CN117907984A

CN117907984A - Detection method, detection device, and computer-readable storage medium

Info

Publication number: CN117907984A
Application number: CN202410026082.0A
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: 2024-01-08
Filing date: 2024-01-08
Publication date: 2024-04-19

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 method comprises the following steps: outputting a plurality of digital driving signals according to a pre-stored driving algorithm; generating emergent light according to the plurality of digital driving signals; generating a plurality of digital echo signals according to the received reflected light, wherein the plurality of digital echo signals are used for forming echo sequence signals, and the reflected light is formed by emergent light; for each digital echo signal, mixing the digital echo signal with a digital local oscillator signal to obtain an initial mixed signal; the detection parameters are determined from a plurality of initial mixing signals. According to the technical scheme provided by the application, the received digital echo signals and the digital local oscillation signals are mixed in real time, and the digital echo signals do not need to be stored, so that the storage space for storing data can be reduced, redundant data are prevented from being stored, and the utilization rate of the storage space can be improved.

Description

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

Technical Field

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

Background

With the continuous development of radar technology, taking the example that a laser radar adopts frequency modulation continuous wave (frequency modulated continuous wave, FMCW) to perform ranging, the laser radar can generate emergent light through a laser according to a driving signal. The outgoing light emitted by the laser radar can irradiate the detected object, and the detected object can reflect the outgoing light, so that reflected light is formed.

Correspondingly, the laser radar can receive the reflected light and generate a reflected signal according to the reflected light, so that the laser radar can mix the reflected signal with a pre-stored local oscillator signal to obtain a mixed signal. Then, the laser radar can determine the frequency difference between the reflected signal and the local oscillation signal according to the mixed signal, and then calculate according to the frequency difference to determine the distance between the detected object and the laser radar.

However, in the detection process, the laser radar needs to store the driving signal, the local oscillation signal and the reflected signal, and in practical application, the above multiple signals need to occupy a large amount of storage space, which causes the problem of data redundancy.

Disclosure of Invention

The application provides a detection method, detection equipment and a computer readable storage medium, which solve the problem that a plurality of signals in the prior art occupy a large amount of storage space to cause data redundancy.

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

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

Outputting a plurality of digital driving signals according to a pre-stored driving algorithm, wherein the digital driving signals are used for forming driving sequence signals;

Generating emergent light according to a plurality of the digital driving signals;

Generating a plurality of digital echo signals according to received reflected light, wherein the plurality of digital echo signals are used for forming echo sequence signals, and the reflected light is formed by the emergent light;

Mixing the digital echo signals with digital local oscillation signals aiming at each digital echo signal to obtain initial mixed signals;

And determining detection parameters according to a plurality of initial mixing signals.

Optionally, the mixing the digital echo signal with the digital local oscillation signal to obtain an initial mixed signal includes:

Determining a digital local oscillator signal corresponding to the digital echo signal according to the starting time of outputting the driving sequence signal and the time of generating the digital echo signal;

Multiplying the digital echo signal with the corresponding digital local oscillation signal to obtain the initial mixing signal.

Optionally, the method further comprises:

Generating a plurality of digital local oscillator signals according to the driving algorithm while outputting a plurality of digital driving signals, wherein the digital local oscillator signals are used for forming local oscillator sequence signals;

the step of mixing the digital echo signal with a digital local oscillator signal to obtain an initial mixed signal comprises the following steps:

Acquiring a digital local oscillation signal corresponding to the digital echo signal while generating the digital echo signal;

And multiplying the digital echo signal with the digital local oscillation signal to obtain the initial mixing signal.

Optionally, the determining a detection parameter according to a plurality of the initial mixing signals includes:

counting the initial mixing signal;

When the initial mixing signals with the preset number are obtained through accumulation, a plurality of initial mixing signals are overlapped to obtain a comprehensive mixing signal;

And carrying out operation according to the plurality of comprehensive mixing signals to obtain the detection parameters.

Optionally, the generating outgoing light according to the plurality of digital driving signals includes:

And when any digital driving signal output by the driving algorithm is detected, generating emergent light according to the digital driving signal.

Optionally, the generating a plurality of digital driving signals according to the predictive stored driving algorithm includes:

Acquiring the driving algorithm from a storage space according to a preset storage path;

and running the driving algorithm to obtain a plurality of digital driving signals output by the driving algorithm.

And calculating a plurality of initial mixing signals by adopting a fast Fourier transform mode to obtain the detection parameters.

