CN117471434A - Detection method, apparatus, and computer-readable storage medium - Google Patents

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

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Publication number
CN117471434A
CN117471434A CN202311437915.4A CN202311437915A CN117471434A CN 117471434 A CN117471434 A CN 117471434A CN 202311437915 A CN202311437915 A CN 202311437915A CN 117471434 A CN117471434 A CN 117471434A
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China
Prior art keywords
distance
sample data
initial distance
difference
compensation
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CN202311437915.4A
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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 CN202311437915.4A priority Critical patent/CN117471434A/en
Publication of CN117471434A publication Critical patent/CN117471434A/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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4913—Circuits for detection, sampling, integration or read-out
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4918—Controlling received signal intensity, gain or exposure of sensor
    • 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
    • G01S7/497—Means for monitoring or calibrating

Abstract

The application provides a detection method, detection equipment and a computer readable storage medium, and relates to the technical field of laser radars, wherein the detection method comprises the following steps: determining a compensation threshold according to a plurality of sample data obtained by testing and label data corresponding to each sample data; determining an initial distance according to the emission time corresponding to the emergent light and the receiving time corresponding to the reflected light; comparing the initial distance with the compensation threshold value to obtain a comparison result; and compensating the initial distance according to the comparison result to obtain an actual distance. According to the technical scheme, according to a large amount of sample data obtained through testing, the compensation threshold value used for determining whether compensation is needed is obtained by combining the label data corresponding to the sample data. Then, the initial distance can be detected to obtain the initial distance, the initial distance is compared with the compensation threshold value, and the initial distance is compensated according to the comparison result, so that the detection efficiency is further improved on the basis of ensuring the accuracy.

Description

Detection method, apparatus, and computer-readable storage medium
Technical Field
The present disclosure relates to the field of lidar technologies, and in particular, to a detection method, a detection device, and a computer readable storage medium.
Background
With the continuous development of laser radar technology, laser radar can generate and emit emergent light, and then determine information related to a detected object according to received reflected light. For example, a distance between the lidar and the detected object, a shape of the detected object, other information of the detected object, and the like.
Specifically, the lidar may generate continuous outgoing light by a laser and emit the light to irradiate the detected object. And the detected object can reflect the outgoing light to form reflected light. Correspondingly, the laser radar can receive the reflected light, calculate according to the reflected light and the generated emergent light, and then take the result obtained by calculation as the related information of the detected object.
However, due to environmental influence, reflected light formed by the emergent light has different light intensities, when the laser radar receives the reflected light with different light intensities respectively, the reflected light with different light intensities can trigger to form a high-level signal in the echo signal at different moments, wherein the reflected light with stronger light intensity can trigger the high-level signal in advance, so that larger errors occur in detection, and the accuracy of the laser radar is affected.
Disclosure of Invention
The application provides a detection method, detection equipment and a computer readable storage medium, which solve the problem that reflected light with stronger light intensity in the prior art can trigger a high-level signal in advance, so that larger errors occur in detection, and the accuracy of a laser radar is affected.
In order to achieve the above purpose, the present application adopts the following technical scheme:
in a first aspect, a detection method is provided, the method comprising:
determining a compensation threshold according to a plurality of sample data obtained by testing and label data corresponding to each sample data;
determining an initial distance according to the emission time corresponding to the emergent light and the receiving time corresponding to the reflected light;
comparing the initial distance with the compensation threshold value to obtain a comparison result;
and compensating the initial distance according to the comparison result to obtain an actual distance.
Optionally, the compensating the initial distance according to the comparison result to obtain an actual distance includes:
if the comparison result indicates that the initial distance is greater than or equal to the compensation threshold value, the initial distance is taken as the actual distance;
and if the comparison result indicates that the initial distance is smaller than the compensation threshold, compensating the initial distance according to a plurality of sample data and the label data corresponding to each sample data to obtain the actual distance.
Optionally, the compensating the initial distance according to the plurality of sample data and the label data corresponding to each sample data to obtain the actual distance includes:
comparing the initial distance with each sample data, determining target sample data closest to the initial distance from a plurality of sample data, and taking label data corresponding to the target sample data as a compensation parameter;
calculating according to the initial distance and the compensation parameter to obtain a sum value between the initial distance and the compensation parameter;
and taking the sum value between the initial distance and the compensation parameter as the actual distance.
Optionally, the determining the compensation threshold according to the plurality of sample data obtained by the test and the label data corresponding to each sample data includes:
calculating according to the emission time corresponding to the emission of the plurality of emergent lights and the receiving time corresponding to each reflected light to obtain a plurality of sample data;
calculating a distance difference value between the sample data and label data corresponding to the sample data for each sample data;
And determining the compensation threshold according to a plurality of distance differences.
