Laser width measuring method and apparatus

Abstract

The application discloses a laser width measuring method and device, and belongs to the technical field of laser ranging. The method comprises the following steps: monitoring the position of a to-be-measured object on a conveying device and environmental conditions; when it is monitored that the to-be-measured object reaches a measuring station, the to-be-measured object is measured multiple times by using at least one laser range finder, and multiple distance signals are obtained, the measuring station being a fixed point position on the conveying device; when it is monitored that the change amount of the environmental conditions exceeds a set threshold, a pre-constructed width measuring model is updated; and the multiple distance signals are processed by using the updated width measuring model, and the width value of the to-be-measured object is obtained. According to the method, the measurement accuracy and system stability can be improved, the measurement error can be reduced, the application range can be expanded, and the self-adaptive capability can be enhanced, so that the overall performance and application effect of the laser width measuring system are improved.

Description

Technical Field

[0001] This application belongs to the field of laser ranging technology, and in particular relates to a laser width measurement method and device. Background Technology

[0002] With the development of modern manufacturing, laser measurement technology has received widespread attention and application. However, current laser-based width measurement suffers from insufficient accuracy.

[0003] Therefore, designing an accurate and reliable laser width measurement method has become an urgent problem to be solved. Summary of the Invention

[0004] The purpose of this application is to provide a laser width measurement method and apparatus that can meet the need for accurate measurement of the width of an object.

[0005] In a first aspect, embodiments of this application provide a laser width measurement method, the method comprising:

[0006] Monitor the position of the object under test on the conveying device and the environmental conditions;

[0007] When the object to be measured is detected to have arrived at the measurement station, at least one laser rangefinder is used to measure the object multiple times to obtain multiple distance signals. The measurement station is a fixed point on the transmission device.

[0008] When the detected change in environmental conditions exceeds a set threshold, the pre-built width measurement model is updated.

[0009] The updated width measurement model is used to process multiple distance signals to obtain the width value of the object under test.

[0010] In one possible implementation of the first aspect, when the detected change in environmental conditions exceeds a set threshold, the pre-built width measurement model is updated, the method including:

[0011] Obtain a sample dataset corresponding to environmental conditions;

[0012] Based on the sample dataset, the pre-built width measurement model is refitted using the least squares method to obtain the model parameters corresponding to the environmental conditions;

[0013] The updated width measurement model is determined based on the model parameters corresponding to the environmental conditions.

[0014] In one possible implementation of the first aspect, the environmental conditions include at least one of temperature, humidity, dust concentration, or object tilt.

[0015] In one possible implementation of the first aspect, when at least one laser rangefinder is present, the swath width of the object to be measured is the average of the predicted swath width values ​​corresponding to multiple distance signals.

[0016] In one possible implementation of the first aspect, when the object to be measured is detected to have arrived at the measurement station, at least one laser rangefinder is used to perform multiple measurements on the object to be measured to obtain multiple distance signals. The method includes:

[0017] By using at least one laser rangefinder to repeatedly emit oblique laser beams towards the measurement station, multiple distance signals are obtained from the output of at least one laser rangefinder.

[0018] In one possible implementation of the first aspect, when there are two laser rangefinders, at least one of which are located on both sides of the measurement station, the width of the object to be measured is the average of the predicted width values ​​corresponding to multiple sets of distance signals, and each set of distance signals includes two corresponding distance signals output by the two laser rangefinders in the same instance.

[0019] In one possible implementation of the first aspect, the model parameters include the cosine value of the angle between the laser beam emitted by each laser rangefinder and the horizontal projection plane.

[0020] Secondly, embodiments of this application provide a laser width measurement device, which includes:

[0021] The monitoring module is used to monitor the position of the object under test on the conveying device and the environmental conditions.

[0022] The measurement module is used to measure the object to be measured multiple times using at least one laser rangefinder when the object to be measured is detected to have arrived at the measurement station, and to obtain multiple distance signals. The measurement station is a fixed point on the conveyor chain.

[0023] The update module is used to update the pre-built width measurement model when the detected change in environmental conditions exceeds a set threshold.

