Detection method of distance measuring device, distance measuring device and related equipment

Abstract

The invention provides a detection method of a distance measuring device, the distance measuring device and related equipment, and the detection method of the distance measuring device comprises the steps: determining measurement information within a preset distance; determining a working condition control signal according to the measurement information; wherein the working condition control signal is used for adjusting energy emitted by the distance measuring device, so that the energy emitted by the distance measuring device meets the human eye safety standard.

Description

Technical Field

[0001] This disclosure relates to the field of object sensing technology, and in particular to a detection method, a ranging device, and related equipment for a ranging device. Background Technology

[0002] Currently, ranging devices are widely used in various fields, such as automated equipment, robots, safety systems, and traffic control systems. Among them, ranging devices that achieve ranging functions by emitting and receiving light are particularly common.

[0003] However, the light emitted by the ranging device can easily damage the human eye.

[0004] Therefore, how to avoid damage to the human eye during the operation of the ranging device is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present disclosure provides a detection method, a ranging device, and related equipment for a ranging device, which can adjust the energy emitted by the ranging device according to the measurement information of the ranging device, so that the energy emitted by the ranging device meets the safety standards for human eyes, thereby effectively reducing the probability of the ranging device causing damage to human eyes during operation.

[0006] First, this disclosure provides a detection method for a ranging device, including:

[0007] Determine measurement information within the preset distance;

[0008] The operating condition control signal is determined based on the measurement information;

[0009] The operating condition control signal is used to adjust the energy emitted by the ranging device so that the energy emitted by the ranging device meets the safety standards for human eyes.

[0010] Optionally, the measurement information includes at least one of the following:

[0011] The distance between point cloud points;

[0012] The reflectance of point cloud points;

[0013] The number of points in the point cloud;

[0014] The location of point cloud points.

[0015] Optionally, determining the operating condition control signal based on the measurement information includes:

[0016] The number of point cloud points within the preset distance is determined to be greater than or equal to a preset number threshold;

[0017] The operating condition control signal is generated.

[0018] Optionally, determining the operating condition control signal based on the measurement information includes:

[0019] Obtain the point cloud points within the preset distance;

[0020] The region formed by the point cloud points within the preset distance is determined to include the target region, and the target region meets the first preset condition;

[0021] The operating condition control signal is generated.

[0022] Optionally, the point cloud points within the target area are continuously distributed, and the difference between the distances corresponding to each point cloud point within the target area is less than or equal to a preset difference threshold.

[0023] Optionally, the first preset condition includes:

[0024] The shape of the target region has a similarity to the shape of the preset region that is greater than or equal to a first similarity threshold; and / or,

[0025] The size of the target area is within the first area range.

[0026] Optionally, the first preset condition includes:

[0027] The reflectivity of each point cloud point in the target area is within a preset reflectivity range.

[0028] Optionally, the measurement information comes from measurement data of one or more point cloud frames.

[0029] Optionally, determining the measurement information within the preset distance includes:

[0030] A first point cloud frame is determined, whose distance to the point cloud point is less than or equal to the preset distance. The measurement information includes point cloud points in the first point cloud frame whose distance is less than or equal to the preset distance.

[0031] or,

[0032] A first point cloud frame is determined to be at a distance less than or equal to the preset distance from the object being measured. The measurement information includes point cloud points in the first point cloud frame at distances less than or equal to the preset distance.

[0033] Optionally, the detection method further includes: adjusting the transmission parameters of the ranging device according to the operating condition control signal;

[0034] The transmission parameters include at least one of the following:

[0035] The luminous state of the ranging device;

[0036] The energy of a single light pulse emitted by the ranging device;

[0037] The optical pulse emission frequency of the ranging device.

[0038] Optionally, adjusting the transmission parameters of the ranging device according to the operating condition control signal includes at least one of the following:

[0039] Turn off the detection light of the ranging device;

[0040] Reduce the energy of the single optical pulse;

[0041] Reduce the emission frequency of the light pulse.

[0042] Optionally, the detection method further includes:

[0043] Determine the measurement information within the preset distance;

[0044] The operating condition recovery signal is determined based on the measurement information;

[0045] The measurement information includes at least one of the following: the distance of point cloud points, the reflectivity of point cloud points, the number of point cloud points, and the location of point cloud points; the working condition recovery signal is used to adjust the energy emitted by the ranging device so that the energy emitted by the ranging device meets the preset requirements.

