Laser data processing method, device and laser sensor

Abstract

The present invention is applicable to the technical field of data recognition and provides a laser data processing method, device, and laser sensor. The laser data processing method includes: obtaining multiple current raw laser data within the detection range of the laser anti-pinch sensor; obtaining multiple standard raw laser data within the historical detection range; matching the current environment type based on the multiple current raw laser data and the multiple standard raw laser data; matching the preset correction strategy corresponding to the environment type; the preset correction strategy includes a filter intensity threshold and error compensation; sending the preset correction strategy to the laser anti-pinch sensor; the preset correction strategy is used to adjust the laser data. 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.

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 safety devices widely used in doors, windows, automation equipment, and other fields. Their primary function is to trigger a response mechanism when an object approaches or blocks the area, thereby preventing accidents involving pinching. Laser anti-pinch sensors detect obstacles within their detection area by emitting a laser beam and receiving the reflected laser signal. If an abnormal signal is detected, the corresponding control system is triggered to take protective measures.

[0003] However, in practical applications, the detection performance of laser anti-pinch sensors can be affected by various environmental factors. Therefore, a laser data processing method that can automatically adapt to different environmental types is urgently needed to improve the detection performance and reliability of laser anti-pinch sensors in different environments. Summary of the Invention

[0004] In view of this, 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 with 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 is applied to a laser system, wherein the laser system includes a cloud server and a laser anti-pinch sensor. The method includes:

[0006] Acquire multiple current raw laser data within the detection range of the laser anti-pinch sensor;

[0007] Acquire a plurality of standard original laser data within a historically collected detection range; the current original laser data and the standard original laser data are original laser data collected when no target detection object exists within the detection range;

[0008] Matching a current environment type according to the plurality of current raw laser data and the plurality of standard raw 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;

[0009] Matching a preset correction strategy corresponding to the environment type; the preset correction strategy includes a filter strength threshold and error compensation;

[0010] The preset correction strategy is sent to the laser anti-pinch sensor; the preset correction strategy is used to adjust laser data.

[0011] 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 based on the plurality of current original laser data and the plurality of standard original laser data includes:

[0012] 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 differences as the laser intensity attenuation;

[0013] Calculating the laser data attenuation symmetry index according to the plurality of current original laser data and the plurality of standard original laser data;

[0014] 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;

[0015] The ratio between the number of overlapping lasers and the total number of lasers is taken as the laser overlap rate;

[0016] 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.

[0017] 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:

[0018] 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;

[0019] Constructing a plurality of the code values into a laser feature vector according to preset positions;

[0020] Get preset feature vectors for multiple environment types;

[0021] Calculating the distance between the laser feature vector and the preset feature vector;

[0022] The environment type corresponding to the minimum distance is used as the current environment type.

[0023] Furthermore, the step of calculating the laser data attenuation symmetry index based on the plurality of current original laser data and the plurality of standard original laser data includes:

[0024] Substituting the plurality of current original laser data and the plurality of standard original laser data into the following mathematical model to obtain the laser data attenuation symmetry index;

[0025] The mathematical model is:

[0026]

[0027] 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 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.

[0028] Furthermore, after sending the preset correction strategy to the laser anti-pinch sensor, the method further includes:

[0029] Extracting difference areas in positions corresponding to the multiple current original laser data;

[0030] Based on the difference area, the laser data is adjusted using the preset correction strategy.

[0031] Furthermore, the step of extracting the difference areas in the positions corresponding to the multiple current original laser data includes:

[0032] Extract the laser intensity difference corresponding to each current raw laser data;

[0033] Calculate the distance between the corresponding positions of each current raw laser data;

[0034] 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;

[0035] 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.

[0036] A second aspect of an embodiment of the present invention provides a laser data processing device, including:

[0037] 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;

[0038] 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 no target detection object exists within the detection range;

[0039] A first matching unit is configured to match 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;

[0040] A second matching unit, configured to match a preset correction strategy corresponding to the environment type; the preset correction strategy includes a filter strength threshold and error compensation;

[0041] The 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.

[0042] 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 when the processor executes the computer program, the steps of the laser data processing method described in the first aspect are implemented.