[0024] The processing module is used to process multiple distance signals using the updated width measurement model to obtain the width value of the object under test.

[0025] Thirdly, embodiments of this application provide a laser width measurement system, which includes a transmission device and a laser width measurement device. The transmission device is used to transmit the object to be measured, and the laser width measurement device is used to perform the method of any of the implementations in the first aspect above.

[0026] Fourthly, embodiments of this application provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the computer device implements any of the implementations described in the first and second aspects above.

[0027] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a computer device, implements any of the implementations described in the first and second aspects above.

[0028] Fifthly, embodiments of this application provide a computer program product that, when run on a computer device, causes the computer device to execute the implementation described in any one of the first aspects above.

[0029] The beneficial effects of the embodiments in this application compared with the prior art are:

[0030] This application's solution, during the laser measurement of an object's width, monitors environmental conditions to enable timely updates to the measurement model as these conditions change. The updated model, adapted to the current environment, is then used to accurately measure the object's width. This effectively reduces the impact of environmental factors on the measurement results, improving accuracy and reliability. Furthermore, timely adjustments to the measurement model based on environmental conditions allow the system to adapt to different environments, thereby enhancing measurement stability and adaptability. Attached Figure Description

[0031] Figure 1 This is a schematic diagram illustrating an application scenario of the laser width measurement method provided in an embodiment of this application;

[0032] Figure 2 A schematic flowchart of a laser width measurement method provided in an embodiment of this application;

[0033] Figure 3 A schematic flowchart illustrating a width measurement model update method provided in an embodiment of this application;

[0034] Figure 4 This is a schematic diagram illustrating an application scenario of the laser width measurement method provided in another embodiment of this application;

[0035] Figure 5 This is a schematic diagram of the structure of a laser width measuring device provided in an embodiment of this application;

[0036] Figure 6 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0038] Understandably, laser width measurement technology is primarily used in industrial fields. For example, it can be used to perform quality verification on manufactured products.

[0039] Figure 1 This diagram illustrates a schematic example of using laser width measurement technology for product quality verification in an industrial production setting.

[0040] Figure 1 Includes: product under test 100, conveying device 110, laser width measuring device 120, and measuring station 130.

[0041] The product to be measured 100 is the object whose width is to be measured, which can be a manufactured product.

[0042] The conveying device 110 is a device responsible for conveying or transporting the product 100 to be tested. For example, the conveying device 110 can be a conveyor chain on a work line.

[0043] The laser width measuring device 120 is equipped with a laser rangefinder 121, which can measure the width of the product 100 by emitting a laser beam towards it.

[0044] The width measurement process is as follows: The product to be measured 100 is transported to the measurement station 130 via the conveyor 110, and the laser width measuring device 120 begins measurement. First, the laser rangefinder 121 emits a laser beam towards the product to be measured 100, and the distance between the laser rangefinder 121 and the surface of the object is determined based on the reflected signal generated after the laser beam hits the surface of the product to be measured 100. Then, combined with the angle between the laser beam and the surface of the product to be measured 100, the width of the product to be measured 100 can be calculated.

[0045] However, current laser width measurement technology still suffers from insufficient accuracy when measuring the width of objects.

[0046] To address this issue, the inventors of this application, after research, discovered that the complex and ever-changing external measurement environment is a significant factor affecting measurement accuracy and reliability. Based on this, this application primarily employs a method of updating the width measurement model according to the external environment to improve the accuracy and reliability of laser width measurement.

[0047] Figure 2 A schematic flowchart of a laser width measurement method provided in an embodiment of this application is shown.

[0048] As an example and not a limitation, this method can be applied to the aforementioned apparatus 120.

[0049] S201. Monitor the position of the object to be tested on the conveying device and the environmental conditions.

[0050] It is understandable that the object to be measured is the object whose width is to be measured. Figure 1 Product 100 under test is one example.

[0051] In one implementation, a position sensor can be used to monitor the position of the object to be measured on the conveyor. By monitoring the changes in the object's position in real time, it can be determined whether the object has reached the measurement station and trigger subsequent measurement steps.

[0052] The position sensor can be an encoder, a laser sensor, a camera, etc., and this application does not limit it.

