Laser clearance radar adaptive control method, device, equipment and storage medium

Abstract

The present application relates to a laser clearance radar adaptive control method, device, computer equipment, storage medium, and computer program product. The method comprises: obtaining the laser clearance radar's window temperature, original ranging value, and the return light intensity corresponding to the original ranging value; establishing a temperature-gain coefficient lookup table through simulation experiments; obtaining the laser clearance radar system gain coefficient based on the laser clearance radar's window temperature and the temperature-gain coefficient lookup table, and then obtaining a system internal voltage training set and a system internal voltage data set; constructing an adaptive control model of the laser clearance radar based on the original ranging value and the return light intensity corresponding to the original ranging value based on the system internal voltage training set; and updating the system voltage gain in real time based on the adaptive control model and the system internal voltage data set. The use of this method enables the laser clearance radar system to have the ability to resist environmental interference and suppress the output of blade false alarms.

Description

Technical Field

[0001] The present application relates to the field of laser clearance radar interference reduction technology, and in particular to a laser clearance radar adaptive control method, device, computer equipment, storage medium and computer program product. Background Art

[0002] With the development of the wind power industry, wind turbines are moving towards higher power. As rotors, towers, and other structures grow larger and more expensive, blade tip clearance monitoring has become essential for wind turbine safety control. Laser clearance radar, with its high repetition rate, high ranging accuracy, and real-time performance, is widely used in wind turbine clearance monitoring. Its operating principle is that a laser emits a detection signal to detect the distance between the blade and the laser. Based on the overall turbine model and geometric relationships, the distance from the blade tip to the tower, or the clearance distance, is inferred.

[0003] As the installation environment for laser clearance radars becomes increasingly complex, the temperature range is also increasing, with temperatures dropping below -30°C and temperatures exceeding 50°C. The intensity of solar radiation is also fluctuating significantly. Due to external environmental interference, the operation of the laser clearance radar can be affected, causing the ranging value output by the laser clearance radar during normal operation to jump to a value within the low-clearance blade range, causing the wind turbine to enter a safe operation state or a shutdown protection state, indicating an excessive clearance protection state for the wind turbine. Summary of the Invention

[0004] Based on this, it is necessary to provide a laser clearance radar adaptive control method, device, computer equipment, storage medium and computer program product that can reduce environmental interference to address the above technical problems.

[0005] In a first aspect, the present application provides a laser clearance radar adaptive control method. The method comprises:

[0006] Obtain the window temperature, original ranging value and the return light intensity corresponding to the original ranging value of the laser clearance radar;

[0007] Establish a temperature-gain coefficient lookup table through simulation experiments;

[0008] Obtain the system gain coefficient of the laser clearance radar according to the window temperature and temperature-gain coefficient lookup table of the laser clearance radar, and then obtain the system internal voltage training set and system internal voltage data set;

[0009] Based on the system's internal voltage training set, an adaptive control model for the laser clearance radar is constructed according to the original ranging value and the return light intensity corresponding to the original ranging value;

[0010] Based on the adaptive control model, the system voltage gain is updated in real time according to the system internal voltage data set.

[0011] In one embodiment, establishing a temperature-gain coefficient lookup table through simulation experiments includes:

[0012] Simulate different window temperatures and measure the internal reference voltage of the laser clearance radar system at different window temperatures, obtain the reference voltage at the target temperature, and establish a temperature-gain coefficient lookup table.

[0013] In one embodiment, based on the system internal voltage training set, an adaptive control model of the laser clearance radar is constructed according to the original ranging value and the return light intensity corresponding to the original ranging value, including:

[0014] The original ranging value contains different target signals, and the valid range and threshold of the target signal ranging value are obtained;

[0015] The system internal voltage training set is updated according to the relationship between the target signal ranging value and the return light intensity corresponding to the original ranging value and the threshold, thereby generating an adaptive control model.

[0016] In one embodiment, updating the system internal voltage training set based on the relationship between the target signal ranging value and the return light intensity corresponding to the original ranging value and the threshold, and then generating the adaptive control model includes:

[0017] When the ranging values ​​of all target signals are out of the valid range or the return light intensity value corresponding to the designated target signal is greater than the first threshold, the internal voltage of the system is stepped down with the absolute value of the voltage change as the step size.

[0018] In one embodiment, the target signal includes a fifth target signal, and updating the system internal voltage training set according to the relationship between the distance measurement value of the target signal and the return light intensity corresponding to the original distance measurement value and the threshold value, thereby generating the adaptive control model includes:

[0019] When the ranging value of the fifth target signal is smaller than the boundary value of the effective range or the return light intensity value corresponding to the designated target signal is smaller than the second threshold, the internal voltage of the system is amplified with the absolute value of the voltage change as the step size.