Optionally, the determining the compensation threshold according to a plurality of the distance differences includes:
sorting the distance differences corresponding to the sample data according to the sequence from small to large of the sample data;
according to the sorted distance differences, obtaining the difference variation between any two adjacent distance differences;
and selecting the compensation threshold value from the sample data according to the difference variable quantities and the distance difference value corresponding to each difference variable quantity.
Optionally, the selecting the compensation threshold from the plurality of sample data according to the plurality of difference variation amounts and the distance difference value corresponding to each difference variation amount includes:
comparing the difference variable quantity with a distance difference value corresponding to the difference variable quantity for each difference variable quantity;
if the difference value variation is greater than or equal to a distance difference value corresponding to the difference value variation, taking sample data corresponding to the distance difference value as the compensation threshold value;
and if the difference change amount is smaller than the distance difference value corresponding to the difference change amount, continuing to compare according to a plurality of difference change amounts until the difference change amount is larger than or equal to the distance difference value corresponding to the difference change amount.
Optionally, the determining the initial distance according to the emission time corresponding to the emergent light and the receiving time corresponding to the reflected light includes:
taking the moment of emitting the emergent light as the emitting moment and the moment of receiving the reflected light as the receiving moment;
calculating according to the transmitting time and the receiving time to obtain a time difference value between the transmitting time and the receiving time;
and calculating according to the time difference value to obtain the initial distance.
In a second aspect, embodiments of the present application provide a detection apparatus, the apparatus including:
the first determining module is used for determining a compensation threshold according to a plurality of sample data obtained through testing and label data corresponding to each sample data;
the second determining module is used for determining an initial distance according to the emission moment corresponding to the emergent light and the receiving moment corresponding to the reflected light;
the comparison module is used for comparing the initial distance with the compensation threshold value to obtain a comparison result;
and the compensation module is used for compensating the initial distance according to the comparison result to obtain an actual distance.
Optionally, the compensation module is specifically configured to take the initial distance as the actual distance if the comparison result indicates that the initial distance is greater than or equal to the compensation threshold; and if the comparison result indicates that the initial distance is smaller than the compensation threshold, compensating the initial distance according to a plurality of sample data and the label data corresponding to each sample data to obtain the actual distance.
Optionally, the compensation module is further specifically configured to compare the initial distance with each sample data, determine, from a plurality of sample data, target sample data closest to the initial distance, and use tag data corresponding to the target sample data as a compensation parameter; calculating according to the initial distance and the compensation parameter to obtain a sum value between the initial distance and the compensation parameter; and taking the sum value between the initial distance and the compensation parameter as the actual distance.
Optionally, the first determining module is specifically configured to calculate according to an emission time corresponding to each of the emission light and a receiving time corresponding to each of the received reflected light, so as to obtain a plurality of sample data; calculating a distance difference value between the sample data and label data corresponding to the sample data for each sample data; and determining the compensation threshold according to a plurality of distance differences.
Optionally, the first determining module is further specifically configured to sort the distance differences corresponding to each sample data according to the order from small to large of each sample data; according to the sorted distance differences, obtaining the difference variation between any two adjacent distance differences; and selecting the compensation threshold value from the sample data according to the difference variable quantities and the distance difference value corresponding to each difference variable quantity.
Optionally, the first determining module is further specifically configured to compare, for each of the difference variable amounts, the difference variable amount with a distance difference value corresponding to the difference variable amount; if the difference value variation is greater than or equal to a distance difference value corresponding to the difference value variation, taking sample data corresponding to the distance difference value as the compensation threshold value; and if the difference change amount is smaller than the distance difference value corresponding to the difference change amount, continuing to compare according to a plurality of difference change amounts until the difference change amount is larger than or equal to the distance difference value corresponding to the difference change amount.
Optionally, the second determining module is specifically configured to take a time of emitting the outgoing light as the emitting time, and take a time of receiving the reflected light as the receiving time; calculating according to the transmitting time and the receiving time to obtain a time difference value between the transmitting time and the receiving time; and calculating according to the time difference value to obtain the initial distance.
In a third aspect, an embodiment of the present application provides a detection apparatus, including: the device comprises a processor, a driving circuit, a laser, a light emitting module, a receiving module and a photoelectric converter;
The processor is respectively connected with the driving circuit and the photoelectric converter, the laser is connected in series between the driving circuit and the light-emitting module, and the receiving module is connected with the photoelectric converter;
the processor is used for generating a driving sequence signal according to a preset driving algorithm, driving the laser through the driving circuit based on the driving sequence signal, generating emergent light by the laser, emitting the emergent light through the light emitting module, and the photoelectric converter is used for receiving reflected light according to the receiving module;
the processor is further configured to determine a compensation threshold according to a plurality of sample data obtained by the test and tag data corresponding to each sample data, determine an initial distance according to an emission time corresponding to the emergent light and a receiving time corresponding to the reflected light, compare the initial distance with the compensation threshold to obtain a comparison result, and compensate the initial distance according to the comparison result to obtain an actual distance.
