Performance detection method and device of ranging device, terminal equipment and storage medium
By using target measuring equipment and device under test to measure distance in a simulated environment, accurate evaluation results are generated, solving the problems of cumbersome and costly testing process of ultrasonic sensors for mobile robots, and achieving efficient and accurate performance evaluation.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHANGSHA XINGSHEN INTELLIGENT TECH CO LTD
- Filing Date
- 2022-08-12
- Publication Date
- 2026-05-26
Smart Images
Figure CN117630893B_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of performance testing technology for ranging equipment, and particularly relates to a performance testing method, device, terminal equipment and storage medium for ranging equipment. Background Technology
[0002] During movement, mobile robots typically measure the distance between themselves and obstacles using ultrasonic sensors mounted on them. Mobile robots usually have multiple ultrasonic sensors installed, and to ensure the good performance of each sensor, batch testing is usually performed on all the ultrasonic sensors installed on the mobile robot before it leaves the factory.
[0003] Traditional testing methods typically involve testing each of the multiple ultrasonic sensors mounted on a robot in a real-world environment. Furthermore, any faulty sensors must be removed from the robot, repaired, and then reinstalled for further testing. This process is not only cumbersome and inefficient, but also incurs significant manpower and material costs. Additionally, the difficulty in replicating the actual testing environment can reduce the accuracy of the results. Summary of the Invention
[0004] This application provides a method, apparatus, terminal device, and storage medium for testing the performance of a ranging device, which can solve the problem of low accuracy of test results when testing ultrasonic sensors in actual environments.
[0005] In a first aspect, embodiments of this application provide a performance testing method for a ranging device, the method comprising:
[0006] The first ranging result is obtained by measuring the distance of the device under test to the target obstacle at at least one preset position in each simulated environment; the simulated environment is generated based on preset environmental factors, which are environmental factors in the real environment that have an impact on the device under test;
[0007] Acquire a second ranging result obtained by the target measuring device measuring the distance to the target obstacle at at least one preset position; the measurement accuracy of the target measuring device is higher than a preset accuracy threshold.
[0008] Based on each first ranging result and each second ranging result, a target evaluation result is generated to assess the ranging performance of the device under test.
[0009] Secondly, embodiments of this application provide a performance testing device for a ranging device, the device comprising:
[0010] The first acquisition module is used to acquire the first ranging result obtained by the device under test measuring the distance to the target obstacle at at least one preset position in each simulated environment; the simulated environment is generated based on preset environmental factors, which are environmental factors in the real environment that have an impact on the device under test;
[0011] The second acquisition module is used to acquire a second ranging result obtained by the target measuring device measuring the distance to the target obstacle at at least one preset position; the measurement accuracy of the target measuring device is higher than a preset accuracy threshold.
[0012] The performance evaluation module is used to generate target evaluation results for evaluating the ranging performance of the device under test based on each first ranging result and each second ranging result.
[0013] Thirdly, embodiments of this application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect above.
[0014] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect above.
[0015] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the method described in the first aspect.
[0016] The beneficial effects of this application embodiment compared to the prior art are as follows: By measuring the target obstacle at a preset location in each simulated environment using both the device under test (DUT) and a target measuring device, a first distance measurement result and a second distance measurement result are obtained, and a target evaluation result is generated based on these two results. Since each simulated environment is based on environmental factors that affect the DUT in the real environment, each simulated environment can be reproduced, meaning the testing process of the DUT can be reproduced, thereby improving the accuracy of the target evaluation result generated by the measuring device when tested in a reproducible simulated environment. Furthermore, when the DUT performs distance measurement, a target measuring device with a higher measurement accuracy than the preset accuracy is simultaneously used at the same preset location to generate a second distance measurement result. Therefore, the testing of the DUT can be completed without manually pre-marking the distance between the DUT and the obstacle during distance measurement, reducing the required manpower and material costs. Simultaneously, since the target measuring device is also affected by the same environmental factors during distance measurement, the generated second distance measurement result can more accurately reflect the real situation between the target obstacle and the DUT, resulting in a higher accuracy of the generated target evaluation result. Furthermore, since the device under test is tested directly, rather than mounted on a mobile robot, there is no need to disassemble and reassemble the device under test if it has problems after testing. This improves the efficiency of testing the device under test. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0018] Figure 1 This is a flowchart illustrating the implementation of a performance testing method for a ranging device according to an embodiment of this application.
[0019] Figure 2 This is a schematic diagram of an application scenario for testing a device under test, provided in one embodiment of this application;
[0020] Figure 3 This is a schematic diagram illustrating one implementation method for generating target evaluation results in a performance testing method for a ranging device provided in an embodiment of this application;
[0021] Figure 4 This is a schematic diagram illustrating one implementation method for generating target evaluation results in a performance testing method for a ranging device provided in another embodiment of this application;
[0022] Figure 5 This is a schematic diagram of the structure of a performance testing device for a ranging device according to an embodiment of this application;
[0023] Figure 6 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Detailed Implementation
[0024] 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 may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.
