阅读说明：本技术 Tof相机的测试方法、装置、控制设备及测试设备 (Test method and device of TOF camera, control equipment and test equipment ) 是由 刘鑫鹏 陈彦霖 于 2021-06-30 设计创作，主要内容包括：本申请实施例提供了一种TOF相机测试方法、控制设备、测试设备及计算机存储介质,该方法包括：控制装置根据用户的测试指令,向测试设备发送第一指令指示测试设备向TOF相机的镜头发射激光；测试设备按照预设的波长和发光强度向TOF相机的镜头发射激光,TOF相机采集激光后生成了红外图像；控制设备获取TOF相机生成的图像后,根据图像确定TOF相机的镜头是否满足出厂要求,只需进行一次测试,就可以得到TOF相机的镜头是否符合出厂要求的结果,全程不完全依赖人工操作。能够避免人工测试带来的测试不准确,测试效率低的问题。(The embodiment of the application provides a TOF camera testing method, control equipment, testing equipment and a computer storage medium, wherein the method comprises the following steps: the control device sends a first instruction to the test equipment according to a test instruction of a user to instruct the test equipment to emit laser to a lens of the TOF camera; the method comprises the following steps that a test device emits laser to a lens of a TOF camera according to a preset wavelength and a preset luminous intensity, and the TOF camera collects the laser and then generates an infrared image; after the control equipment acquires the image generated by the TOF camera, whether the lens of the TOF camera meets the factory requirement is determined according to the image, a result of whether the lens of the TOF camera meets the factory requirement can be obtained only by once testing, and the whole process does not depend on manual operation completely. The problems of inaccurate test and low test efficiency caused by manual test can be avoided.)

1. A method of testing a TOF camera, the method being performed by a control apparatus, the method comprising:

responding to a test instruction of a user, and sending a first instruction to the test equipment, wherein the first instruction carries a preset wavelength and a preset luminous intensity of laser, the first instruction is used for instructing the test equipment to emit the laser to the TOF camera, and the wavelength and the luminous intensity of the laser emitted to the TOF camera by the test equipment are equal to the preset wavelength and the preset luminous intensity;

acquiring an image generated by the TOF camera, and calculating to obtain a central pixel point coordinate value of the image according to the resolution of the image;

processing the image to obtain a processed image, calculating a central pixel point coordinate value of the processed image, comparing the central pixel point coordinate value of the processed image with the central pixel point coordinate value of the image, and determining that the lens of the TOF camera meets factory requirements if the comparison result is within a preset difference range.

2. The method of claim 1, further comprising:

sending a second instruction to the test device instructing the test device to increase the distance to the TOF camera to enable a user to secure the TOF camera on the test device; the lens of the TOF camera faces the test center of the test equipment.

3. The method of claim 2, wherein after the sending of the second instruction to the test device, the method comprises:

sending a third instruction to the test device, wherein the third instruction instructs the test device to reduce the distance between the test device and the TOF camera, so that the lens of the TOF camera only receives the laser light emitted by the test device.

4. The method of claim 1, wherein after said acquiring the image acquired by the TOF camera, the method comprises:

and acquiring the definition of the image, judging whether the definition of the image is within a preset definition range, and if the definition of the image is within the preset definition range, carrying out binarization processing on the image to obtain a processed image.

5. The method according to claim 4, wherein if the sharpness of the image is outside the preset sharpness range, a fourth instruction is sent to the test equipment, the fourth instruction carries the adjusted light emission intensity, and the fourth instruction instructs the test equipment to emit the adjusted laser light to the TOF camera according to the adjusted light emission intensity and the preset wavelength.

6. The method of claim 1, wherein the processing the image to obtain a processed image comprises:

acquiring the brightness value of each pixel point in the image, and calculating the average brightness value of the pixel points of the image;

setting the gray value of the pixel point with the brightness value lower than the brightness average value in all the pixel points of the image as 0, and setting the gray value of the pixel point with the brightness value higher than the brightness average value in all the pixel points of the image as 255;

and determining an image formed by all pixel points with the gray value of 255 as the processed image.

7. The method of claim 1, wherein prior to said sending the first instruction to the test device, the method comprises:

and sending a fifth instruction to the TOF camera, wherein the fifth instruction instructs to adjust the working mode of the TOF camera to an infrared working mode, and the infrared working mode represents that the TOF camera is only used for collecting laser emitted by the test equipment and generating a corresponding infrared image.

8. A method of testing a TOF camera, the method being performed in a test apparatus, the method comprising:

receiving a first instruction sent by control equipment, wherein the first instruction carries a preset wavelength and a preset luminous intensity of laser;

and emitting laser to the TOF camera according to the first instruction, wherein the wavelength and the luminous intensity of the laser are equal to the preset wavelength and the preset luminous intensity.

9. A test device of a TOF camera is applied to a control device and comprises:

the device comprises a sending module, a test device and a control module, wherein the sending module is used for responding to a test instruction of a user and sending a first instruction to the test device, the first instruction carries a preset wavelength and a preset luminous intensity of laser, the first instruction is used for indicating the test device to emit the laser to the TOF camera, and the wavelength and the luminous intensity of the laser are equal to the preset wavelength and the preset luminous intensity;

the acquisition module is used for acquiring the image acquired by the TOF camera and calculating to obtain a central pixel point coordinate value of the image according to the resolution of the image;

and the processing module is used for carrying out binarization processing on the image to obtain a processed image, calculating a central pixel point coordinate value of the processed image, comparing the central pixel point coordinate value of the processed image with the central pixel point coordinate value of the image, and determining that the lens of the TOF camera meets factory requirements if the comparison result is within a preset difference range.

10. A test device of a TOF camera is applied to test equipment and comprises:

the receiving module is used for receiving a first instruction sent by the control equipment, wherein the first instruction carries a preset wavelength and a preset luminous intensity of laser;

and the laser emission module is used for emitting laser to the TOF camera according to the first instruction, and the wavelength and the luminous intensity of the laser are equal to the preset wavelength and the preset luminous intensity.

