Verification method, detection device and computer readable storage medium

Abstract

The application provides a verification method, a detection device and a computer readable storage medium, and relates to the technical field of laser radar. The method comprises the following steps: determining a driving voltage for driving a light filtering assembly according to calibration parameters of a laser; generating and emitting outgoing light based on the calibration parameters; receiving reflected light filtered by the light filtering assembly; and determining whether the calibration parameters meet an error standard according to the reflected light. In the technical solution provided by the application, the light filtering range of the light filtering assembly is adjusted, so that the adjusted light filtering range can include the wavelength of the laser generated by the laser, so that at least one characteristic parameter corresponding to the received reflected light can be determined, and then the difference parameter between the reflected light and the outgoing light can be determined according to the characteristic parameter of the reflected light, so that it can be determined whether the laser generated by the laser has a large error, the influence of the laser on the detection device during detection can be avoided, and the accuracy and reliability of the detection device during detection can be improved.

Description

Technical Field

[0001] This application relates to the field of lidar technology, and in particular to a verification method, detection device and computer-readable storage medium. Background Technology

[0002] With the continuous development of radar technology, lidar has been gradually applied in many fields due to its advantages such as high accuracy and strong anti-interference ability. By emitting lasers towards the object being detected and receiving the lasers reflected by the object, relevant information about the object being detected can be accurately obtained.

[0003] In related technologies, a lidar system may include a light-emitting module, a receiving module, and a processor. The light-emitting module may include a laser, and the receiving module may include a filter. Accordingly, the processor can control the light-emitting module to emit laser light through the laser, and after filtering by the filter, receive the reflected laser light. The processor can then determine relevant information about the detected object based on the emitted and reflected laser light.

[0004] However, due to manufacturing processes, the laser in a lidar system can produce errors when generating laser light, resulting in a difference between the laser light generated by the laser and the laser light indicated by the laser, thus affecting the reliability of the lidar system. Summary of the Invention

[0005] This application provides a verification method, a detection device, and a computer-readable storage medium, which solves the problem in the prior art that the laser of a lidar will produce errors when generating laser light, resulting in a difference between the laser light generated by the laser and the laser light marked by the laser, thereby affecting the reliability of the lidar.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] Firstly, a verification method is provided, characterized in that the method includes:

[0008] Determine the driving voltage for driving the filter assembly based on the laser's calibration parameters;

[0009] Based on the calibration parameters, the emitted light is generated and emitted;

[0010] Receive the reflected light filtered by the filter assembly;

[0011] Based on the reflected light, determine whether the calibration parameters meet the error standard.

[0012] Optionally, determining whether the calibration parameters meet the error standard based on the reflected light includes:

[0013] Based on the reflected light, at least one characteristic parameter corresponding to the reflected light is determined;

[0014] Based on at least one characteristic parameter of the reflected light, and in conjunction with the characteristic parameters of the emitted light indicated by the calibration parameters, it is determined whether the calibration parameters meet the error standard.

[0015] Optionally, determining whether the calibration parameter meets the error standard based on at least one characteristic parameter of the reflected light, combined with the characteristic parameter of the emitted light indicated by the calibration parameter, includes:

[0016] At least one characteristic parameter of the reflected light is compared with the characteristic parameter of the emitted light indicated by the calibration parameter to obtain the difference parameter between the reflected light and the emitted light;

[0017] The comparison result is obtained by comparing the magnitude of the difference parameter with the preset difference threshold.

[0018] Based on the comparison results, determine whether the calibration parameters meet the error standard.

[0019] Optionally, determining whether the calibration parameters meet the error standard based on the comparison result includes:

[0020] If the comparison result indicates that the difference parameter is less than the difference threshold, then the calibration parameter meets the error standard;

[0021] If the comparison result indicates that the difference parameter is greater than or equal to the difference threshold, then the calibration parameter does not meet the error standard.

[0022] Optionally, determining at least one characteristic parameter corresponding to the reflected light based on the reflected light includes:

[0023] The photoelectric converter is illuminated by the reflected light to obtain an echo sequence signal;

[0024] The number of pulses in the echo sequence signal is obtained by analyzing the echo sequence signal.

[0025] In a pre-set parameter correspondence, at least one characteristic parameter corresponding to the number of pulses is used as at least one characteristic parameter corresponding to the reflected light.

[0026] Optionally, the step of using at least one characteristic parameter corresponding to the number of pulses as at least one characteristic parameter corresponding to the reflected light in a pre-set parameter correspondence includes:

[0027] Acquire temperature data;

[0028] Select the parameter correspondence that matches the temperature data;

[0029] In the parameter correspondence that matches the temperature data, at least one characteristic parameter corresponding to the number of pulses is used as at least one characteristic parameter corresponding to the reflected light.