In a fourth aspect, embodiments of the present application provide a detection apparatus, including: a memory and a processor, the memory for storing a computer program; the processor is configured to perform the method according to the first aspect or any implementation of the first aspect when the computer program is invoked.
In a fifth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the first aspect or any implementation of the first aspect.
In a sixth aspect, an embodiment of the present application provides a chip system, where the chip system includes a processor, and the processor is coupled to a memory, and the processor executes a computer program stored in the memory to implement the method according to the first aspect or any implementation manner of the first aspect.
According to the detection method, according to a large amount of sample data obtained through testing, a compensation threshold value used for determining whether compensation is needed is obtained by combining label data corresponding to the sample data. Then, the initial distance can be detected to obtain the initial distance, the initial distance is compared with the compensation threshold value, and the initial distance is compensated according to the comparison result, so that the detection efficiency is further improved on the basis of ensuring the accuracy.
Drawings
FIG. 1A is a schematic diagram of a detection system according to an embodiment of the present disclosure;
FIG. 1B is a system diagram of another detection system according to an embodiment of the present application;
Fig. 1C is a schematic structural diagram of a detection device according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a detection method according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a detection device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a detection device according to an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods and terminal devices are omitted so as not to obscure the description of the present application with unnecessary detail.
The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of this application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include, for example, "one or more" such forms of expression, unless the context clearly indicates to the contrary.
With the continuous development of laser radar technology, laser radar can generate and emit emergent light, and then determine information related to a detected object according to received reflected light. For example, a distance between the lidar and the detected object, a shape of the detected object, other information of the detected object, and the like.
Specifically, the lidar may generate continuous outgoing light by a laser and emit the light to irradiate the detected object. And the detected object can reflect the outgoing light to form reflected light.
Correspondingly, the reflected light can propagate along a path opposite to the propagation of the emergent light, so that the laser radar can receive the reflected light, calculate according to the reflected light and the generated emergent light, and then take the result obtained by calculation as the related information of the detected object.
However, due to environmental influence, reflected light formed by the emergent light has different light intensities, when the laser radar receives the reflected light with different light intensities respectively, the reflected light with different light intensities can trigger to form a high-level signal in the echo signal at different moments, wherein the reflected light with stronger light intensity can trigger the high-level signal in advance, so that larger errors occur in detection, and the accuracy of the laser radar is affected.
Therefore, the application provides a detection method, according to a large amount of sample data obtained by testing, a compensation threshold value for determining whether compensation is needed is obtained by combining label data corresponding to the sample data. Then, the initial distance can be detected to obtain the initial distance, the initial distance is compared with the compensation threshold value, and the initial distance is compensated according to the comparison result, so that the detection efficiency is further improved on the basis of ensuring the accuracy.
Referring to fig. 1A, fig. 1A is a schematic system diagram of a detection system provided in 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 object 120 to be detected may be stationary or moving. For example, the detected object 120 may be a stationary tree, a guardrail, or the like, or may be a moving vehicle, a pedestrian, or the like, and the detected object 120 is not limited in the embodiment of the present application.
In the detection process, the detection device 110 can generate and emit the emergent light, and the time of emitting the emergent light is recorded through a preset circuit to obtain the emitting time. Accordingly, the outgoing light may irradiate the detected object 120, and the detected object 120 may reflect the outgoing light to form reflected light.
The reflected light may propagate along a different optical path, which may be opposite to the optical path of the outgoing light, depending on the shape of the object 120 to be detected, along which the partially reflected light may return to the detection device 110.
Accordingly, the detecting device 110 may receive the reflected light, and record the time of receiving the reflected light, to obtain the receiving time. The detection device 110 may calculate from the transmit time and the receive time, and determine the distance between the detection device 110 and the detected object 120.
Then, the detecting device 110 may compare the detected distance with the compensation threshold determined by the detecting device 110 to obtain a comparison result, so as to determine whether the detected distance needs to be compensated according to the comparison result, thereby obtaining an actual distance between the detecting device 110 and the detected object 120, so as to improve the accuracy and reliability of the detection performed by the detecting device 110.
Specifically, the environment surrounding the detection device 110 may be illuminated and reflected light formed. The detection device 110 may receive the reflected light and determine an environment surrounding the detection device 110 from the received reflected light.
