阅读说明：本技术 传感器探测检测方法、检测设备、机器人及可存储介质 (Sensor detection method, detection device, robot and storage medium ) 是由 张干 于 2021-08-05 设计创作，主要内容包括：本发明提供了一种传感器探测检测方法,包括：进入传感器探测角度的预设检测工作模式；根据所述预设检测工作模式的模式参数,检测设备按照预设的运动轨迹运动,所述检测设备在所述运动轨迹运动时,所述检测设备周围预设距离内不存在目标物体,且所述检测设备的壳体延所述传感器的探测角度的边缘位置设置有反光组件；获取当检测设备在所述运动轨迹运动时,所述传感器的探测数据帧；根据每一所述探测数据帧,获取所述传感器探测到所述壳体的角度值。通过本发明实施例的传感器探测检测方法,来自动识别出激光雷达的角度范围,减少了安装的时间又尽可能保障了检测范围。(The invention provides a sensor detection method, which comprises the following steps: entering a preset detection working mode of a detection angle of a sensor; according to the mode parameters of the preset detection working mode, the detection equipment moves according to a preset movement track, when the detection equipment moves in the movement track, no target object exists in a preset distance around the detection equipment, and a light reflecting component is arranged on the shell of the detection equipment along the edge of the detection angle of the sensor; acquiring a detection data frame of the sensor when the detection equipment moves in the motion track; and acquiring the angle value of the shell detected by the sensor according to each detection data frame. By the sensor detection method, the angle range of the laser radar is automatically identified, the installation time is shortened, and the detection range is ensured as much as possible.)

1. A sensor detection method, comprising:

entering a preset detection working mode of a detection angle of a sensor;

according to the mode parameters of the preset detection working mode, the detection equipment moves according to a preset movement track, when the detection equipment moves in the movement track, no target object exists in a preset distance around the detection equipment, and a light reflecting component is arranged on the shell of the detection equipment along the edge of the detection angle of the sensor;

acquiring a detection data frame of the sensor when the detection equipment moves in the motion track;

and acquiring the angle value of the shell detected by the sensor according to each detection data frame.

2. The sensor detection method according to claim 1, wherein the entering of the preset detection mode of the sensor detection angle specifically includes:

and starting a preset command to enable the detection equipment to enter the preset detection working mode, or automatically entering the preset detection working mode after the detection equipment enters the factory leaving mode.

3. The sensor detection method according to claim 1, wherein the mode parameters of the preset detection operation mode include the motion trajectory, the motion speed, the detection times, and the preset distance.

4. The method according to any one of claims 3, wherein the obtaining the angle value of the housing detected by the sensor according to each of the detection data frames specifically comprises:

acquiring the detection data frame in each detection of a preset motion track;

and determining the positive and negative angle values of the shell detected by the sensor according to the direction and the strength value in the detection data frame.

5. The sensor detection method of claim 4, further comprising:

and after the preset detection times are finished, selecting the minimum angle from all the acquired positive and negative angle values, and writing the minimum angle into a configuration file of the sensor.

6. A sensor detection device, characterized in that the detection device comprises:

the detection mode switching module is used for entering a preset detection working mode of the detection angle of the sensor;

the motion control module is used for moving according to a preset motion track according to the mode parameters of the preset detection working mode, wherein when the detection equipment moves along the motion track, no target object exists in a preset distance around the detection equipment, and a light reflecting component is arranged on the shell of the detection equipment along the edge of the detection angle of the sensor;

the sensor is used for acquiring a detection data frame of the sensor when the detection equipment moves on the motion track;

and the detection module is used for acquiring the angle value of the shell detected by the sensor according to each detection data frame.

7. The sensor detection device according to claim 6, wherein the detection mode switching module causes the detection device to enter the preset detection operating mode by receiving and operating a preset command, or automatically enters the preset detection operating mode after detecting that the detection device enters a factory leaving mode.

8. The sensor detection device according to claim 6 or 7, wherein the detection module specifically comprises:

the data frame recording unit is used for recording the detection data frame detected by the sensor in each detection under the mode parameters;

and the angle determining unit is used for determining the positive and negative angle values of the shell detected by the sensor according to the direction and the strength value in the detection data frame.

9. A robot, characterized in that the robot comprises a processor and a memory, the processor being coupled with the memory,

the memory is used for storing programs;

the processor to execute the program in the memory to cause the robot to perform the method of any of claims 1-5.

