Sensor, sensor detection method, and computer-readable storage medium

Abstract

The present invention relates to the field of sensor technology, and more particularly to a sensor, a sensor detection method, and a computer-readable storage medium. The sensor provided by the technical solution of the present invention includes: a signal transmitting module for transmitting multiple groups of regional light signals; a signal receiving module for receiving the multiple groups of returned regional light signals; a control module, communicatively connected to the signal transmitting module and the signal receiving module, respectively, and calculating the detection distances corresponding to the multiple groups of regional light signals based on the time difference between the multiple groups of regional light signals being transmitted by the signal transmitting module and being received by the signal receiving module; and the control module selecting one group of regional light signals from the multiple groups of regional light signals as a detection signal based on the light intensity of the regional light signals and the detection distances corresponding to the regional light signals.

Description

Technical Field

[0001] The present invention relates to the field of sensor technology, and in particular to a sensor, a sensor detection method, and a computer-readable storage medium. Background Art

[0002] In the prior art, common sensors used for distance detection include laser sensors, fiber optic sensors, photoelectric sensors, and infrared sensors. These sensors work by emitting a light signal toward a target object, receiving the reflected light signal, and then analyzing and calculating the parameters of the light signal to obtain a detection result.

[0003] like Figure 1 As shown, in the prior art, the light-projecting part 101 and the light-receiving part 102 of the sensor 100 are arranged inside the sensor 100. When the sensor 100 performs detection, the light-projecting part 101 emits a detection light signal, which is emitted from the light-transmitting mirror 103 on one side of the sensor 100 housing. The target detection object 200 reflects the detection light signal, and the reflected detection light signal then returns to the light-receiving part 102 inside the sensor 100 via the above-mentioned light-transmitting mirror 103.

[0004] However, in the actual application of the above-mentioned sensor 100, when the sensor 100 performs detection, in addition to being able to receive the detection light signal reflected by the target detection object 200, the light receiving unit 102 of the sensor 100 is also susceptible to interference from secondary reflected light from the object or optical crosstalk from the mirror. For example, the light receiving unit 102 may also receive interference light emitted or reflected by the non-target detection object 300, which may be other light sources or highly reflective interfering objects. For example, part of the detection light signal emitted by the light-emitting unit 101 is directly reflected by the transparent mirror 103 to the light receiving unit 102. The light emitted by other light sources, secondary reflected light from objects, and mirror crosstalk may interfere with the normal detection of the sensor 100 and affect the detection accuracy of the sensor 100. Summary of the Invention

[0005] To address the above issues, the present invention provides a sensor, a sensor detection method, and a computer-readable storage medium. The sensor provided by the present invention improves the sensor's detection accuracy by emitting multiple sets of optical signal pulses and determining and optimizing the detection values ​​of the multiple sets of optical signals, thereby filtering out abnormal detection results.

[0006] In the technical solution of the present invention, a sensor is provided, comprising: a signal transmitting module for transmitting multiple groups of regional light signals; a signal receiving module for receiving the multiple groups of returned regional light signals; a control module, which is communicatively connected to the signal transmitting module and the signal receiving module, respectively, and calculates the detection distances corresponding to the multiple groups of regional light signals based on the time difference between the multiple groups of regional light signals from being transmitted by the signal transmitting module to being received by the signal receiving module; the control module selects one group of regional light signals from the multiple groups of regional light signals as a detection signal based on the light intensity of the regional light signals and the detection distances corresponding to the regional light signals.

[0007] According to the technical solution of the present invention, when the sensor detects a target, it simultaneously transmits multiple sets of regional light signals to the target through the signal transmission module. These multiple sets of regional light signals can be transmitted to multiple light-projecting areas within the sensor's detection range, expanding the light-projecting area of ​​the detection light signals. The light intensities and positions of the regional light signals reflected from different light-projecting areas may vary. Furthermore, the signal receiving module receives the multiple sets of regional light signals reflected from the target, calculates the detection values ​​corresponding to each set of regional light signals, and combines the light intensity of the multiple sets of regional light signals to select the optimal regional light signal from the multiple sets of regional light signals. This eliminates abnormal light signals, ensures the accuracy of each sensor detection, and improves the sensor's detection performance.

