Laser data processing method and device and laser sensor

Abstract

The invention is suitable for the technical field of data identification, and provides a laser data processing method and device and a laser sensor, and the laser data processing method comprises the steps: obtaining a plurality of current original laser data in a collection detection range of a laser anti-pinch sensor; acquiring a plurality of standard original laser data in a historical acquisition detection range; matching a current environment type according to the plurality of current original laser data and the plurality of standard original laser data; matching a preset correction strategy corresponding to the environment type; the preset correction strategy comprises a filtering intensity threshold value and error compensation; the preset correction strategy is sent to the laser anti-pinch sensor; the preset correction strategy is used for adjusting the laser data. According to the technical scheme, the laser anti-pinch sensor can keep an efficient and accurate anti-pinch detection function in various adverse environments, so that the overall safety performance of equipment is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of data recognition, and in particular relates to a laser data processing method, device and laser sensor. Background Art

[0002] Laser anti-pinch sensors are a kind of safety protection device widely used in doors, windows, automation equipment and other fields. Their main function is to trigger the response mechanism when an object is detected approaching or blocking, thereby preventing the occurrence of pinching accidents. Laser anti-pinch sensors detect whether there are obstacles in the detection area by emitting laser beams and receiving reflected laser signals. When abnormal signals are detected, the corresponding control system will be triggered to take protective measures.

[0003] However, in practical applications, the detection effect of laser anti-pinch sensors will be disturbed and affected by various environmental factors. Therefore, there is an urgent need for a laser data processing method that can automatically adapt to different types of environments to improve the detection performance and reliability of laser anti-pinch sensors in different environments. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a laser data processing method, device and laser sensor to solve the technical problem that the detection effect of the laser anti-pinch sensor may be interfered and affected by various environmental factors.

[0005] A first aspect of an embodiment of the present invention provides a method for processing laser data, the method for processing laser data being applied to a laser system, the laser system comprising a cloud server and a laser anti-pinch sensor, the method for processing laser data comprising: Acquire multiple current raw laser data within the detection range of the laser anti-pinch sensor; Acquire a plurality of standard original laser data within the historically collected detection range; the current original laser data and the standard original laser data are original laser data collected when there is no target detection object within the detection range; Matching a current environment type according to the plurality of current original laser data and the plurality of standard original laser data; the current environment type includes a normal environment, a strong light environment, a dusty environment, a smoky environment, a rainy environment, and a snowy environment; Matching a preset correction strategy corresponding to the environment type; the preset correction strategy includes a filter strength threshold and error compensation; The preset correction strategy is sent to the laser anti-pinch sensor; the preset correction strategy is used to adjust the laser data.

[0006] Furthermore, the step of calculating the laser intensity attenuation, the laser data attenuation symmetry index, the laser total delay, the laser overlap rate and the background noise difference according to the plurality of current original laser data and the plurality of standard original laser data comprises: Calculating the laser intensity difference between the current original laser data and the standard original laser data corresponding to each laser sequence, and using the multiple laser intensity difference values ​​as the laser intensity attenuation amount; Calculating the laser data attenuation symmetry index according to the plurality of current original laser data and the plurality of standard original laser data; Taking the difference between the first total flight time average of the plurality of current original laser data and the second total flight time average of the plurality of standard original laser data as the total laser delay; The ratio between the number of overlapping lasers and the total number of lasers is taken as the laser overlap rate; The difference between the amount of noise in the current raw laser data and the amount of noise in the standard raw laser data is used as the background noise difference amount.

[0007] Furthermore, the step of matching the current environment type according to the laser intensity attenuation, the laser data attenuation symmetry index, the laser total delay, the laser overlap rate and the background noise difference includes: The laser intensity attenuation, the laser data attenuation symmetry index, the laser total delay, the laser overlap rate and the background noise difference are encoded to obtain a plurality of encoding values; Constructing a plurality of the code values ​​into a laser feature vector according to preset positions; Obtain preset feature vectors for multiple environment types; Calculating the distance between the laser feature vector and the preset feature vector; The environment type corresponding to the minimum distance is used as the current environment type.

[0008] Furthermore, the step of calculating the laser data attenuation symmetry index according to the plurality of current original laser data and the plurality of standard original laser data comprises: Substituting a plurality of the current original laser data and a plurality of the standard original laser data into the following mathematical model to obtain the laser data attenuation symmetry index; The mathematical model is: in, represents the laser data attenuation symmetry index, represents the number of the current raw laser data or the standard raw laser data, Indicates the starting point of the laser data. Indicates the end point of the laser data. express, represents the i-th current raw laser data, represents the i-th standard original laser data, represents the first adjustment parameter, Represents the second adjustment parameter.

[0009] Furthermore, after sending the preset correction strategy to the laser anti-pinch sensor, it also includes: Extracting difference areas in positions corresponding to the plurality of current original laser data; Based on the difference area, the laser data is adjusted using the preset correction strategy.

