TOF test tooling and TOF test method

Abstract

The present invention discloses a TOF testing tool and a TOF testing method. The TOF testing tool comprises: a TOF placement device for placing a product to be tested, equipped with a TOF sensor; a reflective chart mounting and adjustment device, disposed at a first preset position of the TOF placement device in a first direction; and an adjustable light source, disposed at a second preset position of the TOF placement device in a second direction. The adjustable light source is configured to emit ambient light of a corresponding color temperature and brightness according to a test instruction to simulate a corresponding lighting test environment. The present invention improves the testing accuracy of the TOF sensor.

Description

Technical Field

[0001] The present invention relates to the technical field of TOF sensors, and in particular to a TOF testing tool and a TOF testing method. Background Art

[0002] The TOF (Time of flight) module is a two-way ranging module. Its working principle is to continuously emit light pulse signals (usually infrared light pulse signals) to the target and receive the light pulse signals reflected by the target. It measures the distance to the target by detecting the round-trip flight time of the light pulse signal and outputs the target distance data.

[0003] At present, direct ranging is mostly used to detect the quality of TOF sensors, which cannot achieve all-round detection in various lighting environments, resulting in low test accuracy of TOF sensors. Summary of the Invention

[0004] The main purpose of the present invention is to provide a TOF test tool and a TOF test method, aiming to improve the test accuracy of the TOF sensor.

[0005] To achieve the above objectives, the present invention provides a TOF test fixture, which includes:

[0006] TOF placement device for placing the product to be tested with the TOF sensor installed;

[0007] a reflective chart mounting and adjusting device, arranged at a first preset position of the TOF placement device in a first direction;

[0008] The adjustable light source is arranged at a second preset position of the TOF placement device in the second direction. The adjustable light source is used to emit ambient light of corresponding color temperature and brightness according to the test instruction to simulate the corresponding lighting test environment.

[0009] Optionally, the reflective chart installation and adjustment device includes:

[0010] Reflection chart, a target pattern having at least one reflectivity;

[0011] A fixing portion, used for fixing the reflection chart;

[0012] A displacement mechanism is drivingly connected to the fixing portion, and the displacement mechanism can drive the fixing portion to move relative to the TOF placement device in the first direction.

[0013] Optionally, the displacement mechanism includes:

[0014] a guide rail, used for fixing the fixing portion;

[0015] A screw module is connected to the guide rail drive;

[0016] The rocker is rotatably connected to the screw rod. When the rocker moves, it controls the screw rod module to drive the guide rail to move relative to the TOF placement device in the first direction.

[0017] Optionally, the reflective chart installation and adjustment device further includes:

[0018] A screw movement distance display device is provided on the rocker and is used to detect and display the distance at one end of the displacement mechanism;

[0019] And / or, a level, provided on the fixing portion, for detecting and displaying the tilt angle of the reflection chart.

[0020] Optionally, the TOF placement device includes:

[0021] A product placement base for placing the product to be tested;

[0022] The operation control system is drivingly connected to the product placement base, and the operation control system is used to drive the product placement base to move in a plane perpendicular to the reflective image card in the reflective image card installation and adjustment device.

[0023] Optionally, the TOF test tool further includes:

[0024] A crosstalk calibration module is used to read the calibration values ​​of the TOF sensor and the reflection card in the reflection card installation and adjustment device, as well as the detection values ​​of the TOF sensor and the reflection card in the reflection card installation and adjustment device, and calibrate the TOF sensor according to the calibration values ​​and the detection values.

[0025] Optionally, the TOF test tool further includes:

[0026] A test terminal is used to receive and determine whether the detection value of the TOF sensor and the reflection card in the reflection card installation and adjustment device meets a preset distance range and present a judgment result.

[0027] The present invention also provides a TOF testing method, which uses the TOF testing fixture described above, the TOF placement device, the reflective chart installation and adjustment device, and the adjustable light source; the testing method includes:

[0028] Receive and determine whether the detection value detected by the TOF sensor in the product to be tested and the detection value of the reflection card in the reflection card installation and adjustment device meet the preset distance range and present the judgment result.