10. A computer storage medium, comprising a program which, when run on a computer, causes the computer to perform the method of any one of claims 1-5.

Technical Field

The invention relates to the technical field of artificial intelligence, in particular to a sensor detection method, detection equipment, a robot and a storable medium.

Background

Currently, in mobile robot devices, a 2D lidar sensor is still the sensor of choice as a detection sensor for surrounding objects.

When the 2D laser radar is installed on a robot, the 2D laser radar may detect a robot shell or exceed the shell due to inevitable machining errors and installation errors, so that the detection range is lost;

in the prior art, the detection range of the 2D laser radar is usually ensured by installing a correction method, however, the correction process is complicated, and the correction method depends on the manual correction experience of a corrector, and particularly in different environments, the correction data is different, so that the actual correction effect is not ideal, and the detection range of the sensor is still lost, thereby causing a risk to the movement of the robot.

Disclosure of Invention

The invention aims to provide a sensor detection method, a detection device, a robot and a computer storage medium, which are used for solving the problem of sensor detection range loss caused by installation errors during sensor installation and simultaneously reducing the problems of complexity and errors of manual correction.

The technical scheme provided by the invention is as follows:

a sensor detection method, comprising:

entering a preset detection working mode of a detection angle of a sensor;

according to the mode parameters of the preset detection working mode, the detection equipment moves according to a preset movement track, when the detection equipment moves in the movement track, no target object exists in a preset distance around the detection equipment, and a light reflecting component is arranged on the shell of the detection equipment along the edge of the detection angle of the sensor;

acquiring a detection data frame of the sensor when the detection equipment moves in the motion track;

and acquiring the angle value of the shell detected by the sensor according to each detection data frame.

Optionally, the entering of the preset detection mode of the detection angle of the sensor specifically includes:

and starting a preset command to enable the detection equipment to enter the preset detection working mode, or automatically entering the preset detection working mode after the detection equipment enters the factory leaving mode.

Correspondingly, the mode parameters of the preset detection working mode comprise the motion track, the motion speed, the detection times and the preset distance.

Preferably, the acquiring, according to each of the detection data frames, an angle value of the housing detected by the sensor specifically includes:

acquiring the detection data frame in each detection of a preset motion track;

and determining the positive and negative angle values of the shell detected by the sensor according to the direction and the strength value in the detection data frame.

Preferably, the method further comprises:

and after the preset detection times are finished, selecting the minimum angle from all the acquired positive and negative angle values, and writing the minimum angle into a configuration file of the sensor.

In order to achieve the object of the present invention, an embodiment of the present invention further provides a sensor detection device, where the sensor detection device includes:

the detection mode switching module is used for entering a preset detection working mode of the detection angle of the sensor;

the motion control module is used for moving according to a preset motion track according to the mode parameters of the preset detection working mode, wherein when the detection equipment moves along the motion track, no target object exists in a preset distance around the detection equipment, and a light reflecting component is arranged on the shell of the detection equipment along the edge of the detection angle of the sensor;

the sensor is used for acquiring a detection data frame of the sensor when the detection equipment moves on the motion track;

and the detection module is used for acquiring the angle value of the shell detected by the sensor according to each detection data frame.

Optionally, the detection mode switching module specifically receives and runs a preset command, so that the detection device enters the preset detection working mode, or automatically enters the preset detection working mode after detecting that the detection device enters the factory leaving mode.

Optionally, the detection module specifically includes:

the data frame recording unit is used for recording the detection data frame detected by the sensor in each detection under the mode parameters;

and the angle determining unit is used for determining the positive and negative angle values of the shell detected by the sensor according to the direction and the strength value in the detection data frame.

In order to achieve the object of the present invention, an embodiment of the present invention further provides a robot, which includes the detecting apparatus according to the foregoing claims, wherein the sensor is mounted on the housing, and the housing is provided with a light reflecting component along an edge position of a detection angle of the sensor.

A robot comprising a processor and a memory, the processor coupled with the memory, wherein,

the memory is used for storing programs;

the processor is configured to execute the program in the memory to cause the robot to perform the method of sensor detection as described above.

To achieve the object of the present invention, the embodiment of the present invention further provides a computer-readable storage medium, which stores instructions that, when executed on a computer, enable the computer to execute any of the above-mentioned methods for implementing sensor detection.