[0025] 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.
[0026] 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.
[0027] When testing the performance of ranging devices installed on mobile robots, it is common practice to test each of the multiple ranging devices installed on the robot in a real-world environment. This not only increases labor and material costs, but also reduces the accuracy of the test results because the real-world environment is not easily reproduced.
[0028] The ranging device includes, but is not limited to, ultrasonic sensors, laser ranging sensors, or infrared ranging sensors. For example, the ranging device in this embodiment can be an ultrasonic sensor.
[0029] Understandably, for ultrasonic sensors, when emitting ultrasonic waves to measure distances to obstacles, the speed of sound is easily affected by temperature and humidity. Furthermore, ultrasonic sensors may be unusable in humid, extreme temperature, or other harsh environments.
[0030] Therefore, in order to quantify the impact of external environmental factors to evaluate the performance of ultrasonic sensors and minimize labor and material costs, this embodiment provides a method for testing the performance of a ranging device. The method can be applied to a performance testing device for a ranging device, or to a terminal device equipped with such a device. For example, the terminal device can be a laptop or a computer, and this is not limited.
[0031] Please see Figure 1 , Figure 1 The following is a flowchart illustrating the implementation of a performance testing method for a ranging device according to an embodiment of this application. The method includes the following steps:
[0032] S101. Obtain the first ranging result obtained by measuring the distance of the target obstacle at at least one preset position in each simulated environment; the simulated environment is generated based on preset environmental factors, which are environmental factors in the real environment that have an impact on the device under test.
[0033] In one embodiment, the device under test is the device whose ranging performance needs to be evaluated, such as an ultrasonic sensor, a laser ranging sensor, or an infrared ranging sensor.
[0034] In one embodiment, the simulated environment is generated based on preset environmental factors, which are environmental factors in the real environment that affect the device under test. For example, the preset environmental factors include, but are not limited to, temperature and humidity.
[0035] It should be noted that in different simulation environments, at least one of the preset environmental factors will have a different value. For example, the temperature may be the same in two simulation environments, but the humidity may be different.
[0036] The simulated environment can be generated by an environmental simulation device, which can be used to simulate environmental factors that may affect the device under test (e.g., an ultrasonic sensor). Typically, the environmental simulation device can include at least one of a set of temperature controllers, humidity controllers, and fan speed controllers. The temperature controller is used to adjust the temperature in the environment; for example, it can be an air conditioner capable of heating and cooling. The humidity controller is used to adjust the humidity in the environment; for example, it can be a humidifier. The fan speed controller is used to adjust the airflow in the simulated environment; for example, it can be a blower.
[0037] It should be noted that environmental factors in real-world environments may also be influenced by other factors. For example, temperature and humidity are typically affected by weather conditions. Generally, humidity is higher and temperature is lower during rainy weather. Therefore, in simulated environments, to make them more closely resemble real-world environments, the environmental factors affecting the device under test should also include other factors (e.g., weather factors) that influence the aforementioned temperature and humidity. In this embodiment, the environmental factors described are merely one example, not all, and are not exhaustively listed here.
[0038] In one embodiment, the aforementioned preset position is a position pre-set in a simulated environment. Since the measurement accuracy of the device under test may vary depending on the distance between it and the target obstacle, there are typically multiple preset positions.
[0039] The target obstacle is the obstacle that the device under test needs to measure distance to. The target obstacle can be generated by an obstacle simulation device. The shape, size, and materials used for different target obstacles can be the same or different; there are no restrictions on this.
[0040] The target obstacle's state can include a static state and a moving state. In the moving state, the target obstacle can be positioned on a conveyor belt pre-set in a simulated environment. The detection device can then control the movement of the conveyor belt by turning the motor on and off, thereby moving the target obstacle. Alternatively, the target obstacle itself can be a movable object capable of movement within the simulated environment; this is not limited.
[0041] In one embodiment, the first ranging result can be either a result indicating that no target obstacle was detected, or a result indicating that a target obstacle was detected, including a result indicating that a first distance value was obtained by measuring the distance to the target obstacle. It is understood that because no target obstacle was detected, the device under test cannot output the first distance value between itself and the target obstacle.
[0042] S102. Obtain a second ranging result obtained by the target measuring device measuring the distance to the target obstacle at at least one preset position; the measurement accuracy of the target measuring device is higher than the preset accuracy threshold.
[0043] In one embodiment, the target measuring device is also a distance measuring device, wherein the measurement accuracy of the target measuring device is typically required to be higher than a preset accuracy threshold. The preset accuracy threshold can be set in advance by personnel based on actual conditions, and is not limited thereto.