[0046] Optionally, determining the operating condition recovery signal based on the measurement information includes:

[0047] It is determined that the number of point cloud points within the preset distance is less than a preset number threshold;

[0048] Generate the operating condition recovery signal.

[0049] Optionally, determining the operating condition recovery signal based on the measurement information includes:

[0050] Obtain the point cloud points within the preset distance;

[0051] It is determined that the area formed by the point cloud points within the preset distance does not include the target area, and the target area meets the first preset condition;

[0052] Generate the operating condition recovery signal.

[0053] Optionally, the first preset condition includes:

[0054] The shape of the target region has a similarity to the shape of the preset region that is greater than or equal to a first similarity threshold; and / or,

[0055] The size of the target area is within the first area range.

[0056] This disclosure also provides a computer program product, including computer instructions, which, when executed by a processor, implement the detection method of the ranging device described in any of the above embodiments.

[0057] This disclosure also provides a non-volatile computer-readable storage medium storing computer instructions thereon, which, when executed by a processor, implement the detection method of the ranging device described in any of the above embodiments.

[0058] This disclosure also provides a ranging device, including:

[0059] The light emitter is configured to emit probe light;

[0060] An optical receiver is configured to receive the echo signal corresponding to the probe light and generate an electrical signal;

[0061] A signal processing circuit is configured to determine measurement information based on the electrical signal, the measurement information including at least one of the following: distance of point cloud points, reflectivity of point cloud points, number of point cloud points, and position of point cloud points;

[0062] The processor is configured to execute the detection method of the ranging device described in any of the above embodiments.

[0063] This disclosure also provides a vehicle, including:

[0064] The ranging device described in the above embodiments.

[0065] The detection method of the ranging device provided in this disclosure determines measurement information within a preset distance and determines a working condition control signal based on the measurement information. The working condition control signal can then be used to adjust the energy emitted by the ranging device, ensuring that the emitted energy meets human eye safety standards. This solution can promptly detect human eye safety risks and protect the eyes of road users by reducing the signal energy emitted by the ranging device. Furthermore, the method described in this disclosure does not require adding new hardware to the ranging device; it can be implemented solely based on the measurement information from the ranging device, thus making it applicable to various types of ranging devices. Attached Figure Description

[0066] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0067] Figure 1The following is a schematic diagram illustrating the steps of a detection method using a ranging device according to some embodiments of the present disclosure;

[0068] Figure 2 This illustration shows a step of determining a working condition control signal based on measurement information in some embodiments of the present disclosure;

[0069] Figure 3 This illustration shows another step in determining a working condition control signal based on measurement information, as shown in some embodiments of the present disclosure.

[0070] Figure 4 This illustration shows another step in determining the operating condition control signal based on measurement information in some embodiments of this disclosure;

[0071] Figure 5 This invention discloses a schematic diagram illustrating the steps of a detection method using another ranging device in some embodiments of the present disclosure.

[0072] Figure 6 This illustration shows a step of determining a working condition recovery signal based on measurement information in some embodiments of the present disclosure;

[0073] Figure 7 This illustration shows another step in determining a working condition recovery signal based on measurement information, as shown in some embodiments of this disclosure.

[0074] Figure 8 A schematic diagram of the structure of a ranging device according to some embodiments of the present disclosure is shown. Detailed Implementation

[0075] As described in the background section, the light emitted by ranging devices that achieve ranging by emitting and receiving light can easily cause damage to the human eye.

[0076] To facilitate understanding, the following uses lidar as an example to briefly introduce the working principle and technical problems of ranging devices that achieve ranging functions by emitting and receiving light.

[0077] When a lidar is working, it emits a detection laser into space through a laser, and a detector corresponding to the laser receives the laser reflected back from an object. Then, it compares the received laser reflected back from the object with the detection laser, processes it accordingly, and obtains relevant information about the object, such as the distance to the object.

[0078] The probe laser itself has characteristics such as "extremely low divergence" and "high energy density". If the probe laser can be focused within the range of the retina in certain scenarios, it means that this low-coherence divergent laser will be focused by the eye on a very small area of ​​the retina. In just a few seconds or less, it can cause local burns and permanent damage to the retina, which may lead to retinal perforation (tears in the retina) or even retinal detachment.

[0079] It should be noted that this disclosure only uses lidar as an example to describe the working principle and existing technical problems of such ranging devices, and is not intended to limit this disclosure.

