Detection method for distance measuring apparatus, distance measuring apparatus, and related device

Abstract

The present disclosure provides a detection method for a distance measuring apparatus, a distance measuring apparatus, and a related device. The detection method for the distance measuring apparatus comprises: determining measurement information within a preset distance; and determining a working condition control signal on the basis of the measurement information, wherein the working condition control signal is used for adjusting energy emitted by the distance measuring apparatus, so that the energy emitted by the distance measuring apparatus meets eye-safety standards.

Description

Detection method of ranging device, ranging device and related equipment

[0001] The present disclosure claims priority to the Chinese patent application entitled “Detection method of ranging device, ranging device and related equipment”, application number 202410727684.9, filed on June 5, 2024, the content of which is incorporated herein in its entirety by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of object perception, and in particular to a detection method of a ranging device, a ranging device and related equipment. BACKGROUND

[0003] At present, ranging devices are widely used in various fields, such as automation equipment, robots, security systems, traffic control systems, etc., among which ranging devices that achieve ranging function by emitting and receiving light are particularly common.

[0004] However, the light emitted by the ranging device may affect the human eye.

[0005] Therefore, how to reduce or avoid the impact of the ranging device on the human eye during its working process needs to be solved by those skilled in the art. SUMMARY

[0006] Therefore, the embodiments of the present disclosure provide a detection method of a ranging device, a ranging device and related equipment, 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 eye safety standard, thereby effectively reducing the probability of injury to the human eye caused by the ranging device during its working process.

[0007] Firstly, the embodiments of the present disclosure provide a detection method of a ranging device, comprising:

[0008] determining measurement information within a preset distance;

[0009] determining a working condition control signal according to the measurement information;

[0010] 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 eye safety standard.

[0011] Optionally, the measurement information comprises at least one of the following:

[0012] the distance of a point cloud point;

[0013] the reflectivity of a point cloud point;

[0014] the number of point cloud points; or

[0015] the position of a point cloud point.

[0016] Optionally, the determining the working condition control signal according to the measurement information comprises:

[0017] determining that the number of the point cloud points within the preset distance is greater than or equal to a preset number threshold value;

[0018] determining the working condition control signal.

[0019] Optionally, the determining the working condition control signal according to the measurement information comprises:

[0020] determining the point cloud points within the preset distance;

[0021] determining that the region formed by the point cloud points within the preset distance comprises a target region, the target region satisfying a first preset condition; wherein the point cloud points within the target region are continuously distributed, and the difference between the distances corresponding to each of the point cloud points within the target region is less than or equal to a preset difference threshold value;

[0022] determining the working condition control signal.

[0023] Optionally, the first preset condition comprises at least one of:

[0024] the shape similarity of the target region to a preset region is greater than or equal to a first similarity threshold value; or,

[0025] the area size of the target region is within a first area range; or,

[0026] the reflectivity of each of the point cloud points in the target region is within a preset reflectivity range.

[0027] Optionally, the measurement information is from measurement data of one or more point cloud frames; and the determining the measurement information within the preset distance comprises:

[0028] determining a first point cloud frame in which the distances corresponding to the point cloud points in the point cloud frame are less than or equal to the preset distance, and the measurement information comprises the point cloud points in the first point cloud frame whose distances are less than or equal to the preset distance;

[0029] or,

[0030] determining a first point cloud frame in which the distances of the measured object are less than or equal to the preset distance, and the measurement information comprises the point cloud points in the first point cloud frame whose distances are less than or equal to the preset distance.

[0031] Optionally, the detection method further comprises: adjusting the emission parameter of the distance measuring device according to the working condition control signal;

[0032] wherein the emission parameter comprises at least one of:

[0033] a light emitting state of the ranging device;

[0034] an energy of a single light pulse emitted by the ranging device; or,

[0035] a light pulse emitting frequency of the ranging device.

[0036] Optionally, the adjusting the emitting parameter of the ranging device according to the working condition control signal comprises at least one of:

[0037] turning off a probe light of the ranging device;

[0038] reducing the energy of the single light pulse; or,

[0039] reducing the light pulse emitting frequency.

[0040] Optionally, the method further comprises:

[0041] determining measurement information within the preset distance;

[0042] determining a working condition recovery signal according to the measurement information;

[0043] wherein the measurement information comprises at least one of: a distance of a point cloud point, a reflectivity of the point cloud point, a number of the point cloud points, or a position of the point cloud point; and the working condition recovery signal is used to adjust an energy of the ranging device so that the energy of the ranging device meets a preset requirement.

[0044] Optionally, the determining the working condition recovery signal according to the measurement information comprises:

[0045] determining that the number of the point cloud points within the preset distance is less than a preset number threshold;

[0046] determining the working condition recovery signal.