[0044] Generally, when evaluating the ranging performance of a device under test, the evaluation method is as follows: the device under test measures the distance to a target obstacle, and when the accuracy during ranging reaches a preset accuracy threshold, the device under test is considered qualified. Therefore, it can be considered that the above-mentioned preset accuracy threshold is the accuracy corresponding to the qualified device under test. That is to say, it can be considered that after using a target measurement device with a higher accuracy than the preset accuracy threshold to measure the distance to the target obstacle, the credibility of the generated second ranging result is sufficient to be used as the actual ranging result between the device under test and the target obstacle.
[0045] Among them, at each preset position in each environmental simulation, when the device under test measures the distance to the target obstacle to obtain a first ranging result, the target measurement device located at the same preset position also needs to measure the distance to the target obstacle simultaneously to obtain a second ranging result.
[0046] It should be noted that in the past, when detecting the ranging performance of a device under test, usually not only the position of the device under test needs to be determined manually in advance, but also the positions of the target obstacles need to be determined in advance, and the actual distance between the two needs to be marked. Then, obtain the first distance value after the device under test measures the distance to the target obstacle, and compare this first distance value with the actual distance to evaluate the ranging performance of the device under test. Generally, in order to accurately evaluate the ranging performance of the device under test, it needs to pre-mark the actual distances between multiple devices under test and the target obstacles, which will require a large amount of labor costs.
[0047] Based on this, in order to reduce the required labor costs, in this embodiment, when measuring the distance to the target obstacle, at the same preset position, the target measurement device is used to measure the distance to the target obstacle simultaneously to obtain a second ranging result. In this way, because the measurement accuracy of the target device is higher than the preset accuracy threshold, it can be considered that the second ranging result generated by the target measurement device is closer to the actual result. Therefore, it is only necessary to mark the preset positions of the devices under test in each simulation environment, and there is no need for the staff to mark the positions of each target obstacle in the simulation environment and the distances between each target obstacle and the devices under test respectively.
[0048] Refer to Figure 2 , Figure 2 is a schematic diagram of an application scenario for testing a device under test provided in an embodiment of the present application. Among them, Figure 2 a target measurement device 2 and a device under test 3 are provided at the preset position 1; the environmental simulation device 4 is used to generate a simulation environment according to various preset environmental factors; the conveyor belt 5 is used to move target obstacles 6 of various shapes and sizes to simulate the process of the device under test 3 being installed on a mobile robot and being tested in an actual environment.
[0049] It should be added that during the movement of the target obstacle, a maximum movement distance between the target obstacle and the preset position should be set, and this maximum movement distance should be within the effective range of both the device under test (DUT) and the target measuring device. Furthermore, in traditional testing methods, the DUT (ultrasonic sensor) is usually mounted on a mobile robot, which then travels in the actual environment and measures the distance to the target obstacle. However, to avoid the need to remove faulty ultrasonic sensors from the mobile robot after testing and then reinstall them after repair for further testing, this method avoids the need to remove faulty sensors from the mobile robot for further testing. In this embodiment, the DUT can move without being mounted on a mobile robot; instead, the target obstacle moves within a simulated environment. Therefore, this not only makes the testing process of the DUT in a simulated environment closer to the testing process of the DUT mounted on a mobile robot in a real environment, but also avoids the need to remove faulty DUTs from the mobile robot after testing and then reinstall them after repair for further testing, thereby improving the testing efficiency of the DUT.
[0050] The effective ranges of both the device under test (DUT) and the target measuring device are typically predetermined at the factory. Furthermore, the accuracy of distance measurement of the target obstacle is usually highest within its effective range. Therefore, when generating the simulated environment, the maximum distance the target obstacle can move should be determined in advance based on the preset position, the effective range of the DUT, and the effective range of the target measuring device. This ensures that the second distance measurement result from the target measuring device can accurately serve as a reference for the first distance measurement result.
[0051] S103. Based on each first ranging result and each second ranging result, generate a target evaluation result for evaluating the ranging performance of the device under test.
[0052] In one embodiment, after obtaining a first ranging result and a second ranging result corresponding to at least one preset position in each simulated environment, the detection device can compare the first distance value corresponding to the first ranging result with the second distance value corresponding to the second ranging result to generate a target evaluation result.
[0053] The first distance value is used to describe the distance between the device under test and the target obstacle. Similarly, the second distance value can be used to describe the distance between the target measuring device and the target obstacle.
[0054] Then, refer to Figure 3 The detection device can specifically be used through, for example... Figure 3 The target evaluation results generated by S301-S303 are detailed below:
[0055] S301. For any preset position, calculate the measurement error value of the device under test at the preset position based on the first distance value and the second distance value obtained at the preset position.
[0056] In one embodiment, at at least one preset location in a simulated environment, a first ranging result and a second ranging result are simultaneously acquired. Therefore, the detection device can calculate the difference between a first distance value in the acquired first ranging result and a second distance in the acquired second ranging result. This difference typically requires absolute value processing; that is, subsequent processing is performed using the positive value of the difference.