For the detected object 120 in the FOV, after the outgoing light irradiates the detected object 120, the detected object 120 may reflect the outgoing light, thereby forming reflected light. The reflected light may be returned to the detection device 110 along an optical path, which may then be received by the detection device 110.
Accordingly, the detection device 110 may determine the reception time according to the time of receiving the reflected light. Then, the detecting device 110 may calculate a time difference between the transmitting time and the receiving time, and calculate according to the time difference and a preset formula and parameters, to obtain a distance between the detecting device 110 and the detected object 120.
The detection device 110 may then compare the calculated distance to the determined compensation threshold to obtain a comparison result. If the calculated distance is greater than or equal to the compensation threshold, it is indicated that the calculated distance does not need to be compensated, and the calculated distance may be used as the actual distance between the detection device 110 and the detected object 120.
However, if the calculated distance is smaller than the compensation threshold, the calculated distance may be compensated according to a preset compensation relationship, so that the compensated distance is taken as the actual distance between the detection device 110 and the detected object 120.
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. When the moving carrier 130 is in motion, the detecting 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, and determining the trend of the distance between the detected object 120 and the moving carrier 130, that is, determining whether the detected object 120 is moving away from the moving carrier 130 or moving close to the moving carrier 130.
In addition, in practical application, the detection device 110 may be fixed at a certain position, or may be disposed on the mobile carrier 130, 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.
Also, for the case where the detection device 110 is provided on the moving carrier 130, the detection device 110 may be provided on a vehicle, detecting 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.
Of course, the detection device 110 may also be applied to other scenarios, and the application scenario of the detection device 110 is not specifically limited in this embodiment of the present application.
Further, referring to fig. 1C, fig. 1C is a schematic structural diagram of a detection device according to an embodiment of the present application, as shown in fig. 1C, the detection device 110 may include: a processor 1101, a driving circuit 1102, a laser 1103, a light emitting module 1104, a receiving module 1105 and a photoelectric converter 1106.
The processor 1101 is connected to the driving circuit 1102 and the photoelectric converter 1106, the laser 1103 is connected in series between the driving circuit 1102 and the light emitting module 1104, and the receiving module 1105 is connected to the photoelectric converter 1106.
Specifically, during emission of the outgoing light by the detection device 110, the processor 1101 can control the laser 1103 to generate outgoing light by the driving circuit 1102, and record the emission timing at which the outgoing light is generated and emitted. When the laser 1103 emits light, the light emitting module 1104 can adjust the light emitted by the laser 1103, so as to form emergent light; when the laser 1103 is extinguished, no more outgoing light is generated.
Accordingly, the outgoing light may irradiate the detected object 120 to form reflected light. The reflected light may propagate along a path opposite to the outgoing light towards the detection device 110. The receiving module 1105 may receive the reflected light and irradiate the photoelectric converter 1106 with the received reflected light.
When the reflected light irradiates the photoelectric converter 1106, the photoelectric converter 1106 may output a level signal to the processor 1101, the processor 1101 may record a time of receiving the outgoing light, and obtain a receiving time, so that a time taken for the outgoing light and the reflected light to propagate is determined according to the transmitting time and the receiving time, and a distance between the detection device 110 and the detected object 120 may be calculated according to the time.
Further, the processor 1101 may compare the detected distance with the determined compensation threshold to obtain a comparison result, so that it may be determined whether the detected distance needs to be compensated according to the comparison result, thereby obtaining an actual distance between the detecting device 110 and the detected object 120.
In practical applications, the processor 1101 may be a field programmable gate array (field programmable gate array, FPGA), a micro control unit (micro control unit, MCU), or a digital signal processor (digital signal processing, DSP), and the embodiment of the present application does not specifically limit the processor 1101.
Similarly, the laser 1103 may be a semiconductor laser, a solid state laser, or other type of laser. If the laser 1103 is a semiconductor laser, the laser 1103 may be a vertical-cavity-emitting laser (VCSEL) or an edge-emitting semiconductor laser (EEL), and the embodiment of the present application does not specifically limit the laser 1103.
The outgoing light emitted by the laser 1103 may be a laser having a certain wavelength, for example, the outgoing light may be a laser having a wavelength of 905 nanometers (nm), 950nm, or 1550nm, and the wavelength of the outgoing light is not specifically limited in the embodiments of the present application.
In addition, the photoelectric converter 1106 may be an optocoupler device, a photodiode, or other devices with photoelectric conversion function, and the photoelectric converter 1106 is not particularly limited in the embodiments of the present application.
In the detection scene, the detection equipment can compensate the detected distance through a preset compensation relation, so that a more accurate distance is obtained. The following describes the process of compensating the initial distance and obtaining the actual distance based on the compensation relation for the detection device.