[0020] In one embodiment, the target signal includes a first target signal and a second target signal. The system internal voltage training set is updated based on the relationship between the return light intensity and the threshold corresponding to the ranging value and the original ranging value of the target signal, thereby generating an adaptive control model including:

[0021] When the ranging value of the first target signal is within the valid range, the ranging value of the second target signal is not within the valid range, the ranging values ​​of at least two target signals at the previous moment are within the valid range at the same time, or when the return light intensity value corresponding to the first target signal is greater than the first threshold, the internal voltage of the system is indented with the absolute value of the voltage change as the step size.

[0022] In a second aspect, the present application also provides a laser clearance radar adaptive control device. The device includes:

[0023] The reference data acquisition module is used to obtain the window temperature, original ranging value and the return light intensity corresponding to the original ranging value of the laser clearance radar;

[0024] A lookup table establishment module is used to establish a temperature-gain coefficient lookup table through simulation experiments;

[0025] A system internal voltage acquisition module is used to obtain the laser clearance radar system gain coefficient based on the laser clearance radar window temperature and the temperature-gain coefficient lookup table, and then obtain the system internal voltage training set and the system internal voltage data set;

[0026] An adaptive control model building module is used to build an adaptive control model of the laser clearance radar based on the system's internal voltage training set, the original ranging value, and the return light intensity corresponding to the original ranging value;

[0027] The system voltage gain update module is used to update the system voltage gain in real time according to the system internal voltage data set based on the adaptive control model.

[0028] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are performed:

[0029] Obtain the window temperature, original ranging value and the return light intensity corresponding to the original ranging value of the laser clearance radar;

[0030] Establish a temperature-gain coefficient lookup table through simulation experiments;

[0031] Obtain the system gain coefficient of the laser clearance radar according to the window temperature and temperature-gain coefficient lookup table of the laser clearance radar, and then obtain the system internal voltage training set and system internal voltage data set;

[0032] Based on the system's internal voltage training set, an adaptive control model for the laser clearance radar is constructed according to the original ranging value and the return light intensity corresponding to the original ranging value;

[0033] Based on the adaptive control model, the system voltage gain is updated in real time according to the system internal voltage data set.

[0034] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the following steps:

[0035] Obtain the window temperature, original ranging value and the return light intensity corresponding to the original ranging value of the laser clearance radar;

[0036] Establish a temperature-gain coefficient lookup table through simulation experiments;

[0037] Obtain the system gain coefficient of the laser clearance radar according to the window temperature and temperature-gain coefficient lookup table of the laser clearance radar, and then obtain the system internal voltage training set and system internal voltage data set;

[0038] Based on the system's internal voltage training set, an adaptive control model for the laser clearance radar is constructed according to the original ranging value and the return light intensity corresponding to the original ranging value;

[0039] Based on the adaptive control model, the system voltage gain is updated in real time according to the system internal voltage data set.

[0040] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

[0041] Obtain the window temperature, original ranging value and the return light intensity corresponding to the original ranging value of the laser clearance radar;

[0042] Establish a temperature-gain coefficient lookup table through simulation experiments;

[0043] Obtain the system gain coefficient of the laser clearance radar according to the window temperature and temperature-gain coefficient lookup table of the laser clearance radar, and then obtain the system internal voltage training set and system internal voltage data set;

[0044] Based on the system's internal voltage training set, an adaptive control model for the laser clearance radar is constructed according to the original ranging value and the return light intensity corresponding to the original ranging value;

[0045] Based on the adaptive control model, the system voltage gain is updated in real time according to the system internal voltage data set.

[0046] The above-mentioned laser clearance radar adaptive control method, device, computer equipment, storage medium and computer program product, after obtaining the laser clearance radar window temperature, original ranging value and the return light intensity corresponding to the original ranging value, establishes a temperature-gain coefficient lookup table through simulation experiments, which can effectively overcome the large performance differences between different laser clearance radar systems. The laser clearance radar system gain coefficient is obtained according to the laser clearance radar window temperature and the temperature-gain coefficient lookup table, and then the system internal voltage training set and the system internal voltage data set are obtained. Based on the system internal voltage training set, the laser clearance radar adaptive control model is constructed according to the original ranging value and the return light intensity corresponding to the original ranging value. Based on the adaptive control model, the system voltage gain is updated in real time according to the system internal voltage data set. The method of the present application can fully utilize the multi-source data such as the window temperature, real-time ranging value and corresponding return light intensity value output by the laser clearance radar system, so that a control model with three dimensional data as the main body, namely spatial dimension, intensity dimension and time dimension, can be constructed, which can improve the accuracy and reliability of the adaptive control model. At the same time, taking the internal voltage of the system as the starting point, the internal voltage gain of the system is adjusted in real time to change the signal emission intensity of the laser clearance radar system, so that the laser clearance radar system has the ability to resist environmental interference and effectively suppress the output of false alarms of the blades. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 1 is a flow chart of an adaptive control method for a laser clearance radar according to an embodiment;