According to the invention, the angle range of the laser radar is automatically identified by sticking the light reflecting component on the shell provided with the sensor and by the sensor detection method provided by the embodiment of the invention, the installation time is reduced, and the detection range is ensured as far as possible.

Drawings

The above features, technical features, advantages and implementations of the method and apparatus for user equipment admission, the method and apparatus for user equipment handover will be further explained in the following detailed description of preferred embodiments in a clearly understandable manner with reference to the accompanying drawings.

Fig. 1 is a flowchart of a sensor detection method according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a sensor detection device according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of another sensor detection device provided in accordance with an embodiment of the present invention;

fig. 4 is a schematic diagram of an autonomous mobile robot apparatus according to an embodiment of the present invention.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically depicted, or only one of them is labeled. In this document, "one" means not only "only one" but also a case of "more than one".

In the development process of autonomous movement of intelligent devices, the inventor needs to utilize some sensors to detect the environment in order to realize the autonomous movement of the intelligent devices. The intelligent device may be an autonomous mobile robot, or an autonomous mobile automobile, or other autonomous walking device, which more or less employs a lidar sensor to achieve target object detection, so that the device can achieve barrier-free or obstacle-avoidance movement.

Use autonomous mobile robot who has adopted laser radar sensor as an example, because install the in-process on the robot shell with laser radar sensor, there may be the error in artifical installation, the error in the processing procedure also inevitably exists simultaneously in sensor itself, this just leads to laser radar sensor when surveying the surrounding environment, there is the problem of detection range loss, this is because in the environment that the robot actually moved, radar sensor gives the detectivity decline to the lower object of some reflectivity, simultaneously because under the stronger condition of background reflection light, also can cause the interference to laser radar sensor's detection. Due to inaccurate installation of the laser radar sensor, light spots transmitted by the radar sensor hit the shell of the robot, the shell is mistakenly used as a detection target, and the actual detection range is lost.

In order to accurately acquire the detection angle range of the sensor, the embodiment of the invention provides a sensor detection method.

Referring to fig. 1, a method for detecting a sensor according to an embodiment of the present invention includes:

s1, entering a preset detection working mode of a sensor detection angle;

in a general technical implementation, due to the structural design requirement of an actual product, a sensor is generally required to be installed in a housing of an autonomous mobile device, but the installation personnel usually install the sensor for an engineer according to installation parameters set by the product or according to the experience of the installer, so that installation errors inevitably exist.

Due to the existence of errors, the detection angle of a sensor installed on a robot or other equipment is actually lost, so that the detected target object has identification deviation, and the autonomous moving route of the equipment is influenced.

Therefore, in order to detect the sensor production error in the installation process or even the production process, the embodiment of the invention needs to design a working mode for detecting the detection angle of the sensor.

S2, according to the mode parameters of the preset detection working mode, the detection equipment moves according to a preset movement track, when the detection equipment moves in the movement track, no target object exists in a preset distance around the detection equipment, and a shell of the detection equipment is provided with a light reflecting component along the edge position of a detection angle of the sensor;

because the installation error of sensor for sensor detection angle scope is impaired, appears in the marginal direction of equipment casing upper run sensor detection angle scope usually, therefore, the inventor finds through the research that sets up reflection of light subassembly at the marginal position of equipment casing sensor detection angle scope, can utilize reflection of light subassembly's strong reflection of light characteristic to acquire the detection data frame of this marginal position and acquire the part of loss, under actual implementation, reflection of light subassembly can be for reflecting the sticker.

At the same time, it is also necessary to clear obstacles in a certain distance range around the detection device containing the sensor, so that in the detection range of the housing, the data frame detected by the robot theoretically comes from the reflected data frame of the housing.

Therefore, when entering the sensor detection mode, detection needs to be performed according to predetermined mode parameters, so that a useful data frame can be acquired according to a detection target.

S3, acquiring a detection data frame of the sensor when the detection equipment moves in the motion track;

and S4, acquiring the angle value of the shell detected by the sensor according to each detection data frame.

In an alternative embodiment, the mode of entering the preset detection mode of the detection angle of the sensor may be based on the needs of practical applications, for example, when the motion environment of the autonomous mobile device is switched, or when the autonomous mobile device needs to be calibrated periodically, by starting a preset command, the command may be based on a natural language command, or the human-computer interface receives an external command, and the command mode may be issued through a key or an executable command line, so that the detection device enters the preset detection operation mode.