[0043] 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.

[0044] Compared to the prior art, the present invention offers the following advantages: By collecting current raw laser data and historical standard raw laser data and matching them to the current environment type (such as strong light, dust, smoke, rain, and snow), the method can automatically identify the impact of different environmental factors on laser data, thereby improving the stability and reliability of the system in various complex environments. By matching preset correction strategies, including filter intensity thresholds and error compensation, to different environmental types, the method can accurately adjust the laser data to address specific environmental interference, effectively reducing the error caused by external factors, improving detection accuracy, and avoiding false positives and negatives. The matched preset correction strategy is transmitted to the laser anti-pinch sensor, enabling real-time adjustment of the laser data processing method, ensuring that the sensor can quickly and accurately complete detection tasks in complex and changing environments, thereby enhancing the safety and reliability of the device. This method dynamically combines historical and current data to intelligently select the most appropriate correction strategy, reducing manual intervention, improving the automation level of data processing and the adaptability of the sensor, and ensuring long-term stable operation of the system. Through this 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 device. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] 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 paying any creative work.

[0046] Figure 1 A schematic flow chart of a laser data processing method provided by the present invention is shown;

[0047] Figure 2 A schematic diagram of a laser data processing device provided by an embodiment of the present invention is shown;

[0048] Figure 3 A schematic diagram of a laser sensor provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0049] In the following description, specific details such as particular system structures and techniques are provided for purposes of illustration, not limitation, to facilitate a thorough understanding of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0050] 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 with and affected by various environmental factors.

[0051] First, the present invention provides a method for processing laser data. Figure 1 , Figure 1 FIG1 shows 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:

[0052] Step 101: Acquire a plurality of current raw laser data within the detection range of the laser anti-pinch sensor;

[0053] 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 environment types in different periods.

[0054] At the next adjustment cycle, the laser anti-pinch sensor acquires multiple current raw laser data within its detection range to determine whether the preset correction strategy needs to be adjusted. Current raw laser data refers to the unprocessed raw laser data collected at the current moment. This raw laser data must be collected without a target object (human or other obstruction) within the detection range. Laser data is used to determine whether a target object is present within the current detection range. If no target object is detected, real-time laser data is collected and used as the current raw laser data.

[0055] Step 102: Acquire a plurality of standard raw laser data within a historically collected detection range; the current raw laser data and the standard raw laser data are both raw laser data collected when no target detection object exists within the detection range;

[0056] Standard raw laser data needs to be collected in a normal environment when there is no target detection object. It can be understood that standard raw laser data is a normal data and serves as a data standard.

[0057] Step 103: matching a current environment type according to the plurality of current raw laser data and the plurality of standard raw 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;

[0058] Because different environment types present different data features in laser data, this embodiment extracts environmental data features from the laser data and then matches them to the corresponding environment type. Current environment types include but are not limited to normal environment, strong light environment, dusty environment, smoky environment, rainy environment, and snowy environment.

[0059] Among other things, strong light, dust, smoke, rain, and snow can increase background noise, reducing the signal-to-noise ratio. Laser signals become unclear and difficult to distinguish from background noise. Strong light conditions, such as direct or reflected sunlight, can saturate the laser receiver, leading to data distortion or complete loss. Dust, smoke, rain, and snow can scatter the laser beam, causing attenuation, dispersion, and distortion of the laser signal, which in turn affects the accuracy and stability of distance measurements. In rainy and snowy weather, the laser beam may be partially absorbed or reflected by water droplets or snowflakes, weakening the received signal and affecting measurement results. Laser signals in complex environments may experience multipath effects, where signals travel different paths to the receiver, resulting in measurement delays or errors. In dynamic environments, such as wind-blown dust or smoke, laser data can become unstable, causing large fluctuations in measurement results and reducing reliability. Noise and interference in complex environments can cause the laser receiver to misidentify targets or generate false targets, increasing false alarm rates.

[0060] Dust scattering: Dust particles are typically larger than or close to the laser wavelength, so they primarily scatter light using Mie scattering. Mie scattering is a complex pattern with a wide range of scattering directions, but most scattering occurs in the forward direction (close to the direction of laser propagation). The concentration and size of dust particles determine the degree of scattering. High dust concentrations significantly attenuate the laser signal, significantly affecting ranging accuracy and signal strength.