[0048] Figure 2 1 is a distribution diagram of original distance measurement values ​​when a wind turbine is in a shutdown state in one embodiment;

[0049] Figure 3 A data distribution diagram after updating the voltage gain of the laser clearance radar system in one embodiment;

[0050] Figure 4 1. A distribution diagram of original distance measurement values ​​and return light intensities corresponding to the original distance measurement values ​​in one embodiment;

[0051] Figure 5 A schematic diagram of a flow chart of a method for constructing an adaptive control model in one embodiment;

[0052] Figure 6 Schematic diagram of a flow chart of an adaptive control method for a laser clearance radar in another embodiment;

[0053] Figure 7 Schematic diagram of a laser clearance radar adaptive control device in one embodiment;

[0054] Figure 8 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0055] As the operating environment of laser clearance radar becomes more and more complex, the problem of interference from the external environment (such as sunlight, temperature, etc.) has gradually become prominent. The purpose of this application is to propose a laser clearance radar adaptive control method that can reduce external environmental interference, so as to solve the problem of blade false alarm caused by environmental interference under complex working conditions.

[0056] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0057] In one embodiment, Figure 1 As shown, a laser clearance radar adaptive control method is provided. This embodiment uses the method applied to a terminal as an example for illustration. It is understandable that the method can also be applied to a server, or to a system including a terminal and a server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0058] Step 102: Obtain the window temperature, original ranging value, and return light intensity corresponding to the original ranging value of the laser clearance radar.

[0059] In one embodiment, a temperature sensor inside the laser clearance radar system obtains the window temperature of the laser clearance radar at the current moment, and transmits it to the status data packet of the laser clearance radar system through a certain communication protocol for storage and display.

[0060] Step 104: Establish a temperature-gain coefficient lookup table through simulation experiments.

[0061] In one embodiment, different window temperatures are simulated in a high and low temperature chamber in a laboratory, and a lookup table of different temperatures and gain coefficients of the laser clearance radar system is established, namely, a temperature-gain coefficient lookup table.

[0062] Step 106 , obtaining the system gain coefficient of the laser clearance radar according to the window temperature of the laser clearance radar and the temperature-gain coefficient lookup table, and then obtaining the system internal voltage training set and the system internal voltage data set.

[0063] In one embodiment, based on the window temperature T of the laser clearance radar obtained in real time, the system internal voltage V corresponding to the current window temperature T can be calculated according to the formula, wherein the system internal voltage V includes a system internal voltage training set and a system internal voltage data set, and the calculation method is shown in formula (1):

[0064] V=V0+(T-25)×k (1)

[0065] Among them, V0 is the voltage obtained at room temperature of 25℃, which is the reference voltage; k is the gain coefficient of the laser clearance radar system in the corresponding window temperature range.

[0066] Step 108 : Based on the system internal voltage training set, an adaptive control model of the laser clearance radar is constructed according to the original ranging value and the return light intensity corresponding to the original ranging value.

[0067] In one embodiment, based on obtaining the system internal voltage training set, an adaptive control model is established according to the ranging value of the original target signal obtained by the laser clearance radar system and the corresponding return light intensity, wherein the ranging value of the original target signal is the original ranging value.

[0068] Step 110 : Based on the adaptive control model, the system voltage gain is updated in real time according to the system internal voltage data set.

[0069] In one embodiment, the voltage V0 obtained by the current laser clearance radar system at room temperature of 25°C is used as the reference voltage, and the window temperature T in the current environment monitored by the system is used as the basic data. The laser clearance radar system gain coefficient k corresponding to the current window temperature T is obtained from the temperature-gain coefficient lookup table and substituted into formula (1) to calculate the current laser clearance radar system internal voltage data set. The system voltage is updated in real time by substituting the FPGA (Field Programmable Gate Array) into the control model until the current system voltage can achieve effective output of the ranging value. Specifically, by substituting the real-time data into formula (1), in this embodiment, by substituting the real-time temperature monitored by the system into formula (1), the system voltage is updated, and the result display after the real-time data is substituted into the adaptive control model can be achieved. The internal voltage of the system obtained at this time is the voltage calculated by substituting the current real-time window temperature into the adaptive control model, that is, the voltage value calculated after the adaptive control model is established. Updating it into the system can ensure that the radar system outputs a valid ranging value.

