Performance evaluation method and device for ultrasonic sensor

Abstract

The present application provides a performance evaluation method and device for an ultrasonic sensor. The method includes: initializing the parameters of the ultrasonic sensor, placing a performance evaluation board based on a preset position and angle, and recording the ranging data at different positions and angles; reading the ultrasonic data, and determining the theoretical ranging number within the evaluation time based on the ultrasonic data; determining the number of isolated noise distances, and determining the long-distance noise distance and the short-distance noise distance, and removing the number of isolated noise distances, long-distance noise distances, and short-distance noise distances from the theoretical ranging number to obtain the effective distance number; calculating the effective distance ratio based on the effective distance number and the theoretical ranging number, and calculating the discreteness and accuracy of the effective distance value based on the effective distance value and the standard distance; evaluating the performance of the ultrasonic sensor based on the number of isolated noise distances, the effective distance ratio, the discreteness and accuracy of the effective distance value. The present application can comprehensively evaluate the performance of the ultrasonic sensor and improve the accuracy of the evaluation results.

Description

Technical Field

[0001] The present application relates to the technical field of ultrasonic sensors, and in particular to a performance evaluation method and device for ultrasonic sensors. Background Art

[0002] A robot is a machine device that performs work automatically. It can accept instructions from people, communicate with people, run pre-programmed programs, and act according to principles customized by artificial intelligence technology. Its mission is to assist or replace human work, such as manufacturing, construction, or dangerous work. Robots are the product of advanced integration of cybernetics, mechatronics, computers, materials, and bionics. At present, they have important uses in industry, medicine, agriculture, and even the military.

[0003] At present, the main sensors of robots include lidar, cameras, IMU, ultrasound, etc. If robots want to complete designated tasks efficiently and with high quality, they need to rely on reliable, stable sensors that meet the usage scenarios. Therefore, effective evaluation of the reliability, stability, applicability and other performance of sensors is the primary task in the early stage of robot construction. Among them, the performance evaluation of ultrasound is particularly important because it can make up for some defects of the main sensor laser, making the robot walk safer and providing more efficient services. The existing performance evaluation schemes for ultrasonic sensors cannot describe the various influencing factors of robot deployment scenarios, and there are problems such as incomplete evaluation indicators and inaccurate evaluation results. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a method and device for evaluating the performance of an ultrasonic sensor to solve the problems in the prior art that the evaluation indicators are not comprehensive enough and the evaluation results are not accurate enough.

[0005] According to a first aspect of an embodiment of the present application, a performance evaluation method for an ultrasonic sensor is provided, comprising: initializing parameters of the ultrasonic sensor, placing a performance evaluation board based on a preset position and angle, starting an ultrasonic driver, and recording ranging data at different positions and angles; reading ultrasonic data stored in the ultrasonic driver, and determining a theoretical ranging number within an evaluation time based on the ultrasonic data; determining a number of isolated noise distances, and determining a long-distance noise distance and a short-distance noise distance based on a standard distance, and removing the numbers corresponding to the isolated noise distances, the long-distance noise distances, and the short-distance noise distances from the theoretical ranging number to obtain an effective distance number; calculating an effective distance ratio based on the effective distance number and the theoretical ranging number, and calculating a discreteness and an accuracy of the effective distance value based on the effective distance value and the standard distance; and evaluating the performance of the ultrasonic sensor based on the number of isolated noise distances, the effective distance ratio, and the discreteness and the accuracy of the effective distance value.