11. A control device comprising a memory, a processor and a transceiver, the memory storing a computer program, characterized in that,

the transceiver is used for responding to a test instruction of a user and sending a first instruction to the test equipment, wherein the first instruction carries a preset wavelength and a preset luminous intensity of laser, the first instruction is used for indicating the test equipment to emit the laser to the TOF camera, and the wavelength and the luminous intensity of the laser emitted to the TOF camera by the test equipment are equal to the preset wavelength and the preset luminous intensity;

the processor is used for acquiring the image generated by the TOF camera when executing the computer program, and calculating the coordinate value of the central pixel point of the image according to the resolution of the image;

and when the processor executes the computer program, the processor is further used for processing the image to obtain a processed image, calculating the coordinate value of the central pixel point of the processed image, comparing the coordinate value of the central pixel point of the processed image with the coordinate value of the central pixel point of the image, and if the comparison result is within a preset difference range, determining that the lens of the TOF camera meets the factory requirement.

12. A test apparatus, comprising: a test platform, an adjusting module, a fixing module and a light source module,

the test platform is used for supporting the adjusting module, the light source module, the fixing module and the TOF camera;

the adjusting module is used for adjusting the distance between the light source module and the TOF camera;

the fixing module is used for fixing the TOF camera on the test platform;

the light source module is used for receiving a first instruction sent by the control equipment, the first instruction carries a preset wavelength and preset luminous intensity of laser, and the laser is emitted to the TOF camera according to the first instruction, and the wavelength and the luminous intensity of the laser are equal to the preset wavelength and the preset luminous intensity.

13. A TOF camera, the TOF camera comprising: a lens and an image generation module, wherein,

the lens is used for collecting laser emitted by the testing equipment under the control of the control equipment;

and the image generation module is used for generating an image according to the laser emitted by the test equipment.

14. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, carries out the steps of implementing a method of testing a TOF camera according to any one of claims 1 to 8.

Technical Field

The present application relates to the field of computer technologies, and in particular, to a test method and apparatus for a TOF camera, a control device, a test device, a TOF camera, and a computer-readable storage medium.

Background

The TOF (Time of flight) camera continuously sends laser to an object to be detected, a lens of the TOF camera is used for converging the laser reflected by the object to be detected on a sensor or a chip of the TOF camera, the TOF camera generates an image according to the laser reflected, and the TOF camera detects the flight Time of the laser according to information obtained from the image to obtain the distance of the object to be detected. Because the TOF camera needs to focus laser on a sensor or a chip through the lens, the quality of the lens determines the quality of an image generated by the TOF camera, and the quality of the image affects the depth value of the TOF camera, thereby affecting the test of the distance of an object to be tested. Therefore, before the TOF camera leaves the factory, the lens of the TOF camera needs to be subjected to qualification testing, and unqualified products are prevented from flowing into the market and influencing the use experience of users.

The method for testing the lens of the TOF camera in the prior art mainly depends on manpower, and is low in testing efficiency and accuracy.

Disclosure of Invention

The embodiment of the application provides a test method of a TOF camera, which can automatically test a lens of the TOF camera and is high in test efficiency and accuracy.

A first aspect of the present application provides a test method of a TOF camera, the method being performed at a control apparatus, the method comprising:

responding to a test instruction of a user, and sending a first instruction to the test equipment, wherein the first instruction carries a preset wavelength and a preset luminous intensity of laser, the first instruction is used for indicating the test equipment to emit the laser to a lens of a TOF camera, and the wavelength and the luminous intensity of the laser are equal to the preset wavelength and the preset luminous intensity;

acquiring an image generated by a TOF camera, and calculating to obtain a central pixel point coordinate value of the image according to the resolution of the image;

the image is subjected to binarization processing to obtain a processed image, the coordinate value of a center pixel point of the processed image is calculated, the coordinate value of the center pixel point of the processed image is compared with the coordinate value of the center pixel point of the image, and if the comparison result is within a preset difference range, the lens of the TOF camera is determined to meet the factory requirements.

A second aspect of the present application provides a test method of a TOF camera, the method being performed in a test apparatus, the method comprising:

receiving a first instruction sent by a controller, wherein the first instruction carries a preset wavelength and a preset luminous intensity of laser;

and emitting laser to a lens of the TOF camera according to the first instruction, wherein the wavelength and the luminous intensity of the laser are equal to the preset wavelength and the preset luminous intensity.

A third aspect of the present application provides a test apparatus for a TOF camera, which is applied to a control device, and includes:

the transmitting module is used for responding to a test instruction of a user and transmitting a first instruction to the test equipment, wherein the first instruction carries a preset wavelength and a preset luminous intensity of laser, the first instruction is used for indicating the test equipment to transmit the laser to the TOF camera, and the wavelength and the luminous intensity of the laser are equal to the preset wavelength and the preset luminous intensity;

the acquisition module is used for acquiring an image acquired by the TOF camera and calculating to obtain a central pixel point coordinate value of the image according to the resolution of the image;

and the processing module is used for carrying out binarization processing on the image to obtain a processed image, calculating a central pixel point coordinate value of the processed image, comparing the central pixel point coordinate value of the processed image with the central pixel point coordinate value of the image, and determining that the lens of the TOF camera meets the factory requirement if the comparison result is within a preset difference range.

A fourth aspect of the present application provides a test apparatus of a TOF camera, applied to a test device, including:

the receiving module is used for receiving a first instruction sent by the control equipment, and the first instruction carries the preset wavelength and the preset luminous intensity of the laser;

and the laser emission module is used for emitting laser to the TOF camera according to the first instruction, and the wavelength and the luminous intensity of the laser are equal to the preset wavelength and the preset luminous intensity.