[0030] Optionally, before determining the driving voltage for driving the filter assembly based on the laser's calibration parameters, the method further includes:

[0031] Acquire temperature data;

[0032] Based on the temperature data and a pre-set calculation formula, the calibration parameters are corrected to obtain the corrected calibration parameters.

[0033] Determining the driving voltage for driving the filter assembly based on the laser's calibration parameters includes:

[0034] Based on the corrected calibration parameters, the driving voltage for driving the filter component is determined.

[0035] In a second aspect, a detection device is provided, comprising: a processor, a driving circuit, a laser, a light-emitting module, a receiving module, a photoelectric converter, and a temperature detection module, wherein the receiving module may include a filter component;

[0036] The processor determines the driving voltage for driving the filter component based on the calibration parameters of the laser;

[0037] Based on the calibration parameters, the processor controls the laser to generate and emit outgoing light through the driving circuit.

[0038] The receiving module receives the reflected light filtered by the filter assembly.

[0039] The processor determines whether the calibration parameters meet the error standard based on the reflected light and the photoelectric converter.

[0040] Thirdly, a detection device is provided, comprising: a memory and a processor, the memory being used to store a computer program; the processor being used to execute the method as described in any one of the first aspects when the computer program is invoked.

[0041] Fourthly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method as described in any one of the first aspects.

[0042] This application provides a verification method in which a detection device determines the driving voltage for driving a filter component based on the calibration parameters of a laser; generates and emits outgoing light based on the calibration parameters; receives reflected light filtered by the filter component; and determines whether the calibration parameters meet an error standard based on the reflected light. By adjusting the driving voltage of the filter component, the filtering range of the filter component is adjusted so that the adjusted filtering range can include the wavelength of the laser generated by the laser. Combined with the filtering range of the filter component, at least one characteristic parameter corresponding to the received reflected light can be determined. Thus, based on the characteristic parameter of the reflected light, the difference parameter between the reflected light and the outgoing light can be determined, thereby determining whether there is a large error in the laser generated by the laser. This avoids the impact of large laser errors on the detection device's detection, and improves the accuracy and reliability of the detection device's detection. Attached Figure Description

[0043] Figure 1A This is a schematic diagram of a detection system provided in an embodiment of this application;

[0044] Figure 1B A schematic diagram of another detection system provided in an embodiment of this application;

[0045] Figure 1C This is a schematic diagram of the structure of a detection device provided in an embodiment of this application;

[0046] Figure 2 A schematic flowchart illustrating a verification method provided in an embodiment of this application;

[0047] Figure 3 A structural block diagram of a verification device provided in an embodiment of this application;

[0048] Figure 4 This is a schematic diagram of the structure of a detection device provided in an embodiment of this application. Detailed Implementation

[0049] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known methods for generating emitted light, methods for receiving reflected light, methods for frequency mixing calculations, and electronic devices are omitted so as not to obscure the description of this application with unnecessary detail.

[0050] The terminology used in the following embodiments is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “the,” “the,” and “the” are intended to also include expressions such as “one or more,” unless the context clearly indicates otherwise.

[0051] With the continuous development of radar technology, lidar has emerged, boasting advantages such as high accuracy and strong anti-interference capabilities. Lidar emits laser light towards the object being detected; the reflected light returns to the lidar. The lidar then receives the reflected laser light and, combined with the emitted light, confirms relevant information about the detected object.

[0052] Specifically, a lidar system may include a light-emitting module, a receiving module, and a processor. The light-emitting module may include a laser, and the receiving module may include a filter. During operation, the processor controls the light-emitting module to emit laser light towards the object being detected. The laser light illuminates the object, and the object reflects the laser light.

[0053] Correspondingly, a lidar system can receive reflected laser light through a receiving module and filter out interfering light (such as sunlight and light emitted from other light sources) by using filters within the receiving module. The processor can then perform further calculations based on the emitted and filtered laser light to obtain relevant information about the detected object.

[0054] However, the laser in a lidar system can produce errors when generating laser light, resulting in a difference between the characteristic parameters corresponding to the generated laser light and the parameters marked on the laser light, which can affect the accuracy of lidar detection.

[0055] Therefore, this application proposes a verification method. Based on the calibration parameters of the laser, a driving voltage for driving the filter component is determined, and outgoing light is emitted. Then, the reflected light filtered by the filter component is received through the filter component driven by the driving voltage. At least one characteristic parameter corresponding to the reflected light is determined. Based on the at least one characteristic parameter of the reflected light, a difference parameter between the reflected light and the outgoing light is determined. Thus, based on the difference parameter and a pre-set difference threshold, it can be determined whether the laser meets the error standard.

