Data processing method and device for sensing device, product, equipment and medium

Abstract

The invention relates to a data processing method and device for a sensing device, a product, equipment and a medium. The method is applied to the technical field of sensing device data processing, and can comprise the following steps: acquiring a plurality of first information sets obtained by measuring a target measured surface by a sensing device; one first information set comprises one piece of first distance information and one piece of first strength index information; respectively processing the first information set according to a preset linear measurement range, an effective intensity range of the sensing device and a preset single sampling period variation threshold to obtain a plurality of second information sets; one second information set comprises one piece of second distance information and one piece of second strength index information; and determining a target information set from the plurality of second information sets, and outputting target second distance information of the target information set. According to the embodiment of the invention, the accuracy of output results of the distance measuring device can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of sensor device data processing, and in particular to a data processing method for a sensor device, a distance measuring device, a computer program product, an electronic device and a non-volatile computer-readable storage medium. Background Art

[0002] The distance measuring device may generally include one or more sensor devices; when the distance measuring device includes one sensor device, the sensor device may be controlled to be in different working conditions to achieve distance measurement; when the distance measuring device includes multiple sensor devices, each sensor device may be controlled to be in the same working condition to achieve distance measurement.

[0003] Whether it is a distance measuring device with one sensor device or a distance measuring device with multiple sensor devices, multiple distance information will be obtained; how to output accurate distance information based on the multiple information has become one of the problems that need to be urgently solved in current distance measuring devices. Summary of the invention

[0004] In view of the above problems, a data processing method for a sensing device, a distance measuring device, a computer program product, an electronic device and a non-volatile computer-readable storage medium are proposed to overcome the above problems or at least partially solve the above problems, including:

[0005] A data processing method for a sensor device, the method comprising:

[0006] Acquire a plurality of first information sets obtained by the sensing device from measuring the target surface; one first information set includes a first distance information and a first strength index information;

[0007] According to a preset linear measurement range, an effective intensity range of the sensing device, and a preset single sampling period variation threshold, the first information set is processed respectively to obtain a plurality of second information sets; one second information set includes a second distance information and a second intensity index information;

[0008] A target information set is determined from the multiple second information sets, and target second distance information of the target information set is output.

[0009] Optionally, the second information set further includes a validity flag, and determining the target information set from the multiple second information sets includes:

[0010] A target information set is determined from the plurality of second information sets according to the validity flag.

[0011] Optionally, the first information set is processed respectively according to a preset linear measurement range, an effective intensity range of the sensor device, and a preset single sampling period variation threshold to obtain a plurality of second information sets, including:

[0012] When the first information set is an initial set, the lower limit value of the linear measurement range is used as the second distance information, and the second strength index information and the validity flag are set to be invalid.

[0013] Optionally, the first information set is processed respectively according to a preset linear measurement range, an effective intensity range of the sensor device, and a preset single sampling period variation threshold to obtain a plurality of second information sets, including:

[0014] If the first distance information is not within the linear measurement range, and / or the first strength index information is lower than the lower limit of the valid strength range, the third distance information is used as the second distance information, the third strength index information is used as the second strength index information, and the validity flag is set to invalid;

[0015] The third distance information and the third strength index information are the distance information and the strength index information in the second information set obtained at the last moment.

[0016] Optionally, the first information set is processed respectively according to a preset linear measurement range, an effective intensity range of the sensor device, and a preset single sampling period variation threshold to obtain a plurality of second information sets, including:

[0017] If the first distance information is within the linear measurement range, and the first intensity index information is not lower than the lower limit of the effective intensity range, and the absolute value of the difference between the first distance information and the third distance information is greater than the single sampling period variation threshold, the second distance information is determined according to the first distance information, the first intensity index information, the third intensity index information, the third distance information, and the single sampling period variation threshold;

[0018] and, using the first strength indicator information as the second strength indicator information;

[0019] The third distance information and the third strength index information are the distance information and the strength index information in the second information set obtained at the last moment.

[0020] Optionally, the method further comprises:

[0021] When the second distance information is not within the linear measurement range, the validity flag is set to invalid;

[0022] When the second distance information is within the linear measurement range, the validity flag is set to be valid.

[0023] Optionally, the first information set is processed respectively according to a preset linear measurement range, an effective intensity range of the sensor device, and a preset single sampling period variation threshold to obtain a plurality of second information sets, including:

[0024] If the first distance information is within the linear measurement range, the first intensity index information is not lower than the lower limit of the effective intensity range, and the absolute value of the difference between the first distance information and the third distance information is not greater than the single sampling period variation threshold, the first information set is used as the second information set, and the validity flag in the second information set is set to valid;

[0025] The third distance information is the distance information in the second information set obtained at the last moment.

[0026] Optionally, determining a target information set from the plurality of second information sets according to the validity flag includes:

[0027] Based on a preset arbitration strategy and according to the validity flag of each second information set, a target information set is determined from the plurality of second information sets.

[0028] Optionally, determining the target information set from the plurality of second information sets according to the validity flag of each second information set includes:

[0029] If the validity flag is valid, the second information set is used as the target information set.

[0030] Optionally, if the validity flag is valid, taking the second information set as the target information set includes:

[0031] If the validity flag is valid, the second information set is used as the information set to be selected;

[0032] According to the target second distance information and the target second strength index information outputted in the previous sampling period, a target information set is determined from the information set to be selected.

[0033] Optionally, determining the target information set from the information set to be selected according to the second strength indicator information output in the previous sampling period includes:

[0034] Determine the maximum strength index information from the information set to be selected;

[0035] Determine the second intensity index information output by the sensor device corresponding to the target second intensity index information output in the previous sampling period in the current sampling period;

[0036] Calculate the ratio of the maximum intensity index information to the second intensity index information output by the sensor device corresponding to the target second intensity index information output in the previous sampling period in the current sampling period;

[0037] When the ratio is greater than a preset value, and / or the sensor device corresponding to the target second intensity index information of the previous sampling period outputs an invalid validity flag in the current sampling period, the maximum intensity index information is used as the target second intensity index information;

[0038] Otherwise, the second intensity index information output by the sensor device corresponding to the target second intensity index information of the previous sampling period in the current sampling period is used as the target second intensity index information;

[0039] The second distance information in the second information set corresponding to the second strength index information of the target is used as the second distance information of the target.

[0040] Optionally, the calculating of the ratio of the maximum intensity index information to the second intensity index information outputted by the sensor device corresponding to the target second intensity index information outputted in the previous sampling period in the current sampling period includes:

[0041] Normalizing the maximum strength index information to obtain fourth strength index information;

[0042] Normalizing the second intensity index information outputted by the sensor device corresponding to the target second intensity index information outputted in the previous sampling period in the current sampling period to obtain fifth intensity index information;

[0043] A ratio of the fourth strength index information to the fifth strength index information is calculated.