[0010] Furthermore, the step of extracting the difference areas in the positions corresponding to the multiple current original laser data includes: Extract the laser intensity difference corresponding to each current raw laser data; Calculate the distance between the corresponding positions of each current raw laser data; Extracting current raw laser data of a target whose laser intensity difference is greater than a first value and whose distance is less than a second value; The minimum rectangular area where the current original laser data of the plurality of targets are located is calculated, and the minimum rectangular area is used as the difference area.

[0011] A second aspect of an embodiment of the present invention provides a laser data processing device, including: A first acquisition unit is used to acquire a plurality of current raw laser data within the acquisition and detection range of the laser anti-pinch sensor; A second acquisition unit is used to acquire a plurality of standard original laser data within the historical acquisition detection range; the current original laser data and the standard original laser data are original laser data acquired when there is no target detection object within the detection range; A first matching unit is used to match the current environment type according to the multiple current original laser data and the multiple standard original laser data; the current environment type includes a normal environment, a strong light environment, a dusty environment, a smoky environment, a rainy environment and a snowy environment; A second matching unit, used to match a preset correction strategy corresponding to the environment type; the preset correction strategy includes a filter strength threshold and an error compensation; A sending unit is used to send the preset correction strategy to the laser anti-pinch sensor; the preset correction strategy is used to adjust the laser data.

[0012] A third aspect of an embodiment of the present invention provides a laser sensor, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the laser data processing method described in the first aspect when executing the computer program.

[0013] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the laser data processing method described in the first aspect are implemented.

[0014] Compared with the prior art, the embodiment of the present invention has the following beneficial effects: by collecting the current raw laser data and the historical standard raw laser data, and matching the current environment type (such as strong light, dust, smoke, rainy days and snowy days), the method can automatically identify the influence of different environmental factors on the laser data, thereby improving the stability and reliability of the system in various complex environments. According to the preset correction strategy matching different environmental types, including filter intensity threshold and error compensation, etc., it is possible to accurately adjust the laser data for the interference of a specific environment, effectively reduce the error of external factors on the laser data, improve the detection accuracy, and avoid the occurrence of false alarms or missed alarms. The matched preset correction strategy is sent to the laser anti-pinch sensor to realize real-time adjustment of the processing mode of the laser data, ensure that the sensor can still quickly and accurately complete the detection task in a complex and changeable environment, and enhance the safety and reliability of the equipment. The method combines historical data and current data for dynamic matching, intelligently selects the most appropriate correction strategy, reduces manual intervention, improves the automation level of data processing and the adaptability of the sensor, and ensures the long-term stable operation of the system. Through the above technical solution, the laser anti-pinch sensor can maintain efficient and accurate anti-pinch detection function in a variety of adverse environments, thereby improving the overall safety performance of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A schematic flow chart of a laser data processing method provided by the present invention is shown; Figure 2 A schematic diagram of a laser data processing device provided by an embodiment of the present invention is shown; Figure 3 A schematic diagram of a laser sensor provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0017] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0018] The embodiments of the present invention provide a laser data processing method, device and laser sensor to solve the technical problem that the detection effect of the laser anti-pinch sensor may be interfered and affected by various environmental factors.

[0019] First, the present invention provides a method for processing laser data. Figure 1 , Figure 1 FIG. 1 is a schematic flow chart of a laser data processing method provided by the present invention. Figure 1 As shown, the laser data processing method may include the following steps: Step 101: Acquire a plurality of current raw laser data within the detection range of the laser anti-pinch sensor; In order to make the laser anti-pinch device better adapt to the environment type, this embodiment adopts a periodic adjustment method, that is, periodically executing steps 101 to 105 to match the preset correction strategy in each period, thereby adapting to the changes in the environment type in different periods.

[0020] When the next adjustment cycle is reached, multiple current raw laser data within the detection range of the laser anti-pinch sensor are obtained to determine whether the preset correction strategy needs to be adjusted. The current raw laser data refers to the unprocessed raw laser data collected at the current moment. Among them, the current raw laser data needs to be collected when there is no target detection object (human body or other obstacles) within the detection range. The laser data can be used to determine whether there is a target detection object within the current detection range. When the target detection object is not detected, real-time laser data is collected and used as the current raw laser data.

[0021] Step 102: Acquire a plurality of standard original laser data within the historically collected detection range; the current original laser data and the standard original laser data are original laser data collected when there is no target detection object within the detection range; The standard raw laser data needs to be collected in a normal environment when there is no target detection object. It can be understood that the standard raw laser data is a normal data, which serves as a data standard.

[0022] Step 103: matching the current environment type according to the plurality of current original laser data and the plurality of standard original laser data; the current environment type includes a normal environment, a strong light environment, a dusty environment, a smoky environment, a rainy environment, and a snowy environment; Since different environment types will present different data features in the laser data, this embodiment extracts the environmental data features in the laser data and then matches the corresponding environment type. The current environment types include but are not limited to normal environment, strong light environment, dust environment, smoky environment, rainy environment and snowy environment.

