CN118191860A - Multi-period measurement method based on pulse, electronic equipment and storage medium - Google Patents
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Abstract
The invention provides a multi-period measuring method based on pulses, electronic equipment and a storage medium, and relates to the field of distance measurement, wherein the method comprises the following steps: acquiring a preset period list and a maximum measurement range list, traversing the preset period list, measuring the distance of a detected object by using pulses corresponding to the preset period, acquiring a detection distance list, and taking the average value of the detection distances as the final measured distance if all detection distances except for a null value in the detection distance list meet a first preset condition; otherwise, a non-null value distance list is obtained, and all non-null value distance lists in the non-null value distance list meet a second preset condition, so that a distance list to be corrected and a maximum measurement range list corresponding to the distance list to be corrected are obtained, a corrected distance list is obtained, and a final distance is obtained based on the corrected distance list, thereby solving the problem of error of the period of receiver measurement and enabling the detection of the final distance to be more accurate.
Description
Technical Field
The present invention relates to the field of distance measurement, and in particular, to a pulse-based multi-period measurement method, an electronic device, and a storage medium.
Background
In the prior art, dtofs, which are all called DIRECT TIME-of-Flight (direct time of Flight), are ranging techniques widely used in various fields, which calculate the distance between a target object and a sensor by measuring the time required for a light pulse to be transmitted to be received. The specific process is as follows: the transmitter emits an ultra-short laser pulse which propagates at the speed of light towards the target object and is reflected back when it encounters the object, and the receiver detects and records the time required for the pulse to travel from transmission to reception, thus accurately calculating the distance of the object under test.
The transmitter is provided with waiting time in the laser transmitting process, waiting time for a receiver to receive the laser reflected by the measured object, and transmitting a pulse after waiting time, however, for the measured object with stronger reflecting capability (such as a reflective strip, wherein the reflective strip contains glass beads with high refractive index or other types of microprism structures), when the measured object and a detection device corresponding to the DToF are too far away, after the laser emits a laser, the receiver receives the laser reflected by the first pulse of the measured object when the laser emits a second pulse, so that the measured distance of the measured object is wrong.
Disclosure of Invention
Aiming at the technical problems, the invention adopts the following technical scheme: a pulse-based multi-period measurement method for ranging a measured object using pulses of different preset periods, the method comprising the steps of:
S100, a preset period list A= { A 1,A2,…,Ai,…,Am } and a maximum measurement range list B= { B 1,B2,…,Bi,…,Bm } corresponding to A are obtained, an ith preset period A i is a time interval between two adjacent pulse signal transmissions when DToF is used for ranging, B i is a maximum measurement range when the pulse corresponding to A i is used for ranging, the value range of i is 1 to m, and m is the number of preset periods, wherein A 1＜A2＜…＜Ai＜……＜Am;
S200, traversing A, performing DToF ranging on the detected object by using a pulse corresponding to A i, and obtaining a detection distance C i, thereby obtaining a detection distance list C= { C 1,C2,…,Ci,…,Cm }, wherein if the detected object is not detected, the detection distance is marked as a null value;
S300, if all the detection distances except the null value in the detection distance list C meet a first preset condition, taking an average value of the detection distances as a measured final distance C 0; otherwise, executing S400; the first preset condition is that the variance of the detection distance is smaller than a preset variance threshold;
s400, traversing C, if C k exists to enable all non-null value distances in a non-null value distance list AC= { C k,Ck+1,…,Cz,…,Cm } to meet a second preset condition, acquiring a to-be-corrected distance list E= { E 1,E2,…,Ej,…,En } and a maximum measurement range F= { F 1,F2,…,Fj,…,Fn},E1、E2、…、Ej、…、En corresponding to E, wherein F j is the maximum measurement range corresponding to E j by acquiring a detection distance which is not null value in C 1 to C k-1, the value range of j is 1 to n, n is the number of detection distances which are not null value in C 1 to C k-1, wherein F j epsilon B, the value range of n is 1 to k-1, the value range of k is 1 to m, C z is the z non-null value distance, and the second preset condition is that the variance of the non-null value distance is smaller than a preset variance threshold;
S500, obtaining a corrected distance D j=Ej+Kj×Fj, so as to obtain a corrected distance list D= { D 1,D2,…,Dj,…,Dn }, wherein K j=round（（（Ck+Ck+1+……+Cm）/（m-k+1）-Ej）/Fj), and round () is a rounding function;
S600, obtaining the measured final distance C 0=[（Ck+Ck+1+……+Cm）+∑n j=1Dj ]/(m-k+1+n).
According to another aspect of the present invention, there is provided a non-transitory computer readable storage medium having stored therein at least one instruction or at least one program loaded and executed by a processor to implement the foregoing method.
