Channel compensation method and its application for small-size multi-channel sensor

Abstract

The present invention proposes a channel compensation method for a small-size multi-channel sensor and its application, including collecting signal data; considering the number of trigger events caused by the actual external signal of each channel of the sensor to be equal, recorded as Y, and obtaining the number of trigger events caused by the circuit noise corresponding to each channel B zi =B i ‑Y; the number of events in each channel is averaged to ensure the overall representativeness of the signal in each channel, and then normalized to make the amplitude range of the signal have a nonlinear effect on the final result, and the corrected Y is obtained; using the corrected Y, under different test conditions, according to B zi =B i ‑Y calculated to get B zi It is built into the MCU as a constant so that B zi As compensation, the total number of events corresponding to each channel is obtained in each subsequent test. i Then, let MCU subtract the compensation amount B zi Output again.

Description

Technical Field

[0001] The present invention relates to the field of TOF technology, and in particular to a channel compensation method for a small-size multi-channel sensor and an application thereof. Background Art

[0002] In the current TOF system, the algorithm processing unit is outside the chip and uses a separate MCU. When the SPAD signal sensor is in use, multiple channels will obtain the signal information of the SPAD points in each channel. For example, the existing solution is to combine multiple channels (such as Figure 2 All data (M*N for M channels and N data) are output to the algorithm processing unit. When the final output is taken, the channel with the highest signal amplitude is output, and the number of bits X with the highest signal amplitude of the channel is the actual distance information measured. Taking channel 0 as an example, the N sensors corresponding to this channel, under certain test conditions, the number of events triggered by the sensors are A00, A01, ..., A0 (n-1) respectively. Therefore, the total number of events of this channel B0 = A00 + A01 + ... + A0 (n-1), and the output B0 is the total number of events of channel 0.

[0003] However, various types of noise exist inside each sensor and the overall circuit inside the chip, which will cause the total data of a single channel to be distorted.

[0004] Therefore, there is an urgent need for a small-size multi-channel sensor channel compensation method and its application to reduce the amount of distorted data in the measurement, improve the system's measurement capability for small signals, and expand the detection breadth or depth of signal sensors. Summary of the invention

[0005] The embodiment of the present invention provides a channel compensation method for a small-sized multi-channel sensor and its application, which aims to solve the problem that various types of noise exist inside each sensor and the overall circuit inside the chip in the current technology, which may cause the total distortion of single-channel data.

[0006] The core technology of the present invention is mainly to regard the actual external signal trigger event number of each channel of the sensor as equal and separate the trigger event number caused by circuit noise, average and normalize the event number of each channel to obtain the corrected trigger event number, and use it as a constant to build into the MCU to compensate for noise, thereby reducing the amount of measurement distortion data, improving small signal measurement capabilities and system stability and reliability.

[0007] In a first aspect, the present invention provides a channel compensation method for a small-size multi-channel sensor, the method comprising the following steps:

[0008] S00, collect signal data of m channels of sensor;

[0009] S10. Consider the number of trigger events caused by the actual external signal of each channel of the sensor to be equal, recorded as Y, and obtain the number of trigger events caused by the circuit noise corresponding to each channel B zi =B i -Y;

[0010] Among them, B zi Indicates the number of trigger events caused by the circuit noise of the i-th channel, B i Represents the total number of events corresponding to the i-th channel, 0≤i≤m;

[0011] S20, averaging the number of events in each channel to ensure the overall representativeness of the signal in each channel, and then performing normalization processing so that the amplitude range of the signal has a nonlinear effect on the final result, thereby obtaining a corrected Y;

[0012] S30, using the corrected Y, under different test conditions, according to B zi =B i -Y calculates to get B zi It is built into the MCU as a constant so that B zi As a compensation amount;

[0013] S40, in each subsequent test, the total number of events corresponding to each channel is obtained B i Then, let MCU subtract the compensation amount B zi Output again.

[0014] Furthermore, in step S20, the maximum number of events corresponding to each channel is averaged and then corrected by the fourth root of the amplitude range to obtain the corrected Y.

