Laser sensor and control method

Abstract

The invention discloses a laser sensor and a control method. The laser sensor comprises a laser sensor main body which is electrically connected with a pulse electromagnetic valve and is internally provided with a controller. According to the invention, longer-distance induction can be realized through adjustable cooperation of the induction control distance, the device is convenient to be applied to some farther urinals, the applicability is improved, the induction control precision is improved through adjustable induction sensitivity and cooperation of filtering, amplification and other processing during data transmission, and the application range of the device is widened. In combination with the laser sensor main body, the pulse electromagnetic valve or the controller can automatically give an alarm and display fault information when a fault occurs, so that related personnel can conveniently know and process the fault in time, and pollutants such as dust, water vapor, greasy dirt and water drops can be prevented from directly contacting optical elements in the laser sensor main body or damaging the optical elements by mistake to fail; and the use safety and stability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of laser sensors, and in particular to a laser sensor and a control method. Background Art

[0002] In the automatic application of urinals and induction washbasins, pulse solenoid valves and TOF laser sensor bodies are essential basic induction control components. The TOF laser sensor body simply senses the departure of the human body to control the pulse solenoid valve to open and pass water for washing or flushing. However, there are the following shortcomings when using it: 1. The sensing accuracy is poor, and sensing failure is prone to occur, and it is not convenient for relevant personnel to be informed of sensing failure in a timely manner; 2. The sensing control distance cannot be adjusted, and it is difficult to apply to some urinal applications that are farther away; 3. The light sensing element of the TOF laser sensor body is easily damaged and failed due to accidental contact with water droplets; in view of this, the present application proposes a laser sensor and a control method. Summary of the invention

[0003] Based on the technical problems existing in the background technology, the present invention proposes a laser sensor and a control method.

[0004] A laser sensor proposed in the present invention comprises a laser sensor body electrically connected to a pulse solenoid valve and having a built-in controller, wherein the laser at the transmitting end of the laser sensor body and the photosensitive element at the receiving end are installed with the same optical cover or convex lens housing; the optical cover is embedded with two coated lenses respectively matched with the laser at the transmitting end of the laser sensor body and the photosensitive element at the receiving end; the convex lens housing is embedded with two optical convex lenses respectively matched with the laser at the transmitting end of the laser sensor body and the photosensitive element at the receiving end.

[0005] Preferably, the laser sensor body is equipped with an optical cover when applied to a washbasin faucet, and is equipped with a convex lens housing when applied to a urinal. The optical cover and the convex lens housing are used to ensure that the laser sensor body can still work normally when dripping or splashing water occurs; the optical cover is used as a physical barrier to prevent dust, water vapor, oil, water droplets and other pollutants from directly contacting the optical elements inside the laser sensor body, and the coated lens has an optical filtering function, which is used to selectively transmit light of a specific wavelength while blocking light of other wavelengths, which helps to filter out interfering wavelengths in ambient light and only allows light of a specific wavelength related to the measurement of the laser sensor body to pass, thereby improving the signal-to-noise ratio of the system, and enhancing the stability and accuracy of the measurement. The transmitted and received light is subjected to the anti-transmission treatment by means of the coating technology, thereby increasing the transmittance of the light, so that the transmitted light can be more effectively transmitted to the target object, and the received light can enter the laser sensor body more efficiently, thereby improving the measurement range and accuracy; The optical convex lens is used for light concentration, making the emitted light energy more concentrated, reducing the loss during propagation relatively, so as to be transmitted to a farther distance; in some places that require a larger sensing range, such as the urinal sensor in a public toilet, the laser sensor main body with an optical convex lens can achieve detection at a farther distance. Originally, it might only be able to detect an object at a distance of 30 cm from the faucet. After adding the convex lens, the detection distance can be increased to 100 cm or even farther. This not only facilitates the user but also can sense the user approaching in advance and make a water output response in advance, providing a more convenient user experience.

