Laser sensor ranging accuracy evaluation and processing system and method based on cloud computing

Abstract

The invention discloses a laser sensor ranging accuracy evaluation processing system and method based on cloud computing, and relates to the field of data processing. In the invention, the factors influencing the accuracy influencing factors set include all the factors affecting the ranging accuracy of the laser sensor in a relatively comprehensive manner. By comprehensively considering these factors, the final ranging accuracy level decision tree constructed subsequently can evaluate the ranging accuracy level of the laser sensor more carefully and accurately. By classifying each data in the accuracy influencing factor data matrix, it is convenient to construct the final ranging accuracy level decision tree subsequently, and the final ranging accuracy level decision tree can classify the laser sensor to be evaluated more accurately. Then, by performing ranging tests on the laser sensor to be evaluated, the final ranging accuracy level is determined according to the results of evaluation from two different angles. According to the above scheme, the evaluation process is more comprehensive and detailed, so that the evaluation result is more accurate.

Description

Technical Field

[0001] The present invention belongs to the field of data processing, and in particular, relates to a laser sensor ranging accuracy evaluation processing system and method based on cloud computing. Background Art

[0002] A laser sensor is a device that uses a laser beam for measurement and detection. It uses the laser beam emitted by a laser transmitter to detect and measure parameters such as the position, distance, shape, and speed of a target object through the interaction between the laser beam and the target object. A laser sensor is usually composed of a laser transmitter, a receiver, and a signal processor. The laser transmitter emits a laser beam, which is received by the receiver of the laser sensor after reflection, scattering, or absorption. The receiver converts the received laser signal into an electrical signal and transmits it to the signal processor for processing and analysis. The signal processor obtains the required measurement data through calculation and analysis based on the characteristics of the laser signal. Laser sensors have the advantages of high precision, fast response, and non-contact, and are widely used in industrial measurement, robot navigation, autonomous driving, geological exploration, medical diagnosis, and other fields. Common types of laser sensors include ranging sensors, displacement sensors, speed sensors, profile scanning sensors, and the like.

[0003] Chinese patent CN116720050A discloses a signal quality assessment method for a ground pseudo-satellite enhancement system; firstly, the ranging accuracy of the signal quality indicator of the receiver in a stable state is recorded as a sample, the latest M samples are selected, and each indicator in the sample is standardized to obtain a standardized indicator matrix; then the principal component is obtained; then the number of principal components is determined; then the principal component indicators obtained and the ranging accuracy indicators are used to perform multivariate linear regression to evaluate the influence of each ranging accuracy indicator on the ranging accuracy; finally, the ranging accuracy is predicted according to the obtained quality assessment indicators; this method can effectively extract the main features of the pseudo-satellite signal and accurately and stably predict the ranging accuracy of the corresponding channel.

[0004] The existing evaluation of the ranging accuracy of laser sensors is often a single ranging test, and then the accuracy is evaluated based on the error value between the test result and the actual distance. However, the test process will be affected by many external factors and this external testing method will also be affected by the test level of the measurer. Therefore, it cannot fully reflect the ranging accuracy of the laser sensor. In addition, the ranging accuracy of the laser sensor is often related to its own performance. The external testing method does not take into account the performance of the laser sensor itself, resulting in incomplete and inaccurate evaluation results. Summary of the invention

[0005] In view of the problems in the related art, the present invention proposes a laser sensor ranging accuracy evaluation and processing system and method based on cloud computing to overcome the above-mentioned technical problems existing in the existing related technology.

[0006] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0007] The present invention is a laser sensor ranging accuracy evaluation and processing method, comprising the following steps:

[0008] S1, setting a set of factors influencing the ranging accuracy of laser sensors, recorded as a set of factors influencing the ranging accuracy; collecting a set of laser sensor samples; collecting the influencing factor data corresponding to each laser sensor sample in the laser sensor sample set according to the set of factors influencing the ranging accuracy, and obtaining a data matrix of factors influencing the ranging accuracy; and setting a corresponding set of ranging accuracy levels according to the laser sensor sample set;

[0009] S2, according to the accuracy influencing factor set, set the corresponding accuracy influencing factor weight data set; according to the accuracy influencing factor weight data set, set the data interval range of each accuracy influencing factor data belonging to the same category, and obtain the accuracy influencing factor data interval range set; traverse the accuracy influencing factor data matrix by column, and classify each data in the accuracy influencing factor data matrix according to the accuracy influencing factor data interval range set, and obtain the accuracy influencing factor data category matrix; construct the final ranging accuracy level decision tree according to the accuracy influencing factor data category matrix and the ranging accuracy level set;

[0010] S3, setting a laser sensor to be evaluated, collecting data corresponding to each ranging accuracy influencing factor of the laser sensor to be evaluated according to the laser sensor ranging accuracy influencing factor set, and obtaining a ranging accuracy influencing factor data set to be evaluated; using the final ranging accuracy level decision tree to classify the ranging accuracy influencing factor data set to be evaluated, and obtaining a first ranging accuracy level of the laser sensor to be evaluated;

[0011] S4, setting a ranging length set; setting a ranging object sample set according to the ranging length set; performing a ranging operation to obtain a measurement data set; performing a comparison to obtain a measurement error data set; setting a measurement error threshold matrix, and setting a ranging accuracy level determination rule according to the measurement error threshold matrix and the ranging accuracy level set; obtaining a second ranging accuracy level of the laser sensor to be evaluated according to the ranging accuracy level determination rule and the measurement error data set; taking the lower ranging accuracy level of the first ranging accuracy level of the laser sensor to be evaluated and the second ranging accuracy level of the laser sensor to be evaluated as the final ranging accuracy level of the laser sensor to be evaluated;

[0012] The factors affecting the accuracy include, for example, laser power: the power of the laser determines the intensity of the laser beam. The greater the power, the higher the ranging accuracy; receiver sensitivity: the sensitivity of the receiver determines the intensity of the laser signal it can receive. The higher the sensitivity, the higher the ranging accuracy; laser beam diameter: the smaller the diameter of the laser beam, the higher the ranging accuracy, because a laser beam with a small diameter can be more accurately aimed at the target object; sensor calibration and stability: the calibration and stability of the sensor will also affect the ranging accuracy. If the sensor calibration is inaccurate or unstable, the ranging result may be biased;