[0047] Optionally, the determining the working condition recovery signal according to the measurement information comprises:

[0048] obtaining the point cloud points within the preset distance;

[0049] determining that an area formed by the point cloud points within the preset distance comprises an area other than a target area, the target area meeting a first preset condition; wherein the point cloud points within the target area are continuously distributed, and a difference between distances corresponding to each of the point cloud points within the target area is less than or equal to a preset difference threshold;

[0050] generating the working condition recovery signal.

[0051] Optionally, the first preset condition comprises at least one of:

[0052] a shape of the target region is similar to a shape of the preset region, and a similarity degree is greater than or equal to a first similarity threshold; or

[0053] an area size of the target region is within a first area range.

[0054] The embodiment of the present disclosure further provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the detection method of the ranging device according to any one of the above-mentioned embodiments.

[0055] The embodiment of the present disclosure further provides a non-volatile computer readable storage medium, which stores computer instructions, which, when executed by a processor, implement the detection method of the ranging device according to any one of the above-mentioned embodiments.

[0056] The embodiment of the present disclosure further provides a ranging device, comprising:

[0057] a light emitter configured to emit detection light;

[0058] a light receiver configured to receive echo signals corresponding to the detection light and produce electrical signals;

[0059] a signal processing circuit configured to determine measurement information according to the electrical signals, the measurement information comprising at least one of the following: distance of a point cloud point, reflectivity of a point cloud point, number of point cloud points, or position of a point cloud point;

[0060] a processor configured to execute the detection method of the ranging device according to any one of the above-mentioned embodiments.

[0061] The embodiment of the present disclosure further provides a vehicle, comprising:

[0062] the ranging device according to the above-mentioned embodiments.

[0063] The detection method of the ranging device provided by the embodiment of the present disclosure determines the measurement information within the preset distance, and determines the working condition control signal according to the measurement information, and then adjusts the energy emitted by the ranging device by using the working condition control signal, so that the energy emitted by the ranging device meets the human eye safety standard. The present scheme can timely discover the human eye safety risk, and realize the protection of the human eye safety of the road traffic participants by reducing the signal energy emitted by the ranging device. In addition, the method according to the embodiment of the present disclosure reduces the hardware requirements of the ranging device, and can be realized based on the measurement information of the ranging device, so it can be applied to various types of ranging devices. BRIEF DESCRIPTION OF DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, the accompanying drawings in the following description only only the embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of the provided drawings.

[0065] FIG. 1 shows a schematic diagram of steps of a detection method of a ranging device according to some embodiments of the present disclosure.

[0066] FIG. 2 shows a schematic diagram of steps of determining a working condition control signal according to measurement information according to some embodiments of the present disclosure.

[0067] FIG. 3 shows a schematic diagram of steps of determining a working condition control signal according to measurement information according to some embodiments of the present disclosure.

[0068] FIG. 4 shows a schematic diagram of steps of determining a working condition control signal according to measurement information according to some embodiments of the present disclosure.

[0069] FIG. 5 shows a schematic diagram of steps of a detection method of a ranging device according to some embodiments of the present disclosure.

[0070] FIG. 6 shows a schematic diagram of steps of determining a working condition recovery signal according to measurement information according to some embodiments of the present disclosure.

[0071] FIG. 7 shows a schematic diagram of steps of determining a working condition recovery signal according to measurement information according to some embodiments of the present disclosure.

[0072] FIG. 8 shows a schematic diagram of a structure of a ranging device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0073] The following description provides example application scenarios and requirements of the present disclosure, which is intended to enable those skilled in the art to manufacture and use the content in the present disclosure. The general principles defined herein can be applied to other embodiments and applications without departing from the scope of the present disclosure. Therefore, the present disclosure is not limited to the embodiments shown.

[0074] The terminology used in the disclosure is only for describing example embodiments, and is not limiting. For example, unless the context clearly indicates otherwise, as used herein, the singular forms "a", "an", and "the" can also include the plural forms. When used in the disclosure, the terms "include", "contain" and "have" mean that the associated features, steps, operations, elements or components exist, but do not exclude the presence of any number of other features, steps, operations, elements, components or components, or other features, steps, operations, elements, components or components can be added to the system or method.

[0075] In the disclosure, the term "or" and "and / or" describes the relationship between the associated objects, and means a non-exclusive inclusion. For example, "A and / or B" and "A or B" can include: only "A" exists, only "B" exists, and "A" and "B" exist at the same time, where "A" and "B" can be singular or plural. For another example, "A, B and / or C" and "A, B or C" can include: only "A" exists, only "B" exists, only "C" exists, "A" and "B" exist at the same time, "A" and "C" exist at the same time, "B" and "C" exist at the same time, and "A", "B" and "C" exist at the same time, where "A", "B" and "C" can be singular or plural. In addition, the symbol " / " in the disclosure means that the associated objects before and after the symbol have an "or" relationship. In the disclosure, the term "at least one A or B" has the same meaning as "A or B" described above. The term "at least one A, B or C" has the same meaning as "A, B or C" described above.