[0029] Optionally, the testing method further includes:

[0030] Adjusting the color temperature and brightness of the ambient light in the adjustable light source, and obtaining the detection value of the TOF sensor and the reflection card in the reflection card installation and adjustment device under the current lighting environment;

[0031] and / or, adjusting the reflectivity of the reflection chart in the reflection chart installation and adjustment device, and obtaining a detection value of the reflection chart in the reflection chart installation and adjustment device detected by the TOF sensor under the current reflectivity;

[0032] and / or, controlling the reflective card installation adjustment device to adjust the distance between the reflective card installation adjustment device and the TOF sensor, and obtaining a detection value of the TOF sensor and the reflective card in the reflective card installation adjustment device at the current distance;

[0033] And / or, control the TOF placement device to adjust the angle between it and the reflection card in the reflection card installation and adjustment device, and obtain the detection value of the TOF sensor and the reflection card in the reflection card installation and adjustment device at the current angle.

[0034] Optionally, the testing method further includes:

[0035] Read the calibration values ​​of the TOF sensor and the reflection card in the reflection card installation and adjustment device, as well as the detection values ​​of the TOF sensor and the reflection card in the reflection card installation and adjustment device, and calibrate the TOF sensor according to the calibration values ​​and the detection values.

[0036] The TOF test fixture of the present invention comprises a TOF placement device for placing a product to be tested, a reflective chart mounting and adjustment device positioned at a first preset position of the TOF placement device in a first direction, and an adjustable light source positioned at a second preset position of the TOF placement device in a second direction. The fixture can emit ambient light of a corresponding color temperature and brightness according to test instructions to simulate a corresponding lighting test environment. This invention provides a fixture for testing products that can simulate actual usage scenarios, thereby improving TOF sensor testing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0038] Figure 1This is a schematic structural diagram of an embodiment of a TOF test fixture of the present invention;

[0039] Figure 2 for Figure 1 A schematic structural diagram of an embodiment of a device for mounting and adjusting a middle reflective chart;

[0040] Figure 3 for Figure 1 A structural diagram of an embodiment of a product placement base.

[0041] Description of Figure Numbers:

[0042] Label name Label name 10 TOF placement device 231 guide 11 Product placement base 232 Screw module 20 Reflection chart installation and adjustment device 233 Joystick 21 Reflection chart 234 Screw travel distance display 22 Fixed part 235 spirit level 23 displacement mechanism 30 Adjustable light source

[0043] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0045] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0046] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0047] The term "and / or" in this document simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone. Additionally, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0048] The present invention provides a TOF testing tool.

[0049] With the development of drone technology, its application scenarios are becoming more and more diverse. Due to the complexity and diversity of application scenarios, the requirements for drone technology are becoming higher and higher. A new ranging and obstacle avoidance technology, TOF technology, has emerged. The TOF (Time of Light) ranging method is a two-way ranging technology. It mainly uses the flight time of the signal between two asynchronous transceivers to measure the distance between nodes. TOF can be used in drones. Specifically, it can realize real-time detection of the distance to obstacles, thereby realizing the ability to avoid obstacles. It is understandable that when TOF is applied to products, TOF needs to be tested. At present, TOF test solutions mostly use direct ranging to detect the quality of TOF sensors, which cannot achieve all-round detection in various lighting environments. In addition, the reflectivity of the detected objects is single, and it cannot realize ranging detection of multiple target objects.

[0050] In order to solve the above problems, that is, to better verify that the TOF sensor can perform the function of "eyes" well in actual use, the present invention proposes a TOF test tool that can simulate actual use scenarios. Figures 1 to 3 In one embodiment of the present invention, the TOF test tool includes:

[0051] TOF placement device 10, for placing the product to be tested with TOF installed;

[0052] A reflective chart mounting and adjusting device 20 is disposed at a first preset position of the TOF placement device 10 in a first direction;

[0053] An adjustable light source 30 is disposed at a second preset position in the second direction of the TOF placement device 10. The adjustable light source 30 is configured to emit ambient light of a corresponding color temperature and brightness according to the test instructions to simulate the corresponding lighting test environment. The first and second directions can be set based on the actual application of the product. For example, the first direction can be horizontal and the second direction can be vertical, or the first direction can be vertical and the second direction can be horizontal. The reflective chart mounting and adjustment device 20 can be separated from the TOF placement device 10 by a preset distance in the horizontal direction. This first preset position can be adjusted based on test requirements, that is, the distance between the reflective chart mounting and adjustment device 20 and the TOF placement device 10 can be adjusted, thereby adjusting the distance between the reflective chart mounting and adjustment device 20 and the TOF sensor. The adjustable light source 30 can be disposed above the TOF placement device 10. When the adjustable light source 30 is in the second preset position in the second direction of the TOF placement device 10, the adjustable light source 30 and the TOF placement device 10 can be adjusted based on actual test requirements to provide the lighting environment required for the test.