Fig. 2 is a schematic flowchart of a detection method provided in an embodiment of the present application, which may be applied to the detection device in the detection scenario described above, and referring to fig. 2, by way of example and not limitation, and the method includes:
step 201, determining a compensation threshold according to a plurality of sample data obtained by testing and label data corresponding to each sample data.
In the detection process of the detection equipment, the distance obtained by detection can be compensated by combining with a preset compensation relation so as to improve the accuracy of the detection equipment. Therefore, the detection device can perform a test in advance to obtain a plurality of sample data, and calculate to obtain the compensation threshold value by combining the label data corresponding to each sample data, so that in the subsequent step, the detection device can determine whether the detected distance needs to be compensated according to the compensation threshold value.
The sample data are test distances calculated by the detection equipment according to the emergent time and the receiving time, and the label data are actual distances corresponding to the sample data. For example, the actual distance between the detecting device and the detected object is first tag data, and the test distance obtained by the detecting device detecting is first sample data, and the first sample data corresponds to the first tag data.
Optionally, the detection device may calculate according to the emission time corresponding to the emission of the plurality of outgoing lights and the receiving time corresponding to the receiving of each reflected light, to obtain a plurality of sample data, calculate, for each sample data, a distance difference between the sample data and the tag data corresponding to the sample data, and determine the compensation threshold according to the plurality of distance differences.
Wherein the distance difference is used to represent the difference between the sample data and the corresponding tag data. For example, the sample data indicates that the distance between the detecting device and the detected object is 4.98 meters (m), and the corresponding tag data indicates that the distance between the detecting device and the detected object is 4.99m, and the distance difference is 0.01m.
Specifically, the detection device may generate and emit the outgoing light first, and record the time of emitting the outgoing light, to obtain the emission time. The detection device may then receive the reflected light formed by the outgoing light and record this moment, resulting in a reception moment.
Accordingly, the detection device may calculate from the emission time and the reception time, and obtain a time difference between the reception time and the emission time, that is, a time period taken for the outgoing light to reach the detected object and for the reflected light to reach the detection device from the detected object.
Therefore, the detection device can calculate the distance between the detection device and the detected object according to the light propagation speed and the determined time difference value, so that the calculated distance can be used as sample data.
Similarly, with the continuous change of the actual distance between the detection device and the detected object, the detection device can also continuously perform a test, and acquire a plurality of sample data aiming at different actual distances according to the emitted emergent light and the received reflected light, thereby completing the acquisition of a large amount of sample data.
After the detection device obtains a plurality of sample data through testing, the detection device can search label data corresponding to the sample data according to identification information included in the sample data for each sample data. Then, the detection device may subtract the sample data and the corresponding tag data to obtain a difference value therebetween, and use an absolute value of the difference value as a distance difference value corresponding to the sample data, thereby obtaining a distance difference value corresponding to each sample data.
Correspondingly, the detection device can further operate according to the plurality of distance differences, and select sample data corresponding to a certain distance difference from the plurality of distance differences as a compensation threshold value by combining the change trend of the plurality of distance differences.
Further, the detection device may sort the distance differences corresponding to each sample data according to the order from small to large of each sample data, obtain a difference variation between any two adjacent distance differences according to the sorted plurality of distance differences, and select the compensation threshold from the plurality of sample data according to the plurality of difference variations and the distance difference corresponding to each difference variation.
Specifically, the detection device may traverse each sample data, compare each sample data with other sample data, and then sort each sample data in order from small to large according to the comparison result.
And then, the detection equipment can sort the distance difference values corresponding to the sample data according to the sorted sample data and combining the identification information of each sample data. And the detection device can continue to calculate the sorted distance differences to obtain the difference change quantity between any two adjacent distance differences so as to determine the change trend of the distance differences, so that the compensation threshold value can be selected from a plurality of sample data according to the change trend.
In addition, in the process of selecting the compensation threshold, the detection device may compare, for each difference variation, the difference variation with a distance difference corresponding to the difference variation. If the difference value variation is greater than or equal to the distance difference value corresponding to the difference value variation, taking sample data corresponding to the distance difference value as a compensation threshold value; if the difference variable quantity is smaller than the distance difference corresponding to the difference variable quantity, the comparison is continued according to the plurality of difference variable quantities until the difference variable quantity is larger than or equal to the distance difference corresponding to the difference variable quantity.
For example, the detection device tests to obtain 100 sample data, and may obtain a distance difference between each sample data and the corresponding tag data, and then the detection device may sort a large number of sample data in order from small to large.
Then, the detection device can sort the distance differences corresponding to each sample data according to the sorted sample data and the sequence of the sample data, and combine the identification information of each sample data, and then subtract any two adjacent distance differences to obtain a plurality of difference variation amounts.