For example, in another embodiment, after the detection device of the autonomous mobile device detects that the autonomous mobile device enters the factory mode, the autonomous mobile device automatically enters the preset detection operating mode, for example, enters the preset detection operating mode through an automatic running script.

In a preset detection working mode, the mode parameters may be set to include the motion trajectory, the motion speed, the detection times, and the preset distance.

The setting of the mode parameters depends on the range of the self-detecting angle capability of the sensor and the size of the housing, and can be generally obtained according to empirical data, such as: taking the robot which moves autonomously as an example, objects are emptied within an X-meter range around the robot, and at the moment, the robot slowly rotates in situ, and 2D laser radar detection data of N circles are collected.

In the actual detection process, the embodiment of the invention can completely empty objects within 1 meter around the robot, and make the robot slowly move for 5 circles, and obtain a detection data frame once in the movement track.

After the detection under the detection mode parameter is completed, the mode parameter may be switched to another set of mode parameters, for example, the detection distance is changed to 5 meters, the detection target object is changed, the object with high reflectivity is changed to the target object with low reflectivity, and the number of turns is counted.

Besides, the robot can slowly rotate in situ, a curved or straight motion track can be set, so that the autonomous mobile equipment can slowly move on the motion track, objects at a certain distance around the autonomous mobile equipment are emptied, and some target objects are set to be out of a preset distance range, so that detection scenes of the sensor are diversified, and more useful detection data frames are obtained.

Preferably, in an embodiment, the obtaining, according to each detected data frame, an angle value of the housing detected by the sensor specifically includes:

acquiring the detection data frame in each detection of a preset motion track;

and determining the positive and negative angle values of the shell detected by the sensor according to the direction and the strength value in the detection data frame.

For example, for each frame of data, according to the characteristic that the laser radar sensor detects that the intensity value of the data frame returned by the reflective sticker is large, and by combining the detection distance and the characteristic that no obstacle (target object) exists at a preset distance (for example, within a range of 1 meter and 2 meters) around the robot, the positive and negative angle values PosAngle and NegAngle of the shell or the shell which may be detected by the laser radar are determined;

preferably, the method further comprises:

and after the preset detection times are finished, selecting the minimum angle from all the acquired positive and negative angle values, and writing the minimum angle into a configuration file of the sensor.

For example, after the number of detections in the detection operation mode is completed, the positive and negative detection angles PosAngle and NegAngle lists obtained from all the laser detection data frames obtained in the detection processes are respectively calculated in the lists, and the minimum angles PosTheta and NegTheta are recorded to generate the configuration file of the sensor.

According to the configuration file of the sensor, in the subsequent installation process, the configuration file can be referred to, and engineering personnel can set the installation position of the sensor, the setting position of the reflective sticker and the subsequent correction parameters of the sensor through information in the configuration file.

According to the method, the angle range of the laser radar is automatically identified by sticking the light reflecting component on the shell for mounting the sensor and by the sensor detection method, the mounting time is reduced, the detection range is ensured as much as possible, a basis is provided for the subsequent correction of the mounting error of the sensor, the detection capability of the autonomous mobile equipment can be improved, and the moving capability of the autonomous mobile equipment is further improved.

Referring to fig. 2, in order to achieve the object of the present invention, an embodiment of the present invention further provides a sensor detection apparatus, where the detection apparatus 100 includes:

the detection mode switching module 11 is used for entering a preset detection working mode of a detection angle of the sensor;

use autonomous mobile robot who has adopted laser radar sensor as an example, because install the in-process on the robot shell with laser radar sensor, there may be the error in artifical installation, the error in the processing procedure also inevitably exists simultaneously in sensor itself, this just leads to laser radar sensor when surveying the surrounding environment, there is the problem of detection range loss, this is because in the environment that the robot actually moved, radar sensor gives the detectivity decline to the lower object of some reflectivity, simultaneously because under the stronger condition of background reflection light, also can cause the interference to laser radar sensor's detection. Due to inaccurate installation of the laser radar sensor, light spots transmitted by the radar sensor hit the shell of the robot, the shell is mistakenly used as a detection target, and the actual detection range is lost.