[0080] To address the aforementioned problems, some embodiments of this disclosure provide a detection method for a ranging device. By determining measurement information within a preset distance and determining a working condition control signal based on the measurement information, the energy emitted by the ranging device can be adjusted using the working condition control signal to ensure that the energy emitted by the ranging device meets human eye safety standards, thereby effectively reducing the probability of the ranging device causing harm to the human eye during operation. Furthermore, the method described in the embodiments of this disclosure does not require adding new hardware to the ranging device; it can be implemented solely based on the measurement information from the ranging device, and therefore can be applied to various types of ranging devices.

[0081] To enable those skilled in the art to better understand and implement the embodiments of this disclosure, the concepts, schemes, principles, and advantages of the embodiments of this disclosure are described in detail below with reference to the accompanying drawings and through specific application examples.

[0082] First, some embodiments of this disclosure provide a detection method for a ranging device, referring to... Figure 1 The diagram shown illustrates the steps of a detection method using a ranging device in some embodiments of this disclosure. The detection method may include the following steps:

[0083] Step A: Determine the measurement information within the preset distance.

[0084] The energy emitted by a ranging device decreases with increasing distance. Therefore, within a certain distance, the energy emitted by the ranging device may exceed the safety standard for human eyes, potentially causing harm. After traveling a certain distance, the emitted energy will decrease to a level that meets the safety standard for human eyes. Therefore, the detection method of this embodiment can determine whether there is a risk to human eyes based on measurement information within a preset distance. This distance is strongly correlated with the optical characteristics of the ranging device, such as the initial energy emitted and the wavelength of the detection light emitted. Therefore, the preset distance can be set according to the optical characteristics of the ranging device, and this embodiment does not impose a specific limitation on the magnitude of the preset distance.

[0085] In some embodiments of this disclosure, measurement information within a preset distance can be determined using an integrated circuit. In some embodiments, the measurement information within a preset distance can be determined using a processor, such as a central processing unit (CPU), microprocessor, or FPGA (field programmable gate array). In some embodiments, the measurement information within a preset distance can be determined using a combination of an integrated circuit and a processor.

[0086] Step B: Determine the operating condition control signal based on the measurement information; wherein, the operating condition control signal is used to adjust the energy emitted by the ranging device so that the energy emitted by the ranging device meets the safety standards for human eyes.

[0087] In some embodiments of this disclosure, step B may be performed by an integrated circuit. In some embodiments, step B may be performed by a processor, such as a central processing unit (CPU), a microprocessor, or a field-programmable gate array (FPGA). In some embodiments, step B may be performed by a combination of an integrated circuit and a processor.

[0088] The method described in the above embodiments, by determining measurement information within a preset distance and determining a working condition control signal based on the measurement information, can then use the working condition control signal to adjust the energy emitted by the ranging device, ensuring that the energy emitted by the ranging device meets human eye safety standards. The present disclosure's method of determining the existence of human eye safety risks through measurement information within a preset distance improves the efficiency of assessing human eye safety risks. Adjusting the energy emitted by the ranging device based on the working condition control signal determined by the measurement information effectively prevents the ranging device from causing harm to the human eye during operation. Furthermore, the method described in the present disclosure does not require adding new hardware to the ranging device; it can be implemented solely based on the measurement information from the ranging device, thus making it applicable to various types of ranging devices.

[0089] In some embodiments of this disclosure, the measurement information may include information such as the distance of point cloud points, the reflectivity of point cloud points, the number of point cloud points, and the location of point cloud points.

[0090] It should be noted that the embodiments disclosed herein do not impose specific limitations on the measurement information, and the above embodiments are merely illustrative examples.

[0091] In some embodiments of this disclosure, reference is made to Figure 2 The diagram shown illustrates a step-by-step process for determining a control signal based on measurement information. Step B may include the following steps:

[0092] Step B11: Determine that the number of point cloud points within the preset distance is greater than or equal to a preset number threshold.

[0093] In some embodiments of this disclosure, the preset quantity threshold can be determined based on the performance parameters of the LiDAR, such as the LiDAR resolution. When the LiDAR resolution is high, the preset quantity threshold can be large; when the LiDAR resolution is low, the preset quantity threshold can be small. Alternatively, the preset quantity threshold can be set according to the required level of eye safety for the LiDAR. When the eye safety requirements for the LiDAR are strict, the preset quantity threshold can be small; when the eye safety requirements for the LiDAR are lenient, the preset quantity threshold can be large.

[0094] In some embodiments of this disclosure, the preset quantity threshold is much smaller than the number of point cloud points that the human eye would actually generate within the preset distance.

[0095] Step B12: Generate the operating condition control signal.

