Data processing method, detection method and related device

Abstract

A data processing method, a detection method and a related device are applied to the technical field of detection. The data processing method comprises the steps of obtaining first data and second data, and determining position information of a target based on the first data and the second data. Wherein the first data comprises time data of a first echo signal, and the first echo signal comprises an echo signal obtained after a detection signal of the detection device passes through the light-transmitting assembly and the light shield in sequence. The second data comprises time data of a second echo signal, and the second echo signal comprises an echo signal obtained after the detection signal is transmitted to the light-transmitting component through the light-transmitting component and passes through the target. The detection device and the light shield are located on the second side of the light-transmitting assembly, and the first side and the second side are two opposite sides. According to the method, distance measurement calibration in various detection scenes is carried out based on the first data of the first echo signal and the second data of the second echo signal, and the detection precision of the detection device in various detection scenes can be improved.

Description

Technical Field

[0001] The present application relates to the field of detection technology, and in particular to a data processing method, a detection method and related devices. Background Art

[0002] With the development of information technology and computer vision, detection technology has made rapid progress. A wide variety of detection devices have brought great convenience to people's lives and travel. Detection devices can be thought of as the "eyes" that perceive the environment. They include vision sensors such as cameras and radar sensors such as millimeter-wave radar, lidar, and ultrasonic radar. Among them, lidar (light detection and ranging) offers significant advantages in detection range, ranging accuracy, and reliability, and features near-all-weather operation. It is a key sensor in the perception field and plays an important role in intelligent driving, intelligent transportation, surveying and mapping, intelligent manufacturing, and other fields.

[0003] Currently, the detection scene coverage of lidar is relatively wide, and the emission time of the laser pulse and the response time of the detector may change with the changes in the detection scene, resulting in low detection accuracy.

[0004] Therefore, a feasible solution is urgently needed to improve the detection accuracy of lidar in various detection scenarios. Summary of the Invention

[0005] The embodiments of the present application provide a data processing method, a detection method and related devices, which can improve the detection accuracy of lidar in various detection scenarios.

[0006] In a first aspect, an embodiment of the present application provides a data processing method, comprising: acquiring first data and second data, and determining the location information of a target based on the first data and the second data. The first data includes time data of a first echo signal, which includes an echo signal of a detection signal from a detection device after it passes through a light-transmitting component and a light-shielding cover. The second data includes time data of a second echo signal, which includes an echo signal of a detection signal after it passes through the light-transmitting component, is emitted toward the first side of the light-transmitting component, and passes through the target. The detection device and the light-shielding cover are located on a second side of the light-transmitting component, with the first side and the second side being opposite each other.

[0007] In an embodiment of the present application, the light-transmitting component has a reflective and transmissive effect on light. For a scenario in which the detection device and the light shield are located on the second side of the light-transmitting component, the detection signal emitted by the transmitting module of the detection device is sequentially reflected by the light-transmitting component and the light shield, and is received by the receiving module of the detection device to form a first echo signal. The detection signal is transmitted through the light-transmitting component to the first side of the light-transmitting component and is partially reflected by the target, and is received by the receiving module of the detection device to form a second echo signal. Since the first echo signal is closer to the detection device, it is usually a strong saturation signal, and since the transceiver link of the first echo signal is the same as that of the second echo signal, changes in the detection scene have the same effect on the first echo signal and the second echo signal. Therefore, ranging calibration can be performed in various detection scenarios based on the first echo signal and the second echo signal. In view of this, the embodiment of the present application obtains the first data of the first echo signal and the second data of the second echo signal, and performs ranging calibration in various detection scenarios based on the first data of the first echo signal and the second data of the second echo signal, which can improve the detection accuracy of the detection device in various detection scenarios.

[0008] Optionally, taking the light-transmitting component as a vehicle's windshield as an example, for a scenario in which the detection device and the light shield are located on the inner side (i.e., the second side) of the light-transmitting component, and the detection device is installed in the vehicle cabin, the detection signal emitted by the transmitting module of the detection device passes through the windshield and the light shield in sequence, partially reflecting the energy behind the signal, and is received by the receiving module of the detection device to form a windshield echo signal. The detection signal passes through the windshield and passes through the target, partially reflecting the energy behind the signal, and is received by the receiving module of the detection device to form a target echo signal. Since the windshield echo signal is close to the detection device, it is usually a strong saturated signal, and since the transceiver link of the windshield echo signal is the same as that of the target echo signal, changes in the detection scene have the same impact on the windshield echo signal and the target echo signal. Therefore, ranging calibration in various detection scenarios can be performed based on the windshield echo signal and the target echo signal to improve the detection accuracy of the detection device in various detection scenarios.

[0009] Optionally, in addition to being applicable to detection scenarios where the light-transmitting component is a vehicle windshield, the embodiments of the present application are also applicable to detection scenarios where the light-transmitting component is in other product forms. As long as the detection scenario is where the detection device and the light shield are located on one side of the light-transmitting component, the data processing method in the embodiments of the present application can be used to perform ranging calibration in various detection scenarios based on the first data of the first echo signal and the second data of the second echo signal, so as to improve the detection accuracy of the detection device in various detection scenarios.

[0010] Optionally, the changes / differences in the detection scene may include but are not limited to: different reflectivity of the target, different ambient temperature, different intensity (or pulse width) of the echo signal, different distance to the target, and other different detection scenes, which are not limited in the embodiments of the present application.

[0011] In a possible embodiment, the above-mentioned determination of the target's position information based on the first data and the second data can be specifically achieved by including but not limited to the following methods: determining the distance information of the target relative to the detection device based on the time data of the first echo signal and the time data of the second echo signal.

[0012] In this embodiment, the distance information of the target relative to the detection device can be determined based on the time data of the first echo signal and the time data of the second echo signal. Specifically, the distance information of the target relative to the detection device can be determined based on the time leading edge data, time median data, or time trailing edge data of the two. The embodiment of the present application does not limit this.

[0013] In a second aspect, embodiments of the present application provide a detection method, comprising: transmitting a detection signal, and receiving a first echo signal and a second echo signal. The first echo signal comprises an echo signal resulting from the detection signal passing through a light-transmitting component and a light-shielding cover, and the second echo signal comprises an echo signal resulting from the detection signal being transmitted through the light-transmitting component toward a first side of the light-transmitting component and then passing through a target. The first echo signal and the second echo signal are used to determine the target's position information. The detection device and the light-shielding cover are located on a second side of the light-transmitting component, with the first side and the second side being opposite each other.

[0014] In an embodiment of the present application, the light-transmitting component has a reflective and transmissive effect on light. For a scene in which the detection device and the light shield are located on the second side of the light-transmitting component, the detection signal emitted by the transmitting module of the detection device passes through the light-transmitting component and the light shield in sequence, partially reflecting the energy behind the light-transmitting component and being received by the receiving module of the detection device, forming a first echo signal. The detection signal is transmitted through the light-transmitting component to the first side of the light-transmitting component and partially reflecting the energy behind the target and being received by the receiving module of the detection device, forming a second echo signal. Since the first echo signal is closer to the detection device, it is usually a strong saturation signal, and since the transceiver link of the first echo signal is the same as the transceiver link of the second echo signal, the change in the detection scene has the same effect on the first echo signal and the second echo signal. Therefore, ranging calibration in various detection scenarios can be performed based on the first echo signal and the second echo signal. In view of this, the embodiment of the present application can perform ranging calibration in various detection scenarios by transmitting the detection signal and receiving the first echo signal and the second echo signal, which can improve the detection accuracy of the detection device in various detection scenarios.

[0015] Alternatively, taking the light-transmitting component as a vehicle's windshield as an example, for a scenario where the detection device and the light shield are located on the inside of the light-transmitting component, and the detection device is installed in the vehicle cabin, the detection signal emitted by the transmitting module of the detection device passes through the windshield and the light shield in sequence, partially reflecting the energy behind the signal, and is received by the receiving module of the detection device, forming a windshield echo signal. The detection signal passes through the windshield and passes through the target, partially reflecting the energy behind the signal, and is received by the receiving module of the detection device, forming a target echo signal. Since the windshield echo signal is close to the detection device, it is usually a strong saturated signal, and since the transceiver link of the windshield echo signal is the same as that of the target echo signal, changes in the detection scene have the same impact on the windshield echo signal and the target echo signal. Therefore, ranging calibration can be performed in various detection scenarios based on the windshield echo signal and the target echo signal to improve the detection accuracy of the detection device in various detection scenarios.

[0016] Optionally, in addition to being applicable to detection scenarios where the light-transmitting component is a vehicle windshield, the embodiments of the present application are also applicable to detection scenarios where the light-transmitting component is in other product forms. As long as the detection scenario is where the detection device and the light shield are located on one side of the light-transmitting component, the detection method in the embodiments of the present application can be used to perform ranging calibration in various detection scenarios based on the first echo signal and the second echo signal to improve the detection accuracy of the detection device in various detection scenarios.

[0017] Optionally, the changes / differences in the detection scene may include but are not limited to: different reflectivity of the target, different ambient temperature, different intensity (or pulse width) of the echo signal, different distance to the target, and other different detection scenes, which are not limited in the embodiments of the present application.

[0018] In one possible implementation, the detection method may further include, but is not limited to, the following steps: determining first data based on the first echo signal, the first data including time data of the first echo signal; and determining second data based on the second echo signal, the second data including time data of the second echo signal. The time data of the first echo signal and the time data of the second echo signal are used to determine the target's location information.

[0019] In this embodiment, the time data of the first echo signal can be determined based on the first echo signal, and the time data of the second echo signal can be determined based on the second echo signal. Since the transceiver link of the first echo signal and the transceiver link of the second echo signal are the same, changes in the detection scene have the same impact on the first echo signal and the second echo signal. Therefore, the first data of the first echo signal and the second data of the second echo signal can be used for ranging calibration in various detection scenarios to improve the detection accuracy of the detection device in various detection scenarios.