In a general technical implementation, due to the structural design requirement of an actual product, a sensor is generally required to be installed in a housing of an autonomous mobile device, but the installation personnel usually install the sensor for an engineer according to installation parameters set by the product or according to the experience of the installer, so that installation errors inevitably exist.

Due to the existence of errors, the detection angle of a sensor installed on a robot or other equipment is actually lost, so that the detected target object has identification deviation, and the autonomous moving route of the equipment is influenced.

Therefore, in order to detect the sensor production error in the installation process or even the production process, the embodiment of the invention needs to design a working mode for detecting the detection angle of the sensor.

The motion control module 12 is configured to move according to a preset motion trajectory according to the mode parameters of the preset detection working mode, wherein when the detection device moves along the motion trajectory, no target object exists within a preset distance around the detection device, and a light reflecting component is disposed at an edge position of a housing of the detection device along a detection angle of the sensor;

because the installation error of sensor for sensor detection angle scope is impaired, appears in the marginal direction of equipment casing upper run sensor detection angle scope usually, therefore, the inventor finds through the research that sets up reflection of light subassembly at the marginal position of equipment casing sensor detection angle scope, can utilize reflection of light subassembly's strong reflection of light characteristic to acquire the detection data frame of this marginal position and acquire the part of loss, under actual implementation, reflection of light subassembly can be for reflecting the sticker.

At the same time, it is also necessary to clear obstacles in a certain distance range around the detection device containing the sensor, so that in the detection range of the housing, the data frame detected by the robot theoretically comes from the reflected data frame of the housing.

Therefore, when entering the sensor detection mode, detection needs to be performed according to predetermined mode parameters, so that a useful data frame can be acquired according to a detection target.

In a preset detection working mode, the mode parameters may be set to include the motion trajectory, the motion speed, the detection times, and the preset distance.

The setting of the mode parameters depends on the range of the self-detecting angle capability of the sensor and the size of the housing, and can be generally obtained according to empirical data, such as: taking the robot which moves autonomously as an example, objects are emptied within an X-meter range around the robot, and at the moment, the robot slowly rotates in situ, and 2D laser radar detection data of N circles are collected.

In the actual detection process, the embodiment of the invention can completely empty objects within 1 meter around the robot, and make the robot slowly move for 5 circles, and obtain a detection data frame once in the movement track.

After the detection under the detection mode parameter is completed, the mode parameter may be switched to another set of mode parameters, for example, the detection distance is changed to 5 meters, the detection target object is changed, the object with high reflectivity is changed to the target object with low reflectivity, and the number of turns is counted.

Besides, the robot can slowly rotate in situ, a curved or straight motion track can be set, so that the autonomous mobile equipment can slowly move on the motion track, objects at a certain distance around the autonomous mobile equipment are emptied, and some target objects are set to be out of a preset distance range, so that detection scenes of the sensor are diversified, and more useful detection data frames are obtained.

The sensor 13 is used for acquiring a detection data frame of the sensor when the detection equipment moves on the motion track;

and the detection module 14 is configured to obtain an angle value of the housing detected by the sensor according to each detection data frame.

Optionally, the detection mode switching module specifically receives and runs a preset command, so that the detection device enters the preset detection working mode, or automatically enters the preset detection working mode after detecting that the detection device enters the factory leaving mode.

Referring to fig. 3, optionally, the detection module specifically includes:

a data frame recording unit 141, configured to record the detected data frame detected by the sensor in each detection under the mode parameter;

an angle determining unit 142, configured to determine, according to the direction and the intensity value in the detection data frame, a positive and negative angle value of the housing detected by the sensor.

It should be noted that, the embodiment of the sensor detection detecting apparatus provided by the present invention and the embodiment of the sensor detection detecting method provided by the foregoing are all based on the same inventive concept, and can obtain the same technical effect; thus, other specific contents of the embodiments of the sensor detection device may refer to the description of the embodiments of the sensor detection method described above.

According to the method, the angle range of the laser radar is automatically identified by sticking the light reflecting component on the shell for mounting the sensor and by the sensor detection method, the mounting time is reduced, the detection range is ensured as much as possible, a basis is provided for the subsequent correction of the mounting error of the sensor, the detection capability of the autonomous mobile equipment can be improved, and the moving capability of the autonomous mobile equipment is further improved.