[0008] Preferably, in the technical solution of the present invention, the light projection areas of the multiple groups of regional light signals emitted by the signal transmitting module of the sensor are distributed in a fan-shaped ring connected in sequence, so that the light projection areas of the multiple groups of regional light signals are concentrated as a whole at the center point of the fan-shaped ring. At the same time, the light projection areas of each group of regional light signals are reasonably dispersed and arranged, so that the detection feedback of each group of regional light signals can be integrated to enable the sensor to obtain accurate detection results.

[0009] In the technical solution of the present invention, if the detection distance is within a preset distance range and the light intensity of the regional light signal corresponding to the detection distance is within a preset light intensity range, the regional light signal is in a normal state; otherwise, the regional light signal is in an abnormal state; and the regional light signal in a normal state is selected from multiple groups of regional light signals as the detection signal.

[0010] According to the technical solution of the present invention, when the sensor is performing detection, the luminous intensity of the multiple groups of regional light signals emitted by the signal transmitting module is the same. If the reflected light intensity of the emitted light is emitted on the same object, it is also within a certain range in principle. By setting a preset light intensity range, the received light intensity can be screened to ensure that the light signal used as the detection signal is the reflected regional light signal; further, by setting a preset distance range, the detection distance can be screened to ensure that the light signal used as the detection signal is the regional light signal reflected by the detection target within the detection range of the sensor.

[0011] Preferably, in the technical solution of the present invention, the light projection areas of multiple groups of regional light signals are arranged in sequence as the first light projection area, the second light projection area,..., the nth light projection area. If there is more than one regional light signal in a normal state among the multiple groups of regional light signals, the regional light signal in a normal state and with the smallest or largest arrangement number of the light projection area is selected as the detection signal.

[0012] According to the technical solution of the present invention, the regional light signal with the smallest or largest light projection area arrangement number is selected, that is, the regional light signal corresponding to the light projection area at the head end or the end end is selected, so that the target detection object can be effectively captured when the target detection object is in motion.

[0013] Preferably, in the technical solution of the present invention, if multiple groups of regional light signals are all in abnormal state, the sensor detection result is abnormal, that is, multiple groups of regional light signals do not obtain detection results in which the light intensity and detection distance are within a reasonable range, that is, the sensor does not detect the target detection object.

[0014] Preferably, in the technical solution of the present invention, if two or more groups of regional light signal data are lost, the sensor detection result is abnormal, that is, the regional light signal may only reach the edge of the target detection object, or the position of the target detection object is offset or tilted, so that part of the light signal is not fully received.

[0015] Furthermore, in the technical solution of the present invention, if the sensor detection results are all abnormal for n consecutive cycles, the sensor determines that the target detection object is not detected.

[0016] According to the technical solution of the present invention, the detection results are comprehensively judged by the detection results of the light signal of n consecutive cycles, which can avoid abnormal detection results caused by brief occlusion or movement of the target object during the detection process, or the object being tilted, or abnormal data obtained by the object edge detection, thereby improving the overall measurement and judgment stability of the sensor, that is, solving the judgment of sensor erroneous detection.

[0017] Furthermore, in the technical solution of the present invention, the sensor also includes an output module, which is communicatively connected to the control module and sends an output signal based on whether the sensor detects the target detection object.

[0018] According to the technical solution of the present invention, the output module can intuitively feed back the detection results of the sensor to the user in real time, so that the user can make subsequent judgments or operations based on the detection results, thereby improving the user's usage experience.

[0019] The technical solution of the present invention also provides a detection method for a sensor, including a detection step of emitting multiple groups of regional light signals and receiving multiple groups of returned regional light signals, and calculating the detection distances corresponding to the multiple groups of regional light signals based on the time difference from the emission to the reception of the multiple groups of regional light signals; and a judgment step of selecting one group of regional light signals from the multiple groups of regional light signals as a detection signal based on the light intensity of the regional light signals and the detection distance corresponding to the regional light signals.

