, and when the parameter corresponding to the voltage difference is smaller, the detection device can adjust the current voltage in a smaller-range adjustment mode.

Specifically, the detection device may first obtain a plurality of preset voltage thresholds, rank the plurality of voltage thresholds in order from small to large, then compare each voltage threshold with a voltage difference according to the rank, determine a magnitude relation between a certain voltage threshold and the voltage difference, and obtain a comparison result, and then the detection device may determine whether to continue to compare the voltage threshold and the voltage difference according to the comparison result.

When a certain voltage threshold is smaller than the voltage difference, the detection device can select the next voltage threshold and the voltage difference according to the arrangement sequence, and the size relation between the next voltage threshold and the voltage difference is obtained until the certain voltage threshold is larger than or equal to the voltage difference.

When the detecting device detects that a certain voltage threshold is greater than or equal to the voltage difference, the voltage threshold can be used as a target voltage threshold, and a target adjustment range corresponding to the target voltage threshold, namely, the voltage value of each change of the current voltage in the adjustment process, is determined according to the corresponding relation between the voltage threshold and the adjustment range, so that the target adjustment range can be used as an adjustment mode for adjusting the current voltage, and the detecting device can adjust the current voltage according to the voltage adjustment range indicated by the target adjustment range in the subsequent step.

The larger the target voltage threshold value is, the larger the voltage difference value is, and the larger the target adjustment range is, so that the detection equipment can finish the adjustment of the current voltage as soon as possible, the time required for adjusting the current voltage is reduced, and the voltage adjustment efficiency of the detection equipment can be improved.

Step 206, adjusting the current voltage according to the selected adjustment mode.

The detection device may adjust the current voltage according to the determined adjustment manner using the target adjustment range corresponding to the adjustment manner, such that the current voltage gradually approaches the driving voltage determined in step 202, thereby completing the adjustment of the current voltage.

Specifically, the detecting device may determine, according to the adjustment manner, a target adjustment range corresponding to the adjustment manner. Then, the detection device may continuously send an adjustment instruction to the driving circuit through the processor, and adjust the duty ratio of the driving circuit through the adjustment instruction, so that the current voltage gradually approaches the driving circuit, and thus the current voltage may be consistent with the determined driving voltage through multiple adjustments.

Wherein the variation of the voltage output by the driving circuit is matched with the target adjustment range. The larger the target adjustment range, the less time it takes for the present voltage to approach the drive voltage.

It should be noted that, the foregoing description only uses the adjustment of the current voltage as an example, and in practical application, the detection device may perform multiple adjustments on the current voltage, and the current voltage is consistent with the driving voltage through the multiple adjustments.

Optionally, in order to further improve the accuracy of the adjustment of the current voltage, the detection device may also perform step 207 and step 208. That is, in the process of adjusting the current voltage, the detection device may continuously emit the outgoing light, receive the reflected light formed by the outgoing light, determine the characteristic parameter corresponding to the reflected light received again according to the received reflected light, and correct the driving voltage according to the characteristic parameter determined again, so as to further improve the accuracy of adjusting the voltage by the detection device.

Step 207, determining at least one characteristic parameter corresponding to the re-received reflected light according to the re-received reflected light.

Since the process of receiving the reflected light and determining the characteristic parameters in step 207 is similar to the process of receiving the reflected light and determining the characteristic parameters by the detecting device in step 201, the description thereof will be omitted.

Step 208, adjusting the current voltage according to at least one characteristic parameter corresponding to the received reflected light.

Because the process of re-selecting the adjustment mode in step 208 is similar to the process of determining the driving voltage and determining the current voltage by the detecting device in steps 202 to 203, the description thereof will be omitted.

It should be noted that, in practical application, if the driving voltage redetermined by the detecting device is consistent with the driving voltage determined in step 202, the detecting device may continuously adjust the current voltage according to the determined driving voltage. If the driving voltage determined by the detection device is different from the driving voltage determined in step 202, the detection device may continue to execute steps 204 to 206 again according to the determined driving voltage, reselect the adjustment mode, and adjust the current voltage based on the reselected adjustment mode.

Step 209, stopping adjusting the current voltage when the current voltage is detected to be consistent with the driving voltage.

In the process of adjusting the current voltage in steps 201 to 208, if the detecting device detects that the voltage difference between the driving voltage and the current voltage is smaller than the preset minimum threshold, the detecting device can be considered to finish adjusting the current voltage and stop adjusting the current voltage.

The minimum threshold may be the minimum voltage threshold of the multiple voltage thresholds mentioned in step 205, which is used to detect whether the detecting device finishes adjusting the current voltage, and the minimum threshold is not specifically limited in the embodiment of the present application.

It should be noted that, in practical applications, the detecting device may be in the process of adjusting the current voltage, which may be caused by continuously determining a new driving voltage, so that after a large amount of adjustment, the current voltage is not consistent with the determined driving voltage.

Therefore, the detection equipment can count in the adjustment process, and when the count number reaches a preset frequency threshold value, the detection equipment is indicated to be possibly abnormal, an alarm can be sent to inform a user, and the user is informed of the abnormality of the detection equipment; of course, the detecting device may also restart the adjustment of the current voltage, which is not limited in particular by the embodiment of the present application.