[0057] Subsequently, when there are multiple simulated environments, multiple first and second measurement results will be obtained at the preset location. Based on this, the detection device can calculate the difference between the target measuring device and the device under test at the preset location in each simulated environment. Thus, the detection device can obtain multiple differences. Then, the detection device can determine the average of the multiple differences corresponding to the same preset location in all simulated environments as the measurement error value corresponding to that preset location.
[0058] Specifically, the formula for calculating the measurement error value is as follows:
[0059]
[0060] Where i represents the i-th preset position, σ(d ik ) represents the measurement error value corresponding to the i-th preset position; n represents the n-th simulation environment; N represents the number of all simulation environments; This represents the first distance value corresponding to the i-th preset position of the device under test in the n-th simulated environment; This represents the second distance value corresponding to the i-th preset position of the target measuring device in the n-th simulation environment.
[0061] S302. If the measurement error value of the device under test at any preset position is greater than the preset error threshold corresponding to the preset position, the target evaluation result is determined to be that the device is unqualified.
[0062] S303. If the measurement error value of the device under test at all preset positions is less than or equal to the preset error threshold corresponding to the preset position, then the target evaluation result is determined to be qualified.
[0063] In one embodiment, the preset measurement error thresholds corresponding to different preset positions can be the same or different, and can be set by the staff according to the actual situation, without limitation.
[0064] Specifically, when generating the target evaluation result, if the measurement error value at any preset position is greater than the preset error threshold corresponding to that position, the detection device can determine that the target evaluation result is that the equipment is unqualified. Otherwise, if the measurement error values at all preset positions are less than or equal to the preset error threshold corresponding to all preset positions, the target evaluation result is determined to be that the equipment is qualified.
[0065] Based on this, by taking the difference between the first distance value and the second distance value corresponding to the same preset location but under different simulated environments, the measurement error value corresponding to the preset location can be obtained. This can better represent the influence of various environmental factors on the device under test in different simulated environments, and enable the generated target evaluation results to accurately evaluate the ranging performance of the device under test.
[0066] In this embodiment, by measuring the target obstacle at preset locations in each simulated environment using both the device under test (DUT) and a target measuring device, a first distance measurement result and a second distance measurement result are obtained. A target evaluation result is then generated based on these two results. Since each simulated environment is based on environmental factors affecting the DUT in a real environment, each simulated environment can be reproduced, meaning the testing process for the DUT can be replicated. This improves the accuracy of the target evaluation result generated by the measuring device in a reproducible simulated environment. Furthermore, while the DUT is measuring distances, a target measuring device with higher accuracy than the preset accuracy is simultaneously used at the same preset location to generate a second distance measurement result. This eliminates the need for manual pre-marking of the distance between the DUT and the obstacle, allowing for the testing of the DUT to be completed, reducing labor and material costs. Simultaneously, since the target measuring device is also affected by the same environmental factors during distance measurement, the generated second distance measurement result more accurately reflects the actual situation between the target obstacle and the DUT, resulting in a higher accuracy of the generated target evaluation result. Furthermore, since the device under test is tested directly, rather than mounted on a mobile robot, there is no need to disassemble and reassemble the device under test if it has problems after testing. This improves the efficiency of testing the device under test.
[0067] In order to generate more accurate target evaluation results, in another embodiment, the detection device can also use, for example... Figure 4 S401-S405, as shown, processes the first and second ranging results to obtain the target evaluation result. Details are as follows:
[0068] S401. For any preset position, based on the first ranging result and the second ranging result obtained at the preset position, determine the ranging performance type of the device under test; the ranging performance type includes a first accurate type, a first inaccurate type and a second inaccurate type.
[0069] In one embodiment, as explained in S101 above, the first ranging result can be the result of not detecting a target obstacle, and when a target obstacle is detected, it includes the result of measuring the target obstacle to obtain a first distance value, which will not be described again.
[0070] It should be noted that when detecting a target obstacle, the first ranging result should include a first obstacle identifier corresponding to whether the target obstacle has been detected, so that after obtaining the first ranging result, the detection device can determine whether the device under test has detected the target obstacle based on the first obstacle identifier corresponding to the first ranging result.
[0071] Similarly, there may be cases where the target measuring device fails to detect the target obstacle. Therefore, the second ranging result should also include a second obstacle marker to describe whether the target obstacle has been detected.
[0072] The first obstacle marker and the second obstacle marker can be in the form of numbers or letters, without limitation. For example, both the first obstacle marker and the second obstacle marker can be identified by numbers. For instance, when both the first obstacle marker and the second obstacle marker are 0, it can be described that neither the device under test nor the target measuring device has detected the target obstacle. And when both the first obstacle marker and the second obstacle marker are 1, it can be described that both the device under test and the target measuring device have detected the target obstacle. In this case, the first ranging result and the second ranging result should also include the corresponding first distance value and second distance value, respectively.