In a second aspect, an embodiment of the present application provides a detection apparatus, the apparatus including:

the driving output module is used for outputting a plurality of digital driving signals according to a pre-stored driving algorithm, and the digital driving signals are used for forming a driving sequence signal;

the light output module is used for generating emergent light according to a plurality of digital driving signals;

The echo conversion module is used for generating a plurality of digital echo signals according to received reflected light, wherein the digital echo signals are used for forming echo sequence signals, and the reflected light is formed by the emergent light;

the frequency mixing module is used for mixing the digital echo signals with the digital local oscillation signals aiming at each digital echo signal to obtain initial frequency mixing signals;

And the determining module is used for determining detection parameters according to a plurality of initial mixing signals.

Optionally, the mixing module is specifically configured to determine a digital local oscillation signal corresponding to the digital echo signal according to a starting time of outputting the driving sequence signal and a time of generating the digital echo signal; multiplying the digital echo signal with the corresponding digital local oscillation signal to obtain the initial mixing signal.

Optionally, the apparatus further includes:

The local oscillation output module is used for generating a plurality of digital local oscillation signals according to the driving algorithm while outputting a plurality of digital driving signals, and the digital local oscillation signals are used for forming local oscillation sequence signals;

The frequency mixing module is specifically configured to obtain a digital local oscillation signal corresponding to the digital echo signal while generating the digital echo signal; and multiplying the digital echo signal with the digital local oscillation signal to obtain the initial mixing signal.

Optionally, the determining module is specifically configured to count the initial mixing signal; when the initial mixing signals with the preset number are obtained through accumulation, a plurality of initial mixing signals are overlapped to obtain a comprehensive mixing signal; and carrying out operation according to the plurality of comprehensive mixing signals to obtain the detection parameters.

Optionally, the light output module is specifically configured to generate the outgoing light according to the digital driving signal when any one of the digital driving signals output by the driving algorithm is detected.

Optionally, the driving output module is specifically configured to obtain the driving algorithm from a storage space according to a preset storage path; and running the driving algorithm to obtain a plurality of digital driving signals output by the driving algorithm.

Optionally, the determining module is specifically configured to calculate the plurality of initial mixing signals by using a fast fourier transform manner, so as to obtain the detection parameter.

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 outputting a plurality of digital driving signals according to a prestored driving algorithm, the digital driving signals are used for forming a driving sequence signal, the laser is driven by the driving circuit according to the digital driving signals, emergent light is generated by the laser and emitted by the light emitting module, and the photoelectric converter is used for reflecting light received by the receiving module;

The processor is further configured to generate a plurality of digital echo signals according to the received reflected light, where the plurality of digital echo signals are used to form an echo sequence signal, and the reflected light is formed by the outgoing light; and aiming at each digital echo signal, mixing the digital echo signal with a digital local oscillator signal to obtain an initial mixed signal, and determining detection parameters according to a plurality of the initial mixed signals.

In a fourth aspect, an embodiment of the present application provides 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, an embodiment of the present application provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the method according to 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 emergent light is generated and emitted through the plurality of digital driving signals, and the digital echo signals are generated according to the received reflected light, so that each received digital echo signal can be mixed with the preset digital local oscillation signals to obtain the initial mixed signals, and the detection parameters can be determined according to the plurality of initial mixed signals. By mixing the received digital echo signals with the digital local oscillation signals in real time, the digital echo signals do not need to be stored, so that the storage space for storing data can be reduced, redundant data are prevented from being stored, and the utilization rate of the storage space can be improved.

Drawings

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

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

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

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

fig. 3 is a schematic structural diagram of a detection device according to an embodiment of the present application;

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

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

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known methods of generating outgoing light, methods of receiving reflected light, methods of mixing calculations, and electronic devices are omitted so as not to obscure the description of the present application with unnecessary detail.

The terminology used in the following examples is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," "the," and "the" are intended to include, for example, "one or more" such forms of expression, unless the context clearly indicates to the contrary.

With the continuous development of radar technology, taking the case that the laser radar adopts FMCW to perform ranging, the laser radar can generate emergent light through a laser according to a driving signal. The outgoing light emitted by the laser radar can irradiate the detected object, and the detected object can reflect the outgoing light, so that reflected light is formed.

Therefore, the embodiment of the application provides a detection method, which generates and emits emergent light through a plurality of digital driving signals, and generates digital echo signals according to received reflected light, so that each received digital echo signal can be mixed with a preset digital local oscillator signal to obtain an initial mixed signal, and detection parameters can be determined according to the plurality of initial mixed signals. By mixing the received digital echo signals with the digital local oscillation signals in real time, the digital echo signals do not need to be stored, so that the storage space for storing data can be reduced, redundant data are prevented from being stored, and the utilization rate of the storage space can be improved.