In summary, an embodiment of the present application provides a voltage adjustment method, which obtains at least one characteristic parameter according to a received reflected light, determines a driving voltage corresponding to the at least one characteristic parameter, and determines a voltage difference between the driving voltage and a current voltage by combining the current voltage of a driving filter assembly. And then, different adjustment modes can be selected to adjust the current voltage according to the voltage difference, and the current voltage is detected again in the adjustment process, so that the current voltage can be adjusted by selecting the corresponding adjustment mode again according to the current voltage which is acquired again, the current voltage is gradually close to the driving voltage until the current voltage is consistent with the driving voltage, and the adjustment of the current voltage is completed. According to the application, the current voltage is adjusted by continuously selecting the adjustment mode matched with the voltage difference value by acquiring the voltage difference value between the driving voltage and the current voltage, so that the current voltage is accurately adjusted by at least one adjustment mode, the accuracy of adjusting the voltage can be further improved, and the accuracy and reliability of detecting by the detecting equipment are further improved.

Further, the detection equipment selects different adjustment modes according to different voltage difference values, so that the current voltage can have different variation before and after adjustment, the current voltage can be quickly adjusted when the voltage difference value is large, the time spent for adjusting the current voltage can be further reduced, and the efficiency of the detection equipment for adjusting the current voltage is 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.

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

Referring to fig. 4, the apparatus includes:

a first determining module 401 for determining a driving voltage according to the received reflected light;

an acquisition module 402, configured to acquire a current voltage for driving the filter assembly;

a selecting module 403, configured to select an adjustment manner for adjusting the current voltage according to the driving voltage and the current voltage;

and the adjusting module 404 is configured to adjust the current voltage according to the selected adjustment mode.

Optionally, the selection module 403 is specifically configured to determine a voltage difference between the driving voltage and the current voltage according to the driving voltage and the current voltage; and selecting an adjustment mode matched with the voltage difference value.

Optionally, the selection module 403 is further specifically configured to obtain a plurality of preset voltage thresholds; sequencing the plurality of voltage thresholds in order from small to large; comparing each voltage threshold with the voltage difference value according to the sequence; for each voltage threshold, when the voltage threshold is greater than or equal to the voltage difference, determining the adjustment mode according to the voltage threshold.

Optionally, the adjusting module 404 is specifically configured to determine, according to the adjustment manner, a target adjustment range corresponding to the adjustment manner; and adjusting the duty ratio of the driving circuit according to the target adjustment range, so that the current voltage output by the driving circuit gradually approaches the driving voltage.

Optionally, the apparatus further includes:

a second determining module 405, configured to determine at least one characteristic parameter corresponding to the received reflected light according to the received reflected light;

the adjusting module 404 is further specifically configured to adjust the current voltage according to at least one characteristic parameter corresponding to the received reflected light;

the adjustment module 404 is further specifically configured to stop adjusting the current voltage when the current voltage is detected to be consistent with the driving voltage.

Optionally, the first determining module 401 is specifically configured to determine at least one characteristic parameter corresponding to the reflected light according to the received reflected light; and determining the driving voltage corresponding to at least one characteristic parameter according to a preset voltage corresponding relation.

Optionally, the first determining module 401 is further 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 the driving voltage.

In summary, an embodiment of the present application provides a voltage adjustment device, which obtains at least one characteristic parameter according to a received reflected light, determines a driving voltage corresponding to the at least one characteristic parameter, and determines a voltage difference between the driving voltage and a current voltage by combining the current voltage of a driving filter assembly. And then, different adjustment modes can be selected to adjust the current voltage according to the voltage difference, and the current voltage is detected again in the adjustment process, so that the current voltage can be adjusted by selecting the corresponding adjustment mode again according to the current voltage which is acquired again, the current voltage is gradually close to the driving voltage until the current voltage is consistent with the driving voltage, and the adjustment of the current voltage is completed. According to the application, the current voltage is adjusted by continuously selecting the adjustment mode matched with the voltage difference value by acquiring the voltage difference value between the driving voltage and the current voltage, so that the current voltage is accurately adjusted by at least one adjustment mode, the accuracy of adjusting the voltage can be further improved, and the accuracy and reliability of detecting by the detecting equipment are 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, 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 voltage regulation, the method comprising:

determining a driving voltage according to the received reflected light;

acquiring the current voltage for driving the optical filtering component;

and adjusting the current voltage according to the selected adjustment mode.

2. The method according to claim 1, wherein selecting an adjustment mode for adjusting the current voltage according to the driving voltage and the current voltage comprises:

and selecting an adjustment mode matched with the voltage difference value.

3. The method of claim 2, wherein the selecting an adjustment that matches the voltage difference comprises:

acquiring a plurality of preset voltage thresholds;

sequencing the plurality of voltage thresholds in order from small to large;

4. The method of claim 1, wherein said adjusting the current voltage according to the selected adjustment comprises:

5. The method of claim 1, wherein after said adjusting the current voltage according to the selected adjustment mode, the method further comprises:

6. The method of any one of claims 1 to 5, wherein determining the driving voltage from the received reflected light comprises:

7. The method according to claim 6, wherein determining the driving voltage corresponding to at least one of the characteristic parameters according to a preset voltage correspondence relation includes:

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;

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.