CN116840815A - Detection method, detection device, detection apparatus, and computer-readable storage medium - Google Patents

Detection method, detection device, detection apparatus, and computer-readable storage medium Download PDF

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Publication number
CN116840815A
CN116840815A CN202310803851.9A CN202310803851A CN116840815A CN 116840815 A CN116840815 A CN 116840815A CN 202310803851 A CN202310803851 A CN 202310803851A CN 116840815 A CN116840815 A CN 116840815A
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China
Prior art keywords
temperature
laser
detection
temperature data
light
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CN202310803851.9A
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Chinese (zh)
Inventor
雷述宇
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Ningbo Abax Sensing Electronic Technology Co Ltd
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Ningbo Abax Sensing Electronic Technology Co Ltd
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Priority to CN202310803851.9A priority Critical patent/CN116840815A/en
Publication of CN116840815A publication Critical patent/CN116840815A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
    • G01K13/00—Thermometers specially adapted for specific purposes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
    • G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
    • G05F1/10—Regulating voltage or current
    • G05F1/46—Regulating voltage or current wherein the variable actually regulated by the final control device is dc
    • G05F1/56—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices
    • G05F1/561—Voltage to current converters

Abstract

The application provides a detection method, a detection device, detection equipment and a computer readable storage medium, and relates to the technical field of laser radars, wherein the method comprises the following steps: acquiring and determining a driving voltage for driving the optical filtering component according to the temperature data; driving the filter assembly according to the driving voltage; simultaneously generating and emitting emergent light; receiving the reflected light filtered by the filter assembly; and according to the reflected light, carrying out operation by combining a preset driving sequence signal to obtain detection parameters. In the technical scheme provided by the application, as the wavelength of the emergent light is correspondingly changed based on the temperature drift, the driving voltage of the optical filtering component can be adjusted according to the changing temperature of the laser, so that the changing wavelength range of the optical filtering component can comprise the continuously changing wavelength of the emergent light, when the wavelength of the emergent light is changed, the filtering caused by the reflected light can be reduced, the probability of the reflected light passing through the optical filtering component can be improved, and the reliability and the accuracy of detection can be further improved.

Description

Detection method, detection device, detection apparatus, 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 apparatus, a detection device, and a computer readable storage medium.
Background
With the continuous development of radar technology, lidar is gradually applied in various aspects with the advantages of high accuracy, strong anti-interference capability and the like. The laser radar can accurately obtain the related information of the detected object 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 rise may be caused by the laser emitted by the light emitting module, so that the temperature drift of the laser generated by the light emitting module is caused, the reflected laser can not be accurately filtered by the optical filter, and the detection accuracy of the laser radar is further affected.
Disclosure of Invention
The application provides a detection method, a detection device, detection equipment and a computer readable storage medium, which solve the problems that in the prior art, the temperature drift of laser generated by a light emitting module causes that a light filter can not accurately filter reflected laser, and the accuracy of detection 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:
acquiring temperature data, wherein the temperature data is used for representing the current corresponding temperature of the laser;
determining a driving voltage for driving the filter assembly according to the temperature data;
driving the light filtering component according to the driving voltage;
generating and emitting outgoing light by the laser;
receiving the reflected light filtered by the filter assembly through the filter assembly driven by the driving voltage;
and according to the reflected light, carrying out operation by combining a preset driving sequence signal to obtain detection parameters.
Optionally, the determining, according to the temperature data, a driving voltage corresponding to a laser wavelength includes:
according to the temperature data, combining a preset first corresponding relation, and determining a laser wavelength corresponding to the temperature data, wherein the laser wavelength is the wavelength corresponding to the emergent light;
And according to the laser wavelength, combining a preset second corresponding relation to determine the driving voltage corresponding to the laser wavelength.
Optionally, the determining, according to the temperature data and in combination with a preset first correspondence, a laser wavelength corresponding to the temperature data includes:
acquiring a temperature difference value between parameters corresponding to each temperature in the first corresponding relation and the temperature data according to the temperature data;
and selecting laser wavelength corresponding to the temperature data from the first corresponding relation according to the absolute value of each temperature difference value.