[0053] For example, a camera can be used to photograph objects on a conveyor device, and image processing algorithms can be used to identify and track the position of the objects.

[0054] In one implementation, various environmental sensors can be integrated to monitor environmental conditions.

[0055] Environmental sensors can include, but are not limited to, temperature sensors, humidity sensors, dust sensors, and object state sensors. These sensors can monitor environmental parameters such as temperature, humidity, air quality (dust concentration), and object tilt, and provide feedback to the system.

[0056] During laser measurement, changes in environmental conditions such as temperature, humidity, dust, and object tilt may affect the accuracy of the laser measurement. Therefore, by monitoring environmental conditions, corresponding corrections or compensations can be made during the measurement process to improve the accuracy and stability of the measurement.

[0057] It should be noted that environmental condition monitoring can be real-time or periodic.

[0058] Real-time monitoring can detect changes in environmental conditions in a timely manner and reflect the current state of the environment. It is suitable for measurement scenarios with high requirements for environmental conditions and the need for timely response.

[0059] Periodic monitoring, on the other hand, is performed at predetermined time intervals, and the monitoring frequency can be flexibly adjusted according to needs. Compared to real-time monitoring, periodic monitoring has lower system costs and energy consumption, making it suitable for resource-constrained measurement scenarios.

[0060] It should be understood that in practical applications, appropriate environmental monitoring methods can be selected according to specific application needs and system requirements, and this application does not impose any restrictions on this.

[0061] S202. When the object to be measured is detected to have arrived at the measurement station, the object to be measured is measured multiple times using at least one laser rangefinder to obtain multiple distance signals.

[0062] It should be understood that the measurement station is a pre-set fixed point located on the conveying device.

[0063] It should also be understood that the distance signal refers to the straight-line distance along the laser beam between the laser rangefinder and the object being measured.

[0064] Based on the real-time monitoring process of the position of the object under test in step S201, when the object under test is detected to have arrived at the measurement station, multiple laser measurements are automatically triggered. That is, at least one laser rangefinder is used to repeatedly measure the distance to the object under test, and a distance signal is obtained for each distance test.

[0065] Optionally, the position of the laser rangefinder and the angle at which the laser is emitted are also fixed.

[0066] Specifically, the laser rangefinder will emit oblique laser rays / pulses multiple times toward the measurement station. After propagating a certain distance, the laser rays / pulses will be reflected or scattered back by the surface of the object being measured, and then received by the laser receiver to obtain the distance signal.

[0067] In one embodiment, at least one laser rangefinder is used to measure the object to be measured multiple times. The steps are as follows: at least one laser rangefinder emits oblique laser rays multiple times toward the measurement station to obtain multiple distance signals output by the at least one laser rangefinder.

[0068] S203. When the monitored change in environmental conditions exceeds the set threshold, update the pre-built width measurement model.

[0069] Based on the monitoring process of external test environment conditions in step S201, when the monitored change in environmental conditions exceeds a preset threshold, the model update operation is automatically triggered.

[0070] For example, suppose an ambient temperature sensor is used to monitor the ambient temperature, and a threshold is set so that a model update operation is triggered when the ambient temperature changes by more than 1 degree Celsius. During measurement, the readings of the ambient temperature sensor are continuously monitored, and the difference between the current temperature and the previous reading is calculated. If the detected temperature change exceeds 1 degree Celsius, i.e., the temperature change is greater than the threshold, the model update operation is triggered.

[0071] The width measurement model refers to the model pre-constructed in this application for determining the width value of the object to be measured based on the distance signal output by the laser rangefinder.

[0072] It should be noted that the width measurement model is a mathematical model built based on the actual measurement scenario, and it varies depending on the number and location of the laser rangefinders. Figure 4 The illustrated embodiment provides an example of a width measurement model; width measurement models for other scenarios can be referenced. Figure 4 The principles described in the illustrated embodiments are used for construction, and this application will not repeat them here.

[0073] Optionally, recalibrating the width measurement model refers to recalibrating the model parameters or retraining the model.

[0074] S204. The updated width measurement model is used to process multiple distance signals to obtain the width value of the object to be measured.