[0073] Among them, the ranging performance type is used to describe whether the measurement performance of the device under test is accurate. It usually includes several types such as first accurate type, first inaccurate type, and second inaccurate type.
[0074] Specifically, for the first accurate type:
[0075] If the first distance value is a valid ranging value, and the second obstacle marker is used to describe the presence of a target obstacle, then the detection device can determine that the ranging performance type is the first accurate type.
[0076] The determination of a first distance value as a valid ranging value can be made as follows: if the first distance value is within the effective range of the device under test, then the first distance value can be considered a valid ranging value. The effective range has already been explained in S102 above and will not be repeated here.
[0077] It is understandable that when the first distance value is included in the first ranging result, the first obstacle marker in the first ranging result should also be considered to indicate the presence of a target obstacle. That is, the device under test did not make any errors when detecting the target obstacle; therefore, the ranging performance type can be considered to be the first accuracy type.
[0078] For the first type of inaccuracy:
[0079] If the first distance value is a valid ranging value, and the second obstacle identifier is used to describe the absence of a target obstacle, then the ranging performance type is determined to be the first inaccurate type.
[0080] In one embodiment, when the second obstacle marker indicates the absence of a target obstacle, it can be assumed that no target obstacle is present in the simulated scene. In this case, when the first distance value is a valid measurement, it can be considered that the device under test has detected a target obstacle. Based on this, the detection device can conclude that the device under test generated a false alarm during this measurement process.
[0081] Specifically, if environmental factors in the simulated environment cause noise interference to the device under test (DUT), and the amplitude of the generated noise signal exceeds the detection threshold of the DUT, the DUT will assume that it has detected a target obstacle. This results in the aforementioned "false alarm situation." In this case, when the DUT generates a "false alarm situation," the ranging performance type of the DUT can be considered to be the first type of inaccuracy.
[0082] For the second type of inaccuracy:
[0083] If the first obstacle identifier is used to describe the absence of a target obstacle, and the second obstacle identifier is used to describe the presence of a target obstacle, then the ranging performance type is determined to be the second inaccurate type.
[0084] In one embodiment, based on the above explanation of the first obstacle marker and the second obstacle marker, it is clear that the first obstacle failed to accurately detect the target obstacle. Therefore, the detection device can also consider that the detection of the target obstacle by the device under test is inaccurate. In this case, the detection device can determine the ranging performance type of the device under test in this situation as the second inaccuracy type.
[0085] It should be noted that the ranging performance type of the device under test also includes the second accuracy type, which is detailed below:
[0086] If both the first obstacle marker and the second obstacle marker are used to describe the absence of a target obstacle, then the ranging performance type is determined to be the second accurate type. It is understood that if the second obstacle marker in the target measuring device is also used to describe the absence of a target obstacle when no target obstacle exists, then the device under test can be considered to have performed an accurate detection.
[0087] S402. From the ranging performance types of all the devices under test corresponding to the preset positions, count the number of first targets corresponding to the first accuracy type of ranging performance type.
[0088] S403. From the ranging performance types of all preset positions corresponding to the devices under test, count the number of second targets corresponding to the first inaccurate type.
[0089] S404. From the ranging performance types of all preset positions corresponding to the devices under test, count the number of third targets corresponding to the second inaccuracy type.
[0090] In one embodiment, the ranging performance type of the device under test corresponding to all the preset positions mentioned above includes: the ranging performance type corresponding to each preset position in each simulated environment. Therefore, the detection device can count the number of first targets corresponding to the first accurate type, the number of second targets corresponding to the first inaccurate type, and the number of second targets corresponding to the second inaccurate type from all ranging performance types.
[0091] It should be noted that, in another embodiment, the detection device can also count the number of fourth targets corresponding to the second accuracy type, in order to generate subsequent target evaluation results.
[0092] S405. Generate target evaluation results based on the number of the first target, the number of the second target, and the number of the third target.
[0093] Specifically, the detection device can first calculate a first ratio of the first target quantity to the first total quantity; and then calculate a second ratio of the first target quantity to the second total quantity. The first total quantity is the sum of the first target quantity and the second target quantity, and the second total quantity is the sum of the first target quantity and the third target quantity.
[0094] Subsequently, if the first ratio is greater than or equal to the first preset value and the second ratio is greater than or equal to the second preset value, the testing device can determine that the target evaluation result is that the equipment is qualified; and if the first ratio is less than the first preset value and / or the second ratio is less than the second preset value, the testing device can determine that the target evaluation result is that the equipment is unqualified.
[0095] Specifically, the first ratio can be calculated as follows:
[0096]
[0097] The second ratio can be calculated as follows:
[0098]
[0099] Where P is the first ratio, R is the second ratio, TP is the first target quantity, FN is the second target quantity, and FP is the third target quantity.