[0020] In a possible implementation, the above detection method may further include but is not limited to the following steps: determining distance information of the target relative to the detection device based on time data of the first echo signal and time data of the second echo signal.

[0021] In this embodiment, the distance information of the target relative to the detection device can be determined based on the time data of the first echo signal and the time data of the second echo signal. Specifically, the distance information of the target relative to the detection device can be determined based on the time leading edge data, time median data, or time trailing edge data of the two. The embodiment of the present application does not limit this.

[0022] In a third aspect, an embodiment of the present application provides a data processing device, which includes a unit for executing the method as described in any one of the first aspects.

[0023] In one possible design, the apparatus includes:

[0024] The processing unit is configured to acquire first data and second data. The first data includes time data of a first echo signal, which is an echo signal generated after the detection signal of the detection device passes through the light-transmitting component and the light-shielding cover. The second data includes time data of a second echo signal, which is an echo signal generated after the detection signal is transmitted through the light-transmitting component toward the first side of the light-transmitting component and passes through the target. The detection device and the light-shielding cover are located on the second side of the light-transmitting component, with the first side and the second side being opposite each other.

[0025] The processing unit is further configured to determine location information of the target based on the first data and the second data.

[0026] In a possible implementation, the device further includes a communication unit.

[0027] The processing unit is specifically configured to obtain the first data and the second data through the communication unit.

[0028] Regarding the processing unit and the communication unit described in the third aspect and any possible implementation, the steps performed by them can refer to the corresponding first aspect and the corresponding implementation.

[0029] Regarding the technical effects brought about by the third aspect and any possible implementation method, please refer to the introduction of the technical effects corresponding to the first aspect and the corresponding implementation method.

[0030] Optionally, in the data processing device described in the third aspect and any possible implementation manner:

[0031] In one implementation, the data processing apparatus is a data processing device. When the data processing apparatus is a data processing device, the communication unit may be a transceiver or an input / output interface; and the processing unit may be at least one processor. Alternatively, the transceiver may be a transceiver circuit. Alternatively, the input / output interface may be an input / output circuit.

[0032] In another implementation, the data processing device is a chip (system) or circuit used in a data processing device. When the data processing device is a chip (system) or circuit used in a data processing device, the communication unit may be a communication interface (input / output interface), interface circuit, output circuit, input circuit, pin, or related circuit on the chip (system) or circuit; and the processing unit may be at least one processor, processing circuit, or logic circuit.

[0033] In a fourth aspect, embodiments of the present application provide a data processing device comprising a processor. The processor is coupled to a memory and can be configured to execute instructions in the memory to implement the method of the first aspect and any possible implementation method described above. Optionally, the data processing device further comprises a memory. Optionally, the data processing device further comprises a communication interface, the processor being coupled to the communication interface.

[0034] In a fifth aspect, embodiments of the present application provide a chip comprising: a logic circuit and a communication interface. The communication interface is configured to receive or send information; the logic circuit is configured to receive or send information via the communication interface, so that the chip executes the method of the first aspect and any possible implementation method described above.

[0035] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium for storing a computer program (also referred to as code, or instructions); when the computer program runs on a computer, the method of any one of the above-mentioned first to second aspects and any possible implementation method is implemented.

[0036] In the seventh aspect, an embodiment of the present application provides a computer program product, which includes: a computer program (also referred to as code, or instructions); when the computer program is run, it enables the computer to execute any one of the above-mentioned first to second aspects and any possible implementation method.

[0037] In an eighth aspect, an embodiment of the present application provides a detection device, comprising:

[0038] Transmitter module, receiving module.

[0039] The transmitting module is used to transmit the detection signal.

[0040] The receiving module is configured to receive a first echo signal and a second echo signal. The first echo signal comprises the echo signal of the detection signal after it passes through the light-transmitting component and the light-shielding cover. The second echo signal comprises the echo signal of the detection signal after it is transmitted through the light-transmitting component toward the first side of the light-transmitting component and passes through the target. The first and second echo signals are used to determine the target's position. The detection device and the light-shielding cover are located on the second side of the light-transmitting component, with the first and second sides being opposite each other.

[0041] In a possible implementation, the optical axis of the transmitting module does not coincide with the optical axis of the receiving module.

[0042] Optionally, the optical axis of the transmitting module and the optical axis of the receiving module can be arranged horizontally left and right, vertically up and down, or diagonally in the horizontal and vertical directions. This embodiment of the present application does not limit this.

[0043] In a possible implementation, the detection device further includes a processing module.

[0044] A processing module is configured to determine first data based on the first echo signal and second data based on the second echo signal, wherein the first data includes time data of the first echo signal and the second data includes time data of the second echo signal, and the time data of the first echo signal and the time data of the second echo signal are used to determine the location information of the target.

[0045] In a possible implementation, the processing module is further configured to determine distance information of the target relative to the detection device based on time data of the first echo signal and time data of the second echo signal.

[0046] Optionally, the detection device includes a sensor that uses light to perceive the environment, such as one or more of a laser radar, a camera, or a fusion sensing device, etc. The fusion sensing device fuses at least two types of sensors among the laser radar, camera, radar, etc.

[0047] In a ninth aspect, an embodiment of the present application provides a detection system, which includes at least one detection device as described in the eighth aspect, as well as a light-transmitting component and a light shield.

[0048] In a possible embodiment, the light-transmitting component is set at a first inclination angle with the horizontal plane, the light-shielding cover is set at a first angle with the light-transmitting component, the detection device and the light-shielding cover are set on one side of the light-transmitting component, and the detection device is set in the spatial area corresponding to the first angle.

[0049] In this embodiment, through the above-mentioned position design of the detection device, the light-transmitting component and the light-shielding cover, the detection system in this embodiment can be applied to the detection scenario where the light-transmitting component is a vehicle windshield, and can also be applied to the detection scenario where the light-transmitting component is in other product forms, as long as the detection device and the light-shielding cover are located on the inner side of the light-transmitting component.

[0050] In a possible embodiment, the relative positional relationship between the detection device, the light-transmitting component, and the light-shielding hood satisfies any one or more of the following: there is a first overlapping area on the light-shielding hood between the emission spot of the emission module of the detection device and the field of view corresponding to the receiving module of the detection device, and there is a second overlapping area on the light-transmitting component between the emission spot of the emission module of the detection device and the field of view corresponding to the receiving module of the detection device.

[0051] In this embodiment, by designing the relative positional relationship of the detection device, the light-transmitting component, and the light-shield, a first overlapping area between the emission spot and the receiving field of view can be formed on the light-shield, so that only part of the target surface on the receiving module can receive the strong saturation signal of the first echo signal, and part of the target surface cannot receive the first echo signal. Therefore, a first echo signal distribution from strong to weak is formed on the receiving module. The large dynamic intensity range of the first echo signal distribution can also be used for ranging compensation calibration for different strong and weak signals in various detection scenarios, so as to improve the detection accuracy in various detection scenarios. By designing the relative positional relationship of the detection device, the light-transmitting component, and the light-shield, a second overlapping area between the emission spot and the receiving field of view on the light-transmitting component can be made smaller than the first threshold or no overlapping area exists, thereby avoiding or weakening the path of the light-transmitting component scattering directly received by the receiving module, making the echo path of the light-transmitting component relatively single, reducing the ranging error introduced by the multipath of the echo signal of the light-transmitting component, and improving the detection accuracy in various detection scenarios.

[0052] Optionally, the first threshold is not a fixed value and can be adjusted according to different detection scenarios, which is not limited in the embodiment of the present application.

[0053] Optionally, the second overlapping area is smaller than the first threshold, which can be understood as the emission spot intensity 1 / e 2 Boundary and receiving field intensity 1 / e 2 There is no overlapping area of the boundary on the light-transmitting component.

[0054] In one possible embodiment, the size of the first overlapping area is associated with any one or more of the following: a, b, and d. Here, a represents the distance between the transmitting module and the light-transmitting component along the optical axis, b represents the distance from the center point of the light shield to the plane where the optical axes of the transmitting module and the receiving module are located, and d represents the distance between the optical axes of the transmitting module and the receiving module.

[0055] In a possible implementation, the size of the second overlapping area is associated with any one or more of the following: a, d, where a represents the distance between the transmitting module and the light-transmitting component along the optical axis, and d represents the distance between the optical axis of the transmitting module and the optical axis of the receiving module.

[0056] In a possible implementation, the first inclination angle α between the light-transmitting component and the horizontal plane is associated with a.

[0057] In a possible implementation, the intensity of the first echo signal is associated with any one or more of the following: reflectivity of the light shield, size of the light shield, shape of the light shield, and material of the light shield.

[0058] In this embodiment, the upper limit of the intensity of the first echo signal can be increased by controlling the reflectivity / size / shape / material of the light shield, thereby increasing the dynamic range of the first echo signal, so as to be used for ranging compensation calibration for different strong and weak signals in various detection scenarios, thereby improving the detection accuracy in various detection scenarios.

[0059] In a possible implementation, the detection system further includes at least one data processing device as described in the third aspect, or the data processing device as described in the fourth aspect, or the chip as described in the fifth aspect.

[0060] In the tenth aspect, an embodiment of the present application provides a terminal, which includes at least one data processing device as described in the third aspect, or the data processing device as described in the fourth aspect, or the chip as described in the fifth aspect, or the detection device as described in the eighth aspect, or the detection system as described in the ninth aspect.

[0061] Optionally, the terminal may be a means of transportation, such as a car, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, etc., which may be used in any possible scenario, and the embodiments of the present application do not impose any restrictions on this.