Referring to fig. 1A, fig. 1A is a schematic system diagram of a detection system provided by an embodiment of the present application, and as shown in fig. 1A, the detection system may include: a detection device 110 and a detected object 120.

Wherein the detecting device 110 and the detected object 120 are respectively distributed at different positions. Moreover, the detection device 110 may be stationary or may be moving; similarly, the object 120 to be detected may be stationary or moving. For example, the detection device 110 may be a stationary range finder or a lidar mounted on a vehicle; the detected object 120 may be a stationary tree or a guardrail, or may be a moving vehicle or a pedestrian, and the detected device 110 and the detected object 120 are not particularly limited in the embodiment of the present application.

In the process of detecting the detected object 120 by the detecting device 110, the detecting device 110 may acquire a pre-stored driving algorithm in a pre-set storage space, and operate the driving algorithm to obtain a plurality of digital driving signals and a plurality of digital local oscillation signals.

The digital driving signals are used for forming driving sequence signals, and the digital local oscillation signals are used for forming local oscillation sequence signals. Moreover, the local oscillator sequence signal is similar to the drive sequence signal, but the duty cycle of the drive sequence signal is less than the duty cycle of the local oscillator sequence signal. For example, the amplitude of the local oscillation sequence signal and the drive sequence signal are both 1, and the period is 100 nanoseconds (ns), but the duty cycle of the local oscillation sequence signal is 50%, and the duty cycle of the drive sequence signal is 30%.

Of course, the detecting device 110 may also acquire the local oscillation sequence signal and the driving sequence signal in other manners, and the manner of acquiring the local oscillation sequence signal and the driving sequence signal by the detecting device 110 is not limited in particular in the embodiment of the present application.

Accordingly, in generating the plurality of digital driving signals, the detecting device 110 may continuously output the plurality of digital signals corresponding to the driving sequence signal according to the driving algorithm, and the detecting device 110 may generate the outgoing light corresponding to each digital signal when acquiring the digital signal, so as to detect a range corresponding to a field of view (FOV) by the outgoing light generated by the plurality of digital signals.

Further, in the process of detecting by the outgoing light, the outgoing light can detect the region corresponding to the FOV. When the outgoing light irradiates the detected object 120, reflected light is formed by reflection of the detected object 120. The partially reflected light may propagate in a direction opposite to the propagation direction of the outgoing light, i.e. the partially reflected light may propagate in a direction opposite to the propagation direction of the outgoing light. Accordingly, the detection device 110 may receive the counter-propagating reflected light, and implement detection of the region corresponding to the FOV according to the received reflected light.

In the process of mixing the echo sequence signals generated according to the reflected light, the detecting device 110 may generate a plurality of digital echo signals according to the reflected light, and each digital echo signal is generated, the digital echo signals are mixed with a corresponding digital local oscillation signal to obtain an initial mixing signal, so that a frequency difference between the echo sequence signals and the local oscillation sequence signals may be determined according to the plurality of initial mixing signals, and thus a distance between the detecting device 110 and the detected object 120 and a movement speed of the detected object 120 may be determined according to the frequency difference.

Referring to fig. 1B, fig. 1B is a schematic system diagram of another detection system provided in an embodiment of the present application, as shown in fig. 1B, in practical application, the detection system may further include: the carrier 130 is moved.

The mobile carrier 130 may be a vehicle, an unmanned aerial vehicle, a robot, or other devices capable of traveling, and the embodiment of the present application does not specifically limit the mobile carrier 130.

Moreover, the detection device 110 may be provided on the moving carrier 130. While the moving carrier 130 is in motion, the detection device 110 may detect the environment around the moving carrier 130, thereby determining the distance between the detected object 120 and the moving carrier 130, as well as the speed of motion of the detected object 120.

Further, the moving carrier 130 may determine a trend of a distance between the detected object 120 and the moving carrier 130, that is, whether the detected object 120 is moving away from the moving carrier 130 or moving close to the moving carrier 130, according to the determined movement speed of the detected object 120 in combination with the traveling speed of the moving carrier 130.

For example, the detection device 110 may be provided on a vehicle to detect pedestrians and other vehicles around the vehicle; or the detection device 110 can be arranged on the unmanned aerial vehicle, and the detection device can scan and detect the current area in the flight process of the unmanned aerial vehicle; alternatively, the detection device 110 may be provided on the robot, and a travel route may be constructed for the robot by data collected by the detection device 110.

In addition, in practical application, the detection device 110 may be not only disposed on the mobile carrier 130, but also fixed at a certain position, so that the detection device 110 may be applied to different scenes respectively.