[0013] The above-mentioned influencing factors comprehensively include all the factors that affect the ranging accuracy of the laser sensor. Through comprehensive consideration of these factors, the final ranging accuracy level decision tree constructed subsequently can evaluate the ranging accuracy level of the laser sensor more carefully and accurately. By classifying each data in the accuracy influencing factor data matrix, the category of each accuracy influencing factor data is determined, so as to facilitate the subsequent construction of the final ranging accuracy level decision tree. The final ranging accuracy level decision tree can classify the laser sensor to be evaluated more accurately. Secondly, by performing ranging tests on the laser sensor to be evaluated, the ranging accuracy level is evaluated again from the perspective of actual tests, and finally the final ranging accuracy level is determined according to the results of evaluation from two different perspectives. According to the above scheme, the evaluation process is more comprehensive and detailed, so that the evaluation results are more accurate.

[0014] Preferably, the S1 comprises the following steps:

[0015] S11, set the laser sensor ranging accuracy influencing factor set a = {a 1 ,a 2 ,...,a i ,...,a a′}, recorded as the accuracy influencing factor set, a i represents the influencing factor of the ranging accuracy of the i-th laser sensor, and a′ represents the total number of influencing factors in the accuracy influencing factor set;

[0016] S12. Collect laser sensor sample set b i represents the i-th laser sensor sample, represents the total number of laser sensor samples collected; according to the accuracy influencing factor set a={a 1 ,a 2 ,...,a i ,...,a a′} Collect laser sensor sample set The influencing factor data corresponding to each laser sensor sample in the image is obtained to obtain the accuracy influencing factor data matrix as follows,

[0017]

[0018] in, Represents the data of the jth laser sensor sample corresponding to the influencing factor of the i-th laser sensor ranging accuracy;

[0019] S13, according to the laser sensor sample set Set the corresponding ranging accuracy level set b i ′ represents the ranging accuracy level corresponding to the i-th laser sensor sample;

[0020] By setting the laser sensor ranging accuracy influencing factor set, laser sensor sample set, accuracy influencing factor data matrix and ranging accuracy level set, a data basis is provided for the subsequent construction of the final ranging accuracy level decision tree.

[0021] Preferably, S2 comprises the following steps:

[0022] S21, according to the accuracy influencing factor set a={a 1 ,a 2 ,...,a i ,...,a a′}Set the corresponding accuracy influencing factor weight data set Represents the weight value of the factors affecting the ranging accuracy of the i-th laser sensor;

[0023] S22, according to the accuracy influencing factor weight data set Set the data interval range of each precision influencing factor data belonging to the same category to obtain the precision influencing factor data interval range set and They respectively represent the lower limit and upper limit of the data interval of the i-th influencing factor data belonging to the same category;

[0024] S23, the data matrix of the factors affecting the accuracy Traverse by column, and set the data interval range according to the accuracy influencing factors Classify each data in the precision influencing factor data matrix to obtain the precision influencing factor data category matrix c, as follows:

[0025]

[0026] Among them, c ij Indicates the category of the data of the jth laser sensor sample corresponding to the influencing factor of the i-th laser sensor ranging accuracy;

[0027] S24, according to the accuracy influencing factor data category matrix c and the ranging accuracy level set Construct the final ranging accuracy level decision tree;

[0028] By classifying each data in the precision influencing factor data matrix, each data in the precision influencing factor data matrix is ​​discretized, so as to facilitate the subsequent construction of a decision tree according to the influence of each data type on the ranging accuracy of the laser sensor.

[0029] Preferably, the S23 comprises the following steps:

[0030] S231, the precision influencing factor data matrix Traverse by column and set the data category determination rules for accuracy influencing factors, as follows:

[0031] when When the data and data as the same category; otherwise, and data As different categories;

[0032] S232, according to the accuracy influencing factor data category determination rule and the accuracy influencing factor data matrix Get the data category matrix c of accuracy influencing factors;

[0033] Through the accuracy influencing factor data category determination rules, the various data in the accuracy influencing factor data matrix can be separated more clearly.

[0034] Preferably, the S24 comprises the following steps:

[0035] S241, constructing an initial ranging accuracy level decision tree, wherein the root node of the initial ranging accuracy level decision tree is the ranging accuracy level, which is recorded as the first layer of the decision tree;

[0036] S242, calculating the distance measurement accuracy level set The information entropy of is recorded as level information entropy c′; the calculation formula is as follows:

[0037]

[0038] In the formula, c i ′ indicates that the i-th type of ranging accuracy level is in the ranging accuracy level set The probability of occurrence in Represents the range accuracy level set The total number of medium ranging accuracy level categories;

[0039] S243, traverse the precision influencing factor data category matrix c by column, calculate the conditional information entropy of the ranging accuracy level when each type of influencing factor data appears in each column of the precision influencing factor data category matrix, and obtain the ranging accuracy level conditional information entropy data matrix as follows,

[0040]

[0041] in, represents the conditional information entropy data of the j-th type of influencing factor data among the influencing factors of the ranging accuracy of the i-th laser sensor on the ranging accuracy level; d i represents the total number of influencing factor data categories in the factors affecting the ranging accuracy of the i-th laser sensor;

[0042] S244, according to the distance measurement accuracy level condition information entropy data matrix Calculation accuracy influencing factors Data category Conditional information entropy Data set d′={d 1 ′,d 2 ′,...,d i ′,...,d a ″},d i ′ represents the conditional information entropy of the factors affecting the ranging accuracy of the i-th laser sensor on the ranging accuracy level; d i The calculation formula of ′ is as follows:

[0043]

[0044] S245, according to the level information entropy c' and the accuracy influencing factor data category condition information entropy data set d'={d 1 ′,d 2 ′,...,d i ′,...,d a ″}Get the first information gain set represents the information gain between the factors affecting the ranging accuracy of the i-th laser sensor and the ranging accuracy level, The calculation formula is as follows,