[0006] According to a second aspect of an embodiment of the present application, a performance evaluation device for an ultrasonic sensor is provided, comprising: a recording module, configured to initialize parameters of the ultrasonic sensor, place a performance evaluation board based on a preset position and angle, start an ultrasonic driver, and record ranging data at different positions and angles; a reading module, configured to read ultrasonic data stored in the ultrasonic driver, and determine a theoretical ranging number within an evaluation time based on the ultrasonic data; a determination module, configured to determine an isolated noise distance number, and determine a long-distance noise distance and a short-distance noise distance based on a standard distance, and remove the numbers corresponding to the isolated noise distance, the long-distance noise distance, and the short-distance noise distance from the theoretical ranging number to obtain an effective distance number; a calculation module, configured to calculate an effective distance ratio based on the effective distance number and the theoretical ranging number, and calculate a discreteness and an accuracy of the effective distance value based on the effective distance value and the standard distance; and an evaluation module, configured to evaluate the performance of the ultrasonic sensor based on the number of isolated noise distances, the effective distance ratio, and the discreteness and accuracy of the effective distance value.

[0007] According to a third aspect of an embodiment of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the steps of the above method are implemented when the processor executes the program.

[0008] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0009] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0010] Initialize the parameters of the ultrasonic sensor, place the performance evaluation board based on the preset position and angle, start the ultrasonic drive, and record the ranging data at different positions and angles; read the ultrasonic data stored in the ultrasonic drive, and determine the theoretical ranging number within the evaluation time based on the ultrasonic data; determine the number of isolated noise distances, and determine the long-distance noise distance and short-distance noise distance based on the standard distance, and remove the corresponding numbers of isolated noise distances, long-distance noise distances, and short-distance noise distances from the theoretical ranging number to obtain the effective distance number; calculate the effective distance ratio based on the effective distance number and the theoretical ranging number, and calculate the discreteness and accuracy of the effective distance value based on the effective distance value and the standard distance; evaluate the performance of the ultrasonic sensor based on the number of isolated noise distances, the effective distance ratio, the discreteness and accuracy of the effective distance value. This application can comprehensively evaluate the performance of the ultrasonic sensor and improve the accuracy of the evaluation results. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0012] Figure 1 is a flow chart of a method for evaluating the performance of an ultrasonic sensor provided in an embodiment of the present application;

[0013] Figure 2 is a schematic diagram of the structure of a performance evaluation device for an ultrasonic sensor provided in an embodiment of the present application;

[0014] Figure 3 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0015] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0016] As described in the background technology, the main sensors of robots currently include lidar, cameras, IMU, ultrasound, etc. If robots want to complete designated tasks efficiently and with high quality, they need to rely on reliable, stable sensors that meet the usage scenarios. Therefore, effective evaluation of the reliability, stability, applicability and other performance of sensors is the primary task in the early stage of robot construction. Among them, the performance evaluation of ultrasound is particularly important because it can make up for some defects of the main sensor laser, making the robot walk safer and providing more efficient services. The existing performance evaluation schemes for ultrasonic sensors cannot describe the various influencing factors of robot deployment scenarios, and there are problems such as incomplete evaluation indicators and inaccurate evaluation results.

[0017] In view of this, in order to solve the performance evaluation problem of the ultrasonic sensor, the embodiment of the present application obtains the ranging data of the ultrasonic sensor under multiple postures through the performance evaluation board placed in different postures, determines the isolated noise distance, long-distance noise distance and short-distance noise distance, and removes the number of noise points corresponding to the isolated noise distance, long-distance noise distance and short-distance noise distance from the ranging data to obtain the effective distance number, thereby calculating the effective distance ratio based on the effective distance number. The effective distance ratio can characterize the recognition degree of the ultrasonic sensor for the material, and also calculates the discreteness and accuracy of the effective noise points. The embodiment of the present application uses the number of noise points of the isolated noise distance, the effective distance ratio, the discreteness and accuracy of the effective noise points as evaluation indicators to comprehensively evaluate the performance of the ultrasonic sensor, thereby improving the accuracy of the evaluation results. The content of the technical solution of the present application is described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0018] Figure 1 It is a flow chart of the performance evaluation method of the ultrasonic sensor provided in the embodiment of the present application. Figure 1 The performance evaluation method of the ultrasonic sensor can be executed by the server. Figure 1 As shown, the performance evaluation method of the ultrasonic sensor may specifically include:

[0019] S101, initializing the parameters of the ultrasonic sensor, placing the performance evaluation board based on the preset position and angle, starting the ultrasonic drive, and recording the ranging data at different positions and angles;

[0020] S102, reading ultrasonic data stored in the ultrasonic driver, and determining a theoretical distance measurement number within an evaluation time according to the ultrasonic data;

[0021] S103, determining the number of isolated noise ranges, and determining the long-distance noise range and the short-distance noise range according to the standard distance, removing the numbers corresponding to the isolated noise ranges, the long-distance noise ranges and the short-distance noise ranges from the theoretical distance measurement number, and obtaining the effective distance number;

[0022] S104, calculating the effective distance ratio according to the effective distance number and the theoretical distance measurement number, and calculating the dispersion and accuracy of the effective distance value according to the effective distance value and the standard distance;

[0023] S105, evaluating the performance of the ultrasonic sensor based on the number of isolated noise distances, the effective distance ratio, and the dispersion and accuracy of the effective distance values.

[0024] Specifically, the ultrasonic sensor of the embodiment of the present application is a sensor that converts ultrasonic signals into other energy signals (usually electrical signals). Ultrasonic waves are mechanical waves with a vibration frequency higher than 20kHz. They have the characteristics of high frequency, short wavelength, small diffraction phenomenon, especially good directionality, and the ability to become rays and propagate in a directional manner. The performance evaluation board of the embodiment of the present application can adopt evaluation boards of various widths and materials. For example, the width of the performance evaluation board can be 1mm, 3mm, 5mm, etc., and the material of the performance evaluation board can be transparent glass, mirror, sound-absorbing cotton, frosted material, metal surface, various wall surfaces, various sofas (such as leather, cloth), etc.

[0025] It should be noted that the performance evaluation method of the ultrasonic sensor in the embodiment of the present application is an evaluation of the ultrasonic sensor installed in the robot, so the ultrasonic driver refers to the driver installed in the main control chip of the robot. Of course, in practical applications, the performance evaluation can also be performed on a separate ultrasonic sensor, and the ultrasonic sensor does not necessarily need to be installed in the robot for evaluation.

[0026] In some embodiments, initializing the parameters of the ultrasonic sensor includes: configuring the parameters of the ultrasonic sensor according to the actual use environment of the robot to initialize the ultrasonic sensor, wherein the parameters of the ultrasonic sensor include a ranging range and a ranging angle.

[0027] Specifically, before starting the ultrasonic drive and recording the ranging data, the embodiment of the present application will configure the parameters of the ultrasonic sensor according to the actual use environment of the robot, so as to realize the initialization operation of the ultrasonic sensor. In actual applications, the parameters of the ultrasonic sensor include but are not limited to the ranging range and ranging angle. For example, the ranging range of the ultrasonic sensor is initialized to 2cm~55cm.

[0028] In some embodiments, the performance evaluation board is placed based on a preset position and angle, including: taking the position of the ultrasonic sensor as the coordinate origin, taking the direction directly in front of the ultrasonic sensor as the x-axis direction, and taking the direction perpendicular to the x-axis as the y-axis; placing the performance evaluation board in front of the ultrasonic sensor according to the preset value in the x-axis direction and the value in the y-axis direction.

[0029] Specifically, the embodiment of the present application designs a variety of performance evaluation boards of different widths and different materials. When placing the performance evaluation board, the performance evaluation board is placed in an environment without other obstacles within 1m in front of the ultrasonic sensor; when placing the performance evaluation board, the position of the ultrasonic sensor is used as the coordinate origin, and a variety of placement methods are designed along the x-axis and y-axis directions. For example: the performance evaluation board is placed in front of the ultrasonic sensor. The position of the x-axis can be 5cm, 15cm, 25cm, 40cm, 50cm, 60cm, etc., and the position along the y-axis (i.e., the left and right placement position) can be 0cm, ±2cm, ±5cm, ±10cm, ±20cm and other specific positions, and a few seconds of ranging data are recorded at each position.