[0015] Furthermore, in step S20, the number of trigger events Y caused by actual external signals of each channel under different test conditions is calculated:

[0016] ;

[0017] Among them, A0, A1, ..., A(m-1) are the maximum number of events corresponding to each channel, R max is the maximum value of the signal amplitude range, R min is the minimum value of the signal amplitude range.

[0018] In a second aspect, the present invention provides a channel compensation device for a small-sized multi-channel sensor, comprising:

[0019] The acquisition module collects the signal data of m channels of the sensor;

[0020] The MCU module considers the number of trigger events caused by the actual external signals of each sensor channel to be equal, recorded as Y, and obtains the number of trigger events caused by the circuit noise corresponding to each channel, Bzi =B i -Y; among them, B zi Indicates the number of trigger events caused by the circuit noise of the i-th channel, B i represents the sum of the number of events corresponding to the i-th channel, 0≤i≤m; the number of events of each channel is averaged to ensure the overall representativeness of the signal of each channel, and then the amplitude range is corrected by multiple square roots to make the amplitude of the signal use the corrected Y, under different test conditions, according to B zi =B i -Y calculates to get B zi It is built into the MCU module as a constant so that B zi As compensation, the influence of the degree range on the final result is nonlinear, and the corrected Y is obtained;

[0021] Output module, each subsequent test obtains the total number of events corresponding to each channel B i Then, the MCU module deducts the compensation amount B zi Output again.

[0022] In a third aspect, the present invention provides an electronic device including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the above-mentioned small-size multi-channel sensor channel compensation method.

[0023] In a fourth aspect, the present invention provides a readable storage medium, in which a computer program is stored. The computer program includes a program code for controlling a process to execute a process, and the process includes the channel compensation method of a small-size multi-channel sensor according to the above-mentioned method.

[0024] The main contributions and innovations of the present invention are as follows:

[0025] 1. Improve measurement accuracy

[0026] In the prior art, due to various types of noise inside each sensor and the overall circuit inside the chip, the sum of single channel data will be distorted. However, the present invention considers the number of trigger events caused by the actual external signal of each channel to be equal, recorded as Y, and obtains the number of trigger events caused by the circuit noise corresponding to each channel B zi =B i -Y can effectively separate the influence of circuit noise, thereby reducing the amount of distorted data in the measurement and improving the accuracy of the measurement. By averaging and normalizing the number of events in each channel, the corrected Y is obtained, making the influence of the signal amplitude range on the final result nonlinear, further improving the measurement accuracy.

[0027] 2. Enhance small signal measurement capabilities

[0028] The present invention can improve the system's ability to measure small signals. By processing and correcting noise, it can better capture changes in small signals, expand the detection breadth or depth of the signal sensor, and obtain more accurate measurement results in a small signal environment.

[0029] 3. Improve system stability and reliability

[0030] The number of trigger events caused by the corrected circuit noise is B zi Built into the MCU as a constant, and the compensation value B is subtracted in each subsequent test zi Re-output enables the system to automatically compensate for noise, improving the stability and reliability of the system.

[0031] Effective compensation for noise can be achieved without frequent hardware adjustments or changes in measurement conditions, reducing system maintenance costs and complexity.

[0032] In summary, the channel compensation method for a small-size multi-channel sensor of the present invention and its application can effectively solve the problems existing in the prior art, improve measurement accuracy, enhance small signal measurement capability, and improve the stability and reliability of the system.

[0033] The details of one or more embodiments of the invention are set forth in the following drawings and description so that other features, objects, and advantages of the invention are more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0035] Figure 1 is a flow chart of a channel compensation method for a small-size multi-channel sensor according to an embodiment of the present invention;

[0036] Figure 2 It is a multi-channel data structure diagram common to the prior art and the present invention;

[0037] Figure 3 It is the sum of the number of events corresponding to different channels with a spacing of 1m;

[0038] Figure 4 It is a graph of the total number of events corresponding to different channels in close-range testing;

[0039] Figure 5 is a schematic diagram of a channel compensation method for a small-size multi-channel sensor before correction according to an embodiment of the present invention;

[0040] Figure 6is a schematic diagram of a modified channel compensation method for a small-size multi-channel sensor according to an embodiment of the present invention;

[0041] Figure 7 It is a schematic diagram of the inter-channel range before and after correction;

[0042] Figure 8 4 is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with one or more embodiments of this specification. Instead, they are merely examples of devices and methods consistent with some aspects of one or more embodiments of this specification as detailed in the appended claims.

