CN117471436A

CN117471436A - Detection method, device, equipment and computer readable storage medium

Info

Publication number: CN117471436A
Application number: CN202311442453.5A
Authority: CN
Inventors: 雷述宇
Original assignee: Ningbo Abax Sensing Electronic Technology Co Ltd
Current assignee: Ningbo Abax Sensing Electronic Technology Co Ltd
Priority date: 2023-10-31
Filing date: 2023-10-31
Publication date: 2024-01-30

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 detection method comprises the following steps: calculating according to the emission time corresponding to the emergent light and the receiving time corresponding to the reflected light to obtain an initial distance; determining compensation parameters corresponding to the initial distance through a preset compensation relation; and correcting the initial distance according to the compensation parameter to obtain an actual distance. According to the technical scheme, the initial distance obtained through testing is obtained through calculation according to the emergent light and the reflected light, the compensation parameter corresponding to the initial distance is determined by combining the preset compensation relation, the initial distance is corrected through the determined compensation parameter, the actual distance is obtained, the initial distance is compensated through the compensation relation, the more accurate actual distance is obtained, and therefore errors in detection can be reduced, and the accuracy of detection is improved.

Description

Detection method, device, equipment and computer readable storage medium

Technical Field

The present disclosure relates to the field of lidar technologies, and in particular, to a detection method, apparatus, device, and computer readable storage medium.

Background

With the continuous development of laser radar technology, laser radar can generate and emit emergent light, and then determine the related information of the detected object according to the 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, which solves 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:

calculating according to the emission time corresponding to the emergent light and the receiving time corresponding to the reflected light to obtain an initial distance;

determining compensation parameters corresponding to the initial distance through a preset compensation relation;

and correcting the initial distance according to the compensation parameter to obtain an actual distance.

Optionally, the determining, by a preset compensation relationship, a compensation parameter corresponding to the initial distance includes:

searching a sample distance corresponding to the initial distance in the compensation relation according to the parameter corresponding to the initial distance;

and taking the error parameter corresponding to the sample distance in the compensation relation as the compensation parameter.

acquiring at least one preset parameter corresponding to the compensation relation;

and according to at least one preset parameter, combining the parameters corresponding to the initial distance, and calculating through the compensation relation to obtain the compensation parameter.

Optionally, the calculating according to the emission time corresponding to the emergent light and the receiving time corresponding to the reflected light to obtain the initial distance 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.

Optionally, the correcting the initial distance according to the compensation parameter to obtain an actual distance includes:

summing the compensation parameter and the initial distance to obtain a sum value between the compensation parameter and the initial distance;

and taking the sum value between the compensation parameter and the initial distance as the actual distance.

and calculating according to the emission time corresponding to the emergent light and the receiving time corresponding to the reflected light by a gravity center method to obtain the initial distance.

In a second aspect, embodiments of the present application provide a detection apparatus, the apparatus including:

the calculation module is used for calculating according to the emission time corresponding to the emergent light and the receiving time corresponding to the reflected light to obtain an initial distance;

the matching module is used for determining compensation parameters corresponding to the initial distance through a preset compensation relation;

and the correction module is used for correcting the initial distance according to the compensation parameter to obtain an actual distance.

Optionally, the matching module is specifically configured to search, according to a parameter corresponding to the initial distance, a sample distance corresponding to the initial distance in the compensation relationship; and taking the error parameter corresponding to the sample distance in the compensation relation as the compensation parameter.

Optionally, the matching module is further specifically configured to obtain at least one preset parameter corresponding to the compensation relationship; and according to at least one preset parameter, combining the parameters corresponding to the initial distance, and calculating through the compensation relation to obtain the compensation parameter.

Optionally, the calculating 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.

Optionally, the correction module is specifically configured to sum the compensation parameter and the initial distance to obtain a sum value between the compensation parameter and the initial distance; and taking the sum value between the compensation parameter and the initial distance as the actual distance.

Optionally, the calculating module is further specifically configured to calculate, by using a gravity center method, the initial distance according to the emission time corresponding to the outgoing light and the receiving time corresponding to the reflected light.

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 calculate according to an emission time corresponding to the outgoing light and a receiving time corresponding to the reflected light, obtain an initial distance, determine a compensation parameter corresponding to the initial distance according to a preset compensation relationship, and correct the initial distance according to the compensation parameter, so as 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 of 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 provided by the embodiment of the application, the initial distance obtained through testing is obtained through calculation according to the emergent light and the reflected light, the compensation parameter corresponding to the initial distance is determined by combining with the preset compensation relation, the initial distance is corrected through the determined compensation parameter to obtain the actual distance, and the initial distance is compensated through the compensation relation to obtain the more accurate actual distance, so that the error in detection can be reduced, and the detection accuracy is improved.