[0045]

[0046] Pick The corresponding laser sensor ranging accuracy influencing factors are used as the second layer of the ranging accuracy level decision tree; at the same time, the accuracy influencing factor data category conditional information entropy data set

[0047] d′={d 1 ′,d 2 ′,...,d i ′,...,da ″}The corresponding data is removed;

[0048] S246, repeating S242, S243, S244 and S245 based on the second layer of the initial ranging accuracy level decision tree, when the accuracy influencing factor data category conditional information entropy data set d′={d 1 ′,d 2 ′,...,d i ′,...,d a When there is no data in ″}, the final ranging accuracy level decision tree is obtained;

[0049] First, the information entropy of the ranging accuracy level without any influencing factors is calculated, and then the information entropy of the ranging accuracy level under the influence of each influencing factor is calculated. The two are compared, that is, the information gain between the two is calculated, and the influencing factor with the greatest influence on the ranging accuracy level can be obtained; this cycle is repeated, so that the constructed decision tree can more accurately classify the ranging accuracy level of the laser sensor according to the data values ​​of various influencing factors, providing an accurate basis for the final determination of the ranging accuracy level of the laser sensor.

[0050] Preferably, S3 comprises the following steps:

[0051] S31, setting the laser sensor to be evaluated, according to the laser sensor ranging accuracy influencing factor set a={a 1 ,a 2 ,...,a i ,...,a a′ Collect the data corresponding to each distance measurement accuracy influencing factor of the laser sensor to be evaluated, and obtain the distance measurement accuracy influencing factor data set to be evaluated Indicates the data value corresponding to the influencing factor of the laser sensor ranging accuracy of the laser sensor to be evaluated at the i-th laser sensor;

[0052] S32, using the final ranging accuracy level decision tree to evaluate the ranging accuracy influencing factor data set Perform classification to obtain a first range-finding accuracy level of the laser sensor to be evaluated;

[0053] The final ranging accuracy level decision tree is used to classify the data of the factors affecting the ranging accuracy to be evaluated, so that the ranging accuracy level of the laser sensor to be evaluated can be evaluated quickly and accurately, providing an accurate basis for the subsequent determination of the final ranging accuracy level of the laser sensor to be evaluated.

[0054] Preferably, S4 comprises the following steps:

[0055] S41, set the ranging length set e={e1 ,e 2 ,...,e i ,...,e e′},e i represents the i-th ranging length, and e′ represents the total number of ranging lengths in the ranging length set;

[0056] S42, according to the ranging length set e={e 1 ,e 2 ,...,e i ,...,e e′}Set the distance measurement object sample set represents the i-th ranging object sample;

[0057] S43, using the laser sensor to be evaluated to measure the distance object sample set Perform ranging operations on each ranging object sample in to obtain a measurement data set represents the measurement data obtained by measuring the i-th ranging object sample;

[0058] S44, the measurement data set and the ranging length set e = {e 1 ,e 2 ,...,e i ,...,e e′}, and the measurement error data set f = {f 1 ,f 2 ,...,f i ,...,f e′}, f i represents the error generated by the laser sensor to be evaluated when measuring the i-th ranging object sample,

[0059] According to the ranging accuracy level set And the ranging length set e = {e 1 ,e 2 ,...,e i ,...,e e′} Set the corresponding measurement error threshold matrix f′ as follows,

[0060]

[0061] f ij ′ represents the jth measurement error threshold at the i-th ranging length;

[0062] According to the measurement error threshold matrix f′ and the ranging accuracy level set Set the ranging accuracy level determination rules;

[0063] S45, according to the ranging accuracy level determination rule and the measurement error data set f={f 1 ,f 2 ,...,f i ,...,f e′}Get the range accuracy level set of the laser sensor to be evaluated Indicates the ranging accuracy level obtained by measuring the distance at the i-th ranging length;

[0064] S46, the laser sensor distance measurement accuracy level to be evaluated is set The lowest level among the above is taken as the second laser sensor ranging accuracy level to be evaluated;

[0065] S47, taking the lower ranging accuracy level of the first to-be-evaluated laser sensor ranging accuracy level and the second to-be-evaluated laser sensor ranging accuracy level as the final to-be-evaluated laser sensor ranging accuracy level;

[0066] By setting the ranging length set and the ranging object sample set, the test object is provided; and by collecting the measurement data set, data support is provided for the subsequent secondary evaluation of the ranging accuracy level of the laser sensor to be evaluated; the ranging accuracy level judgment rule can be used to specifically quantify the ranging accuracy level of the laser sensor to be evaluated, thereby obtaining the secondary evaluation result to determine the final ranging accuracy level of the laser sensor to be evaluated.

[0067] Preferably, the distance measurement accuracy level determination rule is as follows:

[0068] When f i <f i ' 1 When the range-measuring accuracy level of the laser sensor to be evaluated is b 1 ′; when f i ' 1 ≤f i <f i ' 2 When the range-measuring accuracy level of the laser sensor to be evaluated is b 2 ′; ...; when f ij ′≤f i <f i ' (j+1) When the range-measuring accuracy level of the laser sensor to be evaluated is b j ';...;when When the range-measuring accuracy level of the laser sensor to be evaluated is

[0069] The ranging accuracy level determination rule can be used to specifically quantify the ranging accuracy level of the laser sensor to be evaluated.

