Voltage adjustment method, detection device and computer readable storage medium

Abstract

The application provides a voltage adjustment 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 according to received reflected light; acquiring a current voltage of a driving light filtering component; selecting an adjustment mode for adjusting the current voltage according to the driving voltage and the current voltage; and adjusting the current voltage according to the selected adjustment mode. In the technical solution provided in the application, the detection device can continuously select an adjustment mode matched with a voltage difference between the driving voltage and the current voltage to adjust the current voltage, so that the current voltage is accurately adjusted through at least one adjustment mode, the accuracy of the adjusted voltage is improved, and the accuracy and reliability of the detection performed by the detection device are further improved.

Description

Technical Field

[0001] This application relates to the field of lidar technology, and in particular to a voltage adjustment method, a detection device, and a 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 receiving module may include a filter. Correspondingly, the processor can control the light-emitting module to generate and emit outgoing light, and receive reflected light through the receiving module. It can also adjust the voltage used to drive the filter to filter out interfering light in the reflected light. The processor can then determine relevant information about the detected object based on the outgoing light and the filtered reflected light.

[0004] However, during the operation of a lidar, the temperature of the light-emitting module may rise due to the laser emitted, causing temperature drift of the light-emitting module. It is necessary to adjust the driving voltage of the filter in a timely manner, but the accuracy of adjusting the driving voltage is low, which in turn affects the accuracy of the lidar. Summary of the Invention

[0005] This application provides a voltage adjustment method, a detection device, and a computer-readable storage medium, which solves the problem that the accuracy of adjusting the driving voltage in the prior art is low, thus affecting the accuracy of lidar.

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

[0007] In a first aspect, a voltage regulation method is provided, the method comprising:

[0008] Determine the driving voltage based on the received reflected light;

[0009] Get the current voltage driving the filter component;

[0010] Based on the driving voltage and the current voltage, select an adjustment method for adjusting the current voltage;

[0011] The current voltage is adjusted according to the selected adjustment method.

[0012] Optionally, selecting an adjustment method for adjusting the current voltage based on the driving voltage and the current voltage includes:

[0013] Determine the voltage difference between the driving voltage and the current voltage based on the driving voltage and the current voltage;

[0014] Select an adjustment method that matches the voltage difference.

[0015] Optionally, the selection of an adjustment method matching the voltage difference includes:

[0016] Obtain multiple pre-set voltage thresholds;

[0017] Sort the multiple voltage thresholds in ascending order;

[0018] Compare each voltage threshold with the voltage difference according to the sorting order;

[0019] For each voltage threshold, when the voltage threshold is greater than or equal to the voltage difference, the adjustment method is determined based on the voltage threshold.

[0020] Optionally, adjusting the current voltage according to the selected adjustment method includes:

[0021] Based on the adjustment method, determine the target adjustment range corresponding to the adjustment method;

[0022] According to the target adjustment range, the duty cycle of the driving circuit is adjusted so that the current voltage output by the driving circuit gradually approaches the driving voltage.

[0023] Optionally, after adjusting the current voltage according to the selected adjustment method, the method further includes:

[0024] Based on the re-received reflected light, determine at least one characteristic parameter corresponding to the re-received reflected light;

[0025] The current voltage is adjusted based on at least one characteristic parameter corresponding to the reflected light received again.

[0026] When the current voltage is detected to be consistent with the driving voltage, the adjustment of the current voltage is stopped.

[0027] Optionally, determining the driving voltage based on the received reflected light includes:

[0028] Based on the received reflected light, at least one characteristic parameter corresponding to the reflected light is determined;

[0029] The driving voltage corresponding to at least one of the characteristic parameters is determined according to a pre-set voltage correspondence.

[0030] Optionally, determining the driving voltage corresponding to at least one of the characteristic parameters according to a pre-set voltage correspondence includes:

[0031] The initial voltage is determined based on at least one of the aforementioned characteristic parameters and in conjunction with a pre-set voltage correspondence.

[0032] The initial voltage is corrected based on the collected temperature data to obtain the driving voltage.

[0033] 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;

[0034] The processor determines the driving voltage based on the received reflected light;

[0035] The processor obtains the current voltage driving the filter component through the driving circuit;

[0036] The processor selects an adjustment method for adjusting the current voltage based on the driving voltage and the current voltage;

[0037] The processor adjusts the current voltage according to the selected adjustment method.

[0038] 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.

[0039] 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.