[0056] By adjusting the driving voltage of the filter component, the filtering range of the filter component can be adjusted so that the adjusted filtering range can include the wavelength of the laser generated by the laser. Combined with the filtering range of the filter component, at least one characteristic parameter corresponding to the received reflected light can be determined. Thus, based on the characteristic parameter of the reflected light, the difference parameter between the reflected light and the emitted light can be determined, thereby determining whether there is a large error in the laser generated by the laser. This avoids the impact of large errors in the laser on the detection equipment, and can improve the accuracy and reliability of the detection equipment.

[0057] The following section first describes the detection system involved in the verification method provided in the embodiments of this application. See also... Figure 1A , Figure 1A This is a schematic diagram of a detection system provided in an embodiment of this application, such as... Figure 1A As shown, the detection system may include: a detection device 110 and a detected object 120.

[0058] In this embodiment, the detection device 110 and the object being detected 120 are distributed at different locations. Furthermore, the detection device 110 can be stationary or moving; similarly, the object being detected 120 can be stationary or moving. For example, the detection device 110 can be a stationary rangefinder or a lidar mounted on a vehicle; while the object being detected 120 can be a stationary tree or guardrail, or a moving vehicle or pedestrian. This application does not specifically limit the detection device 110 or the object being detected 120.

[0059] During the process of the detection device 110 detecting the object 120, the detection device 110 can generate and emit outgoing light, thereby detecting the range corresponding to the field of view (FOV) through the outgoing light.

[0060] Accordingly, during the detection process using emitted light, the emitted light can detect the area corresponding to the FOV. When the emitted light illuminates the object 120 being detected, reflected light is formed through the reflection of the object 120. Part of the reflected light can propagate in the opposite direction to the emitted light, that is, part of the reflected light can propagate in the reverse direction of the emitted light. Accordingly, the detection device 110 can receive this reverse-propagating reflected light and, based on the received reflected light, detect the area corresponding to the FOV.

[0061] Based on the reflected light and the emitted light generated by the detection device 110, the detection device 110 can determine the distance between the detection device 110 and the object 120 being detected, as well as the speed of the object 120 being detected.

[0062] It should be noted that, see Figure 1B , Figure 1B A schematic diagram of another detection system provided in this application embodiment is shown below. Figure 1B As shown, in practical applications, the detection system may also include: a mobile carrier 130.

[0063] The mobile carrier 130 can be a vehicle, drone, robot or other moving device. This application embodiment does not specifically limit the mobile carrier 130.

[0064] Furthermore, the detection device 110 can be mounted on the mobile carrier 130. When the mobile carrier 130 is in motion, the detection device 110 can detect the environment around the mobile carrier 130 to determine the distance between the detected object 120 and the mobile carrier 130, as well as the speed of the detected object 120.

[0065] Furthermore, the mobile carrier 130 can determine the trend of the distance between the detected object 120 and the mobile carrier 130 based on the determined movement speed of the detected object 120 and the travel speed of the mobile carrier 130. That is, it can determine whether the detected object 120 is moving away from the mobile carrier 130 or moving closer to the mobile carrier 130.

[0066] For example, the detection device 110 can be installed on a vehicle to detect pedestrians and other vehicles around the vehicle; or, the detection device 110 can be installed on a drone to scan and detect the area it is currently in during the drone's flight; or, the detection device 110 can be installed on a robot to construct a travel route for the robot based on the data collected by the detection device 110.

[0067] It should also be noted that in practical applications, the detection device 110 can be set on the mobile carrier 130 or fixed in a certain position, so that the detection device 110 can be applied to different scenarios.

[0068] For example, the detection device 110 can be placed above the conveyor belt to detect the materials being transported on the conveyor belt; or the detection device 110 can be placed at a highway toll station to count the passing vehicles and detect the size of each vehicle to determine whether the vehicle is allowed to enter the highway.

[0069] Of course, the detection device 110 can also be applied in other scenarios. This application embodiment does not specifically limit the application scenarios of the detection device 110.

[0070] Further, see Figure 1C , Figure 1CThis is a schematic diagram of the structure of a detection device provided in an embodiment of this application, as shown below. Figure 1C As shown, the detection device 110 may include: a processor 1101, a driving circuit 1102, a laser 1103, a light-emitting module 1104, a receiving module 1105, a photoelectric converter 1106, and a temperature detection module 1107.

[0071] The processor 1101 is connected to the driving circuit 1102, the photoelectric converter 1106 and the temperature detection module 1107 respectively. The laser 1103 is connected in series between the driving circuit 1102 and the light-emitting module 1104. The receiving module 1105 is connected to the photoelectric converter 1106.

[0072] Furthermore, the temperature detection module 1107 is also connected to the laser 1103 to detect the temperature of the laser 1103, so that the temperature detection module 1107 can send the temperature data corresponding to the temperature of the laser 1103 to the processor 1101. The processor 1101 can then adjust the laser filtered by the receiving module 1105 according to the temperature data, thereby improving the accuracy of the detection device 110.