[0044] It should be noted that: in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this specification. In some other embodiments, the steps included in the method may be more or less than those described in this specification. In addition, a single step described in this specification may be decomposed into multiple steps for description in other embodiments; and multiple steps described in this specification may be combined into a single step for description in other embodiments.

[0045] The existing solution is to combine multiple channels (such as Figure 2 All data (M channels, N data) (the total amount of data is M*N) are output to the algorithm processing unit. The N data in each channel are accumulated and output as the total number of events of the channel, that is, the total number of events received and triggered by all signal sensors corresponding to the channel within the set time.

[0046] Among them, in the data acquisition of the signal sensor M (referred to as m in the present invention, both have the same meaning, and similarly N and n are also the same) channels:

[0047] R max is the maximum value of the signal amplitude range;

[0048] R min is the minimum value of the signal amplitude range;

[0049] X0, X1, ..., X(m-1) are the distances corresponding to each channel;

[0050] A0, A1, ..., A(m-1) are the maximum number of events corresponding to each channel;

[0051] A00, A01, ..., A(m-1)(n-1) are N data corresponding to each channel;

[0052] B0, B1, ..., B(m-1) is the sum of the number of events corresponding to each channel.

[0053] Take channel 0 as an example. Under certain test conditions, the number of events triggered by the N sensors corresponding to this channel is A00, A01, ..., A0(n-1). Therefore, the total number of events for this channel, B0, is A00+A01+...+A0(n-1). The output B0 is the total number of events for channel 0. The total number of events for other channels is the same as above.

[0054] This method causes distortion of the total single-channel data due to various noises inside each sensor and the overall circuit inside the chip.

[0055] Based on this, the present invention solves the problems existing in the prior art based on estimation.

[0056] Embodiment 1

[0057] The present invention aims to propose a channel compensation method for a small-size multi-channel sensor. Specifically, referring to Figure 1 , the method comprising:

[0058] The first step is to collect signal data of m channels;

[0059] In this embodiment, it is known that the device is composed of M*N sensors. Under actual test conditions, the number of events triggered by each sensor is:

[0060] A00, A01, ..., A(m-1)(n-1), where m=M, n=N.

[0061] Taking channel 0 as an example, the total number of events for this channel is calculated as B0 = A00 + A01 + ... + A0(n-1). The total number of events for this channel B0 includes two parts: the number of trigger events caused by circuit noise, B z0 , the number of trigger events caused by actual external signals B C0 , that is, B0=B z0 +B C0 Therefore, for this device, since the physical positions of the sensors are close and much smaller than the distance between the device as a whole and the target, the number of trigger events caused by the actual signal is approximately equal and is uniformly recorded as Y. .

[0062] This is because when the sensors are physically close, the relative angles and distances between them and the target are negligible. In this case, the signal emitted or reflected by the target has basically the same strength, propagation path, and other factors when it reaches each sensor.

[0063] Since the distance between the device and the target is much larger than the distance between the sensors, the signal can be considered to be evenly distributed for these close sensors during propagation. Therefore, the actual signal strength received by each sensor is similar, resulting in the number of events triggered by them being approximately equal, so they can be uniformly recorded as Y. Thus, the B corresponding to each channel is obtained zi =B i -Y, where B zi Indicates the number of trigger events caused by the circuit noise of the i-th channel, B i Represents the total number of events corresponding to the i-th channel, 0≤i≤m.