A fifth aspect of the application provides a control device comprising a memory, a processor and a transceiver, the memory storing a computer program,

the transceiver is used for responding to a test instruction of a user and sending a first instruction to the test equipment, wherein the first instruction carries a preset wavelength and a preset luminous intensity of laser, the first instruction is used for indicating the test equipment to emit the laser to the TOF camera, and the wavelength and the luminous intensity of the laser emitted to the TOF camera by the test equipment are equal to the preset wavelength and the preset luminous intensity;

the processor is used for acquiring an image generated by the TOF camera when executing the computer program, and calculating to obtain a central pixel point coordinate value of the image according to the resolution of the image;

and when the processor executes the computer program, the processor is also used for processing the image to obtain a processed image, calculating the coordinate value of the central pixel point of the processed image, comparing the coordinate value of the central pixel point of the processed image with the coordinate value of the central pixel point of the image, and if the comparison result is within a preset difference range, determining that the lens of the TOF camera meets the factory requirement.

A sixth aspect of the present application provides a test apparatus comprising: a test platform, an adjusting module, a fixing module and a light source module,

the test platform is used for supporting the adjusting module, the light source module, the fixing module and the TOF camera;

the adjusting module is used for adjusting the distance between the light source module and the TOF camera;

the fixing module is used for fixing the TOF camera on the test platform;

and the light source module is used for receiving a first instruction sent by the control equipment, the first instruction carries the preset wavelength and the preset luminous intensity of the laser, and the laser is transmitted to the TOF camera according to the first instruction, and the wavelength and the luminous intensity of the laser are equal to the preset wavelength and the preset luminous intensity.

A seventh aspect of the present application provides a TOF camera, the TOF camera comprising: a lens and an image generation module, wherein,

the lens is used for collecting laser emitted by the testing equipment under the control of the control equipment;

and the image generation module is used for generating an image according to the laser emitted by the test equipment.

An eighth aspect of the application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of testing a TOF camera of any of the preceding claims.

The TOF camera testing method, the control equipment, the testing equipment and the computer storage medium provided by the embodiment of the application comprise the following steps: the control equipment sends a first instruction to the test equipment according to a test instruction of a user, wherein the first instruction carries a preset wavelength and a preset luminous intensity of the laser; the first instructions are for instructing the test device to emit laser light to the TOF camera; the test equipment transmits laser to a lens of the TOF camera according to preset wavelength and luminous intensity, the TOF camera collects the laser transmitted by the test equipment through the lens, and the TOF camera generates an image according to the collected laser; the method comprises the steps that control equipment obtains an image generated by a TOF camera, the coordinate value of a center pixel point of the image is obtained through calculation according to the resolution of the image, the coordinate of the center pixel point is the theoretical center pixel point coordinate of the image, the center pixel point coordinate of the image actually measured by the TOF camera needs to be subjected to binarization processing on the image to obtain a processed image, the coordinate value of the center pixel point of the processed image is calculated, the coordinate value of the center pixel point of the processed image is compared with the coordinate value of the center pixel point of the image, and if the comparison result is within a preset difference range, it is determined that the lens of the TOF camera meets the factory requirements. The problems of inaccurate test and low test efficiency caused by manual test can be avoided.

Drawings

FIG. 1 is a block diagram of a test system for a TOF camera in one embodiment;

FIG. 2 is a schematic flow chart diagram illustrating a method for testing a TOF camera according to one embodiment;

FIG. 3 is a schematic flow chart of a method for testing a TOF camera in another embodiment;

FIG. 4 is a schematic flow chart of a method for testing a TOF camera in another embodiment;

FIG. 5 is a schematic diagram of the structure of a test apparatus for a TOF camera in one embodiment;

FIG. 6 is a schematic diagram showing the construction of a test apparatus for a TOF camera in another embodiment;

FIG. 7 is a block diagram showing an internal configuration of a control apparatus in one embodiment;

FIG. 8 is a mechanical diagram of the test apparatus in one embodiment.

Description of the drawings:

200. a control device; 300. testing equipment; 400. a TOF camera;

601. a test platform; 602. an adjustment module; 603. a fixed module;

604. a light source module.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The camera lens of TOF camera is used for at TOF camera to the object transmission laser back that awaits measuring, will be through the laser focusing that the object that awaits measuring reflects to the sensor on for TOF camera can generate the image, so TOF camera imaging's definition has been decided to the quality of camera lens of TOF, and then can influence TOF camera's depth value, so just produced the demand to TOF camera's camera lens test.

As shown in fig. 1, fig. 1 is a diagram of a test system of a TOF camera provided by the present application, where the test system includes: the TOF camera testing device comprises a control device 200, a TOF camera 400 and a testing device 300, wherein the control device 200 respectively communicates with the TOF camera 400 and the testing device 300 through a network, the control device 200 sends a testing instruction to the testing device 300, acquires a generated image from the TOF camera 400, processes the image, and determines whether a lens of the TOF camera is qualified through calculation. The control device 200 may be, for example, a desktop computer, a notebook computer, a blade server, a rack server, etc., and is not limited thereto. The control device 200 may include a processor, memory, interface means, communication means, display means, input means, speaker, microphone and the like. The processor may be a central processing unit CPU, a microprocessor MCU, or the like. The memory includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like. The interface device includes, for example, a USB interface, a serial port, an earphone interface, and the like. The communication means may be capable of wired or wireless communication, for example, and may specifically include WiFi communication, bluetooth communication, 2G/3G/4G/5G communication, and the like. The display device is, for example, a liquid crystal display panel, a touch panel, or the like. The input means may include, for example, a touch screen, a keyboard, a somatosensory input, and the like. A user can input/output voice information through the speaker and the microphone. The user may send a touch operation to the control apparatus 200 through the input device to trigger the control apparatus 200 to input a test instruction to the test apparatus 300 to test the lens of the TOF camera 400. The control device 200 and the test device 300 may communicate by wire or wirelessly. The control device 200 and the TOF camera 400 may communicate by wire or wirelessly.

The testing apparatus 300 includes a testing platform, an adjusting module, a fixing module, and a light source module, where the testing platform may be, for example, a supporting circular table, a supporting frame, etc.; the adjusting module can be, for example, a hydraulic telescopic rod, a piston type hydraulic cylinder, a lifting slide rail, a scissor type telescopic frame and the like; the fixing module may be, for example, a clamp, an abutment screw, or the like; the light source module may be, for example, a device or apparatus capable of emitting laser light, such as a light source board. The control device 200 can communicate with the adjustment module, the light source module.