[0006] The present invention also proposes a control method for a laser sensor, including the following steps: S1: Install the laser sensor main body at the position to be detected, and adjust the sensitivity and detection range of the laser sensor main body according to the actual installation position; S2: The laser sensor main body emits a laser beam onto the object to be measured and receives the reflected light. By calculating the time and intensity of the reflected light, determine the distance and state of the surface of the object to be measured; S3: The laser sensor main body transmits the measured and collected data to the controller, and the controller filters and amplifies the signal to eliminate interference and ensure signal accuracy; S4: The controller makes a judgment based on the preset induction distance and transmits the corresponding opening and closing control instructions to the pulse solenoid valve; S5: The pulse solenoid valve quickly opens or closes according to the received corresponding opening and closing control instructions, conducts control on-off work to control the opening and closing of the water flow; S6: The controller monitors the battery power of the pulse solenoid valve, and when there is a sudden power failure or the power is insufficient, controls the pulse solenoid valve to be in the closed state; S7: The control system of the controller has a fault self-checking function. When a fault occurs in the laser sensor main body, the pulse solenoid valve or the controller, it automatically alarms and displays the fault information.

[0007] Preferably, in the above S1, the laser sensor main body is powered by 4 series-connected 1.5V dry batteries.

[0008] Preferably, in the above S2, the object to be measured is a urinal or a washbasin faucet. When the laser sensor main body is applied to a urinal, it is installed at a position on the rear inner wall of the urinal that can sense the human body. When the laser sensor main body is applied to a washbasin faucet, it is installed at a position on the side of the washbasin faucet outlet that can sense the user's hand. The controller has a function of controlling the distance adjustment of the laser sensor main body.

[0009] Preferably, in the above S5, the controller has a response time setting control function, which is used to automatically close the control work when the set time is reached after the pulse solenoid valve is opened.

[0010] Preferably, in the step S2, the main body of the laser sensor calculates the reflection light time through the time-of-flight method and the compensation correction method, and calculates the reflection light intensity through the reflection intensity model and the state detection formula; the expressions of the time-of-flight method, the compensation correction method, the reflection intensity model and the state detection formula are respectively: S201: The expression of the time-of-flight method is: where c = 3× m / s (speed of light in vacuum); Δt is the time difference from laser emission to reception (unit: second); S202: The compensation correction method is used to correct the actual environment by considering the influence of temperature on the speed of light and circuit delay, and its expression is: where the working range of temperature compensation application is 0–50 °C; S203: The expression of the reflection intensity model is: where is the emitted laser intensity; is the reflectivity of the object surface (0–1); is the effective area of the receiver; is the medium attenuation coefficient (≈0 in air); S204: The state detection formula is used to perform dynamic state discrimination in combination with the threshold formula of the main body (1) of the laser sensor, and its expression is: where the threshold formula of the main body (1) of the laser sensor is: where is the threshold voltage used to determine whether to trigger detection; is the environmental noise benchmark, which is the environmental noise level; is the rate of change of voltage with time, that is, the change speed of the signal; is the historical voltage data, specifically referring to the previously recorded voltage value or average value.

[0011] Preferably, in the step S6, a backup power supply is built in the main body (1) of the laser sensor, and the specific steps for the controller to monitor the battery power of the pulse solenoid valve are: S601: Real-time power monitoring, measuring the battery voltage of the pulse solenoid valve through ADC, and using Kalman filtering to eliminate instantaneous noise; S602: State estimation: Using the voltage-electricity mapping model to estimate the power state; the expression of the voltage-electricity mapping model is; SoC = ) where SoC is the percentage of remaining power; is the battery voltage measured in real time; is the cut-off voltage of the battery, below which it cannot work properly; is the full charge voltage of the battery, i.e., the voltage when fully charged; S603: Power-off detection and response: When the estimated state of charge is lower than the threshold, the controller controls the pulse solenoid valve to close, and when a sudden power-off results in no power, it controls the backup power supply to supply power to the measured pulse solenoid valve to temporarily and emergently control the measured pulse solenoid valve to close.