[0076] Considering the following description, the features of the disclosure and other features, the operation and function of the related elements of the structure, and the economy of the combination and manufacture of the components can be obviously improved. Referring to the drawings, all of which form part of the disclosure. However, it should be clearly understood that the drawings are for illustrative and descriptive purposes only and are not intended to limit the scope of the disclosure. It should also be understood that the drawings are not drawn to scale.

[0077] The flowchart used in the disclosure shows the operation of the system implementation according to some embodiments in the disclosure. It should be clearly understood that the operations of the flowchart can not be implemented in sequence. On the contrary, the operations can be implemented in reverse order or simultaneously. In addition, one or more other operations can be added to the flowchart. One or more operations can be removed from the flowchart.

[0078] For the sake of understanding, the working principle and technical problems of the ranging device for realizing the ranging function by emitting and receiving light are briefly introduced below taking laser radar as an example.

[0079] When the laser radar is working, a laser is emitted by a laser to space to detect laser, and the laser reflected from an object is received by a detector corresponding to the laser. The laser radar compares the laser received from the object with the detection laser, and after corresponding processing, the relevant information of the object, such as the distance and reflectivity of the object, can be obtained.

[0080] The detection laser itself has the characteristics of "extremely low divergence" and "high energy density". If the detection laser can be focused within the range of the retina in some scenarios, it means that the low coherence and divergent laser will be focused on a very small area of the retina by the eye, thereby affecting the eye. For example, the laser can cause local burning and permanent damage to the retina within a few seconds or less. This can cause the retina to be pierced (the retina has a hole), and even the retina to be detached.

[0081] It should be noted that the present disclosure only takes the laser radar as an example to describe the working principle and technical problems of such ranging devices, and does not serve as a specific limitation on the present disclosure.

[0082] To solve the above problems, some embodiments of the present disclosure provide a detection method of a ranging device, which determines measurement information within a preset distance, and determines a working condition control signal according to the measurement information. Then, the energy emitted by the ranging device can be adjusted by using the working condition control signal, so that the energy emitted by the ranging device meets the human eye safety standard, thereby effectively reducing the probability of causing damage to the human eye during the working process of the ranging device. In addition, the method provided in the embodiments of the present disclosure can be implemented based on the measurement information of the ranging device, which reduces the hardware requirements for the ranging device, and thus can be applied to various types of ranging devices.

[0083] In order for those skilled in the art to better understand and implement the embodiments of the present disclosure, the concepts, schemes, principles and advantages of the embodiments of the present disclosure are described in detail below with reference to the drawings, and through specific application examples.

[0084] First, some embodiments of the present disclosure provide a detection method of a ranging device. FIG. 1 shows a step schematic diagram of a detection method of a ranging device according to some embodiments of the present disclosure. Referring to FIG. 1, the detection method can include the following steps:

[0085] Step A, determining measurement information within a preset distance.

[0086] The energy emitted by the distance measuring device attenuates with the increase of distance. Therefore, within a certain distance, the energy emitted by the distance measuring device can be higher than the eye safety standard, thereby causing damage to the human eye. When the transmitted energy is transmitted over a distance, its energy will attenuate to meet the eye safety standard. Therefore, the detection method of the embodiments of the present disclosure can determine whether there is an eye safety risk according to the measurement information within the preset distance. The preset distance is related to the optical characteristics of the distance measuring device, such as the initial energy size emitted by the distance measuring device, the wavelength of the detection light emitted by the distance measuring device, etc. Therefore, the preset distance can be set according to the optical characteristics of the distance measuring device. For example, the preset distance can be 1 m, 2 m, 3 m, 5 m, 7 m, 10 m or any value less than 10 m.

[0087] In some embodiments of the present disclosure, the measurement information within the preset distance can be determined by an integrated circuit. In some embodiments, the measurement information within the preset distance can be determined by a processor, such as a central processing unit (CPU), a microprocessor, or a field programmable gate array (FPGA), etc. In some embodiments, the measurement information within the preset distance can be determined by a combination of an integrated circuit and a processor.

[0088] Step B, 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 distance measuring device, so that the energy emitted by the distance measuring device meets the eye safety standard.

[0089] In some embodiments of the present disclosure, step B can be performed by an integrated circuit. In some embodiments, step B can be performed by a processor, such as a CPU, a microprocessor, or an FPGA, etc. In some embodiments, step B can be performed by a combination of an integrated circuit and a processor.

[0090] The embodiments of the present disclosure determine whether there is an eye safety risk by the measurement information within the preset distance, which can improve the efficiency of judging the eye safety risk. Adjusting the energy emitted by the distance measuring device according to the measurement information can effectively reduce or avoid the impact of the distance measuring device on the human eye during the working process. In addition, the method of the embodiments of the present disclosure can be implemented based on the measurement information of the distance measuring device, which reduces the hardware requirements for the distance measuring device, and therefore can be applied to various types of distance measuring devices.