[0023] Among them, strong light, dust, smoke, rain and snow can cause an increase in background noise, resulting in a decrease in the signal-to-noise ratio. The laser signal becomes unclear and difficult to distinguish from the background noise. Under strong light conditions, such as direct sunlight or reflection, the laser receiver will be saturated, resulting in data distortion or complete loss. Dust, smoke, rain and snow can cause the scattering of the laser beam, causing the laser signal to attenuate, disperse and distort, which in turn affects the accuracy and stability of the distance measurement. Under weather conditions such as rain and snow, the laser beam may be partially absorbed or reflected by water droplets or snowflakes, resulting in a decrease in the strength of the received signal, affecting the measurement effect. Laser signals may encounter multipath effects in complex environments, that is, the signal reaches the receiver through different paths, resulting in delays or errors in the measurement results. In dynamic environments (such as wind blowing dust or smoke), laser data may become unstable, resulting in large fluctuations in measurement results and reduced reliability. Noise and interference in complex environments may cause laser receivers to misidentify target objects or generate false targets, increasing the false alarm rate.

[0024] Dust scattering: Dust particles are usually larger than or close to the laser wavelength, so the scattering mainly follows Mie scattering. Mie scattering is a complex scattering pattern with a wide range of scattering directions, but most of the scattering occurs in the forward direction (close to the laser propagation direction). The concentration and size of dust particles determine the degree of scattering. When the concentration is high, the laser signal attenuates significantly, and the ranging accuracy and signal strength will be greatly affected.

[0025] Smoke scattering: The particles in smoke are small, usually much smaller than the wavelength of the laser, so they mainly follow Rayleigh scattering. Rayleigh scattering will scatter the laser in all directions (omnidirectional scattering), including forward, sideways and backward, which will cause the receiver to receive more complex signals and affect the stability of the measurement. Since the particles in smoke are smaller, the scattering effect is slightly weaker than dust, but due to omnidirectional scattering, it will still cause signal attenuation and data instability.

[0026] Scattering of rain and snow: Raindrops and snowflakes are usually much larger than the wavelength of the laser, so the scattering follows the laws of geometric optics, producing specular reflection, refraction, and diffuse reflection. Raindrops are nearly spherical and will produce strong specular reflection and refraction, resulting in a significant multipath effect of the signal, that is, the laser signal may reach the receiver through multiple paths, increasing the measurement error. Snowflakes are complex and irregular in shape, mainly producing diffuse reflection, causing the laser signal to disperse and attenuate significantly, further affecting the signal strength. The impact of rain and snow is more significant, especially when there is heavy rainfall or snowfall, the laser signal will be greatly weakened or even blocked, affecting the effectiveness and accuracy of the measurement.

[0027] Characteristics of dust scattering The forward scattering of the laser signal by dust particles weakens the signal strength, and the echo intensity of the laser data will decrease, which may affect the ranging results. Due to the complexity of Mie scattering, the laser echo signal may carry higher background noise, which increases the data noise level and reduces the signal-to-noise ratio. When the dust concentration is uneven, the echo of the laser data may fluctuate, resulting in unstable measurement results.

[0028] Characteristics of smoke scattering: Due to the omnidirectional nature of Rayleigh scattering, the signal received by the laser receiver may contain scattered signals from multiple directions, resulting in higher background noise in the laser data. Although not as obvious as rain and snow, the omnidirectional scattering of smoke may cause the receiver to detect some signals that deviate from the original propagation path, resulting in the appearance of "multipath effect" characteristics in the laser data, such as signal delays or false echoes. Smoke particles have different scattering effects on laser signals of different wavelengths, which may cause the attenuation of signal intensity to present asymmetric characteristics in multi-wavelength laser measurements.

[0029] Characteristics of rain and snow scattering: The reflection and refraction of laser signals on raindrops or snowflakes will cause a strong multipath effect, that is, the laser receiver may receive multiple reflected echo signals, and multiple ranging results or signal overlap may appear in the laser data. Due to the large variation in the scattering intensity of the laser signal by raindrops or snowflakes, the intensity of the laser echo signal will show significant fluctuation characteristics, especially when the intensity of rainfall or snowfall is unstable. The scattering effect of rain and snow will cause the laser beam to deviate from the original path, or be completely reflected or absorbed, resulting in large errors in the ranging results or measurement failure. In the time domain representation of laser data, rain and snow scattering may cause a delay in the arrival time of the signal, causing the laser echo signal to appear as a "tail delay" phenomenon.

[0030] Therefore, based on the above laser influence characteristics, this embodiment extracts data features from laser data and then matches the environment type. The specific logic is as follows: Specifically, step 103 specifically includes step 1031 to step 1032: Step 1031: Calculate the laser intensity attenuation, the laser data attenuation symmetry index, the laser total delay, the laser overlap rate and the background noise difference according to the multiple current original laser data and the multiple standard original laser data; Specifically, step 1031 includes steps A1 to A5: Step A1: Calculate the laser intensity difference between the current original laser data and the standard original laser data corresponding to each laser sequence, and use the multiple laser intensity difference values ​​as the laser intensity attenuation amount; Match the current original laser data and the standard original laser data of the same sequence or the same position, calculate the laser intensity difference between the two laser data, and use the laser intensity difference corresponding to all the current original laser data as the laser intensity attenuation.