Accordingly, the detection device may continue to compare a certain difference change with a corresponding distance difference, such as comparing a 59 th difference change with a 60 th distance difference, where the 59 th difference change is calculated from the 59 th distance difference and the 60 th distance difference.
If the 59 th difference value variation is greater than or equal to the 60 th distance difference value, the error between the sample data corresponding to the 60 th distance difference value and the label data is extremely small, and the sample data does not need to be continuously compensated. The detection device may then use the sample data corresponding to the 60 th distance difference as the compensation threshold.
In addition, in practical application, each sample data corresponds to identification information, so that the detection device can determine the label data corresponding to the sample data according to the identification information. For example, the detection device may use a time stamp of the sample data as the identification information.
Specifically, the detection device may generate the time stamp according to the transmission time or the reception time before generating the sample data. Then, in the process of generating the sample data, the detection device may calculate according to the time difference value to obtain a test distance, and then combine the test distance with the time stamp to obtain the sample data.
Step 202, determining an initial distance according to the emission time corresponding to the emergent light and the receiving time corresponding to the reflected light.
After determining the compensation threshold, the detection device may compensate the initial distance obtained by the detection according to the compensation threshold. In the detection process, the detection device may also calculate the initial distance according to the transmission time and the reception time by using a process similar to that for determining the sample data.
The transmitting time is used for indicating the time corresponding to the emitting emergent light of the detection device, and the receiving time is used for indicating the time corresponding to the receiving reflected light of the detection device. Moreover, the initial distance is used to represent the distance between the detection device and the detected object, and the initial distance has a certain error.
Alternatively, the detection device may first take the time of emitting the outgoing light as the emitting time, and take the time of receiving the reflected light as the receiving time, and then calculate according to the emitting time and the receiving time to obtain a time difference between the emitting time and the receiving time, so as to calculate according to the time difference to obtain the initial distance.
Specifically, the detection device may generate and emit the outgoing light by a laser, and the detection device may count time by a preset TDC circuit while the laser emits the outgoing light, with the time of emitting the outgoing light as the emission time. Similarly, when the detection device receives the reflected light, the timing of receiving the reflected light may also be determined by the TDC circuit, so that the timing is taken as the reception timing.
Correspondingly, the detection equipment can calculate according to the transmitting moment and the receiving moment to obtain a time difference value between the transmitting moment and the receiving moment, and then calculate according to a preset formula and combining parameters such as the time difference value, the speed of light and the like to obtain the distance between the detection equipment and the detected object, namely the initial distance.
It should be noted that, in practical application, the detection device may calculate the initial distance in multiple ways, for example, the detection device may calculate the initial distance by using a gravity center method according to the emission time corresponding to the outgoing light and the receiving time corresponding to the reflected light, and the method for calculating the initial distance is not limited specifically in this embodiment of the present application.
And 203, comparing the initial distance with a compensation threshold value to obtain a comparison result.
After the initial distance is calculated by the detection device, the initial distance can be compared with a predetermined compensation threshold value, so that in a subsequent step, the detection device can determine whether the initial distance needs to be compensated according to the comparison result.
Specifically, the detection device may subtract the initial distance from the compensation threshold to obtain a difference therebetween. If the difference is greater than or equal to 0, it indicates that the initial distance is greater than or equal to the compensation threshold, and the initial distance is close to the corresponding actual distance, without compensating for the initial distance in step 204.
However, if the difference is smaller than 0, it is determined that the initial distance is smaller than the compensation threshold, and if there is a certain error between the initial distance and the corresponding actual distance, it is necessary to compensate the initial distance in step 204, and the compensated initial distance is taken as the actual distance.
And 204, compensating the initial distance according to the comparison result to obtain the actual distance.
After the detection device obtains the comparison result, whether the initial distance needs to be compensated or not can be determined according to the comparison result. If the initial distance does not need to be compensated, the detection equipment can take the initial distance as an actual distance; if the initial distance needs to be compensated, the detection device can compensate the initial distance according to a large amount of sample data to obtain an actual distance.
Optionally, if the comparison result indicates that the initial distance is greater than or equal to the compensation threshold, the detection device may use the initial distance as the actual distance; if the comparison result indicates that the initial distance is smaller than the compensation threshold, the detection device can compensate the initial distance according to the plurality of sample data and the label data corresponding to each sample data to obtain the actual distance.
Specifically, if the comparison result indicates that the initial distance is smaller than the compensation threshold, a certain difference exists between the initial distance and the actual distance, and the accurate actual distance can be obtained after the initial distance is compensated.
Therefore, after determining that the initial distance needs to be compensated, the detection device may select sample data that is the same as or similar to the initial distance from a large amount of sample data according to the initial distance, and compensate the initial distance according to the label data corresponding to the selected sample data, so as to obtain the actual distance.