[0040] This application provides a voltage adjustment method in which a detection device determines a driving voltage based on received reflected light; acquires the current voltage of a driving filter component; selects an adjustment method for adjusting the current voltage based on the driving voltage and the current voltage; and adjusts the current voltage according to the selected adjustment method. The detection device can continuously select an adjustment method matching the voltage difference between the driving voltage and the current voltage to adjust the current voltage, thereby accurately regulating the current voltage through at least one adjustment method. This improves the accuracy of voltage adjustment and further enhances the accuracy and reliability of the detection device. Attached Figure Description

[0041] Figure 1AThis is a schematic diagram of a detection system provided in an embodiment of this application;

[0042] Figure 1B A schematic diagram of another detection system provided in an embodiment of this application;

[0043] Figure 1C This is a schematic diagram of the structure of a detection device provided in an embodiment of this application;

[0044] Figure 2 A schematic flowchart illustrating a voltage adjustment method provided in an embodiment of this application;

[0045] Figure 3 A schematic diagram illustrating a process for determining the driving voltage, provided in an embodiment of this application;

[0046] Figure 4 This is a structural block diagram of a voltage adjustment device provided in an embodiment of this application;

[0047] Figure 5 This is a schematic diagram of the structure of a detection device provided in an embodiment of this application. Detailed Implementation

[0048] 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.

[0049] 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.

[0050] 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.

[0051] Specifically, a lidar system may include a light-emitting module, a receiving module, and a processor, wherein the receiving module includes a filter. During operation, the processor controls the light-emitting module to generate and emit outgoing light towards the object being detected. The laser can illuminate the object, and the object can reflect the outgoing light to form reflected light.

[0052] Correspondingly, a lidar system can receive reflected laser light through a receiving module and adjust the voltage used to drive the filter, thereby filtering out interference light (such as sunlight and light emitted from other light sources) received simultaneously. The processor can then perform further calculations based on the emitted and reflected light to obtain relevant information about the detected object.

[0053] However, during operation, the laser emission module of a lidar generates a large amount of heat, causing its temperature to rise. Due to material limitations, the emitted light from the laser module experiences temperature drift when the temperature changes, meaning the wavelength of the emitted light changes.

[0054] Therefore, the driving voltage used to drive the filter must also change with the wavelength of the emitted light. However, the accuracy of adjusting the driving voltage is poor, which may affect the reflected light filtered by the filter, thereby affecting the accuracy of the lidar detection.

[0055] Therefore, this application proposes a voltage adjustment method. The method involves acquiring at least one characteristic parameter based on the received reflected light, determining the driving voltage corresponding to the at least one characteristic parameter, and then determining the voltage difference between the driving voltage and the current voltage by combining this with the current voltage of the driving filter component. Subsequently, different adjustment methods can be selected to adjust the current voltage based on this voltage difference. During the adjustment process, the current voltage is detected again, and the corresponding adjustment method can be selected again based on the newly acquired current voltage. This process gradually brings the current voltage closer to the driving voltage until the current voltage matches the driving voltage, thus completing the voltage adjustment.

[0056] In this application, the detection device can continuously select an adjustment method that matches the voltage difference between the driving voltage and the current voltage to adjust the current voltage, thereby accurately adjusting the current voltage through at least one adjustment method, which can improve the accuracy of voltage adjustment and further improve the accuracy and reliability of the detection device.

[0057] The following section first describes the detection system containing the detection device capable of applying the above-described voltage adjustment method, as provided in the embodiments of this application. See [link to relevant documentation]. Figure 1A , Figure 1AThis 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 1C This 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 determine the characteristic parameters such as the wavelength of the emitted light generated by the laser 1103 at the current temperature based on the temperature data.

[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] Furthermore, during the continuous detection process of the detection device 110, the laser 1103 generates a large amount of heat due to the continuous generation of emitted light, which causes the emitted light to experience temperature drift, that is, the wavelength of the emitted light changes.

[0082] Therefore, the detection device 110 can first analyze the received reflected light through the processor 1101 to obtain at least one characteristic parameter corresponding to the reflected light, and then combine it with the collected temperature data to determine the driving voltage corresponding to at least one characteristic parameter.

[0083] Then, the processor 1101 can determine the voltage difference between the driving voltage and the current voltage of the driving filter component 1105a, determine the adjustment method for adjusting the current voltage based on the voltage difference, and then adjust the current voltage according to the determined adjustment method.