[0073] Additionally, the receiving module 1105 may include a filter component 1105a, which can be connected to the processor 1101 and the driving circuit 1102 respectively, for filtering interference light in the reflected light. For example, the filter component 1105a can be an electrochromic filter, which can filter lasers with different wavelengths based on different voltages. This application embodiment does not specifically limit the filter component 1105a.

[0074] Specifically, during the process of the detection device 110 emitting emitted light, the processor 1101 can send a pre-set drive sequence signal to the drive circuit 1102, and the drive circuit 1102 can amplify the drive sequence signal and transmit the amplified drive sequence signal to the laser 1103.

[0075] The driving sequence signal is a digital electrical signal (such as a sequence of digits 0 and 1). This application does not specifically limit the driving sequence signal.

[0076] Furthermore, the laser 1103 can receive the amplified drive sequence signal sent by the drive circuit 1102, and control the laser 1103 to emit or extinguish light according to the amplified drive sequence signal. When the laser 1103 emits light, the light-emitting module 1104 can adjust the light emitted by the laser 1103 to form outgoing light; when the laser 1103 is extinguished, outgoing light is no longer generated.

[0077] Correspondingly, the emitted light can illuminate the object 120 being detected to form reflected light. The reflected light can propagate towards the detection device 110 along a path opposite to that of the emitted light. The detection device 110 can receive the reflected light through the receiving module 1105 and filter out interfering light in the reflected light through the filter assembly 1105a to obtain only the reflected light with a wavelength corresponding to that of the emitted light.

[0078] Subsequently, when the reflected light illuminates the photoelectric converter 1106, the photoelectric converter 1106 absorbs the reflected light, causing the circuit containing the photoelectric converter 1106 to conduct, thereby outputting a level signal to the processor 1101. Therefore, the photoelectric converter 1106 can continuously receive reflected light and continuously output level signals to the processor 1101, obtaining an echo sequence signal composed of multiple level signals.

[0079] The processor 1101 can mix the received echo sequence signal with the local oscillator sequence signal used to generate the emitted light to obtain a mixed signal. Then, it can calculate the frequency difference between the echo sequence signal and the local oscillator sequence signal based on the mixed signal. The processor 1101 can then calculate the detection parameters corresponding to the detected object 120 based on this frequency difference.

[0080] For example, the detection parameter can be the distance between the detection device 110 and the object being detected 120.

[0081] However, before conducting the detection, the detection device 110 can verify the parameters calibrated by the laser to determine the accuracy of the laser.

[0082] Therefore, the detection device 110 can determine the characteristic parameters (such as wavelength) of the emitted light generated by the laser 1103 according to the parameters calibrated by the laser 1103, and adjust the voltage output by the driving circuit 1102 for driving the filter component 1105a in combination with the characteristic parameters, so that the filtering range of the filter component 1105a can include the wavelength of the emitted light.

[0083] Correspondingly, the detection device 110 can filter the received reflected light through the filter component 1105a in the receiving module 1105, and generate an echo sequence signal through the filtered reflected light. Based on the echo sequence signal, at least one characteristic parameter corresponding to the filtered reflected light can be determined. Then, based on the at least one characteristic parameter corresponding to the reflected light, the filtering range of the filter component 1105a, and the characteristic parameters of the emitted light, it can be determined whether the parameters calibrated by the laser 1103 are accurate, and whether the laser 1103 of the detection device 110 will produce errors when generating laser light, thereby affecting the reliability of the detection device 110.

[0084] It should be noted that in practical applications, the detection device 110 can be equipped with multiple driving circuits 1102 to drive the laser 1103 and the filter component 1105a respectively, so that different voltages can be output by multiple driving circuits 1102 to control the laser 1103 to generate laser light and adjust the passable wavelength of the filter component 1105a. The number of driving circuits 1102 included in the detection device 110 is not specifically limited in this application embodiment.

[0085] It should also be noted that the processor 1101 mentioned above can be a central processing unit (CPU), a field programmable gate array (FPGA), a micro control unit (MCU), or a digital signal processor (DSP). This application embodiment does not specifically limit the processor 1101.

[0086] Similarly, laser 1103 can be a semiconductor laser, a solid-state laser, or other types of laser. If laser 1103 is a semiconductor laser, then laser 1103 can be a vertical-cavity surface-emitting laser (VCSEL) or an edge-emitting semiconductor laser (EEL). This application embodiment does not specifically limit laser 1103.

[0087] Furthermore, the emitted light from the laser 1103 can be a laser with a certain wavelength. For example, the emitted light can be a laser with a wavelength of 905 nanometers (nm), 950nm, or 1550nm. This application embodiment does not specifically limit the wavelength of the emitted light.

[0088] Furthermore, the aforementioned photoelectric converter 1106 can be an optocoupler, a photodiode, or other device with photoelectric conversion function. For example, if the photoelectric converter 1106 is a photodiode, then the photoelectric converter 1106 can be a single photon avalanche diode (SPAD). This application embodiment does not specifically limit the photoelectric converter 1106.