[0030] Furthermore, in addition to recording ranging data at different placement positions, the embodiments of the present application also obtain ranging data based on different placement angles, for example: rotating the performance evaluation board at a certain angle to record the ranging data of the ultrasonic sensor at a specific posture, and the rotation angle of the performance evaluation board may include angle values ​​such as 30°, 45°, 60°, -60°, -45°, and -30°. It should be noted that the ranging data contains multiple distance values, and each distance value can be considered to correspond to a noise point.

[0031] In some embodiments, ultrasonic data stored in an ultrasonic driver is read, and a theoretical number of ranging measurements within an evaluation time is determined based on the ultrasonic data, including: reading ultrasonic data generated within an evaluation time from the ultrasonic driver, parsing the ultrasonic data to obtain a duration corresponding to the recorded ranging data, and calculating the theoretical number of ranging measurements based on the duration and an ultrasonic release frequency of the ultrasonic sensor.

[0032] Specifically, after the robot uses the ultrasonic drive to record the ranging data for a period of time (i.e., the evaluation time), the ultrasonic data is read and parsed from the ultrasonic drive. In addition to the ranging data generated during the evaluation time, the ultrasonic data may also contain some other data. By parsing the ultrasonic data, the duration of recording the ranging data and the ultrasonic release frequency are obtained. The theoretical distance value count of the ultrasonic sensor is calculated based on the duration and the ultrasonic release frequency, where the ultrasonic release frequency can also be called the ultrasonic reporting frequency.

[0033] For example, in a specific embodiment, assuming that the ultrasonic sensor emits ultrasonic waves at 10 Hz, then within the evaluation time of 1 second, the ultrasonic sensor should theoretically be able to receive 10 distance value data returned by the performance evaluation board, and use these theoretical distance value data as theoretical ranging numbers.

[0034] In some embodiments, determining the number of isolated noise ranges includes: traversing each ranging value in the ultrasonic data to compare each ranging value with the ranging value at an adjacent time; when the difference between the ranging value and the ranging value at the adjacent time is greater than a preset distance threshold, taking the ranging value greater than the distance threshold as the isolated noise range, and performing statistics on the isolated noise ranges to obtain the number of isolated noise ranges.

[0035] Specifically, an isolated noise distance refers to a distance value of a noise point, and the delta (i.e., difference) between the distance values ​​of the other two adjacent noise points is greater than a threshold value, then the distance value corresponding to the noise point is considered to be an isolated noise distance. In practical applications, by setting a delta distance threshold, traversing each distance value in the ultrasonic data generated within the evaluation time, the distance value of each noise point is compared with the distance value of the adjacent noise point in turn (i.e., making a difference), and the difference between each distance value and the adjacent distance value is obtained, and the difference is compared with the delta distance threshold. When the difference is greater than the delta distance threshold, the distance value corresponding to the noise point is considered to be an isolated noise distance. At this time, the noise point is the noise point corresponding to the isolated noise distance.

[0036] Furthermore, in the isolated noise range, the INF distance value and the non-INF distance value can be distinguished, wherein the INF distance value refers to the distance value corresponding to the noise point exceeding the maximum distance value corresponding to the preset ranging range (for example, 55 cm), and the non-INF distance refers to the distance value corresponding to the noise point within the ranging range, and the INF distance value and the non-INF distance value are counted separately.

[0037] In some embodiments, determining a long-distance noise range and a short-distance noise range based on a standard distance includes: eliminating isolated noise ranges from ranging data, taking the distance between the ultrasonic sensor and the performance evaluation board measured by a rangefinder as the standard distance, traversing the distance value corresponding to each noise point in the ranging data after eliminating the isolated noise range, so as to compare the distance value corresponding to each noise point with the standard distance; when the difference between the distance value of the noise point and the standard distance is greater than a distance threshold, taking the distance value corresponding to the noise point when the distance value is greater than the distance threshold as the long-distance noise range; when the difference between the distance value of the noise point and the standard distance is less than the distance threshold, taking the distance value corresponding to the noise point when the distance value is less than the distance threshold as the short-distance noise range.