[0062] Optionally, the terminal is a vehicle, a drone or a robot.

[0063] Optionally, the terminal is used to implement the method described in any one of the first aspect to the second aspect and any possible implementation manner.

[0064] In addition, in the process of executing the method described in any aspect of the first aspect to the second aspect and any possible implementation method, the process of sending information and / or receiving information in the above method can be understood as the process of the processor outputting information and / or the process of the processor receiving input information. When outputting information, the processor can output the information to the transceiver (or communication interface, or sending module) so that it can be transmitted by the transceiver. After the information is output by the processor, it may also need to undergo other processing before it reaches the transceiver. Similarly, when the processor receives input information, the transceiver (or communication interface, or sending module) receives the information and inputs it into the processor. Furthermore, after the transceiver receives the information, the information may need to undergo other processing before it is input into the processor.

[0065] Based on the above principles, for example, the sending of information mentioned in the above method can be understood as the processor outputting information. For another example, the receiving of information can be understood as the processor receiving input information.

[0066] Optionally, for the operations such as transmission, sending and receiving involved in the processor, if there is no special explanation, or if they do not conflict with their actual functions or internal logic in the relevant description, they can be more generally understood as processor output, reception, input and other operations.

[0067] Optionally, in the process of executing the method described in any aspect of the first to second aspects and any possible implementation method, the processor may be a processor specifically used to execute these methods, or a processor that executes these methods by executing computer instructions in a memory, such as a general-purpose processor. The memory may be a non-transitory memory, such as a read-only memory (ROM), which may be integrated with the processor on the same chip or may be separately provided on different chips. The embodiments of the present application do not limit the type of memory and the configuration of the memory and the processor.

[0068] In a possible implementation, the at least one memory is located outside the device.

[0069] In yet another possible implementation, the at least one memory is located within the device.

[0070] In another possible implementation, part of the at least one memory is located inside the device, and another part of the memory is located outside the device.

[0071] In this application, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0073] Figure 1A A schematic diagram of an application scenario of a radar provided in an embodiment of the present application;

[0074] Figure 1B A schematic diagram of an application scenario of a radar provided in an embodiment of the present application;

[0075] Figure 2 A schematic diagram of the architecture of a radar provided in an embodiment of the present application;

[0076] Figure 3 A distance measurement schematic diagram provided in an embodiment of the present application;

[0077] Figure 4 A schematic diagram of the time variation of an echo signal provided in an embodiment of the present application;

[0078] Figure 5 A schematic diagram of the time variation of another echo signal provided in an embodiment of the present application;

[0079] Figures 6A to 6C Schematic diagrams of time variations of several other echo signals provided in the embodiments of the present application;

[0080] Figure 7 A flowchart of a data processing method provided in an embodiment of the present application;

[0081] Figure 8 A schematic diagram of the architecture of a detection system provided in an embodiment of the present application;

[0082] Figure 9 Another distance measurement schematic diagram provided in an embodiment of the present application;

[0083] Figure 10 A flow chart of a detection method provided in an embodiment of the present application;

[0084] Figure 11 A schematic diagram of the structure of a data processing device provided in an embodiment of the present application;

[0085] Figure 12 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0086] Figure 13A schematic diagram of the structure of a chip provided in an embodiment of the present application;

[0087] Figure 14 A schematic structural diagram of a detection device provided in an embodiment of the present application;

[0088] Figure 15 A schematic structural diagram of a detection system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0089] In order to make the purpose, technical solutions and advantages of this application clearer, the embodiments of this application will be described below in conjunction with the drawings in the embodiments of this application.

[0090] The terms "first" and "second" in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to the process, method, product, or device.

[0091] The “embodiment” mentioned herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It can be understood explicitly and implicitly by those skilled in the art that in the various embodiments of the present application, unless otherwise specified and there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment according to their inherent logical relationship.

[0092] It should be understood that in the present application, "at least one (item)" refers to one or more, "more than one" refers to two or more, "at least two (items)" refers to two or three and more than three, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0093] It should be noted that in this application, "indication" can include direct indication, indirect indication, explicit indication, and implicit indication. When describing that a certain indication information is used to indicate A, it can be understood that the indication information carries A, directly indicates A, or indirectly indicates A.

[0094] In this application, the information indicated by the indication information is referred to as the information to be indicated. In specific implementations, there are many ways to indicate the information to be indicated. For example, but not limited to, the information to be indicated can be directly indicated, such as the information to be indicated itself or an index of the information to be indicated. The information to be indicated can also be indirectly indicated by indicating other information, where the other information is associated with the information to be indicated. Alternatively, only a portion of the information to be indicated can be indicated, while the rest of the information to be indicated is known or agreed upon in advance. For example, the indication of specific information can be achieved by using a pre-agreed (e.g., protocol-specified) order of the various information, thereby reducing indication overhead to a certain extent. The information to be indicated can be sent as a whole or divided into multiple sub-information and sent separately. The transmission period and / or transmission timing of these sub-information can be the same or different. The specific transmission method is not limited in this application. The transmission period and / or transmission timing of these sub-information can be pre-defined, for example, according to a protocol, or can be configured by the transmitting device sending configuration information to the receiving device.

[0095] It should be noted that in this application, "send" can be understood as "output" and "receive" can be understood as "input". "Send information to A", where "to A" only indicates the direction of information transmission, A is the destination, and does not limit "sending information to A" to direct transmission on the air interface. "Sending information to A" includes sending information directly to A, and also includes sending information indirectly to A through a transmitter, so "sending information to A" can also be understood as "outputting information to A". Similarly, "receiving information from A" indicates that the source of the information is A, including receiving information directly from A, and also including receiving information indirectly from A through a receiver, so "receiving information from A" can also be understood as "inputting information from A".

[0096] In order to more clearly describe the solution of this application, some possible application scenarios of lidar are introduced below.

[0097] See also Figure 1A and Figure 1B , Figure 1A and Figure 1B Schematic diagram of application scenarios of the radar provided in an embodiment of the present application.

[0098] like Figure 1A and Figure 1B As shown, this exemplary application scenario takes the laser radar installed on a vehicle as an example.

[0099] Vehicles can be, for example, autonomous vehicles, smart vehicles, electric vehicles, or digital vehicles. LiDAR can be deployed at various locations on the vehicle (see Figure 1B For example, LiDAR can be deployed in any one or more of the four directions of the vehicle, namely, front, rear, left, and right, to capture information about the vehicle's surroundings. Figure 1A For example, the laser radar is deployed in front of the vehicle. The laser radar can sense Figure 1A The fan-shaped area shown in the dotted box can be called the detection area of the laser radar (or the field of view of the laser radar).

[0100] In one possible implementation, a lidar can acquire the vehicle's latitude and longitude, speed, and orientation, or related information (e.g., target distance, target speed, target pose, or grayscale image) of targets within a certain range (e.g., other nearby vehicles) in real time or periodically. The lidar or the vehicle can determine the vehicle's position and / or plan a path based on this information. For example, the vehicle's longitude and latitude can be used to determine the vehicle's location, its speed and orientation can be used to determine its future travel direction and destination, or the distances to surrounding objects can be used to determine the number and density of obstacles around the vehicle. Furthermore, it can optionally be combined with advanced driving assistance systems (ADAS) to enable assisted or autonomous driving. It should be understood that the principle by which lidar detects target related information is that the lidar emits detection light in a certain direction. If a target is within the lidar's detection area, the target reflects the received detection light back to the lidar (the reflected detection light is referred to as an echo signal). The lidar then determines the target's related information based on the echo signal.

[0101] It should be noted that the above application scenarios are merely examples. The laser radar provided in this application (including the optical waveguide assembly provided in this application) can also be applied in a variety of other possible scenarios, not limited to the scenarios exemplified above. For example, the laser radar can also be installed on a drone as an airborne radar. For another example, the laser radar can also be installed on a roadside unit (RSU) as a roadside traffic laser radar, enabling intelligent vehicle-road collaborative communication. For another example, the laser radar can be installed on an automated guided vehicle (AGV), where an AGV is a transport vehicle equipped with an electromagnetic or optical automatic navigation device that can travel along a specified navigation path and has safety protection and various transfer functions. A full list of these is omitted here. It should be understood that the application scenarios described in this application are intended to more clearly illustrate the technical solutions of this application and do not constitute a limitation of the technical solutions provided in this application. Persons skilled in the art will recognize that as new application scenarios emerge, the technical solutions provided in this application will also be applicable to similar technical problems.

[0102] Based on the above content, the above application scenarios can be applied to unmanned driving, automatic driving, assisted driving, intelligent driving, connected vehicles, security detection, remote interaction, surveying and mapping or artificial intelligence and other fields.

[0103] The following combination Figure 2 , introduce some related concepts of lidar.

[0104] Laser radar, also known as optical radar, is the abbreviation of light detection and ranging system, and can also be called Laser Radar or LADAR (laser detection and ranging).

[0105] LiDAR uses light as a detection medium, utilizing the emission and reception of lasers to detect targets, for example, to measure distance, velocity, or azimuth. LiDAR can measure distance to a target based on the laser's time of flight, which is the time difference between the laser's transmission and reception. Alternatively, it can measure distance to a target based on the phase difference between the transmitted laser signal and the received echo of the same laser signal. LiDAR's greatest advantage lies in its ability to create clear three-dimensional (3D) images of targets using Doppler imaging technology. LiDAR uses the emission and reception of lasers to collect information such as the 3D coordinates, reflectivity, and texture of a large number of densely packed points on the target's surface. Based on this collected information, LiDAR creates a 3D model of the target, builds a 3D point cloud, and creates an environmental map to achieve environmental awareness. Compared with traditional passive imaging technologies such as visible light and infrared, lidar imaging technology has subverted the traditional two-dimensional projection imaging mode. It can collect depth information of the target surface and obtain relatively complete spatial information of the target. After data processing, it reconstructs the three-dimensional surface of the target to obtain a three-dimensional graphic that better reflects the geometric shape of the target. At the same time, it can also obtain rich feature information such as the reflection characteristics and movement speed of the target surface, providing sufficient information support for data processing such as target detection, identification, and following, and reducing the difficulty of the algorithm.