[0075] If a model update operation is triggered, the system will recalibrate the model parameters or retrain the model to adapt to the new environmental conditions.

[0076] In other words, the updated width measurement model is more suitable for measurements under current environmental conditions. Therefore, the updated width measurement model is used to process the multiple distance signals obtained in step S203 to determine the width value of the object to be measured.

[0077] As described in the background section, changes in environmental conditions (such as temperature, humidity, dust, etc.) can affect the measurement accuracy of laser width measurement systems. The solution in this application, by monitoring environmental conditions, can promptly adjust the width measurement model when these conditions change, reducing the impact of environmental factors on the measurement results and thus improving measurement accuracy. Furthermore, timely adjustment of the width measurement model according to environmental conditions allows the system to adapt to different environmental conditions, thereby improving measurement stability and adaptability. Therefore, real-time monitoring of environmental conditions and timely updates to the width measurement model can improve measurement accuracy, system stability, reduce measurement errors, expand the applicability range, and enhance adaptability, thereby improving the overall performance and application effect of the laser width measurement system.

[0078] Figure 3 The diagram shows a flowchart of a width measurement model update method provided in an embodiment of this application.

[0079] It is understood that this embodiment can be regarded as an example of step S203.

[0080] like Figure 3 As shown, the method may include the following steps.

[0081] S301. Obtain at least one sample data corresponding to the environmental conditions.

[0082] Each sample data includes the distance signal output by the laser rangefinder when measuring an object under the same environmental conditions, and the actual width of the object.

[0083] The correspondence between environmental conditions and sample data needs to be determined in advance.

[0084] Optionally, the correspondence between environmental conditions and sample data can be obtained through experiments or historical data collection. For example, sample data under different environmental conditions such as temperature and humidity can be recorded to form a sample dataset.

[0085] Based on the real-time monitored environmental conditions, sample data corresponding to the environmental conditions are selected from the sample dataset.

[0086] S302. Based on at least one sample data, refit the pre-built width measurement model using the least squares method to obtain the model parameters corresponding to the environmental conditions, and update the width measurement model using these model parameters.

[0087] The sample data were fitted using the Least Squares Method (LSM).

[0088] The pre-built width measurement model is updated based on the new model parameters obtained by least squares fitting. The new model parameters are then applied to the width measurement model to better adapt it to environmental conditions.

[0089] In one implementation, the aforementioned model parameters refer to the tilt angle of the laser emitted by the laser rangefinder, that is, the angle between the emitted laser and the horizontal projection plane.

[0090] Through the above steps, sample data can be obtained based on environmental conditions, and the pre-built width measurement model can be refitted using the least squares method, thereby achieving real-time adjustment and optimization of the model.

[0091] In one embodiment, when only one laser rangefinder is used for distance measurement in the present application, the width value of the object to be measured in step S204 is the average value of the predicted width values ​​corresponding to multiple distance signals.

[0092] In other words, the above embodiment uses only one laser rangefinder for distance measurement, which is located on one side of the object being measured. In a single measurement, the laser rangefinder emits a laser beam towards the object and receives a reflected or scattered light signal. Each light signal corresponds to a distance signal, i.e., the distance from the laser rangefinder to the object. Multiple measurements are repeated over a period of time, resulting in multiple distance signals. Based on each distance signal, a pre-built width measurement model can be used to obtain the corresponding predicted swath width value. Finally, the average of all predicted swath width values ​​is taken to obtain the swath width value of the object being measured. This method comprehensively considers multiple measurement results, which helps to reduce measurement errors and improve measurement accuracy.

[0093] In one embodiment, when two laser rangefinders are used for distance measurement in this application, and the two laser rangefinders are deployed on opposite sides of the measurement station, the width value of the object to be measured in step S204 is the average of multiple predicted width values ​​corresponding to multiple sets of distance signals. Each set of distance signals includes two corresponding distance signals output by the two laser rangefinders in the same instance.