[0084] Moreover, during the adjustment process, the detection device 110 can continuously analyze the received reflected light to obtain the updated current voltage and voltage difference. Based on the updated voltage difference, the adjustment method can be adapted again so that the current voltage can gradually approach the driving voltage until it matches the driving voltage.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] Figure 2 This is a schematic flowchart illustrating a voltage adjustment method provided in an embodiment of this application. It is intended as an example and not a limitation. This method can be applied to the detection device in the aforementioned detection scenario. The detection device is used as a rangefinder for illustration. See [link to relevant documentation]. Figure 2 The method includes:

[0092] Step 201: Determine at least one characteristic parameter corresponding to the received reflected light.

[0093] During the detection process, the detection equipment can continuously generate and emit outgoing light through a laser. The laser will generate a lot of heat, causing the laser temperature to change. This causes the outgoing light emitted by the laser to drift due to temperature. In other words, the wavelength of the outgoing light will change with the temperature of the laser.

[0094] Therefore, the detection device can continuously determine the wavelength of the emitted light. Since the object being detected can reflect the emitted light to form reflected light, the reflected light received by the detection device can include the reflected light formed by the emitted light. Accordingly, the detection device can determine the characteristic parameters of the emitted light based on the received reflected light.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] Step 202: Determine the driving voltage corresponding to at least one characteristic parameter according to the preset voltage correspondence.

[0103] After determining at least one characteristic parameter corresponding to the reflected light, the detection device can find the corresponding initial voltage in a pre-set voltage correspondence based on any one of the characteristic parameters, so that the voltage of the driving filter component can be adjusted in subsequent steps using the determined initial voltage.

[0104] Furthermore, in order to improve the accuracy of the initial voltage, the detection device can also collect the temperature data of the laser. The initial voltage can be further corrected by the collected temperature data to obtain the driving voltage, so that the voltage of the driving filter component can be adjusted more accurately by the driving voltage.

[0105] Therefore, step 202 may include step 202a, or it may include both step 202a and step 202b. This application embodiment does not specifically limit this.

[0106] Step 202a: Determine the initial voltage based on at least one characteristic parameter and a pre-set voltage correspondence.

[0107] The voltage correspondence is used to represent the mapping relationship between at least one characteristic parameter and the initial voltage.

[0108] The detection device can first determine the parameter type corresponding to the defined characteristic parameters based on the defined characteristic parameters, and then select a matching voltage correspondence according to the parameter type. Finally, it can find the initial voltage corresponding to the characteristic parameters from the selected voltage correspondence.

[0109] Specifically, for each of the at least one characteristic parameter, the detection device can first determine the parameter type corresponding to that characteristic parameter. If the parameter type corresponding to that characteristic parameter is a first type parameter, the detection device can search in a pre-set first voltage correspondence relationship based on that characteristic parameter to obtain the initial voltage corresponding to that characteristic parameter.

[0110] If the parameter type corresponding to the characteristic parameter is a second type parameter, the detection device can determine the current voltage driving the filter component and / or the current temperature data of the laser. Based on the current voltage and / or temperature data, it can select a target second voltage correspondence that matches the current voltage or temperature data from multiple second voltage correspondences. Then, the detection device can search for the initial voltage corresponding to the characteristic parameter in the target second voltage correspondence based on the characteristic parameter.

[0111] The first type of parameter can be a characteristic parameter used to represent the properties of reflected light. For example, the first type of parameter can be a parameter such as the wavelength, frequency or energy amplitude of the reflected light. The embodiments of this application do not specifically limit the characteristic parameters included in the first type of parameter.

[0112] However, the second type of parameter can be a feature parameter that the detection device can directly obtain based on the received reflected light. For example, the second type of parameter can be a parameter such as the number of pulses obtained by counting the echo sequence signal corresponding to the reflected light. The embodiments of this application do not specifically limit the feature parameters included in the second type of parameter.

[0113] It should be noted that the above embodiments illustrate the determination of the initial voltage by the detection device based on a single characteristic parameter. In practical applications, the detection device can determine the initial voltage based on multiple detection parameters. To improve the accuracy of the initial voltage, the detection device can calculate the comprehensive initial voltage by combining the weights corresponding to each characteristic parameter with the parameters corresponding to each initial voltage. This application does not specifically limit the method for determining the comprehensive initial voltage.