[0031] Step A2: calculating the laser data attenuation symmetry index according to the multiple current original laser data and the multiple standard original laser data; The laser data attenuation symmetry index is used to characterize whether the attenuation of laser data is local or global, so as to better distinguish the environment type. The specific calculation logic of the laser data attenuation symmetry index is as follows: Specifically, step A2 includes: Substituting a plurality of the current original laser data and a plurality of the standard original laser data into the following mathematical model to obtain the laser data attenuation symmetry index; The mathematical model is: in, represents the laser data attenuation symmetry index, represents the number of the current raw laser data or the standard raw laser data, Indicates the starting point of the laser data. Indicates the end point of the laser data. express, represents the i-th current raw laser data, represents the i-th standard original laser data, represents the first adjustment parameter, Represents the second adjustment parameter.

[0032] The above mathematical model comprehensively considers the attenuation characteristics between the two laser data and the attenuation symmetry of the current laser data. This mathematical model takes into account the overall differences of multiple data groups, rather than relying on a single indicator. By introducing adjustment parameters, the sensitivity to different positions and degrees of difference can be adjusted according to specific needs. And the use of integral form fully considers the continuity of the data in space. Through the overall calculation of multiple data groups, the ASI indicator can fully reflect the attenuation symmetry between standard data and real-time data. Using the integral form, the continuous change of data in space is fully considered, and subtle differences can be captured. The ASI indicator is between 0 and 1, with clear physical meaning and comparability.

[0033] Step A3: taking the difference between the first total flight time average of the plurality of current original laser data and the second total flight time average of the plurality of standard original laser data as the total laser delay; Since there is a certain laser delay in some environment types, the total delay of all laser data can be calculated to match the corresponding environment type.

[0034] Time of Flight (TOF) in laser data refers to the time required for a laser signal to be emitted and received from the reflected signal. It is one of the core principles of laser ranging technology.

[0035] Step A4: taking the ratio between the number of overlapping lasers and the total number of lasers as the laser overlap rate; In some environment types, there may be overlapping lasers due to the multipath effect, so the laser overlap rate can be calculated to match the corresponding environment type.

[0036] Step A5: The difference between the amount of noise in the current raw laser data and the amount of noise in the standard raw laser data is used as the background noise difference amount.

[0037] There are certain differences in the signal-to-noise ratio of different environment types, so the background noise difference can be calculated to match the corresponding environment type.

[0038] In this embodiment, by carefully comparing the current raw laser data with the standard raw laser data, multiple key laser parameters can be effectively extracted and calculated, thereby achieving accurate laser signal analysis and environmental assessment. First, by calculating the laser intensity difference corresponding to each laser sequence and using it as the laser intensity attenuation, the intensity change of the laser signal in different environments can be effectively evaluated, reflecting the absorption or scattering characteristics of the environment to the laser signal. Secondly, by calculating the laser data attenuation symmetry index, the symmetry change in the laser signal attenuation process can be identified, further helping to distinguish different environmental characteristics. In addition, the calculation of the total laser delay is achieved by comparing the total flight time mean difference between the current raw laser data and the standard raw laser data, which can accurately evaluate the change in the propagation speed of the laser signal in a specific environment, and provide accurate delay information for real-time monitoring and identification of the environment. The laser overlap rate reflects the consistency of the distribution of the laser signal in space by calculating the ratio of the number of overlapping lasers to the total number of lasers, which can help identify the density or surface characteristics of objects in the environment. Finally, by analyzing the difference in the amount of noise in the current raw laser data and the standard raw laser data, the background noise difference is obtained, which helps to optimize signal processing and improve the accuracy of laser detection in complex background environments. In summary, this technical solution realizes multi-dimensional and multi-parameter laser data analysis, can accurately capture the impact of the environment on the laser signal, improve the recognition and analysis capabilities of the laser system in complex environments, and has high practicality and reliability.

[0039] Step 1032: Match the current environment type according to the laser intensity attenuation, the laser data attenuation symmetry index, the laser total delay, the laser overlap rate and the background noise difference.

[0040] Specifically, step 1032 specifically includes steps B1 to B5: Step B1: encoding the laser intensity attenuation, the laser data attenuation symmetry index, the laser total delay, the laser overlap rate and the background noise difference to obtain a plurality of encoding values; Step B2: constructing a laser feature vector according to preset positions of the plurality of code values; Step B3: Obtaining preset feature vectors of multiple environment types; Step B4: calculating the distance between the laser feature vector and the preset feature vector; Step B5: taking the environment type corresponding to the minimum distance as the current environment type.

[0041] By encoding the laser intensity attenuation, laser data attenuation symmetry index, laser total delay, laser overlap rate and background noise difference, these physical quantities are converted into multiple coded values, and a laser feature vector is further constructed. This feature vector is matched with the feature vectors of multiple preset environment types. By calculating the distance between the laser feature vector and each preset feature vector, the current environment type can be quickly and effectively identified and matched. The advantage of this technical solution is that it can achieve highly accurate environment recognition, especially in complex environments. By considering multiple key parameters of the laser signal, including attenuation, symmetry, delay, overlap rate and background noise, it ensures that the identification of the environment type is more comprehensive and reliable. Due to the use of the feature vector method, the present invention also has a high computational efficiency and can adapt to real-time application scenarios. By matching the environment type with the minimum distance, the robustness and reliability of the system can be further improved, thereby reducing the possibility of misjudgment.