[0070] Specifically, if Figure 2As shown in the figure, it is a distribution diagram of the original ranging values ​​when the wind turbine is in the shutdown state. Among them, the vertical axis is the distance in cm, and the horizontal axis is used to count the number of statistical points. The data points in the range of 9200cm to 11200cm are the ranging values ​​of the ground target signals output by the laser clearance radar system. The center of gravity of the distribution is 11000cm, which is consistent with the actual installation height of the laser clearance radar. At this time, the data points in the range of 4000cm to 8000cm are the ranging values ​​of the interference target signals in the current environment output by the laser clearance radar system. The distribution of the data points is irregular, and the distribution is relatively concentrated within a certain statistical unit. However, when the wind turbine is operating normally, the ranging values ​​of the actual blade target signals are also distributed in the range of 4000cm to 8000cm, which is easily confused with the interference target signals in the current environment, resulting in false alarm values ​​within the blade ranging range. Therefore, at this time, the laser clearance radar system needs to adjust its internal system voltage gain according to the current original ranging value to adapt to the current environment. The data distribution after updating the voltage gain of the laser clearance radar system is as shown below. Figure 3 As shown in the figure, the vertical axis is distance in cm, and the horizontal axis is used to count the number of statistical points. As can be seen from the figure, the data points in the range of 9200cm to 11200cm are still the ranging values ​​of ground target signals, and their distribution center of gravity is 11000cm, which is consistent with the actual installation height of the laser clearance radar. The interference target data points in the range of 4000cm to 8000cm are more sparsely distributed, and no cluster center of gravity is formed within a certain statistical unit, and no false alarm values ​​within the blade ranging range will occur.

[0071] In the above-mentioned adaptive control method for the laser radar, the laser radar's window temperature, raw ranging value, and the corresponding light return intensity are obtained. A temperature-gain coefficient lookup table is established through simulation experiments. The laser radar system gain coefficient is obtained based on the laser radar's window temperature and the temperature-gain coefficient lookup table, thereby obtaining a system internal voltage training set and a system internal voltage data set. Using the laser radar's system voltage obtained at room temperature in the laboratory as a benchmark, a lookup table for the laser radar system gain coefficient under different window temperature ranges is established, achieving initial calibration of the laser radar system voltage. Based on the system internal voltage training set, an adaptive control model for the laser radar is constructed based on the raw ranging value and the corresponding light return intensity. Using the laser radar system's window temperature output as the data basis, real-time ranging values ​​and corresponding light return intensity values ​​are obtained, resulting in a highly accurate and reliable control model. Based on the adaptive control model, the system voltage gain is updated in real time based on the system internal voltage data set. Based on the measured data of the laser clearance radar system and the corresponding control model, the system voltage gain is automatically updated to adapt to changes in the external environment, greatly reducing the false alarm rate of the blades.

[0072] In one embodiment, establishing a temperature-gain coefficient lookup table through simulation experiments includes:

[0073] Simulate different window temperatures and measure the internal reference voltage of the laser clearance radar system at different window temperatures, obtain the reference voltage at the target temperature, and establish a temperature-gain coefficient lookup table.

[0074] Specifically, different window temperatures were simulated in a high and low temperature chamber in the laboratory, and the voltage inside the laser clearance radar system was measured. The voltage V0 obtained at room temperature of 25°C was used as the reference voltage, and a lookup table of the laser clearance radar system gain coefficient k under different window temperature ranges was established. The temperature range in the table is -40°C to 60°C. The laser clearance radar system gain coefficient is the same in the same temperature range, and different temperature ranges have different gain coefficients, as shown in Table 1.

[0075] Table 1

[0076]

[0077] In this embodiment, by simulating different window temperatures and measuring the internal reference voltage of the laser clearance radar system at different window temperatures, obtaining the reference voltage at the target temperature, and establishing a temperature-gain coefficient lookup table, it is possible to effectively overcome the defect of large differences between different laser clearance radar systems and achieve initial calibration of the laser clearance radar system voltage.