[0044] Optionally, the normalizing the maximum strength index information to obtain fourth strength index information includes:

[0045] The maximum intensity index information is normalized according to the linear measurement range and the effective intensity range to obtain fourth intensity index information.

[0046] Optionally, the outputting the target second distance information of the target information set includes:

[0047] Performing filtering processing on the second distance information of the target;

[0048] Output the second distance information of the target after filtering.

[0049] Optionally, filtering the target second distance information includes:

[0050] Generate a filtering parameter according to the second distance information of the target after filtering and output in the previous sampling period; the filtering parameter is inversely proportional to the second distance information of the target after filtering and output in the previous sampling period;

[0051] The target second distance information is filtered according to the filtering parameters.

[0052] Optionally, a first information set is an information set output by a sensor device in a linear measurement range.

[0053] Optionally, a first information set is an information set output by a sensor device under a working condition.

[0054] The embodiment of the present invention further provides a distance measuring device, including a sensing device, an error and abnormality processing module, and an output module; wherein:

[0055] The sensing device is used to output a first information set to the error and exception processing module; a first information set includes a first distance information and a first strength index information;

[0056] The error and exception processing module is used to process the first information set according to a preset linear measurement range, an effective intensity range of the sensor device, and a preset single sampling period variation threshold to obtain a second information set; a second information set includes a second distance information and a second intensity index information;

[0057] The output module is used to determine a target information set from multiple second information sets, and output the target second distance information of the target information set.

[0058] Optionally, the output module includes a distance arbitration module and a filtering module;

[0059] The distance arbitration module is used to determine a target information set from the multiple second information sets;

[0060] The filtering module is used to filter the target second distance information; and output the target second distance information after filtering.

[0061] An embodiment of the present invention further provides a computer program product, including computer instructions, which, when executed by a processor, implement the data processing method for a sensor device as described above.

[0062] An embodiment of the present invention further provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the data processing method for the sensor device as described above is implemented.

[0063] An embodiment of the present invention further provides a non-volatile computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the data processing method for the sensor device as described above is implemented.

[0064] In an embodiment of the present invention, a plurality of first information sets obtained by a sensing device for measuring a target surface are obtained; a first information set includes a first distance information and a first strength index information; the first information set is processed according to a preset linear measurement range, an effective strength range of the sensing device, and a preset single sampling period variation threshold, to obtain a plurality of second information sets; a second information set includes a second distance information and a second strength index information; a target information set is determined from the plurality of second information sets, and the target second distance information of the target information set is output. Through the embodiment of the present invention, the accuracy of the output result of the distance measuring device can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0066] Figure 1 is a schematic diagram of the linear measurement range of the sensor;

[0067] Figure 2 is a flowchart of a data processing method for a sensor device according to an embodiment of the present invention;

[0068] Figure 3 is a flowchart of another method for processing data of a sensor device according to an embodiment of the present invention;

[0069] Figure 4 is a structural schematic diagram of a distance measuring device according to an embodiment of the present invention;

[0070] Figure 5 is a schematic diagram of a measurement scenario in an embodiment of the present invention;

[0071] Figure 6 is a flow chart of the steps of ranging according to an embodiment of the present invention;

[0072] Figure 7 is a schematic diagram of the structure of a computer program product according to an embodiment of the present invention;

[0073] Figure 8is a schematic structural diagram of an electronic device according to an embodiment of the present invention;

[0074] Fig. 9 It is a structural schematic diagram of a non-volatile computer-readable storage medium according to an embodiment of the present invention. DETAILED DESCRIPTION

[0075] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0076] Radar, sonar, radio altimeter, laser rangefinder and other ranging devices are essentially composed of a series of ranging sensor devices. The transmitting unit transmits radio waves, sound waves or lasers to the target, and then the receiving unit receives the echo and performs filtering, demodulation, beamforming and other processing on the echo to obtain the target distance or imaging information. It can be seen that the performance of these ranging devices actually depends on the performance of the transmitting unit, receiving unit, processing circuit and processing algorithm. The technical solutions of processing circuit and processing algorithm are relatively mature. However, due to factors such as materials and processes, the performance of the transmitting unit and receiving unit (hereinafter collectively referred to as sensor devices) has become the most important factor limiting the performance improvement of these ranging devices.

[0077] In practical applications, the linear measurement range of the sensor device is an important indicator for evaluating its performance, that is, the measurement interval in which the measured value of the sensor device and the actual value maintain a linear deviation below the specified value. If the target is outside this measurement interval, the measurement value obtained by the linear algorithm is unreliable. Using only the linear measurement range of the sensor device can greatly reduce the complexity of the signal processing circuit and algorithm, and improve the measurement reliability.

[0078] The linear measurement range of a single sensor device or a sensor device working under a single working condition is limited. In order to make the measuring device have a wider reliable measurement range, multiple sensor devices are usually used in the measuring device, and each sensor device has a different linear measurement range; or a single sensor device is used to work in different working conditions, and different working conditions have different linear measurement ranges. In this way, the corresponding sensor device (multi-sensor device situation) or corresponding working condition (multi-working condition situation) is selected through a certain arbitration algorithm so that the measuring device can ensure the linear relationship between the measured value and the actual value within the entire effective measurement range.

[0079] Schematic diagram of the measuring range of a single sensor device with multiple working conditions, such as Figure 1As shown; since the multi-sensor device and the single-sensor device have similar multi-operating conditions, the following will only take the multi-sensor device as an example.

[0080] In actual operation, since the actual distance is unknown, each sensor device has a measurement output, and it is impossible to determine which sensor device's measurement value is used as the current measurement value. Figure 1 At the h0 position in , the measured values ​​of sensor device 1 and sensor device 2 are both within the measurement range of their respective linear measurement ranges. Since there are two measured values ​​that are considered reliable at this time, a certain arbitration mechanism is required to select the measured value.

[0081] In addition, when the actual distance is far beyond the measurement range of the sensor device, the measurement output of the sensor device may fluctuate widely. Specifically, this includes two factors: (1) The existence of various errors causes the measurement results to fluctuate greatly even if the actual distance is within the effective measurement range of the sensor device. This is related to the properties of the sensor device itself and the characteristics of the measurement device. (2) When the actual distance exceeds the measurement range of the sensor device, especially when the difference between the two is extremely large, the measurement output of the sensor device may fluctuate greatly. Even for the same actual distance, the measurement output may fluctuate irregularly. The volatility of the sensor device output will affect the stability of the output.

[0082] Even if the actual distance is within the measuring range of the sensor device, the reliability of the output of the sensor device is not high due to the existence of various errors.

[0083] In order to ensure that the data output by the ranging device is accurate, an embodiment of the present invention provides a data processing method for a sensor device, which can screen and process data from three angles: a linear measurement range, an effective intensity range of the sensor device, and a preset single sampling cycle variation threshold, thereby improving the accuracy of the data output by the ranging device.