[0020] According to the technical solution of the present invention, when the detection target is detected using the detection method of the above-mentioned sensor, multiple groups of regional light signals can be emitted to multiple light-projecting areas within the detection range of the sensor, thereby expanding the light-projecting area of ​​the detection light signal; and the multiple groups of regional light signals received are used to respectively calculate the detection values ​​corresponding to the multiple groups of regional light signals, that is, the detection distance between the detection target and the sensor and combine the light intensity of the multiple groups of regional light signals to select the optimal regional light signal from the multiple groups of regional light signals, thereby eliminating the detection of abnormal light signals to ensure the accuracy of each detection by the sensor and improve the detection performance of the sensor.

[0021] The technical solution of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned sensor detection method are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of a detection scenario of a sensor in the prior art;

[0023] Figure 2 is a structural block diagram of a sensor provided in an embodiment of the present invention;

[0024] Figure 3 is a schematic diagram of a regional light signal of a sensor provided in an embodiment of the present invention;

[0025] Figure 4 is a schematic diagram of a detection scenario of a sensor provided in an embodiment of the present invention;

[0026] FIG5( a ) is a schematic diagram of a method for detecting light exposure provided in an embodiment of the present invention;

[0027] FIG5( b ) is a schematic diagram of detecting light exposure conditions provided in an embodiment of the present invention;

[0028] FIG5( c ) is a schematic diagram of detecting light exposure conditions provided in an embodiment of the present invention;

[0029] FIG5( d ) is a schematic diagram of detecting a light receiving condition provided in an embodiment of the present invention;

[0030] FIG5( e ) is a schematic diagram of detecting light exposure conditions provided in an embodiment of the present invention;

[0031] FIG5( f ) is a schematic diagram of detecting light exposure conditions provided in an embodiment of the present invention.

[0032] Explanation of the reference numerals: 100 - sensor, 101 - light projecting part, 102 - light receiving part, 103 - light-transmitting mirror 103, 200 - target detection object, 300 - non-target detection object, 1 - sensor, 2 - signal transmitting module, 3 - signal receiving module, 4 - control module, 5 - output module. DETAILED DESCRIPTION

[0033] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] Figure 2 It is a structural block diagram of a sensor provided in an embodiment of the present invention.

[0035] like Figure 2 As shown, in an embodiment of the present invention, a sensor 1 is provided, which includes: a signal transmitting module 2, which is communicated with the control module 4 and is used to transmit light signals, and can simultaneously transmit multiple groups of regional light signals, namely regional light signals A, B, C and D; a signal receiving module 3, which is used to receive the returned light signal and is communicated with the control module 4.

[0036] Figure 3 FIG. 4 is a schematic diagram of a regional light signal of a sensor provided in an embodiment of the present invention.

[0037] refer to Figure 3 The projection areas of the regional light signals A, B, C and D are distributed in a fan-shaped ring shape connected in sequence. Compared with the light signals in the prior art in which the projection area is a point or a circular area, the fan-shaped ring-shaped distribution of the regional light signals A, B, C and D enables the projection areas of the four groups of regional light signals to be concentrated as a whole at the center point of the fan-shaped ring. At the same time, the projection areas of the four groups of regional light signals are reasonably dispersed and arranged, thereby expanding the area of ​​the projection area. Therefore, the detection feedback of each group of regional light signals can be integrated to enable the sensor 1 to obtain accurate detection results.

[0038] In this embodiment, four groups of regional light signals are used for illustration. In other embodiments of the present invention, the number of multiple groups of regional light signals and the size and arrangement position relationship of the light projection areas between each group of regional light signals can be adjusted according to the detection requirements and detection purposes of the sensor 1 and / or the target detection object 200, and are not limited here.

[0039] Specifically, in this embodiment, when the sensor 1 in this embodiment detects the target detection object 200, 4 groups of regional light signals are emitted through the signal transmitting module 2, and then the light signals are received through the signal receiving module 3. The target distance value between the detection target and the sensor 1 can be accurately calculated based on the time difference between the emission time and the reception time of the light signal combined with the propagation speed of the light signal.