[0038] Specifically, after all the isolated noise distances are obtained, these isolated noise distances are removed from the original ranging data (i.e., the ranging data obtained by parsing the ultrasonic data), and the remaining distance values ​​are traversed. The distance between the ultrasonic sensor and the performance evaluation board measured by the rangefinder is used as the standard distance (also called the reference distance). The difference between each distance value and the standard distance is calculated, and the difference is compared with the delta distance threshold. The difference greater than the specified threshold is determined as a long-distance noise distance, and the difference less than the specified threshold is determined as a short-distance noise distance.

[0039] Furthermore, after determining the long-distance noise range and the short-distance noise range, the long-distance noise range and the short-distance noise range are deleted from the ranging data (ranging data after removing the isolated noise range), and the final remaining distance value is used as the effective distance, and the number of the final remaining distance values ​​is the effective distance number.

[0040] Further, in some embodiments, after obtaining the effective distance number, the ratio between the effective distance number and the theoretical ranging number is used as the effective distance ratio, that is, the effective distance ratio = (theoretical ranging number - isolated noise range number - long-distance noise range number - short-distance noise range number) / theoretical ranging number, that is, the effective distance ratio = effective distance number / theoretical ranging number.

[0041] Furthermore, in some embodiments, the embodiments of the present application will also calculate the discreteness and accuracy of the effective noise point according to the distance value corresponding to the effective noise point and the standard distance. Specifically, the distance measured by the rangefinder is used as the standard distance to calculate the discreteness and accuracy of the distance value within the effective distance range, that is, the variance of the distance is calculated. In the calculation process of the discreteness, the variance is calculated between the distance value within the effective distance and the average value of all distance values ​​contained in the effective distance to obtain the discreteness used to describe the distance situation; in the calculation process of the accuracy, the variance is calculated between the distance value within the effective distance and the standard distance to obtain the accuracy value used to describe the distance situation. The closer the accuracy value is to the standard distance value, the more accurate the ranging performance of the ultrasonic sensor is.

[0042] In some embodiments, the method also includes: configuring different environmental parameters based on preset environmental influencing factors, calculating the number of noise points, effective distance ratio, discreteness and accuracy of effective noise points of the isolated noise range corresponding to the ultrasonic sensor under different environmental parameters, and evaluating the performance of the ultrasonic sensor under different environmental influences; wherein the environmental influencing factors include the width and material of the performance evaluation board, the material of the floor, and the temperature and humidity of the environment.

[0043] Specifically, in addition to testing the performance of ultrasonic sensors for a variety of different ultrasonic sensors through performance evaluation boards of different widths, different materials, different placements, and different angles, the present application also adds environmental factors to evaluate performance, that is, by changing environmental factors, using performance evaluation boards of different widths, different materials, different placements, and different angles to perform tests in different environments. The following describes possible environmental factors in conjunction with specific embodiments, which may include the following:

[0044] The performance evaluation board can be set to different widths, such as 1mm, 3mm, 5mm, etc., and can also be set to different materials, such as transparent glass, mirror, sound-absorbing cotton, frosted material, metal surface, various wall surfaces, various sofas (leather, cloth), etc. In addition, different materials of floors can be set in the evaluation environment, such as marble, lime, thin carpet, thick carpet, wooden floor, etc., and the temperature and humidity of different environments can be set for evaluation. It should be noted that when the performance evaluation is performed under the configuration of different environmental influencing factors (also called environmental parameters), the performance evaluation method provided in the above embodiment is still used, but the environmental influencing factors have changed. Based on the performance evaluation method under different environmental parameters, the influence of each environmental feature on the performance of the ultrasonic sensor and the recognition performance of the ultrasonic sensor for the material can be calculated, thereby realizing the influence of various environmental influencing factors on the working performance of the simulated robot in different deployment scenarios, and being able to perform a comprehensive performance evaluation of the ultrasonic sensor.