For example, the detection device 110 may be disposed above the conveyor belt to detect material transported on the conveyor belt; the detection device 110 may also be provided at a toll booth, count vehicles passing therethrough, and detect the size of each vehicle to determine whether the vehicle can drive into a highway.

Of course, the detection device 110 may also be applied to other scenarios, and the application scenario of the detection device 110 is not specifically limited in the embodiment of the present application.

Further, referring to fig. 1C, fig. 1C is a schematic structural diagram of a detection device according to an embodiment of the present application, as shown in fig. 1C, the detection device 110 may include: a processor 1101, a driving circuit 1102, a laser 1103, a light emitting module 1104, a receiving module 1105 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 the process of emitting outgoing light from the detection device 110, the processor 1101 may acquire a pre-stored driving algorithm in the storage space according to a pre-set storage path, and output a plurality of digital driving signals and a plurality of digital local oscillation signals in real time through the driving algorithm.

Accordingly, the processor 1101 may sequentially transmit the plurality of digital driving signals to the driving circuit 1102 according to the plurality of digital driving signals output in real time, and the driving circuit 1102 may amplify each digital driving signal and transmit the amplified digital driving signal to the laser 1103.

For each digital drive signal, the laser 1103 may receive the amplified digital drive signal sent by the drive circuit 1102 and control the laser 1103 to emit light or to extinguish according to the amplified digital drive signal. When the laser 1103 emits light, the light emitting module 1104 can adjust the light emitted by the laser 1103, so as to form emergent light; when the laser 1103 is extinguished, no more outgoing light is generated.

Accordingly, the outgoing light may irradiate the detected object 120 to form reflected light. The reflected light may propagate along a path opposite to the outgoing light towards the detection device 110. The 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 absorb the reflected light, so that a circuit in which the photoelectric converter 1106 is located is turned on, and a level signal may be output to the processor 1101. Thus, the photoelectric converter 1106 may continuously receive reflected light and continuously output a plurality of digital echo signals to the processor 1101.

The processor 1101 may mix a digital echo signal with a corresponding digital local oscillator signal each time the digital echo signal is received, resulting in an initial mixed signal. The processor 1101 may then calculate a frequency difference between the echo sequence signal and the local oscillator sequence signal based on the plurality of initial mixing signals. The processor 1101 may calculate a distance between the detection device 110 and the detected object 120 based on the frequency difference.

In practical applications, the processor 1101 may be a central processing unit (central processing unit, CPU), a field programmable gate array (field programmable GATE ARRAY, FPGA), a micro control unit (micro control unit, MCU) or a digital signal processor (DIGITAL SIGNAL processing, DSP), and the embodiment of the application does not limit the processor 1101 specifically.

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-cavitysurface-EMITTINGLASER (VCSEL) or an edge-emitting semiconductor laser (EEL), and the embodiment of the application is not limited to the laser 1103.

In addition, the outgoing light emitted by the laser 1103 may be a laser having a certain wavelength, for example, the outgoing light may be a laser having a wavelength of 905 nanometers (nm), 950nm or 1550nm, and the wavelength of the outgoing light is not specifically limited in the embodiments of the present application.

In addition, the photoelectric converter 1106 may be an optocoupler, a photodiode, or other devices with photoelectric conversion function, for example, if the photoelectric converter 1106 is a photodiode, the photoelectric converter 1106 may be a single photon avalanche diode (single photon avalanche diode, SPAD), which is not particularly limited in the embodiment of the present application.

It should be noted that, in practical application, the detection device 110 may be used to detect alone, or may be disposed on the moving carrier 130, and detect during the running process of the moving carrier 130. For convenience of explanation, the distance between the detecting device 110 and the detected object 120 is determined by detecting the detected object 120 by the detecting device 110 when the detecting device 110 and the detected object 120 are both in a stationary state. Taking the detection device 110 as a range finder as an example, the detection mode in the detection scene is described.

The following description is made with respect to the detection method in the detection scenario.

Fig. 2 is a schematic flowchart of a detection method according to an embodiment of the present application, which may be applied to the detection device in the detection scenario described above, and the detection device is used as a range finder, and is described with reference to fig. 2, by way of example and not limitation, and the method includes:

Step 201, outputting a plurality of digital driving signals according to a pre-stored driving algorithm.

Wherein the plurality of digital drive signals are used to compose a drive sequence signal.

In the ranging process of the detection device, the detection device needs to emit emergent light to the detected object and receive reflected light formed by the emergent light, so that detection parameters such as the distance between the detection device and the detected object can be determined according to the reflected light.

In the process of emitting emergent light, the detection equipment can acquire a pre-stored driving algorithm, so that in the subsequent steps, the detection equipment can acquire a driving sequence signal and a local oscillation sequence signal by running the driving algorithm, so that the emergent light can be generated by the driving sequence signal, and the mixing calculation is performed based on the local oscillation sequence signal, thereby completing the distance measurement.