[0114] In addition, after determining the initial voltage, the detection device can adjust the voltage driving the filter component based on the initial voltage or the combined initial voltage, which is step 203. Of course, the detection device can also continue to execute step 202b to further correct the initial voltage in order to improve the accuracy of the filter component in filtering.

[0115] Step 202b: Based on the collected temperature data, correct the initial voltage to obtain the driving voltage.

[0116] To improve the accuracy of the initial voltage, the detection device can, based on the determined initial voltage, further combine the current voltage of the currently driving filter component and / or the current temperature of the laser, and correct the initial voltage according to the current voltage and / or temperature data.

[0117] The following example, using temperature data to determine the laser temperature, illustrates the process of correcting the initial voltage.

[0118] Specifically, the detection device can first acquire the temperature data of the laser through the temperature detection module, and then feed the temperature data back to the processor of the detection device. The detection device can then determine the laser wavelength of the emitted light currently generated by the laser based on the acquired temperature data, and determine the reference voltage corresponding to the laser wavelength.

[0119] Afterwards, the detection device can correct the initial voltage based on the reference voltage to obtain the driving voltage. During the correction process, the detection device can first calculate the voltage difference between the initial voltage and the reference voltage, and then determine the weights corresponding to the initial voltage and the reference voltage based on the magnitude of the voltage difference parameter.

[0120] Accordingly, the detection device can calculate the corrected driving voltage based on the weights corresponding to the initial voltage and the reference voltage, combined with the parameters corresponding to the initial voltage and the reference voltage, so that the filter component can be driven according to the driving voltage in subsequent steps.

[0121] Furthermore, in the process of determining the weights corresponding to the initial voltage and the reference voltage, the detection device can compare the difference threshold with the voltage difference one by one in ascending order according to multiple pre-set difference threshold parameters to obtain the relationship between the two.

[0122] If a certain difference threshold is less than the voltage difference, the detection device can continue to compare the voltage difference with other difference thresholds until the difference threshold is greater than or equal to any voltage difference. If a certain difference threshold is greater than or equal to the voltage difference, the detection device can use this difference threshold as the target difference threshold, and obtain the first weight and the second weight corresponding to the target difference threshold. Then, the first weight is used as the weight corresponding to the initial voltage, and the second weight is used as the weight corresponding to the reference voltage.

[0123] It should be noted that in practical applications, if the detection device has already acquired temperature data in step 202a, then the detection device does not need to acquire temperature data again in step 202b, and the already acquired temperature data can be used to correct the initial voltage.

[0124] Step 203: Determine the current voltage used to drive the filter assembly.

[0125] After determining the driving voltage, the current voltage of the driving filter component can be adjusted using the driving voltage. Before adjustment, the detection device can further determine the current voltage of the filter component, that is, the driving voltage currently output by the driving circuit to the filter component, so that in subsequent steps, the detection device can determine how to adjust the current voltage based on the current voltage and the determined driving voltage.

[0126] Specifically, the detection device can acquire the laser's temperature data through a temperature detection module and feed this temperature data back to the detection device's processor. Correspondingly, the processor can determine the voltage of the driving filter component corresponding to this temperature data, i.e., the current voltage.

[0127] Alternatively, the detection device can use the voltage detection module built into the drive circuit to detect the voltage output by the drive circuit, obtain voltage data, and then feed this voltage data back to the processor. Accordingly, the processor can determine the current voltage of the filter component based on this voltage data.

[0128] It should be noted that the embodiments of this application are illustrated by taking the execution of step 202 first and then step 203 as an example. However, in actual applications, the detection device may execute step 203 first and then step 202, or it may execute steps 202 and 203 simultaneously. The embodiments of this application do not impose specific limitations on the order of steps 202 and 203.

[0129] Furthermore, if the detection device performs step 202 first, then during the execution of step 203, the detection device can determine the current voltage based on the temperature data obtained in step 202. This application embodiment does not specifically limit the method of obtaining temperature data.

[0130] Step 204: Determine the voltage difference between the driving voltage and the current voltage based on the driving voltage and the current voltage.

[0131] Based on steps 202 and 203, after determining the driving voltage and the current voltage, the detection device can calculate the difference between the two voltages. This difference can then be used as the voltage difference, so that in subsequent steps, the detection device can determine the adjustment method based on the voltage difference.

[0132] For example, the detection device can use a processor to subtract the parameters corresponding to the driving voltage and the current voltage respectively to obtain the difference between the two, and then use the absolute value of the difference as the calculated voltage difference.