[0091] In some embodiments of the present disclosure, the measurement information can include at least one of the distance of a point cloud point, the reflectivity of a point cloud point, the number of point cloud points, or the position of a point cloud point, etc.

[0092] It should be noted that the embodiments of the present disclosure do not make specific limitations on the measurement information, and the above embodiments are only illustrative.

[0093] FIG. 2 shows a schematic diagram of a step of determining a working condition control signal according to measurement information, according to some embodiments of the present disclosure. In some embodiments of the present disclosure, referring to FIG. 2, for step B, the following steps can be included:

[0094] Step B11, determining that the number of the point cloud points within the preset distance is greater than or equal to a preset number threshold.

[0095] In some embodiments of the present disclosure, the size of the preset number threshold can be determined according to the performance parameters of the laser radar. For example, the size of the preset number threshold can be determined according to the resolution of the laser radar. When the resolution of the laser radar is high, the preset number threshold can be large. When the resolution of the laser radar is low, the preset number threshold can be small. For another example, the size of the preset number threshold can be set according to the degree of strictness of the human eye safety required by the laser radar. When the human eye safety requirement of the laser radar is strict, the preset number threshold can be small, and when the human eye safety requirement of the laser radar is loose, the preset number threshold can be large.

[0096] In some embodiments of the present disclosure, the preset number threshold is less than the number of point cloud points corresponding to the human eye within the preset distance.

[0097] Step B12, determining the working condition control signal.

[0098] By using the method described in the above embodiments, the working condition control signal is generated when the number of point cloud points within the preset distance is greater than or equal to the preset number threshold. This method is simple and has a small amount of calculation, and can improve the real-time performance of information processing, so that the ranging device can adjust its emitted energy in time, and reduce the probability of causing harm to the human eye in the working process of the ranging device.

[0099] FIG. 3 shows another schematic diagram of a step of determining a working condition control signal according to measurement information, according to some embodiments of the present disclosure. In some embodiments of the present disclosure, referring to FIG. 3, step B can include the following steps:

[0100] Step B21, determining that the number of the point cloud points within the preset distance is less than a preset number threshold.

[0101] For more detailed examples of the preset number threshold, refer to the determination method of the preset number threshold in the foregoing embodiments, which will not be described here.

[0102] Step B22, not generating the working condition control signal.

[0103] When it is determined that the number of the point cloud points within the preset distance is less than the preset number threshold, it is considered that there is no object such as an eye that may cause a safety risk within the preset distance, and no industrial control signal for adjusting the energy emitted by the distance measuring device is generated. In this way, the distance measuring device can normally detect the environment, and the normal work of the distance measuring device is reduced or avoided.

[0104] FIG. 4 shows another step diagram for determining a working condition control signal according to measurement information, according to some embodiments of the present disclosure. In some embodiments of the present disclosure, referring to FIG. 4, for step B, the following steps can be included:

[0105] Step B31, determining the point cloud points within the preset distance.

[0106] In some embodiments of the present disclosure, the measurement information within the preset distance can be determined by an integrated circuit or a processor or a combination circuit of an integrated circuit and a processor. For ease of description, the following is described by using a measurement circuit to represent a circuit for determining the measurement information within the preset distance. In some embodiments of the present disclosure, the measurement information of the point cloud points within the preset distance can be obtained by an integrated circuit or a processor or a combination circuit of an integrated circuit and a processor. For ease of description, the following is described by using an obtaining circuit to represent a circuit for obtaining the point cloud points within the preset distance.

[0107] In some embodiments of the present disclosure, the obtaining circuit can actively obtain the point cloud points within the preset distance. For example, the point cloud point data of the measurement device can be stored in the memory of the measurement device, the obtaining circuit actively sends a signal to the memory of the measurement device, and the memory sends the point cloud point data to the obtaining circuit. In some embodiments of the present disclosure, the obtaining circuit can passively obtain the point cloud points within the preset distance. For example, the point cloud point data of the measurement device can be stored in the memory of the measurement device, the memory of the measurement device actively sends the point cloud point data to the obtaining circuit, and the obtaining circuit passively receives the point cloud point data.

[0108] In some embodiments of the present disclosure, obtaining the point cloud points within the preset distance can be to only obtain the number information of the point cloud points.

[0109] In some embodiments of the present disclosure, obtaining the point cloud points within the preset distance can obtain the number information of the point cloud points and the specific measurement information included in the point cloud points. For example, the specific measurement information can include at least one of distance, reflectivity, or point cloud position information.

[0110] Step B32, determining that the region formed by the point cloud points within the preset distance includes a target region, and the target region meets a first preset condition.