In one embodiment, as shown in fig. 2, fig. 2 provides a test method of a TOF camera for the present application, which is described by taking the method as an example for being applied to the control device 200 in fig. 1, and the method includes the following steps:

step S202, responding to a test instruction of a user, sending a first instruction to the test equipment, wherein the first instruction carries a preset wavelength and a preset luminous intensity of laser, the first instruction is used for indicating the test equipment to emit the laser to the TOF camera, and the wavelength and the luminous intensity of the laser emitted to the TOF camera by the test equipment are equal to the preset wavelength and the preset luminous intensity.

The control device may send a test instruction to the control device through an input device such as a keyboard and a touch screen, and the control device may send a first instruction to the test device to instruct the test device to emit laser to the TOF camera. The first instruction carries a preset wavelength and a preset luminous intensity of the laser.

Illustratively, a user inputs a test command carrying information having a wavelength of 950nm and a luminous intensity of 5cd through a keyboard of a computer. And after the light source board of the test equipment receives the test instruction, the laser with the wavelength of 950nm and the luminous intensity of 5cd is emitted to the TOF camera. Can select arbitrary wavelength and luminous intensity's laser to test TOF camera's camera lens according to the demand, satisfy and test the camera lens of the TOF camera of different grade type.

And step S204, obtaining an image generated by the TOF camera, and calculating to obtain a central pixel point coordinate value of the image according to the resolution of the image.

The TOF camera focuses laser light onto a chip or a sensor of the TOF camera through a lens, so that the TOF camera generates an image according to the laser light. The resolution information of the image can be directly obtained, the resolution of the image represents the number of horizontal pixels and the number of vertical pixels, the length and the width of the image can be determined according to the resolution of the image, the central pixel point of the image can be determined according to the length and the width of the image, and then the coordinate of the central pixel point can be obtained. And determining the coordinates of the central pixel points of the image according to the image resolution as the coordinates of the theoretical central pixel points. The coordinates of the theoretical center pixel point are used as a standard for judging whether the lens of the TOF camera meets the requirements or not.

Step S206, processing the image to obtain a processed image, calculating a central pixel point coordinate value of the processed image, comparing the central pixel point coordinate value of the processed image with the central pixel point coordinate value of the image, and if the comparison result is within a preset difference range, determining that the lens of the TOF camera meets factory requirements.

The image processing may be, for example, binarization processing, grayscale processing, denoising processing, distortion correction, image segmentation, or the like, and may be, for example, selecting a region composed of pixels whose grayscale values are 255 after binarization processing to calculate center pixel coordinates, or selecting a region composed of pixels whose luminous intensities are the greatest after image segmentation processing to calculate center pixel coordinates, or the like. This is not limited in this application. Calculating the coordinates of the central pixel points can be that the abscissa of the central pixel points is obtained by summing the abscissas of all the target pixel points and then obtaining the quotient of the summed abscissas and the number of the pixel points; similarly, the vertical coordinates of all the target pixel points are summed and then the quotient of the sum and the number of the pixel points is obtained, and the vertical coordinate of the central pixel point is obtained. And processing the image, and calculating to obtain the coordinates of the central pixel point, which are the coordinates of the central pixel point of the image actually measured by the TOF camera. The comparison method can be that the abscissa of the theoretical central pixel point is different from the actual coordinate of the central pixel point, whether the difference value is within a preset difference value range is judged, if yes, the lens of the TOF camera is determined to meet the requirement, and if not, the lens of the TOF camera is determined to not meet the requirement. The image processing can simplify the image, reduce the data volume of the image and highlight the outline of the central part of the image, so that the error of the coordinate of the central pixel point obtained by calculation is small.

The TOF camera testing method provided by the embodiment of the application comprises the following steps: the control equipment sends a first instruction to the test equipment according to a test instruction of a user, wherein the first instruction carries a preset wavelength and a preset luminous intensity of the laser; the first instructions are for instructing the test device to emit laser light to the TOF camera; the test equipment transmits laser to a lens of the TOF camera according to preset wavelength and luminous intensity, the TOF camera collects the laser transmitted by the test equipment through the lens, and the TOF camera generates an image according to the collected laser; the method comprises the steps that control equipment obtains an image generated by a TOF camera, the coordinate value of a center pixel point of the image is obtained through calculation according to the resolution of the image, the coordinate of the center pixel point is the theoretical center pixel point coordinate of the image, the center pixel point coordinate of the image actually measured by the TOF camera needs to be subjected to binarization processing on the image to obtain a processed image, the coordinate value of the center pixel point of the processed image is calculated, the coordinate value of the center pixel point of the processed image is compared with the coordinate value of the center pixel point of the image, and if the comparison result is within a preset difference range, it is determined that the lens of the TOF camera meets the factory requirements. The problems of inaccurate test and low test efficiency caused by manual test can be avoided.

In one embodiment, this embodiment is an alternative method of how to position a TOF camera under test prior to testing, the method comprising:

sending a second instruction to the test device, the second instruction instructing the test device to increase the distance to the TOF camera to enable a user to secure the TOF camera on the test device; the lens of the TOF camera faces the test center of the test apparatus.

The testing equipment comprises an adjusting module, a light source module and a testing platform, wherein the adjusting module can be devices or equipment such as a hydraulic telescopic rod, a piston type hydraulic cylinder, a lifting slide rail, a scissor type telescopic frame and the like; the light source module may be, for example, a device or apparatus capable of emitting laser light, such as a light source board; the test platform can be, for example, a supporting circular table, and the adjustment module such as support frame can carry out the lift operation to light source module, and light source module can be to TOF camera transmission laser. When the adjustment module raises the height of the light source module relative to the adjustment module, the distance between the light source module and the TOF camera increases. The convenience of customers places the TOF camera on the test platform relative with the light source module, for the fixed TOF camera that can be better, can be to use fixed module to fix the TOF camera on the test platform, and fixed module can be for example anchor clamps, butt screw rod etc..