[0070] A laser sensor ranging accuracy evaluation and processing system based on cloud computing, comprising an accuracy influencing factor construction module, an accuracy influencing factor data acquisition module, an accuracy influencing factor data category calculation module, a final ranging accuracy level decision tree construction module, a to-be-evaluated laser sensor influencing factor data acquisition module, a first ranging accuracy level determination module, a measurement data acquisition module, a second ranging accuracy level determination module, and a final ranging accuracy level determination module;

[0071] The accuracy influencing factor building module is used to build a set of influencing factors for ranging accuracy of the laser sensor;

[0072] The accuracy influencing factor data collection module is used to collect influencing factor data corresponding to each laser sensor sample in the laser sensor sample set according to the accuracy influencing factor set;

[0073] The precision influencing factor data category calculation module is used to classify each data in the precision influencing factor data matrix according to the precision influencing factor data interval range set;

[0074] The final ranging accuracy level decision tree construction module is used to construct a final ranging accuracy level decision tree according to the accuracy influencing factor data category matrix and the ranging accuracy level set;

[0075] The to-be-evaluated laser sensor influencing factor data acquisition module is used to acquire data corresponding to each ranging accuracy influencing factor of the to-be-evaluated laser sensor according to the laser sensor ranging accuracy influencing factor set;

[0076] The first ranging accuracy level determination module is used to classify the ranging accuracy influencing factor data set to be evaluated using the final ranging accuracy level decision tree to obtain the first ranging accuracy level of the laser sensor to be evaluated;

[0077] The measurement data acquisition module is used to set a distance measurement object sample set according to the distance measurement length set; perform a distance measurement operation to obtain a measurement data set;

[0078] The second ranging accuracy level determination module is used to obtain the second ranging accuracy level of the laser sensor to be evaluated according to the ranging accuracy level determination rule and the measurement error data set;

[0079] The final distance measurement accuracy level determination module is used to obtain the final distance measurement accuracy level of the laser sensor to be evaluated according to the first distance measurement accuracy level of the laser sensor to be evaluated and the second distance measurement accuracy level of the laser sensor to be evaluated.

[0080] The present invention has the following beneficial effects:

[0081] 1. In the present invention, an accuracy influencing factor construction module, an accuracy influencing factor data acquisition module, an accuracy influencing factor data category calculation module, a final ranging accuracy level decision tree construction module, an influencing factor data acquisition module for a laser sensor to be evaluated, a first ranging accuracy level determination module, a measurement data acquisition module, a second ranging accuracy level determination module and a final ranging accuracy level determination module are set; the influencing factors in the accuracy influencing factor set include all the factors affecting the ranging accuracy of the laser sensor in a comprehensive manner, and through comprehensive consideration of these factors, the final ranging accuracy level decision tree constructed subsequently can evaluate the ranging accuracy level of the laser sensor more carefully and accurately; by classifying each data in the accuracy influencing factor data matrix, the category of each accuracy influencing factor data is determined, so as to facilitate the subsequent construction of the final ranging accuracy level decision tree, and the final ranging accuracy level decision tree can classify the laser sensor to be evaluated more accurately; secondly, by performing a ranging test on the laser sensor to be evaluated, the ranging accuracy level is evaluated again from the perspective of the actual test, and finally the final ranging accuracy level is determined according to the results of the evaluation from two different perspectives; according to the above scheme, the evaluation process is more comprehensive and detailed, so that the evaluation result is more accurate.

[0082] 2. In the present invention, each data in the precision influencing factor data matrix is ​​classified so that each data in the precision influencing factor data matrix is ​​discretized, which facilitates the subsequent construction of a decision tree based on the degree of influence of each data type on the ranging accuracy of the laser sensor. Among them, the data in the precision influencing factor data matrix can be separated more clearly through the precision influencing factor data category determination rule.

[0083] 3. In the present invention, the information entropy of the ranging accuracy level without any influencing factors is first calculated, and then the information entropy of the ranging accuracy level under the influence of each influencing factor is calculated, and the two are compared, that is, the information gain between the two is calculated, so that the influencing factor with the greatest influence on the ranging accuracy level can be obtained; this cycle is repeated, so that the constructed decision tree can more accurately classify the ranging accuracy level of the laser sensor according to the data values ​​of various influencing factors, providing an accurate basis for finally determining the ranging accuracy level of the laser sensor, and then providing the test object by setting the ranging length set and the ranging object sample set; and then by collecting the measurement data set, data support is provided for the subsequent secondary evaluation of the ranging accuracy level of the laser sensor to be evaluated; the ranging accuracy level determination rule can specifically quantify the ranging accuracy level of the laser sensor to be evaluated, thereby obtaining the secondary evaluation result, so as to determine the final ranging accuracy level of the laser sensor to be evaluated.

[0084] 4. The data of various influencing factors and measurement data collected in the present invention are stored using the distributed storage technology in cloud computing, using a distributed storage method to store data and using redundant storage to ensure data reliability.

[0085] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] In order to more clearly illustrate the technical solutions of the embodiments of the invention, the drawings required for describing the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, they can also obtain drawings based on these drawings without paying creative work.

[0087] Figure 1 The present invention is a schematic diagram of a process of evaluating the ranging accuracy of a laser sensor by a laser sensor ranging accuracy evaluation and processing system based on cloud computing. DETAILED DESCRIPTION

[0088] The following will be combined with the drawings in the embodiments of the invention to clearly and completely describe the technical solutions in the embodiments of the invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of the embodiments. Based on the embodiments in the invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the invention.

[0089] In the description of the present invention, it is necessary to understand that the terms "opening", "upper", "lower", "top", "middle", "inside" and the like indicating orientation or positional relationship are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the invention.

[0090] The present invention is a laser sensor ranging accuracy evaluation and processing method, comprising the following steps:

[0091] S1, setting a set of factors influencing the ranging accuracy of laser sensors, recorded as a set of factors influencing the ranging accuracy; collecting a set of laser sensor samples; collecting the influencing factor data corresponding to each laser sensor sample in the laser sensor sample set according to the set of factors influencing the ranging accuracy, and obtaining a data matrix of factors influencing the ranging accuracy; and setting a corresponding set of ranging accuracy levels according to the laser sensor sample set;

[0092] The S1 comprises the following steps:

[0093] S11, set the laser sensor ranging accuracy influencing factor set a = {a 1 ,a2 ,...,a i ,...,a a′}, recorded as the accuracy influencing factor set, a i represents the influencing factor of the ranging accuracy of the i-th laser sensor, and a′ represents the total number of influencing factors in the accuracy influencing factor set;