Optionally, the obtaining, according to the temperature data, a temperature difference between the parameter corresponding to each temperature in the first correspondence and the temperature data includes:
rounding the temperature data to obtain rounded temperature data;
and comparing the rounded temperature data with parameters corresponding to each temperature in the first corresponding relation to obtain the temperature difference value.
Optionally, the calculating according to the reflected light in combination with a preset driving sequence signal to obtain a detection parameter includes:
Generating an echo sequence signal according to the reflected light;
mixing the echo sequence signal with a preset driving sequence signal to obtain a mixed signal;
and calculating according to the mixed signals to obtain the detection parameters.
Optionally, the calculating according to the mixed signal to obtain the detection parameter includes:
processing the mixed signals by adopting a fast Fourier transform mode, and determining the frequency difference between the emergent light and the reflected light;
and determining the detection parameter according to the frequency difference between the emergent light and the reflected light.
In a second aspect, there is provided a detection device, the device comprising:
the acquisition module is used for acquiring temperature data, wherein the temperature data is used for representing the current corresponding temperature of the laser;
the determining module is used for determining a driving voltage for driving the optical filtering component according to the temperature data;
the driving module is used for driving the light filtering component according to the driving voltage;
the operation module is used for generating and emitting emergent light through the laser;
the receiving module is used for receiving the reflected light filtered by the light filtering component through the light filtering component driven by the driving voltage;
And the calculation module is used for carrying out operation according to the reflected light and combining a preset driving sequence signal to obtain detection parameters.
In a third 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 temperature detection module is used for acquiring temperature data, wherein the temperature data is used for representing the current corresponding temperature of the laser;
the processor determines a driving voltage for driving the optical filtering component according to the temperature data transmitted by the temperature detection module;
the processor controls the driving circuit to drive the light filtering component according to the driving voltage;
the laser generates and emits outgoing light;
the filtering component filters the reflected light received by the receiving module;
and the processor performs operation according to the echo sequence signals obtained by irradiating the photoelectric converter by the reflected light and by combining preset driving sequence signals to obtain detection parameters.
In a fourth 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 fifth 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 temperature data is obtained, and the temperature data is used for representing the current corresponding temperature of the laser; determining a driving voltage for driving the filter assembly according to the temperature data; driving the filter assembly according to the driving voltage; generating and emitting outgoing light by a laser; receiving the reflected light filtered by the filter assembly through the filter assembly driven by the driving voltage; and according to the reflected light, carrying out operation by combining a preset driving sequence signal to obtain detection parameters. Because the temperature of the laser is continuously changed and the wavelength of the emergent light is correspondingly changed based on the temperature drift, the driving voltage of the optical filtering component can be adjusted according to the temperature of the laser change, so that the wavelength range of the passable optical filtering component can comprise the wavelength of the emergent light which is continuously changed, when the wavelength of the emergent light is changed, the filtering caused by the reflected light can be reduced, the probability of the reflected light passing through the optical filtering component can be improved, and the reliability and the accuracy of detection can be further improved
Drawings
FIG. 1A is a schematic diagram of a detection system according to an embodiment of the present 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 block diagram of a detecting device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a detection device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as 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 to the detected object, the laser can form reflected light after being reflected by the detected object, and the reflected light can return to the laser radar. The laser radar can receive the reflected light 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 emergent light to the detected object, the emergent light can irradiate the detected object, and the detected object can reflect laser to form reflected light.
Correspondingly, the laser radar can receive the reflected light through the receiving module, and the interference light (such as sunlight and light emitted by other light sources) which is simultaneously emitted into the receiving module is filtered through the optical filter in the receiving module. The processor may then perform further calculations based on the emitted light and the reflected light to obtain information about the detected object, such as the distance between the lidar and the detected object, the velocity of the detected object, and other information that may be indicative of the state 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. 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, which is to obtain temperature data representing the temperature of a laser of a light emitting module, and then search for the laser wavelength corresponding to the temperature data in a first corresponding relation according to the temperature data, namely the wavelength corresponding to the current emergent light. And then, determining a target voltage corresponding to the laser wavelength according to the second corresponding relation, driving a light filtering component in the receiving module based on the target voltage, and filtering the reflected light and the interference light which are received simultaneously through the light filtering component to obtain the reflected light. Finally, further calculation can be performed according to the emergent light and the reflected light to obtain detection parameters.