[0042] In this embodiment, by matching multiple current original laser data with multiple standard original laser data, this technical solution can accurately identify and classify the current environment type. First, the laser intensity attenuation is calculated, which can reflect the propagation characteristics of the laser signal in different environments and help distinguish multiple physical media. Secondly, the laser data attenuation symmetry index is used to evaluate whether there is an asymmetric change in the laser signal during the propagation process, which further improves the matching accuracy. Through the calculation of the total laser delay, this solution effectively captures the impact of the environment on the laser propagation speed, and further supplements the identification of environmental features. At the same time, the laser overlap rate can evaluate the degree of overlap of the laser signal, providing spatial information support for the determination of the environment type. Finally, the evaluation of the background noise difference ensures the ability to separate the signal from the noise in a complex environment, and reduces the interference of the environmental background on the signal processing. Combining the above-mentioned laser intensity attenuation, laser data attenuation symmetry index, laser total delay, laser overlap rate and background noise difference, this technical solution can achieve high-precision and high-robustness environment type matching, ensuring high adaptability and accuracy in a variety of complex environments.

[0043] Step 104: matching a preset correction strategy corresponding to the environment type; the preset correction strategy includes a filter strength threshold and error compensation; The preset correction strategy is pre-set through prior knowledge, experimental data and human experience to adjust the recognition accuracy under different environments. The preset correction strategy includes but is not limited to filter strength threshold and error compensation.

[0044] Particles or water droplets in dust, smoke, rain, snow and other environments usually cause the laser reflection signal to weaken or produce low-intensity reflection. By monitoring the intensity of the reflection signal, the laser system can filter the reflection signal of low intensity and non-target objects. Intensity filtering can eliminate invalid or erroneous echo signals and improve the effectiveness of measurement. Different types of environments require different error compensation to improve detection accuracy.

[0045] For example, ① the preset correction strategy for the conventional environment is as follows: Filter Strength Threshold (FT): 1.0 Error compensation (EC): 0.0 Under normal circumstances, the signal has little interference and low noise level, and the sensor or system can work normally under the default settings. Therefore, the filter strength threshold is set to the base value 1.0, and the error compensation is 0, without additional adjustment.

[0046] ②The preset correction strategy for strong light environment is as follows: Filter Strength Threshold (FT): 1.5 Error compensation (EC): +0.1 Strong light may cause the sensor to be overexposed or produce glare, introducing additional high-frequency noise. To suppress this noise, we increase the filter strength threshold to 1.5, which means increasing the filtering strength to block high-frequency interference. At the same time, strong light may cause the signal to be too high, so a positive error compensation of +0.1 is added to correct the measurement deviation caused by excessive light.

[0047] ③The preset correction strategy for dusty environment is as follows: Filter Strength Threshold (FT): 1.2 Error compensation (EC): -0.05 Dust will scatter and absorb the signal, introducing low-frequency noise and signal attenuation. Set the filter intensity threshold to 1.2, appropriately enhance the filter, and reduce the interference caused by dust. At the same time, since the signal may be weakened by dust, add a negative error compensation of -0.05 to compensate for the attenuation of the signal.

[0048] ④The preset correction strategy for smoke environment is as follows: Filter strength threshold (FT): 1.3 Error compensation (EC): -0.1 Smoke has a greater impact on the signal than dust, resulting in more obvious scattering and absorption. The filter strength threshold is increased to 1.3 to enhance the suppression of smoke interference. Since the signal attenuation is more serious, the error compensation is set to -0.1 to correct the signal reduction.

[0049] ⑤The preset correction strategy for rainy day environment is as follows: Filter Strength Threshold (FT): 1.4 Error compensation (EC): -0.15 Raindrops can cause signal scattering, absorption, and introduce random noise. The filter strength threshold is set to 1.4 to more effectively filter out the noise caused by raindrops. Taking into account the signal loss caused by rain, the error compensation is set to -0.15 to correct the measurement results.

[0050] ⑥The preset correction strategy for snowy environment is as follows: Filter Strength Threshold (FT): 1.6 Error compensation (EC): -0.2 Snow has the greatest impact on the signal, with both severe scattering and strong absorption. The filter strength threshold needs to be increased to 1.6 to minimize the impact of noise. Since the signal is greatly weakened, the error compensation needs to be set to -0.2 to accurately reflect the true signal strength.

[0051] The filter strength threshold is used to control the degree of filter suppression of noise of different frequencies. The higher the value, the stronger the filter suppresses noise. However, too high a filter strength may lead to the loss of useful signals, so it needs to be balanced according to the environmental noise level. In the above settings, as the environmental interference increases, FT gradually increases.

[0052] Error compensation is used to correct the systematic impact of the environment on the signal amplitude. Positive compensation is used to correct excessive deviation of the signal (such as gain caused by strong light), and negative compensation is used to correct signal attenuation (such as attenuation caused by dust, smoke, rain and snow). The absolute value of the error compensation is proportional to the degree of signal deviation.