[0111] ​In some embodiments of the present disclosure, the point cloud points in the target region are continuously distributed. The difference between the distances corresponding to each point cloud point in the target region is less than or equal to a preset difference threshold. Wherein, the continuous distribution of point cloud points means that the point cloud points are adjacent and there is no jump. When the 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, it can be considered that these point cloud points come from the same object. Wherein, the size of the preset difference threshold can be set according to the characteristics of the object corresponding to the target region. For example, when performing eye safety judgment, it is expected that the target region includes the human eye, and the preset difference threshold can be set according to the characteristics of the human eye. For example, generally, the difference between the maximum distance and the minimum distance of the distances of the plurality of point cloud points corresponding to the human eye is not more than 1 cm. Therefore, the preset difference threshold can be set to 1 cm. For another example, when performing eye safety judgment, it is expected that the target region includes the human face. Therefore, the preset difference threshold can be set according to the characteristics of the human face. For example, generally, the difference between the maximum distance and the minimum distance of the distances of the plurality of point cloud points corresponding to the human face is not more than 10 cm. Therefore, the preset difference threshold can be set to 10 cm. It should be noted that the present embodiment does not specifically limit the target region.

[0112] When each point cloud point that meets the first preset condition is continuously distributed and the difference between the distances corresponding to each point cloud point is less than or equal to the preset difference threshold, it is considered that the point cloud point includes the target region, and there may be an eye safety risk. It should be noted that the target region can be formed by all point cloud points within a preset distance, or can be formed by part of the point cloud points within the preset distance. All or part of the point cloud points within the preset distance can form one target region, or can form multiple target regions.

[0113] In some embodiments of the present disclosure, the first preset condition can include that the shape similarity of the target region to a preset region is greater than or equal to a first similarity threshold.

[0114] For example, the preset region can be the region of the human eye, and the shape of the preset region can be the shape of the human eye. By identifying the continuity of the point cloud points and the difference between the distances corresponding to each point cloud point, the point cloud points from the same object are identified from the point cloud points within the preset distance. Then, the shape of the region corresponding to the object can be determined according to these point cloud points, so that it can be determined whether there is a target region with a shape similarity to the preset region greater than or equal to the first similarity threshold. For another example, the preset region can be the region of the human face, and the shape of the preset region can be the shape of the human face.

[0115] In some embodiments of the present disclosure, the first preset condition can include that the area size of the target region is within a first area range.

[0116] For example, the target region can be a region of a human eye, and the first area range can be set according to an area of the human eye. For example, the first area range can be 0 cm 2 to 2 cm 2 or 0 cm 2 to 10 cm 2 or 0 cm 2 to other sizes. By identifying the continuity of the point cloud points and the difference between the distances corresponding to the point cloud points, the point cloud points from the same object are identified from the point cloud points within the preset distance. Then, the area of the region corresponding to the object can be determined according to these point cloud points, and it can be determined whether there is a target region with an area within the first area range.

[0117] For another example, the target region can be a region corresponding to a human face, and the first area range can be set according to an area of the human face.

[0118] In some embodiments of the present disclosure, the first preset condition can include that the reflectivity of each point cloud point in the target region is within a preset reflectivity range.

[0119] For example, the target region can be a region corresponding to a human eye, and the preset reflectivity range can be set according to the reflectivity range of the human eye. For example, the preset reflectivity range can be 4% to 30%, and in order to reduce or avoid omission or error, the upper limit or lower limit of the preset reflectivity range can be changed.

[0120] It should be noted that the reflectivity range of the human eye in the embodiments of the present disclosure refers to the reflectivity of the human eye measured by the distance measuring device.

[0121] It can be understood that the above embodiments of the first preset condition can be used alone to determine the target region, or can be combined to determine the target region. The region that meets the first preset condition of one of the embodiments can be determined as the target region, or the region that meets the first preset condition of any two of the embodiments or simultaneously meets the first preset conditions of the three embodiments can be determined as the target region.

[0122] Step B33, determining the working condition control signal.

[0123] By using the above embodiments, the working condition control signal is generated when the region formed by the point cloud points within the preset distance includes the target region meeting the first preset condition. In this way, the credibility of the generated working condition control signal can be improved, and the stability and reliability of the distance measuring device can be further improved.

[0124] In some embodiments of the present disclosure, the measurement information can be from measurement data of a frame of point cloud frames.

[0125] In some embodiments of the present disclosure, the measurement information can be from measurement data of multiple frames of point cloud points.

[0126] In some embodiments of the present disclosure, step A can include the following steps:

[0127] Step A1, determining a first point cloud frame in which the distance corresponding to the point cloud points in the point cloud frame is less than or equal to the preset distance, and the measurement information includes the point cloud points in the first point cloud frame whose distance is less than or equal to the preset distance.