[0094] In other words, the above embodiment uses two laser rangefinders for distance measurement, which are installed on opposite sides of the measurement station of the object to be measured. During each measurement, both laser rangefinders emit lasers simultaneously and measure the distances corresponding to the two sides of the object. These two distance signals form a set. Multiple measurements are performed over a period of time, resulting in multiple sets of distance signals, each containing the distance measurement results from both laser rangefinders. Based on each set of distance signals, a corresponding swath width value can be obtained using a pre-built width measurement model. Since there are multiple sets of distance signals, a predicted swath width value can be obtained for each set. Finally, the average of all predicted swath width values ​​is taken to obtain the swath width value of the object to be measured. This method comprehensively considers multiple sets of measurement results, which also helps to reduce measurement errors and improve measurement accuracy.

[0095] Figure 4 A schematic diagram illustrating the application scenario of the method in this application when there are two laser rangefinders is provided.

[0096] The following is combined with Figure 4 This paper introduces the construction of the width measurement model and the corresponding laser width measurement method.

[0097] The scenario modeling is described as follows: The object to be measured, a (an example of an object to be measured), has a theoretical width value w. The paper roll enters the measurement station along a straight conveyor chain C (an example of a conveyor device). There are two fixed laser points (an example of a laser rangefinder), p1 and p2. These two laser points can only emit laser rays in fixed directions. Two planes, P1 and P2, are drawn through p1 and p2 respectively, such that P1⊥C and P2⊥C. Then, P1||P2. The distance between planes P1 and P2 is known to be H. A straight line N1 is drawn through p1 perpendicular to plane P1. Let A1 be the angle between the light emitted from p1 and N1, where A1 is unknown. A straight line N2 is drawn through p2 perpendicular to plane P2. Let A2 be the angle between p2 and N2, where A2 is unknown. It is known that after the laser rays emitted from p1 and p2 simultaneously illuminate the arriving object to be measured, the lengths of the laser rays are L1 and L2, respectively. Based on the given conditions, we need to solve for A1 and A2, and calculate the true width w of the object to be measured, a. * .

[0098] In this scenario, the process of measuring the width of the object a to be measured using the laser width measurement method provided in this application includes the following steps:

[0099] S401. Monitor the position of the object to be tested, a, on the conveyor chain C and the environmental conditions.

[0100] S402. When the object to be measured, a, is detected to have arrived at the measurement station, laser rangefinders p1 and p1 are used to measure the object to be measured multiple times to obtain multiple sets of distance signals.

[0101] S403. When the detected change in environmental conditions exceeds a set threshold, update the pre-built width measurement model w. * .

[0102] Based on the aforementioned known conditions, a width measurement model w can be constructed. * As shown below:

[0103] w * =f(L1,L2)=H-L1cosA1-L2cosA2.

[0104] Wherein, cosA1 and cosA2 are width measurement models. Model parameters.

[0105] When the monitored change in environmental conditions exceeds a set threshold, a sample dataset corresponding to the environmental conditions is obtained:

[0106] W={(w1, L11, L21),..., (w i L1 i L2 i ), ..., (w n L1 n L2 n ))}.

[0107] Where i represents the number of samples, L1 i L2 represents the i-th distance signal output by laser rangefinder p1. i w represents the i-th distance signal output by laser rangefinder p2. i Let be the i-th true width value of the object to be measured, a.

[0108] Based on this sample dataset, the width measurement model w is refitted using the least squares method. * This yields new cosA1 and cosA2.

[0109] In one implementation, the width measurement model w is refitted using the least squares method based on the sample data. * The method is as follows:

[0110] Based on the aforementioned known conditions, the loss function L can be listed as follows:

[0111]

[0112] This cost function is used to measure the difference between the model's predicted width value and the actual width value.

[0113] make Taking the partial derivative of the loss function, we get:

[0114]

[0115]

[0116] Setting the partial derivative to 0, we get:

[0117]

[0118] After solving, we get

[0119]

[0120] In summary, by using the least squares method to solve for L=0, we can obtain the new values ​​of cosA1 and cosA2.

[0121] The width measurement model w is updated based on the new cosA1 and cosA2. * .

[0122] S404, Using the updated width measurement model w * Multiple distance signals are processed to obtain the accurate width value of the object to be measured, a.