[0053] The above values ​​are for example settings. In actual applications, accurate calibration is required based on specific device characteristics and environmental measurement data. By experimentally measuring signal changes in different environments, statistical methods are used to determine the optimal filter strength threshold and error compensation parameters.

[0054] Among them, the preset correction strategy can also include multiple echo technology. When there is dust, smoke, rain or snow, the laser beam may be reflected multiple times on these particles or small water droplets. Multiple echo technology allows the receiver to record not only the first reflection signal, but also the second or even more echo signals. This can distinguish the reflection signals of interference objects and target objects, thereby reducing the impact of noise. By detecting multiple echo signals, the system can eliminate false echoes caused by rain, snow, dust, etc., and retain the real signals from the target object.

[0055] Preset correction strategies can also include wavelength selection and adaptive adjustment: laser measurement systems can reduce environmental interference by selecting the appropriate laser wavelength. Lasers of different wavelengths have different sensitivities to various environmental factors. For example, longer wavelength lasers have better penetration in smoke and rain, while short wavelength lasers may be more susceptible to interference from these factors.

[0056] The preset correction strategy can also include the fusion of multi-sensor data: by fusing the laser ranging data with other sensors (such as cameras, radars, infrared sensors), the measurement accuracy and robustness can be significantly improved. In complex environments, the lidar may be interfered with, but other sensors may be able to provide additional information for correction.

[0057] The preset correction strategy can also include increasing the laser pulse frequency: Increasing the emission frequency of laser pulses can obtain more reflection data in the same time window, which helps to filter out interference and improve the accuracy of measurement. A higher pulse frequency means more measurement points, and even if some pulses are interfered by noise, the system can still generate reliable measurement results based on the remaining valid data.

[0058] Step 105: Send the preset correction strategy to the laser anti-pinch sensor; the preset correction strategy is used to adjust the laser data.

[0059] After receiving the preset correction strategy, the laser anti-pinch sensor adjusts the corresponding parameters and executes the subsequent laser detection process.

[0060] Optionally, after step 105, steps C1 to C2 are further included: Step C1: extracting a plurality of difference regions in positions corresponding to the current original laser data; In some environmental scenes, only some areas within the detection range may have abnormalities (for example, strong light, etc.). Therefore, in order to further improve the detection accuracy, the preset correction strategy can be executed only for this area. Therefore, it is necessary to extract the difference areas in the positions corresponding to multiple current raw laser data. The specific logic is as follows: Specifically, step C1 specifically includes steps C11 to C14: Step C11: extracting the laser intensity difference corresponding to each current original laser data; The laser intensity difference is obtained in step A1.

[0061] Step C12: Calculate the distance between the corresponding positions of each current original laser data; Since the laser data of the environment type area is continuous, it is necessary to calculate the distance between the corresponding positions of each current raw laser data.

[0062] Step C13: extracting current original laser data of a target whose laser intensity difference is greater than the first value and whose distance is less than the second value; Step C14: Calculate the minimum rectangular area where the current original laser data of the multiple targets are located, and use the minimum rectangular area as the difference area.

[0063] Based on the horizontal and vertical axis directions, four direction poles are obtained respectively and four straight lines are formed. The rectangular area where the four straight lines intersect is taken as the difference area.

[0064] Step C2: Based on the difference area, the laser data is adjusted using the preset correction strategy.

[0065] There is no need to adjust the laser data using a preset correction strategy for non-differential areas.

[0066] In this embodiment, by collecting the current raw laser data and the historical standard raw laser data, and matching the current environment type (such as strong light, dust, smoke, rainy days and snowy days), the method can automatically identify the impact of different environmental factors on the laser data, thereby improving the stability and reliability of the system in various complex environments. According to the preset correction strategy matching different environmental types, including filter intensity threshold and error compensation, etc., it is possible to accurately adjust the laser data for the interference of a specific environment, effectively reduce the error of external factors on the laser data, improve the detection accuracy, and avoid the occurrence of false alarms or missed reports. The matched preset correction strategy is sent to the laser anti-pinch sensor to realize real-time adjustment of the laser data processing method, ensure that the sensor can still complete the detection task quickly and accurately in a complex and changeable environment, and enhance the safety and reliability of the equipment. The method combines historical data and current data for dynamic matching, intelligently selects the most appropriate correction strategy, reduces manual intervention, improves the automation level of data processing and the adaptability of the sensor, and ensures the long-term stable operation of the system. Through the above technical solution, the laser anti-pinch sensor can maintain efficient and accurate anti-pinch detection functions in a variety of adverse environments, thereby improving the overall safety performance of the equipment.