[0096] The method described in the above embodiments generates the working condition control signal when the number of point cloud points within the preset distance is greater than or equal to a preset number threshold. The method is simple, has a small computational load, and can improve the real-time performance of information processing. This allows for timely adjustment of the energy emitted by the ranging device, reducing the probability of the ranging device causing damage to the human eye during operation.

[0097] In some embodiments of this disclosure, reference is made to Figure 3 The diagram illustrates another step in determining the operating condition control signal based on measurement information. Step B may include the following steps:

[0098] Step B21: Determine that the number of point cloud points within the preset distance is less than a preset number threshold.

[0099] For a more detailed example of the preset quantity threshold, please refer to the method for determining the preset quantity threshold in the foregoing embodiments, which will not be described in detail here.

[0100] Step B22: Do not generate the aforementioned operating condition control signal.

[0101] Using the method described in the above embodiments, when the number of point cloud points within the preset distance is less than a preset number threshold, it is assumed that there are no objects such as human eyes within the preset distance that may pose a safety risk. Therefore, no industrial control signal is generated to adjust the energy emitted by the ranging device, so that the ranging device can normally detect the environment and avoid affecting the normal operation of the ranging device.

[0102] In some embodiments of this disclosure, according to Figure 4 The diagram shown illustrates another step in determining the operating condition control signal based on measurement information. Step B may include the following steps:

[0103] Step B31: Obtain the point cloud points within the preset distance.

[0104] In some embodiments of this disclosure, measurement information within a preset distance can be determined by an integrated circuit, a processor, or a combination of an integrated circuit and a processor. For ease of description, the term "measurement circuit" will be used below to represent the circuit used to determine the measurement information within the preset distance. Measurement information of point cloud points within a preset distance can be acquired by an integrated circuit, a processor, or a combination of an integrated circuit and a processor. For ease of description, the term "acquisition circuit" will be used below to represent the circuit used to acquire point cloud points within the preset distance.

[0105] In some embodiments of this disclosure, the acquisition circuit can actively acquire the point cloud points within the preset distance.

[0106] In some embodiments of this disclosure, the acquisition circuit can passively acquire the point cloud points within the preset distance. In some embodiments of this disclosure, acquiring the point cloud points within the preset distance may only involve acquiring the quantity information of the point cloud points.

[0107] In some embodiments of this disclosure, obtaining the point cloud points within the preset distance can provide information on the number of point cloud points and the specific measurement information included in the point cloud points.

[0108] Step B32: Determine that the area formed by the point cloud points within the preset distance includes the target area, and the target area meets the first preset condition.

[0109] In some embodiments of this disclosure, the point cloud points within the target area are continuously distributed, and the difference between the distances corresponding to each point cloud point within the target area is less than or equal to a preset difference threshold. Continuous distribution of point cloud points means that the point cloud points are adjacent and do not jump between points. When point cloud points are continuous and the difference between the distances corresponding to each point cloud point is less than or equal to the preset difference threshold, these point cloud points can be considered to originate from the same object. The size of the preset difference threshold can be set according to the desired object characteristics corresponding to the target area. For example, when performing eye safety assessment, if the target area is expected to include a human eye, the preset difference threshold can be set according to the characteristics of a human eye. For example, typically, the difference between the maximum and minimum distances of the point cloud points corresponding to a human eye does not exceed 1 cm, so the preset difference threshold can be set to 1 cm. As another example, when performing eye safety assessment, if the target area is expected to include a human face, the preset difference threshold can be set according to the characteristics of a human face. For example, typically, the difference between the maximum and minimum distances of the point cloud points corresponding to a human face does not exceed 10 cm, so the preset difference threshold can be set to 10 cm. It should be noted that the present disclosure does not impose specific limitations on the target area.

[0110] When all point cloud points that are continuously distributed and whose distance difference is less than or equal to a preset difference threshold meet the first preset condition, it is considered that the point cloud points include the target area, which may pose a risk to human eye safety. It should be noted that the target area can be formed by all point cloud points within the preset distance, or by a portion of point cloud points within the preset distance. All or a portion of point cloud points within the preset distance can form one target area, or multiple target areas.

[0111] In some embodiments of this disclosure, the first preset condition may include: the shape of the target region is more similar to the shape of the preset region than or equal to a first similarity threshold.