[0128] By using the above-mentioned embodiments, the first point cloud frame is directly determined according to 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. This method is simple, has a small amount of calculation, and can improve the real-time performance of information processing, so that the ranging device can adjust the emitted energy in time, and further reduce the probability of causing damage to the human eye in the working process of the ranging device.

[0129] In some embodiments of the present disclosure, for step A, the following steps can be included:

[0130] Step A2, 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 includes the point cloud points in the first point cloud frame whose distance is less than or equal to the preset distance.

[0131] By using the above-mentioned embodiments, the first point cloud frame is determined according to the distance of the measured object, and then the measurement information in the first point cloud frame is obtained to determine the working condition control signal. In this way, the accuracy of the determined first point cloud frame can be guaranteed, and the accuracy of the working condition control signal determined based on the measurement information in the first point cloud frame can be improved, so that the ranging device can accurately adjust the emitted energy, and further reduce the probability of causing damage to the human eye in the working process of the ranging device.

[0132] In some embodiments of the present disclosure, the first point cloud frame can include one frame of point cloud frames.

[0133] In some embodiments of the present disclosure, the first point cloud frame can include multiple frames of point cloud frames.

[0134] In some embodiments of the present disclosure, the measurement information can only include information of the point cloud points in the first point cloud frame whose distance is less than or equal to the preset distance.

[0135] In some embodiments of the present disclosure, the measurement information can not only include information of the point cloud points in the first point cloud frame whose distance is less than or equal to the preset distance, but also include information of other point cloud points.

[0136] For example, the measurement information can include information of an entire frame of point cloud points.

[0137] FIG. 5 shows a schematic diagram of steps of a detection method of another ranging device, according to some embodiments of the present disclosure. In some embodiments of the present disclosure, referring to FIG. 5, the detection method can further comprise the following steps:

[0138] Step C, adjusting a transmission parameter of the ranging device according to the working condition control signal.

[0139] In some embodiments of the present disclosure, the step C can be performed by an integrated circuit. In some embodiments, the step C can be performed by a processor, such as a CPU, a microprocessor, or an FPGA, etc. In some embodiments, the step C can be performed by a combination of an integrated circuit and a processor.

[0140] In some embodiments of the present disclosure, the transmission parameter can comprise at least one of a light emission state of the ranging device, an energy of a single light pulse emitted by the ranging device, or a light pulse transmission frequency of the ranging device, etc.

[0141] There are various ways to adjust the transmission parameter of the ranging device. For example, the ranging device can turn off the detection light. With the method of the present embodiment, since the ranging device does not emit the detection light, no energy is emitted, and thus the impact of the ranging device on the human eye can be reduced or avoided. For another example, the ranging device can reduce the energy of a single light pulse. With the method of the present embodiment, since the ranging device still emits the detection light, only the energy of a single light pulse is reduced. Thus, not only can the impact of the ranging device on the human eye during operation be effectively reduced or avoided, but the ranging device can still perform ranging work. For yet another example, the ranging device can reduce the light pulse transmission frequency. With the method of the present embodiment, the ranging device can maintain the energy of a single light pulse and reduce the light pulse transmission frequency to reduce the cumulative energy emitted. Thus, not only can the impact of the ranging device on the human eye during operation be effectively reduced or avoided, but the ranging device can still perform detection according to the original ranging performance.

[0142] In some embodiments of the present disclosure, the energy of a single light pulse or the light pulse transmission frequency can be reduced only in the target area. With the method of the present embodiment, only the energy of a single light pulse or the light pulse transmission frequency in the target area is reduced, while other areas remain unchanged. Thus, not only can the impact of the ranging device on the human eye during operation be effectively reduced or avoided, but the ranging device can still perform detection according to the original ranging performance in other areas.

[0143] In some embodiments of the present disclosure, referring back to FIG. 5, the detection method can further comprise the following steps:

[0144] Step D, determining measurement information within the preset distance.

[0145] In some embodiments of the present disclosure, the measurement information within the preset distance can be determined by an integrated circuit. In some embodiments, the measurement information within the preset distance can be determined by a processor, such as a CPU, a microprocessor, an FPGA, or the like. In some embodiments, the measurement information within the preset distance can be determined by a combination of an integrated circuit and a processor.

[0146] Step E, determining a working condition recovery signal according to the measurement information; wherein the measurement information comprises at least one of the following: distance of a point cloud point, reflectivity of a point cloud point, number of point cloud points, or position of a point cloud point. 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 requirement.

[0147] In some embodiments of the present disclosure, step E can be performed by an integrated circuit. In some embodiments, step E can be performed by a processor, such as a CPU, a microprocessor, an FPGA, or the like. In some embodiments, step E can be performed by a combination of an integrated circuit and a processor.