[0133] In addition, during the process of calculating the voltage difference, the detection device can also determine the relationship between the driving voltage and the current voltage. For example, it can compare the difference between the two with 0 to determine the relationship between the driving voltage and the current voltage, so as to assist in adjusting the current voltage in subsequent steps.

[0134] Step 205: Select an adjustment method that matches the voltage difference.

[0135] After calculating the voltage difference, the detection equipment can determine the adjustment method for the current voltage based on the magnitude of the parameter corresponding to the voltage difference. That is, when the parameter corresponding to the voltage difference is large, the detection equipment can use a larger adjustment range to adjust the current voltage, and when the parameter corresponding to the voltage difference is small, the detection equipment can use a smaller adjustment range to adjust the current voltage.

[0136] Specifically, the detection device can first acquire multiple pre-set voltage thresholds, sort the voltage thresholds in ascending order, and then compare each voltage threshold with the voltage difference according to the sorting to determine the relationship between a certain voltage threshold and the voltage difference, and obtain the comparison result. The detection device can then determine whether it is necessary to continue comparing the voltage threshold and the voltage difference based on the comparison result.

[0137] When a certain voltage threshold is less than the voltage difference, the detection device can select the next voltage threshold in the order of arrangement and compare it with the voltage difference to obtain the relationship between the two, until a certain voltage threshold is greater than or equal to the voltage difference.

[0138] When the detection device detects that a certain voltage threshold is greater than or equal to the voltage difference, it can take the voltage threshold as the target voltage threshold. Based on the correspondence between the voltage threshold and the adjustment range, the target adjustment range corresponding to the target voltage threshold is determined, which is the voltage value of each change of the current voltage during the adjustment process. Thus, the target adjustment range can be used as the adjustment method for adjusting the current voltage, so that in subsequent steps, the detection device can adjust the current voltage according to the voltage adjustment range indicated by the target adjustment range.

[0139] The larger the target voltage threshold, the larger the voltage difference, and the larger the target adjustment range, so that the detection equipment can complete the adjustment of the current voltage as soon as possible, thereby reducing the time required to adjust the current voltage and improving the efficiency of the detection equipment in adjusting the voltage.

[0140] Step 206: Adjust the current voltage according to the selected adjustment method.

[0141] The detection device can adjust the current voltage according to the determined adjustment method and the target adjustment range corresponding to the adjustment method, so that the current voltage gradually approaches the driving voltage determined in step 202, thereby completing the adjustment of the current voltage.

[0142] Specifically, the detection device can determine the target adjustment range corresponding to the adjustment method based on the adjustment method. Then, the detection device can continuously send adjustment commands to the drive circuit through the processor, and adjust the duty cycle of the drive circuit through the adjustment commands, so that the current voltage gradually approaches the drive circuit. Thus, through multiple adjustments, the current voltage can be made consistent with the determined drive voltage.

[0143] Specifically, the change in voltage output by the drive circuit is matched to the target adjustment range. The larger the target adjustment range, the less time it takes for the current voltage to approach the drive voltage.

[0144] It should be noted that the above explanation only takes adjusting the current voltage once as an example. In actual applications, the detection device can adjust the current voltage multiple times to make the current voltage consistent with the driving voltage.

[0145] Optionally, to further improve the accuracy of adjusting the current voltage, the detection device can also execute steps 207 and 208. That is, during the adjustment of the current voltage, the detection device can also continuously emit outgoing light and receive the reflected light formed by the outgoing light. Then, based on the received reflected light, it can determine the characteristic parameters corresponding to the reflected light received again, and correct the driving voltage based on the determined characteristic parameters, thereby further improving the accuracy of the detection device in adjusting the voltage.

[0146] Step 207: Determine at least one characteristic parameter corresponding to the re-received reflected light based on the re-received reflected light.

[0147] Since the process of receiving reflected light and determining characteristic parameters in step 207 is similar to the process of the detection device receiving reflected light and determining characteristic parameters in step 201, it will not be described again here.

[0148] Step 208: Adjust the current voltage based on at least one characteristic parameter corresponding to the reflected light received again.

[0149] Since the process of reselecting the adjustment method in step 208 is similar to the process of determining the driving voltage and the current voltage in steps 202 to 203, it will not be described again here.