For example, the computer controlled hydraulic cylinder is filled with pressure oil, the pressure oil pushes the telescopic rod out of the cylinder, and the position of the light source plate rises along with the extension of the telescopic rod because the end head of the telescopic rod is connected with one end of the light source plate. Through controlgear control adjustment module to carry out the lift operation to the light source board, do not need artificial participation, even if be convenient for the user to place TOF camera at predetermined test position, can realize automatic test procedure again, improve the efficiency of test.

In one embodiment, this embodiment is an alternative method embodiment after securing the TOF camera on the test device, the method comprising:

and sending a third instruction to the test device, wherein the third instruction instructs the test device to reduce the distance between the test device and the TOF camera so that the lens of the TOF camera only receives the laser light emitted by the test device.

When the test is started according to the description, the control equipment controls the test equipment to adjust the distance between the test equipment and the TOF camera, and a user can place the TOF camera to be tested at a preset test position of the test equipment conveniently. At the time of testing, the test device is to transmit laser light to the TOF camera according to the instruction of the control device, so the distance between the test device and the TOF camera is further adjusted to enable the lens of the TOF camera to only receive the laser light transmitted by the test device. In particular, it may be that the light source module of the test device is as close as possible to the lens of the TOF camera pair, but not in contact with the lens of the TOF camera, so that the lens of the TOF camera receives only the laser light emitted by the light source module of the test device. Therefore, the interference of external light can be avoided, and the test accuracy is improved.

In one embodiment, this embodiment is an optional method embodiment after acquiring images acquired by a TOF camera, the method comprising:

the method comprises the steps of obtaining the definition of an image, judging whether the definition of the image is within a preset definition range, and processing the image to obtain a processed image if the definition of the image is within the preset definition range.

However, the control of the light intensity may not be adjusted to be optimal at one time, and the phenomenon of overexposure of the image may occur due to too small light intensity, poor definition of the image, and too large light intensity. Both conditions can influence the quality of an image generated by the TOF camera, so that the laser intensity of the light source module needs to be adjusted well so as to obtain the image required by calculation, and further the test result is more accurate. Whether the light emission intensity is appropriate is judged according to the sharpness of the image. The judging method comprises the following steps: the control equipment acquires an image generated by the TOF camera in real time, further acquires the definition of the image, compares the definition with a preset definition range, and if the definition of the image is within the preset definition range, the luminous intensity of the laser arranged on the surface is proper. The process can be one time or multiple times, until the definition of the image acquired by the control equipment is in a preset definition range and the like, the step of obtaining the coordinate value of the central pixel point of the image according to the resolution of the image through calculation is carried out, the image is processed to obtain a processed image, the coordinate value of the central pixel point of the processed image is calculated, the coordinate value of the central pixel point of the processed image is compared with the coordinate value of the central pixel point of the image, and if the comparison result is in the preset difference range, the step of determining that the lens of the TOF camera meets the factory requirements is carried out.

In one embodiment, the present embodiment is an optional method step after determining that the set luminous intensity is not appropriate according to the steps described above, the method comprising:

and when the definition of the image is out of the preset definition range, sending a fourth instruction to the test equipment, wherein the fourth instruction carries the adjusted luminous intensity, and the fourth instruction instructs the test equipment to emit the adjusted laser to a lens of the TOF camera according to the adjusted luminous intensity and the preset wavelength.

The control device judges whether the definition of the acquired image is within a preset definition range according to the definition, so that two results can appear, namely the definition of the image is out of the preset definition range. In this case, the image cannot be used as a basis for accurately judging whether the lens of the TOF camera meets the requirements. Therefore, the control device needs to control the light source module of the test device to adjust the light emitting intensity, improve the quality of the image generated by the TOF camera, and provide an accurate basis for subsequently judging whether the lens of the TOF camera is qualified according to the image. Specifically, the light emission intensity of the laser light needs to be adjusted up or down, which is determined according to whether the image definition obtained by the control device is smaller than the minimum value of the preset definition range or larger than the maximum value of the preset definition range. When the image definition is smaller than the minimum value of the preset definition range, the light emitting intensity of the laser can be adjusted to be larger; when the image definition is larger than the maximum value of the preset definition range, the light emission intensity of the laser may be adjusted to be smaller.

In one embodiment, as shown in fig. 3, this embodiment is a possible method step of processing an image to obtain a processed image, and the method step includes:

step S302, obtaining the brightness value of each pixel point in the image, and calculating the average brightness value of the pixel points of the image.

The image processing can be binarization processing on the image, so that the image to be processed can be simplified, the data volume to be processed can be reduced, and the outline of the central part of the image can be highlighted. The image processing method and the device are convenient for controlling the device to better process the image, can improve the processing speed of the image, and further improve the testing efficiency. The process of carrying out binarization processing on the image comprises the following steps: firstly, the control device needs to acquire the brightness value of each pixel point in the image, the brightness value can be read through the information of the image and can be acquired without a complex calculation process, and the brightness value of all the pixel points is summed and then is subjected to quotient with the number of the pixel points, so that the average brightness value of the pixel points of the image can be acquired. The brightness average represents the minimum criterion for meeting the imaging requirements of the image.

Step S304, set the gray value of the pixel point whose brightness value is lower than the average brightness value among all the pixel points of the image to 0, and set the gray value of the pixel point whose brightness value is higher than the average brightness value among all the pixel points of the image to 255.

Based on the obtained average brightness value, the pixel points below the average brightness value can be defined as the points which do not meet the imaging requirement of the image, that is, the gray values of the pixel points are set to be 0, and then the pixel points can be presented with black. And continuously defining the pixel points above the average brightness value as points meeting the imaging requirement of the image, namely setting the gray value of the pixel points to be 255, and then displaying white. The processing of the image is thus ended. And determining whether the lens of the TOF camera meets the requirements or not according to the processed image.

Step S306, determining an image composed of all pixels with a gray value of 255 as a processed image.