[0112] For example, the preset region can be the region corresponding to the human eye, and the shape of the preset region can be the shape corresponding to the human eye. By identifying the continuity of point cloud points and the difference between the distances corresponding to each point cloud point, point cloud points from the same object can be identified from the point cloud points within the preset distance. Then, the shape of the region corresponding to the object can be determined based on the point cloud points, thereby determining whether there is a target region whose shape similarity to the preset region is greater than or equal to a first similarity threshold. As another example, the preset region can be the region corresponding to a face, and the shape of the preset region can be the shape corresponding to a face.

[0113] In some embodiments of this disclosure, the first preset condition may include: the area of ​​the target region is within a first area range.

[0114] For example, the target area can be the area corresponding to the human eye, then the first area range can be set according to the area of ​​the human eye, such as (2cm). 2 10cm 2 By identifying the continuity of point cloud points and the difference between the distances corresponding to each point cloud point, point cloud points from the same object can be identified from the point cloud points within the preset distance. Then, the area of ​​the region corresponding to the object can be determined based on the point cloud points, and it can be determined whether there is a target region with an area size within the first area range.

[0115] For example, if the target area can be the area corresponding to a face, then the first area range can be set according to the area of ​​the face.

[0116] In some embodiments of this disclosure, the first preset condition may include: the reflectance of each point cloud point in the target area is within a preset reflectance range.

[0117] For example, the target area can be the area corresponding to the human eye, and the preset reflectivity range can be set according to the reflectivity range of the human eye, such as (4% to 30%). In order to avoid omissions or errors, the upper limit of the range can be increased.

[0118] It should be noted that the range of human eye reflectance described in the embodiments of this disclosure refers to the reflectance of the human eye measured by the ranging device.

[0119] It is understood that the above embodiments regarding the first preset condition can be used individually or in combination to determine the target region. In other words, a region that satisfies the first preset condition described in one of the embodiments can be determined as the target region, or a region that satisfies the first preset condition described in any two of the embodiments or simultaneously satisfies the first preset condition described in all three embodiments can be determined as the target region.

[0120] Step B33: Generate the operating condition control signal.

[0121] By using the above embodiments, when the area formed by the point cloud points within the preset distance includes the target area that meets the first preset condition, the operating condition control signal is generated, which can improve the reliability of the generated operating condition control signal and further ensure the stability and reliability of the ranging device.

[0122] In some embodiments of this disclosure, the measurement information may come from measurement data of a point cloud frame.

[0123] In some embodiments of this disclosure, the measurement information may come from measurement data of multiple frames of point cloud points.

[0124] In some embodiments of this disclosure, step A may include the following steps:

[0125] Step A1: Determine a first point cloud frame whose distance to the point cloud point is less than or equal to the preset distance. The measurement information includes point cloud points in the first point cloud frame whose distance is less than or equal to the preset distance.

[0126] Using the above embodiments, the first point cloud frame is directly determined by the distance corresponding to the point cloud points, and then the measurement information in the first point cloud frame is obtained to determine the working condition control signal. The method is simple, the amount of calculation is small, and the real-time performance of information processing can be improved. This allows for timely adjustment of the energy emitted by the ranging device, further reducing the probability of the ranging device causing damage to the human eye during operation.

[0127] In some embodiments of this disclosure, step A may include the following steps:

[0128] Step A2: Determine a first point cloud frame whose measured object distance is less than or equal to the preset distance. The measurement information includes point cloud points in the first point cloud frame whose distance is less than or equal to the preset distance.

[0129] By using the above embodiments, the first point cloud frame is determined by measuring the distance to the object, and the measurement information in the first point cloud frame is then used to determine the working condition control signal. This ensures the accuracy of the determined first point cloud frame, and in turn, the accuracy of the working condition control signal determined based on the measurement information in the first point cloud frame. This allows for accurate adjustment of the energy emitted by the ranging device, further reducing the probability of the ranging device causing damage to the human eye during operation.

[0130] In some embodiments of this disclosure, the first point cloud frame may include a point cloud frame.

[0131] In some embodiments of this disclosure, the first point cloud frame may include multiple point cloud frames.

[0132] In some embodiments of this disclosure, the measurement information may include only information about point cloud points in the first point cloud frame whose distance is less than or equal to the preset distance.

[0133] In some embodiments of this disclosure, the measurement information may include not only information about point cloud points in the first point cloud frame whose distance is less than or equal to the preset distance, but also information about other point cloud points.

[0134] For example, the measurement information may include information about a whole frame of point cloud points.

[0135] In some embodiments of this disclosure, reference is made to Figure 5 The schematic diagram shows the steps of another detection method using a ranging device. The detection method may further include the following steps:

[0136] Step C: Adjust the transmission parameters of the ranging device according to the operating condition control signal.