Because the temperature of the laser constantly changes, the wavelength of the emergent light also correspondingly changes based on the temperature drift, the driving voltage of the optical filtering component can be adjusted according to the temperature of the laser, so that the wavelength range of the accessible optical filtering component can comprise the wavelength of the emergent light constantly changing, when the wavelength of the emergent light changes, the filtering caused by the reflected light can be reduced, the probability of the reflected light passing through the optical filtering component can be improved, and the reliability and the accuracy of detection can be further 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 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 the reflected 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 driving sequence signal for generating the 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.
Thus, the temperature detection module 1107 may continuously detect the temperature of the laser 1103 and transmit the detected temperature data to the processor 1101. Accordingly, the processor 1101 may determine, according to the temperature data, a wavelength of the outgoing light corresponding to the temperature data, that is, a wavelength of the outgoing light currently.
Then, the processor 1101 may determine a driving voltage of the optical filter assembly 1105a that matches the wavelength according to a preset correspondence, and output the driving voltage to the optical filter assembly 1105a through the driving circuit 1102, so that the optical filter assembly 1105a may filter under the action of the driving voltage to obtain light rays including the wavelength, so as to receive reflected light formed after the outgoing light is reflected.
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, acquiring temperature data.
The temperature data are used for representing the current corresponding temperature of the laser.
During the detection process of the detection device, the laser can continuously generate and emit emergent light, so that a large amount of heat is generated, and the temperature of the laser is increased. Accordingly, as the temperature of the laser changes, the energy of the outgoing light generated by the laser changes, and the wavelength of the outgoing light also changes accordingly. That is, the temperature of the outgoing light changes with the temperature, and the outgoing light is shifted.
In order to improve the accuracy of detection of the detection equipment, the detection equipment can continuously detect the temperature of the laser through a preset temperature detection module in the detection process, so that in the follow-up step, the detection equipment can drive the light filtering component by adopting different voltages according to the detected temperature.
Specifically, after the detection device is normally started, the processor can control the laser to generate and emit emergent light through the driving circuit. Meanwhile, the processor can also control the temperature detection module to continuously detect the temperature of the laser to obtain the current temperature of the laser, and transmit temperature data corresponding to the temperature to the processor.
The temperature detection module can detect the temperature of the laser in real time, and can also periodically detect the temperature of the laser.
In practical application, the temperature detection module may be a temperature detection circuit, a temperature sensor, or other modules capable of detecting temperature, and the temperature detection module is not specifically limited in the embodiment of the present application.
Step 202, determining the laser wavelength corresponding to the temperature data according to the temperature data and combining a preset first corresponding relation.
After the temperature data is obtained, the detection device can search the laser wavelength corresponding to the temperature data in the first corresponding relation, so that the wavelength corresponding to the emergent light emitted by the detection device and the received reflected light can be determined, and in the subsequent step, different voltages can be used for driving the light filtering component to filter the reflected light with the continuously changed wavelength.
The first correspondence is a correspondence between a preset temperature and a wavelength, and is used for representing different wavelengths of emergent light generated at different temperatures. For example, the higher the temperature, the longer the wavelength the outgoing light has.
Specifically, the detection device may acquire the first correspondence relationship stored in advance at the same time as acquiring the temperature data. Correspondingly, the detection device may traverse the parameters corresponding to the temperatures in the first correspondence according to the parameters corresponding to the temperature data, and compare the parameters with the parameters corresponding to the temperature data to obtain a temperature difference between each temperature and the temperature data in the first correspondence.
Then, the detection device may sort according to the absolute value of the temperature difference, and use the order from small to large, so that the detection device may select the temperature corresponding to the temperature difference sorted first as the temperature matched with the temperature data in the first corresponding relationship, and use the wavelength corresponding to the temperature as the laser wavelength corresponding to the temperature data.