After the binarization processing is performed on the image, the whole image presents black and white tone, the coordinates of the central pixel points of the image can be determined only according to the pixel points in the white area, the determination method can be that the abscissa of the central pixel points is obtained by summing the abscissas of all the pixel points displaying the white area and then making a quotient with the number of the pixel points in the white area, and the ordinate of the central pixel points is obtained by summing the ordinate of all the pixel points displaying the white area and then making a quotient with the number of the white pixel points. Finally, comparing the coordinates of the two central pixel points obtained by calculation, and if the difference value between the coordinates of the central pixel points of the processed image and the coordinates of the central pixel points of the unprocessed image is within a preset difference value range, determining that the lens of the TOF camera is qualified, wherein the TOF camera meets the factory requirements; and if the difference value between the coordinates of the central pixel point of the processed image and the coordinates of the central pixel point of the unprocessed image is out of the preset difference value range, determining that the lens of the TOF camera is unqualified, wherein the TOF camera does not meet the factory requirements and can perform subsequent operations such as interception and the like. Furthermore, the TOF camera after interception can be overhauled, and then the TOF camera after interception is subjected to the test, and then leaves the factory after being qualified to be tested, so that the TOF camera which does not meet the factory requirement can be prevented from flowing into the market.

In one embodiment, this embodiment is an optional method step before sending the first instruction to the test device, the method comprising:

and sending a fifth instruction to the TOF camera, wherein the fifth instruction instructs to adjust the working mode of the TOF camera to an infrared working mode, and the infrared working mode represents that the TOF camera is only used for receiving laser emitted by the test equipment and generating a corresponding infrared image.

Wherein, the normal operating mode of TOF camera is: the laser is emitted and reaches an object to be detected, and is reflected by the object to be detected and converged to a sensor in the TOF camera by a lens of the TOF camera to generate information such as an image, a distance difference and a phase difference. When the lens of the TOF camera is tested, the TOF camera is not required to emit laser light, and only the TOF camera is required to receive the test laser light through the lens, namely, the TOF camera is in an infrared working mode. Therefore, different TOF cameras can be tested under the same test environment, and the wavelength and the brightness value of the test light source can be adjusted according to requirements, so that various test requirements can be met; meanwhile, excessive manual participation can be avoided, and the testing efficiency is improved.

In one embodiment, as shown in fig. 4, fig. 4 provides a test method of a TOF camera for the present application, which is described by taking the method as an example of being applied to the test equipment in fig. 1, and the method includes the following steps:

step S402, receiving a first instruction sent by the control device, wherein the first instruction carries a preset wavelength and a preset luminous intensity of the laser.

When the lens of the TOF camera is tested, the control device sends a first instruction to the test device according to the test instruction of a user, the test device is instructed to emit laser with preset wavelength and preset luminous intensity to the TOF camera, and the lens of the TOF camera gathers the laser emitted by the test device onto a sensor or a chip of the TOF camera, so that the TOF camera generates an image according to the received laser.

And S404, emitting laser to a lens of the TOF camera according to the first instruction, wherein the wavelength and the luminous intensity of the laser are equal to the preset wavelength and the preset luminous intensity.

The test equipment transmits laser with preset wavelength and preset luminous intensity to the TOF camera after receiving a first instruction transmitted by the control equipment, and a lens of the TOF camera converges the laser transmitted by the test equipment on a sensor or a chip of the TOF camera so that the TOF camera generates an image.

In one embodiment, receiving a second instruction sent by the control device, adjusting the distance between the TOF camera and the test device to enable a user to fix the TOF camera on the test device; the lens of the TOF camera faces the test center facing the test apparatus.

Before testing the lens of the TOF camera, the TOF camera needs to be placed at a preset test position of the test equipment, so that the lens of the TOF camera faces a test center of the test equipment, where the laser is emitted. Because the luminous intensity of the laser emitted by the test center for emitting the laser in the test equipment is uniform, the TOF camera can be favorably used for generating an image which can accurately judge whether the lens of the TOF camera meets the requirements.

In one embodiment, receiving a third instruction sent by the control device, the distance between the TOF camera and the TOF camera is adjusted, so that the lens of the TOF camera only receives the laser light emitted by the test device.

After the TOF camera is placed at the preset test position, the test equipment further adjusts the distance between the test equipment and the TOF camera according to the third instruction, so that a test center of the emitted laser in the test equipment and the TOF lens are close to each other as much as possible but do not contact with each other, and the interference of external light on image generation of the TOF camera is avoided, and the test result is influenced.

In one embodiment, a fourth instruction sent by the control device is received, the light emitting intensity of the laser is adjusted, and the adjusted laser is transmitted to the TOF camera according to the adjusted light emitting intensity and the preset wavelength.

The control device judges whether the preset light-emitting intensity of the laser is appropriate or not according to whether the definition of the image is within the preset definition range or not, so that two results can appear, namely the definition of the image is out of the preset definition range. In this case, the image cannot be used as a basis for accurately judging whether the lens of the TOF camera meets the requirements. Therefore, the control device needs to send an instruction to the test device, adjust the light-emitting intensity of the laser, improve the quality of an image generated by the TOF camera, and provide an accurate basis for the subsequent control device to judge whether the lens of the TOF camera is qualified according to the image.

It should be understood that although the various steps in the flow charts of fig. 2-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-4 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.

In one embodiment, as shown in fig. 5, there is provided a test apparatus of a TOF camera, applied to a control device, including: a sending module 501, an obtaining module 502 and a processing module 503.

The sending module 501 is configured to send a first instruction to the test device in response to a test instruction of a user, where the first instruction carries a preset wavelength and a preset light-emitting intensity of laser, the first instruction is used to instruct the test device to emit the laser to a lens of a TOF camera, and the wavelength and the light-emitting intensity of the laser are equal to the preset wavelength and the preset light-emitting intensity;

an obtaining module 502, configured to obtain an image acquired by a TOF camera, and calculate a central pixel coordinate value of the image according to a resolution of the image;

the processing module 503 is configured to perform binarization processing on the image to obtain a processed image, calculate a central pixel coordinate value of the processed image, compare the central pixel coordinate value of the processed image with the central pixel coordinate value of the image, and determine that the lens of the TOF camera meets factory requirements if a comparison result is within a preset difference range.