[0084] For details, please refer to Figure 2 , Figure 2 FIG. 1 is a flowchart showing a method for processing data of a sensor device according to an embodiment of the present invention; Figure 2 As shown, the method may include the following steps:

[0085] Step 201: Acquire a plurality of first information sets obtained by a sensing device for measuring a target surface; a first information set includes a first distance information and a first strength index information.

[0086] In practical applications, the sensing device may first measure the target surface to obtain a plurality of first information sets for the target surface; a first information set may include a first distance information and a first strength index information. The first distance information may refer to the distance from the sensing device to the target surface output by the sensing device; the first strength index information may refer to an index indicating the signal strength, such as the voltage, current or frequency spectrum density of the echo signal.

[0087] In one embodiment of the present invention, a first information set is an information set output by a sensor device with a linear measurement range. Exemplarily, the distance measuring device may be composed of multiple sensor devices, and during the distance measuring process, one sensor device outputs a first information set. The linear measurement ranges of the multiple sensor devices are different.

[0088] In another embodiment of the present invention, a first information set is an information set output by a sensor device under one working condition. For example, the distance measuring device can be composed of a sensor device, and during the distance measuring process, the sensor device can measure the target surface under different working conditions; one working condition corresponds to one first information set.

[0089] Step 202, according to the preset linear measurement range, the effective intensity range of the sensor device, and the preset single sampling period variation threshold, the first information set is processed respectively to obtain multiple second information sets; a second information set includes a second distance information and a second intensity index information.

[0090] After obtaining multiple first information sets, each first information set can be processed according to a preset linear measurement range, an effective intensity range of the sensor device, and a preset single sampling period variation threshold to obtain multiple second information sets, wherein one second information set includes a second distance information and a second intensity index information.

[0091] Specifically, the first distance information and the first intensity index information can be limited and processed according to the preset linear measurement range, the effective intensity range of the sensor device, and the preset single sampling period variation threshold, so as to obtain the second distance information corresponding to the first distance information and the second intensity index information corresponding to the first intensity index information. Limiting and processing the information set based on the preset linear measurement range, the effective intensity range of the sensor device, and the preset single sampling period variation threshold can ensure the accuracy of the output result of the distance measuring device and avoid excessive fluctuations in the measurement output.

[0092] Exemplarily, the processed information set can avoid outputting invalid data and is also helpful in arbitrating a required information set from multiple information sets.

[0093] The linear measurement range refers to the range over which the sensing device can accurately measure the input signal in a linear manner. Within this range, the output of the sensing device is proportional to the input, i.e., a change in the input signal directly results in a proportional change in the output signal. This means that within this range, the response of the sensing device is predictable and can be described by a simple linear equation.

[0094] The effective intensity range may refer to the intensity range of the input signal that the sensor device can accurately and reliably detect and respond to. Within this range, the sensor device can provide an output signal proportional to the input signal intensity, and the error is within an acceptable range.

[0095] The single sampling period variation threshold may refer to the maximum allowable variation between the distance value after the previous processing and the distance value output by the current sensing device.

[0096] Step 203: Determine a target information set from multiple second information sets, and output target second distance information of the target information set.

[0097] In practical applications, after obtaining multiple second information sets, a target information set can be arbitrated from the multiple second information sets based on the second distance information and second strength index information in the second information sets, and the target second distance information in the target information set can be output.

[0098] In an embodiment of the present invention, a plurality of first information sets obtained by a sensing device for measuring a target surface are obtained; a first information set includes a first distance information and a first strength index information; the first information set is processed according to a preset linear measurement range, an effective strength range of the sensing device, and a preset single sampling period variation threshold, to obtain a plurality of second information sets; a second information set includes a second distance information and a second strength index information; a target information set is determined from the plurality of second information sets, and the target second distance information of the target information set is output. Through the embodiment of the present invention, the accuracy of the output result of the distance measuring device can be improved.

[0099] Reference Figure 3 , Figure 3 FIG. 4 is a flowchart showing another method for processing data of a sensor device according to an embodiment of the present invention; Figure 3 As shown, the method may include the following steps:

[0100] Step 301: Acquire a plurality of first information sets obtained by measuring a target surface with a sensing device.

[0101] In practical applications, the sensing device may first measure the target surface to obtain a plurality of first information sets for the target surface.

[0102] Step 302: Process the first information set according to the preset linear measurement range, the effective intensity range of the sensor device, and the preset single sampling period variation threshold to obtain multiple second information sets.

[0103] After obtaining multiple first information sets, each first information set can be processed separately according to the preset linear measurement range, the effective intensity range of the sensor device, and the preset single sampling period variation threshold to obtain multiple second information sets.

[0104] Specifically, the first distance information and the first intensity index information can be limited and processed according to the preset linear measurement range, the effective intensity range of the sensing device, and the preset single sampling cycle change threshold, so as to obtain the second distance information corresponding to the first distance information and the second intensity index information corresponding to the first intensity index information.

[0105] In one embodiment of the present invention, step 302 may be implemented by the following sub-steps:

[0106] Sub-step 11: When the first information set is an initial set, the lower limit value of the linear measurement range is used as the second distance information, and the second strength index information and the validity flag are set to invalid.

[0107] In practical applications, if the first information set is an initial set, that is, the first information set output by the sensor device, the lower limit value of the linear measurement range can be directly used as the second distance information, and the second strength index information and the validity flag can be set to invalid.

[0108] In the following, multiple sensor devices are mainly used for exemplary explanation; for multiple working conditions of one sensor device, it is only necessary to replace the multiple sensor devices with multiple working conditions.

[0109] In one embodiment of the present invention, step 302 may be implemented by the following sub-steps:

[0110] Sub-step 21: If the first distance information is not within the linear measurement range, and / or the first strength index information is lower than the lower limit of the valid strength range, the third distance information is used as the second distance information, the third strength index information is used as the second strength index information, and the validity flag is set to invalid; wherein the third distance information and the third strength index information are the distance information and the strength index information in the second information set obtained at the previous moment.

[0111] For any one of the multiple sensor devices (for the convenience of subsequent explanation, this one sensor device is referred to as the target sensor device), if the first distance information in the first information set output by the target sensor device is not within the linear measurement range, and / or the first intensity index information output by the target sensor device is lower than the lower limit of the valid intensity range, then the third distance information can be used as the second distance information, and the third intensity index information can be used as the second intensity index information; in addition, the validity flag can also be set to invalid.

[0112] Among them, the third distance information is the distance information in the second information set obtained after processing the first information set output by the target sensor device at the last moment; the third strength index information is the strength index information in the second information set obtained after processing the first information set output by the target sensor device at the last moment.

[0113] It should be noted that for the target sensor device, there is a corresponding linear measurement range and effective intensity range; therefore, when making a judgment, it is possible to determine whether the first distance information in the first information set of the target sensor device is within the linear measurement range corresponding to the target sensor device, and to determine whether the first intensity index information in the first information set of the target sensor device is lower than the lower limit value of the effective intensity range corresponding to the target sensor device.