Further, the detection device may compare the initial distance with each sample data, determine, from among the plurality of sample data, target sample data closest to the initial distance, use tag data corresponding to the target sample data as a compensation parameter, calculate according to the initial distance and the compensation parameter to obtain a sum value between the initial distance and the compensation parameter, and finally use the sum value between the initial distance and the compensation parameter as an actual distance.
The detection device determines the compensation threshold according to a large amount of sample data, and combines a large amount of sample data and tag data to compensate the initial distance obtained by detection, and the actual distance is obtained by way of example.
In practical application, the detection device may also determine whether the initial distance needs to be compensated according to a predetermined compensation threshold and in combination with a pre-stored compensation relationship, and compensate the initial distance according to a compensation parameter corresponding to the compensation relationship. Of course, the detection device may also compensate the initial distance in other manners, which are not specifically limited in the embodiments of the present application.
In summary, the present application proposes a detection method, according to a large amount of sample data obtained by testing, and in combination with tag data corresponding to the sample data, a compensation threshold value for determining whether compensation is needed is obtained. Then, the initial distance can be detected to obtain the initial distance, the initial distance is compared with the compensation threshold value, and the initial distance is compensated according to the comparison result, so that the detection efficiency is further improved on the basis of ensuring the accuracy.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
Corresponding to the detection method described in the above embodiments, fig. 3 is a block diagram of a detection device provided in the embodiment of the present application, and for convenience of explanation, only a portion related to the embodiment of the present application is shown.
Referring to fig. 3, the apparatus includes:
a first determining module 301, configured to determine a compensation threshold according to a plurality of sample data obtained by the test and tag data corresponding to each of the sample data;
a second determining module 302, configured to determine an initial distance according to an emission time corresponding to the outgoing light and a receiving time corresponding to the reflected light;
a comparison module 303, configured to compare the initial distance with the compensation threshold value to obtain a comparison result;
and the compensation module 304 is configured to compensate the initial distance according to the comparison result, so as to obtain an actual distance.
Optionally, the compensation module 304 is specifically configured to take the initial distance as the actual distance if the comparison result indicates that the initial distance is greater than or equal to the compensation threshold; if the comparison result indicates that the initial distance is smaller than the compensation threshold, compensating the initial distance according to a plurality of sample data and the label data corresponding to each sample data to obtain the actual distance.
Optionally, the compensation module 304 is further specifically configured to compare the initial distance with each sample data, determine, from a plurality of sample data, target sample data closest to the initial distance, and use tag data corresponding to the target sample data as a compensation parameter; calculating according to the initial distance and the compensation parameter to obtain a sum value between the initial distance and the compensation parameter; the sum of the initial distance and the compensation parameter is taken as the actual distance.
Optionally, the first determining module 301 is specifically configured to calculate according to an emission time corresponding to each of the emission light and a receiving time corresponding to each of the received reflection light, so as to obtain a plurality of sample data; calculating a distance difference value between the sample data and label data corresponding to the sample data for each sample data; the compensation threshold is determined based on a plurality of the distance differences.
Optionally, the first determining module 301 is further specifically configured to sort the distance differences corresponding to each sample data according to the order from small to large of each sample data; according to the sorted distance differences, obtaining the difference variation between any two adjacent distance differences; and selecting the compensation threshold value from the sample data according to a plurality of the difference variation amounts and the distance difference value corresponding to each difference variation amount.
Optionally, the first determining module 301 is further specifically configured to compare, for each of the difference variable amounts, the difference variable amount with a distance difference value corresponding to the difference variable amount; if the difference value variation is greater than or equal to the distance difference value corresponding to the difference value variation, taking sample data corresponding to the distance difference value as the compensation threshold value; if the difference variation is smaller than the distance difference corresponding to the difference variation, the comparison is continued according to a plurality of the difference variation until the difference variation is larger than or equal to the distance difference corresponding to the difference variation.
Optionally, the second determining module 302 is specifically configured to take a time of emitting the outgoing light as the emitting time, and take a time of receiving the reflected light as the receiving time; calculating according to the transmitting time and the receiving time to obtain a time difference value between the transmitting time and the receiving time; and calculating according to the time difference value to obtain the initial distance.
In summary, the present application provides a detection device, according to a large amount of sample data obtained by testing, and in combination with tag data corresponding to the sample data, a compensation threshold value for determining whether compensation is needed is obtained. Then, the initial distance can be detected to obtain the initial distance, the initial distance is compared with the compensation threshold value, and the initial distance is compensated according to the comparison result, so that the detection efficiency is further improved on the basis of ensuring the accuracy.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Based on the same inventive concept, the embodiment of the application also provides a detection device. Fig. 4 is a schematic structural diagram of a detection device provided in an embodiment of the present application, as shown in fig. 4, where the detection device provided in the embodiment includes: 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 executed by a processor, implements the method described in the above method embodiment.