According to yet another aspect of the present invention, there is provided an electronic device comprising a processor and the aforementioned non-transitory computer-readable storage medium.
The invention has at least the following beneficial effects: in summary, acquiring a preset period list and a maximum measurement range list corresponding to the preset period list, traversing the preset period list, measuring the distance of a detected object by using pulses corresponding to the preset period, acquiring a detection distance list, and taking the average value of the detection distances as the final measured distance if all detection distances except for a null value in the detection distance list meet a first preset condition; otherwise, a non-null value distance list is obtained, and all non-null value distance lists in the non-null value distance list meet a second preset condition, so that a distance list to be corrected and a maximum measurement range list corresponding to the distance list to be corrected are obtained, a corrected distance list is obtained, and a final distance is obtained based on the corrected distance list, thereby solving the problem of error of the period of receiver measurement and enabling the detection of the final distance to be more accurate.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a multi-period measurement method based on pulses according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The embodiment of the invention provides a multi-period measuring method based on pulses, which uses pulses with different preset periods to measure the distance of a measured object, as shown in fig. 1, and comprises the following steps:
S100, a preset period list A= { A 1,A2,…,Ai,…,Am } and a maximum measurement range list B= { B 1,B2,…,Bi,…,Bm } corresponding to A are obtained, an ith preset period A i is a time interval between two adjacent pulse signal transmissions when DToF is used for ranging, B i is a maximum measurement range when the pulse corresponding to A i is used for ranging, the value range of i is 1 to m, and m is the number of preset periods, wherein A 1＜A2＜…＜Ai＜……＜Am.
Optionally, m is more than or equal to 2 and less than or equal to 5; preferably, m=3.
Specifically, the maximum measurement range B i=（vc×Ai)/2, where vc is the speed of light.
S200, traversing A, performing DToF ranging on the detected object by using a pulse corresponding to A i, and obtaining a detection distance C i, thereby obtaining a detection distance list C= { C 1,C2,…,Ci,…,Cm }, wherein if the detected object is not detected, the detection distance is marked as a null value.
Specifically, those skilled in the art know that a method for performing dtofs ranging on a measured object by using a pulse with a preset period belongs to the prior art, and will not be described herein.
It can be understood that if the measured object is not an object with strong reflection capability such as a reflective strip, after exceeding the maximum measurement range, the measuring device corresponding to dtif can not detect the measured object, and the detection distance is marked as a null value at this time; if the object to be detected is an object with strong reflecting capability such as a reflecting strip, and the distance between the object to be detected and the detecting device is too far, the object to be detected cannot be detected, and the detecting distance is marked as a null value at the moment.
S300, if all the detection distances except the null value in the detection distance list C meet a first preset condition, taking an average value of the detection distances as a measured final distance C 0; otherwise, executing S400; the first preset condition is that the variance of the detection distance is smaller than a preset variance threshold.
Specifically, when the measured object is not an object with strong reflecting capability such as a reflective strip, the measuring device corresponding to the DToF can detect the distance of the measured object in the maximum measuring range, and after the distance exceeds the maximum measuring range, the measuring device corresponding to the DToF cannot detect the measured object, and the condition that the measured object with strong reflecting capability is detected in error cannot occur, so that the average value of the detecting distances is used as the final measuring distance, and the measured object with strong non-reflecting capability can be accurately detected.
Specifically, if all the detection distances except the null value in the detection distance list C meet the first preset condition, it may be understood that the detection distances of the non-null values in the detection distance list are obtained, and if the variance of the detection distances of all the non-null values is smaller than the preset variance threshold, the average value of the detection distances of all the non-null values is taken as the final distance C 0.
S400, traversing C, if C k exists to enable all non-null value distances in a non-null value distance list AC= { C k,Ck+1,…,Cz,…,Cm } to meet a second preset condition, acquiring a to-be-corrected distance list E= { E 1,E2,…,Ej,…,En } and a maximum measurement range F= { F 1,F2,…,Fj,…,Fn},E1、E2、…、Ej、…、En corresponding to E, wherein F j is the maximum measurement range corresponding to E j and is obtained by acquiring a detection distance which is not null value in C 1 to C k-1, the value range of j is 1 to n, n is the number of detection distances which are not null value in C 1 to C k-1, wherein F j epsilon B, the value range of n is 1 to k-1, the value range of k is 1 to m, C z is the z non-null value distance, and the variance of z is smaller than a preset variance threshold.
Wherein any non-null distance C z in the non-null distance list AC is not null.
Specifically, traversing C, if C k exists so that C k to C m are not null values, and the variance of C k to C m is smaller than a preset variance threshold, and considering that C k to C m are not the conditions of cycle errors of the reflective strips with strong reflectivity, and are the detection distances measured normally; in C, if C 1 to C k-1 are not null, the measured distance may be detected due to the error of the period detection, and thus, the to-be-corrected distance list E is obtained.