[0114] In one embodiment of the present invention, step 302 may be implemented by the following sub-steps:

[0115] Sub-step 31: if the first distance information is within the linear measurement range, and the first intensity index information is not lower than the lower limit of the effective intensity range, and the absolute value of the difference between the first distance information and the third distance information is greater than the single sampling period variation threshold, determine the second distance information according to the first distance information, the first intensity index information, the third intensity index information, the third distance information, and the single sampling period variation threshold;

[0116] In some feasible embodiments, if the first distance information is within the linear measurement range, and the first intensity index information is not lower than the lower limit of the effective intensity range, and the absolute value of the difference between the first distance information and the third distance information is greater than the single sampling cycle change threshold, then the second distance information can be calculated based on the first distance information, the first intensity index information, the third intensity index information, the third distance information, and the single sampling cycle change threshold.

[0117] Sub-step 32: using the first strength index information as the second strength index information; wherein the third distance information and the third strength index information are the distance information and the strength index information in the second information set obtained at the last moment.

[0118] In some feasible embodiments, the first strength index information can be directly used as the second strength index information; wherein the third distance information is the distance information in the second information set obtained after processing the first information set output by the target sensor device at the previous moment; the third strength index information is the strength index information in the second information set obtained after processing the first information set output by the target sensor device at the previous moment.

[0119] In an embodiment of the present invention, the examples of sub-steps 31 and 32 may further include the following steps:

[0120] When the second distance information is not within the linear measurement range, the validity flag is set to invalid; when the second distance information is within the linear measurement range, the validity flag is set to valid.

[0121] In some feasible embodiments, if the second distance information is not within the linear measurement range, the validity flag in the second information set of the target sensing device can be set to invalid; conversely, if the second distance information is within the linear measurement range, the validity flag in the second information set of the target sensing device can be set to valid.

[0122] In one embodiment of the present invention, step 302 may be implemented by the following sub-steps:

[0123] Sub-step 41: If the first distance information is within the linear measurement range, and the first intensity index information is not lower than the lower limit of the effective intensity range, and the absolute value of the difference between the first distance information and the third distance information is not greater than the single sampling period change threshold, the first information set is used as the second information set, and the validity flag in the second information set is set to valid; wherein the third distance information is the distance information in the second information set obtained at the previous moment.

[0124] In some feasible embodiments, if the first distance information is within the linear measurement range, the first intensity index information is not lower than the lower limit of the effective intensity range, and the absolute value of the difference between the first distance information and the third distance information is not greater than the single sampling period variation threshold, the first information set output by the target sensor device can be directly used as the second information set. In addition, the validity flag in the second information set can also be set to valid.

[0125] Step 303: The second information set also includes a validity flag. According to the validity flag, a target information set is determined from multiple second information sets.

[0126] In practical applications, due to the nonlinear properties of the sensor device, multiple sensor devices may produce multiple valid measurement values ​​(all within the linear measurement range of the corresponding sensor device, such as Figure 1h0 position in the sensor), which is undoubtedly disastrous for the algorithm solution that relies solely on the distance output value of the sensor device to arbitrate the final measurement result. Therefore, in the embodiment of the present invention, a validity flag can also be set to perform arbitration. Specifically, when the first information set is processed and the second information set is generated, the validity flag can be added to the second information set. The specific adding method can refer to the description of generating the second information set.

[0127] After obtaining multiple second information sets, one second information set may be arbitrated from the multiple second information sets as a target information set based on the validity flags.

[0128] In one embodiment of the present invention, step 303 may be implemented by the following sub-steps:

[0129] Sub-step 41 : Based on a preset arbitration strategy and according to the validity flag of each second information set, a target information set is determined from multiple second information sets.

[0130] In practical applications, based on a preset arbitration strategy and according to validity flags of each second information set, a target information set can be determined from multiple second information sets for output.

[0131] Specifically, the arbitration strategy can be:

[0132] If the validity flag is valid, the second information set is used as the target information set.

[0133] In some feasible embodiments, if the validity flag in the second information set is valid, the second information set may be used as the target information set.

[0134] In one embodiment of the present invention, the above-mentioned method of determining the target information set can be implemented by:

[0135] If the validity flag is valid, the second information set is used as the information set to be selected; and the target information set is determined from the information set to be selected according to the target second distance information and the target second strength index information output in the previous sampling period.

[0136] In some feasible embodiments, among multiple second information sets, at least two second information sets may have validity marks as valid; in this case, in order to avoid arbitration problems, the second information sets with validity marks as valid may be selected as the information sets to be selected.

[0137] Then, the target information set may be determined from at least two information sets to be selected according to the target second distance information output by the distance measuring device in the previous sampling period and the target second strength index information in the second information set where the target second distance information is located.

[0138] In one embodiment of the present invention, when determining the target information set from the information set to be selected, it can be implemented in the following manner:

[0139] Determine the maximum strength index information from the information set to be selected; determine the second strength index information outputted in the current sampling period by the sensor device corresponding to the target second strength index information outputted in the previous sampling period; calculate the ratio of the maximum strength index information to the second strength index information outputted in the current sampling period by the sensor device corresponding to the target second strength index information outputted in the previous sampling period; when the ratio is greater than a preset value, and / or the validity flag outputted in the current sampling period by the sensor device corresponding to the target second strength index information outputted in the previous sampling period is invalid, use the maximum strength index information as the target second strength index information; otherwise, use the second strength index information outputted in the current sampling period by the sensor device corresponding to the target second strength index information outputted in the previous sampling period as the target second strength index information; use the second distance information in the second information set corresponding to the target second strength index information as the target second distance information.

[0140] In some feasible embodiments, the maximum strength index information with the largest value may be determined first from at least two information sets to be selected.

[0141] Then, the second intensity index information outputted by the sensor device corresponding to the target second intensity index information outputted in the previous sampling period in the current sampling period may be determined.

[0142] Next, the ratio of the maximum intensity index information to the second intensity index information output by the sensor device corresponding to the target second intensity index information output in the previous sampling period in the current sampling period can be calculated. If the ratio is greater than a preset value, and / or the sensor device corresponding to the target second intensity index information output in the previous sampling period outputs an invalid validity flag in the current sampling period, the maximum intensity index information can be used as the target second intensity index information of the current sampling period.

[0143] On the contrary, if "the ratio is greater than a preset value, and / or the sensor device corresponding to the target second intensity index information of the previous sampling period outputs an invalid validity flag in the current sampling period" is not true, then the sensor device corresponding to the target second intensity index information of the previous sampling period can use the second intensity index information output by the sensor device in the current sampling period as the target second intensity index information.

[0144] After the target second strength index information of this sampling period is determined, the second distance information in the second information set corresponding to the target second strength index information may be used as the target second distance information of this sampling period.