[0078] In one embodiment, based on the system internal voltage training set, an adaptive control model of the laser clearance radar is constructed according to the original ranging value and the return light intensity corresponding to the original ranging value, including:

[0079] The original ranging value contains different target signals, and the valid range and threshold of the target signal ranging value are obtained. The system internal voltage training set is updated according to the relationship between the target signal ranging value and the return light intensity corresponding to the original ranging value and the threshold, and then an adaptive control model is generated.

[0080] In one embodiment, the original ranging value output by the laser clearance radar system contains five target signals at different distances, which are represented as STOP1, STOP2, STOP3, STOP4, and STOP5, respectively. The distance range is 0cm to 65535cm, and the corresponding return light intensities are Amp1, Amp2, Amp3, Amp4, and Amp5, and the return light intensity value range is 0 to 65535. Specifically, the distribution of the original ranging value and the return light intensity corresponding to the original ranging value is as follows: Figure 4 As shown in the figure, the X-axis represents different target distances in cm, and the Y-axis represents the corresponding return light intensity values ​​at different target distances.

[0081] Furthermore, the valid range of the STOP ranging value is 2000cm~30000cm, Amp1 and Amp5 respectively represent the return light intensity values ​​corresponding to the STOP1 and STOP5 ranging values, ΔV represents the absolute value of the voltage change, which is generally 40mV or 50mV, the first threshold is generally 50000, and the second threshold is generally 500.

[0082] Furthermore, the system internal voltage training set is updated according to the ranging value of the target signal, the relationship between the return light intensity corresponding to the original ranging value and the first threshold and the second threshold, thereby generating an adaptive control model.

[0083] In this embodiment, the raw ranging values ​​contain different target signals. The valid range and threshold of the target signal ranging values ​​are determined. The system's internal voltage training set is updated based on the relationship between the return light intensity and the threshold corresponding to the target signal ranging value and the raw ranging value, thereby generating an adaptive control model. By fully utilizing the multi-source data output by the laser clearance radar system, a control model based on spatial, intensity, and temporal data is constructed, improving the accuracy and reliability of the control model.

[0084] In one embodiment, updating the system internal voltage training set based on the relationship between the target signal ranging value and the return light intensity corresponding to the original ranging value and the threshold, and then generating the adaptive control model includes:

[0085] When the ranging values ​​of all target signals are out of the valid range or the return light intensity value corresponding to the designated target signal is greater than the first threshold, the internal voltage of the system is stepped down with the absolute value of the voltage change as the step size.

[0086] Specifically, the system's internal voltage training set is first calculated based on the current window temperature. The original ranging value and return light intensity value obtained by the laser clearance radar system at the current moment are then obtained. If the ranging values ​​for all five stops are not within the valid range of 2000cm to 30000cm, or the return light intensity value Amp5 corresponding to the fifth stop is greater than the first threshold, it indicates that the system's internal voltage gain is too large. In this case, the system's internal voltage training set needs to be indented with a step size of the absolute value of the voltage change ΔV. The return light intensity value corresponding to the specified target signal is the return light intensity value Amp5 corresponding to the fifth stop.

[0087] In this embodiment, if the ranging values ​​of all target signals are outside the valid range or the return light intensity corresponding to a specified target signal is greater than a first threshold, the system internal voltage is stepped down by the absolute value of the voltage change. The system internal voltage training set that meets this condition is updated to prepare for generating the adaptive control model.

[0088] In one embodiment, the target signal includes a fifth target signal, and updating the system internal voltage training set according to the relationship between the distance measurement value of the target signal and the return light intensity corresponding to the original distance measurement value and the threshold value, thereby generating the adaptive control model includes:

[0089] When the ranging value of the fifth target signal is smaller than the boundary value of the effective range or the return light intensity value corresponding to the designated target signal is smaller than the second threshold, the internal voltage of the system is amplified with the absolute value of the voltage change as the step size.

[0090] Specifically, if the range value of STOP5 is less than 30,000 cm or the return light intensity value Amp5 corresponding to STOP5 is less than the second threshold, it indicates that the voltage gain within the system is too small. In this case, the system voltage training set needs to be amplified with a step size of the absolute value of the voltage change ΔV. Here, STOP5 is the fifth target signal.

[0091] In this embodiment, if the ranging value of the fifth target signal is less than the boundary value of the effective range or the return light intensity value corresponding to the designated target signal is less than the second threshold, the system internal voltage is amplified by a step size of the absolute value of the voltage change. The system internal voltage training set that meets this condition is updated to prepare for the generation of the adaptive control model.