Thus, the detection device may acquire the driving algorithm before generating the outgoing light.

Alternatively, the detection device may acquire the driving algorithm in the storage space according to a preset storage path, and then may operate the driving algorithm to obtain a plurality of digital driving signals output by the driving algorithm, so that in a subsequent step, the detection device may generate the emergent light according to each of the output digital driving signals.

In particular, the detection device may detect a triggered start operation. The detection device may start to operate when a start-up operation for the detection device trigger is detected. Then, the detection device may acquire a preset driving algorithm in the corresponding storage space according to the preset storage path. Then, the detection device can acquire parameters corresponding to the driving algorithm, and operate the driving algorithm according to the acquired parameters to obtain a plurality of digital driving signals.

The storage space of the detection device may be a memory built in the detection device, a memory included in a processor of the detection device, or a memory connected with the detection device.

For example, if the processor of the detection device is an FPGA, the detection device may acquire a preset driving algorithm by reading a COE file in a storage space of the FPGA according to a preset storage path.

Accordingly, the driving algorithm may be a function formula y=cos (2pi×f ₀*t+π*k*t²+θ₀), where y is used to output a chirp signal, f ₀ is a starting frequency of the chirp signal, T is time, k is a frequency modulation slope and k=b/T, B is a chirp bandwidth, T is a chirp period, Δt is a system time stepping interval and has t=n×Δt, N is a positive integer, and θ ₀ is an initial phase of the chirp signal.

Step 202, generating emergent light according to a plurality of digital driving signals.

Since the detection device needs to generate the emergent light through the laser, the current voltage required by the laser when generating the emergent light is higher, and the current voltage of the driving sequence signal is smaller, the laser cannot generate the emergent light through the driving sequence signal.

Therefore, the detection device can input each digital driving signal into the driving circuit, and amplify the current and/or voltage of each digital driving signal through the driving circuit, so that the amplified digital driving signals drive the laser, and the laser generates emergent light.

Moreover, in order to reduce the memory space of the detection device, the detection device may generate the corresponding outgoing light every time one digital driving signal is output, i.e. according to the digital driving signal, i.e. when detecting that any digital driving signal is output by the driving algorithm, the detection device may generate the outgoing light according to the digital driving signal.

Specifically, after a certain digital driving signal is obtained by the driving algorithm, the detecting device may input the digital driving signal to the driving circuit through the processor, so that the current and/or voltage of the digital driving signal may be amplified by the driving circuit according to the rated current and/or rated voltage corresponding to the laser, to obtain the current and/or voltage matched with the laser.

Correspondingly, the driving circuit can output the amplified digital driving signal to the laser, and the laser can generate laser pulses corresponding to the digital driving signal according to the amplified digital driving signal, so that emergent light corresponding to the driving sequence signal can be formed according to a plurality of continuously generated digital driving signals.

In practical application, the detection device can output the digital driving signal according to the driving algorithm and also output the digital local oscillation signal, so as to avoid storing the local oscillation sequence signal, and further save the storage space of the detection device.

Thus, after completing step 202, the detection device may perform step 203. Of course, the detecting device may skip step 203 and execute step 204 under the condition of storing the local oscillation sequence signal in advance, and the embodiment of the present application does not specifically limit whether the detecting device stores the local oscillation sequence signal.

Step 203, generating a plurality of digital local oscillation signals according to a driving algorithm while outputting a plurality of digital driving signals.

The digital local oscillator signals are used for forming local oscillator sequence signals.

Corresponding to step 201, the detection device may generate a digital local oscillator signal corresponding to the digital driving signal through a driving algorithm while generating the digital driving signal, so that in a subsequent step, the detection device may mix frequencies according to the respective digital local oscillator signals.

Specifically, the detection device may acquire a parameter corresponding to the local oscillation sequence signal, and operate a driving algorithm according to the parameter, so as to generate a plurality of digital local oscillation signals while obtaining a plurality of digital driving signals.

The detection device can respectively generate a pair of digital driving signals and digital local oscillation signals at the same time, and the generated digital driving signals and digital local oscillation signals correspond to each other.

It should be noted that, in practical application, the detecting device may also generate the digital local oscillation signal in other manners, and the embodiment of the present application does not specifically limit the manner of generating the digital local oscillation signal. For example, the detection device may adjust parameters of the digital driving signal according to the generated digital driving signal to obtain a digital local oscillation signal.

Step 204, generating a plurality of digital echo signals according to the received reflected light.