[0054] In this embodiment, the TOF placement device 10 can be installed on a tooling base. When a product to be tested, equipped with a TOF, is placed on the TOF placement device 10, the product can be transported to the test location according to the tooling instructions received. After the tooling door is closed, a darkroom environment is created for the product to be tested. The TOF placement device 10 can secure the product to a fixed location or rotate it at a preset angle, completing the rotation of the product's test angle, depending on the test requirements.

[0055] It is understood that the measurement principle of a TOF sensor is as follows: the TOF sensor emits a laser pulse toward the object being measured. The laser pulse propagates to the object and is reflected by the object's surface. The TOF sensor then receives the reflected light pulse. By measuring the time the laser pulse is emitted and the time the return light pulse is received, the propagation time of the laser pulse from the source to the object can be calculated. Combined with the propagation speed of the laser pulse, the distance of the target object from the TOF sensor can be calculated. Based on this, the change in the target object's distance can be measured. The reflective chart mounting and adjustment device 20 is equipped with a reflective chart 21 to simulate the target object detected in the actual use environment of the TOF sensor. First, a calibration distance value L is calibrated between the reflective chart 21 and the TOF sensor. Then, the TOF sensor's distance measurement function is enabled, and the TOF sensor detects the actual distance value L1 from the chart. By comparing the relationship between the calibrated distance value L and the actual distance value L1, the TOF sensor's function is determined. During this process, the reflective chart mounting adjustment device 20 can move relative to the TOF to change the distance between it and the TOF, and can also adjust the reflectivity of the reflective chart 21 to simulate different distances of the target from the TOF and different targets in actual applications.

[0056] By installing an adjustable light source 30, this embodiment can simulate a variety of different lighting environments. Specifically, it can be replaced according to the requirements of use. It can simulate various lighting conditions in actual use, for example, objects with high reflectivity under dim light, objects with low reflectivity under high-intensity light, etc. The adjustable light source 30 can simulate different lighting environments according to the use environment of the TOF sensor, such as natural light, light emitted by LED devices, or light emitted by other light sources, etc. By installing an adjustable light source 30, this embodiment can simulate a variety of different lighting environments, so that during testing, it can be replaced according to the requirements of use. It can simulate various lighting conditions in actual use, for example, objects with high reflectivity under dim light, objects with low reflectivity under high-intensity light, etc. During the test, the programmable full-band light source can be set to the required color temperature and brightness according to the needs. The lighting environment can be adjusted according to the needs of the user. The test work sends a command to let TOF work to test the actual distance value L1 between the reflection chart 21 and the TOF, and compares the actual distance value L1 between the reflection chart 21 and the TOF returned with the calibrated distance value L under the current test environment to judge the quality of the TOF function. In actual application, the distance measurement result can be controlled according to the upper and lower limits set in advance. That is, when the actual distance value L1 is within the calibrated distance value L range, the TOF can be determined to be a good product. When the actual distance value L1 does not reach or exceed the calibrated distance value L range, or exceeds the calibrated distance value L range, the TOF can be determined to be a defective product, thereby achieving the effect of judging the quality of the TOF function.

[0057] The present invention provides a TOF placement device 10 for placing a product to be tested, which is equipped with a TOF. A reflective chart mounting and adjustment device 20 is positioned at a first preset position on the TOF placement device 10 in a first direction. Furthermore, an adjustable light source 30 is positioned at a second preset position on the TOF placement device 10 in a second direction. This device can emit ambient light of a corresponding color temperature and brightness according to test instructions to simulate a corresponding lighting test environment. This device provides a test fixture that can simulate actual usage scenarios for products, thereby improving TOF sensor testing accuracy.

[0058] Reference Figures 1 to 3 In one embodiment, the reflective chart mounting and adjusting device 20 includes:

[0059] Reflection chart 21, a target pattern having at least one reflectivity;

[0060] A fixing portion 22, used for fixing the reflection chart 21;

[0061] The displacement mechanism 23 is drivingly connected to the fixing portion 22 , and the displacement mechanism 23 can drive the fixing portion 22 to move relative to the TOF placement device 10 in the first direction.