[0040] The sensor 1 also includes a control module 4, which is respectively connected to the signal transmitting module 2 and the signal receiving module 3 for communication. Based on the time difference between the multiple groups of regional light signals from being transmitted by the signal transmitting module 2 to being received by the signal receiving module 3, the control module 4 calculates the detection distances corresponding to the multiple groups of regional light signals. Then, the control module 4 can select a group of regional light signals from the multiple groups of regional light signals as the detection signal based on the light intensity of each group of regional light signals and the detection distance corresponding to each group of regional light signals.

[0041] Furthermore, in an embodiment of the present invention, the sensor 1 also includes an output module 5, which is communicatively connected to the control module 4 and sends an output signal based on whether the sensor 1 detects the target detection object 200. The output module 5 can intuitively feedback the detection results of the sensor 1 to the user in real time, so that the user can make subsequent judgments or operations based on the detection results, thereby improving the user's usage experience.

[0042] Figure 4 Schematic diagram of a detection scenario of a sensor provided in an embodiment of the present invention.

[0043] refer to Figure 4 In an embodiment of the present invention, the sensor 1 is typically configured with a preset distance range (d1, d2), which is the range of distances within which the sensor 1 can effectively detect. When the detection distance d between the target object 200 and the sensor 1 is within the preset distance range (d1, d2), it indicates that the sensor 1 has detected the target object 200, and the output signal of the output module 5 is logically determined to be ON / OFF based on the distance to the object. When the detection distance d between the target object 200 and the sensor 1 is outside the preset distance range (d1, d2), it indicates that the sensor 1 has not detected the target object 200, and the output signal of the output module 5 is OFF.

[0044] Preferably, in an embodiment of the present invention, the control module 4 can judge the detection status of the regional light signal based on the preset light intensity range and the preset distance range of the four groups of regional light signals, and select a group of regional light signals whose detection status is normal as the detection signal.

[0045] Specifically, if the received light intensity of the regional light signals falls within a preset light intensity range, and the detection distance d corresponding to the regional light signals falls within a preset distance range (d1, d2), then the set of regional light signals is considered normal; otherwise, the set of regional light signals is considered abnormal. The normal regional light signals are selected from the multiple sets of regional light signals as the detection signals. In this embodiment, the endpoints of the preset distance range are d1 = 50 mm and d2 = 3300 mm, and the preset sensor detectable light intensity range is 0.3-200 Mcps.

[0046] For example, the control module 4 detects and calculates the light intensity and corresponding detection distances of the regional light signals A, B, C, and D as shown in Table 1 below.

[0047] Signal area Light intensity / Mcps Detection distance / mm Detection status Area light signal A 250 440 Anomaly 1 Regional light signal B 50 450 Normal 0 Regional light signal C 0.15 1700 Anomaly 2 Regional light signal D 1.5 20 Anomaly 3

[0048] Table 1

[0049] Furthermore, the detection status of each group of regional light signals can be determined one by one based on the reference values ​​of the preset light intensity range and the preset distance range. Among them, normal 0 indicates that the light intensity of the regional light signal is within the preset light intensity range, and the corresponding detection distance of the regional light signal is within the preset distance range; abnormal 1 indicates that the light intensity of the regional light signal is too high; abnormal 2 indicates that the light intensity of the regional light signal is too low; abnormal 3 indicates that the corresponding detection distance of the regional light signal is too low; and abnormal 4 indicates that the corresponding detection distance of the regional light signal is too high.

[0050] In summary, only regional light signal B, with a light intensity of 50 Mcps and a corresponding detection distance of 450 mm, satisfies both the preset light intensity range and the preset distance range constraints, and is therefore considered a normal regional light signal. Therefore, regional light signal B is selected as the detection signal. Based on the detection result corresponding to regional light signal B, i.e., a detection distance of 450 mm, output module 5 can determine whether sensor 1 has detected target object 200 within the preset distance range (d1, d2).