Wherein a plurality of digital echo signals are used to compose an echo sequence signal. The reflected light is formed by reflecting the outgoing light by the detected object.

The reflected light may propagate along various paths, and part of the reflected light may propagate along a path opposite to the outgoing light, so that the detection device may receive the reflected light, and thus may generate a plurality of digital echo signals from the reflected light, resulting in an echo sequence signal, so that in a subsequent step the detection device may determine the distance between the detection device and the detected object from the echo sequence signal.

Specifically, the detection device may receive the reflected light through the receiving module and focus the reflected light, so that the reflected light may be focused on the photoelectric converter. Accordingly, if the reflected light irradiates the photoelectric converter, the photodiode in the photoelectric converter may be turned on by the irradiation of the reflected light, so that a circuit branch where the photodiode is located forms a path, and a high level signal is output. If the photoelectric converter is not irradiated by the reflected light, the photodiode in the optical terminal converter is in an off state, and a circuit branch where the photodiode is located cannot form a path, so that a low-level signal is output.

Taking the example that the photoelectric converter receives a group of reflected light, the photoelectric converter can continuously receive the reflected light and output high-level signals or low-level signals one by one according to a plurality of reflected light pulses included in the reflected light, so that the high-level signals or the low-level signals which are sequentially output can be used as digital echo signals, and further echo sequence signals can be formed according to a plurality of digital echo signals.

For example, if a set of outgoing light is generated based on a drive sequence signal consisting of 6 digital drive signals of "1, 0", then the reflected light also corresponds to the set of drive sequence signals. Therefore, the probe device may sequentially output 6 digital echo signals of "1, 0, and 0" based on the reflected light after receiving the reflected light formed by the emitted light.

It should be noted that, in practical application, the detection device may continuously emit multiple groups of outgoing light to detect the detected object, where each group of outgoing light may be reflected by the detected object to form multiple corresponding groups of reflected light, and the photoelectric converter may also receive multiple groups of reflected light to form echo sequence signals corresponding to each group of reflected light respectively.

For example, the detection device may emit 10 sets of exit light within 100 milliseconds (ms), i.e. 1 set of exit light within 10 ms. And each set of outgoing light may comprise 10 ten thousand laser pulses, each set of outgoing light having an emission period of 100ns, in each of which the detection device may emit laser pulses lasting 10 ns.

Step 205, for each digital echo signal, the digital echo signal and the digital local oscillation signal are mixed to obtain an initial mixed signal.

Corresponding to step 204, for each digital echo signal, the detection device may send the digital echo signal to the processor of the detection device after obtaining the digital echo signal through the photoelectric converter. Correspondingly, the processor can mix frequencies according to the digital echo signals and the digital local oscillation signals to obtain initial mixed signals.

It should be noted that, in practical application, the detecting device may acquire the digital local oscillation signal in different manners, and correspondingly, the detecting device may also acquire the initial mixing signal based on the digital echo signal and the digital local oscillation signal in different manners.

Mode one

The detection device may determine a digital local oscillator signal corresponding to the digital echo signal according to the start time of the output driving sequence signal and the time of generating the digital echo signal, and multiply the digital echo signal with the corresponding digital local oscillator signal to obtain an initial mixing signal.

In particular, the detection device may mark each digital drive signal with a corresponding time stamp during the generation of the drive sequence signal for indicating the moment of time at which the digital drive signal was generated. Correspondingly, the detecting device may acquire a time stamp corresponding to the first digital driving signal in the driving sequence signal, and take a time indicated by the time stamp as a start time of the driving sequence signal.

Then, when receiving the reflected light, the detection device may acquire, for a certain digital echo signal, an echo time at which the digital echo signal is generated, and calculate a time difference between the echo time and the start time.

Correspondingly, the detection device can determine the sequence identifier corresponding to the echo time according to the time difference and the duration of each digital driving signal, and search the digital local oscillation signal corresponding to the digital echo signal in the pre-stored local oscillation sequence signals according to the sequence identifier. Then, the detection device may multiply the generated digital echo signal with a corresponding digital local oscillation signal to obtain an initial mixing signal.

Mode two

Corresponding to step 203, the detection device may obtain a digital local oscillation signal corresponding to the digital echo signal while generating the digital echo signal, and multiply the digital echo signal with the digital local oscillation signal to obtain an initial mixing signal.

Specifically, the detecting device may continuously generate the digital local oscillation signal during the process of generating the digital driving signal, and when the detecting device receives the reflected light to generate the digital echo signal, the detecting device still generates the digital driving signal and the digital local oscillation signal.