[0106] See also Figure 2 , Figure 2 A schematic diagram of the architecture of a radar provided in an embodiment of the present application.

[0107] like Figure 2 As shown, the laser radar mainly includes a laser emitting part (or system) 100, a laser receiving part (or system) 200 and a signal processing part (or system) 300.

[0108] Among them, the laser emitting part 100 includes an excitation source (or laser driver), a laser, and an emitting optical system. The excitation source drives the laser to emit a laser beam (or laser pulse), and the laser beam (or laser pulse) is emitted outward through the emitting optical system. The laser receiving part 200 includes a receiving optical system and a detector. When the laser beam emitted from the laser radar encounters the target object, it interacts with the target object to form a reflected / scattered echo beam. The echo beam is collected by the receiving optical system and received by the detector. The optical signal is converted into an electrical signal, and the electrical signal is passed to the signal processing part 300 after being processed by the analog front end. The signal processing part 300 processes the received signal to obtain information such as the distance, speed, azimuth, etc. of the target object. In addition, information such as the surface morphology and physical properties of the target can be obtained to establish an object model. The detector is typically a photodetector, which converts the received light signal into an electrical signal. This electrical signal is typically an analog signal. The signal processing unit 300 is typically used to process digital signals, such as a digital signal processor (DSP). Therefore, the analog electrical signal is converted into a digital signal via an analog-to-digital converter (ADC) and provided to the signal processing unit 300. The electrical signal can also be amplified and then converted into a digital signal via an analog-to-digital converter before being provided to the signal processing unit 300. The signal processing unit 300 includes signal processing circuitry for processing the digital signal to obtain information such as the distance, speed, and azimuth of the target object and further establish an object model. The lidar also includes control circuitry, such as a control unit for controlling the excitation source and a control unit for controlling the scan drive circuit. These two control units can be integrated or independent. Furthermore, the signal processing circuit and the control circuit can be integrated or independent.

[0109] In addition, in one implementation, the laser emitting part 100 may also include a laser modulator and a beam controller. The laser beam emitted by the laser passes through the beam controller. Under the control of the laser modulator, the beam controller controls the direction and number of lines of the emitted laser beam. The laser beam emitted from the beam controller passes through the emitting optical system and is emitted outward.

[0110] The laser radar system may also include a scanning unit (or system) 400. The laser beam emitted by the laser is scanned across a plane by the scanning unit 400 to generate real-time planar image information. The scanning unit 400 primarily comprises a scanning mechanism and a scanning drive circuit. The scanning drive circuit is used to drive the scanning mechanism, which transforms the laser beam from a "line" to a "plane" under the action of the scanning mechanism.

[0111] See also Figure 3 , Figure 3A distance measurement diagram provided in an embodiment of the present application.

[0112] like Figure 3 As shown in Figure 1, LiDAR can measure the distance to a target based on the flight time of a laser pulse, which is the time difference between sending and receiving the laser pulse. Due to the dynamic range limitations of the LiDAR detector, the flight time is mainly determined by the leading edge of the pulse echo, as shown in Figure 1. Figure 3 Alternatively, it can be determined by other values such as the median or trailing edge of the pulse echo.

[0113] However, the current lidar detection scene coverage is relatively wide, and the emission time of the laser pulse and the response time of the detector may change with the changes in the detection scene, resulting in low detection accuracy.

[0114] For details, please refer to Figures 4 to 6C , Figures 4 to 6C Schematic diagram of the time variation of several echo signals provided in the embodiments of the present application.

[0115] like Figure 4 As shown in the figure, in the detection scenario of the same distance / temperature, the echo signal strength (pulse width) of targets with different reflectivity is different, and the time front of the echo signal with different strength (pulse width) is different. Figure 4 Curve a in the figure represents the echo signal of a target with high reflectivity, and curve b represents the echo signal of a target with low reflectivity. At this time, the time fronts of the two are different: t1<t2.

[0116] like Figure 5 As shown in , in the detection scenario where the target distance is the same but the temperature is different, the leading edge time of the echo signal with the same intensity (pulse width) is different. Figure 5 Curve a in the figure represents the echo signal at low temperature, curve b represents the echo signal at room temperature, and curve c represents the echo signal at high temperature. At this time, the time fronts of the three are different: t1<t2<t3.

[0117] Optionally, echo signals of different intensities may also be understood as echo signals of different pulse widths, which is not limited in this embodiment of the present application.

[0118] like Figure 6A As shown, in the low temperature detection scenario, Figure 6A Curve a in FIG. 1 represents an echo signal with a pulse width of 15 ns, and curve b represents an echo signal with a pulse width of 12.8 ns. At this time, the time front variation of the two is: t2 - t1 = 0.39 ns.

[0119] like Figure 6B As shown, in the detection scenario at room temperature, Figure 6BCurve c in FIG. 1 represents an echo signal with a pulse width of 15 ns, and curve d represents an echo signal with a pulse width of 12.8 ns. At this time, the time front variation of the two is: t4 - t3 = 1.65 ns.

[0120] like Figure 6C As shown, in the high temperature detection scenario, Figure 6C Curve e in FIG. 5 represents an echo signal with a pulse width of 15 ns, and curve f represents an echo signal with a pulse width of 12.8 ns. At this time, the time front variation of the two is: t6 - t5 = 0.88 ns.

[0121] From the above Figures 6A to 6C It can be seen that in detection scenarios of different temperatures, the leading edge time variation of echo signals of different intensities (pulse widths) is different.

[0122] Based on the above Figures 4 to 6C It can be seen from the temporal variations of several echo signals that the emission time of the laser pulse and the response time of the detector may vary with the detection scene, resulting in lower detection accuracy.

[0123] Therefore, a feasible solution is urgently needed to improve the detection accuracy of lidar in various detection scenarios.

[0124] In view of this, the embodiments of the present application provide a data processing method, a detection method and related devices, relating to the field of detection technology, such as a detection method and a data processing method for vehicle windshield echoes, which can improve the detection accuracy of lidar in various detection scenarios.

[0125] The data processing method, detection method and related devices provided in this application will be described in detail below with reference to the accompanying drawings.

[0126] See also Figure 7 , Figure 7 This is a flow chart of a data processing method provided in an embodiment of the present application. This data processing method is applied to the field of detection technology, such as a data processing method for vehicle windshield echo detection scenarios. Specifically, this data processing method includes but is not limited to the following steps:

[0127] S701: The data processing device obtains first data and second data.

[0128] S702: The data processing device determines the location information of the target based on the first data and the second data.

[0129] It is understood that the data processing device in the embodiment of the present application can be a device equipped with a processor / chip that can be used to execute computer-executable instructions, or a processor / chip that can be used to execute computer-executable instructions. Optionally, the data processing device can be an electronic device, or a processor / chip in an electronic device. Optionally, the data processing device can also be the above-mentioned Figure 2 The laser radar is used to execute the data processing method in the embodiment of the present application to improve the detection accuracy of the laser radar in various detection scenarios.

[0130] Optionally, the data processing device and data processing method in the embodiment of the present application can be applied to, but not limited to, the above Figure 2 The radar or radar system shown.

[0131] Optionally, the data processing device and data processing method in the embodiments of the present application can be applied to, including but not limited to, a vehicle-mounted system. The vehicle equipped with the vehicle-mounted system is an intelligent driving vehicle and can be replaced by a terminal device. The terminal device may include but is not limited to transportation vehicles such as commercial vehicles, passenger cars, trains, etc., industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), robots, etc., and the embodiments of the present application do not make specific limitations on this.

[0132] The first data includes time data of a first echo signal, and the first echo signal includes an echo signal of a detection signal of a detection device after passing through a light-transmitting component and a light shield in sequence.

[0133] The second data includes time data of a second echo signal, and the second echo signal includes an echo signal after the detection signal is transmitted through the light-transmitting component to the first side of the light-transmitting component and passes through the target.

[0134] Furthermore, the detection device and the light shield are located on the second side of the light-transmitting component, and the first side and the second side are opposite to each other.

[0135] Optionally, see Figure 8 , Figure 8 A schematic diagram of the architecture of a detection system provided in an embodiment of the present application.

[0136] like Figure 8 As shown, the detection system includes but is not limited to: a detection device, a light-transmitting component, and a light shield.

[0137] The detection device and the light shield are located on the second side of the light-transmitting component, and the light-transmitting component has a reflecting and transmitting effect on light.

[0138] Combine Figure 8It can be seen that the detection signal emitted by the transmitting module of the detection device passes through the light-transmitting component and the light shield in sequence, and part of the energy is reflected and received by the receiving module of the detection device to form the above-mentioned first echo signal.

[0139] The path corresponding to the first echo signal is as follows Figure 8 The path shown by the solid arrow in the figure includes but is not limited to: transmitting module -> light-transmitting component -> light shield -> light-transmitting component -> receiving module.

[0140] Combine Figure 8 It can be seen that the detection signal is emitted through the light-transmitting component to the first side of the light-transmitting component and partially reflected after passing through the target, and is received by the receiving module of the detection device to form the above-mentioned second echo signal.