[0150] It should be noted that, in practical applications, if the driving voltage re-determined by the detection device is consistent with the driving voltage determined in step 202, the detection device can continue to adjust the current voltage according to the determined driving voltage. If the driving voltage re-determined by the detection device is different from the driving voltage determined in step 202, the detection device can continue to execute steps 204 to 206 again according to the re-determined driving voltage, reselect the adjustment method, and adjust the current voltage based on the reselected adjustment method. This application embodiment does not specifically limit the method of continuously adjusting the current voltage.

[0151] Step 209: When the current voltage is detected to be consistent with the driving voltage, stop adjusting the current voltage.

[0152] During the process of adjusting the current voltage in steps 201 to 208, if the detection device detects that the voltage difference between the driving voltage and the current voltage is less than a preset minimum threshold, it can be considered that the detection device has completed the adjustment of the current voltage and stops adjusting the current voltage.

[0153] The minimum threshold can be the smallest voltage threshold among the multiple voltage thresholds mentioned in step 205, used to detect whether the detection device has finished adjusting the current voltage. This application embodiment does not specifically limit the minimum threshold.

[0154] It should be noted that in practical applications, during the process of adjusting the current voltage, the detection device may continuously determine new driving voltages, resulting in the current voltage still not being consistent with the determined driving voltage after a large number of adjustments.

[0155] Therefore, the detection device can count during the adjustment process. When the count reaches a preset threshold, it indicates that the detection device may be malfunctioning, and an alarm can be issued to notify the user of the malfunction. Of course, the detection device can also restart the adjustment of the current voltage. This application embodiment does not specifically limit this.

[0156] In summary, this application proposes a voltage adjustment method. It obtains at least one characteristic parameter based on the received reflected light and determines a driving voltage corresponding to that parameter. Then, it combines this with the current voltage of the driving filter component to determine the voltage difference between the driving voltage and the current voltage. Subsequently, based on this voltage difference, different adjustment methods are selected to adjust the current voltage. During the adjustment process, the current voltage is detected again, and based on this newly acquired current voltage, a corresponding adjustment method is selected again to adjust the current voltage, gradually bringing it closer to the driving voltage until they match, thus completing the voltage adjustment. This application, by obtaining the voltage difference between the driving voltage and the current voltage and continuously selecting adjustment methods matching the voltage difference, accurately adjusts the current voltage using at least one method, thereby improving the accuracy of voltage adjustment and further enhancing the accuracy and reliability of the detection equipment.

[0157] Furthermore, the detection device selects different adjustment methods based on different voltage differences, so that the current voltage can have different changes before and after adjustment. This allows for rapid adjustment of the current voltage when the voltage difference is large, thereby reducing the time spent adjusting the current voltage and improving the efficiency of the detection device in adjusting the current voltage.

[0158] 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.

[0159] Corresponding to the detection method described in the above embodiments, Figure 4 This is a structural block diagram of a voltage adjustment device provided in an embodiment of this application. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0160] Reference Figure 4 The device includes:

[0161] The first determining module 401 is used to determine the driving voltage based on the received reflected light;

[0162] The acquisition module 402 is used to acquire the current voltage of the driving filter component;

[0163] The selection module 403 is used to select an adjustment method for adjusting the current voltage based on the driving voltage and the current voltage;

[0164] The adjustment module 404 is used to adjust the current voltage according to the selected adjustment method.

[0165] Optionally, module 403 is specifically used to determine the voltage difference between the driving voltage and the current voltage based on the driving voltage and the current voltage; and to select an adjustment method that matches the voltage difference.

[0166] Optionally, the selection module 403 is further specifically used to obtain a plurality of pre-set voltage thresholds; sort the plurality of voltage thresholds in ascending order; compare each voltage threshold with a voltage difference according to the sorting; and for each voltage threshold, when the voltage threshold is greater than or equal to the voltage difference, determine the adjustment method based on the voltage threshold.

[0167] Optionally, the adjustment module 404 is specifically used to determine the target adjustment range corresponding to the adjustment method according to the adjustment method; and to adjust the duty cycle of the driving circuit according to the target adjustment range so that the current voltage output by the driving circuit gradually approaches the driving voltage.

[0168] Optionally, the device further includes:

[0169] The second determining module 405 is used to determine at least one characteristic parameter corresponding to the re-received reflected light based on the re-received reflected light.

[0170] The adjustment module 404 is also specifically used to adjust the current voltage according to at least one characteristic parameter corresponding to the reflected light received again;

[0171] The adjustment module 404 is also specifically used to stop adjusting the current voltage when it is detected that the current voltage is consistent with the driving voltage.