[0051] According to the technical solution of the present invention, when the sensor 1 is performing detection, the luminous intensity of the multiple groups of regional light signals emitted by the signal transmitting module 2 is the same, and the intensity of the reflected light reflected by the object is also within a certain range. By setting a preset light intensity range, the received light intensity can be screened, and interference light with excessively high or low intensity, such as the emitted light from other light sources and the secondary reflected light from the object, can be filtered out, thereby ensuring that the light signal used as the detection signal is the reflected regional light signal. Furthermore, by setting a preset distance range, the detection distance can be screened, and interference light such as the reflected light from the mirror surface of the sensor 1 housing that is too close to the detection distance and the interference light from other light sources that is too far to the detection distance can be filtered out, thereby ensuring that the light signal used as the detection signal is the regional light signal reflected by the target detection object 200 within the distance detection range of the sensor 1. Preferably, in an embodiment of the present invention, the light projection areas of the multiple groups of regional light signals are arranged in a sequential connection order as the first light projection area, the second light projection area, ..., and the nth light projection area. In this embodiment, the light projection areas are divided into the first light projection area, the second light projection area, the third light projection area, and the fourth light projection area, which correspond to regional light signals A, B, C, and D, respectively. If there is more than one normal regional light signal among the multiple sets of regional light signals, the normal regional light signal with the smallest or largest arrangement number of the light projection area is selected as the detection signal.

[0052] Preferably, in an embodiment of the present invention, if the detection states of the regional light signals A, B, C, and D are all abnormal, it means that the detection result of the sensor 1 in this cycle is abnormal.

[0053] In addition, in an embodiment of the present invention, if two or more groups of regional light signal data are lost, it also indicates that the detection result of the sensor 1 is abnormal, that is, the regional light signal may have only reached the edge of the target detection object 200, or the position of the target detection object 200 is offset or tilted, so that part of the light signal is not fully received.

[0054] In the embodiment of the present invention, except for the above two cases where the detection results of the sensor 1 are abnormal, it is considered that the detection of the sensor 1 in this period is normal, and one group of regional light signals can be selected as the detection signal.

[0055] 5( a )-( f ) are schematic diagrams of light detection by a sensor provided in an embodiment of the present invention.

[0056] As shown in Figures 5(a)-(f), in an embodiment of the present invention, when the sensor 1 is detecting the target object 200, the emission direction and emission intensity of the light signal emitted by the signal transmitting module 2 remain unchanged; while the target object 200 moves from left to right, wherein the target object 200 in Figure 5(a) is at the leftmost end, and the target objects 200 in Figures 5(b), 5(c), and 5(d) move from right to left in sequence. Therefore, if there is more than one normal regional light signal among the multiple groups of regional light signals, the regional light signal with the smallest arrangement number of the projection area is selected as the detection signal, that is, the regional light signal with the projection area at the leftmost end is selected as the detection signal.

[0057] Specifically, referring to FIG5(a), regional light signals A, B, C, and D are not projected onto a surface capable of reflecting light signals, and multiple groups of regional light signals, i.e., regional light signals A, B, C, and D, are lost, indicating that the detection result of sensor 1 in this cycle is abnormal;

[0058] Referring to FIG5(b), as the target detection object 200 moves from left to right, the regional light signals A and B are projected onto the surface of the target detection object 200, and the distance between the target detection object 200 and the sensor 1 is within the preset distance range (d1, d2) of the sensor 1. The regional light signal A is in the normal 0 state; however, only a small portion of the projection area of ​​the regional light signal B is projected onto the target detection object 200. The detection distance value corresponding to the regional light signal B is normal, but the intensity of the regional light signal B reflected back by the target detection object 200 is weak, and the regional light signal B is in the abnormal 2 state. The regional light signals C and D are not projected onto a surface capable of reflecting light signals. Both regional light signals C and D are lost. Two of the multiple groups of regional light signals are lost, one group is in the normal state, and one group is in the abnormal state. Therefore, the detection result of the sensor 1 in this cycle is abnormal.

[0059] Referring to FIG5(c), the target object 200 continues to move from left to right, and the regional light signals A, B, C, and D are all projected onto the surface of the target object 200. If the multiple groups of regional light signals, i.e., the regional light signals A, B, C, and D, are all in the normal 0 state, then the detection result of the sensor 1 in this cycle is normal. At the same time, the regional light signal A corresponding to the first projection area, i.e., the leftmost projection area, is selected as the detection signal to quickly obtain a normal measurement result.