[0064] Step 2: Estimate the total number of actual events Y for a single channel;

[0065] In this embodiment, although Y may vary under different test conditions, it can be estimated by the maximum number of events corresponding to each channel:

[0066]

[0067] Among them, A0, A1, ..., A(m-1) are the maximum number of events corresponding to each channel, R max is the maximum value of the signal amplitude range, R min is the minimum value of the signal amplitude range.

[0068] In fact, the maximum number of trigger events of multiple channels is summed up first, and then divided by the number of channels m, that is, the maximum number of events of each channel is arithmetic averaged. This can be regarded as comprehensive processing of signals collected by multiple channels to reduce the influence of signal fluctuations in a single channel. Then multiply by , which is the fourth root processing of the signal amplitude range. This processing method can reduce the direct impact of the signal amplitude on the number of trigger events, making the impact of the signal amplitude range on the final result nonlinear and gentler. This processing method takes into account the upper and lower limits of the signal amplitude (theoretical value) and the actual measurement conditions of each channel (actual value). And enough sample data calculations show that the final result conforms to this formula.

[0069] Step 3: Calculate the number of circuit noise trigger events B for each channel zi (0≤i≤m).

[0070] Therefore, randomly select the data from a test and substitute it into the formula in step 3 to calculate the B corresponding to each channel. zi . After getting B zi After that, even if different test conditions are changed, the total number of real signal trigger events B of each channel can be calculated. Ci as follows:

[0071] B Ci =B i -B Zi

[0072] The fourth step is to use as a fixed quantity to correct the total number of events in each channel and obtain the total number of real events under different test conditions.

[0073] In this embodiment, therefore, for the same device, it is only necessary to first test and calculate B under any conditions. Zi , and then its specific value can be built into the MCU as a constant. In each subsequent test, the total number of events corresponding to each channel is obtained. i After that, the MCU calculates and outputs B Ci .

[0074] In order to better demonstrate the effect of the present invention:

[0075] like Figure 3 As shown, the object to be tested and the device are placed opposite each other with a horizontal distance of 1m. The reflectivity of the object to be tested is 90%, the surrounding light shielding conditions are good, and interference from other light and equipment operation noise is avoided as much as possible. The device contains four channels, each of which contains multiple signal sensors, but the physical positions are very close, far less than 1m. Under this condition, the total number of events between the four channels is quite different due to the difference in circuit noise.

[0076] like Figure 4 As shown in the figure, the horizontal axis 1 to 4 represents the four channel numbers, and the vertical axis is the total number of events. Obviously, there is a size relationship between the total number of events in the four channels. Arrange the channels in descending order of the total number of events, channel 2> channel 1> channel 4> channel 3. Similarly, observe Figure 4 , changing to the close distance test, the relationship between the total number of events of the four channels at other distances is consistent with this. The difference in the total number of events of any two channels will not change with the change of distance.

[0077] like Figure 5 and Figure 6 In order to compare the data differences before and after the algorithm processing, the range (range = maximum value - minimum value) and standard deviation (arithmetic square root of the arithmetic mean of the square of the deviation from the mean, reflecting the degree of data dispersion) are used for quantitative expression. Under the same test conditions, the test was repeated 3 times, and the 3 test data were numbered in sequence.

[0078] like Figure 5 and Figure 6 The horizontal axis of each data point represents the test number corresponding to the data. Figure 5 The vertical axis corresponds to the range, Figure 6 The vertical axis corresponds to the standard deviation. Both figures contain two legends, one before and one after the algorithm correction. Taking the first test data (test number 1) as an example, before the algorithm correction, the range of the total number of events between the four channels was as high as 500, and the standard deviation exceeded 200. After the algorithm correction, the range was reduced to 100, and the standard deviation was reduced to below 50. The data correction ratio exceeded 75%, which is helpful to determine the actual number of signals received by the device, and can better evaluate the actual ability of the sensor in the device to receive signals, which is beneficial to actual use.

[0079] like Figure 7 As shown, the data included are close-range test data. The data before and after the algorithm correction are placed in the same chart to visually compare the difference in the total number of events between channels after the algorithm correction is used.