[0094] S12. Collect laser sensor sample set b i represents the i-th laser sensor sample, represents the total number of laser sensor samples collected; according to the accuracy influencing factor set a={a 1 ,a 2 ,...,a i ,...,a a′} Collect laser sensor sample set The influencing factor data corresponding to each laser sensor sample in the image is obtained to obtain the accuracy influencing factor data matrix as follows,

[0095]

[0096] in, Represents the data of the jth laser sensor sample corresponding to the influencing factor of the i-th laser sensor ranging accuracy;

[0097] S13, according to the laser sensor sample set Set the corresponding ranging accuracy level set b i ′ represents the ranging accuracy level corresponding to the i-th laser sensor sample;

[0098] S2, according to the accuracy influencing factor set, set the corresponding accuracy influencing factor weight data set; according to the accuracy influencing factor weight data set, set the data interval range of each accuracy influencing factor data belonging to the same category, and obtain the accuracy influencing factor data interval range set; traverse the accuracy influencing factor data matrix by column, and classify each data in the accuracy influencing factor data matrix according to the accuracy influencing factor data interval range set, and obtain the accuracy influencing factor data category matrix; construct the final ranging accuracy level decision tree according to the accuracy influencing factor data category matrix and the ranging accuracy level set;

[0099] The S2 comprises the following steps:

[0100] S21, according to the accuracy influencing factor set a={a 1 ,a 2 ,...,a i ,...,a a′}Set the corresponding accuracy influencing factor weight data set Represents the weight value of the factors affecting the ranging accuracy of the i-th laser sensor;

[0101] S22, according to the accuracy influencing factor weight data set Set the data interval range of each precision influencing factor data belonging to the same category to obtain the precision influencing factor data interval range set and They respectively represent the lower limit and upper limit of the data interval of the i-th influencing factor data belonging to the same category;

[0102] S23, the data matrix of the factors affecting the accuracy Traverse by column, and set the data interval range according to the accuracy influencing factors Classify each data in the precision influencing factor data matrix to obtain the precision influencing factor data category matrix c, as follows:

[0103]

[0104] Among them, c ij Indicates the category of the data of the jth laser sensor sample corresponding to the influencing factor of the i-th laser sensor ranging accuracy;

[0105] The S23 comprises the following steps:

[0106] S231, the precision influencing factor data matrix Traverse by column and set the data category determination rules for accuracy influencing factors, as follows:

[0107] when When the data and data as the same category; otherwise, and data As different categories;

[0108] S232, according to the accuracy influencing factor data category determination rule and the accuracy influencing factor data matrix Get the data category matrix c of accuracy influencing factors;

[0109] S24, according to the accuracy influencing factor data category matrix c and the ranging accuracy level set Construct the final ranging accuracy level decision tree;

[0110] The S24 comprises the following steps:

[0111] S241, constructing an initial ranging accuracy level decision tree, wherein the root node of the initial ranging accuracy level decision tree is the ranging accuracy level, which is recorded as the first layer of the decision tree;

[0112] S242, calculating the distance measurement accuracy level set The information entropy of is recorded as level information entropy c′; the calculation formula is as follows:

[0113]

[0114] In the formula, c i ′ indicates that the i-th type of ranging accuracy level is in the ranging accuracy level set The probability of occurrence in Represents the range accuracy level set The total number of medium ranging accuracy level categories;

[0115] S243, traverse the precision influencing factor data category matrix c by column, calculate the conditional information entropy of the ranging accuracy level when each type of influencing factor data appears in each column of the precision influencing factor data category matrix, and obtain the ranging accuracy level conditional information entropy data matrix as follows,

[0116]

[0117] in, represents the conditional information entropy data of the j-th type of influencing factor data among the influencing factors of the ranging accuracy of the i-th laser sensor on the ranging accuracy level; d i represents the total number of influencing factor data categories in the factors affecting the ranging accuracy of the i-th laser sensor;

[0118] S244, according to the distance measurement accuracy level condition information entropy data matrix c~calculate the accuracy influencing factor data category condition information entropy data set d′={d 1 ′,d 2 ′,...,d i ′,...,d a ″},d i ′ represents the conditional information entropy of the factors affecting the ranging accuracy of the i-th laser sensor on the ranging accuracy level; d i The calculation formula of ′ is as follows:

[0119]

[0120] S245, according to the level information entropy c' and the accuracy influencing factor data category condition information entropy data set d'={d 1 ′,d 2 ′,...,d i ′,...,da ″}Get the first information gain set represents the information gain between the factors affecting the ranging accuracy of the i-th laser sensor and the ranging accuracy level, The calculation formula is as follows,

[0121]

[0122] Pick The corresponding laser sensor ranging accuracy influencing factors are used as the second layer of the ranging accuracy level decision tree; at the same time, the accuracy influencing factor data category conditional information entropy data set

[0123] d′={d 1 ′,d 2 ′,...,d i ′,...,d a ″} corresponding data is eliminated;

[0124] S246, repeating S242, S243, S244 and S245 based on the second layer of the initial ranging accuracy level decision tree, when the accuracy influencing factor data category conditional information entropy data set d′={d 1 ′,d 2 ′,...,d i ′,...,d a When there is no data in ″}, the final ranging accuracy level decision tree is obtained;

[0125] S3, setting a laser sensor to be evaluated, collecting data corresponding to each ranging accuracy influencing factor of the laser sensor to be evaluated according to the laser sensor ranging accuracy influencing factor set, and obtaining a ranging accuracy influencing factor data set to be evaluated; using the final ranging accuracy level decision tree to classify the ranging accuracy influencing factor data set to be evaluated, and obtaining a first ranging accuracy level of the laser sensor to be evaluated;

[0126] The S3 comprises the following steps:

[0127] S31, setting the laser sensor to be evaluated, according to the laser sensor ranging accuracy influencing factor set a={a 1 ,a 2 ,...,a i ,...,a a′ Collect the data corresponding to each distance measurement accuracy influencing factor of the laser sensor to be evaluated, and obtain the distance measurement accuracy influencing factor data set to be evaluated Indicates the data value corresponding to the influencing factor of the laser sensor ranging accuracy of the laser sensor to be evaluated at the i-th laser sensor;