[0145] In one embodiment of the present invention, the ratio may be calculated in the following manner:

[0146] Normalize the maximum intensity index information to obtain fourth intensity index information; normalize the second intensity index information output by the sensor device corresponding to the target second intensity index information output in the previous sampling period in the current sampling period to obtain fifth intensity index information; calculate the ratio of the fourth intensity index information to the fifth intensity index information.

[0147] In some feasible embodiments, the maximum strength index information may be normalized first to obtain the fourth strength index information.

[0148] In addition, the second intensity index information output by the sensor device corresponding to the target second intensity index information output in the previous sampling period in the current sampling period can be normalized to obtain the fifth intensity index information. Then, the ratio of the fourth intensity index information to the fifth intensity index information can be calculated.

[0149] In an embodiment of the present invention, the fourth strength index information may be calculated in the following manner.

[0150] The maximum intensity index information is normalized according to the linear measurement range and the effective intensity range to obtain fourth intensity index information.

[0151] In some feasible embodiments, the maximum intensity index information can be normalized separately according to the linear measurement range and the effective intensity range to obtain the fourth intensity index information. By using the maximum intensity index information to correspond to the linear measurement range and the effective intensity range of the sensor device, the maximum intensity index information is normalized, and the performance difference of each sensor device within its own range can be retained.

[0152] Step 304: Filter the target second distance information.

[0153] In some feasible embodiments, after obtaining the second target distance information, the target distance information may be filtered; specifically, step 304 may be implemented through the following sub-steps:

[0154] Sub-step 51 : generating a filtering parameter according to the second distance information of the target after filtering outputted in the previous sampling period; the filtering parameter is inversely proportional to the second distance information of the target after filtering outputted in the previous sampling period.

[0155] The distance measuring device usually measures the distance during the movement, but the measured surface is usually not flat, but often rugged, and there are various landforms (such as water surface, mountains, forests, grasslands, etc.). When passing through complex landforms, the instantaneous distance measurement result will fluctuate. When the actual distance is large, this instantaneous fluctuation is not of concern to the user, and the user is more concerned about the overall distance of the area passed; and when the distance is close, this instantaneous fluctuation needs to be paid attention to, because the distance is too close and may be dangerous. Based on this, in an embodiment of the present invention, a filtering parameter can be generated according to the second distance information of the target after filtering output in the previous sampling period; the filtering parameter is inversely proportional to the second distance information of the target after filtering output in the previous sampling period; that is, the larger the second distance information of the target after filtering output in the previous sampling period, the smaller the filtering parameter, and the low sensitivity of the filtering algorithm, that is, it is insensitive to small fluctuations; the smaller the second distance information of the target after filtering output in the previous sampling period, the larger the filtering parameter, and the high sensitivity of the filtering algorithm, that is, it is sensitive to small fluctuations.

[0156] Sub-step 52: filtering the target second distance information according to the filtering parameters.

[0157] After the filtering parameters are obtained, the target second distance information may be filtered according to the filtering parameters, thereby obtaining the filtered target second distance information.

[0158] Step 305: Output the second distance information of the target after filtering.

[0159] After obtaining the second distance information of the target after filtering, the distance measuring device can output the second distance information of the target after filtering.

[0160] In an embodiment of the present invention, a plurality of first information sets obtained by measuring the target surface by the sensing device are obtained; the first information sets are processed according to a preset linear measurement range, an effective intensity range of the sensing device, and a preset single sampling period variation threshold value to obtain a plurality of second information sets; the second information set also includes a validity flag, and according to the validity flag, a target information set is determined from the plurality of second information sets; the target second distance information is filtered; and the filtered target second distance information is output. Based on the validity flag, the linear measurement range, the effective intensity range of the sensing device, and the preset single sampling period variation threshold value, on the one hand, the invalid output is prevented from having an adverse effect on subsequent data processing, and on the other hand, while limiting the maximum variation value of the single sampling period measurement output to avoid excessive fluctuations in the measurement output, a rapid response is ensured by intensity-related weights;

[0161] In addition, when the distance is large, the filter algorithm has low sensitivity and is insensitive to small fluctuations; when the distance is small, the filter algorithm has high sensitivity and is sensitive to small fluctuations. This adaptive filtering scheme retains useful information in the ranging process and improves the usability of the ranging device.

[0162] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0163] Reference Figure 4 , shows a schematic diagram of the structure of a distance measuring device 400 according to an embodiment of the present invention, which may include the following modules: a sensing device 410, an error and abnormality processing module 420, and an output module 430; wherein,

[0164] The sensing device 410 is used to output a first information set to the error and exception processing module 420; a first information set includes a first distance information and a first strength index information;

[0165] The error and exception processing module 420 is used to process the first information set according to the preset linear measurement range, the effective intensity range of the sensor device 410, and the preset single sampling period variation threshold to obtain a second information set; a second information set includes a second distance information and a second intensity index information;

[0166] The output module 430 is used to determine a target information set from multiple second information sets, and output the target second distance information of the target information set.

[0167] In the embodiment of the present invention, the number of the sensor devices 410 may be multiple or one; when the number of the sensor device 410 in the distance measuring device 400 is one, the sensor device 410 may output a first information set under different working conditions.

[0168] When there are multiple sensing devices 410 in the distance measuring device 400 , the multiple sensing devices 410 may respectively output a first information set.

[0169] No matter it is one sensor device 410 or multiple sensor devices 410 , after obtaining the first information set, the first information set generated by the first information set can be output to the error and exception processing module 420 .

[0170] After obtaining the first information set, the error and exception processing module 420 can process each first information set according to the preset linear measurement range, the effective intensity range of the sensor device 410, and the preset single sampling period variation threshold, so as to obtain the second information set corresponding to each first information set. The specific processing method can refer to the steps of the aforementioned method embodiment, and the embodiment of the present invention will not be described in detail.

[0171] After obtaining the multiple second information sets, the error and exception processing module 420 may output the multiple second information sets to the output module 430 .

[0172] After obtaining the multiple second information sets, the output module 430 may determine one second information set from the multiple second information sets as a target information set, and output the target second distance information of the target information set.

[0173] In one embodiment of the present invention, the output module 430 includes a distance arbitration module 431 and a filtering module 432;

[0174] The distance arbitration module 431 is used to determine a target information set from a plurality of second information sets;

[0175] The filtering module 432 is used to filter the target second distance information and output the target second distance information after filtering.

[0176] In some feasible embodiments, the output module 430 may include a distance arbitration module 431 and a filtering module 432 ; illustratively, after obtaining multiple second information sets, the error and exception handling module 420 may output the multiple second information sets to the distance arbitration module 431 .

[0177] After obtaining the multiple second information sets, the distance arbitration module 431 may determine a target information set from the multiple second information sets, and send the target information set to the filtering module 432 .

[0178] After obtaining the target information set, the filtering module 432 may filter the target second distance information and output the filtered target second distance information.