The present application also provides a computer program product which, when run on a detection device, causes the detection device to execute the method described in the above method embodiments.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable storage medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/device and method may be implemented in other manners. For example, the apparatus/device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims (10)

1. A method of detection, the method comprising:
determining a compensation threshold according to a plurality of sample data obtained by testing and label data corresponding to each sample data;
determining an initial distance according to the emission time corresponding to the emergent light and the receiving time corresponding to the reflected light;
comparing the initial distance with the compensation threshold value to obtain a comparison result;
and compensating the initial distance according to the comparison result to obtain an actual distance.
2. The method of claim 1, wherein compensating the initial distance based on the comparison results to obtain an actual distance comprises:
if the comparison result indicates that the initial distance is greater than or equal to the compensation threshold value, the initial distance is taken as the actual distance;
and if the comparison result indicates that the initial distance is smaller than the compensation threshold, compensating the initial distance according to a plurality of sample data and the label data corresponding to each sample data to obtain the actual distance.
3. The method according to claim 2, wherein compensating the initial distance according to a plurality of the sample data and the tag data corresponding to each of the sample data to obtain the actual distance includes:
Comparing the initial distance with each sample data, determining target sample data closest to the initial distance from a plurality of sample data, and taking label data corresponding to the target sample data as a compensation parameter;
calculating according to the initial distance and the compensation parameter to obtain a sum value between the initial distance and the compensation parameter;
and taking the sum value between the initial distance and the compensation parameter as the actual distance.
4. The method of claim 1, wherein determining the compensation threshold from the plurality of sample data obtained from the test and the tag data corresponding to each of the sample data comprises:
calculating according to the emission time corresponding to the emission of the plurality of emergent lights and the receiving time corresponding to each reflected light to obtain a plurality of sample data;
calculating a distance difference value between the sample data and label data corresponding to the sample data for each sample data;
and determining the compensation threshold according to a plurality of distance differences.
5. The method of claim 4, wherein said determining said compensation threshold based on a plurality of said distance differences comprises:
Sorting the distance differences corresponding to the sample data according to the sequence from small to large of the sample data;
according to the sorted distance differences, obtaining the difference variation between any two adjacent distance differences;
and selecting the compensation threshold value from the sample data according to the difference variable quantities and the distance difference value corresponding to each difference variable quantity.
6. The method of claim 5, wherein selecting the compensation threshold from the plurality of sample data based on the plurality of difference variations and the distance difference corresponding to each of the difference variations comprises:
comparing the difference variable quantity with a distance difference value corresponding to the difference variable quantity for each difference variable quantity;
if the difference value variation is greater than or equal to a distance difference value corresponding to the difference value variation, taking sample data corresponding to the distance difference value as the compensation threshold value;
and if the difference change amount is smaller than the distance difference value corresponding to the difference change amount, continuing to compare according to a plurality of difference change amounts until the difference change amount is larger than or equal to the distance difference value corresponding to the difference change amount.
7. The method according to any one of claims 1 to 6, wherein determining the initial distance from the emission time corresponding to the outgoing light and the reception time corresponding to the reflected light comprises:
taking the moment of emitting the emergent light as the emitting moment and the moment of receiving the reflected light as the receiving moment;
calculating according to the transmitting time and the receiving time to obtain a time difference value between the transmitting time and the receiving time;
and calculating according to the time difference value to obtain the initial distance.
8. A detection apparatus, characterized by comprising: the device comprises a processor, a driving circuit, a laser, a light emitting module, a receiving module and a photoelectric converter;
the processor is respectively connected with the driving circuit and the photoelectric converter, the laser is connected in series between the driving circuit and the light-emitting module, and the receiving module is connected with the photoelectric converter;
the processor is used for generating a driving sequence signal according to a preset driving algorithm, driving the laser through the driving circuit based on the driving sequence signal, generating emergent light by the laser, emitting the emergent light through the light emitting module, and the photoelectric converter is used for receiving reflected light according to the receiving module;
The processor is further configured to determine a compensation threshold according to a plurality of sample data obtained by the test and tag data corresponding to each sample data, determine an initial distance according to an emission time corresponding to the emergent light and a receiving time corresponding to the reflected light, compare the initial distance with the compensation threshold to obtain a comparison result, and compensate the initial distance according to the comparison result to obtain an actual distance.
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 1-7 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 of claims 1-7.
CN202311437915.4A 2023-10-31 2023-10-31 Detection method, apparatus, and computer-readable storage medium Pending CN117471434A (en)

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