[0092] In one embodiment, the target signal includes a first target signal and a second target signal. The system internal voltage training set is updated based on the relationship between the return light intensity and the threshold corresponding to the ranging value and the original ranging value of the target signal, thereby generating an adaptive control model including:

[0093] When the ranging value of the first target signal is within the valid range, the ranging value of the second target signal is not within the valid range, the ranging values ​​of at least two target signals at the previous moment are within the valid range at the same time, or when the return light intensity value corresponding to the first target signal is greater than the first threshold, the internal voltage of the system is indented with the absolute value of the voltage change as the step size.

[0094] Specifically, if the three conditions are met simultaneously: the ranging value of STOP1 is within the valid range of 2000cm-30000cm, the ranging value of STOP2 is not within the valid range of 2000cm-30000cm, and the ranging values ​​of at least two STOPs in the previous moment are within the valid range of 2000cm-30000cm, or the return light intensity value Amp1 corresponding to STOP1 is greater than the first threshold, it indicates that the internal voltage gain of the system is too large. In this case, the internal voltage training set of the system needs to be indented with the absolute value of the voltage change ΔV as the step size. The first target signal is STOP1, and the second target signal is STOP2.

[0095] In one embodiment, when the relationship between the return light intensity corresponding to the ranging value of the target signal and the original ranging value and the threshold value does not meet the above conditions, the system internal voltage training set remains unchanged.

[0096] In this embodiment, if the ranging value of the first target signal is within the valid range, the ranging value of the second target signal is not within the valid range, the ranging values ​​of at least two target signals at the previous moment are within the valid range, or the return light intensity corresponding to the first target signal is greater than a first threshold, the system internal voltage is stepped by the absolute value of the voltage change. The system internal voltage training set that meets these conditions is updated to prepare for generating the adaptive control model.

[0097] In one embodiment, Figure 5 As shown, a method for constructing an adaptive control model is provided. First, the current window temperature of the laser clearance radar is obtained, the internal system voltage is calculated, and then the original stop ranging value and the corresponding return light intensity are obtained. If the ranging values ​​of all five stops are not within the valid range of 2000cm to 30000cm or the return light intensity value Amp5 corresponding to STOP5 is greater than the first threshold, it indicates that the internal system voltage gain is too large. In this case, the internal system voltage V needs to be indented by the absolute value of the voltage change ΔV, that is, V = V - ΔV. Otherwise, if the ranging value of STOP5 is less than 30000cm or the return light intensity value Amp5 corresponding to STOP5 is less than the second threshold, it indicates that the internal system voltage gain is too small. In this case, the internal system voltage V needs to be amplified by the absolute value of the voltage change ΔV, that is, V = V + ΔV. Otherwise, if the three conditions are simultaneously met: the ranging value of STOP1 is within the valid range of 2000cm-30000cm, the ranging value of STOP2 is not within the valid range of 2000cm-30000cm, and the ranging values ​​of at least two STOPs in the previous moment are within the valid range of 2000cm-30000cm, or the return light intensity value Amp1 corresponding to STOP1 is greater than the first threshold, it indicates that the internal voltage gain of the system is too large. In this case, the internal voltage V of the system needs to be indented with the absolute value of the voltage change ΔV as the step size, that is, V = V - ΔV. Otherwise, the internal voltage V of the system remains unchanged.

[0098] In another embodiment, Figure 6 As shown, a laser clearance radar adaptive control method is provided, the method comprising:

[0099] Step 602: Obtain the window temperature, original ranging value, and return light intensity corresponding to the original ranging value of the laser clearance radar.

[0100] Step 604 , simulate different window temperatures and measure the internal reference voltage of the system of the laser clearance radar at different window temperatures, obtain the reference voltage at the target temperature, and establish a temperature-gain coefficient lookup table.

[0101] Step 606 , obtaining the system gain coefficient of the laser clearance radar according to the window temperature of the laser clearance radar and the temperature-gain coefficient lookup table, and then obtaining the system internal voltage training set and the system internal voltage data set.

[0102] Step 608: The original ranging value includes different target signals, and the valid range and threshold of the target signal ranging value are obtained.

[0103] Step 610: When the ranging values ​​of all target signals are not within the valid range or the return light intensity value corresponding to the designated target signal is greater than the first threshold, the system internal voltage is indented in steps with the absolute value of the voltage change; the target signal includes a fifth target signal, and when the ranging value of the fifth target signal is less than the boundary value of the valid range or the return light intensity value corresponding to the designated target signal is less than the second threshold, the system internal voltage is amplified in steps with the absolute value of the voltage change; the target signal includes a first target signal and a second target signal, and when the ranging value of the first target signal is within the valid range, the ranging value of the second target signal is not within the valid range, or the ranging values ​​of at least two target signals at the previous moment are within the valid range at the same time, or when the return light intensity value corresponding to the first target signal is greater than the first threshold, the system internal voltage is indented in steps with the absolute value of the voltage change.