[0172] Optionally, the first determining module 401 is specifically used to determine at least one characteristic parameter corresponding to the received reflected light based on the received reflected light; and to determine the driving voltage corresponding to at least one of the characteristic parameters based on a preset voltage correspondence relationship.

[0173] Optionally, the first determining module 401 is further configured to determine an initial voltage based on at least one of the characteristic parameters and a pre-set voltage correspondence; and to correct the initial voltage based on the collected temperature data to obtain the driving voltage.

[0174] In summary, this application proposes a voltage adjustment device. It acquires at least one characteristic parameter based on received reflected light and determines a driving voltage corresponding to that parameter. Then, it combines this with the current voltage of the driving filter component to determine the voltage difference between the driving voltage and the current voltage. Subsequently, based on this voltage difference, different adjustment methods are selected to adjust the current voltage. During the adjustment process, the current voltage is detected again, and based on this newly acquired current voltage, a corresponding adjustment method is selected again to adjust the current voltage, gradually bringing it closer to the driving voltage until they match, thus completing the voltage adjustment. This application, by acquiring the voltage difference between the driving voltage and the current voltage and continuously selecting adjustment methods matching the voltage difference, accurately adjusts the current voltage using at least one method, thereby improving the accuracy of voltage adjustment and further enhancing the accuracy and reliability of the detection equipment.

[0175] 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.

[0176] 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.

[0177] Based on the same inventive concept, this application also provides a detection device. Figure 5 This is a schematic diagram of the structure of a detection device provided in an embodiment of this application, as shown below. Figure 5 As shown, the detection device provided in this embodiment may include: a memory 51 and a processor 52. The memory 51 is used to store a computer program 53; the processor 52 is used to execute the method described in the above method embodiment when the computer program 53 is invoked.

[0178] 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.

[0179] 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.

[0180] 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.

[0181] 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.

[0182] 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.

[0183] 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.

[0184] 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.

[0185] 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.

[0186] 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.

[0187] 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]."

[0188] 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.

[0189] 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.

[0190] 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 voltage adjustment method, characterized by, The method includes: determining a driving voltage based on received reflected light; acquiring the current voltage of the driving filter component; selecting an adjustment method for adjusting the current voltage based on the driving voltage and the current voltage; adjusting the current voltage according to the selected adjustment method; determining at least one characteristic parameter corresponding to the received reflected light; and determining the driving voltage corresponding to at least one characteristic parameter according to a preset voltage correspondence. Based on at least one of the aforementioned characteristic parameters and in conjunction with a pre-set voltage correspondence, an initial voltage for driving the electrochromic filter component is determined; based on the collected temperature data, the initial voltage is corrected for temperature drift to obtain the driving voltage. Based on the driving voltage and the current voltage, determine the voltage difference between the driving voltage and the current voltage; select an adjustment method that matches the voltage difference; Obtain multiple pre-set voltage thresholds; sort the multiple voltage thresholds in ascending order; compare each voltage threshold with a voltage difference according to the sorting; for each voltage threshold, when the voltage threshold is greater than or equal to the voltage difference, determine the adjustment method based on the voltage threshold.

2. The method of claim 1, wherein, The step of adjusting the current voltage according to the selected adjustment method includes: determining the target adjustment range corresponding to the adjustment method; and adjusting the duty cycle of the drive circuit according to the target adjustment range, so that the current voltage output by the drive circuit gradually approaches the drive voltage.

3. The method of claim 1, wherein, After adjusting the current voltage according to the selected adjustment method, the method further includes: determining at least one characteristic parameter corresponding to the re-received reflected light based on the re-received reflected light; adjusting the current voltage based on the at least one characteristic parameter corresponding to the re-received reflected light; and stopping the adjustment of the current voltage when it is detected that the current voltage is consistent with the driving voltage.

4. A detection device, characterized in that The method for implementing the method as described in any one of claims 1 to 3 includes: 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 includes a filter component; the processor determines a driving voltage based on the received reflected light; the processor obtains the current voltage driving the filter component through the driving circuit; the processor selects an adjustment method for adjusting the current voltage based on the driving voltage and the current voltage; and the processor adjusts the current voltage according to the selected adjustment method.

5. 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 3 when the computer program is invoked.

6. A computer-readable storage medium having stored thereon a computer program, 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 3.

Images