Drawings

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

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

fig. 1C is a schematic structural diagram of a detection device according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of a detection method according to an embodiment of the present application;

fig. 3 is a 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.

Therefore, the detection method is provided, the initial distance obtained by testing is obtained by calculating according to the emergent light and the reflected light, the compensation parameter corresponding to the initial distance is determined by combining with the preset compensation relation, the initial distance is corrected through the determined compensation parameter to obtain the actual distance, and the initial distance is compensated through the compensation relation to obtain the more accurate actual distance, so that the error in detection can be reduced, and the detection accuracy is improved.

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.

Since the calculated distance has an error, the detection device 110 may compensate the detected distance through a preset compensation relationship, thereby obtaining a compensated distance, so as to improve the accuracy and reliability of the detection performed by the detection 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.

And then compensating the distance according to the calculated distance by a preset compensation relation to obtain a compensated distance, so that the compensated distance can be used as the actual distance between the detection equipment 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 determine a compensation parameter corresponding to the tested distance according to a preset compensation relationship, and correct the tested distance according to the compensation parameter, so that the corrected distance may be used as the distance between the detection 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, calculating according to the emission time corresponding to the emergent light and the receiving time corresponding to the reflected light, and obtaining the initial distance.

In the detection process, the detection device can emit emergent light to the detected object and receive reflected light formed after the detected object is reflected, and then the detection device can calculate according to the emission time corresponding to the emergent light and the receiving time corresponding to the reflected light to obtain the initial distance.

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.

Step 202, determining compensation parameters corresponding to the initial distance through a preset compensation relation.

The compensation relation is used for representing the mapping relation between the initial distance and the error parameter.

After the initial distance is calculated by the detection device, the detection device can search in a preset compensation relation according to the initial distance to obtain a compensation parameter corresponding to the initial distance, so that in a subsequent step, the detection device can compensate the initial distance through the compensation parameter.

In practical application, the detection device may store different forms of compensation relationships, and correspondingly, the detection device may also determine the compensation parameters in different manners based on the different forms of compensation relationships.

Thus, step 202 may include any of the following:

a mode one,

If the compensation relationship includes a large number of mapping relationships between the initial distances and the error parameters, the detection device may search for a sample distance corresponding to the initial distances in the compensation relationship according to the parameters corresponding to the initial distances, and then use the error parameters corresponding to the sample distances in the compensation relationship as the compensation parameters.

Specifically, the detection device may first obtain a parameter corresponding to the initial distance, and search the plurality of sample distances included in the compensation relationship according to the parameter, to determine a sample distance consistent with the parameter. The detection device may then acquire an error parameter corresponding to the sample distance in the compensation relationship, such that the error parameter may be used as a compensation parameter, so that in a subsequent step the detection device may compensate the initial distance according to the compensation parameter.

A second mode,

If the compensation relationship is a preset calculation formula, the detection device may acquire at least one preset parameter corresponding to the compensation relationship, and calculate the compensation relationship according to the at least one preset parameter and the parameter corresponding to the initial distance to obtain the compensation parameter.

Specifically, the detection device may first obtain each preset parameter included in the calculation formula corresponding to the compensation relationship, and may obtain the parameter corresponding to the initial distance at the same time, so that each preset parameter and the parameter corresponding to the initial distance may be substituted into the calculation formula to perform calculation, to obtain an operation result, and then the operation result may be used as the compensation parameter.

It should be noted that, the foregoing two ways of determining the compensation parameter are shown respectively, and in practical application, the detection device may also determine the compensation parameter by using another way through a preset compensation relationship, and the specific way of determining the compensation parameter by the detection device in the embodiment of the present application is not specifically limited.

And 203, correcting the initial distance according to the compensation parameter to obtain the actual distance.

After the initial distance and the compensation parameter are obtained, the detection equipment can compensate the initial distance through the compensation parameter to obtain an actual distance with smaller error and more accurate data, so that the detection accuracy of the detection equipment can be improved.

Alternatively, the detection device may sum the compensation parameter and the initial distance to obtain a sum value between the compensation parameter and the initial distance, and then may use the sum value between the compensation parameter and the initial distance as the actual distance.