[0061] Smoke scattering: Particles in smoke are small, often much smaller than the wavelength of laser light, and therefore primarily follow Rayleigh scattering. Rayleigh scattering scatters laser light in all directions (omnidirectional scattering), including forward, sideways, and backward. This results in a more complex signal at the receiver, affecting measurement stability. Because smoke particles are smaller, the scattering effect is slightly less than that of dust, but omnidirectional scattering still causes signal attenuation and data instability.

[0062] Scattering from rain and snow: Raindrops and snowflakes are typically much larger than the laser wavelength, so scattering follows the laws of geometric optics, resulting in specular reflection, refraction, and diffuse reflection. Raindrops are nearly spherical, producing strong specular reflection and refraction, leading to significant multipath effects. This means the laser signal may reach the receiver via multiple paths, increasing measurement errors. Snowflakes are complex and irregular in shape, primarily producing diffuse reflection, which causes the laser signal to disperse and significantly attenuate, further impacting signal strength. The impact of rain and snow is particularly significant, especially in heavy rainfall or snowfall. Laser signals can be significantly weakened or even blocked, impacting the effectiveness and accuracy of measurements.

[0063] Dust scattering characteristics: Dust particles scatter forward laser signals, weakening signal strength and reducing the laser data echo intensity, potentially affecting ranging results. Due to the complexity of Mie scattering, laser echo signals may carry higher background noise, increasing the data noise level and reducing the signal-to-noise ratio. When dust concentration is uneven, the laser data echo may fluctuate, resulting in unstable measurement results.

[0064] Characteristics of smoke scattering: Due to the omnidirectional nature of Rayleigh scattering, the signal received by a laser receiver may contain scattered signals from multiple directions, resulting in higher background noise in the laser data. Although less pronounced than rain or snow, smoke's omnidirectional scattering can cause the receiver to detect signals that deviate from the original propagation path, leading to "multipath" 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 can cause asymmetric signal intensity attenuation in multi-wavelength laser measurements.

[0065] Characteristics of rain and snow scattering: The reflection and refraction of laser signals on raindrops or snowflakes can cause a strong multipath effect, meaning that 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 variations in the scattering intensity of the laser signal from raindrops or snowflakes, the intensity of the laser echo signal can exhibit significant fluctuations, especially when the intensity of rain or snowfall is unstable. The scattering effect of rain and snow can cause the laser beam to deviate from its 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 can cause a delay in the signal arrival time, causing the laser echo signal to appear as a "tail delay."

[0066] Therefore, based on the above-mentioned laser influence characteristics, this embodiment extracts data features from the laser data and then matches the environment type. The specific logic is as follows:

[0067] Specifically, step 103 specifically includes steps 1031 to 1032:

[0068] 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 based on the plurality of current original laser data and the plurality of standard original laser data;

[0069] Specifically, step 1031 includes steps A1 to A5:

[0070] Step A1: 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 differences as the laser intensity attenuation;

[0071] Match the current raw laser data and the standard raw laser data of the same sequence or position, calculate the laser intensity difference between the two laser data, and use the laser intensity difference corresponding to all the current raw laser data as the laser intensity attenuation.

[0072] Step A2: calculating the laser data attenuation symmetry index according to the plurality of current original laser data and the plurality of standard original laser data;

[0073] 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:

[0074] Specifically, step A2 includes:

[0075] Substituting the plurality of current original laser data and the plurality of standard original laser data into the following mathematical model to obtain the laser data attenuation symmetry index;

[0076] The mathematical model is:

[0077]

[0078] 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 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.

[0079] The mathematical model comprehensively considers the attenuation characteristics between the two laser data sets and the attenuation symmetry of the current laser data. This model considers the overall differences across multiple data sets, rather than relying solely on a single metric. By introducing adjustment parameters, sensitivity to different locations and degrees of difference can be adjusted according to specific needs. Furthermore, an integral form is used to fully account for the spatial continuity of the data. By comprehensively calculating multiple data sets, the ASI metric can fully reflect the attenuation symmetry between the standard data and the real-time data. The integral form fully accounts for the continuous spatial variation of the data and can capture subtle differences. The ASI metric ranges from 0 to 1, possessing clear physical meaning and comparability.