[0148] By using the method described in the above embodiments, the measurement information within the preset distance is determined, and the working condition recovery signal is determined according to the measurement information. Then, the energy emitted by the ranging device can be adjusted by using the working condition recovery signal, so that the energy emitted by the ranging device meets the preset requirement, thereby the ranging device can meet the ranging performance requirement without causing harm to the human eye. Since the measurement information can be obtained in real time, the energy emitted by the ranging device can be dynamically adjusted, so that the ranging device can ensure the safety of the human eye while taking into account the ranging performance.

[0149] FIG. 6 shows a step diagram for determining a working condition recovery signal according to measurement information, according to some embodiments of the present disclosure. In some embodiments of the present disclosure, referring to FIG. 6, step E includes the following steps:

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

[0151] For more detailed examples of the preset number threshold, refer to the determination method of the preset number threshold in the foregoing embodiments, which will not be described here.

[0152] Step E12, determining the working condition recovery signal.

[0153] The method described in the above embodiments is adopted to generate the working condition recovery signal when the number of the point cloud points within the preset distance is less than the preset number threshold. The method is simple and has a small amount of calculation, and can improve the real-time performance of information processing, so as to timely adjust the energy emitted by the ranging device, so that the ranging device can ensure the safety of the human eye while taking into account the ranging performance.

[0154] FIG. 7 shows another schematic diagram of a step of determining a working condition recovery signal according to measurement information, according to some embodiments of the present disclosure. In some embodiments of the present disclosure, referring to FIG. 7, step E can include the following steps:

[0155] Step E21, obtaining the point cloud points within the preset distance.

[0156] For more detailed examples of obtaining the point cloud points within the preset distance, refer to the acquisition methods in the foregoing embodiments, which will not be described in detail here.

[0157] Step E22, determining that the area formed by the point cloud points within the preset distance includes an area other than a target area, and the target area meets a first preset condition.

[0158] In some embodiments, the area formed by the point cloud points including an area other than the target area can be an area only including an area other than the target area. In some embodiments, the area formed by the point cloud points including an area other than the target area can be an area including both the target area and an area other than the target area.

[0159] For more detailed examples of the target area, refer to the specific examples in the foregoing embodiments, which will not be described in detail here.

[0160] In some embodiments of the present disclosure, the first preset condition can include that the shape similarity of the target area to a preset area is greater than or equal to a first similarity threshold.

[0161] For example, the preset area can be an area of a human eye, and the shape of the preset area can be the shape of the human eye. By identifying the continuity of the point cloud points and the difference between the distances corresponding to the point cloud points, the point cloud points from the same object are identified from the point cloud points within the preset distance. Then, the shape of the area corresponding to the object can be determined according to these point cloud points, so that it can be determined whether there is a target area with a shape similarity to the preset area greater than or equal to a first similarity threshold. For another example, the preset area can be an area of a human face, and the shape of the preset area can be the shape of the human face.

[0162] In some embodiments of the present disclosure, the first preset condition can include that the area size of the target area is within a first area range.

[0163] For example, the target region can be a region corresponding to a human eye, and the first area range can be set according to the area of the human eye. For example, the first area range can be 0cm 2 to 2cm 2 , 0cm 2 to 10cm 2 or 0cm 2 to other sizes. By identifying the continuity of the point cloud points and the difference between the distances corresponding to the point cloud points, the point cloud points from the same object are identified from the point cloud points within the preset distance. Then the area of the region corresponding to the object can be determined according to these point cloud points, and it can be determined whether there is a target region with an area within the first area range.

[0164] For another example, the target region can be a region of a human face, and the first area range can be set according to the area of the human face.

[0165] Step E23, determining the working condition recovery signal.

[0166] By using the above embodiment, when the region formed by the point cloud points within the preset distance includes a region other than the target region meeting the first preset condition, the working condition recovery signal is generated, which can improve the credibility of the generated working condition recovery signal, and further guarantee the stability and reliability of the ranging device.

[0167] The embodiments of the present disclosure also provide a computer program product, comprising computer instructions, wherein the computer instructions are executed by a processor to implement the detection method of the ranging device according to any one of the preceding embodiments. For specific steps, please refer to the preceding embodiments, which will not be described here.

[0168] The embodiments of the present disclosure also provide a non-volatile computer readable storage medium having computer instructions stored thereon, wherein the computer instructions are executed by a processor to implement the detection method of the ranging device according to any one of the preceding embodiments. For specific steps, please refer to the preceding embodiments, which will not be described here.

[0169] In some embodiments of the present disclosure, the non-volatile computer readable storage medium can be an optical disc, a mechanical hard disk, a solid state disk, and various appropriate readable storage media.