It should be noted that, in practical application, the temperature difference is affected by the detection precision of the temperature detection module, so that in order to facilitate calculation to obtain the temperature difference, when the detection device obtains the temperature data, the temperature data may be rounded first, and then the temperature difference is determined according to the rounded temperature data.
Step 203, determining a driving voltage corresponding to the laser wavelength according to the laser wavelength and combining a preset second corresponding relation.
The second corresponding relation is a corresponding relation between preset wavelength and voltage and is used for indicating that when the filter assembly is driven to work by different voltages, the filter assembly can filter laser with different wavelengths.
Similar to step 202, after determining the laser wavelength corresponding to the temperature data, the detection device may determine the filtering range of the filtering component according to the laser wavelength, so that the filtering range of the filtering component may include the laser wavelength, so that the filtering component may filter the reflected light matched to the laser wavelength.
Specifically, after determining the laser wavelength, the detection device may acquire a second correspondence, traverse each wavelength in the second correspondence, and compare each traversed wavelength with the determined laser wavelength to obtain a wavelength difference between each wavelength in the second correspondence and the laser wavelength.
Then, the detection device may sort according to the absolute value of the wavelength difference, and the order of the absolute value of the wavelength difference is from small to large, so that the detection device may select the wavelength corresponding to the wavelength difference sorted first as the wavelength matched with the laser wavelength in the corresponding relationship, and use the voltage corresponding to the laser wavelength as the driving voltage corresponding to the laser wavelength.
In practical applications, the wavelength corresponding to the laser light filtered by the filtering component is generally within a certain range, and the second correspondence relationship may be a correspondence relationship between a wavelength range and a voltage.
Accordingly, in the process of determining the wavelength range matched with the laser wavelength, the wavelength range including the laser wavelength can be selected first, then the intermediate value of the laser wavelength and each wavelength range is compared to obtain the wavelength difference value between the laser wavelength and each wavelength intermediate value, so that the wavelength range corresponding to the minimum wavelength difference value can be determined as the wavelength range matched with the laser wavelength, and finally the voltage corresponding to the wavelength range is used as the driving voltage corresponding to the laser wavelength.
For example, for each wavelength range, the detection device may sum two end points of the wavelength range, divide the sum by two to obtain an intermediate value of the wavelength range, and subtract the intermediate value from the laser wavelength to obtain an absolute value of a difference between the two values, i.e. a wavelength difference between the laser wavelength and the wavelength range.
Step 204, driving the filter assembly according to the driving voltage.
After the driving voltage is determined, the detection device can output the driving voltage to the light filtering component, so that the light filtering component can work under the driving voltage, and the filtering range of the light filtering component is adjusted, so that the light filtering component can filter and obtain reflected light consistent with the wavelength of the emergent light.
Specifically, after determining the driving voltage corresponding to the temperature data, the processor of the detection device may output a parameter corresponding to the driving voltage to the driving circuit, and control the driving circuit to adjust the voltage output to the filter assembly, so that the voltage output to the filter assembly by the driving circuit is consistent with the parameter corresponding to the driving voltage, thereby driving the filter assembly 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 205, generating and emitting outgoing light.
Corresponding to step 204, when the detection device drives the filter assembly through the determined driving voltage, the laser may be driven by the driving circuit to generate and emit the outgoing light 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.
Step 206, receiving the reflected light filtered by the filter assembly through the filter assembly driven by the driving voltage.
After emitting the emergent light, the detection device can receive the reflected light formed by the reflected emergent light. In practical applications, the wavelength of the outgoing light may change with the change of the laser temperature. Thus, the detection device can adjust the driving voltage of the filter assembly for filtering according to different temperatures so that the reflected light can pass through the filter assembly in a subsequent step.
Specifically, after the detection device determines the driving voltage in step 204, the detection device may send an adjustment instruction to the driving circuit through the processor, so that the driving circuit may continuously adjust the voltage output by the driving circuit to the filtering component under the action of the adjustment instruction, until the voltage output by the driving circuit matches with the determined driving voltage.