[0128] S32, using the final ranging accuracy level decision tree to evaluate the ranging accuracy influencing factor data set Perform classification to obtain a first range-finding accuracy level of the laser sensor to be evaluated;

[0129] S4, setting a ranging length set; setting a ranging object sample set according to the ranging length set; performing a ranging operation to obtain a measurement data set; performing a comparison to obtain a measurement error data set; setting a measurement error threshold matrix, and setting a ranging accuracy level determination rule according to the measurement error threshold matrix and the ranging accuracy level set; obtaining a second ranging accuracy level of the laser sensor to be evaluated according to the ranging accuracy level determination rule and the measurement error data set; taking the lower ranging accuracy level of the first ranging accuracy level of the laser sensor to be evaluated and the second ranging accuracy level of the laser sensor to be evaluated as the final ranging accuracy level of the laser sensor to be evaluated;

[0130] The S4 comprises the following steps:

[0131] S41, set the ranging length set e={e 1 ,e 2 ,...,e i ,...,e e′},e i represents the i-th ranging length, and e′ represents the total number of ranging lengths in the ranging length set;

[0132] S42, according to the ranging length set e={e 1 ,e 2 ,...,e i ,...,e e′}Set the distance measurement object sample set represents the i-th ranging object sample;

[0133] S43, using the laser sensor to be evaluated to measure the distance object sample set Perform ranging operations on each ranging object sample in to obtain a measurement data set represents the measurement data obtained by measuring the i-th ranging object sample;

[0134] S44, the measurement data set and the ranging length set e = {e 1 ,e 2 ,...,e i ,...,e e′}, and the measurement error data set f = {f 1 ,f 2 ,...,f i ,...,fe′}, f i represents the error generated by the laser sensor to be evaluated when measuring the i-th ranging object sample,

[0135] According to the ranging accuracy level set And the ranging length set e = {e 1 ,e 2 ,...,e i ,...,e e′} Set the corresponding measurement error threshold matrix f′ as follows,

[0136]

[0137] f ij ′ represents the jth measurement error threshold at the i-th ranging length;

[0138] According to the measurement error threshold matrix f′ and the ranging accuracy level set Set the ranging accuracy level determination rules;

[0139] The distance measurement accuracy level determination rules are as follows:

[0140] When f i <f i ' 1 When the range-measuring accuracy level of the laser sensor to be evaluated is b 1 ′; when f i ' 1 ≤f i <f i ' 2 When the range-measuring accuracy level of the laser sensor to be evaluated is b 2 ′; ...; when f ij ′≤f i <f i ' (j+1) When the range-measuring accuracy level of the laser sensor to be evaluated is b j ';...;when When the range-measuring accuracy level of the laser sensor to be evaluated is

[0141] S45, according to the ranging accuracy level determination rule and the measurement error data set f={f 1 ,f 2 ,...,f i ,...,f e′}Get the range accuracy level set of the laser sensor to be evaluated Indicates the ranging accuracy level obtained by measuring the distance at the i-th ranging length;

[0142] S46, the laser sensor ranging accuracy level to be evaluated is set The lowest level among the above is taken as the second laser sensor ranging accuracy level to be evaluated;

[0143] S47: Use the lower ranging accuracy level of the first to-be-evaluated laser sensor ranging accuracy level and the second to-be-evaluated laser sensor ranging accuracy level as the final to-be-evaluated laser sensor ranging accuracy level.

[0144] A laser sensor ranging accuracy evaluation and processing system based on cloud computing, comprising an accuracy influencing factor construction module, an accuracy influencing factor data acquisition module, an accuracy influencing factor data category calculation module, a final ranging accuracy level decision tree construction module, a to-be-evaluated laser sensor influencing factor data acquisition module, a first ranging accuracy level determination module, a measurement data acquisition module, a second ranging accuracy level determination module, and a final ranging accuracy level determination module;

[0145] The accuracy influencing factor building module is used to build a set of influencing factors for ranging accuracy of the laser sensor;

[0146] The accuracy influencing factor data collection module is used to collect influencing factor data corresponding to each laser sensor sample in the laser sensor sample set according to the accuracy influencing factor set;

[0147] The precision influencing factor data category calculation module is used to classify each data in the precision influencing factor data matrix according to the precision influencing factor data interval range set;

[0148] The final ranging accuracy level decision tree construction module is used to construct a final ranging accuracy level decision tree according to the accuracy influencing factor data category matrix and the ranging accuracy level set;

[0149] The to-be-evaluated laser sensor influencing factor data acquisition module is used to acquire data corresponding to each ranging accuracy influencing factor of the to-be-evaluated laser sensor according to the laser sensor ranging accuracy influencing factor set;

[0150] The first ranging accuracy level determination module is used to classify the ranging accuracy influencing factor data set to be evaluated using the final ranging accuracy level decision tree to obtain the first ranging accuracy level of the laser sensor to be evaluated;

[0151] The measurement data acquisition module is used to set a distance measurement object sample set according to the distance measurement length set; perform a distance measurement operation to obtain a measurement data set;

[0152] The second ranging accuracy level determination module is used to obtain the second ranging accuracy level of the laser sensor to be evaluated according to the ranging accuracy level determination rule and the measurement error data set;

[0153] The final distance measurement accuracy level determination module is used to obtain the final distance measurement accuracy level of the laser sensor to be evaluated according to the first distance measurement accuracy level of the laser sensor to be evaluated and the second distance measurement accuracy level of the laser sensor to be evaluated.

[0154] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0155] The preferred embodiments of the invention disclosed above are only used to help explain the invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the invention, so that those skilled in the art can understand and use the invention well.