[0100] The first and second preset values can be set by staff according to the actual situation, and there are no restrictions on this. Typically, the values of the first and second preset values are not the same. It should be noted that using the above method allows the detection device to comprehensively consider ranging performance types across different dimensions and accurately generate target evaluation results.
[0101] It should be added that, in another embodiment, the detection device can also simultaneously generate a target evaluation result based on the aforementioned first ratio, second ratio, and measurement error value. Specifically, if the first ratio is greater than or equal to a first preset value, the second ratio is greater than or equal to a second preset value, and the measurement error value is less than or equal to a preset error threshold corresponding to a preset position, then the target evaluation result can be considered as equipment qualified. Otherwise, if the first ratio is less than the first preset value, and / or the second ratio is less than the second preset value, and / or the measurement error value is greater than the preset error threshold corresponding to a preset position, then the target evaluation result can be considered as equipment unqualified.
[0102] Understandably, when the first ratio is greater than or equal to the first preset value, and the second ratio is greater than or equal to the second preset value, the detection device can consider that the accuracy of the device under test in detecting the target obstacle has met the requirements. Based on this, when the measurement error value is less than or equal to the preset error threshold, the detection device can consider that, in addition to the device under test being able to detect the target obstacle, the accuracy of ranging from the target obstacle has also met the requirements. Therefore, the terminal device can further complete the ranging performance test of the device under test, making the generated target evaluation results more accurate.
[0103] Please see Figure 5 , Figure 5 This is a structural block diagram of a performance testing device for a ranging device provided in an embodiment of this application. The performance testing device for the ranging device in this embodiment includes modules for performing... Figure 1 , Figure 3 and Figure 4 The steps in the corresponding embodiments. Please refer to the details. Figure 1 , Figure 3 and Figure 4 as well as Figure 1 , Figure 3 and Figure 4 The relevant descriptions in the corresponding embodiments are shown below. For ease of explanation, only the parts relevant to this embodiment are shown. See also... Figure 5 The performance testing device 500 for the ranging equipment may include: a first acquisition module 510, a second acquisition module 520, and a performance evaluation module 530, wherein:
[0104] The first acquisition module 510 is used to acquire the first ranging result obtained by the device under test measuring the distance to the target obstacle at at least one preset position in each simulated environment; the simulated environment is generated based on preset environmental factors, which are environmental factors in the real environment that have an impact on the device under test.
[0105] The second acquisition module 520 is used to acquire a second ranging result obtained by the target measuring device measuring the distance to the target obstacle at at least one preset position; the measurement accuracy of the target measuring device is higher than the preset accuracy threshold.
[0106] The performance evaluation module 530 is used to generate target evaluation results for evaluating the ranging performance of the device under test based on each first ranging result and each second ranging result.
[0107] In one embodiment, the performance evaluation module 530 is further configured to:
[0108] For any preset location, based on the first and second ranging results obtained at the preset location, the ranging performance type of the device under test is determined; the ranging performance type includes a first accurate type, a first inaccurate type, and a second inaccurate type; from the ranging performance types of the devices under test corresponding to all preset locations, the number of first targets corresponding to the first accurate type is counted; from the ranging performance types of the devices under test corresponding to all preset locations, the number of second targets corresponding to the first inaccurate type is counted; from the ranging performance types of the devices under test corresponding to all preset locations, the number of third targets corresponding to the second inaccurate type is counted; and a target evaluation result is generated based on the number of first targets, the number of second targets, and the number of third targets.
[0109] In one embodiment, the first ranging result includes a first distance value and a first obstacle marker, the first distance value being used to describe the distance between the device under test and the target obstacle; the second ranging result includes a second obstacle marker; both the first obstacle marker and the second obstacle marker are used to describe whether a target obstacle exists; the performance evaluation module 530 is further used to:
[0110] If the first distance value is a valid ranging value and the second obstacle identifier is used to describe the presence of a target obstacle, then the ranging performance type is determined to be the first accurate type; if the first distance value is a valid ranging value and the second obstacle identifier is used to describe the absence of a target obstacle, then the ranging performance type is determined to be the first inaccurate type; if the first obstacle identifier is used to describe the absence of a target obstacle and the second obstacle identifier is used to describe the presence of a target obstacle, then the ranging performance type is determined to be the second inaccurate type.
[0111] In one embodiment, the performance evaluation module 530 is further configured to:
[0112] Calculate the first ratio of the first target quantity to the first total quantity; the first total quantity is the sum of the first target quantity and the second target quantity; calculate the second ratio of the first target quantity to the second total quantity; the second total quantity is the sum of the first target quantity and the third target quantity; generate the target evaluation result based on the first ratio and the second ratio.
[0113] In one embodiment, the performance evaluation module 530 is further configured to:
[0114] If the first ratio is greater than or equal to the first preset value, and the second ratio is greater than or equal to the second preset value, then the target evaluation result is determined to be that the equipment is qualified; if the first ratio is less than the first preset value, and / or the second ratio is less than the second preset value, then the target evaluation result is determined to be that the equipment is unqualified.