[0045] Furthermore, in addition to describing the performance of the robot in the actual deployment scenario by changing the environmental influencing factors, the embodiments of the present application may also set the following evaluation items, for example: simulating environmental vibration by controlling the motor vibration of the robot, and performing performance evaluation according to the method provided in the above embodiment under the condition of environmental vibration; in addition, multiple ultrasonic sensors may be placed at other locations to test and evaluate the ultrasonic crosstalk when multiple ultrasonic sensors are installed at the same time.

[0046] According to the technical solution provided in the embodiment of the present application, the present application analyzes and counts the ranging data generated within a period of time by changing the width, material, position, angle of the performance evaluation board and by changing the environmental influencing factors, and obtains a series of evaluation indicators such as the number of isolated noise distances, the number of long-distance noise distances, the number of short-distance noise distances, the effective distance ratio, the effective distance discreteness and accuracy. Therefore, the present application can obtain the distance data of multiple different ultrasonic sensors under multi-material, multi-distance and multi-angle performance evaluation boards; by eliminating the isolated noise distance, the long-distance noise distance and the short-distance noise distance, only the effective distance is retained, and the recognition degree of the ultrasonic sensor for the material is described by the effective distance ratio. The ultrasonic evaluation indicators of the present application cover the evaluation of ultrasonic performance such as ranging accuracy, material recognition, crosstalk, echo reflection, etc. Therefore, a comprehensive evaluation of the performance of the ultrasonic sensor is achieved, and the accuracy and effectiveness of the evaluation results are improved.

[0047] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0048] Figure 2 Schematic diagram of the structure of the performance evaluation device of the ultrasonic sensor provided in the embodiment of the present application. Figure 2 As shown, the performance evaluation device of the ultrasonic sensor includes:

[0049] The recording module 201 is configured to initialize the parameters of the ultrasonic sensor, place the performance evaluation board based on the preset position and angle, start the ultrasonic drive, and record the ranging data at different positions and angles;

[0050] A reading module 202 is configured to read the ultrasonic data stored in the ultrasonic driver and determine the theoretical distance measurement number within the evaluation time according to the ultrasonic data;

[0051] The determination module 203 is configured to determine the number of isolated noise distances, and determine the long-distance noise distance and the short-distance noise distance according to the standard distance, and remove the numbers corresponding to the isolated noise distance, the long-distance noise distance and the short-distance noise distance from the theoretical distance measurement number to obtain the effective distance number;

[0052] The calculation module 204 is configured to calculate the effective distance ratio according to the effective distance number and the theoretical distance measurement number, and calculate the dispersion and accuracy of the effective distance value according to the effective distance value and the standard distance;

[0053] The evaluation module 205 is configured to evaluate the performance of the ultrasonic sensor based on the number of isolated noise distances, the effective distance ratio, and the dispersion and accuracy of the effective distance values.

[0054] In some embodiments, Figure 2 The recording module 201 configures the parameters of the ultrasonic sensor according to the actual use environment of the robot to initialize the ultrasonic sensor, wherein the parameters of the ultrasonic sensor include a ranging range and a ranging angle.

[0055] In some embodiments, Figure 2 The recording module 201 takes the position of the ultrasonic sensor as the coordinate origin, the front of the ultrasonic sensor as the x-axis direction, and the direction perpendicular to the x-axis as the y-axis; according to the preset value in the x-axis direction and the value in the y-axis direction, the performance evaluation board is placed in front of the ultrasonic sensor.

[0056] In some embodiments, Figure 2 The reading module 202 reads the ultrasonic data generated within the evaluation time from the ultrasonic drive, analyzes the ultrasonic data, obtains the duration corresponding to the recorded ranging data, and calculates the theoretical ranging number according to the duration and the ultrasonic release frequency of the ultrasonic sensor.