[0080] 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;

[0081] 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.

[0082] Time of Flight (TOF) in laser data refers to the time it takes for a laser signal to be transmitted and its reflected signal to be received. It is one of the core principles of laser ranging technology.

[0083] Step A4: taking the ratio between the number of overlapping lasers and the total number of lasers as the laser overlap ratio;

[0084] In some environment types, overlapping lasers may exist due to the multipath effect. Therefore, the laser overlap ratio can be calculated to match the corresponding environment type.

[0085] 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.

[0086] 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.

[0087] 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 on 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, providing accurate time 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 noise levels between the current raw laser data and the standard raw laser data, we can determine the background noise difference, which helps optimize signal processing and improve the accuracy of laser detection in complex background environments. In summary, this technical solution implements multi-dimensional, multi-parameter laser data analysis, accurately capturing the characteristics of the environment's impact on laser signals, improving the laser system's recognition and analysis capabilities in complex environments, and possessing high practicality and reliability.

[0088] 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.

[0089] Specifically, step 1032 includes steps B1 to B5:

[0090] 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;

[0091] Step B2: constructing a laser feature vector from the plurality of code values according to preset positions;

[0092] Step B3: Obtaining preset feature vectors of multiple environment types;

[0093] Step B4: calculating the distance between the laser feature vector and the preset feature vector;

[0094] Step B5: The environment type corresponding to the minimum distance is used as the current environment type.

[0095] 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 coding 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 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.

[0096] In this embodiment, by matching multiple current raw laser data with multiple standard raw 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 between 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, further improving the matching accuracy. By calculating the total laser delay, this solution effectively captures the impact of the environment on the laser propagation speed, further supplementing 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 and noise in a complex environment, and reduces the interference of the environmental background on 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.

[0097] Step 104: matching a preset correction strategy corresponding to the environment type; the preset correction strategy includes a filter strength threshold and error compensation;

[0098] Preset correction strategies are pre-set based on prior knowledge, experimental data, and human experience to adjust recognition accuracy in different environments. Preset correction strategies include, but are not limited to, filter strength thresholds and error compensation.

[0099] Particles or water droplets in environments such as dust, smoke, rain, and snow often weaken laser reflection signals or produce low-intensity reflections. By monitoring the intensity of the reflected signal, the laser system can filter out low-intensity reflections from non-target objects. Intensity filtering can eliminate invalid or erroneous echo signals, improving measurement effectiveness. Different environmental conditions require different error compensation methods to improve detection accuracy.

[0100] For example, the preset correction strategy for a conventional environment is as follows:

[0101] Filter Strength Threshold (FT): 1.0

[0102] Error compensation (EC): 0.0

[0103] In normal environments, where signal interference is minimal and noise levels are low, the sensor or system can operate normally under default settings. Therefore, the filter strength threshold is set to a baseline value of 1.0 and the error compensation is set to 0, with no additional adjustments required.

[0104] ②The preset correction strategy for strong light environment is as follows:

[0105] Filter strength threshold (FT): 1.5

[0106] Error compensation (EC): +0.1

[0107] Strong light conditions can cause sensor overexposure or glare, introducing additional high-frequency noise. To suppress this noise, we increase the filter strength threshold to 1.5, increasing the filtering intensity and blocking high-frequency interference. Furthermore, strong light conditions can cause the signal to be biased upwards, so we add a positive error compensation of +0.1 to correct for measurement deviations caused by excessive light.

[0108] ③The preset correction strategy for dusty environments is as follows:

[0109] Filter strength threshold (FT): 1.2

[0110] Error compensation (EC): -0.05

[0111] Dust scatters and absorbs signals, introducing low-frequency noise and signal attenuation. Setting the filter strength threshold to 1.2 appropriately enhances filtering to reduce dust-induced interference. Also, since dust can weaken the signal, a negative error compensation of -0.05 is added to compensate for signal attenuation.