[0179] In the embodiment of the present invention, the distance measuring device 400 includes the following modules: a sensor device 410, an error and exception processing module 420, and an output module 430; wherein the sensor device 410 is used to output a first information set to the error and exception processing module 420; a first information set includes a first distance information and a first strength index information; the error and exception processing module 420 is used to process the first information set according to a preset linear measurement range, an effective strength range of the sensor device 410, and a preset single sampling period variation threshold, to obtain a second information set; a second information set includes a second distance information and a second strength index information; the output module 430 is used to determine a target information set from a plurality of second information sets, and output the target second distance information of the target information set. Through the embodiment of the present invention, the accuracy of the output result of the distance measuring device 400 can be improved.

[0180] The following, combined Figure 5 and Figure 6 , the above-mentioned distance measuring device 400 and the data processing method for the sensor device 410 are further described:

[0181] like Figure 5 As shown, the sensing device 410 can be composed of a sensor 411 and a signal processing module 414; the sensor 411 can be composed of a transmitting device 412 and a receiving device 413; the transmitting device 412 transmits a signal such as a radio wave or a laser to the measured surface 440, and the signal is received by the receiving device 413 after being transmitted by the measured surface 440. The signal processing module 414 performs filtering, amplification, demodulation and other processing on the received signal to obtain a useful signal, and then calculates the distance h between the distance measuring device 400 and the measured surface 440 by the following formula:

[0182]

[0183] Where:

[0184] v——the propagation speed of the signal in the medium (air);

[0185] Δt is the propagation time for the signal to reach the receiving device after being reflected by the surface being measured.

[0186] like Figure 6As shown, when the signal processing module 414 (including the signal processing module 414 (1), the signal processing module 414 (2) ... the signal processing module 414 (n); the signal processing module 414 (1) processes the signal of the sensor 411 (1), the signal processing module 414 (2) processes the signal of the sensor 411 (2) ... and so on) processes the echo signal, a signal strength index is obtained at the same time. Here, the strength index can be an index indicating the signal strength, such as the voltage, current or frequency spectrum density of the echo signal.

[0187] The first distance information and the first strength index information output by the signal processing module 414 are processed by the error and exception processing module 420 (including the error and exception processing module 420 (1) corresponding to the signal processing module 414 (1), the error and exception processing module 420 (2) corresponding to the signal processing module 414 (2), ..., and so on), the distance arbitration module 431 and the filtering module 432 to obtain the final distance output. The design of the error and exception processing module 420, the distance arbitration module 431 and the filtering module 432 is described below.

[0188] Error and exception handling module 420:

[0189] If the reflected signal is extremely weak and below the lower detectable limit of the receiving device, the signal processing module 414 may work abnormally and output an uncertain value. This uncertain value may be within the ranging range of the sensor device 410, or may be outside the linear measurement range of the sensor device 410, and generally has a large fluctuation. In addition, due to the existence of system errors, the transient operation of the signal processing module 414 is abnormal or the signal propagation path is affected, and the transient ranging signal output by the sensor device 410 may have a large error.

[0190] Assume that the linear measurement range of the sensor device 410n is [H n_min ,H n_max ] (subscript n represents the corresponding value of the nth sensor device 410, the same below), the effective intensity range is [p n_min ,p n_max ](p n_min is the minimum signal strength within the linear measurement range that the signal processing module 414 can detect the correct distance, p n_max is the maximum signal strength that the signal processing module 414 can output), and the first distance information output by the signal processing module 414 in the kth sampling period is h nc (k), the first strength index information is p nc (k), the second distance information output by the error and exception processing module 420 in the kth sampling period is h nf (k), the second strength index information is p nf (k), validity marked as enf (k). In order to reduce the impact of errors and anomalies on the reliability of ranging results, the following data processing strategy is designed:

[0191] Strategy 1: The nth sensor device 410 outputs the initial distance value (i.e., the initial set) h nf (0) is set as the lower limit of the linear measurement range, and the first intensity index p nf (0) and validity mark e nf (0) are all set to 0, that is:

[0192] h nf (0) = H n_min , (2)

[0193] p nf (0)=0 (3)

[0194] e nf (0)=0 (4)

[0195] Strategy 2: If the first distance information of the signal processing module 414 of the nth sensor device 410 is not within the linear measurement range of the sensor device 410, or the first intensity index information is lower than the lower limit of the effective intensity range, the second distance information and the first intensity index information of the error and exception processing module 420 remain unchanged and are still the values ​​output last time, but the validity mark is recorded as 0. That is, if h nc (k) <H n_min or nc (k)>H n_max , or p nc (k) <p n_min ,have:

[0196] h nf (k) = h nf (k-1) (5)

[0197] p nf (k) = p nf (k-1) (6)

[0198] e nf (k)=0 (7)

[0199] Strategy 3: If the first distance information of the signal processing module 414 of the nth sensor device 410 is within the linear measurement range of the sensor device 410, and the first intensity index information is not lower than the lower limit of the effective intensity range, then if the output distance h of the signal processing module 414 is nc (k) relative to the distance h output by the error and exception processing module 420 in the previous sampling period nf The change value of (k-1) exceeds the maximum allowable value H nvmax(i.e., the single sampling period variation threshold), i.e., |h nc (k)-h nf (k-1)|>H nvmax ,h nf (k) will be h nf (k-1) and H nvmax The weight and weight value are the same as h nc (k) relative to h nf The change direction of (k-1) is related, as shown in equations (8) and (9). nf (k) relative to h nf The direction of change of (k-1) and h nc (k) relative to h nf The change direction of (k-1) is consistent; the second strength index information p nf (k) and the first strength index information p nc (k) consistent; if h nf (k) If it is not within the linear measurement range of the nth sensor device 410, the validity flag is recorded as 0, otherwise it is recorded as 1.

[0200]

[0201] p nf (k) = p nc (k) (10)

[0202]

[0203] Strategy 4: If the first distance information of the signal processing module 414 corresponding to the nth sensor device 410 is within the linear measurement range of the sensor device 410, and the first intensity index information is not lower than the lower limit of the effective intensity range, and the change value of the first distance information of the signal processing module 414 relative to the second distance information output by the error and exception processing module 420 in the previous sampling period does not exceed the maximum allowable value, then the corresponding value of the signal processing module 414 is directly output, and the validity flag is recorded as 1, that is:

[0204] h ng (k) = h nc (k) (12)

[0205] p nf (k) = p nc (k) (13)

[0206] e nf (k)=1 (14)

[0207] Strategies 1 to 4 restrict and process the measurement values ​​output by the signal processing module 414 from three perspectives: measurement range, signal strength, and variation in a single sampling cycle. Validity flags are used to mark whether the measurement values ​​are output candidate values ​​in the distance arbitration module 431. This avoids the adverse effects of invalid outputs on subsequent data processing. On the other hand, while limiting the maximum variation in the measurement output in a single sampling cycle to avoid excessive fluctuations in the measurement output, rapid response is ensured through strength-related weights.