Correspondingly, the detection device can select the digital local oscillation signals generated at the same or similar time as the digital echo signals according to the time when the digital echo signals are generated, and the digital local oscillation signals are used as the digital local oscillation signals corresponding to the digital echo signals.

The detection device may then multiply the digital echo signal with the digital local oscillator signal to obtain an initial mixing signal therebetween, so that in a subsequent step the detection device may calculate the detection parameter from the plurality of initial mixing signals.

Step 206, determining the detection parameters according to the plurality of initial mixing signals.

After obtaining a plurality of initial mixing signals, the terminal device can process the plurality of initial mixing signals, identify and obtain the frequency difference between the echo sequence signal and the local oscillation sequence signal, so as to calculate and obtain detection parameters, such as the distance between the detection device and the detected object, the movement speed of the detected object and the like, according to the frequency difference.

Because the detection equipment can obtain a large number of initial mixing signals, in order to reduce the calculation amount of the detection equipment, the detection equipment can preprocess a plurality of initial mixing signals to obtain comprehensive mixing signals, so that the detection parameters can be obtained by calculating fewer comprehensive mixing signals.

Correspondingly, by preprocessing the initial mixing signal, the storage space occupied by the initial mixing signal can be further reduced, so that the utilization rate of the detection equipment to the storage space can be improved again, and the storage space occupied by various data is reduced.

Optionally, the detecting device may count the continuously generated initial mixing signals, and when a preset number of initial mixing signals are obtained by accumulation, the plurality of initial mixing signals may be superimposed to obtain a comprehensive mixing signal, and then operate according to the plurality of comprehensive mixing signals to obtain the detection parameter.

Specifically, the detection device may count the generated initial mixing signal, and compare a count parameter corresponding to the initial mixing signal with a preset superimposition threshold. If the technical parameter is the same as the superposition threshold, the detection device can superpose a plurality of initial mixing signals generated currently to obtain a comprehensive mixing signal. At the same time, the detection device may zero out the count of the initial mixing signal and restart the count.

And then, the detection equipment can analyze the comprehensive mixed signal through the processor, determine the frequency difference between the emergent light and the reflected light according to the comprehensive mixed signal, and determine the time difference between the emergent light and the reflected light according to the frequency difference, so that the distance of the emergent light and the distance of the reflected light can be determined according to the time difference, and the distance between the detection equipment and the detected object can be further obtained.

For example, if 50 ten thousand digital echo signals can be generated by the reflected light corresponding to the detecting device, the detecting device also needs to generate 50 ten thousand digital local oscillation signals, so that 50 ten thousand initial mixed signals are obtained by mixing. If the preset superposition threshold is 1250, when the detection device generates 1250 initial mixing signals, the 1250 initial mixing signals can be superposed to generate 1 comprehensive mixing signal, so as to obtain 400 comprehensive mixing signals.

Correspondingly, the detecting device needs to store 1251 data at most, which is far smaller than the storage space occupied by 50 ten thousand digital echo signals, 50 ten thousand digital local oscillation signals and 50 ten thousand initial mixing signals, and the occupancy rate of the storage space is reduced to 0.083% of the original storage space.

Further, after the comprehensive mixed signals are obtained, the detection equipment can continue to process the comprehensive mixed signals, so that the storage space occupied by each comprehensive mixed signal is reduced again, and the utilization rate of the storage space is improved.

For example, the detection device may select, according to a period of the driving sequence signal, a plurality of integrated mixed signals included in a period duration as a set of integrated mixed signals, and sequence each integrated mixed signal in the set of integrated mixed signals to determine a sequence number corresponding to each integrated mixed signal.

And then, the detection equipment can superimpose the comprehensive mixed signals with the same serial numbers in each group of comprehensive mixed signals to obtain superimposed values of a plurality of comprehensive mixed signals, so that detection parameters such as the distance between the detection equipment and the detected object can be obtained by calculating the superimposed values of the plurality of comprehensive mixed signals.

It should be noted that, in practical application, the detection device may calculate the detection parameters in various manners, for example, the detection device may calculate the plurality of initial mixing signals in a manner of fast fourier transform to obtain the detection parameters, and the manner adopted by the detection device is not specifically limited in the embodiment of the present application.

In summary, according to the detection method provided by the embodiment of the application, the outgoing light is generated and emitted through the plurality of digital driving signals, and the digital echo signals are generated according to the received reflected light, so that each received digital echo signal can be mixed with the preset digital local oscillation signals to obtain the initial mixed signals, and the detection parameters can be determined according to the plurality of initial mixed signals. By mixing the received digital echo signals with the digital local oscillation signals in real time, the digital echo signals do not need to be stored, so that the storage space for storing data can be reduced, redundant data are prevented from being stored, and the utilization rate of the storage space can be improved.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

Corresponding to the detection method described in the above embodiments, fig. 3 is a schematic structural diagram of a detection device provided in the embodiment of the present application, and for convenience of explanation, only the portion relevant to the embodiment of the present application is shown.