Claims

1. A laser sensor ranging accuracy evaluation and processing method, characterized in that: The following steps are involved: S1, setting a set of factors influencing the ranging accuracy of laser sensors, recorded as a set of factors influencing the ranging accuracy; collecting a set of laser sensor samples; collecting the influencing factor data corresponding to each laser sensor sample in the laser sensor sample set according to the set of factors influencing the ranging accuracy, and obtaining a data matrix of factors influencing the ranging accuracy; and setting a corresponding set of ranging accuracy levels according to the laser sensor sample set; S2, according to the accuracy influencing factor set, set the corresponding accuracy influencing factor weight data set; according to the accuracy influencing factor weight data set, set the data interval range of each accuracy influencing factor data belonging to the same category, and obtain the accuracy influencing factor data interval range set; traverse the accuracy influencing factor data matrix by column, and classify each data in the accuracy influencing factor data matrix according to the accuracy influencing factor data interval range set, and obtain the accuracy influencing factor data category matrix; construct the final ranging accuracy level decision tree according to the accuracy influencing factor data category matrix and the ranging accuracy level set; S3, setting a laser sensor to be evaluated, collecting data corresponding to each ranging accuracy influencing factor of the laser sensor to be evaluated according to the laser sensor ranging accuracy influencing factor set, and obtaining a ranging accuracy influencing factor data set to be evaluated; using the final ranging accuracy level decision tree to classify the ranging accuracy influencing factor data set to be evaluated, and obtaining a first ranging accuracy level of the laser sensor to be evaluated; S4, set a ranging length set; set a ranging object sample set according to the ranging length set; perform ranging operation to obtain a measurement data set; perform comparison to obtain a measurement error data set; set a measurement error threshold matrix, and set a ranging accuracy level determination rule according to the measurement error threshold matrix and the ranging accuracy level set; obtain a second ranging accuracy level of the laser sensor to be evaluated according to the ranging accuracy level determination rule and the measurement error data set; take the lower ranging accuracy level of the first ranging accuracy level of the laser sensor to be evaluated and the second ranging accuracy level of the laser sensor to be evaluated as the final ranging accuracy level of the laser sensor to be evaluated.

2. The laser sensor ranging accuracy evaluation processing method according to claim 1, characterized in that: The S1 comprises the following steps: S11, set the factors affecting the ranging accuracy of the laser sensor a={a1,a2,...,a i ,...,a a′ }, recorded as the accuracy influencing factor set, a i represents the influencing factor of the ranging accuracy of the i-th laser sensor, and a′ represents the total number of influencing factors in the accuracy influencing factor set; S12. Collect laser sensor sample set b i represents the i-th laser sensor sample, represents the total number of laser sensor samples collected; according to the accuracy influencing factor set a={a1,a2,...,a i ,...,a a′ } Collect laser sensor sample set The influencing factor data corresponding to each laser sensor sample in the image is obtained to obtain the accuracy influencing factor data matrix as follows, in, Represents the data of the jth laser sensor sample corresponding to the influencing factor of the i-th laser sensor ranging accuracy; S13, according to the laser sensor sample set Set the corresponding ranging accuracy level set b i ′ represents the ranging accuracy level corresponding to the i-th laser sensor sample.

3. The laser sensor ranging accuracy evaluation processing method according to claim 2, characterized in that: The S2 comprises the following steps: S21, according to the accuracy influencing factor set a={a1, a2, ..., a i ,...,a a′ }Set the corresponding accuracy influencing factor weight data set Represents the weight value of the factors affecting the ranging accuracy of the i-th laser sensor; S22, according to the accuracy influencing factor weight data set Set the data interval range of each precision influencing factor data belonging to the same category to obtain the precision influencing factor data interval range set and They respectively represent the lower limit and upper limit of the data interval of the i-th influencing factor data belonging to the same category; S23, the data matrix of the factors affecting the accuracy Traverse by column, and set the data interval range according to the accuracy influencing factors Classify each data in the precision influencing factor data matrix to obtain the precision influencing factor data category matrix c, as follows: Among them, c ij Indicates the category of the data of the jth laser sensor sample corresponding to the influencing factor of the i-th laser sensor ranging accuracy; S24, according to the accuracy influencing factor data category matrix c and the ranging accuracy level set Construct the final ranging accuracy level decision tree.

4. The laser sensor ranging accuracy evaluation processing method according to claim 3 is characterized in that: The S23 comprises the following steps: S231, the precision influencing factor data matrix Traverse by column and set the data category determination rules for accuracy influencing factors, as follows: when When the data and data as the same category; otherwise, and data As different categories; S232, according to the accuracy influencing factor data category determination rule and the accuracy influencing factor data matrix The data category matrix c of accuracy influencing factors is obtained.

5. The laser sensor ranging accuracy evaluation processing method according to claim 3 is characterized in that: The S24 comprises the following steps: S241, constructing an initial ranging accuracy level decision tree, wherein the root node of the initial ranging accuracy level decision tree is the ranging accuracy level, which is recorded as the first layer of the decision tree; S242, calculating the distance measurement accuracy level set The information entropy of is recorded as level information entropy c′; the calculation formula is as follows: In the formula, c i ′ indicates that the i-th type of ranging accuracy level is in the ranging accuracy level set The probability of occurrence in Represents the range accuracy level set The total number of medium ranging accuracy level categories; S243, traverse the precision influencing factor data category matrix c by column, calculate the conditional information entropy of the ranging accuracy level when each type of influencing factor data appears in each column of the precision influencing factor data category matrix, and obtain the ranging accuracy level conditional information entropy data matrix as follows, in, represents the conditional information entropy data of the j-th type of influencing factor data among the influencing factors of the ranging accuracy of the i-th laser sensor on the ranging accuracy level; d i represents the total number of influencing factor data categories in the factors affecting the ranging accuracy of the i-th laser sensor; S244, according to the distance measurement accuracy level condition information entropy data matrix Calculation accuracy influencing factors Data category Conditional information entropy Data set d′={d1′,d2′,...,d i ′,...,d a ″},d i ′ represents the conditional information entropy of the factors affecting the ranging accuracy of the i-th laser sensor on the ranging accuracy level; d i The calculation formula of ′ is as follows: S245, according to the level information entropy c' and the accuracy influencing factor data category condition information entropy data set d'={d1',d2',...,d i ′,...,d a ″}Get the first information gain set represents the information gain between the factors affecting the ranging accuracy of the i-th laser sensor and the ranging accuracy level, The calculation formula is as follows, Pick The corresponding laser sensor ranging accuracy influencing factors are used as the second layer of the ranging accuracy level decision tree; at the same time, the accuracy influencing factor data category conditional information entropy data set d′={d1′,d2′,...,d i ′,...,d a ″}The corresponding data is removed; S246, repeating S242, S243, S244 and S245 based on the second layer of the initial ranging accuracy level decision tree, when the accuracy influencing factor data category conditional information entropy data set d′={d1′,d2′,...,d i ′,...,d a When there is no data in ″}, the final ranging accuracy level decision tree is obtained.