[0062] In this embodiment, the fixed portion 22 of the reflection chart 21 serves as an independent mechanism, allowing charts of varying reflectivity to be replaced based on test requirements. Considering the varying abilities of the TOF under test to sense targets of varying reflectivity under the same distance and lighting conditions, the reflection chart 21 is interchangeably mounted on the fixed portion 22. This allows for the sequential replacement of reflection charts 21 with varying reflectivity as the test progresses. Furthermore, to determine the TOF under test's ability to sense the brightness of the marker pattern under different distance test conditions, in some optional implementations of this embodiment, the size of the marker pattern on the reflection chart 21 can also be adjusted based on the test distance between the reflection chart 21 and the TOF. This allows for the TOF under test to meet its performance requirements in detecting marker pattern brightness under different distance test conditions by replacing marker patterns of varying sizes. For example, when the test distance is long, a marker pattern with a relatively large size is used, while when the test distance is short, a marker pattern with a normal or relatively small size is used.

[0063] The displacement mechanism 23 allows for quick and easy adjustment of the distance between the reflectivity chart 21 and the TOF. Specifically, the reflectivity chart 21 can be moved toward or away from the TOF to vary the distance between them, enabling testing at various distances. Alternatively, the reflectivity chart 21 can be continuously moved to simulate dynamic target changes, allowing the TOF to obtain dynamic distance values ​​from the reflectivity chart 21.

[0064] Reference Figures 1 to 3 In one embodiment, the displacement mechanism 23 includes:

[0065] A guide rail 231 is used to fix the fixing portion 22;

[0066] The screw module 232 is drivingly connected to the guide rail 231;

[0067] The rocker 233 is rotatably connected to the screw rod. When the rocker 233 moves, it controls the screw rod module 232 to drive the guide rail 231 to move relative to the TOF placement device 10 in the first direction.

[0068] In this embodiment, the screw module 232 serves as a transmission member. The screw module 232 and the rocker 233 can be threadedly connected. By shaking the rocker 233, the screw is rotated, thereby driving the guide rail 231 to perform telescopic movement. The rocker 233 can be manually shaken by the user to control the screw module to drive the linear guide rail 231 to move, or the screw module can be shaken by a robotic arm to control the screw module to drive the linear guide rail 231 to move. In actual application, the fixed portion 22 of the reflection chart 21 can be fixedly installed on the linear guide rail 231. Under the drive of the linear guide rail 231, the reflection chart 21 fixed on the fixed portion 22 is moved toward the TOF to be measured, or the reflection chart 21 is driven to move away from the TOF to be measured, thereby realizing a change in the distance between the reflection chart 21 and the TOF to be measured.

[0069] Reference Figures 1 to 3 In one embodiment, the reflective chart installation and adjustment device 20 further includes:

[0070] The screw movement distance display 234 is provided on the rocker 233 and is used to detect the distance of one end of the displacement mechanism 23 and display it;

[0071] And / or, a level 235 is provided on the fixing portion 22 for detecting and displaying the tilt angle of the reflection chart 21 .

[0072] In this embodiment, the screw movement distance indicator 234 can control the adjustment accuracy of the reflective chart 21 to ±0.5mm, and can be used as a calibration device for the distance between the TOF sensor and the reflective chart 21 to ensure the accuracy of the calibrated distance between the TOF sensor and the reflective chart 21 and improve test accuracy. A level 235 is installed on the reflective chart 21 to detect whether the reflective chart 21 is installed tilted, with an adjustment accuracy of ±0.01°. In one embodiment, a calibration device (not shown) for the distance between the TOF sensor and the reflective chart 21 can also be provided. In the calibration device, a standard component is customized according to the position of the TOF sensor on the product, and the standard component is installed on the product placement base 11. Then, a laser rangefinder is installed to measure the calibrated distance value between the TOF sensor and the reflective chart 21. The present invention does not limit the installation and adjustment method of the chart.