[0123] Specifically, based on each set of distance signals, the updated width measurement model is used to obtain the corresponding predicted width value. The average of all predicted width values ​​is then taken to obtain the accurate width value of the object being measured.

[0124] To address the impact of external factors (such as temperature, humidity, dust, and tilt) on the accuracy of laser width measurement, this embodiment monitors changes in environmental conditions, periodically calculates the laser emission angles (such as cosA1 and cosA2), and uses these values ​​to update the width measurement model. Specific steps include monitoring environmental conditions, constructing a loss function, periodically calculating the laser emission angles, updating the width measurement model, and determining the current width of the object being measured. This method ensures measurement accuracy and precision even under uncontrollable factors, improving the system's reliability and stability.

[0125] In one embodiment, the method of this application further includes: issuing early warnings or controlling based on monitored environmental condition data. For example, when the ambient temperature is detected to be too high, the laser measurement is automatically stopped to prevent equipment damage, and an over-temperature alarm is issued simultaneously.

[0126] The foregoing mainly describes a laser width measurement method according to an embodiment of this application with reference to the accompanying drawings. It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially, these steps are not necessarily executed in the order shown in the figures. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of steps or stages in other steps. The following describes an apparatus according to an embodiment of this application with reference to the accompanying drawings. For brevity, appropriate omissions will be made in the following description of the apparatus; relevant content can be referred to in the relevant descriptions of the methods above, and will not be repeated.

[0127] Corresponding to the method described in the above embodiments, Figure 5 A structural block diagram of a laser width measuring device 500 provided in an embodiment of this application is shown. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0128] Reference Figure 5 The device 500 may include:

[0129] The monitoring module 501 is used to monitor the position of the object under test on the conveying device and the environmental conditions.

[0130] The measurement module 502 is used to measure the object to be measured multiple times using at least one laser rangefinder when the object to be measured is detected to have arrived at the measurement station, thereby obtaining multiple distance signals.

[0131] The measurement station is a fixed point on the conveyor chain.

[0132] The update module 503 is used to update the pre-built width measurement model when the detected change in environmental conditions exceeds a set threshold.

[0133] The processing module 504 is used to process multiple distance signals using the updated width measurement model to obtain the width value of the object to be measured.

[0134] In one embodiment, the update module 503 can also be used to perform the above steps S301-S302.

[0135] In one embodiment, the monitoring module 501 can also be used to perform the above step S401.

[0136] In one embodiment, the measurement module 502 can also be used to perform the above step S402.

[0137] In one embodiment, the update module 503 can also be used to perform the above step S403.

[0138] In one embodiment, the processing module 504 can also be used to perform the above-described step S404.

[0139] In one embodiment, the monitoring module 501 may include a position sensor and an environmental sensor. The position sensor is used to measure the position of the object to be measured on the conveying device. By monitoring the changes in the object's position in real time, it can be determined whether the object has reached the measurement station and trigger subsequent measurement steps. The environmental sensor is used to monitor environmental conditions, including but not limited to temperature sensors, humidity sensors, dust sensors, and object status sensors.

[0140] In one embodiment, the measurement module 502 may include a laser rangefinder. The laser rangefinder is used to emit oblique laser rays / pulses towards the measurement station. After propagating a certain distance, the laser rays / pulses are reflected or scattered back by the surface of the object being measured, and then processed to obtain a distance signal.

[0141] In one embodiment, this application also provides a laser testing system, which may include a conveying device and a laser width measuring device. The conveying device is used to convey the object to be tested. The laser width measuring device is used to measure the width of the object conveyed by the conveying device.

[0142] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0143] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0144] Figure 6This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Figure 6 As shown, the computer device 1000 includes: at least one processor 1003 ( Figure 6 Only one is shown in the image. A memory 1001 and a computer program 1002 stored in the memory 1001, which can run on the processor 1003, are also shown. When the processor 1003 executes the computer program 1002, it performs the above-described functions. Figure 2 Steps S204 to S204 in the method embodiment; or, the processor 1003 executes the above when executing the computer program 1002. Figure 5 The functions of modules 501 to 504 in the device embodiment.