In an embodiment, the sending module 501 is further configured to send a second instruction to the testing apparatus, where the second instruction is used to instruct an adjusting module in the testing apparatus to adjust a distance between the light source module and the fixing module, so that a user can fix the TOF camera on a testing platform of the testing apparatus through the fixing module; the lens of the TOF camera faces the center of the light source module.

In one embodiment, the sending module 501 is further configured to send a third instruction to the testing device, where the third instruction instructs the adjusting module to adjust a distance between the light source module and a lens of the TOF camera, so that the lens of the TOF camera receives only the laser light emitted by the light source module.

In an embodiment, the processing module 503 is further configured to obtain the definition of the image, determine whether the definition of the image is within a preset definition range, and if the definition of the image is within the preset definition range, perform binarization processing on the image to obtain a processed image.

In an embodiment, the sending module 501 is further configured to send a fourth instruction to the testing device when the definition of the image is outside the preset definition range, where the fourth instruction carries the adjusted light-emitting intensity, and the fourth instruction instructs the testing device to emit laser to the lens of the TOF camera according to the adjusted light-emitting intensity and the preset wavelength.

In an embodiment, the processing module 503 is further configured to obtain a brightness value of each pixel point in the image, and calculate a brightness average value of the pixel points of the image; setting the gray value of the pixel point with the brightness value lower than the average brightness value in all the pixel points of the image as 0, and setting the gray value of the pixel point with the brightness value higher than the average brightness value in all the pixel points of the image as 255; and determining an image formed by all the pixels with the gray value of 255 as a processed image.

In one embodiment, the sending module 501 is further configured to send a fifth instruction to the TOF camera, where the fifth instruction instructs to adjust an operation mode of the TOF camera to an infrared operation mode, and the infrared operation mode characterizes that the TOF camera is only used for receiving laser light emitted by the testing equipment and generating a corresponding infrared image.

Specific limitations of the test apparatus for the TOF camera can be referred to the above limitations of the test method for the TOF camera, which are not repeated herein. The various modules in the test apparatus of the TOF camera described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, as shown in fig. 6, there is provided a test apparatus of a TOF camera, applied to a test device, including:

the receiving module 601 is configured to receive a first instruction sent by a control device, where the first instruction carries a preset wavelength and a preset light-emitting intensity of a laser;

and a laser emitting module 602, configured to emit laser light to the TOF camera according to the first instruction, where a wavelength and a light emitting intensity of the laser light are equal to a preset wavelength and a preset light emitting intensity.

In one embodiment, the apparatus further comprises: an adjustment module (not shown).

The adjusting module is used for receiving a second instruction sent by the control equipment and adjusting the distance between the TOF camera and the adjusting module so that a user can fix the TOF camera on the testing equipment; the lens of the TOF camera faces the test center facing the test apparatus.

In one embodiment, the adjusting module is further configured to receive a third instruction sent by the control device, and adjust the distance from the TOF camera so that the lens of the TOF camera receives only the laser light emitted by the test device

In an embodiment, the adjusting module is further configured to receive a fourth instruction sent by the control device, adjust the light emission intensity of the laser, and transmit the adjusted laser to the TOF camera according to the adjusted light emission intensity and the preset wavelength.

Specific limitations of the test apparatus for the TOF camera can be referred to the above limitations of the test method for the TOF camera, which are not repeated herein. The various modules in the test apparatus of the TOF camera described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a control device is provided, and taking the control device as a server as an example, the internal structure diagram of the control device can be as shown in fig. 7. The computer device includes a processor, a memory, a transceiver, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store power data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of testing a TOF camera.

In one embodiment, there is provided a control device comprising a memory, a processor and a transceiver, the memory storing a computer program,

the transceiver is used for responding to a test instruction of a user and sending a first instruction to the test equipment, wherein the first instruction carries a preset wavelength and a preset luminous intensity of laser, the first instruction is used for indicating the test equipment to emit the laser to the TOF camera, and the wavelength and the luminous intensity of the laser emitted to the TOF camera by the test equipment are equal to the preset wavelength and the preset luminous intensity;

the processor is used for acquiring an image generated by the TOF camera when executing the computer program, and calculating to obtain a central pixel point coordinate value of the image according to the resolution of the image;

and when the processor executes the computer program, the processor is also used for processing the image to obtain a processed image, calculating the coordinate value of the central pixel point of the processed image, comparing the coordinate value of the central pixel point of the processed image with the coordinate value of the central pixel point of the image, and if the comparison result is within a preset difference range, determining that the lens of the TOF camera meets the factory requirement.

In one embodiment, the processor, when executing the computer program, further performs the steps of: sending a second instruction to the test device, the second instruction instructing the test device to increase the distance to the TOF camera to enable a user to secure the TOF camera on the test device; the lens of the TOF camera faces the test center of the test apparatus.

In one embodiment, the processor when executing the computer program further performs the step of sending a third instruction to the test device instructing the test device to decrease the distance to the TOF camera such that the lens of the TOF camera receives only laser light emitted by the test device.

In one embodiment, the processor, when executing the computer program, further performs the steps of: the method comprises the steps of obtaining the definition of an image, judging whether the definition of the image is within a preset definition range, and if the definition of the image is within the preset definition range, carrying out binarization processing on the image to obtain a processed image.

In one embodiment, the processor, when executing the computer program, further performs the steps of: and when the definition of the image is out of the preset definition range, sending a fourth instruction to the test equipment, wherein the fourth instruction carries the adjusted luminous intensity, and the fourth instruction instructs the test equipment to emit the adjusted laser to the TOF camera according to the adjusted luminous intensity and the preset wavelength.

In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring the brightness value of each pixel point in the image, and calculating the average brightness value of the pixel points of the image;

setting the gray value of the pixel point with the brightness value lower than the average brightness value in all the pixel points of the image as 0, and setting the gray value of the pixel point with the brightness value higher than the average brightness value in all the pixel points of the image as 255;

and determining an image formed by all the pixels with the gray value of 255 as a processed image.

In one embodiment, the processor, when executing the computer program, further performs the steps of: and sending a fifth instruction to the TOF camera, wherein the fifth instruction instructs to adjust the working mode of the TOF camera to an infrared working mode, and the infrared working mode represents that the TOF camera is only used for collecting laser emitted by the test equipment and generating a corresponding infrared image.