[0112] ④ The preset correction strategy for smoke environment is as follows:

[0113] Filter strength threshold (FT): 1.3

[0114] Error compensation (EC): -0.1

[0115] Smoke has a greater impact on the signal than dust, resulting in more pronounced scattering and absorption. The filter strength threshold was increased to 1.3 to enhance suppression of smoke interference. Due to the more severe signal attenuation, the error compensation was set to -0.1 to correct for the signal reduction.

[0116] ⑤ The preset correction strategy for rainy day environment is as follows:

[0117] Filter strength threshold (FT): 1.4

[0118] Error compensation (EC): -0.15

[0119] Raindrops scatter and absorb the signal, introducing random noise. Setting the filter strength threshold to 1.4 effectively filters out raindrop-induced noise. An error compensation of -0.15 is used to correct the measurement results to account for signal loss caused by rain.

[0120] ⑥ The preset correction strategy for snowy environments is as follows:

[0121] Filter strength threshold (FT): 1.6

[0122] Error compensation (EC): -0.2

[0123] Snowflakes have the greatest impact on signal interference, both due to severe scattering and strong absorption. The filter strength threshold should be increased to 1.6 to minimize the impact of noise. Because the signal is significantly attenuated, the error compensation should be set to -0.2 to accurately reflect the true signal strength.

[0124] The filter strength threshold controls the filter's ability to suppress noise of different frequencies. Higher values increase the filter's noise suppression. However, excessive filter strength can result in loss of useful signals, so a balance needs to be established based on the ambient noise level. In the above settings, the FT gradually increases as ambient noise increases.

[0125] Error compensation corrects for systematic environmental effects on signal amplitude. Positive compensation corrects for excessive signal deviation (such as gain caused by strong light), while negative compensation corrects for signal attenuation (such as attenuation caused by dust, smoke, rain, or snow). The absolute value of the error compensation is proportional to the degree of signal deviation.

[0126] The above values are for illustrative purposes only. In practice, precise calibration is required based on specific device characteristics and environmental measurement data. By experimentally measuring signal variations in different environments, statistical methods are used to determine the optimal filter strength threshold and error compensation parameters.

[0127] Preset correction strategies can also include multiple echo technology. In the presence of dust, smoke, rain, or snow, the laser beam may reflect multiple times from these particles or water droplets. Multiple echo technology allows the receiver to record not only the first reflection signal, but also the second and even subsequent echo signals. This distinguishes the reflection signals from interfering objects from the target object, thereby reducing the impact of noise. By detecting multiple echo signals, the system can eliminate false echoes caused by rain, snow, dust, etc., retaining the signal that truly comes from the target object.

[0128] 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 varying sensitivities to various environmental factors. For example, longer-wavelength lasers have better penetration capabilities in smoke, rain, and snow, while shorter-wavelength lasers may be more susceptible to interference from these factors.

[0129] Preset correction strategies can also include fusing multi-sensor data: by fusing laser ranging data with other sensors (such as cameras, radar, and infrared sensors), measurement accuracy and robustness can be significantly improved. In complex environments, lidar may be subject to interference, but other sensors may provide additional information for correction.

[0130] Preset correction strategies can also include increasing the laser pulse frequency. Increasing the frequency of laser pulses allows more reflection data to be acquired within the same time window, helping to filter out interference and improve measurement accuracy. A higher pulse frequency means more measurement points, and even if some pulses are corrupted by noise, the system can still generate reliable measurements based on the remaining valid data.

[0131] Step 105: Send the preset correction strategy to the laser anti-pinch sensor; the preset correction strategy is used to adjust the laser data.

[0132] After receiving the preset correction strategy, the laser anti-pinch sensor adjusts the corresponding parameters and executes the subsequent laser detection process.

[0133] Optionally, step C1 to step C2 are further included after step 105:

[0134] Step C1: extracting different regions from positions corresponding to a plurality of the current original laser data;

[0135] Since in some environmental scenarios, only a part of the detection range may have abnormalities (such as strong light, etc.), 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:

[0136] Specifically, step C1 includes steps C11 to C14:

[0137] Step C11: extracting the laser intensity difference corresponding to each current raw laser data;

[0138] The laser intensity difference is obtained in step A1.