[0089] Furthermore, the aforementioned detection device 110 can perform detection independently or be mounted on the mobile carrier 130 to perform detection while the mobile carrier 130 is in motion. For ease of explanation, the following description assumes that both the detection device 110 and the object being detected 120 are stationary, and the detection device 110 detects the object 120 to determine the distance between them. Specifically, the description uses a rangefinder as an example to illustrate the detection method in the aforementioned detection scenario.

[0090] Figure 2 This is a schematic flowchart illustrating a verification method provided in an embodiment of this application. It is intended as an example and not a limitation. This method can be applied to detection devices in the aforementioned detection scenarios. The detection device is used as a rangefinder for illustration. See [link to relevant documentation]. Figure 2 The method includes:

[0091] Step 201: Determine the driving voltage for driving the filter component based on the calibration parameters of the laser.

[0092] The calibration parameters of the laser are used to represent the required operating environment of the laser and the characteristic parameters of the laser light produced by the laser. Furthermore, the characteristic parameters of the laser may include parameters such as wavelength and frequency; however, this application does not specifically limit the characteristic parameters.

[0093] Before conducting a detection, the accuracy of the laser preset in the detection equipment can be verified to determine whether there is a large deviation in the emitted light generated by the laser, which could affect the detection results of the detection equipment.

[0094] Therefore, the detection equipment can first configure the working environment of the detection equipment according to the pre-stored calibration parameters of the laser, so that the laser can operate normally under the state indicated by the calibration parameters.

[0095] Furthermore, the detection device can determine the characteristic parameters such as wavelength and frequency of the emitted light generated by the laser based on the laser's calibration parameters, thereby determining the driving voltage that matches the characteristic parameters. In subsequent steps, the detection device can adjust the voltage of the driving filter component to filter the reflected light formed by the emitted light, and thus determine the error of the emitted light generated by the laser.

[0096] Specifically, after startup, the detection device can first acquire the pre-stored calibration parameters of the laser and obtain at least one characteristic parameter of the emitted light from the calibration parameters. Then, based on at least one characteristic parameter and a pre-set correspondence between voltage and characteristic parameters, the detection device can find the corresponding driving voltage.

[0097] Furthermore, in practical applications, the wavelength of the emitted light produced by the laser will change due to the influence of temperature. The detection device can then calculate characteristic parameters such as wavelength and frequency corresponding to the temperature indicated by the temperature data based on the calibration parameters and the temperature data collected by the temperature detection module, combined with the pre-set calculation formula.

[0098] Correspondingly, in the process of determining the driving voltage, the detection equipment can also select the corresponding relationship with the temperature indicated by the temperature data to find a more accurate driving voltage, thereby improving the accuracy of the detection equipment in verifying the laser.

[0099] Step 202: Generate and emit outgoing light based on the calibration parameters of the laser.

[0100] Corresponding to step 201, when the detection device drives the filter component with a determined driving voltage, the detection device can also output the voltage and current indicated by the calibration parameters to the laser through the driving circuit according to the voltage and current parameters indicated by the calibration parameters, thereby driving the laser to generate and emit outgoing light.

[0101] Specifically, the detection device can acquire a pre-stored drive sequence signal and send the drive sequence signal to the drive circuit through the processor, so that the drive circuit amplifies the drive sequence signal and matches the voltage, current and other parameters indicated by the calibration parameters. Thus, the laser can be driven by the amplified drive sequence signal, and the laser can generate and emit outgoing light that matches the drive sequence signal.

[0102] Step 203: Receive the reflected light filtered by the filter component through the filter component driven by the driving voltage.

[0103] To confirm whether there is a deviation in the emitted light generated by the laser, the detection device can drive the filter assembly according to the driving voltage determined in step 201, and determine whether the received reflected light includes the reflected light formed by the emitted light by adjusting the filter range.

[0104] Specifically, after the detection device determines the driving voltage in step 201, the detection device can control the driving circuit to output the driving voltage through the processor, thereby driving the filter component. While the driving circuit adjusts the voltage output to the filter component, the internal characteristics of the filter component also change accordingly, causing the filtering range of the filter component to change with the driving voltage.

[0105] When the voltage driving the filter component is consistent with the determined driving voltage, the filter component can maximize the reception of reflected light formed by the emitted light that is consistent with the calibration parameters, thereby improving the accuracy of the detection equipment in calibrating the laser.

[0106] Step 204: Determine at least one characteristic parameter corresponding to the received reflected light.

[0107] After receiving the reflected light, the detection device can analyze the reflected light and determine at least one characteristic parameter of the reflected light based on the analysis results. In subsequent steps, the determined characteristic parameter can be used to detect whether the reflected light is formed by the outgoing light.