[0141] The path corresponding to the second echo signal is as follows Figure 8 The path shown by the dotted arrow in FIG includes but is not limited to: transmitting module -> light-transmitting component -> target -> light-transmitting component -> receiving module.

[0142] It can be understood that since the first echo signal is closer to the detection device, it is usually a strong saturated signal, and since the transceiver link of the first echo signal is the same as the transceiver link of the second echo signal, the change of the detection scene has the same impact on the first echo signal and the second echo signal. Therefore, ranging calibration in various detection scenarios can be performed based on the first echo signal and the second echo signal.

[0143] Optionally, see Figure 9 , Figure 9 Another distance measurement schematic diagram provided in an embodiment of the present application.

[0144] like Figure 9 As shown, due to the presence of the light-transmitting component, the detection signal emitted by the transmitting module of the detection device passes through the light-transmitting component and the light-shielding cover in sequence, and is partially reflected by the energy, and is received by the receiving module of the detection device, forming the above-mentioned first echo signal near time t0. The detection signal passes through the light-transmitting component and then partially reflects by the target, and is received by the receiving module of the detection device, forming the above-mentioned second echo signal near time t1. Since the first echo signal is closer to the detection device, it is usually a strong saturated signal, and since the transceiver link of the first echo signal is the same as that of the second echo signal, the changes in the detection scene have almost the same impact on the first echo signal and the second echo signal. Therefore, ranging calibration in various detection scenarios can be performed based on the first echo signal and the second echo signal.

[0145] Therefore, the distance to the target can be measured based on the flight time of the first echo signal and the second echo signal. The flight time is the time difference between the first echo signal and the second echo signal. Due to the dynamic range limitation of the laser radar detector, the flight time is mainly determined by the leading edge of the pulse echo, such as Figure 9 t1-t0 in .

[0146] Optionally, the flight time may also be determined by other values such as the median or trailing edge of the pulse echo, which is not limited in the embodiment of the present application.

[0147] In view of this, the data processing method in the embodiment of the present application obtains the first data of the first echo signal and the second data of the second echo signal, and performs ranging calibration in various detection scenarios based on the first data of the first echo signal and the second data of the second echo signal, which can improve the detection accuracy of the detection device in various detection scenarios.

[0148] Alternatively, taking the light-transmitting component as a vehicle's windshield as an example, for a scenario where the detection device and the light shield are located on the inside of the light-transmitting component, and the detection device is installed in the vehicle cabin, the detection signal emitted by the transmitting module of the detection device passes through the windshield and the light shield in sequence, partially reflecting the energy behind the signal, and is received by the receiving module of the detection device, forming a windshield echo signal. The detection signal passes through the windshield and passes through the target, partially reflecting the energy behind the signal, and is received by the receiving module of the detection device, forming a target echo signal. Since the windshield echo signal is close to the detection device, it is usually a strong saturated signal, and since the transceiver link of the windshield echo signal is the same as that of the target echo signal, changes in the detection scene have the same impact on the windshield echo signal and the target echo signal. Therefore, ranging calibration can be performed in various detection scenarios based on the windshield echo signal and the target echo signal to improve the detection accuracy of the detection device in various detection scenarios.

[0149] Optionally, in addition to being applicable to detection scenarios where the light-transmitting component is a vehicle windshield, the embodiments of the present application are also applicable to detection scenarios where the light-transmitting component is in other product forms. As long as the detection scenario is where the detection device and the light shield are located on one side of the light-transmitting component, the data processing method in the embodiments of the present application can be used to perform ranging calibration in various detection scenarios based on the first data of the first echo signal and the second data of the second echo signal, so as to improve the detection accuracy of the detection device in various detection scenarios.

[0150] Optionally, the changes / differences in the above detection scenes may include but are not limited to: different reflectivity of the target, different ambient temperature, different intensity (or pulse width) of the echo signal, different distance to the target, and other different detection scenes, which are not limited in the present embodiment. Figures 4 to 6C The relevant instructions will not be repeated here.

[0151] In a possible embodiment, the above step S702 may be implemented by including but not limited to the following steps:

[0152] The data processing device may determine distance information of the target relative to the detection device based on the time data of the first echo signal and the time data of the second echo signal.

[0153] It can be understood that the embodiment of the present application can determine the distance information of the target relative to the detection device based on the time data of the first echo signal and the time data of the second echo signal. Specifically, the distance information of the target relative to the detection device can be determined based on the time leading data or time median data or time trailing edge data of the two. The embodiment of the present application does not limit this.

[0154] The present application also provides a detection method, which can be found in Figure 10 , Figure 10 This is a flow chart of a detection method provided in an embodiment of the present application. The detection method is applied in the field of detection technology, such as echo detection of a vehicle windshield.

[0155] It is understandable that the steps in the embodiment of the present application can be regarded as the above Figure 7 or, it can be understood that the detection method in the embodiment of the present application can also be regarded as an embodiment that can be executed separately, and the present application does not limit this.

[0156] Specifically, the detection method includes but is not limited to the following steps:

[0157] S1001: The detection device transmits a detection signal.

[0158] S1002: The detection device receives a first echo signal and a second echo signal.

[0159] It is understood that the detection device in the embodiment of the present application can be a detection device equipped with a transmitting module and a receiving module, which can be used to transmit detection signals and receive echo signals. Figure 2 The laser radar is used to execute the detection method in the embodiment of the present application to improve the detection accuracy of the laser radar in various detection scenarios.

[0160] Optionally, the detection device and detection method in the embodiment of the present application can be applied to, but not limited to, the above Figure 2 The radar or radar system shown.

[0161] Optionally, the detection device and detection method in the embodiments of the present application can be applied to, including but not limited to, vehicle-mounted systems. The vehicle equipped with the vehicle-mounted system is an intelligent driving vehicle and can be replaced by a terminal device. The terminal device may include but is not limited to transportation vehicles, such as commercial vehicles, passenger cars, trains, etc., industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), robots, etc., and the embodiments of the present application do not make specific limitations on this.

[0162] The first data includes time data of a first echo signal, and the first echo signal includes an echo signal of a detection signal of a detection device after passing through a light-transmitting component and a light shield in sequence.

[0163] The second data includes time data of a second echo signal, and the second echo signal includes an echo signal after the detection signal is transmitted through the light-transmitting component to the first side of the light-transmitting component and passes through the target.

[0164] Furthermore, the detection device and the light shield are located on the second side of the light-transmitting component, and the first side and the second side are opposite to each other. Figure 8 The relevant instructions will not be repeated here.

[0165] It can be understood that the light-transmitting component has a reflective and transmissive effect on light. For the scenario where the detection device and the light shield are located on one side of the light-transmitting component, the detection signal emitted by the transmitting module of the detection device passes through the light-transmitting component and the light shield in turn, and part of the energy is reflected, and is received by the receiving module of the detection device to form a first echo signal. The detection signal passes through the light-transmitting component and the target, and part of the energy is reflected, and is received by the receiving module of the detection device to form a second echo signal.

[0166] Since the first echo signal is closer to the detection device, it is usually a strong saturated signal, and since the transceiver link of the first echo signal is the same as that of the second echo signal, the change of the detection scene has the same impact on the first echo signal and the second echo signal. Therefore, the ranging calibration in various detection scenarios can be performed based on the first echo signal and the second echo signal. Optionally, the ranging calibration in various detection scenarios can be performed based on the first echo signal and the second echo signal. For details, please refer to the above Figure 9 The relevant instructions will not be repeated here.

[0167] In view of this, the embodiments of the present application can perform ranging calibration in various detection scenarios by transmitting a detection signal and receiving a first echo signal and a second echo signal, thereby improving the detection accuracy of the detection device in various detection scenarios.

[0168] Optionally, taking the light-transmitting component as a vehicle's windshield as an example, for a scenario where the detection device and the light-shielding cover are located on the inside of the light-transmitting component, and the detection device is installed in the vehicle cabin, the detection signal emitted by the transmitting module of the detection device passes through the windshield and the light-shielding cover in turn, and part of the energy is reflected, and is received by the receiving module of the detection device to form a windshield echo signal. The detection signal passes through the windshield and the target, and part of the energy is reflected, and is received by the receiving module of the detection device to form a target echo signal.

[0169] Since the windshield echo signal is close to the detection device, it is usually a strong saturated signal. Moreover, since the transceiver link of the windshield echo signal is the same as that of the target echo signal, changes in the detection scene have the same impact on the windshield echo signal and the target echo signal. Therefore, ranging calibration can be performed in various detection scenarios based on the windshield echo signal and the target echo signal to improve the detection accuracy of the detection device in various detection scenarios.

[0170] Optionally, in addition to being applicable to detection scenarios where the light-transmitting component is a vehicle windshield, the embodiments of the present application are also applicable to detection scenarios where the light-transmitting component is in other product forms. As long as the detection scenario is where the detection device and the light shield are located on one side of the light-transmitting component, the detection method in the embodiments of the present application can be used to perform ranging calibration in various detection scenarios based on the first echo signal and the second echo signal to improve the detection accuracy of the detection device in various detection scenarios.

[0171] Optionally, the changes / differences in the detection scene may include but are not limited to: different reflectivity of the target, different ambient temperature, different intensity (or pulse width) of the echo signal, different distance to the target, and other different detection scenes, which are not limited in the present embodiment. Figures 4 to 6C The relevant instructions will not be repeated here.

[0172] In a possible embodiment, the above detection method may further include but is not limited to the following steps:

[0173] The detection device determines first data based on the first echo signal, where the first data includes time data of the first echo signal.

[0174] The detection device determines second data based on the second echo signal, where the second data includes time data of the second echo signal.

[0175] The time data of the first echo signal and the time data of the second echo signal are used to determine the position information of the target.