The driving circuit adjusts the voltage output to the filter assembly, and meanwhile, the internal characteristics of the filter assembly also change correspondingly, so that the filtering range of the filter assembly changes 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, 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 207, according to the reflected light, the detection parameters are obtained by performing an operation in combination with a preset driving sequence signal.
After the detection device obtains the reflected light through the 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.
In summary, the embodiment of the present application provides a detection method, by acquiring temperature data representing a temperature of a laser of a light emitting module, and searching for a laser wavelength corresponding to the temperature data, that is, a wavelength corresponding to a current emitted light, in a first corresponding relationship according to the temperature data. And then, determining a target voltage corresponding to the laser wavelength according to the second corresponding relation, driving a light filtering component in the receiving module based on the target voltage, and filtering the reflected light and the interference light which are received simultaneously through the light filtering component to obtain the reflected light. Finally, further calculation can be performed according to the emergent light and the reflected light to obtain detection parameters. Because the temperature of the laser constantly changes, the wavelength of the emergent light also correspondingly changes based on the temperature drift, the driving voltage of the optical filtering component can be adjusted according to the temperature of the laser, so that the wavelength range of the accessible optical filtering component can comprise the wavelength of the emergent light constantly changing, when the wavelength of the emergent light changes, the filtering caused by the reflected light can be reduced, the probability of the reflected light passing through the optical filtering component can be improved, and the reliability and the accuracy of detection can be further 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. 3 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. 3, the apparatus includes:
an obtaining module 301, configured to obtain temperature data, where the temperature data is used to represent a current corresponding temperature of the laser;
a determining module 302, configured to determine a driving voltage for driving the filter assembly according to the temperature data;
a driving module 303, configured to drive the filter assembly according to the driving voltage;
a run module 304 for generating and emitting outgoing light by the laser;
a receiving module 305, configured to receive, through the filter assembly driven by the driving voltage, the reflected light filtered by the filter assembly;
and the calculating module 306 is configured to perform an operation according to the reflected light and in combination with a preset driving sequence signal, so as to obtain a detection parameter.
Optionally, the determining module 302 is specifically configured to determine, according to the temperature data and in combination with a preset first correspondence, a laser wavelength corresponding to the temperature data, where the laser wavelength is a wavelength corresponding to the outgoing light; and according to the laser wavelength, combining a preset second corresponding relation to determine the driving voltage corresponding to the laser wavelength.
Optionally, the determining module 302 is further specifically configured to obtain, according to the temperature data, a temperature difference value between a parameter corresponding to each temperature in the first correspondence and the temperature data; and selecting laser wavelength corresponding to the temperature data from the first corresponding relation according to the absolute value of each temperature difference value.
Optionally, the determining module 302 is further specifically configured to perform rounding processing on the temperature data, so as to obtain rounded temperature data; and comparing the rounded temperature data with parameters corresponding to each temperature in the first corresponding relation to obtain the temperature difference value.
Optionally, the calculating module 306 is specifically configured to generate an echo sequence signal according to the reflected light; mixing the echo sequence signal with a preset driving sequence signal to obtain a mixed signal; and calculating according to the mixed signals to obtain the detection parameters.
Optionally, the calculating module 306 is further specifically configured to process the mixed signal by using a fast fourier transform manner, and determine a frequency difference between the outgoing light and the reflected light; and determining the detection parameter according to the frequency difference between the emergent light and the reflected light.
In summary, the embodiment of the present application provides a detection device, which obtains temperature data representing a temperature of a laser of a light emitting module, and searches for a laser wavelength corresponding to the temperature data, that is, a wavelength corresponding to a current emitted light, in a first corresponding relationship according to the temperature data. And then, determining a target voltage corresponding to the laser wavelength according to the second corresponding relation, driving a light filtering component in the receiving module based on the target voltage, and filtering the reflected light and the interference light which are received simultaneously through the light filtering component to obtain the reflected light. Finally, further calculation can be performed according to the emergent light and the reflected light to obtain detection parameters. Because the temperature of the laser constantly changes, the wavelength of the emergent light also correspondingly changes based on the temperature drift, the driving voltage of the optical filtering component can be adjusted according to the temperature of the laser, so that the wavelength range of the accessible optical filtering component can comprise the wavelength of the emergent light constantly changing, when the wavelength of the emergent light changes, the filtering caused by the reflected light can be reduced, the probability of the reflected light passing through the optical filtering component can be improved, and the reliability and the accuracy of detection can be further improved.