[0080] Embodiment 2

[0081] Based on the same concept, the present invention also proposes a channel compensation device for a small-sized multi-channel sensor, comprising:

[0082] The acquisition module collects the signal data of m channels of the sensor;

[0083] The MCU module considers the number of trigger events caused by the actual external signals of each channel of the sensor to be equal, recorded as Y, and obtains the number of trigger events caused by the circuit noise corresponding to each channel, B zi =B i -Y; among them, B zi Indicates the number of trigger events caused by the circuit noise of the i-th channel, B i represents the sum of the number of events corresponding to the i-th channel, 0≤i≤m; the number of events of each channel is averaged to ensure the overall representativeness of the signal of each channel, and then the amplitude range is corrected by multiple square roots to obtain the amplitude of the signal. Using the corrected Y, under different test conditions, according to B zi =B i -Y calculates to get B zi It is built into the MCU module as a constant so that B zi As compensation, the influence of the degree range on the final result is nonlinear, and the corrected Y is obtained;

[0084] Output module, each subsequent test obtains the total number of events corresponding to each channel B i Then, the MCU module deducts the compensation amount B zi Output again.

[0085] Embodiment 3

[0086] This embodiment also provides an electronic device, referring to Figure 8 , comprises a memory 404 and a processor 402, wherein the memory 404 stores a computer program, and the processor 402 is configured to run the computer program to execute the steps in any of the above method embodiments.

[0087] Specifically, the processor 402 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.

[0088] Among them, the memory 404 may include a large capacity memory 404 for data or instructions. For example, but not limitation, the memory 404 may include a hard disk drive (HDD), a floppy disk drive, a solid state drive (SSD), a flash memory, an optical disk, a magneto-optical disk, a tape, or a universal serial bus (USB) drive, or a combination of two or more of these. In appropriate cases, the memory 404 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 404 may be inside or outside the data processing device. In a specific embodiment, the memory 404 is a non-volatile memory. In a specific embodiment, the memory 404 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (Programmable Read-Only Memory, PROM for short), an erasable PROM (Erasable Programmable Read-Only Memory, EPROM for short), an electrically erasable PROM (Electrically Erasable Programmable Read-Only Memory, EEPROM for short), an electrically alterable ROM (Electrically Alterable Read-Only Memory, EAROM for short) or a flash memory (FLASH) or a combination of two or more of these. In appropriate circumstances, the RAM may be a static random access memory (SRAM) or a dynamic random access memory (DRAM), wherein the DRAM may be a fast page mode dynamic random access memory 404 (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0089] The memory 404 may be used to store or cache various data files required for processing and / or communication, as well as possible computer program instructions executed by the processor 402 .

[0090] The processor 402 implements any one of the channel compensation methods for a small-size multi-channel sensor in the above embodiments by reading and executing computer program instructions stored in the memory 404 .

[0091] Optionally, the electronic device may further include a transmission device 406 and an input / output device 408 , wherein the transmission device 406 is connected to the processor 402 , and the input / output device 408 is connected to the processor 402 .

[0092] The transmission device 406 can be used to receive or send data via a network. Specific examples of the above-mentioned network may include a wired or wireless network provided by a communication provider of the electronic device. In one example, the transmission device includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 406 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0093] Input / output devices 408 are used to input or output information.

[0094] Embodiment 4

[0095] This embodiment also provides a readable storage medium, in which a computer program is stored. The computer program includes a program code for controlling a process to execute a process. The process includes a channel compensation method for a small-size multi-channel sensor according to the first embodiment.

[0096] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0097] In general, various embodiments may be implemented in hardware or dedicated circuits, software, logic, or any combination thereof. Some aspects of the invention may be implemented in hardware, while other aspects may be implemented in firmware or software executed by a controller, microprocessor, or other computing device, but the invention is not limited thereto. Although various aspects of the invention may be shown and described as block diagrams, flow charts, or using some other graphical representation, it should be understood that, as non-limiting examples, the boxes, devices, systems, techniques, or methods described herein may be implemented in hardware, software, firmware, dedicated circuits or logic, general-purpose hardware or controllers or other computing devices, or some combination thereof.