[0176] It is understandable that the time data of the first echo signal can be determined based on the first echo signal, and the time data of the second echo signal can be determined based on the second echo signal. Since the transceiver link of the first echo signal and the transceiver link of the second echo signal are the same, changes in the detection scene have the same impact on the first echo signal and the second echo signal. Therefore, the first data of the first echo signal and the second data of the second echo signal can be used for ranging calibration in various detection scenarios to improve the detection accuracy of the detection device in various detection scenarios.

[0177] In a possible embodiment, the above detection method may further include but is not limited to the following steps:

[0178] The detection device determines distance information of the target relative to the detection device based on the time data of the first echo signal and the time data of the second echo signal.

[0179] It can be understood that the distance information of the target relative to the detection device can be determined based on the time data of the first echo signal and the time data of the second echo signal. Specifically, the distance information of the target relative to the detection device can be determined based on the time leading data or time median data or time trailing edge data of the two. The embodiments of the present application do not limit this.

[0180] The above describes in detail the methods of the embodiments of the present application. The following provides an apparatus for implementing any method in the embodiments of the present application. For example, an apparatus is provided that includes units (or means) for implementing each step performed by the device in any of the above methods.

[0181] See also Figure 11 , Figure 11 A schematic diagram of the structure of a data processing device provided in an embodiment of the present application.

[0182] like Figure 11 As shown, the data processing device 110 may include a communication unit 1101 and a processing unit 1102. The communication unit 1101 and the processing unit 1102 may be software, hardware, or a combination of software and hardware.

[0183] The communication unit 1101 can implement a sending function and / or a receiving function, and can also be described as a transceiver unit. The communication unit 1101 can also be a unit that integrates an acquisition unit and a transmission unit, wherein the acquisition unit is used to implement the receiving function and the transmission unit is used to implement the transmission function. Optionally, the communication unit 1101 can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0184] In a possible design, the data processing device 110 may correspond to the above Figure 7The data processing device in the embodiment of the method shown, such as the data processing device 110, can be an electronic device or a chip in an electronic device. The data processing device 110 can include a device for executing the above Figure 7 The method embodiment shown in FIG. 1 is a unit of the operation performed by the data processing device, and each unit in the data processing device 110 is respectively for implementing the above Figure 7 The operations performed by the data processing device in the method embodiment shown are described as follows:

[0185] Processing unit 1102 is configured to acquire first data and second data. The first data includes time data of a first echo signal, which is the echo signal generated after the detection signal of the detection device passes through the light-transmitting component and the light-shielding cover. The second data includes time data of a second echo signal, which is the echo signal generated after the detection signal is transmitted through the light-transmitting component toward the first side of the light-transmitting component and passes through the target. The detection device and the light-shielding cover are located on the second side of the light-transmitting component, with the first side and the second side being opposite each other.

[0186] The processing unit 1102 is further configured to determine location information of the target based on the first data and the second data.

[0187] In a possible implementation, the device further includes a communication unit 1101 .

[0188] The processing unit 1102 is specifically configured to obtain the first data and the second data through the communication unit 1101 .

[0189] Regarding the communication unit 1101 and the processing unit 1102 described in this design, the steps performed by them can refer to the corresponding steps above. Figure 7 The data processing device in the method embodiment shown corresponds to the implementation manner.

[0190] Regarding the technical effects brought about by the implementation of the communication unit 1101 and the processing unit 1102 described in this design, reference may be made to the corresponding Figure 7 An introduction to the technical effects of the illustrated method embodiment.

[0191] According to the embodiment of this application, Figure 11The various units in the device shown can be separately or all combined into one or several other units to constitute, or a certain unit (or units) thereof can also be further split into multiple smaller units in function to constitute, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In practical applications, the functions of a unit can also be implemented by multiple units, or the functions of multiple units can be implemented by one unit. In other embodiments of the present application, other units can also be included based on the electronic device. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented by the collaboration of multiple units.

[0192] It should be noted that the implementation of each unit can also refer to the above Figure 7 The corresponding description of the method embodiment shown.

[0193] exist Figure 11 The described data processing device 110 can improve the detection accuracy of the laser radar in various detection scenarios.

[0194] For the case where the data processing device 110 can be an electronic device, please refer to Figure 12 Schematic diagram of the structure of the electronic equipment shown.

[0195] It should be understood that Figure 12 The electronic device 120 shown is only an example. The electronic device of the embodiment of the present application may also include other components, or include Figure 12 components similar in function to the components in Figure 12 All parts in.

[0196] The electronic device 120 includes a transceiver interface 1201 and at least one processor 1202 .

[0197] The electronic device 120 may correspond to a data processing device. The transceiver interface 1201 is used to send and receive signals, and the at least one processor 1202 executes program instructions so that the electronic device 120 implements the corresponding process of the method executed by the corresponding device in the above method embodiment.

[0198] In one possible design, the electronic device 120 may correspond to the above Figure 7 The data processing device in the method embodiment shown, such as the electronic device 120, can be a data processing device or a chip in the data processing device. The electronic device 120 can include components for performing the operations performed by the data processing device in the above method embodiment, and each component in the electronic device 120 is respectively for implementing the operations performed by the data processing device in the above method embodiment. Specifically, it can be as follows:

[0199] Processor 1202 is configured to acquire first data and second data. The first data includes time data of a first echo signal, which is the echo signal generated after the detection signal of the detection device passes through the light-transmitting component and the light shield. The second data includes time data of a second echo signal, which is the echo signal generated after the detection signal is transmitted through the light-transmitting component toward the first side of the light-transmitting component and passes through the target. The detection device and the light shield are located on the second side of the light-transmitting component, with the first side and the second side being opposite each other.

[0200] The processor 1202 is further configured to determine location information of the target based on the first data and the second data.

[0201] In a possible implementation, the device further includes a transceiver interface 1201 .

[0202] The processor 1202 is specifically configured to obtain the first data and the second data through the transceiver interface 1201 .

[0203] Regarding the transceiver interface 1201 and at least one processor 1202 described in this design, the steps performed by them can refer to the corresponding steps above. Figure 7 The data processing device in the method embodiment shown corresponds to the implementation manner.

[0204] Regarding the technical effects brought about by the implementation of the transceiver interface 1201 and at least one processor 1202 described in this design, reference may be made to the corresponding Figure 7 An introduction to the technical effects of the illustrated method embodiment.

[0205] exist Figure 12 The electronic device 120 described can improve the detection accuracy of the laser radar in various detection scenarios.

[0206] For the case where the data processing device 110 can be a chip or a chip system, please refer to Figure 13 Schematic diagram of the chip structure shown.

[0207] like Figure 13 As shown, chip 130 includes a processor 1301 and an interface 1302. There may be one or more processors 1301, and there may be multiple interfaces 1302. It should be noted that the functions corresponding to processor 1301 and interface 1302 can be implemented through hardware design, software design, or a combination of hardware and software, without limitation.

[0208] Optionally, the chip 130 may further include a memory 1303 , which is used to store necessary program instructions and data.

[0209] In the present application, processor 1301 may be configured to call a program for implementing the data processing method provided in one or more embodiments of the present application in a data processing device from memory 1303 and execute the instructions included in the program. Interface 1302 may be configured to output the execution results of processor 1301. In the present application, interface 1302 may be specifically configured to output various messages or information from processor 1301.

[0210] For the data processing method provided by one or more embodiments of this application, please refer to the aforementioned Figure 7 The various embodiments shown will not be described in detail here.

[0211] The processor in the embodiments of the present application may be a central processing unit (CPU), and may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0212] The memory in the embodiments of the present application is used to provide storage space, in which data such as an operating system and computer programs can be stored. The memory includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0213] See also Figure 14 , Figure 14 A schematic structural diagram of a detection device provided in an embodiment of the present application.

[0214] like Figure 14 As shown, the detection device 140 may include but is not limited to a transmitting module 1401 and a receiving module 1402 .

[0215] Transmitter module 1401 can implement a transmitting function, and receiver module 1402 can implement a receiving function. Transmitter module 1401 and receiver module 1402 can also be described as a transceiver module. The transceiver module can also be a module that integrates an acquisition module and a transmission module, wherein the acquisition module is used to implement the acquisition function and the transmission module is used to implement the transmission function. Optionally, the transceiver module can be used to receive information sent by other devices, and can also be used to send information to other devices.

[0216] In one possible design, the detection device 140 may correspond to the above Figure 10 The detection device 140 may include a device for performing the above-mentioned Figure 10 The modules of the operation performed by the detection device in the embodiment of the method shown are respectively Figure 10 The operations performed by the detection device in the method embodiment shown are described as follows:

[0217] The transmitting module 1401 is used to transmit a detection signal.

[0218] Receiving module 1402 is configured to receive a first echo signal and a second echo signal. The first echo signal comprises the echo signal resulting from the detection signal passing through the light-transmitting assembly and the light-shielding cover. The second echo signal comprises the echo signal resulting from the detection signal being transmitted through the light-transmitting assembly toward the first side of the light-transmitting assembly and then passing through the target. The first and second echo signals are used to determine the target's location. The detection device and light-shielding cover are located on the second side of the light-transmitting assembly, with the first and second sides being opposite each other.

[0219] Regarding the transmitting module 1401 and the receiving module 1402 described in this design, the steps performed can refer to the corresponding steps above. Figure 10 The detection device in the method embodiment shown corresponds to the implementation method.

[0220] Regarding the technical effects brought about by the implementation of the transmitting module 1401 and the receiving module 1402 described in this design, please refer to the corresponding Figure 10 An introduction to the technical effects of the illustrated method embodiment.

[0221] In a possible embodiment, the optical axis of the transmitting module 1401 does not coincide with the optical axis of the receiving module 1402 .