[0137] In some embodiments of this disclosure, step C may be performed by an integrated circuit. In some embodiments, step C may be performed by a processor, such as a central processing unit (CPU), a microprocessor, or a field-programmable gate array (FPGA). In some embodiments, step C may be performed by a combination of an integrated circuit and a processor.

[0138] In some embodiments of this disclosure, the emission parameters may include the light emission state of the ranging device, the energy of a single light pulse emitted by the ranging device, and the light pulse emission frequency of the ranging device.

[0139] For example, the detection light of the ranging device can be turned off. Using this embodiment, since the ranging device does not emit detection light and has no energy, damage to the human eye can be completely avoided.

[0140] For example, the energy of a single light pulse can be reduced. Using this embodiment, since the ranging device still emits probe light, only the energy of a single light pulse is reduced. Therefore, not only can damage to the human eye be effectively avoided during operation, but the ranging device can still perform ranging work.

[0141] For example, the emission frequency of the light pulse can be reduced. In this embodiment, by maintaining the energy of a single light pulse and only reducing the emission frequency, the accumulated energy is reduced. Therefore, not only can damage to the human eye be effectively avoided during operation of the ranging device, but the ranging device can also still perform ranging operations according to its original ranging performance.

[0142] In some embodiments of this disclosure, the energy of a single light pulse or the frequency of light pulse emission can be reduced only in the target area. By employing this embodiment, since only the energy of a single light pulse or the frequency of light pulse emission is reduced in the target area while remaining unchanged in other areas, it is possible not only to effectively prevent the ranging device from causing harm to the human eye during operation, but also to allow the ranging device to continue performing ranging operations in other areas according to its original ranging performance.

[0143] In some embodiments of this disclosure, reference continues to be made to Figure 5 The detection method may further include the following steps:

[0144] Step D: Determine the measurement information within the preset distance.

[0145] In some embodiments of this disclosure, measurement information within a preset distance can be determined using an integrated circuit. In some embodiments, the measurement information within a preset distance can be determined using a processor, such as a central processing unit (CPU), microprocessor, or FPGA (field programmable gate array). In some embodiments, the measurement information within a preset distance can be determined using a combination of an integrated circuit and a processor.

[0146] Step E: Determine the working condition recovery signal based on the measurement information; wherein the measurement information includes at least one of the following: distance of point cloud points, reflectivity of point cloud points, number of point cloud points, and position of point cloud points; the working condition recovery signal is used to adjust the energy emitted by the ranging device so that the energy emitted by the ranging device meets the preset requirements.

[0147] In some embodiments of this disclosure, step E may be performed by an integrated circuit. In some embodiments, step E may be performed by a processor, such as a central processing unit (CPU), a microprocessor, or a field-programmable gate array (FPGA). In some embodiments, step E may be performed by a combination of an integrated circuit and a processor.

[0148] By employing the method described in the above embodiments, measurement information within a preset distance is determined, and a working condition recovery signal is determined based on the measurement information. The working condition recovery signal can then be used to adjust the energy emitted by the ranging device, ensuring that the energy emitted by the ranging device meets preset requirements. This allows the ranging device to meet ranging performance requirements without posing a risk of eye injury. Since the measurement information can be acquired in real time, the energy emitted by the ranging device can be dynamically adjusted, thus ensuring both eye safety and ranging performance.

[0149] In some embodiments of this disclosure, reference is made to Figure 6 The diagram shown illustrates a step for determining a working condition recovery signal based on measurement information. Step E may include the following steps:

[0150] Step E11: Determine that the number of point cloud points within the preset distance is less than a preset number threshold.

[0151] For a more detailed example of the preset quantity threshold, please refer to the method for determining the preset quantity threshold in the foregoing embodiments, which will not be described in detail here.

[0152] Step E12: Generate the operating condition recovery signal.

[0153] The method described in the above embodiments generates the working condition recovery signal when the number of point cloud points within the preset distance is less than a preset number threshold. The method is simple, has a small computational load, and can improve the real-time performance of information processing. This allows for timely adjustment of the energy emitted by the ranging device, ensuring both human eye safety and ranging performance.

[0154] In some embodiments of this disclosure, reference is made to Figure 7 The diagram illustrates another step for determining the working condition recovery signal based on measurement information. Step E may include the following steps:

[0155] Step E21: Obtain the point cloud points within the preset distance.

[0156] For a more detailed example of obtaining the point cloud points within the preset distance, please refer to the acquisition method in the foregoing embodiments, which will not be described further here.