[0208] Distance arbitration module 431:

[0209] For ease of comparison, the strength index of the sensor device 410 is normalized to:

[0210]

[0211] The distance arbitration module 431 determines which sensor device 410 output distance is used as the output distance of the current sampling cycle according to the output of the previous sampling cycle and the information output by the error and exception processing module of each sensor device 410 in the current sampling cycle through arbitration strategy. Arbitration is performed according to the following strategy:

[0212] Strategy 5: If the validity flag e of the sensor device 410n nf (k) is 0, then the h of the sensor device 410 nf (k) not to participate in the arbitration;

[0213] Strategy 6: Let T(k) be the number of the sensor device 410 whose value is used as the output after arbitration in the kth sampling period (with T(0)=1), and find the validity flag e nf (k) is 1 in the sensor device 410, the normalized strength index q nf (k) The largest sensor device 410 is set as the t-th sensor device 410, and the corresponding normalized strength index is q tf (k). Assume that the sensor device 410 selected after arbitration in the last sampling cycle is the rth sensor device 410, that is, T(k-1)=r. If in this sampling cycle, the normalized strength index q of the tth sensor device 410 is tf (k) and the normalized strength index q of the rth sensor device 410 rf (k) The ratio exceeds the set value (i.e., the preset value mentioned above), or the validity flag e of the rth sensor device 410 rf (k) is 0, then the output value h of the tth sensor device 410 is selected tf (k) as the distance arbitration module 431 outputs h j (k); otherwise, select the output value h of the rth sensor device 410 rf (k) as the distance arbitration module 431 outputs hj (k), as follows:

[0214]

[0215] In Formula 16, R is the switching parameter of the sensor device 410 (ie, the preset value mentioned above), which is used to control the tendency of switching the sensor device 410 when the sensor device 410 is selected, and is usually 2.

[0216] The distance arbitration module 431 arbitrates multiple sensor devices 410 according to the signal strength of each sensor device 410. Considering that the signal strength index of the sensor device 410 will drop sharply outside the linear measurement area, the use of the strength index to select the sensor device 410 can avoid the false height caused by the nonlinearity of the sensor device 410 outside the linear measurement area as the actual output. At the same time, by setting a certain switching tendency of the sensor device 410, the arbitration mechanism will switch the sensor device 410 only when the signal strength of another sensor device 410 is significantly higher than the signal strength of the currently used sensor device 410, which can avoid false switching to a certain extent, that is, the jitter of the measurement result caused by frequent switching due to the close strength of the two.

[0217] Filter module 432:

[0218] The distance measurement results output by the arbitration module still have large fluctuations, and in many cases, such changes in details are not important, which requires filtering the distance measurement results to show more valuable results to the user. On the other hand, when the distance is closer, these changes in details become important, and the measured surface needs to be tracked more quickly to assist the user in making quick decisions. This requires the filtering algorithm to perform adaptive filtering according to the current height. Filter the output results of the arbitration module according to the following formula:

[0219]

[0220] Where:

[0221] h o (k)—target second distance information output by the filtering module 432 in the kth sampling period;

[0222] h max ——The upper limit of the distance measuring device is 400;

[0223] A, B——filter parameters, both are positive integers greater than 0.

[0224] Formula (17) introduces the distance into the filtering parameters based on the first-order filtering, and the resulting filtering parameters are: When the distance is large, When the value is small, the filtering algorithm has low sensitivity and is insensitive to small fluctuations. The larger the value, the more sensitive the filtering algorithm is and the more sensitive it is to small fluctuations.

[0225] For the multi-sensor device 410 fixed working condition scheme or the single sensor device 410 multi-working condition scheme in the range expansion scheme of the distance measuring device 400, the data is processed in three stages. The first stage performs validity processing on the distance information output by the single sensor device 410 (single working condition); the second stage makes a decision based on the distance information, signal strength information and validity information output by the first stage to select the appropriate sensor device 410 (working condition) data distance as the result; the third stage filters the output result of the second stage to generate a more friendly result.

[0226] For the output of a single sensor device 410 (single working condition), the measured value output by the signal processing module 414 is restricted and processed from three perspectives: measurement range, signal strength, and single sampling period variation. The validity flag is used to mark whether the measured value is used as an output candidate value in the distance arbitration module 431. On the one hand, the invalid output is prevented from having an adverse effect on subsequent data processing. On the other hand, while limiting the maximum variation value of the measured output in a single sampling period to avoid excessive fluctuations in the measured output, a fast response is ensured by the strength-related weights.

[0227] The distance arbitration module 431 arbitrates multiple sensor devices 410 according to the signal strength of each sensor device 410. Considering that the signal strength index of the sensor device 410 will drop sharply outside the linear measurement area, the use of the strength index to select the sensor device 410 can avoid the false height caused by the nonlinearity of the sensor device 410 outside the linear measurement area as the actual output. At the same time, by setting a certain switching tendency of the sensor device 410, the arbitration mechanism will switch the sensor device 410 only when the signal strength of another sensor device 410 is significantly higher than the signal strength of the currently used sensor device 410, which can avoid false switching to a certain extent, that is, the jitter of the measurement result caused by frequent switching due to the close strength of the two.

[0228] The filtering module 432 introduces the distance into the filtering parameters based on the first-order filtering to form an adaptive filtering scheme. When the distance is large, the filtering algorithm has low sensitivity and is insensitive to small fluctuations; when the distance is small, the filtering algorithm has high sensitivity and is sensitive to small fluctuations. This adaptive filtering scheme retains useful information in the ranging process and improves the usability of the ranging device 400.

[0229] The embodiment of the present invention also provides a computer program product, such as Figure 7 As shown, the computer program product 7 includes computer instructions 701, and when the computer instructions 701 are executed by a processor, the above data processing method for the sensor device is implemented.

[0230] The embodiment of the present invention further provides an electronic device, such as Figure 8 As shown, the electronic device 8 includes a processor 801, a memory 802, and a computer program stored in the memory 802 and capable of running on the processor. When the computer program is executed by the processor, the above data processing method for the sensor device is implemented.

[0231] The embodiment of the present invention also provides a non-volatile computer-readable storage medium, such as Fig. 9 As shown, the non-volatile computer-readable storage medium 9 stores computer program instructions 901, and when the computer program instructions 901 are executed by the processor, the above data processing method for the sensor device is implemented.

[0232] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0233] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0234] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0235] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0236] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0237] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0238] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0239] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0240] The data processing method for a sensor device, a distance measuring device, a computer program product, an electronic device and a non-volatile computer-readable storage medium provided above are introduced in detail. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A data processing method for a sensor device, characterized in that: The method comprises: Acquire a plurality of first information sets obtained by the sensing device from measuring the target surface; one first information set includes a first distance information and a first strength index information; According to a preset linear measurement range, an effective intensity range of the sensing device, and a preset single sampling period variation threshold, the first information set is processed respectively to obtain a plurality of second information sets; one second information set includes a second distance information and a second intensity index information; A target information set is determined from the multiple second information sets, and target second distance information of the target information set is output.