[0073] Reference Figures 1 to 3 In one embodiment, the TOF placement device 10 includes:

[0074] A product placement base 11 for placing the product to be tested;

[0075] The operation control system (not shown) is drivingly connected to the product placement base 11 , and is used to drive the product placement base 11 to move in a plane perpendicular to the reflective image card 21 in the reflective image card installation and adjustment device 20 .

[0076] In this embodiment, the motion control system can be implemented using a three-axis motion control system that can drive the product placement base 11 to move along the X-axis and Y-axis in a plane perpendicular to the reflective chart 21. Most products generally used for TOF are equipped with multiple TOF sensors. Based on this, the motion control system that drives the movement of the product placement base 11 can also realize a rotation function. That is, the motion control system is also provided with a rotation axis U-axis, specifically using a drip motor or other rotatable structure to meet the needs of a variety of products. It can realize 360° rotation of the product in the XY plane, thereby realizing linear and curved trajectory movement, which can meet the movement requirements of different directions and can be applied to products to be tested that are equipped with more than one TOF sensor. In actual application, the tooling is placed in a darkroom, and the product to be tested is placed on the product placement base 11. This product placement base 11 is installed on the three-axis motion control system to realize the movement of the product in the XY plane. This invention does not limit the movement direction and implementation method of this motion control.

[0077] It should be noted that existing detection technology only tests the TOF sensor itself and cannot guarantee the same detection distance capability after it is assembled into a product. To protect the TOF sensor, a glass cover is usually installed on the front panel. Because light passes through the glass, it is reflected and refracted multiple times, forming so-called crosstalk signals, which can distort the detection distance when the TOF sensor is working.

[0078] Reference Figures 1 to 3 In order to solve the above problem, in one embodiment, the TOF test tool further includes:

[0079] A crosstalk calibration module (not shown) is used to read the calibration values ​​of the TOF sensor and the reflection card 21 in the reflection card installation and adjustment device 20, as well as the detection values ​​of the TOF sensor and the reflection card 21 in the reflection card installation and adjustment device 20, and calibrate the TOF according to the calibration values ​​and the detection values.

[0080] In this embodiment, the product to be tested is first placed horizontally on a fixture and controlled to reach the test position. The product is now in a darkroom with the light source turned off. A command is sent to the product to read the distance between the TOF sensor and the chart. The TOF sensor returns a 4x4 matrix, whose values ​​represent the actual distance L1 between the TOF sensor and the target object. The fixture sets a calibrated distance value L = 1000mm between the TOF sensor and the reflective chart 21. When the actual distance value L1 returned by the TOF sensor does not meet a preset range with the calibrated distance value L, for example, 0.95 ≤ calibrated distance value L / actual distance value L1 ≤ 1.05, self-calibration and compensation value calibration are initiated. Self-calibration can be achieved by the user writing calibration instructions into the product, automatically deleting abnormal distance values ​​through fixed instructions. Compensation value calibration can be achieved by comparing the actual measured distance with the standard value and writing the compensation value into the product to achieve the purpose of TOF calibration.

[0081] Reference Figures 1 to 3 In one embodiment, the TOF test tool further includes:

[0082] A test terminal (not shown) is used to receive and determine whether the detection value of the TOF sensor and the reflection card 21 in the reflection card installation and adjustment device 20 meet the preset distance range and present the judgment result.

[0083] In this embodiment, the test terminal can be a host computer or other terminal device that can be used for testing. The test terminal receives the actual distance value L1 between the TOF sensor and the reflective chart 21 detected by the TOF sensor. The test terminal compares the actual distance value L1 with the standard distance calibration value L between the reflective chart 21 and the TOF sensor based on the actual distance value L1 received by the TOF sensor. If the actual distance value L1 is within a preset calibration range, the TOF sensor performance is determined to meet the requirements. Otherwise, the TOF sensor performance is determined to meet the requirements. The judgment result is displayed, for example, on a display panel of the test terminal or through a display light on the test terminal, so that the tester can easily obtain the judgment result. Considering that the TOF sensor itself includes a laser light source, in some optional implementations of this embodiment, the test system also includes a laser pulse detection unit for detecting a pulse value of light emitted by the TOF sensor light source. The test terminal is further configured to adjust the preset brightness range based on the pulse value. That is, the test system includes a device that can detect the light pulse value of the laser emitted by the TOF sensor's own light source. When the TOF sensor itself emits light, in order to accurately evaluate the performance of the TOF sensor, the test terminal adjusts the preset brightness range according to the detected light pulse value, thereby meeting the test of the TOF sensor in different situations.