Referring to fig. 3, the apparatus includes:

A driving output module 301, configured to output a plurality of digital driving signals according to a pre-stored driving algorithm, where the plurality of digital driving signals are used to form a driving sequence signal;

A light output module 302 for generating emergent light according to a plurality of the digital driving signals;

an echo conversion module 303, configured to generate a plurality of digital echo signals according to received reflected light, where the plurality of digital echo signals are used to form an echo sequence signal, and the reflected light is formed by the outgoing light;

The mixing module 304 is configured to mix, for each of the digital echo signals, the digital echo signal with a digital local oscillator signal to obtain an initial mixed signal;

a determining module 305 is configured to determine a detection parameter according to a plurality of the initial mixing signals.

Optionally, the mixing module 304 is specifically configured to determine a digital local oscillation signal corresponding to the digital echo signal according to a starting time of outputting the driving sequence signal and a time of generating the digital echo signal; multiplying the digital echo signal with the corresponding digital local oscillation signal to obtain the initial mixing signal.

Optionally, referring to fig. 4, the apparatus further includes:

The local oscillation output module 306 is configured to generate a plurality of digital local oscillation signals according to the driving algorithm while outputting a plurality of digital driving signals, where the plurality of digital local oscillation signals are used to form a local oscillation sequence signal;

The mixing module 304 is specifically configured to obtain a digital local oscillation signal corresponding to the digital echo signal while generating the digital echo signal; multiplying the digital echo signal with the digital local oscillator signal to obtain the initial mixing signal.

Optionally, the determining module 305 is specifically configured to count the initial mixing signal; when the initial mixing signals with the preset number are obtained through accumulation, a plurality of initial mixing signals are overlapped to obtain a comprehensive mixing signal; and carrying out operation according to the plurality of comprehensive mixing signals to obtain the detection parameters.

Optionally, the light output module 302 is specifically configured to generate the outgoing light according to the digital driving signal when any of the digital driving signals outputted by the driving algorithm is detected.

Optionally, the driving output module 301 is specifically configured to obtain the driving algorithm in the storage space according to a preset storage path; and running the driving algorithm to obtain a plurality of digital driving signals output by the driving algorithm.

Optionally, the determining module 305 is specifically configured to calculate the plurality of initial mixing signals by using a fast fourier transform manner, so as to obtain the detection parameter.

In summary, according to the detection device provided by the embodiment of the application, the outgoing light is generated and emitted through the plurality of digital driving signals, and the digital echo signals are generated according to the received reflected light, so that each received digital echo signal can be mixed with the preset digital local oscillation signals to obtain the initial mixed signals, and the detection parameters can be determined according to the plurality of initial mixed signals. By mixing the received digital echo signals with the digital local oscillation signals in real time, the digital echo signals do not need to be stored, so that the storage space for storing data can be reduced, redundant data are prevented from being stored, and the utilization rate of the storage space can be improved.

The detection device provided in this embodiment may perform the above method embodiment, and its implementation principle is similar to that of the technical effect, and will not be described herein.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

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

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

The embodiment of the application also provides a computer program product which, when run on a detection device, causes the detection device to execute the method described in the embodiment of the method.

The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable storage medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer memory, read-only memory (ROM), random access memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/device and method may be implemented in other manners. For example, the apparatus/device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in the present description and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

Furthermore, the terms "first," "second," "third," and the like in the description of the present specification and in the appended claims, are used for distinguishing between descriptions and not necessarily for indicating or implying a relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims

1. A method of detection, the method comprising:

2. The method of claim 1, wherein mixing the digital echo signal with a digital local oscillator signal results in an initial mixed signal, comprising:

3. The method according to claim 1, wherein the method further comprises:

4. The method of claim 1, wherein said determining a detection parameter from a plurality of said initial mixing signals comprises:

counting the initial mixing signal;

5. The method of claim 1, wherein said generating outgoing light from a plurality of said digital drive signals comprises:

6. The method of any one of claims 1 to 5, wherein generating a plurality of digital drive signals according to a predictive stored drive algorithm comprises:

7. The method of any of claims 1 to 5, wherein determining the probing parameters from a plurality of the initial mixing signals comprises:

8. A detection apparatus, characterized by comprising: the device comprises a processor, a driving circuit, a laser, a light emitting module, a receiving module 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 to 7 when the computer program is invoked.

10. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the method according to any one of claims 1 to 7.