[0057] In some embodiments, Figure 2The determination module 203 traverses each ranging value in the ultrasonic data to compare each ranging value with the ranging value at an adjacent time. When the difference between the ranging value and the ranging value at an adjacent time is greater than a preset distance threshold, the ranging value greater than the distance threshold is taken as an isolated noise distance, and the isolated noise distances are counted to obtain the number of isolated noise distances.

[0058] In some embodiments, Figure 2 The determination module 203 removes isolated noise distances from the ranging data, takes the distance between the ultrasonic sensor and the performance evaluation board measured by the rangefinder as the standard distance, and traverses the distance value corresponding to each noise point in the ranging data after the isolated noise distance is removed, so as to compare the distance value corresponding to each noise point with the standard distance; when the difference between the distance value of the noise point and the standard distance is greater than the distance threshold, the distance value corresponding to the noise point when the distance value is greater than the distance threshold is taken as the long-distance noise distance; when the difference between the distance value of the noise point and the standard distance is less than the distance threshold, the distance value corresponding to the noise point when the distance value is less than the distance threshold is taken as the short-distance noise distance.

[0059] In some embodiments, Figure 2 The evaluation module 205 configures different environmental parameters based on preset environmental influencing factors, calculates the number of noise points, effective distance ratio, discreteness and accuracy of effective noise points of the isolated noise range corresponding to the ultrasonic sensor under different environmental parameters, and evaluates the performance of the ultrasonic sensor under different environmental influences.

[0060] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0061] Figure 3 Schematic diagram of the structure of the electronic device 3 provided in the embodiment of the present application. Figure 3 As shown, the electronic device 3 of this embodiment includes: a processor 301, a memory 302, and a computer program 303 stored in the memory 302 and executable on the processor 301. When the processor 301 executes the computer program 303, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 301 executes the computer program 303, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0062] Exemplarily, the computer program 303 may be divided into one or more modules / units, which are stored in the memory 302 and executed by the processor 301 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 303 in the electronic device 3.

[0063] The electronic device 3 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 3 may include, but is not limited to, a processor 301 and a memory 302. Those skilled in the art will appreciate that Figure 3 It is only an example of the electronic device 3 and does not constitute a limitation of the electronic device 3. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0064] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0065] The memory 302 may be an internal storage unit of the electronic device 3, for example, a hard disk or memory of the electronic device 3. The memory 302 may also be an external storage device of the electronic device 3, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 3. Further, the memory 302 may also include both an internal storage unit and an external storage device of the electronic device 3. The memory 302 is used to store computer programs and other programs and data required by the electronic device. The memory 302 may also be used to temporarily store data that has been output or is to be output.

[0066] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0067] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0068] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0069] In the embodiments provided in the present application, it should be understood that the disclosed devices / computer equipment and methods can be implemented in other ways. For example, the device / computer equipment embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. Multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0070] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0071] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0072] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0073] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for evaluating the performance of an ultrasonic sensor, characterized in that: include: Initialize the parameters of the ultrasonic sensor, place the performance evaluation board based on the preset position and angle, start the ultrasonic drive, and record the ranging data at different positions and angles; Reading ultrasonic data stored in the ultrasonic drive, and determining a theoretical distance measurement number within an evaluation time according to the ultrasonic data; Determine the number of isolated noise ranges, and determine the long-distance noise range and the short-distance noise range according to the standard distance, and remove the numbers corresponding to the isolated noise range, the long-distance noise range and the short-distance noise range from the theoretical distance measurement number to obtain the effective distance number; Calculate the effective distance ratio according to the effective distance number and the theoretical distance measurement number, and calculate the dispersion and accuracy of the effective distance value according to the effective distance value and the standard distance; Evaluating the performance of the ultrasonic sensor based on the number of the isolated noise distances, the effective distance ratio, and the dispersion and accuracy of the effective distance values; The step of reading the ultrasonic data stored in the ultrasonic driver and determining the theoretical distance measurement number within the evaluation time according to the ultrasonic data includes: The ultrasonic data generated within the evaluation time is read from the ultrasonic drive, the ultrasonic data is parsed to obtain the duration corresponding to recording the ranging data, and the theoretical ranging number is calculated based on the duration and the ultrasonic release frequency of the ultrasonic sensor.