[0108] The characteristic parameters are used to represent the properties of the reflected light. For example, the characteristic parameters can be properties such as wavelength, frequency, amplitude or energy of the reflected light. This application does not specifically limit these properties.

[0109] Specifically, the detection device can receive reflected light through a receiving module and filter out interfering light in the reflected light through a filtering component to obtain reflected light formed by the emitted light. Then, the detection device can control the filtered reflected light to illuminate the photoelectric converter, obtain the echo sequence signal corresponding to the reflected light, and analyze the echo sequence signal to determine at least one characteristic parameter corresponding to the reflected light.

[0110] Furthermore, during the analysis of the echo sequence signal, the detection device can first count the number of pulses in the echo sequence signal using a processor to obtain the pulse count. Simultaneously, the detection device can also detect the current temperature of the laser using a temperature detection module to obtain temperature data. Based on this temperature data, a pre-set parameter correspondence corresponding to the current temperature can be determined. Then, based on the parameter correspondence matching the temperature data, the detection device can determine at least one characteristic parameter corresponding to the pulse count.

[0111] The pre-set parameter correspondence can be used to map the number of pulses to the characteristic parameters at different temperatures. That is, each temperature data is matched with a parameter correspondence, and each parameter correspondence can include the mapping relationship between the number of pulses and the characteristic parameters.

[0112] For example, a detection device or an electronic device connected to the detection device can establish a parameter correspondence between the number of pulses and the characteristic parameters of the reflected light based on different driving voltage and / or temperature data of the filter component, as well as the number of pulses obtained when reflected light of different wavelengths passes through the filter component.

[0113] Accordingly, the detection device can, based on the statistically obtained number of pulses and in conjunction with the current driving voltage and / or temperature data of the filter component, find at least one characteristic parameter corresponding to the number of pulses in the parameter correspondence that matches the driving voltage and / or temperature data.

[0114] It should be noted that in practical applications, in the parameter correspondence of any driving voltage and / or temperature data matching, a certain number of pulses can correspond to a single characteristic parameter, or it can correspond to a set of characteristic parameters composed of multiple characteristic parameters. This application embodiment does not make specific limitations in this regard.

[0115] Step 205: Determine the difference parameter between the reflected light and the emitted light based on at least one characteristic parameter of the reflected light.

[0116] After obtaining at least one characteristic parameter of the reflected light, the detection device can compare the at least one characteristic parameter of the reflected light with the characteristic parameter of the emitted light determined according to the calibration parameters to obtain the difference between the two. In subsequent steps, the detection device can determine whether the calibration parameters of the laser meet the error standard based on the comparison result.

[0117] Specifically, the detection device can first obtain the characteristic parameters corresponding to the emitted light obtained in step 201, and then, according to the type of each characteristic parameter, compare at least one characteristic parameter corresponding to the reflected light with at least one characteristic parameter corresponding to the emitted light to obtain the difference parameter corresponding to at least one type of characteristic parameter.

[0118] Step 206: If the difference parameter between the reflected light and the emitted light is less than the preset difference threshold, it means that the calibration parameters of the laser meet the error standard.

[0119] After obtaining at least one difference parameter, the detection device can compare each difference parameter with the difference threshold corresponding to the type of the difference parameter, and thus determine whether the calibration parameters of the laser meet the error standard based on the comparison results.

[0120] Specifically, for each difference parameter, the detection device can first obtain a pre-set difference threshold corresponding to the type of the difference parameter, and then compare the difference parameter with the difference threshold to obtain the relationship between the two. If the difference parameter is less than the difference threshold, it can be considered that the calibration parameters of the laser meet the error standard, and the laser will not affect the accuracy of the detection results of the detection device. The detection device can perform detection based on the laser.

[0121] It should be noted that in practical applications, if multiple difference parameters are compared with their corresponding difference thresholds, and each difference parameter is less than its corresponding threshold, then the laser's calibration parameters can be considered to meet the error standard. Of course, other methods can also be used to determine whether the laser's calibration parameters meet the error standard; this application does not specifically limit these methods.

[0122] Step 207: If the difference parameter between the reflected light and the emitted light is greater than or equal to the preset difference threshold, it means that the calibration parameters of the laser do not meet the error standard.

[0123] Similar to step 206, after comparing the difference parameter with the difference threshold, if the difference parameter is greater than or equal to the difference threshold, the detection device can determine that the laser's calibration parameters do not meet the error standard. Accordingly, the detection device can warn and inform the user that the laser's calibration parameters have errors and that the laser needs to be calibrated.

[0124] It should be noted that when the detection device compares multiple difference parameters, if any one of the difference parameters is greater than the difference threshold of its type, the detection device can consider that the calibration parameters of the laser do not meet the error standard.