[0067] like Figure 2 The present invention provides a laser data processing device, see Figure 2 , Figure 2 A schematic diagram of a laser data processing device provided by the present invention is shown. Figure 2 A laser data processing device as shown comprises: A first acquisition unit 21 is used to acquire a plurality of current raw laser data within the collection and detection range of the laser anti-pinch sensor; The second acquisition unit 22 is used to acquire a plurality of standard original laser data within the historical acquisition detection range; the current original laser data and the standard original laser data are original laser data acquired when there is no target detection object within the detection range; A first matching unit 23 is used to match the current environment type according to the multiple current original laser data and the multiple standard original laser data; the current environment type includes a normal environment, a strong light environment, a dusty environment, a smoky environment, a rainy environment and a snowy environment; A second matching unit 24, used to match a preset correction strategy corresponding to the environment type; the preset correction strategy includes a filter strength threshold and error compensation; The sending unit 25 is used to send the preset correction strategy to the laser anti-pinch sensor; the preset correction strategy is used to adjust the laser data.

[0068] The present invention provides a laser data processing device, which can automatically identify the influence of different environmental factors on laser data by collecting current raw laser data and historical standard raw laser data, and matching the current environment type (such as strong light, dust, smoke, rainy days and snowy days), thereby improving the stability and reliability of the system in various complex environments. According to the preset correction strategy matching different environmental types, including filter intensity threshold and error compensation, etc., it can accurately adjust the laser data for the interference of a specific environment, effectively reduce the error of external factors on laser data, improve detection accuracy, and avoid the occurrence of false alarms or missed alarms. The matched preset correction strategy is sent to the laser anti-pinch sensor to realize real-time adjustment of the laser data processing method, ensure that the sensor can still quickly and accurately complete the detection task in a complex and changeable environment, and enhance the safety and reliability of the equipment. The method combines historical data and current data for dynamic matching, intelligently selects the most appropriate correction strategy, reduces manual intervention, improves the automation level of data processing and the adaptability of the sensor, and ensures the long-term stable operation of the system. Through the above technical solution, the laser anti-pinch sensor can maintain efficient and accurate anti-pinch detection functions in a variety of adverse environments, thereby improving the overall safety performance of the equipment.

[0069] Figure 3 FIG. 1 is a schematic diagram of a laser sensor provided by an embodiment of the present invention. Figure 3 As shown, a laser sensor 3 of this embodiment includes: a processor 30, a memory 31, and a computer program 32 stored in the memory 31 and executable on the processor 30, such as a laser data processing program. When the processor 30 executes the computer program 32, the steps of each of the above-mentioned laser data processing method embodiments are implemented, such as Figure 1Alternatively, when the processor 30 executes the computer program 32, the functions of each unit in the above-mentioned device embodiments are realized, for example, Figure 2 Function of the unit shown.

[0070] Exemplarily, the computer program 32 may be divided into one or more units, which are stored in the memory 31 and executed by the processor 30 to complete the present invention. The one or more units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program 32 in the laser sensor 3. For example, the computer program 32 may be divided into the following specific functions of each unit: A first acquisition unit is used to acquire a plurality of current raw laser data within the acquisition and detection range of the laser anti-pinch sensor; A second acquisition unit is used to acquire a plurality of standard original laser data within the historical acquisition detection range; the current original laser data and the standard original laser data are original laser data acquired when there is no target detection object within the detection range; A first matching unit is used to match the current environment type according to the multiple current original laser data and the multiple standard original laser data; the current environment type includes a normal environment, a strong light environment, a dusty environment, a smoky environment, a rainy environment and a snowy environment; A second matching unit, used to match a preset correction strategy corresponding to the environment type; the preset correction strategy includes a filter strength threshold and an error compensation; A sending unit is used to send the preset correction strategy to the laser anti-pinch sensor; the preset correction strategy is used to adjust the laser data.

[0071] The laser sensor includes but is not limited to a processor 30 and a memory 31. Those skilled in the art will appreciate that Figure 3 It is only an example of a laser sensor 3 and does not constitute a limitation of the laser sensor 3. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the laser sensor may also include input and output devices, network access devices, buses, etc.

[0072] The processor 30 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0073] The memory 31 may be an internal storage unit of the laser sensor 3, such as a hard disk or memory of the laser sensor 3. The memory 31 may also be an external storage device of the laser sensor 3, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the laser sensor 3. Furthermore, the memory 31 may include both an internal storage unit of the laser sensor 3 and an external storage device. The memory 31 is used to store the computer program and other programs and data required by the roaming control device. The memory 31 may also be used to temporarily store data that has been output or is to be output.

[0074] It should be understood that the order of execution of the steps in the above embodiment does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention.

[0075] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present invention. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0076] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0077] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0078] An embodiment of the present invention provides a computer program product. When the computer program product runs on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0079] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / laser sensor, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0080] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0081] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0082] In the embodiments provided by the present invention, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0083] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, and may be located in one place or distributed over multiple network units.

[0084] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0085] It should also be understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0086] As used in the present specification and the appended claims, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to monitoring, depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is monitored" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is monitored" or "in response to monitoring [described condition or event]", depending on the context.