[0115] In one embodiment, the first ranging result includes a first distance value, which describes the distance between the device under test and the target obstacle; the second ranging result includes a second distance value, which describes the distance between the target measuring device and the target obstacle; the performance evaluation module 530 is further configured to:
[0116] For any preset position, based on the first distance value and the second distance value obtained at the preset position, the measurement error value of the device under test at the preset position is calculated; if the measurement error value of the device under test at any preset position is greater than the preset error threshold corresponding to the preset position, the target evaluation result is determined to be that the device is unqualified; if the measurement error value of the device under test at all preset positions is less than or equal to the preset error threshold corresponding to the preset position, the target evaluation result is determined to be that the device is qualified.
[0117] In one embodiment, the performance evaluation module 530 is further configured to:
[0118] Calculate the difference between the first distance value and the second distance value obtained at the preset position in each simulation environment; and determine the average value of the differences corresponding to the preset positions in all simulation environments as the measurement error value corresponding to the preset position.
[0119] When it is understood that, Figure 5 In the structural block diagram of the performance testing device for the ranging equipment shown, each module is used to perform... Figure 1 , Figure 3 and Figure 4 The steps in the corresponding embodiments, and for Figure 1 , Figure 3 and Figure 4 The steps in the corresponding embodiments have been explained in detail in the above embodiments. Please refer to them for details. Figure 1 , Figure 3 and Figure 4 as well as Figure 1 , Figure 3 and Figure 4 The relevant descriptions in the corresponding embodiments will not be repeated here.
[0120] Figure 6 This is a structural block diagram of a terminal device provided in one embodiment of this application. For example... Figure 6 As shown, the terminal device 600 of this embodiment includes: a processor 610, a memory 620, and a computer program 630 stored in the memory 620 and executable by the processor 610, such as a program for a performance detection method for a ranging device. When the processor 610 executes the computer program 630, it implements the steps in the various embodiments of the performance detection methods for ranging devices described above, for example... Figure 1 S101 to S103 are shown. Alternatively, the processor 610 implements the above when executing the computer program 630. Figure 5 The functions of each module in the corresponding embodiments, for example, Figure 5 For details on the functions of modules 510 to 530 shown, please refer to [link / reference]. Figure 5 The relevant descriptions in the corresponding embodiments.
[0121] For example, the computer program 630 can be divided into one or more modules, one or more of which are stored in the memory 620 and executed by the processor 610 to implement the performance detection method for the ranging device provided in this embodiment. One or more modules can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 630 in the terminal device 600. For example, the computer program 630 can implement the performance detection method for the ranging device provided in this embodiment.
[0122] Terminal device 600 may include, but is not limited to, processor 610 and memory 620. Those skilled in the art will understand that... Figure 6 This is merely an example of terminal device 600 and does not constitute a limitation on terminal device 600. It may include more or fewer components than shown, or combine certain components, or different components. For example, terminal device may also include input / output devices, network access devices, buses, etc.
[0123] The processor 610 may be a central processing unit, or it may be other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.
[0124] The memory 620 can be an internal storage unit of the terminal device 600, such as a hard disk or memory of the terminal device 600. The memory 620 can also be an external storage device of the terminal device 600, such as a plug-in hard disk, smart memory card, flash memory card, etc., equipped on the terminal device 600. Furthermore, the memory 620 can include both internal storage units and external storage devices of the terminal device 600.
[0125] This application provides a computer-readable storage medium, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the performance detection method of the ranging device as described in the above embodiments.
[0126] This application provides a computer program product that, when run on a terminal device, causes the terminal device to execute the performance detection method of the ranging device in the above embodiments.
[0127] 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.
Claims
1. A method for testing the performance of a ranging device, characterized in that, The method includes: A first distance measurement result is obtained by measuring the distance between the device under test and the target obstacle at at least one preset position in various simulated environments; the simulated environment is generated based on preset environmental factors, which are environmental factors in the real environment that have an impact on the device under test; the first distance measurement result includes a first distance value, which is used to describe the distance between the device under test and the target obstacle; A second ranging result is obtained by a target measuring device measuring the distance to the target obstacle at at least one preset position; the measurement accuracy of the target measuring device is higher than a preset accuracy threshold; the second ranging result includes a second distance value, which describes the distance between the target measuring device and the target obstacle; Based on each of the first ranging results and each of the second ranging results, a target evaluation result is generated to evaluate the ranging performance of the device under test. The step of generating a target evaluation result for assessing the ranging performance of the device under test based on each of the first ranging results and each of the second ranging results includes: For any of the preset positions, based on the first distance value and the second distance value obtained at the preset position, the measurement error value of the device under test at the preset position is calculated; If the measurement error value of the device under test at any of the preset positions is greater than the preset error threshold corresponding to the preset position, then the target evaluation result is determined to be that the device is unqualified. If the measurement error value of the device under test at all the preset positions is less than or equal to the preset error threshold corresponding to the preset position, then the target evaluation result is determined to be qualified. The step of calculating the measurement error value of the device under test at the preset position based on the first distance value and the second distance value obtained at the preset position includes: Calculate the difference between the first distance value and the second distance value obtained at the preset location in each of the simulated environments; The average value of the differences corresponding to the preset positions in all the simulated environments is determined as the measurement error value corresponding to the preset position.