For example, if the initial distance calculated by the processor of the detection device is 4.88m and the determined compensation parameter is 0.01m, the detection device may add the initial distance and the compensation parameter to obtain a sum value of 4.88+0.01=4.89 m, so that 4.89m may be taken as the actual distance.

It should be noted that, the foregoing compensation is performed by the detection device for one initial distance, and in practical application, the detection device may compensate for a large number of calculated initial distances, so as to obtain an actual distance corresponding to each initial distance.

In addition, in the compensation process, the detection device may compensate each initial distance in sequence according to the processes from step 201 to step 203, so as to obtain an actual distance corresponding to each initial distance. Or, the detection device may also identify each initial distance according to the identification data, and combine the compensation parameters corresponding to each initial distance according to the identification data corresponding to each initial distance, and compensate a large number of initial distances at the same time, so as to obtain a large number of actual distances at the same time.

In summary, the present application proposes a detection method, which calculates according to the outgoing light and the reflected light to obtain an initial distance obtained by testing, and then determines a compensation parameter corresponding to the initial distance by combining with a preset compensation relation, corrects the initial distance by the determined compensation parameter to obtain an actual distance, and compensates the initial distance by the compensation relation to obtain a more accurate actual distance, thereby reducing an error occurring in detection and improving the detection 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.

Based on the same inventive concept, as an implementation of the above method, the embodiment of the present application provides a detection device, where the embodiment of the device corresponds to the embodiment of the foregoing method, and for convenience of reading, the embodiment of the present application does not describe details of the embodiment of the foregoing method one by one, but it should be clear that the device in the embodiment can correspondingly implement all the details of the embodiment of the foregoing method.

Fig. 3 is a schematic structural diagram of a detection device provided in an embodiment of the present application, and as shown in fig. 3, the device provided in this embodiment includes:

the calculating module 301 is configured to calculate according to a transmitting time corresponding to the outgoing light and a receiving time corresponding to the reflected light, so as to obtain an initial distance;

the matching module 302 is configured to determine, according to a preset compensation relationship, a compensation parameter corresponding to the initial distance;

and the correction module 303 is configured to correct the initial distance according to the compensation parameter to obtain an actual distance.

Optionally, the matching module 302 is specifically configured to search, according to a parameter corresponding to the initial distance, a sample distance corresponding to the initial distance in the compensation relationship; and taking the error parameter corresponding to the sample distance in the compensation relation as the compensation parameter.

Optionally, the matching module 302 is further specifically configured to obtain at least one preset parameter corresponding to the compensation relationship; and according to at least one preset parameter, combining the parameters corresponding to the initial distance, and calculating through the compensation relation to obtain the compensation parameter.

Optionally, the calculating module 301 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.

Optionally, the correction module 303 is specifically configured to sum the compensation parameter and the initial distance to obtain a sum value between the compensation parameter and the initial distance; the sum of the compensation parameter and the initial distance is taken as the actual distance.

Optionally, the calculating module 301 is further specifically configured to calculate, by means of a gravity center method, the initial distance according to the emission time corresponding to the outgoing light and the receiving time corresponding to the reflected light.

In summary, the present application proposes a detection device, which calculates according to an outgoing light and a reflected light to obtain an initial distance obtained by a test, and then determines a compensation parameter corresponding to the initial distance by combining a preset compensation relation, corrects the initial distance by the determined compensation parameter to obtain an actual distance, and compensates the initial distance by the compensation relation to obtain a more accurate actual distance, thereby reducing an error occurring in detection and improving the detection 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

1. A method of detection, the method comprising:

2. The method according to claim 1, wherein determining the compensation parameter corresponding to the initial distance by a preset compensation relation comprises:

3. The method according to claim 1, wherein determining the compensation parameter corresponding to the initial distance by a preset compensation relation comprises:

4. The method according to claim 1, wherein the calculating according to the emission time corresponding to the outgoing light and the receiving time corresponding to the reflected light to obtain the initial distance includes:

5. The method of claim 1, wherein said correcting said initial distance based on said compensation parameter to obtain an actual distance comprises:

6. The method according to any one of claims 1 to 5, wherein the calculating according to the emission time corresponding to the outgoing light and the receiving time corresponding to the reflected light to obtain the initial distance includes:

7. A detection device, the device comprising:

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

9. A detection apparatus, characterized by comprising: a memory and a processor, the memory for storing a computer program; the processor is configured to perform the method of any of claims 1-6 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 1-6.