[0157] Step E22: Determine that the area formed by the point cloud points within the preset distance does not include the target area, and the target area meets the first preset condition.

[0158] For more detailed examples of target areas, please refer to the specific examples in the foregoing embodiments, which will not be described further here.

[0159] In some embodiments of this disclosure, the first preset condition may include: the shape of the target region is more similar to the shape of the preset region than or equal to a first similarity threshold.

[0160] For example, the preset region can be the region corresponding to the human eye, and the shape of the preset region can be the shape corresponding to the human eye. By identifying the continuity of point cloud points and the difference between the distances corresponding to each point cloud point, point cloud points from the same object can be identified from the point cloud points within the preset distance. Then, the shape of the region corresponding to the object can be determined based on the point cloud points, thereby determining whether there is a target region whose shape similarity to the preset region is greater than or equal to a first similarity threshold. As another example, the preset region can be the region corresponding to a face, and the shape of the preset region can be the shape corresponding to a face.

[0161] In some embodiments of this disclosure, the first preset condition may include: the area of ​​the target region is within a first area range.

[0162] For example, the target area can be the area corresponding to the human eye, then the first area range can be set according to the area of ​​the human eye, such as (2cm). 2 10cm 2By identifying the continuity of point cloud points and the difference between the distances corresponding to each point cloud point, point cloud points from the same object can be identified from the point cloud points within the preset distance. Then, the area of ​​the region corresponding to the object can be determined based on the point cloud points, and it can be determined whether there is a target region with an area size within the first area range.

[0163] For example, if the target area can be the area corresponding to a face, then the first area range can be set according to the area of ​​the face.

[0164] Step E23: Generate the operating condition recovery signal.

[0165] By using the above embodiments, when the area formed by the point cloud points within the preset distance does not include the target area that meets the first preset condition, the working condition recovery signal is generated, which can improve the reliability of the generated working condition recovery signal and further ensure the stability and reliability of the ranging device.

[0166] This disclosure also provides a computer program product, including computer instructions, wherein when the computer instructions are executed by a processor, they implement the detection method of the ranging device described in any of the foregoing embodiments. Specific steps can be found in the foregoing embodiments, and will not be repeated here.

[0167] This disclosure also provides a non-volatile computer-readable storage medium storing computer instructions thereon, wherein the computer instructions, when executed by a processor, implement the detection method of the ranging device described in any of the foregoing embodiments. Specific steps can be found in the foregoing embodiments and will not be repeated here.

[0168] In some embodiments of this disclosure, the non-volatile computer-readable storage medium may be various suitable readable storage media such as optical discs, hard disk drives, and solid-state drives.

[0169] This disclosure also provides a ranging device, with reference to... Figure 8 The diagram shows the structure of a ranging device, wherein the ranging device T includes:

[0170] The light emitter T1 is configured to emit probe light;

[0171] The optical receiver T2 is configured to receive the echo signal corresponding to the probe light and generate an electrical signal;

[0172] The signal processing circuit T3 is configured to determine measurement information based on the electrical signal, the measurement information including at least one of the following: the distance of point cloud points, the reflectivity of point cloud points, the number of point cloud points, and the position of point cloud points;

[0173] The processor T4 is configured to execute the detection method of the ranging device described in any of the foregoing embodiments.

[0174] The ranging device described in the above embodiments uses a signal processing circuit to determine measurement information based on the electrical signal generated by the optical receiver. A processor then determines the measurement information within a preset distance and, based on the measurement information, determines a working condition control signal. This working condition control signal is used to adjust the energy emitted by the ranging device, ensuring that the emitted energy meets human eye safety standards. Furthermore, in some embodiments, a working condition recovery signal can be determined based on the measurement information. This working condition recovery signal is used to adjust the energy emitted by the ranging device, ensuring that the emitted energy meets preset requirements. This allows for dynamic adjustment of the emitted energy, enabling the ranging device to balance human eye safety with ranging performance.

[0175] This disclosure also provides a vehicle, including the ranging device described in the foregoing embodiments.

[0176] It is understood that the above examples are merely illustrative and do not constitute any limitation on the embodiments of this disclosure.

[0177] While the embodiments disclosed above are provided, the present invention is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A method of detecting a ranging device, the method comprising: receiving a signal from the ranging device; and determining a distance to the ranging device based on the received signal. The method comprises: determining measurement information within a preset distance; determining a working condition control signal according to the measurement information; wherein the working condition control signal is used to adjust the energy emitted by the ranging device, so that the energy emitted by the ranging device meets the human eye safety standard.