6. The laser sensor ranging accuracy evaluation processing method according to claim 2, characterized in that: The S3 comprises the following steps: S31, setting the laser sensor to be evaluated, according to the laser sensor ranging accuracy influencing factor set a={a1, a2, ..., a i ,...,a a′ Collect the data corresponding to each distance measurement accuracy influencing factor of the laser sensor to be evaluated, and obtain the distance measurement accuracy influencing factor data set to be evaluated Indicates the data value corresponding to the influencing factor of the laser sensor ranging accuracy of the laser sensor to be evaluated at the i-th laser sensor; S32, using the final ranging accuracy level decision tree to evaluate the ranging accuracy influencing factor data set Classification is performed to obtain the first laser sensor ranging accuracy level to be evaluated.

7. The laser sensor ranging accuracy evaluation processing method according to claim 2, characterized in that: The S4 comprises the following steps: S41, set the ranging length set e = {e1, e2, ..., e i ,...,e e′ },e i represents the i-th ranging length, and e′ represents the total number of ranging lengths in the ranging length set; S42, according to the ranging length set e={e1, e2, ..., e i ,...,e e′ }Set the distance measurement object sample set represents the i-th ranging object sample; S43, using the laser sensor to be evaluated to measure the distance object sample set Perform ranging operations on each ranging object sample in to obtain a measurement data set represents the measurement data obtained by measuring the i-th ranging object sample; S44, the measurement data set and the ranging length set e = {e1,e2,...,e i ,...,e e′ }, and obtain the measurement error data set f={f1,f2,...,f i ,...,f e′ }, f i represents the error generated by the laser sensor to be evaluated when measuring the i-th ranging object sample, According to the ranging accuracy level set And the range length set e = {e1,e2,...,e i ,...,e e′ } Set the corresponding measurement error threshold matrix f′ as follows, f ij ′ represents the jth measurement error threshold at the i-th ranging length; According to the measurement error threshold matrix f′ and the ranging accuracy level set Set the ranging accuracy level determination rules; S45, according to the distance measurement accuracy level determination rule and the measurement error data set f={f1,f2,...,f i ,...,f e′ }Get the range accuracy level set of the laser sensor to be evaluated Indicates the ranging accuracy level obtained by measuring the distance at the i-th ranging length; S46, the laser sensor distance measurement accuracy level to be evaluated is set The lowest level among the above is taken as the second laser sensor ranging accuracy level to be evaluated; S47: Use the lower ranging accuracy level of the first to-be-evaluated laser sensor ranging accuracy level and the second to-be-evaluated laser sensor ranging accuracy level as the final to-be-evaluated laser sensor ranging accuracy level.

8. The laser sensor ranging accuracy evaluation processing method according to claim 7, characterized in that: The distance measurement accuracy level determination rules are as follows: When f i <f i ′1, the range accuracy level of the laser sensor to be evaluated is b1′; when f i ′1≤f i <f i ′2, the range-measuring accuracy level of the laser sensor to be evaluated is b2′; ...; when f ij ′≤f i <f i ' (j+1) When the range-measuring accuracy level of the laser sensor to be evaluated is b j ';...;when When the range-measuring accuracy level of the laser sensor to be evaluated is 9. A laser sensor ranging accuracy evaluation and processing system based on cloud computing that implements the laser sensor ranging accuracy evaluation and processing method according to any one of claims 1 to 8, characterized in that: It includes an accuracy influencing factor construction module, an accuracy influencing factor data collection module, an accuracy influencing factor data category calculation module, a final ranging accuracy level decision tree construction module, a to-be-evaluated laser sensor influencing factor data collection module, a first ranging accuracy level determination module, a measurement data collection module, a second ranging accuracy level determination module, and a final ranging accuracy level determination module; The accuracy influencing factor building module is used to build a set of influencing factors for ranging accuracy of the laser sensor; The accuracy influencing factor data collection module is used to collect influencing factor data corresponding to each laser sensor sample in the laser sensor sample set according to the accuracy influencing factor set; The precision influencing factor data category calculation module is used to classify each data in the precision influencing factor data matrix according to the precision influencing factor data interval range set; The final ranging accuracy level decision tree construction module is used to construct a final ranging accuracy level decision tree according to the accuracy influencing factor data category matrix and the ranging accuracy level set; The to-be-evaluated laser sensor influencing factor data acquisition module is used to acquire data corresponding to each ranging accuracy influencing factor of the to-be-evaluated laser sensor according to the laser sensor ranging accuracy influencing factor set; The first ranging accuracy level determination module is used to classify the ranging accuracy influencing factor data set to be evaluated using the final ranging accuracy level decision tree to obtain the first ranging accuracy level of the laser sensor to be evaluated; The measurement data acquisition module is used to set a distance measurement object sample set according to the distance measurement length set; perform a distance measurement operation to obtain a measurement data set; The second ranging accuracy level determination module is used to obtain the second ranging accuracy level of the laser sensor to be evaluated according to the ranging accuracy level determination rule and the measurement error data set; The final distance measurement accuracy level determination module is used to obtain the final distance measurement accuracy level of the laser sensor to be evaluated according to the first distance measurement accuracy level of the laser sensor to be evaluated and the second distance measurement accuracy level of the laser sensor to be evaluated.

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