2. The method according to claim 1, characterized in that, The step of generating a target evaluation result for assessing the ranging performance of the device under test based on each of the first ranging results and each of the second ranging results includes: For any of the preset locations, based on the first ranging result and the second ranging result obtained at the preset location, the ranging performance type of the device under test is determined; the ranging performance type includes a first accurate type, a first inaccurate type, and a second inaccurate type. From the ranging performance types of the devices under test corresponding to all the preset positions, count the number of first targets of the ranging performance type corresponding to the first accuracy type; From the ranging performance types of the devices under test corresponding to all the preset locations, count the number of second targets corresponding to the first inaccuracy type of the ranging performance type. From the ranging performance types of the devices under test corresponding to all the preset locations, count the number of third targets corresponding to the second inaccuracy type of the ranging performance type; The target evaluation result is generated based on the first target quantity, the second target quantity, and the third target quantity.
3. The method according to claim 2, characterized in that, The first ranging result includes a first distance value and a first obstacle marker, wherein the first distance value is used to describe the distance between the device under test and the target obstacle; the second ranging result includes a second obstacle marker; both the first obstacle marker and the second obstacle marker are used to describe whether the target obstacle exists; The step of determining the ranging performance type of the device under test based on the first ranging result and the second ranging result obtained at the preset position includes: If the first distance value is a valid ranging value, and the second obstacle identifier is used to describe the existence of the target obstacle, then the ranging performance type is determined to be the first accurate type; If the first distance value is a valid ranging value, and the second obstacle identifier is used to describe the absence of the target obstacle, then the ranging performance type is determined to be the first inaccurate type. If the first obstacle identifier is used to describe the absence of the target obstacle, and the second obstacle identifier is used to describe the presence of the target obstacle, then the ranging performance type is determined to be the second inaccurate type.
4. The method according to claim 3, characterized in that, The step of generating the target evaluation result based on the first target quantity, the second target quantity, and the third target quantity includes: Calculate a first ratio between the first target quantity and the first total quantity; the first total quantity is the sum of the first target quantity and the second target quantity. Calculate a second ratio between the first target quantity and the second total quantity; the second total quantity is the sum of the first target quantity and the third target quantity; The target evaluation result is generated based on the first ratio and the second ratio.
5. The method according to claim 4, characterized in that, The step of generating the target evaluation result based on the first ratio and the second ratio includes: If the first ratio is greater than or equal to the first preset value, and the second ratio is greater than or equal to the second preset value, then the target evaluation result is determined to be that the equipment is qualified. If the first ratio is less than the first preset value, and / or the second ratio is less than the second preset value, then the target evaluation result is determined to be that the equipment is unqualified.
6. A performance testing device for a ranging equipment, characterized in that, The device includes: The first acquisition module is used to acquire a first distance measurement result obtained by the device under test measuring the distance to the target obstacle at at least one preset position in various simulated environments; the simulated environment is generated based on preset environmental factors, which are environmental factors in the real environment that have an impact on the device under test; the first distance measurement result includes a first distance value, which is used to describe the distance between the device under test and the target obstacle; The second acquisition module is used to acquire a second distance measurement result obtained by the target measuring device measuring the distance to the target obstacle at at least one preset position; the measurement accuracy of the target measuring device is higher than a preset accuracy threshold; the second distance measurement result includes a second distance value, which is used to describe the distance between the target measuring device and the target obstacle; The performance evaluation module is used to generate a target evaluation result for evaluating the ranging performance of the device under test based on each of the first ranging results and each of the second ranging results. The performance evaluation module is also used for: For any of the preset positions, based on the first distance value and the second distance value obtained at the preset position, the measurement error value of the device under test at the preset position is calculated; If the measurement error value of the device under test at any of the preset positions is greater than the preset error threshold corresponding to the preset position, then the target evaluation result is determined to be that the device is unqualified. If the measurement error value of the device under test at all the preset positions is less than or equal to the preset error threshold corresponding to the preset position, then the target evaluation result is determined to be qualified. The performance evaluation module is also used for: Calculate the difference between the first distance value and the second distance value obtained at the preset location in each of the simulated environments; The average value of the differences corresponding to the preset positions in all the simulated environments is determined as the measurement error value corresponding to the preset position.
7. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 5.
8. A computer-readable storage medium storing 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 5.