2. The ranging apparatus detection method according to claim 1, wherein The measurement information comprises at least one of: the distance of a point cloud point; the reflectivity of a point cloud point; the number of point cloud points; the position of a point cloud point.

3. The ranging apparatus detection method according to claim 2, wherein The determination of the working condition control signal according to the measurement information comprises: determining that the number of point cloud points within the preset distance is greater than or equal to a preset number threshold; generating the working condition control signal.

4. The ranging apparatus detection method according to claim 2, wherein The determination of the working condition control signal according to the measurement information comprises: obtaining the point cloud points within the preset distance; determining that the area formed by the point cloud points within the preset distance comprises a target area, and the target area meets a first preset condition; generating the working condition control signal.

5. The ranging apparatus detection method according to claim 4, wherein The point cloud points within the target area are continuously distributed, and the difference between the distances corresponding to each point cloud point within the target area is less than or equal to a preset difference threshold.

6. The ranging apparatus detection method according to claim 5, wherein The first preset condition comprises: the similarity between the shape of the target area and the shape of a preset area is greater than or equal to a first similarity threshold; and / or, the area size of the target area is within a first area range.

7. The ranging apparatus detection method according to claim 5, wherein The first preset condition comprises: the reflectivity of each point cloud point in the target area is within a preset reflectivity range.

8. The ranging device detection method according to any one of claims 1 to 7, wherein, The measurement information is obtained from the measurement data of one or more point cloud frames.

9. The ranging apparatus detection method according to claim 8, wherein The determination of the measurement information within the preset distance comprises: determining a first point cloud frame in which the distance corresponding to the point cloud point is less than or equal to the preset distance, and the measurement information comprises the point cloud points in the first point cloud frame whose distance is less than or equal to the preset distance; or, determining a first point cloud frame in which the distance of the measured object is less than or equal to the preset distance, and the measurement information comprises the point cloud points in the first point cloud frame whose distance is less than or equal to the preset distance.

10. The ranging apparatus detection method according to claim 1, wherein, The detection method further comprises adjusting the emission parameter of the ranging device according to the working condition control signal; wherein the emission parameter comprises at least one of: the light emission state of the ranging device; the energy of a single light pulse emitted by the ranging device; the light pulse emission frequency of the ranging device.

11. The ranging apparatus detection method according to claim 10, wherein The adjustment of the emission parameter of the ranging device according to the working condition control signal comprises at least one of: turning off the detection light of the ranging device; reducing the energy of the single light pulse; reducing the light pulse emission frequency.

12. The ranging apparatus detection method according to claim 10 or 11, wherein, The detection method further comprises: determining measurement information within a preset distance; determining a working condition recovery signal according to the measurement information; wherein the measurement information comprises at least one of the distance of a point cloud point, the reflectivity of a point cloud point, the number of point cloud points, and the position of a point cloud point; and the working condition recovery signal is used to adjust the energy emitted by the ranging device, so that the energy emitted by the ranging device meets a preset requirement.

13. The ranging apparatus detection method according to claim 12, wherein The determination of the working condition recovery signal according to the measurement information comprises: determining that the number of point cloud points within the preset distance is less than a preset number threshold; generating the working condition recovery signal.

14. The ranging apparatus detection method according to claim 12, wherein, The determination of the working condition recovery signal according to the measurement information comprises: obtain the point cloud points within the preset distance; determine that a region formed by the point cloud points within the preset distance does not include a target region, the target region meeting a first preset condition; generate the working condition recovery signal.

15. The ranging device detection method of claim 14, wherein, The first preset condition includes: a shape similarity of the target region and a preset region is greater than or equal to a first similarity threshold; and / or an area size of the target region is within a first area range.

16. A computer program product comprising computer instructions, characterized in that, The computer instructions, when executed by the processor, implement the detection method of the ranging device of any one of claims 1-15.

17. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions, when executed by the processor, implement the detection method of the ranging device of any one of claims 1-15.

18. A ranging device, characterized by comprise: a light emitter configured to emit a probe light; a light receiver configured to receive a return signal corresponding to the probe light and generate an electrical signal; a signal processing circuit configured to determine measurement information according to the electrical signal, the measurement information including at least one of: a distance of a point cloud point, a reflectivity of a point cloud point, a number of point cloud points, a position of a point cloud point; a processor configured to execute the detection method of the ranging device of any one of claims 1-15.

19. A vehicle characterized by comprising: comprise: the ranging device of claim 18.

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