[0139] Step C12: Calculate the distance between the corresponding positions of each current raw laser data;

[0140] 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.

[0141] Step C13: extracting the current original laser data of the target whose laser intensity difference is greater than the first value and whose distance is less than the second value;

[0142] 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.

[0143] Based on the horizontal and vertical axis directions, four directional extreme points are obtained and four straight lines are formed. The rectangular area where the four straight lines intersect is used as the difference area.

[0144] Step C2: Based on the difference area, adjust the laser data using the preset correction strategy.

[0145] There is no need to adjust the laser data using a preset correction strategy for the non-differential area.

[0146] In this embodiment, by collecting current raw laser data and historical standard raw laser data and matching it to the current environment type (such as strong light, dust, smoke, rain, and snow), this method can automatically identify the impact of different environmental factors on laser data, thereby improving the system's stability and reliability in various complex environments. By matching preset correction strategies, including filter intensity thresholds and error compensation, to different environmental types, this method can accurately adjust laser data to address specific environmental interference, effectively reducing the error caused by external factors, improving detection accuracy, and avoiding false positives and negatives. The matched preset correction strategy is sent to the laser anti-pinch sensor, enabling real-time adjustment of laser data processing methods, ensuring that the sensor can quickly and accurately complete detection tasks in complex and changing environments, thereby enhancing the safety and reliability of the device. This method dynamically combines historical and current data to intelligently select the most appropriate correction strategy, reducing manual intervention, improving the automation level of data processing and the sensor's adaptability, and ensuring long-term stable operation of the system. Through this 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 device.

[0147] like Figure 2 The present invention provides a laser data processing device, see Figure 2 , Figure 2 FIG. 1 shows a schematic diagram of a laser data processing device provided by the present invention, such as Figure 2 The laser data processing device shown includes:

[0148] A first acquisition unit 21 is used to acquire a plurality of current raw laser data within the detection range of the laser anti-pinch sensor;

[0149] 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;

[0150] A first matching unit 23 is configured to match 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;

[0151] A second matching unit 24 is configured to match a preset correction strategy corresponding to the environment type; the preset correction strategy includes a filter strength threshold and error compensation;

[0152] 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.

[0153] The present invention provides a laser data processing device that collects current raw laser data and historical standard raw laser data and matches them to the current environment type (such as strong light, dust, smoke, rain, and snow). This method can automatically identify the impact of different environmental factors on laser data, thereby improving the system's stability and reliability in various complex environments. By matching preset correction strategies, including filter intensity thresholds and error compensation, to different environmental types, the device accurately adjusts laser data to specific environmental interference, effectively reducing the error caused by external factors, improving detection accuracy, and avoiding false positives and false negatives. The matched preset correction strategy is sent to the laser anti-pinch sensor, enabling real-time adjustment of the laser data processing method, ensuring that the sensor can quickly and accurately complete detection tasks in complex and changing environments, thereby enhancing the safety and reliability of the device. This method dynamically combines historical and current data to intelligently select the most appropriate correction strategy, reducing manual intervention, improving the automation level of data processing and the adaptability of the sensor, and ensuring long-term stable operation of the system. Through this 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 device.

[0154] Figure 3 FIG 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 1 Alternatively, 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.

[0155] Exemplarily, the computer program 32 can be divided into one or more units, which are stored in the memory 31 and executed by the processor 30 to implement the present invention. The one or more units can be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 32 in the laser sensor 3. For example, the specific functions of each unit of the computer program 32 can be divided as follows:

[0156] 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;

[0157] 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 no target detection object exists within the detection range;

[0158] A first matching unit is configured to match 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;

[0159] A second matching unit, configured to match a preset correction strategy corresponding to the environment type; the preset correction strategy includes a filter strength threshold and error compensation;

[0160] The 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.

[0161] The laser sensor includes but is not limited to a processor 30 and a memory 31. Those skilled in the art will understand that Figure 3 It is only an example of a laser sensor 3 and does not constitute a limitation of a 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.