2. The method according to claim 1, characterized in that: The initializing of the parameters of the ultrasonic sensor includes: The parameters of the ultrasonic sensor are configured according to the actual use environment of the robot to initialize the ultrasonic sensor, wherein the parameters of the ultrasonic sensor include a ranging range and a ranging angle.

3. The method according to claim 1, characterized in that: Placing the performance evaluation board based on a preset position and angle includes: Taking the position of the ultrasonic sensor as the coordinate origin, taking the direction directly in front of the ultrasonic sensor as the x-axis direction, and taking the direction perpendicular to the x-axis as the y-axis; The performance evaluation board is placed in front of the ultrasonic sensor according to the preset value in the x-axis direction and the value in the y-axis direction.

4. The method according to claim 1, characterized in that Determining the number of isolated noise ranges includes: Each ranging value in the ultrasonic data is traversed so as to compare each ranging value with a ranging value at an adjacent time. When a difference between the ranging value and the ranging value at an adjacent time is greater than a preset distance threshold, the ranging value greater than the distance threshold is taken as an isolated noise range, and the isolated noise ranges are counted to obtain the number of isolated noise ranges.

5. The method according to claim 4, characterized in that The determining of the long-distance noise range and the short-distance noise range according to the standard distance includes: Eliminating the isolated noise distance from the distance measurement data, taking the distance between the ultrasonic sensor and the performance evaluation board measured by the rangefinder as the standard distance, and traversing the distance value corresponding to each noise point in the distance measurement data after eliminating the isolated noise distance, so as to compare the distance value corresponding to each noise point with the standard distance; When the difference between the distance value of the noise point and the standard distance is greater than the distance threshold, the distance value corresponding to the noise point when it is greater than the distance threshold is used as the long-distance noise distance; when the difference between the distance value of the noise point and the standard distance is less than the distance threshold, the distance value corresponding to the noise point when it is less than the distance threshold is used as the short-distance noise distance.

6. The method according to claim 1, characterized in that The method further comprises: Configure different environmental parameters based on preset environmental influencing factors, calculate the number of noise points of the isolated noise range, the effective distance ratio, the discreteness and accuracy of the effective noise points corresponding to the ultrasonic sensor under different environmental parameters, and evaluate the performance of the ultrasonic sensor under different environmental influences; The environmental influencing factors include the width and material of the performance evaluation board, the material of the floor, and the temperature and humidity of the environment.

7. A performance evaluation device for an ultrasonic sensor, characterized in that: include: The recording module is configured to initialize the parameters of the ultrasonic sensor, place the performance evaluation board based on the preset position and angle, start the ultrasonic drive, and record the ranging data at different positions and angles; A reading module is configured to read the ultrasonic data stored in the ultrasonic driver, and determine the theoretical distance measurement number within the evaluation time according to the ultrasonic data; A determination module is configured to determine the number of isolated noise ranges, and determine the long-distance noise range and the short-distance noise range according to the standard distance, and remove the numbers corresponding to the isolated noise range, the long-distance noise range and the short-distance noise range from the theoretical distance measurement number to obtain the effective distance number; A calculation module is configured to calculate the effective distance ratio according to the effective distance number and the theoretical distance measurement number, and calculate the dispersion and accuracy of the effective distance value according to the effective distance value and the standard distance; An evaluation module configured to evaluate the performance of the ultrasonic sensor based on the number of the isolated noise distances, the effective distance ratio, and the dispersion and accuracy of the effective distance values; Among them, the reading module is used to read the ultrasonic data generated within the evaluation time from the ultrasonic drive, parse the ultrasonic data, obtain the time length corresponding to recording the ranging data, and calculate the theoretical ranging number based on the time length and the ultrasonic release frequency of the ultrasonic sensor.

8. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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