[0098] Embodiments of the present invention may be implemented by computer software that is executable by a data processor of a mobile device, such as in a processor entity, or by hardware, or by a combination of software and hardware. Computer software or programs (also referred to as program products) including software routines, applets and / or macros may be stored in any device-readable data storage medium, and they include program instructions for performing specific tasks. A computer program product may include one or more computer executable components configured to perform an embodiment when the program is run. One or more computer executable components may be at least one software code or a portion thereof. In addition, at this point, it should be noted that, for example, Figure 1 Any block of the logic flow in the program may represent program steps, or interconnected logic circuits, blocks and functions, or a combination of program steps and logic circuits, blocks and functions. The software may be stored on physical media such as memory chips or storage blocks implemented within the processor, magnetic media such as hard disk or floppy disks, and optical media such as, for example, DVDs and their data variants, CDs, etc. Physical media are non-transitory media.

[0099] Those skilled in the art should understand that the technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A channel compensation method for a small-size multi-channel sensor, characterized in that: The following steps are involved: S00, collect signal data of m channels of sensor; S10. Consider the number of trigger events caused by the actual external signal of each channel of the sensor to be equal, recorded as Y, and obtain the number of trigger events caused by the circuit noise corresponding to each channel B zi =B i -Y; Among them, B zi Indicates the number of trigger events caused by the circuit noise of the i-th channel, B i Represents the total number of events corresponding to the i-th channel, 0≤i≤m; S20, averaging the number of events of each channel to ensure the overall representativeness of the signal of each channel, and then performing normalization processing so that the influence of the amplitude range of the signal on the final result is nonlinear, thereby obtaining a corrected Y; S30, using the corrected Y, under different test conditions, according to B zi =B i -Y calculates to get B zi It is built into the MCU as a constant so that B zi As a compensation amount; S40, in each subsequent test, the total number of events corresponding to each channel is obtained B i Then, let MCU subtract the compensation amount B zi Output again.

2. A channel compensation method for a small-size multi-channel sensor as claimed in claim 1, characterized in that: In step S20, the corrected Y is obtained by averaging the maximum number of events corresponding to each channel and then correcting it by the fourth root of the amplitude range.

3. A channel compensation method for a small-size multi-channel sensor as claimed in claim 2, characterized in that: In step S20, the number of trigger events Y caused by actual external signals of each channel under different test conditions is calculated: ； Among them, A0, A1, ..., A(m-1) are the maximum number of events corresponding to each channel, R max is the maximum value of the signal amplitude range, R min is the minimum value of the signal amplitude range.

4. A channel compensation device for a small-size multi-channel sensor, characterized in that: include: The acquisition module collects the signal data of m channels of the sensor; The MCU module considers the number of trigger events caused by the actual external signals of each channel of the sensor to be equal, recorded as Y, and obtains the number of trigger events caused by the circuit noise corresponding to each channel, B zi =B i -Y; among them, B zi Indicates the number of trigger events caused by the circuit noise of the i-th channel, B i represents the sum of the number of events corresponding to the i-th channel, 0≤i≤m; the number of events of each channel is averaged to ensure the overall representativeness of the signal of each channel, and then normalized to make the amplitude range of the signal have a nonlinear effect on the final result, and the corrected Y is obtained; using the corrected Y, under different test conditions, according to B zi =B i -Y calculates to get B zi It is built into the MCU module as a constant so that B zi As compensation, the influence of the degree range on the final result is nonlinear, and the corrected Y is obtained; Output module, each subsequent test obtains the total number of events corresponding to each channel B i Then, the MCU module deducts the compensation amount B zi Output again.

5. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to execute the channel compensation method for a small-size multi-channel sensor according to any one of claims 1 to 3.

6. A readable storage medium, characterized in that: The readable storage medium stores a computer program, wherein the computer program includes a program code for controlling a process to execute the process, wherein the process includes the channel compensation method for a small-size multi-channel sensor according to any one of claims 1 to 3.

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