[0104] Step 612 : Based on the adaptive control model, the system voltage gain is updated in real time according to the system internal voltage data set.

[0105] In this embodiment, the window temperature detected by the laser radar system's temperature sensor, along with the ranging value and corresponding return light intensity of the original target signal output by the laser radar system, are first synchronously acquired. Different window temperatures are then simulated in the laboratory, and the internal voltage gain of the laser radar system is measured at these temperatures. A corresponding relationship between the window temperature and the laser radar system's gain coefficient is established. Based on this relationship, an adaptive control model is established based on the acquired ranging value and return light intensity of the original target signal from the laser radar system. The laser radar system's reference voltage, window temperature, raw ranging value, and raw return light intensity are then acquired in real time and substituted into the adaptive control model to update the internal voltage gain of the laser radar system. Using the laser radar system voltage acquired at room temperature in the laboratory as a reference, a lookup table of the laser radar system's gain coefficient for different window temperature ranges is established, achieving initial calibration of the laser radar system voltage. At the same time, a high-precision and high-reliability control model was constructed based on the window temperature output by the laser clearance radar system, the original ranging value and the return intensity value obtained by the laser clearance radar system at the current moment. Then, according to the actual measured data of the laser clearance radar system and the corresponding adaptive control model, the system voltage gain is automatically updated to adapt to changes in the external environment, greatly reducing the false alarm rate of the blades.

[0106] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0107] Based on the same inventive concept, the present application also provides a laser clearance radar adaptive control device for implementing the aforementioned laser clearance radar adaptive control method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more laser clearance radar adaptive control device embodiments provided below can be found in the limitations of the laser clearance radar adaptive control method above and will not be repeated here.

[0108] In one embodiment, Figure 7As shown, a laser clearance radar adaptive control device is provided, comprising: a reference data acquisition module 702, a lookup table establishment module 704, a system internal voltage acquisition module 706, an adaptive control model construction module 708 and a system voltage gain update module 710, wherein:

[0109] Reference data acquisition module 702 is used to obtain the window temperature, original ranging value and return light intensity corresponding to the original ranging value of the laser clearance radar;

[0110] A lookup table establishment module 704 is used to establish a temperature-gain coefficient lookup table through simulation experiments;

[0111] The system internal voltage acquisition module 706 is used to obtain the system gain coefficient of the laser clearance radar according to the window temperature of the laser clearance radar and the temperature-gain coefficient lookup table, and then obtain the system internal voltage training set and the system internal voltage data set;

[0112] Adaptive control model building module 708, for building an adaptive control model of the laser clearance radar based on the system internal voltage training set and the original ranging value and the return light intensity corresponding to the original ranging value;

[0113] The system voltage gain updating module 710 is configured to update the system voltage gain in real time according to the system internal voltage data set based on the adaptive control model.

[0114] In one embodiment, the lookup table building module 704 further includes:

[0115] The window temperature simulation module is used to simulate different window temperatures and measure the internal reference voltage of the laser clearance radar system at different window temperatures, obtain the reference voltage at the target temperature, and establish a temperature-gain coefficient lookup table.

[0116] In one embodiment, the adaptive control model building module 708 further includes:

[0117] An effective range and threshold acquisition module, in which the original ranging value contains different target signals, is used to obtain the effective range and threshold of the target signal ranging value;

[0118] The system internal voltage training set update module is used to update the system internal voltage training set according to the relationship between the target signal ranging value and the return light intensity corresponding to the original ranging value and the threshold, and then generate an adaptive control model.

[0119] In one embodiment, the system internal voltage training set update module further includes:

[0120] An adaptive control model generation module is used to indent the system internal voltage by a step size of the absolute value of the voltage change when the ranging values ​​of all target signals are not within the valid range or the return light intensity value corresponding to the specified target signal is greater than a first threshold;

[0121] In one embodiment, the target signal includes a fifth target signal, and the system internal voltage training set updating module further includes:

[0122] The adaptive control model generation module is also used to amplify the internal voltage of the system with the absolute value of the voltage change as the step size when the ranging value of the fifth target signal is less than the boundary value of the effective range or the return light intensity value corresponding to the specified target signal is less than the second threshold.