[0060] 5(d), the target object 200 continues to move from left to right, and the regional light signal A is projected onto the surface of the non-target object 300. The distance between the non-target object 300 and the sensor 1 is less than the endpoint value d1=50 mm of the preset distance range of the sensor 1, that is, the non-target object 300 is not within the effective detection range of the sensor 1. The regional light signal A is projected onto the surface of the non-target object 300. The detection distance corresponding to the regional light signal A is too small, and the regional light signal A is in abnormal state 3. The regional light signals B, C, and D are all projected onto the surface of the target object 200. The regional light signals B, C, and D are all in normal state 0. There is one abnormal state and three normal states in the multiple groups of regional light signals, so the detection result of the sensor 1 in this cycle is normal. At the same time, the regional light signal B corresponding to the second light projection area, that is, the leftmost light projection area with normal detection state, is selected as the detection signal.

[0061] Referring to FIG5(e), the target detection object 200 continues to move from left to right. Only a small portion of the projection area of ​​regional light signal A is projected onto the target detection object 200. The intensity of the light signal reflected by regional light signal A is weak, and regional light signal A is in abnormal state 2. Regional light signal B is projected onto the surface of the non-target detection object 300. The detection distance corresponding to regional light signal B is too small, and regional light signal B is in abnormal state 3. Regional light signals C and D are both projected onto the surface of the target detection object 200. Regional light signals C and D are both in normal state 0. There are two groups of abnormal states and two groups of normal states in the multiple groups of regional light signals. Therefore, the detection result of sensor 1 in this cycle is normal. At the same time, regional light signal C corresponding to the third projection area is selected as the detection signal.

[0062] 5(f), the target detection object 200 continues to move from left to right, and the regional light signals A and D are not projected onto the surface that can reflect the light signal, and the regional light signals A and D are lost; the regional light signal B is projected onto the surface of the non-target detection object 300, and the detection distance corresponding to the regional light signal B is too small, and the regional light signal B is in abnormal state 3; the regional light signal C is projected onto the surface of the target detection object 200 and the surface of the non-target detection object 300 at the same time. Through the received light amount and waveform data, it is determined that the distance to the closer non-target detection object 300 is obtained and identified as the detection distance, but its projection area on the surface of the target detection object 200 and the surface of the non-target detection object 300 is too small, and the reflected light signal intensity is lower than the preset light intensity range, and the regional light signal C is in abnormal state 2; 2 groups of the multiple groups of regional light signals are lost, and 2 groups are in abnormal state, so the detection result of the sensor 1 in this cycle is abnormal.

[0063] In summary, in an embodiment of the present invention, the regional light signal that can obtain the normal detection result the fastest is selected as the detection signal from multiple groups of regional light signals, so that the sensor 1 can quickly obtain the normal detection result during the detection process. Compared with other detection methods such as the overall light spot average distance algorithm in the prior art, the multiple groups of regional light signals can also achieve accurate distance values ​​when there is detection switching of other objects, and at the same time achieve stable detection, which can avoid the phenomenon of unstable detection results when the edges of two objects intersect.

[0064] It is worth mentioning that when the moving direction of the target detection object 200 changes, the selection priority of the light signals in each area can also be adjusted accordingly to adapt to different detection targets and detection scenarios.

[0065] Furthermore, in an embodiment of the present invention, if the detection result of the sensor 1 in this cycle is normal, the detection signal obtained according to the cycle can be selected, and the output detection module outputs ON; if the detection results of the sensor 1 are abnormal for n consecutive cycles, the sensor 1 determines that the target detection object 200 is not detected or the detection environment is abnormal, and the control module outputs OFF.

[0066] In an embodiment of the present invention, the detection results are comprehensively judged by the detection results of the light signal of n consecutive cycles, which can avoid the abnormal detection results caused by short-term occlusion or oscillatory movement of the target detection object 200 during the detection process, or the object being in a tilted state, or abnormal data obtained by the object edge detection, so that the overall measurement and judgment stability of the sensor 1 is improved, that is, the judgment of incorrect detection by the sensor 1 is solved.

[0067] It is worth mentioning that, in the embodiment of the present invention, the number of n cycles can be adjusted according to the detection requirements and detection purposes of the sensor 1 and / or the target detection object 200, and is not limited here.