[0084] In some embodiments, the test terminal can be electrically connected to the TOF placement device 10, the reflective chart installation and adjustment device 20, and the adjustable light source 30. The test terminal can control the operation of the TOF placement device 10, the reflective chart installation and adjustment device 20, and the adjustable light source 30 to implement the above-mentioned test. During the actual test, the test terminal can control the reflective chart installation and adjustment device 20 to move the reflective chart 21 according to the movement distance represented by the control signal based on the received control signal, so that when the reflective chart 21 is fixed, the actual distance value between the TOF sensor and the reflective chart 21 is obtained when the reflective chart installation and adjustment device 20 moves to the corresponding position. The test terminal can also control the adjustable light source 30 to present the lighting environment according to the color temperature and brightness represented by the control signal based on the received control signal, so that various lighting conditions in actual use can be simulated, for example, the actual distance value between the TOF sensor and the reflective chart 21 can be obtained for objects with high reflectivity in dim light and objects with low reflectivity in high-intensity light. The test terminal can also control the TOF placement device 10 to rotate according to the corresponding angle or move within the XY axis perpendicular to the plane of the reflection chart 21 based on the received control signal, so that the TOF sensors to be tested in various orientations of a product equipped with multiple TOF sensors can be tested, so that each TOF sensor can obtain the actual distance value between the TOF sensor and the reflection chart 21. In addition, the reflection chart 21 can be replaced automatically or manually. During automatic replacement, the test terminal can control the reflection chart installation and adjustment device 20 based on the received control signal to replace the reflection chart 21 facing the TOF sensor according to the reflectivity represented by the control signal, so that when the reflection chart installation and adjustment device 20 is replaced with a replacement reflection chart 21 with the corresponding reflectivity, the actual distance value between the TOF sensor and the reflection chart 21 is obtained. Moreover, during each test, one parameter or a combination of multiple parameters can be selected to simulate different actual usage scenarios of the TOF sensor.

[0085] The present invention also provides a TOF testing method, which uses the TOF testing fixture described above, the TOF placement device, the reflective chart installation and adjustment device, and the adjustable light source; the testing method includes:

[0086] Receive and determine whether the detection value detected by the TOF sensor in the product to be tested and the detection value of the reflection card in the reflection card installation and adjustment device meet the preset distance range and present the judgment result.

[0087] It should be noted that the TOF test method provided in this embodiment is similar to the principle and workflow of the TOF sensor test fixture provided in the above embodiment. The relevant parts can be referred to the above description and will not be repeated here. The TOF test fixture of this embodiment includes a memory and a processor, the memory is used to store computer instructions, and the processor is used to call the computer instructions from the memory to execute the method described in any one of the above method embodiments. The present invention sets a TOF placement device for placing the product to be tested with TOF installed, sets the reflection chart installation and adjustment device at the first preset position of the TOF placement device in the first direction, and sets the adjustable light source at the second preset position of the TOF placement device in the second direction. The present invention can emit ambient light of corresponding color temperature and brightness according to the test instructions to simulate the corresponding lighting test environment. The test method of the present invention utilizes the above test fixture to propose a test product solution that can simulate actual usage scenarios, which is conducive to improving the test accuracy of the TOF sensor.

[0088] In one embodiment, the testing method further comprises:

[0089] Adjusting the color temperature and brightness of the ambient light in the adjustable light source, and obtaining the detection value of the TOF sensor and the reflection card in the reflection card installation and adjustment device under the current lighting environment;

[0090] and / or, adjusting the reflectivity of the reflection chart in the reflection chart installation and adjustment device, and obtaining a detection value of the reflection chart in the reflection chart installation and adjustment device detected by the TOF sensor under the current reflectivity;

[0091] and / or, controlling the reflective card installation adjustment device to adjust the distance between the reflective card installation adjustment device and the TOF sensor, and obtaining a detection value of the TOF sensor and the reflective card in the reflective card installation adjustment device at the current distance;

[0092] And / or, control the TOF placement device to adjust the angle between it and the reflection card in the reflection card installation and adjustment device, and obtain the detection value of the TOF sensor and the reflection card in the reflection card installation and adjustment device at the current angle.