[0170] The embodiments of the present disclosure also provide a ranging device. FIG. 8 shows a structural schematic diagram of a ranging device according to some embodiments of the present disclosure. Referring to FIG. 8, the ranging device T comprises:

[0171] a light emitter T1 configured to emit detection light;

[0172] a light receiver T2 configured to receive echo signals corresponding to the detection light and generate electrical signals;

[0173] The signal processing circuit T3 is configured to determine measurement information according to the electrical signal, the measurement information including at least one of the following: distance of a point cloud point, reflectivity of a point cloud point, number of point cloud points, or position of a point cloud point, etc.

[0174] The processor T4 is configured to execute the detection method of the distance measuring device according to any one of the preceding embodiments.

[0175] The distance measuring device according to the above embodiments determines measurement information according to the electrical signal generated by the light receiver through the signal processing circuit, and then determines the measurement information within the preset distance through the processor and determines the working condition control signal according to the measurement information, so as to adjust the energy emitted by the distance measuring device by using the working condition control signal, so that the energy emitted by the distance measuring device meets the human eye safety standard. In addition, in some embodiments, the working condition recovery signal can also be determined according to the measurement information, so as to adjust the energy emitted by the distance measuring device by using the working condition recovery signal, so that the energy emitted by the distance measuring device meets the preset requirement, so that the energy emitted by the distance measuring device can be dynamically adjusted, so that the distance measuring device can guarantee the safety of the human eye while taking into account the distance measuring performance.

[0176] The present disclosure further provides a vehicle comprising the distance measuring device according to the preceding embodiments.

[0177] It can be understood that the above examples are only illustrative and do not constitute any limitation on the embodiments of the present disclosure.

[0178] Although the embodiments of the present disclosure are disclosed as above, the present disclosure is not limited thereto. Any person skilled in the art can make various modifications and changes without departing from the spirit and scope of the present disclosure, and therefore the protection scope of the present disclosure should be subject to the scope defined by 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; or 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; determining 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: determining 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; wherein the point cloud points in the target area are continuously distributed, and the difference between the distances corresponding to each point cloud point in the target area is less than or equal to a preset difference threshold; determining the working condition control signal.

5. The ranging apparatus detection method according to claim 4, wherein The first preset condition comprises at least one of: 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; or the area size of the target area is within a first area range; or the reflectivity of each point cloud point in the target area is within a preset reflectivity range.

6. The ranging device detection method according to any one of claims 1 to 5, wherein, The measurement information is obtained from the measurement data of one or more point cloud frames; The determination of the measurement information within the preset distance comprises: determining a first point cloud frame in which the distances corresponding to the point cloud points in the point cloud frame are less than or equal to the preset distance, and the measurement information comprises the point cloud points in the first point cloud frame whose distances are less than or equal to the preset distance; or determining a first point cloud frame in which the distances of the measured objects are less than or equal to the preset distance, and the measurement information comprises the point cloud points in the first point cloud frame whose distances are less than or equal to the preset distance. The detection method further comprises adjusting the emission parameters of the ranging device according to the working condition control signal; 7. The ranging apparatus detection method according to claim 1, wherein wherein the emission parameters comprise at least one of: the light emission state of the ranging device; the energy of a single light pulse emitted by the ranging device; or the light pulse emission frequency of the ranging device. The adjustment of the emission parameters of the ranging device according to the working condition control signal comprises at least one of:

8. The ranging apparatus detection method according to claim 7, wherein turning off the detection light of the ranging device; reducing the energy of the single light pulse; or reducing the light pulse emission frequency. The detection method further comprises:

9. The ranging apparatus detection method according to claim 7 or 8, wherein, 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, or 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 the preset requirement. The determination of the working condition recovery signal according to the measurement information comprises:

10. The ranging apparatus detection method according to claim 9, wherein determining that the number of point cloud points within the preset distance is less than a preset number threshold; determining the working condition recovery signal. The determination of the working condition recovery signal according to the measurement information comprises:

11. The ranging apparatus detection method according to claim 10, wherein ​ obtain the point cloud points within the preset distance; determine that a region formed by the point cloud points within the preset distance includes a region other than a target region, the target region meeting a first preset condition; wherein the point cloud points in the target region are continuously distributed, and a difference between distances corresponding to the point cloud points in the target region is less than or equal to a preset difference threshold value; determine the working condition recovery signal.

12. The ranging apparatus detection method according to claim 11, wherein, The first preset condition includes at least one of the following: a shape similarity of the target region to a preset region is greater than or equal to a first similarity threshold value; or an area size of the target region is within a first area range.

13. 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 1-12.

14. 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 1-12.

15. A ranging device, characterized by comprise: a light emitter configured to emit a detection light; a light receiver configured to receive a return signal corresponding to the detection 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 the following: a distance of a point cloud point, a reflectivity of a point cloud point, a number of point cloud points, or a position of a point cloud point; a processor configured to execute the detection method of the ranging device of any one of claims 1-12.

16. A vehicle characterized by comprising: comprise: the ranging device of claim 15.

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