[0125] In summary, the verification method provided in this application determines the driving voltage for driving the filter component based on the calibration parameters of the laser, emits outgoing light, receives the reflected light filtered by the filter component driven by the driving voltage, determines at least one characteristic parameter corresponding to the reflected light, and then determines the difference parameter between the reflected light and the outgoing light based on the at least one characteristic parameter of the reflected light. Thus, based on the difference parameter and a pre-set difference threshold, it can be determined whether the laser meets the error standard.

[0126] By adjusting the driving voltage of the filter component, the filtering range of the filter component can be adjusted so that the adjusted filtering range can include the wavelength of the laser generated by the laser. Combined with the filtering range of the filter component, at least one characteristic parameter corresponding to the received reflected light can be determined. Thus, based on the characteristic parameter of the reflected light, the difference parameter between the reflected light and the emitted light can be determined, thereby determining whether there is a large error in the laser generated by the laser. This avoids the impact of large errors in the laser on the detection equipment, and can improve the accuracy and reliability of the detection equipment.

[0127] It should be understood that the sequence number of each step in the above embodiments does not imply 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 this application.

[0128] Corresponding to the detection method described in the above embodiments, Figure 3 This is a structural block diagram of a verification device provided in an embodiment of this application. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0129] Reference Figure 3 The device includes:

[0130] The first determining module 301 is used to determine the driving voltage for driving the filter component based on the calibration parameters of the laser.

[0131] The transmitting module 302 is used to generate and emit outgoing light based on the calibration parameters;

[0132] The receiving module 303 is used to receive the reflected light filtered by the filter assembly;

[0133] The second determining module 304 is used to determine whether the calibration parameters meet the error standard based on the reflected light.

[0134] Optionally, the second determining module 304 is specifically used to determine at least one characteristic parameter corresponding to the reflected light based on the reflected light; and to determine whether the calibration parameter meets the error standard based on the at least one characteristic parameter of the reflected light and the characteristic parameter of the emitted light indicated by the calibration parameter.

[0135] Optionally, the second determining module 304 is further configured to compare at least one of the characteristic parameters of the reflected light with the characteristic parameters of the emitted light indicated by the calibration parameters to obtain a difference parameter between the reflected light and the emitted light; compare the magnitude relationship between the difference parameter and a preset difference threshold to obtain a comparison result; and determine whether the calibration parameters meet the error standard based on the comparison result.

[0136] Optionally, the second determining module 304 is further configured to: if the comparison result indicates that the difference parameter is less than the difference threshold, then the calibration parameter meets the error standard; if the comparison result indicates that the difference parameter is greater than or equal to the difference threshold, then the calibration parameter does not meet the error standard.

[0137] Optionally, the second determining module 304 is further configured to irradiate the photoelectric converter with the reflected light to obtain an echo sequence signal; analyze the echo sequence signal to obtain the number of pulses in the echo sequence signal; and, in a pre-set parameter correspondence relationship, use at least one feature parameter corresponding to the number of pulses as at least one feature parameter corresponding to the reflected light.

[0138] Optionally, the second determining module 304 is further specifically used to acquire temperature data; select a parameter correspondence that matches the temperature data; and in the parameter correspondence that matches the temperature data, take at least one feature parameter corresponding to the number of pulses as at least one feature parameter corresponding to the reflected light.

[0139] Optionally, the device further includes:

[0140] The acquisition module 305 is used to acquire temperature data;

[0141] The correction module 306 is used to correct the calibration parameters based on the temperature data and a pre-set calculation formula to obtain the corrected calibration parameters.

[0142] The first determining module 301 is specifically used to determine the driving voltage for driving the filter component based on the corrected calibration parameters.

[0143] In summary, the verification device provided in this application determines the driving voltage for driving the filter component based on the calibration parameters of the laser, emits outgoing light, receives the reflected light filtered by the filter component driven by the driving voltage, determines at least one characteristic parameter corresponding to the reflected light, and then determines the difference parameter between the reflected light and the outgoing light based on the at least one characteristic parameter of the reflected light. Thus, based on the difference parameter and a pre-set difference threshold, it can be determined whether the laser meets the error standard.

[0144] By adjusting the driving voltage of the filter component, the filtering range of the filter component can be adjusted so that the adjusted filtering range can include the wavelength of the laser generated by the laser. Combined with the filtering range of the filter component, at least one characteristic parameter corresponding to the received reflected light can be determined. Thus, based on the characteristic parameter of the reflected light, the difference parameter between the reflected light and the emitted light can be determined, thereby determining whether there is a large error in the laser generated by the laser. This avoids the impact of large errors in the laser on the detection equipment, and can improve the accuracy and reliability of the detection equipment.

[0145] The detection device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0146] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to 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 embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0147] Based on the same inventive concept, this application also provides a detection device. Figure 4 This is a schematic diagram of the structure of a detection device provided in an embodiment of this application, as shown below. Figure 4 As shown, the detection device provided in this embodiment may include: a memory 41 and a processor 42. The memory 41 is used to store a computer program 43; the processor 42 is used to execute the method described in the above method embodiment when the computer program 43 is invoked.