2. The method according to claim 1, characterized in that The second information set also includes a validity flag, and determining the target information set from the plurality of second information sets includes: According to the validity flag, a target information set is determined from the multiple second information sets.

3. The method according to claim 2, characterized in that The first information set is processed according to the preset linear measurement range, the effective intensity range of the sensor device, and the preset single sampling period variation threshold to obtain multiple second information sets, including: When the first information set is an initial set, the lower limit value of the linear measurement range is used as the second distance information, and the second strength index information and the validity flag are set to be invalid.

4. The method according to claim 2, characterized in that: The first information set is processed according to the preset linear measurement range, the effective intensity range of the sensor device, and the preset single sampling period variation threshold to obtain multiple second information sets, including: If the first distance information is not within the linear measurement range, and / or the first strength index information is lower than the lower limit of the valid strength range, the third distance information is used as the second distance information, the third strength index information is used as the second strength index information, and the validity flag is set to invalid; The third distance information and the third strength index information are the distance information and the strength index information in the second information set obtained at the last moment.

5. The method according to claim 2, characterized in that: The first information set is processed according to the preset linear measurement range, the effective intensity range of the sensor device, and the preset single sampling period variation threshold to obtain multiple second information sets, including: If the first distance information is within the linear measurement range, and the first intensity index information is not lower than the lower limit of the effective intensity range, and the absolute value of the difference between the first distance information and the third distance information is greater than the single sampling period variation threshold, the second distance information is determined according to the first distance information, the first intensity index information, the third intensity index information, the third distance information, and the single sampling period variation threshold; and, using the first strength indicator information as the second strength indicator information; The third distance information and the third strength index information are the distance information and the strength index information in the second information set obtained at the last moment.

6. The method according to claim 5, characterized in that The method further comprises: When the second distance information is not within the linear measurement range, the validity flag is set to invalid; When the second distance information is within the linear measurement range, the validity flag is set to be valid.

7. The method according to claim 2, characterized in that The first information set is processed according to the preset linear measurement range, the effective intensity range of the sensor device, and the preset single sampling period variation threshold to obtain multiple second information sets, including: If the first distance information is within the linear measurement range, the first intensity index information is not lower than the lower limit of the effective intensity range, and the absolute value of the difference between the first distance information and the third distance information is not greater than the single sampling period variation threshold, the first information set is used as the second information set, and the validity flag in the second information set is set to valid; The third distance information is the distance information in the second information set obtained at the last moment.

8. The method according to claim 2, characterized in that: The step of determining a target information set from the plurality of second information sets according to the validity flag comprises: Based on a preset arbitration strategy and according to the validity flag of each second information set, a target information set is determined from the plurality of second information sets.

9. The method according to claim 8, characterized in that The step of determining a target information set from the plurality of second information sets according to the validity flags of the second information sets includes: If the validity flag is valid, the second information set is used as the target information set.

10. The method according to claim 9, characterized in that If the validity flag is valid, taking the second information set as the target information set includes: If the validity flag is valid, the second information set is used as the information set to be selected; According to the target second distance information and the target second strength index information outputted in the previous sampling period, a target information set is determined from the information set to be selected.

11. The method according to claim 10, characterized in that The step of determining the target information set from the information set to be selected according to the second strength indicator information outputted in the previous sampling period includes: Determine the maximum strength index information from the information set to be selected; Determine the second intensity index information output by the sensor device corresponding to the target second intensity index information output in the previous sampling period in the current sampling period; Calculate the ratio of the maximum intensity index information to the second intensity index information output by the sensor device corresponding to the target second intensity index information output in the previous sampling period in the current sampling period; When the ratio is greater than a preset value, and / or the sensor device corresponding to the target second intensity index information of the previous sampling period outputs an invalid validity flag in the current sampling period, the maximum intensity index information is used as the target second intensity index information; Otherwise, the second intensity index information output by the sensor device corresponding to the target second intensity index information of the previous sampling period in the current sampling period is used as the target second intensity index information; The second distance information in the second information set corresponding to the second strength index information of the target is used as the second distance information of the target.

12. The method according to claim 11, characterized in that The calculating of the ratio of the maximum intensity index information to the second intensity index information outputted by the sensor device corresponding to the target second intensity index information outputted in the previous sampling period in the current sampling period includes: Normalizing the maximum strength index information to obtain fourth strength index information; Normalizing the second intensity index information outputted by the sensor device corresponding to the target second intensity index information outputted in the previous sampling period in the current sampling period to obtain fifth intensity index information; A ratio of the fourth strength index information to the fifth strength index information is calculated.

13. The method according to claim 12, characterized in that The normalizing the maximum strength index information to obtain fourth strength index information includes: The maximum intensity index information is normalized according to the linear measurement range and the effective intensity range to obtain fourth intensity index information.

14. The method according to claim 1, characterized in that The outputting the target second distance information of the target information set includes: Performing filtering processing on the second distance information of the target; Output the second distance information of the target after filtering.

15. The method according to claim 14, characterized in that The filtering process of the target second distance information includes: Generate a filtering parameter according to the second distance information of the target after filtering and output in the previous sampling period; the filtering parameter is inversely proportional to the second distance information of the target after filtering and output in the previous sampling period; The target second distance information is filtered according to the filtering parameters.

16. The method according to claim 1, characterized in that A first information set is an information set output by a sensor device in a linear measurement range.

17. The method according to claim 1, characterized in that A first information set is an information set output by a sensor device under a working condition.

18. A distance measuring device, characterized in that: It includes a sensor device, an error and abnormality processing module, and an output module; wherein: The sensing device is used to output a first information set to the error and exception processing module; a first information set includes a first distance information and a first strength index information; The error and exception processing module is used to process the first information set according to a preset linear measurement range, an effective intensity range of the sensor device, and a preset single sampling period variation threshold to obtain a second information set; a second information set includes a second distance information and a second intensity index information; The output module is used to determine a target information set from multiple second information sets, and output the target second distance information of the target information set.

19. The device according to claim 18, characterized in that The output module includes a distance arbitration module and a filtering module; The distance arbitration module is used to determine a target information set from the multiple second information sets; The filtering module is used to filter the target second distance information; Output the second distance information of the target after filtering.

20. A computer program product, characterized in that It comprises computer instructions, which, when executed by a processor, implement the data processing method for a sensor device as claimed in any one of claims 1 to 17.

21. An electronic device, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the method for processing data for a sensor device as claimed in any one of claims 1 to 17 is implemented.

22. A non-volatile computer-readable storage medium, characterized in that: The non-volatile computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the data processing method for a sensor device as claimed in any one of claims 1 to 17 is implemented.

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