[0093] In this embodiment, based on a received control signal, the reflective chart installation and adjustment device can be controlled to move the reflective chart according to the movement distance indicated by the control signal. This allows the TOF sensor to obtain the actual distance between the TOF sensor and the reflective chart when the reflective chart installation and adjustment device is moved to the corresponding position, while the TOF sensor is fixed. Alternatively, based on a received control signal, an adjustable light source can be controlled to present a lighting environment according to the color temperature and brightness indicated by the control signal. This allows the simulation of various lighting conditions encountered in actual use, such as obtaining the actual distance between the TOF sensor and the reflective chart for a high-reflectivity object under dim light or a low-reflectivity object under high-intensity light. Based on a received control signal, the TOF placement device can be controlled to rotate by a corresponding angle or move along an XY axis perpendicular to the plane of the reflective chart. This allows the TOF sensor to be tested in various positions on a product equipped with multiple TOF sensors, enabling the actual distance between each sensor and the reflective chart to be obtained. Furthermore, during each test, one or a combination of parameters can be selected to simulate different actual TOF sensor usage scenarios. The reflection card can be replaced automatically or manually. During automatic replacement, the test terminal can control the reflection card installation and adjustment device to replace the reflection card facing the TOF sensor according to the reflectivity represented by the control signal based on the received control signal, so that when the reflection card installation and adjustment device is replaced with a replacement reflection card with the corresponding reflectivity, the actual distance value between the TOF sensor and the reflection card is obtained.

[0094] In one embodiment, the testing method further comprises:

[0095] Read the calibration values ​​of the TOF sensor and the reflection card in the reflection card installation and adjustment device, as well as the detection values ​​of the TOF sensor and the reflection card in the reflection card installation and adjustment device, and calibrate the TOF sensor according to the calibration values ​​and the detection values.

[0096] In this embodiment, when calibrating the TOF sensor, the TOF sensor can be placed horizontally on a fixture, and the product can be controlled to reach the test position. The product is in a darkroom environment with the light source turned off. A command is sent to the product to read the distance between the TOF sensor and the chart. The TOF sensor returns a 4*4 matrix, whose values ​​represent the actual distance L1 between the TOF sensor and the target object. This fixture sets the calibration distance value L = 1000mm between the TOF sensor and the reflective chart. When the actual distance value L1 returned by the TOF sensor does not meet the calibration distance value L within a preset range, for example, 0.95 ≤ calibration distance value L / actual distance value L1 ≤ 1.05, it will initiate self-calibration and compensation value calibration. Self-calibration can be achieved by the user writing calibration instructions into the product, automatically deleting abnormal distance values ​​through fixed instructions. Compensation value calibration can be achieved by comparing the actual measured distance with the standard value and writing the compensation value into the product to achieve the purpose of calibrating the TOF sensor.

[0097] This embodiment provides a computer-readable storage medium, which stores computer instructions. When the computer instructions in the storage medium are executed by a processor, any method provided in the above method embodiments is implemented.

[0098] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0099] Computer-readable storage medium can be a tangible device that can keep and store the instructions used by the instruction execution device.Computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device or any suitable combination thereof.More specific examples (non-exhaustive list) of computer-readable storage medium include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, for example, a punch card or a convex structure in a groove having instructions stored thereon, and any suitable combination thereof.Computer-readable storage medium used herein is not interpreted as a transient signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagated by waveguides or other transmission media (for example, light pulses by fiber optic cables), or electrical signals transmitted by wires.

[0100] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0101] The computer program instructions for performing the operation of the present invention can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, and conventional procedural programming languages ​​such as "C" language or similar programming languages. The computer readable program instructions can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), is personalized by utilizing the state information of the computer readable program instructions, and the electronic circuit can execute the computer readable program instructions, thereby realizing various aspects of the present invention.

[0102] Various aspects of the present invention are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present invention. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0103] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0104] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0105] The flowcharts and block diagrams in the accompanying drawings show the possible architectures, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of an instruction, and the module, program segment or part of the instruction contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

[0106] The present invention also provides a TOF testing method, comprising the TOF testing tool as described above;

[0107] The detailed structure of the TOF test tooling can be referred to the above-mentioned embodiment and will not be described in detail here. It can be understood that since the above-mentioned TOF test tooling is used in the TOF test method of the present invention, the embodiment of the TOF test method of the present invention includes all the technical solutions of all the embodiments of the above-mentioned TOF test tooling, and the technical effects achieved are also exactly the same, which will not be described in detail here.