[0148] The detection device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0149] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the methods described in the above-described method embodiments.

[0150] This application also provides a computer program product that, when run on a detection device, enables the detection device to implement the method described in the above-described method embodiments.

[0151] If the integrated units described above are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include at least: any entity or device capable of carrying computer program code to a photographic device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electrical carrier signals or telecommunication signals.

[0152] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0153] Those skilled in the art will recognize that the units and algorithm steps of the various examples 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 implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0154] In the embodiments provided in this application, it should be understood that the disclosed apparatus / devices and methods can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0155] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0156] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0157] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0158] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0159] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0160] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A verification method, characterized in that, The method is applied to a laser comprising: a temperature detection module, an electrochromic filter assembly, and a photoelectric converter; the method includes: The real-time temperature of the laser is collected, and the calibration parameters of the laser are corrected based on a preset calculation formula to obtain the corrected calibration parameters. Based on the corrected calibration parameters, the driving voltage for driving the electrochromic filter component is determined; based on the corrected calibration parameters, outgoing light is generated and emitted; reflected light filtered by the electrochromic filter component is received; based on the reflected light, an echo sequence is generated by the photoelectric converter and the number of pulses is counted to determine whether the corrected calibration parameters meet the error standard.

2. The method according to claim 1, characterized in that, The step of generating an echo sequence and counting the number of pulses based on the reflected light via the photoelectric converter, and determining whether the correction calibration parameters meet the error standard, includes: determining at least one characteristic parameter corresponding to the reflected light based on the reflected light; and determining whether the calibration parameters meet the error standard based on at least one characteristic parameter of the reflected light, combined with the characteristic parameter of the emitted light indicated by the calibration parameters.

3. The method according to claim 2, characterized in that, The step of determining whether the calibration parameter meets the error standard based on at least one characteristic parameter of the reflected light and the characteristic parameter of the emitted light indicated by the calibration parameter includes: comparing at least one characteristic parameter of the reflected light with the characteristic parameter of the emitted light indicated by the calibration parameter to obtain a difference parameter between the reflected light and the emitted light; comparing the magnitude relationship between the difference parameter and a preset difference threshold to obtain a comparison result; and determining whether the calibration parameter meets the error standard based on the comparison result.

4. The method according to claim 3, characterized in that, The step of determining whether the calibration parameter meets the error standard based on the comparison result includes: if the comparison result indicates that the difference parameter is less than the difference threshold, then the calibration parameter meets the error standard; if the comparison result indicates that the difference parameter is greater than or equal to the difference threshold, then the calibration parameter does not meet the error standard.

5. The method according to claim 2, characterized in that, The step of determining at least one characteristic parameter corresponding to the reflected light based on the reflected light includes: irradiating the photoelectric converter with the reflected light to obtain an echo sequence signal; analyzing the echo sequence signal to obtain the number of pulses in the echo sequence signal; and using at least one characteristic parameter corresponding to the number of pulses as at least one characteristic parameter corresponding to the reflected light in a pre-set parameter correspondence relationship.

6. The method according to claim 5, characterized in that, The step of using at least one characteristic parameter corresponding to the number of pulses as at least one characteristic parameter corresponding to the reflected light in a pre-set parameter correspondence includes: acquiring temperature data; selecting a parameter correspondence that matches the temperature data; and using at least one characteristic parameter corresponding to the number of pulses as at least one characteristic parameter corresponding to the reflected light in the parameter correspondence that matches the temperature data.

7. The method according to any one of claims 1 to 6, characterized in that, Before determining the driving voltage for driving the electrochromic filter component based on the laser's corrected calibration parameters, the method further includes: acquiring temperature data; correcting the calibration parameters based on the temperature data and a pre-set calculation formula to obtain the corrected calibration parameters; determining the driving voltage for driving the electrochromic filter component based on the laser's corrected calibration parameters includes: determining the driving voltage for driving the electrochromic filter component based on the corrected calibration parameters.

8. A detection device, characterized in that, include: The system includes a processor, a driving circuit, a laser, a light-emitting module, a receiving module, a photoelectric converter, and a temperature detection module. The receiving module may include an electrochromic filter component. The processor determines the driving voltage for driving the filter component based on the calibration parameters of the laser; the processor controls the laser to generate and emit outgoing light through the driving circuit based on the calibration parameters. The receiving module receives the reflected light filtered by the electrochromic filter assembly. The processor determines whether the calibration parameters meet the error standard based on the reflected light and the photoelectric converter.

9. A detection device, characterized in that, include: A memory and a processor, the memory being used to store a computer program; the processor being used to execute the method as described in any one of claims 1 to 7 when the computer program is invoked.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

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