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. 4 is a schematic structural diagram of a detection device according to an embodiment of the present application, as shown in fig. 4, where the detection device provided in this embodiment may include: a memory 41 and a processor 42, the memory 41 for storing a computer program 43; the processor 42 is arranged to perform the method described in the method embodiments above when the computer program 43 is called.
The 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.
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 (10)

1. A method of detection, the method comprising:
acquiring temperature data, wherein the temperature data is used for representing the current corresponding temperature of the laser;
determining a driving voltage for driving the filter assembly according to the temperature data;
driving the light filtering component according to the driving voltage;
generating and emitting outgoing light by the laser;
receiving the reflected light filtered by the filter assembly through the filter assembly driven by the driving voltage;
and according to the reflected light, carrying out operation by combining a preset driving sequence signal to obtain detection parameters.
2. The method of claim 1, wherein determining the driving voltage corresponding to the laser wavelength according to the temperature data comprises:
according to the temperature data, combining a preset first corresponding relation, and determining a laser wavelength corresponding to the temperature data, wherein the laser wavelength is the wavelength corresponding to the emergent light;
and according to the laser wavelength, combining a preset second corresponding relation to determine the driving voltage corresponding to the laser wavelength.
3. The method according to claim 2, wherein the determining the laser wavelength corresponding to the temperature data according to the temperature data in combination with a preset first correspondence relation includes:
Acquiring a temperature difference value between parameters corresponding to each temperature in the first corresponding relation and the temperature data according to the temperature data;
and selecting laser wavelength corresponding to the temperature data from the first corresponding relation according to the absolute value of each temperature difference value.
4. The method according to claim 3, wherein the obtaining, according to the temperature data, a temperature difference between the parameter corresponding to each temperature in the first correspondence and the temperature data includes:
rounding the temperature data to obtain rounded temperature data;
and comparing the rounded temperature data with parameters corresponding to each temperature in the first corresponding relation to obtain the temperature difference value.
5. The method according to any one of claims 1 to 4, wherein the calculating according to the reflected light in combination with a preset driving sequence signal to obtain the detection parameter includes:
generating an echo sequence signal according to the reflected light;
mixing the echo sequence signal with a preset driving sequence signal to obtain a mixed signal;
And calculating according to the mixed signals to obtain the detection parameters.
6. The method of claim 5, wherein said calculating from said mixed signal to obtain said detection parameter comprises:
processing the mixed signals by adopting a fast Fourier transform mode, and determining the frequency difference between the emergent light and the reflected light;
and determining the detection parameter according to the frequency difference between the emergent light and the reflected light.
7. A detection device, the device comprising:
the acquisition module is used for acquiring temperature data, wherein the temperature data is used for representing the current corresponding temperature of the laser;
the determining module is used for determining a driving voltage for driving the optical filtering component according to the temperature data;
the driving module is used for driving the light filtering component according to the driving voltage;
the operation module is used for generating and emitting emergent light through the laser;
the receiving module is used for receiving the reflected light filtered by the light filtering component through the light filtering component driven by the driving voltage;
and the calculation module is used for carrying out operation according to the reflected light and combining a preset driving sequence signal to obtain detection parameters.
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;
the temperature detection module is used for acquiring temperature data, wherein the temperature data is used for representing the current corresponding temperature of the laser;
the processor determines a driving voltage for driving the optical filtering component according to the temperature data transmitted by the temperature detection module;
the processor controls the driving circuit to drive the light filtering component according to the driving voltage;
the laser generates and emits outgoing light;
the filtering component filters the reflected light received by the receiving module;
and the processor performs operation according to the echo sequence signals obtained by irradiating the photoelectric converter by the reflected light and by combining preset driving sequence signals to obtain detection parameters.
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.
CN202310803851.9A 2023-06-30 2023-06-30 Detection method, detection device, detection apparatus, and computer-readable storage medium Pending CN116840815A (en)

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