[0068] In an embodiment of the present invention, a detection method for the above-mentioned sensor is also provided, including a detection step of emitting multiple groups of regional light signals and receiving multiple groups of returned regional light signals, and calculating the detection distances corresponding to the multiple groups of regional light signals based on the time difference from the emission to the reception of the multiple groups of regional light signals; and a judgment step of selecting a group of regional light signals from the multiple groups of regional light signals as a detection signal based on the light intensity of the regional light signals and the detection distance corresponding to the regional light signals.

[0069] In an embodiment of the present invention, when the detection target is detected using the detection method of the above-mentioned sensor, multiple groups of regional light signals can be emitted to multiple light-projecting areas within the detection range of the sensor, thereby expanding the light-projecting area of ​​the detection light signal; and the multiple groups of regional light signals received respectively calculate the detection values ​​corresponding to the multiple groups of regional light signals, that is, the detection distance between the detection target and the sensor and combine the light intensity of the multiple groups of regional light signals to select the optimal regional light signal from the multiple groups of regional light signals, thereby eliminating the detection of abnormal light signals to ensure the accuracy of each detection of the sensor and improve the detection performance of the sensor.

[0070] In an embodiment of the present invention, a computer-readable storage medium is further provided. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of the above-mentioned sensor detection method are implemented.

[0071] The technical solutions of the present invention have been described above with reference to the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is not limited to the above-described specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent modifications or substitutions to the relevant technical features, and the technical solutions after such modifications or substitutions will fall within the scope of protection of the present invention.

Claims

1. A sensor, characterized in that: include: A signal transmitting module, used for transmitting multiple groups of regional optical signals; A signal receiving module, configured to receive a plurality of returned regional optical signals; a control module, communicatively connected to the signal transmitting module and the signal receiving module, and calculating detection distances corresponding to the plurality of sets of regional light signals based on time differences between the plurality of sets of regional light signals being transmitted by the signal transmitting module and being received by the signal receiving module; The control module selects a group of regional light signals from the plurality of groups of regional light signals as a detection signal according to the light receiving intensity of the regional light signals and the detection distance corresponding to the regional light signals.

2. The sensor according to claim 1, wherein The light projection areas of the multiple groups of regional optical signals are distributed in a sequentially connected fan-shaped ring shape.

3. The sensor according to claim 2, wherein If the detection distance is within the preset distance range and the light intensity of the regional light signal corresponding to the detection distance is within the preset light intensity range, the regional light signal is in a normal state; otherwise, the regional light signal is in an abnormal state; the regional light signal in the normal state is selected from multiple groups of regional light signals as the detection signal.

4. The sensor according to claim 3, wherein The light-projecting areas are arranged in sequence as the 1st light-projecting area, the 2nd light-projecting area,..., the nth light-projecting area. If there is more than one normal area light signal in the multiple groups of area light signals, the area light signal in normal state and with the smallest or largest arrangement number of the light-projecting areas is selected as the detection signal.

5. The sensor according to claim 3, wherein If the plurality of sets of regional light signals are all in an abnormal state, the sensor detection result is abnormal.

6. The sensor according to claim 3, wherein If data of two or more groups of regional light signals are lost, the sensor detection result is abnormal.

7. The sensor according to claim 5 or 6, characterized in that If the sensor detection results are all abnormal in n consecutive detection cycles, the sensor fails to detect the target object.

8. The sensor according to claim 7, wherein Also includes: The output module is in communication with the control module and sends an output signal based on whether the sensor detects the target object.

9. A method for detecting a sensor according to any one of claims 1 to 8, characterized in that: include a detection step of transmitting a plurality of sets of regional light signals and receiving a plurality of sets of returned regional light signals, and calculating detection distances corresponding to the plurality of sets of regional light signals based on time differences between the transmission and reception of the plurality of sets of regional light signals; The determining step is to select a group of the regional light signals from the plurality of groups of the regional light signals as a detection signal according to the light receiving intensity of the regional light signals and the detection distance corresponding to the regional light signals.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the sensor detection method according to claim 9 are implemented.

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