[0087] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0088] References to "one embodiment" or "some embodiments" etc. described in the present specification mean that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0089] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A method for processing laser data, characterized in that: The laser data processing method is applied to a laser system, wherein the laser system includes a cloud server and a laser anti-pinch sensor, and the laser data processing method includes: Acquire multiple current raw laser data within the detection range of the laser anti-pinch sensor; Acquire a plurality of standard original laser data within the historically collected detection range; the current original laser data and the standard original laser data are original laser data collected when there is no target detection object within the detection range; Matching a current environment type according to the plurality of current original laser data and the plurality of standard original laser data; the current environment type includes a normal environment, a strong light environment, a dusty environment, a smoky environment, a rainy environment, and a snowy environment; Matching a preset correction strategy corresponding to the environment type; the preset correction strategy includes a filter strength threshold and error compensation; The preset correction strategy is sent to the laser anti-pinch sensor; the preset correction strategy is used to adjust the laser data.

2. The laser data processing method according to claim 1, characterized in that: The step of matching the current environment type according to the plurality of current original laser data and the plurality of standard original laser data comprises: Calculating the laser intensity attenuation, the laser data attenuation symmetry index, the laser total delay, the laser overlap rate and the background noise difference according to the plurality of current original laser data and the plurality of standard original laser data; The current environment type is matched according to the laser intensity attenuation, the laser data attenuation symmetry index, the laser total delay, the laser overlap rate and the background noise difference.

3. The laser data processing method according to claim 2, characterized in that: The step of calculating the laser intensity attenuation, the laser data attenuation symmetry index, the laser total delay, the laser overlap rate and the background noise difference according to the plurality of current original laser data and the plurality of standard original laser data comprises: Calculating the laser intensity difference between the current original laser data and the standard original laser data corresponding to each laser sequence, and using the multiple laser intensity difference values ​​as the laser intensity attenuation amount; Calculating the laser data attenuation symmetry index according to the plurality of current original laser data and the plurality of standard original laser data; Taking the difference between the first total flight time average of the plurality of current original laser data and the second total flight time average of the plurality of standard original laser data as the total laser delay; The ratio between the number of overlapping lasers and the total number of lasers is taken as the laser overlap rate; The difference between the amount of noise in the current raw laser data and the amount of noise in the standard raw laser data is used as the background noise difference amount.

4. The laser data processing method according to claim 2, characterized in that: The step of matching the current environment type according to the laser intensity attenuation, the laser data attenuation symmetry index, the laser total delay, the laser overlap rate and the background noise difference comprises: The laser intensity attenuation, the laser data attenuation symmetry index, the laser total delay, the laser overlap rate and the background noise difference are encoded to obtain a plurality of encoding values; Constructing a plurality of the code values ​​into a laser feature vector according to preset positions; Obtain preset feature vectors for multiple environment types; Calculating the distance between the laser feature vector and the preset feature vector; The environment type corresponding to the minimum distance is used as the current environment type.

5. The laser data processing method according to claim 3, characterized in that: The step of calculating the laser data attenuation symmetry index according to the plurality of current original laser data and the plurality of standard original laser data comprises: Substituting a plurality of the current original laser data and a plurality of the standard original laser data into the following mathematical model to obtain the laser data attenuation symmetry index; The mathematical model is: in, represents the laser data attenuation symmetry index, represents the number of the current raw laser data or the standard raw laser data, Indicates the starting point of the laser data. Indicates the end point of the laser data. express, represents the i-th current raw laser data, represents the i-th standard original laser data, represents the first adjustment parameter, Represents the second adjustment parameter.

6. The laser data processing method according to claim 4, characterized in that: After the step of sending the preset correction strategy to the laser anti-pinch sensor, the method further includes: Extracting difference areas in positions corresponding to the plurality of current original laser data; Based on the difference area, the laser data is adjusted using the preset correction strategy.

7. The laser data processing method according to claim 6, characterized in that: The step of extracting the difference areas in the positions corresponding to the multiple current original laser data comprises: Extract the laser intensity difference corresponding to each current raw laser data; Calculate the distance between the corresponding positions of each current raw laser data; Extracting current raw laser data of a target whose laser intensity difference is greater than a first value and whose distance is less than a second value; The minimum rectangular area where the current original laser data of the plurality of targets are located is calculated, and the minimum rectangular area is used as the difference area.

8. A laser data processing device, characterized in that: The laser data processing device comprises: A first acquisition unit is used to acquire a plurality of current raw laser data within the acquisition and detection range of the laser anti-pinch sensor; A second acquisition unit is used to acquire a plurality of standard original laser data within the historical acquisition detection range; the current original laser data and the standard original laser data are original laser data acquired when there is no target detection object within the detection range; A first matching unit is used to match the current environment type according to the multiple current original laser data and the multiple standard original laser data; the current environment type includes a normal environment, a strong light environment, a dusty environment, a smoky environment, a rainy environment and a snowy environment; A second matching unit, used to match a preset correction strategy corresponding to the environment type; the preset correction strategy includes a filter strength threshold and an error compensation; A sending unit is used to send the preset correction strategy to the laser anti-pinch sensor; the preset correction strategy is used to adjust the laser data.

9. A laser sensor, characterized in that: The laser sensor includes: a laser emitting module, a laser receiving module, an Internet of Things module, a memory, a processor, and a laser data processing program stored in the memory and executable on the processor, wherein the laser data processing program is configured to implement the steps in the laser data processing method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps in the laser data processing method according to any one of claims 1 to 7 are implemented.

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