In one embodiment, as shown in FIG. 8, a test apparatus 300, comprises: a testing platform 801, an adjusting module 802, a fixing module 803 and a light source module 804,

a test platform 801 for supporting an adjustment module 802, a light source module 804, a fixing module 803, and a TOF camera 400;

an adjustment module 802 for adjusting a distance between the light source module 804 and the TOF camera 400;

a fixing module 803 for fixing the TOF camera 400 on the test platform 801;

and the light source module 804 is configured to receive a first instruction sent by the control device 200, where the first instruction carries a preset wavelength and a preset light-emitting intensity of laser, and transmits the laser to the TOF camera 400 according to the first instruction, where the wavelength and the light-emitting intensity of the laser are equal to the preset wavelength and the preset light-emitting intensity.

The test platform 801 may be, for example, a supporting circular table, a supporting frame, or the like; the adjusting module 802 may be, for example, a hydraulic telescopic rod, a piston-type hydraulic cylinder, a lifting slide rail, a scissor-type telescopic frame, or the like; the adjusting module 802 is vertically disposed on the testing platform 801, and may be fixedly connected with the testing platform 801 or detachably connected with the testing platform. The fixed connection may be, for example: welding, riveting, bonding, etc.; the detachable connection may be, for example: bolt connection, clamping connection, fastener connection and the like; this is not limited in this application.

The light source module 804 may be, for example, a device or apparatus capable of emitting laser light, such as a light source board. The light source module 804 is perpendicular to the adjustment module 802, and may be fixedly connected, slidably connected, or detachably connected to the adjustment module 802; the adjustment module 802 can adjust the distance between the light source module 804 and the TOF camera 400 by, for example, extending and retracting a telescopic rod using a hydraulic cylinder; the distance between the light source module 804 and the TOF camera 400 may also be adjusted by sliding the light source module 804 on a sliding rail of the adjustment module 802; the distance between the light source module 804 and the TOF camera 400 can also be adjusted by raising or lowering the telescopic frame; the adjusting module may have other structures, and may adjust the distance between the light source module 804 and the TOF camera 400 in other manners, which is not limited in this application.

The fixing module 803 is disposed on the test platform 801, and the test apparatus 300 fixes the TOF camera 400 on the test platform 801 through the fixing module 803 so that the lens of the TOF camera 400 faces the center of the light source module 804. The fixing module 803 may be, for example, a clamp, an abutment screw, or the like. The specific structure of the fixing module 803 is not limited herein as long as the TOF camera 400 can be fixed at the testing position preset by the testing platform 801.

In one embodiment, a TOF camera is provided, the TOF camera including a lens and an image generation module,

the lens is used for collecting laser emitted by the testing equipment under the control of the control equipment;

and the image generation module is used for generating an image according to the laser emitted by the test equipment.

In one embodiment, a computer-readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, performs the steps of:

responding to a test instruction of a user, and sending a first instruction to the test equipment, wherein the first instruction carries a preset wavelength and a preset luminous intensity of laser, the first instruction is used for indicating the test equipment to emit the laser to a lens of a TOF camera, and the wavelength and the luminous intensity of the laser are equal to the preset wavelength and the preset luminous intensity;

acquiring an image acquired by a TOF camera, and calculating to obtain a central pixel point coordinate value of the image according to the resolution of the image;

the image is subjected to binarization processing to obtain a processed image, the coordinate value of a center pixel point of the processed image is calculated, the coordinate value of the center pixel point of the processed image is compared with the coordinate value of the center pixel point of the image, and if the comparison result is within a preset difference range, the lens of the TOF camera is determined to meet the factory requirements.

In another embodiment, the computer program when executed by the processor further performs the steps of: sending a second instruction to the testing equipment, wherein the second instruction is used for instructing an adjusting module in the testing equipment to adjust the distance between a light source module and a fixing module so that a user can fix the TOF camera on a testing platform of the testing equipment through the fixing module; the lens of the TOF camera faces the center of the light source module.

In another embodiment, the computer program when executed by the processor further performs the steps of: and sending a third instruction to the test equipment, wherein the third instruction instructs the adjusting module to adjust the distance between the light source module and the lens of the TOF camera, so that the lens of the TOF camera only receives the laser emitted by the light source module.

In another embodiment, the computer program when executed by the processor further performs the steps of: the method comprises the steps of obtaining the definition of an image, judging whether the definition of the image is within a preset definition range, and if the definition of the image is within the preset definition range, carrying out binarization processing on the image to obtain a processed image.

In another embodiment, the computer program when executed by the processor further performs the steps of: and under the condition that the definition of the image is out of a preset definition range, sending a fourth instruction to the test equipment, wherein the fourth instruction carries the adjusted luminous intensity, and the fourth instruction instructs the test equipment to emit laser to a lens of the TOF camera according to the adjusted luminous intensity and a preset wavelength.

In another embodiment, the computer program when executed by the processor further performs the steps of: acquiring the brightness value of each pixel point in the image, and calculating the average brightness value of the pixel points of the image;

setting the gray value of the pixel point with the brightness value lower than the average brightness value in all the pixel points of the image as 0, and setting the gray value of the pixel point with the brightness value higher than the average brightness value in all the pixel points of the image as 255;

and determining an image formed by all the pixels with the gray value of 255 as a processed image.

In another embodiment, the computer program when executed by the processor further performs the steps of: and sending a fifth instruction to the TOF camera, wherein the fifth instruction instructs to adjust the working mode of the TOF camera to an infrared working mode, and the infrared working mode represents that the TOF camera is only used for receiving laser emitted by the test equipment and generating a corresponding infrared image.

The present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:

a light source module of the test equipment receives a first instruction sent by a controller, wherein the first instruction carries a preset wavelength and a preset luminous intensity of laser;

and a light source module of the test equipment emits laser to a lens of the TOF camera according to the first instruction, wherein the wavelength and the luminous intensity of the laser are equal to the preset wavelength and the preset luminous intensity.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.