Specifically, a maximum measurement range F corresponding to E is obtained based on a distance list E to be corrected, a detection distance list C and a maximum measurement range list B corresponding to a preset period list A and a.
S500, the corrected distance D j=Ej+Kj×Fj is acquired, so that a corrected distance list d= { D 1,D2,…,Dj,…,Dn }, where K j=round（（（Ck+Ck+1+……+Cm）/（m-k+1）-Ej）/Fj), round () is a rounding function.
Specifically, the corrected distance is obtained by calculating the distance to be corrected, which is understood to be that the distance to be corrected is a distance which is less than a multiple of the corresponding preset period, so that the distance to be corrected is added with the multiple of the corresponding maximum measurement range to be corrected to be used as the corrected distance.
In one exemplary illustration of the present invention, the maximum measurement range list b= { B 1,B2,B3},B1 =10 meters, B 2 =17 meters, B 3 =47 meters, when the measured distance of the measured object with strong reflection capability is 16 meters, the detection distance list c= { C 1,C2,C3},C1 =6 meters, C 2 =16 meters, C 3 =16 meters is acquired, by judging, the to-be-corrected distance list ac= { E 1},E1=C1 =6 meters is acquired, and the corrected distance D 1 =6+1×10=16 meters is acquired by correcting E 1, wherein K 1 =round ((((16+16)/2) -6)/10) =1).
S600, obtaining the measured final distance C 0=[（Ck+Ck+1+……+Cm）+∑n j=1Dj ]/(m-k+1+n).
Specifically, an average value of the measured distance and the corrected distance, which do not have the periodic problem, is obtained as the final distance of measurement.
In summary, acquiring a preset period list and a maximum measurement range list corresponding to the preset period list, traversing the preset period list, measuring the distance of a detected object by using pulses corresponding to the preset period, acquiring a detection distance list, and taking the average value of the detection distances as the final measured distance if all detection distances except for a null value in the detection distance list meet a first preset condition; otherwise, a non-null value distance list is obtained, and all non-null value distance lists in the non-null value distance list meet a second preset condition, so that a distance list to be corrected and a maximum measurement range list corresponding to the distance list to be corrected are obtained, a corrected distance list is obtained, and a final distance is obtained based on the corrected distance list, thereby solving the problem of error of the period of receiver measurement and enabling the detection of the final distance to be more accurate.
Specifically, in S400, if all non-null distances in the non-null distance list ac= { C k,Ck+1,…,Cz,…,Cm } satisfy the second preset condition, and the difference between C z and the mean EC exceeds the first preset difference threshold, C z is deleted from AC, and the final distance is obtained based on the non-null distance list after C z is deleted, where the mean ec= (Σ m z=kCz)/(m-k+1).
Specifically, if the difference between C z and the mean value EC in the non-null distance list exceeds the first preset difference threshold, it is considered that the difference between C z and other non-null distances is too large, so that C z is deleted in the non-null distance list AC, and the final distance is obtained based on the deleted non-null distance list, so that the obtained final distance is more accurate.
Specifically, the first preset difference threshold may be determined according to actual requirements.
Further, S400 further includes: traversing C, and if C k does not exist, enabling all non-null value distances in the non-null value distance list AC= { C k,…,Cz,…,Cm } to meet a second preset condition, sending out an alarm.
Specifically, if C k does not exist so that any non-null distance in the non-null distance list AC is not null and meets the preset condition, it may be understood that the final distance of the measured object exceeds the maximum measurement range in B, and an alarm is sent to prompt the staff that the maximum measurement distance is exceeded.
Still further, after S500, the method further includes:
S510, a difference H j=|Dj -ed| is obtained, thereby obtaining a difference list h= { H 1,H2,…,Hj,…,Hn }, where ed= (Σ n j=1Dj)/n.
Specifically, a difference between the corrected distance and the average value of the corrected distance is obtained.
S520, if the difference H j is greater than the second preset difference threshold, deleting D j corresponding to H j from the corrected distance list D, and updating the corrected distance list D.
Specifically, the second preset difference threshold may be determined according to actual requirements. Optionally, the first preset difference threshold = second preset difference threshold.
S530, acquiring a final distance based on the updated corrected distance list D.
In summary, the difference list H is obtained, if any difference is greater than the second preset difference threshold, the corrected distance corresponding to the difference is deleted in D, so as to update the corrected distance, and the final distance is obtained based on the updated corrected distance list, if a difference is too large, measurement inaccuracy caused by measurement problem may occur, so that the corrected distance corresponding to the difference is deleted in D, and the final distance is obtained more accurately.