[0145] The processor 1003 may be a Central Processing Unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0146] In some embodiments, the memory 1001 may be an internal storage unit of the computer device 1000, such as a hard disk or memory of the computer device 1000. In other embodiments, the memory 1001 may be an external storage device of the computer device 1000, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the computer device 1000. Further, the memory 1001 may include both internal and external storage units of the computer device 1000. The memory 1001 is used to store the operating system, applications, boot loader, data, and other programs, such as the program code of the computer program. The memory 1001 can also be used to temporarily store data that has been output or will be output.

[0147] This application also provides a computer-readable storage medium storing a computer program that, when executed by an electronic device, can implement the steps in the above-described method embodiments.

[0148] The computer-readable medium may include at least: any entity or device capable of carrying computer program code to a photographic / electronic device, recording media, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include USB flash drives, portable hard drives, magnetic disks, or optical discs. In some jurisdictions, according to legislation and patent practice, computer-readable media may not be electrical carrier signals or telecommunication signals.

[0149] This application provides a computer program product, which includes a computer program that, when executed by an electronic device, can implement the steps described in the various method embodiments above. The computer program includes computer program code, which may be in the form of source code, object code, executable file, or some intermediate form.

[0150] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0151] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0152] In the embodiments provided in this application, it should be understood that the disclosed apparatus / network devices and methods can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0153] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0154] In the foregoing description, specific details such as particular system architectures and techniques have been set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application can also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted to avoid unnecessary detail that could obscure the description of this application.

[0155] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0156] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0157] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0158] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0159] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0160] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A laser width measurement method, characterized in that, include: Monitor the position of the object under test on the conveying device and the environmental conditions; When the object to be measured is detected to have reached the measurement station, the object to be measured is measured multiple times using at least one laser rangefinder to obtain multiple distance signals. The measurement station is a fixed point on the conveying device. When the detected change in the environmental conditions exceeds a set threshold, the pre-built width measurement model is updated; The updated width measurement model is used to process the multiple distance signals to obtain the width value of the object under test; The step of updating the pre-built width measurement model when the detected change in environmental conditions exceeds a set threshold includes: Obtain a sample dataset corresponding to the environmental conditions; Based on the sample dataset, the pre-built width measurement model is refitted using the least squares method to obtain the model parameters corresponding to the environmental conditions; The updated width measurement model is determined based on the model parameters corresponding to the environmental conditions. The model parameters include the angle between the laser beam emitted by each laser rangefinder and the horizontal projection plane. value.

2. The method according to claim 1, characterized in that, The environmental conditions include at least one of temperature, humidity, dust concentration, or object tilt.

3. The method according to claim 1 or 2, characterized in that, When the object to be measured is detected to have arrived at the measurement station, at least one laser rangefinder is used to perform multiple measurements on the object to be measured, obtaining multiple distance signals, including: By repeatedly emitting oblique laser beams towards the measuring station using at least one laser rangefinder, multiple distance signals are obtained from the output of the at least one laser rangefinder.

4. The method according to claim 1 or 2, characterized in that, When there is only one laser rangefinder, the width value of the object to be measured is the average value of the predicted width values ​​corresponding to the plurality of distance signals.

5. The method according to claim 1 or 2, characterized in that, When there are two laser rangefinders and they are set on both sides of the measurement station, the width value of the object to be measured is the average of multiple predicted width values ​​corresponding to multiple sets of distance signals. Each set of distance signals includes two corresponding distance signals output by the two laser rangefinders at the same time.

6. A laser width measuring device, used to implement the method as described in any one of claims 1-5, characterized in that, include: The monitoring module is used to monitor the position of the object under test on the conveying device and the environmental conditions. The measurement module is used to measure the object to be measured multiple times using at least one laser rangefinder when the object to be measured is detected to have arrived at the measurement station, and to obtain multiple distance signals. The measurement station is a fixed point on the conveyor chain. The update module is used to update the pre-built width measurement model when the detected change in the environmental conditions exceeds a set threshold. The processing module is used to process the multiple distance signals using the updated width measurement model to obtain the width value of the object to be measured.

7. A computer device, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it causes the computer device to perform the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a computer device, it implements the method as described in any one of claims 1 to 5.

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