[0123] In one embodiment, the target signal includes a first target signal and a second target signal, and the system internal voltage training set updating module further includes:

[0124] The adaptive control model generation module is further used to indent the internal voltage of the system with the absolute value of the voltage change as a step size when the ranging value of the first target signal is within the valid range, the ranging value of the second target signal is not within the valid range, the ranging values ​​of at least two target signals at the previous moment are within the valid range at the same time, or when the return light intensity value corresponding to the first target signal is greater than a first threshold.

[0125] Each module in the aforementioned laser clearance radar adaptive control device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0126] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 8As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface, the display unit and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a laser clearance radar adaptive control method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse.

[0127] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0128] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0129] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0130] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0131] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions.

[0132] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may 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 memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0133] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0134] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A laser clearance radar adaptive control method, characterized in that: The method comprises: Obtaining the window temperature, original ranging value, and return light intensity corresponding to the original ranging value of the laser clearance radar; Establish a temperature-gain coefficient lookup table through simulation experiments; Obtaining a system gain coefficient of the laser clearance radar according to the window temperature of the laser clearance radar and the temperature-gain coefficient lookup table, and then obtaining a system internal voltage training set and a system internal voltage data set; Based on the system internal voltage training set, an adaptive control model of the laser clearance radar is constructed according to the original ranging value and the return light intensity corresponding to the original ranging value; Based on the adaptive control model, the system voltage gain is updated in real time according to the system internal voltage data set.

2. The method according to claim 1, characterized in that The temperature-gain coefficient lookup table established by simulation experiment includes: Simulate different window temperatures and measure the internal reference voltage of the laser clearance radar system at the different window temperatures, obtain the reference voltage at the target temperature, and establish a temperature-gain coefficient lookup table.

3. The method according to claim 1, characterized in that The adaptive control model of the laser clearance radar is constructed based on the system internal voltage training set and the original ranging value and the return light intensity corresponding to the original ranging value, including: The original ranging value includes different target signals, and a valid range and threshold of the target signal ranging value are obtained; The system internal voltage training set is updated according to the relationship between the distance measurement value of the target signal and the return light intensity corresponding to the original distance measurement value and the threshold, thereby generating the adaptive control model.

4. The method according to claim 3, characterized in that The updating of the system internal voltage training set according to the relationship between the target signal ranging value and the return light intensity corresponding to the original ranging value and the threshold, and then generating the adaptive control model includes: When the ranging values ​​of all target signals are out of the valid range or the return light intensity value corresponding to the designated target signal is greater than the first threshold, the internal voltage of the system is stepped down with the absolute value of the voltage change as the step size.

5. The method according to claim 3, characterized in that The target signal includes a fifth target signal, and updating the system internal voltage training set according to the relationship between the ranging value of the target signal and the return light intensity corresponding to the original ranging value and the threshold, thereby generating the adaptive control model includes: When the ranging value of the fifth target signal is smaller than the boundary value of the effective range or the return light intensity value corresponding to the designated target signal is smaller than the second threshold, the internal voltage of the system is amplified with the absolute value of the voltage change as the step size.

6. The method according to claim 3, characterized in that The target signal includes a first target signal and a second target signal, and the system internal voltage training set is updated according to the relationship between the distance measurement value of the target signal and the return light intensity corresponding to the original distance measurement value and the threshold value, thereby generating the adaptive control model, including: When the ranging value of the first target signal is within the valid range, the ranging value of the second target signal is not within the valid range, the ranging values ​​of at least two target signals at the previous moment are within the valid range at the same time, or when the return light intensity value corresponding to the first target signal is greater than the first threshold, the internal voltage of the system is indented with the absolute value of the voltage change as the step size.

7. A laser clearance radar adaptive control device, characterized in that: The device comprises: A reference data acquisition module is used to obtain the window temperature, original ranging value and the return light intensity corresponding to the original ranging value of the laser clearance radar; A lookup table establishment module is used to establish a temperature-gain coefficient lookup table through simulation experiments; A system internal voltage acquisition module is used to obtain the laser clearance radar system gain coefficient according to the window temperature of the laser clearance radar and the temperature-gain coefficient lookup table, and then obtain a system internal voltage training set and a system internal voltage data set; An adaptive control model building module is used to build an adaptive control model of the laser clearance radar based on the system internal voltage training set and the original ranging value and the return light intensity corresponding to the original ranging value; The system voltage gain updating module is used to update the system voltage gain in real time according to the system internal voltage data set based on the adaptive control model.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

Images