[0108] The above descriptions are merely optional embodiments of the present invention and do not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present description and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A TOF test tool, characterized in that: The TOF test tooling includes: TOF placement device for placing the product to be tested with the TOF sensor installed; a reflective chart mounting and adjusting device, arranged at a first preset position of the TOF placement device in a first direction; An adjustable light source is provided at a second preset position of the TOF placement device in the second direction, and the adjustable light source is used to emit ambient light of corresponding color temperature and brightness according to the test instruction to simulate the corresponding lighting test environment; The TOF test tool also includes: a crosstalk calibration module, configured to read calibration values ​​of the TOF sensor and the reflective chart in the reflective chart installation and adjustment device, as well as detection values ​​detected by the TOF sensor and the reflective chart in the reflective chart installation and adjustment device, and calibrate the TOF sensor based on the calibration values ​​and the detection values; The detection value is a detection value detected by the TOF sensor when the adjustable light source is in an off state.

2. The TOF test fixture according to claim 1, characterized in that: The reflective chart card installation and adjustment device comprises: Reflection chart, a target pattern having at least one reflectivity; A fixing portion, used for fixing the reflection chart; A displacement mechanism is drivingly connected to the fixing portion, and the displacement mechanism can drive the fixing portion to move relative to the TOF placement device in the first direction.

3. The TOF test fixture according to claim 2, characterized in that: The displacement mechanism comprises: a guide rail, used for fixing the fixing portion; A screw module is connected to the guide rail drive; The rocker is rotatably connected to the screw module. When the rocker moves, it controls the screw module to drive the guide rail to move relative to the TOF placement device in the first direction.

4. The TOF test fixture according to claim 3, characterized in that: The reflective chart installation and adjustment device further comprises: A screw movement distance display device is provided on the rocker and is used to detect and display the distance at one end of the displacement mechanism; And / or, a level, provided on the fixing portion, for detecting and displaying the tilt angle of the reflection chart.

5. The TOF test fixture according to claim 1, wherein: The TOF placement device comprises: A product placement base for placing the product to be tested; The operation control system is drivingly connected to the product placement base, and the operation control system is used to drive the product placement base to move in a plane perpendicular to the reflective image card in the reflective image card installation and adjustment device.

6. The TOF test fixture according to any one of claims 1 to 5, characterized in that: The TOF test tool also includes: A test terminal is used to receive and determine whether the detection value of the TOF sensor and the reflection card in the reflection card installation and adjustment device meets a preset distance range and present a judgment result.

7. A TOF testing method, characterized in that: The TOF test fixture according to any one of claims 1 to 6, the TOF placement device, the reflective chart installation and adjustment device, and the adjustable light source are used; and the test method includes: Receive and determine whether the detection value detected by the TOF sensor in the product to be tested and the detection value of the reflection card in the reflection card installation and adjustment device meet the preset distance range and present the judgment result.

8. The testing method according to claim 7, wherein: The test method further comprises: Adjusting the color temperature and brightness of the ambient light in the adjustable light source, and obtaining the detection value of the TOF sensor and the reflection card in the reflection card installation and adjustment device under the current lighting environment; and / or, adjusting the reflectivity of the reflection chart in the reflection chart installation and adjustment device, and obtaining a detection value of the reflection chart in the reflection chart installation and adjustment device detected by the TOF sensor under the current reflectivity; and / or, controlling the reflective card installation adjustment device to adjust the distance between the reflective card installation adjustment device and the TOF sensor, and obtaining a detection value of the TOF sensor and the reflective card in the reflective card installation adjustment device at the current distance; And / or, control the TOF placement device to adjust the angle between it and the reflection card in the reflection card installation and adjustment device, and obtain the detection value of the TOF sensor and the reflection card in the reflection card installation and adjustment device at the current angle.

9. The testing method according to claim 7, wherein: The test method further comprises: Read the calibration values ​​of the TOF sensor and the reflection card in the reflection card installation and adjustment device, as well as the detection values ​​of the TOF sensor and the reflection card in the reflection card installation and adjustment device, and calibrate the TOF sensor according to the calibration values ​​and the detection values.

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