[0162] The processor 30 may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0163] The memory 31 can be an internal storage unit of the laser sensor 3, such as a hard drive or memory of the laser sensor 3. The memory 31 can also be an external storage device of the laser sensor 3, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. equipped on the laser sensor 3. Furthermore, the memory 31 can include both the 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 can also be used to temporarily store data that has been output or is about to be output.

[0164] It should be understood that the size of the serial numbers of the steps in the above embodiments does not 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 embodiments of the present invention.

[0165] 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 embodiment of the method of the present invention. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0166] Those skilled in the art can clearly understand that, for the convenience and brevity 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 functions can be distributed and 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 one processing unit, or each unit can exist physically alone, 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, and will not be repeated here.

[0167] 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 various method embodiments can be implemented.

[0168] An embodiment of the present invention provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0169] If the integrated unit is implemented as a software functional unit and sold or used as a standalone product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the process steps in the above-mentioned method embodiments by using a computer program to instruct the relevant hardware. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to the camera / laser sensor, a recording medium, computer memory, read-only memory (ROM), random access memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Examples include a USB flash drive, a removable hard drive, a magnetic disk, or an optical disk.

[0170] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0171] 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. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0172] 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 merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, 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.

[0173] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, and may be located in one place or distributed across multiple network units.

[0174] 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 preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0175] It will also be understood that the term "and / or" used in the present description and appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0176] As used in the present specification and the appended claims, the term "if" may be interpreted as "when" or "upon" 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" may be interpreted as meaning "upon determination" or "in response to determining" or "upon monitoring [described condition or event]" or "in response to monitoring [described condition or event]," depending on the context.

[0177] 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.

[0178] References to "one embodiment" or "some embodiments" in the present specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present invention. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in yet other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0179] 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 they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention, and should all be included in the scope of protection 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, which includes a cloud server and a laser anti-pinch sensor. The laser data processing method includes: Acquire multiple current raw laser data within the detection range of the laser anti-pinch sensor; the current raw laser data refers to the unprocessed raw laser data collected at the current moment; Acquire a plurality of standard original laser data within a historically collected detection range; the current original laser data and the standard original laser data are original laser data collected when no target detection object exists within the detection range; 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 differences as the laser intensity attenuation; Calculating a laser data attenuation symmetry index based on 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 ratio; 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; Matching a current environment type according to the laser intensity attenuation, the laser data attenuation symmetry index, the total laser delay, the laser overlap rate, and the background noise difference; 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 laser data.

2. The laser data processing method according to claim 1, wherein: 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: 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; Constructing a plurality of the code values into a laser feature vector according to preset positions; Get 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.

3. The laser data processing method according to claim 1, wherein: The step of calculating the laser data attenuation symmetry index based on the plurality of current original laser data and the plurality of standard original laser data comprises: Substituting the plurality of current original laser data and the plurality of 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 laser data, 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.

4. The laser data processing method according to claim 2, wherein: After the step of sending the preset correction strategy to the laser anti-pinch sensor, the method further includes: extracting a plurality of difference regions in positions corresponding to the current original laser data; Based on the difference area, the laser data is adjusted using the preset correction strategy.

5. The laser data processing method according to claim 4, wherein: 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.

6. A laser data processing device, characterized in that: The laser data processing device includes: 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; the current raw laser data refers to the unprocessed raw laser data acquired at the current moment; 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 no target detection object exists within the detection range; The first matching unit is used to 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 differences as the laser intensity attenuation amount; calculate the laser data attenuation symmetry index based on the multiple current original laser data and the multiple standard original laser data; use the difference between the first total flight time average of the multiple current original laser data and the second total flight time average of the multiple standard original laser data as the total laser delay; use the ratio between the number of overlapping lasers and the total number of lasers as the laser overlap rate; use the difference between the number of noises in the current original laser data and the number of noises in the standard original laser data as the background noise difference amount; match the current environment type according to the laser intensity attenuation amount, the laser data attenuation symmetry index, the total laser delay, the laser overlap rate and the background noise difference amount; 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, configured 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 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.

7. 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. The laser data processing program is configured to implement the steps in the laser data processing method according to any one of claims 1 to 5.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the laser data processing method according to any one of claims 1 to 5 are implemented.

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