[0222] Optionally, the optical axis of the transmitting module 1401 and the optical axis of the receiving module 1402 can be arranged horizontally left and right, vertically up and down, or diagonally in the horizontal and vertical directions. This embodiment of the present application does not limit this.

[0223] In a possible embodiment, the detection device 140 further includes a processing module 1403 .

[0224] Processing module 1403 is configured to determine first data based on the first echo signal and second data based on the second echo signal. The first data includes time data of the first echo signal, and the second data includes time data of the second echo signal. The time data of the first echo signal and the time data of the second echo signal are used to determine the location information of the target.

[0225] In a possible embodiment, the processing module 1403 is further configured to determine distance information of the target relative to the detection device based on time data of the first echo signal and time data of the second echo signal.

[0226] Optionally, the detection device 140 includes a sensor that uses light to sense the environment, such as one or more of a laser radar, a camera, or a fusion sensing device, etc. The fusion sensing device fuses at least two types of sensors among the laser radar, camera, radar, etc.

[0227] According to the embodiment of this application, Figure 14 The various units in the device shown can be separately or all combined into one or several other units to constitute, or a certain unit (or units) thereof can also be further split into multiple smaller units in function to constitute, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In practical applications, the functions of a unit can also be implemented by multiple units, or the functions of multiple units can be implemented by one unit. In other embodiments of the present application, other units can also be included based on the electronic device. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented by the collaboration of multiple units.

[0228] It should be noted that the implementation of each unit can also refer to the above Figure 10 The corresponding description of the method embodiment shown.

[0229] exist Figure 14 The detection device 140 described can improve the detection accuracy of the laser radar in various detection scenarios.

[0230] See also Figure 15 , Figure 15 A schematic structural diagram of a detection system provided in an embodiment of the present application.

[0231] like Figure 15 As shown, the detection system includes but is not limited to: a detection device, a light-transmitting component, and a light shield.

[0232] The detection device and the light shield are located on one side of the light-transmitting component, and the light-transmitting component has a reflecting and transmitting effect on light.

[0233] Optionally, the detection device may refer to the above Figure 14 The relevant description of the detection device 140 is not repeated here.

[0234] Optionally, the detection device, light-transmitting component, and light shield may be specifically described in the above Figure 8 The relevant description of the detection system will not be repeated here.

[0235] It can be understood that for the scenario where the detection device and the light shield are located on one side of the light-transmitting component, the detection signal emitted by the transmitting module of the detection device passes through the light-transmitting component and the light shield in turn, and part of the energy is reflected, and is received by the receiving module of the detection device to form a first echo signal. The detection signal passes through the light-transmitting component and the target, and part of the energy is reflected, and is received by the receiving module of the detection device to form a second echo signal.

[0236] It is understandable that, since the first echo signal is closer to the detection device, it is usually a strong saturation signal, and since the transceiver link of the first echo signal is the same as that of the second echo signal, the change of the detection scene has the same effect on the first echo signal and the second echo signal. Therefore, the ranging calibration in various detection scenarios can be performed based on the first echo signal and the second echo signal. Optionally, the ranging calibration in various detection scenarios can be performed based on the first echo signal and the second echo signal. For details, please refer to the above Figure 9 The relevant instructions will not be repeated here.

[0237] In view of this, through the detection system in the embodiment of the present application, the ranging calibration in various detection scenarios can be performed by transmitting a detection signal and receiving a first echo signal and a second echo signal, which can improve the detection accuracy of the detection system in various detection scenarios. Moreover, the detection system in the embodiment of the present application does not need to add new hardware or increase additional costs while improving the detection accuracy. Moreover, compared with the need to calibrate the ranging error at different temperatures through the production line, the detection system in the embodiment of the present application does not need to calibrate the ranging error at different temperatures through the production line, which can greatly improve production efficiency.

[0238] In a possible embodiment, the light-transmitting component is set at a first inclination angle α with the horizontal plane, the light-shielding cover is set at a first angle β with the light-transmitting component, the detection device and the light-shielding cover are set on the inner side of the light-transmitting component, and the detection device is set in the spatial area corresponding to the first angle β.

[0239] It can be understood that through the above-mentioned position design of the detection device, the light-transmitting component and the light-shielding cover, the detection system in this embodiment can be applicable to the detection scenario where the light-transmitting component is a vehicle windshield, and can also be applicable to the detection scenario where the light-transmitting component is in other product forms, as long as the detection device and the light-shielding cover are located on the inner side of the light-transmitting component.

[0240] In a possible embodiment, the relative positional relationship among the detection device, the light-transmitting component, and the light shield satisfies any one or more of the following:

[0241] There is a first overlapping area on the light shield between the emission spot of the emission module of the detection device and the field of view corresponding to the receiving module of the detection device, and a second overlapping area on the light-transmitting component between the emission spot of the emission module of the detection device and the field of view corresponding to the receiving module of the detection device is smaller than the first threshold or there is no overlapping area.

[0242] It can be understood that by designing the relative position relationship of the detection device, the light-transmitting component and the light-shield, a first overlapping area can be created between the emission light spot and the receiving field of view on the light-shield, so that only part of the target surface on the receiving module can receive the strong saturation signal of the first echo signal, and part of the target surface cannot receive the first echo signal. Therefore, a first echo signal distribution from strong to weak will be formed on the receiving module. The large dynamic intensity range of the first echo signal distribution can also be used for ranging compensation calibration for different strong and weak signals in various detection scenarios, so as to improve the detection accuracy in various detection scenarios.

[0243] It can be understood that by designing the relative position relationship of the detection device, the light-transmitting component and the light-shielding cover, the second overlapping area between the emitted light spot and the receiving field of view on the light-transmitting component can be made smaller than the first threshold or there is no overlapping area, thereby avoiding or weakening the path of the light-transmitting component scattering directly received by the receiving module, making the echo path of the light-transmitting component relatively single, reducing the ranging error introduced by the multi-path of the echo signal of the light-transmitting component, and improving the detection accuracy in various detection scenarios.

[0244] Optionally, the first threshold is not a fixed value and can be adjusted according to different detection scenarios, which is not limited in the embodiment of the present application.

[0245] Optionally, the second overlapping area is smaller than the first threshold, which can be understood as the emission spot intensity 1 / e 2 Boundary and receiving field intensity 1 / e 2 There is no overlapping area of the boundary on the light-transmitting component.

[0246] In a possible embodiment, the size of the second overlapping area is associated with any one or more of the following: a, d.

[0247] Wherein, a represents the distance between the transmitting module and the light-transmitting component along the optical axis, and d represents the distance between the optical axis of the transmitting module and the optical axis of the receiving module.

[0248] It can be understood that, under the condition that the space in the cabin allows, the smaller a is and the larger d is, the smaller the second overlapping area can be made, thereby avoiding or weakening the path of the light-transmitting component scattered directly by the receiving module as much as possible, making the echo path of the light-transmitting component relatively single, reducing the ranging error introduced by the multipath of the echo signal of the light-transmitting component, and improving the detection accuracy in various detection scenarios.

[0249] In a possible embodiment, the size of the first overlapping area is associated with any one or more of the following: a, b, d.

[0250] Among them, a represents the distance between the transmitting module and the light-transmitting component along the optical axis, b represents the distance from the center point of the light shield to the plane where the optical axis of the transmitting module and the optical axis of the receiving module are located, and d represents the distance between the optical axis of the transmitting module and the optical axis of the receiving module.

[0251] It can be understood that, while ensuring that a is smaller and d is larger, minimizing the second overlapping area, when b is at the upper limit, the emission spot and the receiving field of view completely overlap; when b is at the lower limit, the emission spot and the receiving field of view do not overlap. Therefore, b can be set to a value in the middle range between the upper and lower limits, so that only part of the target surface on the receiving module can receive the strong saturation signal of the first echo signal, and part of the target surface cannot receive the first echo signal. As a result, a first echo signal distribution from strong to weak is formed on the receiving module. The large dynamic intensity range of the first echo signal distribution can also be used for ranging compensation calibration for different signal strengths in various detection scenarios, thereby improving detection accuracy in various detection scenarios.

[0252] In a possible embodiment, the first inclination angle α between the light-transmitting component and the horizontal plane is associated with a.

[0253] It is understandable that, due to the space limitation in the cabin, the smaller the first inclination angle α, the larger the distance a between the transmitting module and the light-transmitting component along the optical axis, so as to achieve a reasonable layout of various components in the detection system.

[0254] For example, taking the light-transmitting component as a vehicle's windshield as an example, for a scenario where the detection device and the sun visor are located on the inside of the light-transmitting component and the detection device is installed in the vehicle cabin, when the above-mentioned α = 28°, for the detection device with a side-axis transceiver architecture of d = 37.5mm, a and b are set to the following parameters: a = 33mm, b = 32.7mm. Through optical simulation, it is found that the emission spot and the receiving field of view of the detection device have obvious overlapping areas on the windshield, and there are more overlapping areas on the sun visor.

[0255] It's understandable that based on the above parameters, when the transmitted light spot and the receiving field of view overlap on the windshield, there are inevitably two types of windshield echo paths (Path 1: Transmitter -> Windshield -> Light Shield -> Windshield -> Receiver; Path 2: Transmitter -> Windshield -> Target -> Windshield -> Receiver). These two paths have a significant optical path difference, and the resulting echo time difference degrades ranging accuracy.

[0256] In view of this, by adjusting the detection device d = 52.5mm, a = 33mm, b = 47.7mm, the emission spot intensity can be made 1 / e 2 Boundary and receiving field intensity 1 / e 2 There is no overlap between the boundaries on the windshield, while the transmitting spot and receiving field of view partially overlap on the light shield. It can be understood that by increasing d and b, the main path of the windshield echo can be made path 1: transmitting module -> windshield -> light shield -> windshield -> receiving module. This reduces the impact of multiple echo paths on the windshield echo time and avoids deteriorating the ranging accuracy based on the windshield echo.