Embodiments of the present invention also provide a non-transitory computer readable storage medium that may be disposed in an electronic device to store at least one instruction or at least one program for implementing one of the methods embodiments, the at least one instruction or the at least one program being loaded and executed by the processor to implement the methods provided by the embodiments described above.
Embodiments of the present invention also provide an electronic device comprising a processor and the aforementioned non-transitory computer-readable storage medium.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. Those skilled in the art will also appreciate that many modifications may be made to the embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (10)
1. A pulse-based multi-period measurement method for measuring a distance of an object to be measured using pulses of different preset periods, the method comprising the steps of:
S100, a preset period list A= { A 1,A2,…,Ai,…,Am } and a maximum measurement range list B= { B 1,B2,…,Bi,…,Bm } corresponding to A are obtained, an ith preset period A i is a time interval between two adjacent pulse signal transmissions when DToF is used for ranging, B i is a maximum measurement range when the pulse corresponding to A i is used for ranging, the value range of i is 1 to m, and m is the number of preset periods, wherein A 1＜A2＜…＜Ai＜……＜Am;
S200, traversing A, performing DToF ranging on the detected object by using a pulse corresponding to A i, and obtaining a detection distance C i, thereby obtaining a detection distance list C= { C 1,C2,…,Ci,…,Cm }, wherein if the detected object is not detected, the detection distance is marked as a null value;
S300, if all the detection distances except the null value in the detection distance list C meet a first preset condition, taking an average value of the detection distances as a measured final distance C 0; otherwise, executing S400; the first preset condition is that the variance of the detection distance is smaller than a preset variance threshold;
s400, traversing C, if C k exists to enable all non-null value distances in a non-null value distance list AC= { C k,Ck+1,…,Cz,…,Cm } to meet a second preset condition, acquiring a to-be-corrected distance list E= { E 1,E2,…,Ej,…,En } and a maximum measurement range F= { F 1,F2,…,Fj,…,Fn},E1、E2、…、Ej、…、En corresponding to E, wherein F j is the maximum measurement range corresponding to E j by acquiring a detection distance which is not null value in C 1 to C k-1, the value range of j is 1 to n, n is the number of detection distances which are not null value in C 1 to C k-1, wherein F j epsilon B, the value range of n is 1 to k-1, the value range of k is 1 to m, C z is the z non-null value distance, and the second preset condition is that the variance of the non-null value distance is smaller than a preset variance threshold;
S500, obtaining a corrected distance D j=Ej+Kj×Fj, so as to obtain a corrected distance list D= { D 1,D2,…,Dj,…,Dn }, wherein K j=round（（（Ck+Ck+1+……+Cm）/（m-k+1）-Ej）/Fj), and round () is a rounding function;
S600, obtaining the measured final distance C 0=[（Ck+Ck+1+……+Cm）+∑n j=1Dj ]/(m-k+1+n).
2. The pulse-based multi-period measurement method according to claim 1, wherein in S400, if all non-null distances in the non-null distance list ac= { C k,Ck+1,…,Cz,…,Cm } satisfy the second preset condition, and the difference between C z and the mean EC exceeds the first preset difference threshold, C z is deleted from AC, and the final distance is obtained based on the non-null distance list after deleting C z, wherein the mean ec= (Σ m z=kCz)/(m-k+1).
3. The pulse-based multi-period measurement method of claim 1, wherein S400 further comprises: traversing C, and if C k does not exist, enabling all non-null value distances in the non-null value distance list AC= { C k,…,Cz,…,Cm } to meet a second preset condition, sending out an alarm.
4. The pulse-based multi-period measurement method of claim 1, further comprising, after S500:
S510, obtaining a difference H j=|Dj -ed| to obtain a difference list h= { H 1,H2,…,Hj,…,Hn }, where ed= (Σ n j= 1Dj)/n;
S520, if the difference H j is larger than a second preset difference threshold, deleting D j corresponding to H j from the corrected distance list D, and updating the corrected distance list D;
S530, acquiring a final distance based on the updated corrected distance list D.
5. The pulse-based multicycle measurement method of claim 1, wherein 2.ltoreq.m.ltoreq.5.
6. The pulse-based multicycle measurement method of claim 5, wherein m = 3.
7. The pulse-based multicycle measurement method of claim 1 wherein the maximum measurement range B i=（vc×Ai)/2, wherein vc is the speed of light.
8. The pulse-based multi-period measurement method of claim 4, wherein the first preset difference threshold = second preset difference threshold.
9. A non-transitory computer readable storage medium having stored therein at least one instruction or at least one program, wherein the at least one instruction or the at least one program is loaded and executed by a processor to implement the pulse-based multi-cycle measurement method of any one of claims 1-8.
10. An electronic device comprising a processor and the non-transitory computer readable storage medium of claim 9.
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