It should be noted that the division of each module or unit of the above detection device is only a division of a logic function, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these units can be realized in the form of software called by processor; or may be implemented entirely in hardware; and part of the units can be realized in the form of calling by a processor through software, and part of the units can be realized in the form of hardware.

For example, the functions of the above modules or units may be stored in a memory in the form of program codes, which are scheduled by a processor to implement the functions of the above units. The processor may be a general purpose processor such as a Central Processing Unit (CPU) or other processor capable of calling programs. As another example, the above units may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, in combination with the above two methods, part of the functions is implemented in the form of a scheduler code of the processor, and part of the functions is implemented in the form of a hardware integrated circuit. And when the above functions are integrated together, the functions can be realized in the form of a system-on-a-chip (SOC).

The detection device and the like provided by the embodiment of the application can be specifically chips, and the chips comprise: a processing unit, which may be for example a processor, and a communication unit, which may be for example an input/output interface, a pin or a circuit, etc. The processing unit may execute computer-executable instructions stored by the storage unit to cause a chip within the detection device to perform the steps performed by the detection device described in the illustrated embodiment described above, or to cause a chip within the execution device to perform the steps performed by the detection device as described in the foregoing embodiment shown in fig. 2.

Optionally, the storage unit is a storage unit in the chip, such as a register, a cache, and the like, and the storage unit may also be a storage unit located outside the chip in the wireless access device, such as a read-only memory (ROM) or another type of static storage device that can store static information and instructions, a Random Access Memory (RAM), and the like.

In order to achieve the object of the present invention, an embodiment of the present invention further provides a robot 180, where the robot includes the detection device as described above, the sensor is mounted on the housing, and the housing is provided with a light reflecting component along an edge position of a detection angle of the sensor.

The robot 180, comprising a processor 1803 and a memory 1804, the processor 1803 coupled to the memory 1804, wherein,

the memory 1804 for storing programs;

the processor 1803 is configured to execute the program stored in the memory, so that the robot performs the method of sensor detection as described above.

Referring to fig. 4, the method disclosed in the embodiment of the present invention and corresponding to fig. 1 may be applied to an autonomous mobile robot 180, where the robot 180 includes a processor 1803, and the processor 1803 may be an integrated circuit chip having signal processing capability. In implementation, the steps of the above method may be implemented by integrated logic circuits of hardware or instructions in the form of software in the processor 1803. The processor 1803 may be a general-purpose processor, a Digital Signal Processor (DSP), a microprocessor or a microcontroller, and may further include an Application Specific Integrated Circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components. The processor 1803 may implement or perform the methods, steps, and logic blocks disclosed in the embodiments corresponding to fig. 1 of the present application.

A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 1804, and the processor 1803 reads the information in the memory 1804, and completes the steps of the above method in combination with the hardware thereof.

The receiver 1801 may be used to receive input numeric or character information and to generate signal inputs relating to the relevant settings and functional control of the detection device 100. The transmitter 1802 may be used to output numeric or character information through a first interface; the transmitter 1802 is further operable to send instructions to the disk groups via the first interface to modify data in the disk groups; the transmitter 1802 may also include a display device such as a display screen.

An embodiment of the present invention further provides a computer-readable storage medium, in which a program for signal processing is stored, and when the program is run on a computer, the computer is caused to execute the steps executed by the detection method described in the foregoing illustrated embodiment, or the computer is caused to execute the steps executed by the detection apparatus described in the foregoing embodiment shown in fig. 2.

It should be noted that the above-described embodiments of the apparatus are merely schematic, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiments of the apparatus provided in the present application, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines

Through the above description of the embodiments, those skilled in the art will clearly understand that the present application can be implemented by software plus necessary general-purpose hardware, and certainly can also be implemented by special-purpose hardware including special-purpose integrated circuits, special-purpose CPUs, special-purpose memories, special-purpose components and the like. Generally, functions performed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing the same functions may be various, such as analog circuits, digital circuits, or dedicated circuits. However, for the present application, the implementation of a software program is more preferable. Based on such understanding, the technical solutions of the present application may be substantially embodied in or contributed to by the prior art, and the computer software product may be stored in a readable storage medium, such as a floppy disk, a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk or an optical disk of a computer, and includes several instructions for causing a computer device (which may be a personal computer or a network device) to execute the method according to the embodiments of the present application.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, which may be any available medium that a computer can store or a data storage device, such as a training device, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.

It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.