[0257] In a possible embodiment, the intensity of the first echo signal is associated with any one or more of the following: reflectivity of the light shield, size of the light shield, shape of the light shield, and material of the light shield.

[0258] It is understandable that the upper limit of the intensity of the first echo signal can be increased by controlling the reflectivity / size / shape / material of the light shield, thereby increasing the dynamic range of the first echo signal, so as to be used for ranging compensation calibration for different strong and weak signals in various detection scenarios, thereby improving the detection accuracy in various detection scenarios.

[0259] For example, taking the light-transmitting component as the windshield of a vehicle, for the scenario where the detection device and the light shield are located on the inside of the light-transmitting component and the detection device is installed in the vehicle cabin, the windshield echo energy on the detector can be increased by increasing the reflection scattering rate on the light shield. When the light shield is 4% Lambert scattering, the maximum energy of the target surface echo of the detector is 8.49e-6W. By adjusting the light shield to 20% Lambert scattering, the maximum energy of the target surface echo of the detector is 3.69e-5W. Therefore, the dynamic upper limit of the windshield echo can be increased to meet the high dynamic range requirements of the actual scene of the detection system. Therefore, it can be used for ranging compensation calibration for different strong and weak signals in various detection scenarios, thereby improving the detection accuracy in various detection scenarios.

[0260] Optionally, the detection system further comprises at least one Figure 11 The data processing device 110, or the above Figure 12 The electronic device 120, or the above Figure 13 The chip 130.

[0261] According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is run on one or more processors, the above-mentioned Figure 7 or Figure 10 The method shown.

[0262] According to the method provided in the embodiment of the present application, the embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program is run on a processor, the above-mentioned Figure 7 or Figure 10 The method shown.

[0263] An embodiment of the present application further provides a terminal, which includes at least one of the above-mentioned data processing devices 110 , or electronic devices 120 , or chips 130 , or detection devices 140 , or detection systems 150 .

[0264] Optionally, the terminal may be a means of transportation, such as a car, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, etc., which may be used in any possible scenario, and the embodiments of the present application do not impose any restrictions on this.

[0265] Optionally, the terminal is a vehicle, a drone or a robot.

[0266] Optionally, the terminal is used to implement the above Figure 7 or Figure 10 The method shown.

[0267] An embodiment of the present application further provides a processing device, including a processor and an interface; the processor is used to execute the method in any of the above method embodiments.

[0268] It should be understood that the above-mentioned processing device can be a chip. The units in the above-mentioned various device embodiments and the electronic devices in the method embodiments are completely corresponding, and the corresponding steps are performed by the corresponding modules or units. For example, the communication unit (transceiver) performs the receiving or sending steps in the method embodiment, and the other steps except sending and receiving can be performed by the processing unit (processor). The functions of the specific units can refer to the corresponding method embodiments. Among them, there can be one or more processors.

[0269] It is understood that in the embodiments of the present application, the electronic device can perform some or all of the steps in the embodiments of the present application. These steps or operations are merely examples, and the embodiments of the present application can also perform other operations or variations of various operations. In addition, the various steps can be performed in a different order than those presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application need to be performed.

[0270] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0271] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0272] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0273] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0274] The above is only a specific implementation method of the present application, but the scope of protection of the present application is not limited thereto. Any technician familiar with this technical field can easily think of changes or replacements within the technical scope disclosed in this application, which should be covered by the scope of protection of the present application.

Claims

1. A data processing method, characterized in that: The data processing method includes: Acquire first data and second data; wherein the first data includes time data of a first echo signal, the first echo signal including an echo signal of a detection signal of a detection device after passing through a light-transmitting component and a light-shielding cover in sequence; the second data includes time data of a second echo signal, the second echo signal including an echo signal of the detection signal after passing through the light-transmitting component and being emitted toward a first side of the light-transmitting component and passing through a target; the detection device and the light-shielding cover are located on a second side of the light-transmitting component, the first side and the second side being opposite sides; Based on the first data and the second data, position information of the target is determined.

2. The data processing device according to claim 1, wherein The determining the location information of the target based on the first data and the second data includes: Based on the time data of the first echo signal and the time data of the second echo signal, distance information of the target relative to the detection device is determined.

3. A detection method, characterized in that: Applied to a detection device, the detection method includes: transmitting a detection signal; Receive a first echo signal and a second echo signal; wherein, the first echo signal includes an echo signal of the detection signal after passing through the light-transmitting component and the light-shielding cover in sequence, and the second echo signal includes an echo signal of the detection signal after passing through the light-transmitting component to be emitted to the first side of the light-transmitting component and passing through the target, and the first echo signal and the second echo signal are used to determine the position information of the target; the detection device and the light-shielding cover are located on the second side of the light-transmitting component, and the first side and the second side are opposite sides.

4. The detection method according to claim 3, characterized in that: The detection method further comprises: determining first data based on the first echo signal, where the first data includes time data of the first echo signal; determining second data based on the second echo signal, wherein the second data includes time data of the second echo signal; The time data of the first echo signal and the time data of the second echo signal are used to determine the position information of the target.

5. The detection method according to claim 4, characterized in that: The detection method further comprises: Based on the time data of the first echo signal and the time data of the second echo signal, distance information of the target relative to the detection device is determined.

6. A data processing device, characterized in that: The method comprises means for performing the method according to any one of claims 1 to 2.

7. A data processing device, characterized in that: The method comprises a processor configured to execute the method according to any one of claims 1 to 2.

8. A chip, characterized in that: comprising a logic circuit and an interface, wherein the logic circuit and the interface are coupled; The interface is used to input and / or output information, and the logic circuit is used to execute the method according to any one of claims 1 to 2.

9. A detection device, characterized in that: The detection device comprises: Transmitter module, receiving module; The transmitting module is used to transmit a detection signal; The receiving module is used to receive a first echo signal and a second echo signal; wherein, the first echo signal includes an echo signal of the detection signal after passing through the light-transmitting component and the light-shielding cover in sequence, and the second echo signal includes an echo signal of the detection signal after passing through the light-transmitting component to be emitted to the first side of the light-transmitting component and passing through the target; the first echo signal and the second echo signal are used to determine the position information of the target; the detection device and the light-shielding cover are located on the second side of the light-transmitting component, and the first side and the second side are opposite sides.

10. The detection device according to claim 9, characterized in that The optical axis of the transmitting module does not coincide with the optical axis of the receiving module.

11. The detection device according to claim 9 or 10, characterized in that: The detection device also includes: Processing module; The processing module is used to determine first data based on the first echo signal, and to determine second data based on the second echo signal; wherein, the first data includes time data of the first echo signal, the second data includes time data of the second echo signal, and the time data of the first echo signal and the time data of the second echo signal are used to determine the position information of the target.

12. The detection device according to claim 11, characterized in that The processing module is further configured to determine distance information of the target relative to the detection device based on time data of the first echo signal and time data of the second echo signal.

13. A detection system, characterized in that: The detection system comprises the detection device according to any one of claims 9 to 12, as well as a light-transmitting component and a light shield.

14. The detection system according to claim 13, characterized in that The light-transmitting component is arranged at a first inclination angle with the horizontal plane, the light-shielding cover is arranged at a first angle with the light-transmitting component, the detection device and the light-shielding cover are arranged on one side of the light-transmitting component, and the detection device is arranged in a spatial area corresponding to the first angle.

15. The detection system according to claim 13 or 14, characterized in that The relative positional relationship between the detection device, the light-transmitting component, and the light shield satisfies any one or more of the following: There is a first overlapping area on the light shield between the emission spot of the emission module of the detection device and the field of view corresponding to the receiving module of the detection device, and there is a second overlapping area on the light-transmitting component between the emission spot of the emission module of the detection device and the field of view corresponding to the receiving module of the detection device, which is smaller than the first threshold or there is no overlapping area.

16. The detection system according to claim 15, characterized in that The size of the first overlapping area is associated with any one or more of the following: a, b, d; Among them, a represents the distance between the transmitting module and the light-transmitting component along the optical axis, b represents the distance from the center point of the light shield to the plane where the optical axis of the transmitting module and the optical axis of the receiving module are located, and d represents the distance between the optical axis of the transmitting module and the optical axis of the receiving module.

17. The detection system according to claim 15 or 16, characterized in that The size of the second overlapping area is associated with any one or more of the following: a, d; Wherein, a represents the distance between the transmitting module and the light-transmitting component along the optical axis, and d represents the distance between the optical axis of the transmitting module and the optical axis of the receiving module.

18. The detection system according to claim 16 or 17, characterized in that A first inclination angle α formed by the light-transmitting component and the horizontal plane is associated with a.

19. The detection system according to any one of claims 13 to 18, characterized in that The intensity of the first echo signal is associated with any one or more of the following: the reflectivity of the light shield, the size of the light shield, the shape of the light shield, and the material of the light shield.

20. The detection system according to any one of claims 13 to 19, characterized in that The detection system further comprises the data processing device according to claim 6, or the data processing device according to claim 7, or the chip according to claim 8.

21. A terminal, characterized in that: The method comprises the data processing device according to claim 6, or the data processing device according to claim 7, or the chip according to claim 8, or the detection device according to any one of claims 9 to 12, or the detection system according to any one of claims 13 to 20.

22. A computer-readable storage medium, characterized in that The computer-readable storage medium is used to store a computer program. When the computer program is executed, the method according to any one of claims 1 to 2 or claims 3 to 5 is performed.

23. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed, the method according to any one of claims 1 to 2 or claims 3 to 5 is performed.

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