[0012] Compared with the existing technology, the beneficial effects of the present invention are: By adjusting the sensing control distance of the laser sensor body, and cooperating with the optical convex lens for focusing, it can achieve sensing at a farther distance, which is convenient for application in some urinals at a farther distance, improving applicability; By adjusting the sensing sensitivity of the laser sensor body, and cooperating with processing such as filtering and amplification during data transmission, it eliminates interference and ensures signal accuracy, improves the accuracy of sensing control, and combines with automatic alarm and display of fault information when the laser sensor body, pulse solenoid valve or controller fails, which is convenient for relevant personnel to know and handle in time, providing convenience for subsequent maintenance and repair work; By setting the optical cover plate, convex lens housing, coated lens and optical convex lens, it is convenient to serve as a physical barrier, which can prevent pollutants such as dust, water vapor, oil stain, water droplets, etc. from directly contacting the optical elements inside the laser sensor body or accidentally touching and damaging them, improving the use safety and stability. And when the coated lens is applied to the faucet of the washbasin, the coated lens has an optical filtering function, which is used to selectively transmit light of a specific wavelength while blocking light of other wavelengths, helping to filter out the interfering wavelengths in the ambient light, and only allowing light of a specific wavelength related to the measurement of the laser sensor body to pass through, improving the signal-to-noise ratio of the system, enhancing the stability and accuracy of the measurement, facilitating the laser sensor body to work stably under different lighting conditions, not being affected by changes in external light, and more accurately sensing the departure of the human body, reducing false triggering.

[0013] The present invention can adjust the sensing control distance of the laser sensor body, cooperate with the optical convex lens for focusing to achieve sensing at a farther distance, which is convenient for application in some urinals at a farther distance, improving applicability. By adjusting the sensing sensitivity of the laser sensor body and cooperating with processing such as filtering and amplification during data transmission, it improves the accuracy of sensing control, and combines with automatic alarm and display of fault information when the laser sensor body, pulse solenoid valve or controller fails, which is convenient for relevant personnel to know and handle in time, and can prevent pollutants such as dust, water vapor, oil stain, water droplets, etc. from directly contacting the optical elements inside the laser sensor body or accidentally touching and damaging them, improving the use safety and stability. Description of the Drawings

[0014] Figure 1 A schematic diagram of the structure of a laser sensor provided by the present invention, in which an optical cover is installed on a laser sensor body; Figure 2 A schematic diagram of the optical cover structure of a laser sensor proposed by the present invention; Figure 3 A schematic diagram of a convex lens housing and an optical convex lens structure of a laser sensor proposed by the present invention; Figure 4 This is a flow chart of a laser sensor control method proposed by the present invention.

[0015] In the figure: 1. laser sensor body; 2. optical cover; 201. coated lens; 3. convex lens housing; 301. optical convex lens. DETAILED DESCRIPTION

[0016] The present invention will be further explained below in conjunction with specific embodiments. Example

[0017] Reference Figure 1 , 3 4. This embodiment provides a laser sensor, including a laser sensor body 1 electrically connected to a pulse electromagnetic valve and having a built-in controller, the laser at the transmitting end of the laser sensor body 1 and the photosensitive element at the receiving end are installed with the same convex lens housing 3; the convex lens housing 3 is embedded and fixed with two optical convex lenses 301 respectively adapted to the laser at the transmitting end of the laser sensor body and the photosensitive element at the receiving end; When the laser sensor body is used on the urinal, it is equipped with a convex lens housing 3, and the convex lens housing 3 is used to ensure that the laser sensor body 1 can still work normally when dripping or splashing water occurs; The optical convex lens 301 is used for focusing light, and the emitted light energy is more concentrated, and the loss during the propagation process is relatively reduced, so that it can be propagated to a farther distance; in some places that require a larger sensing range, such as urinal sensors in public toilets, the laser sensor body 1 with the optical convex lens 301 can achieve longer-distance detection. Originally, it may only be able to detect objects 30 cm away from the faucet. After adding the convex lens, the detection distance can be increased to 100 cm or even farther, which is not only convenient for users, but also can sense the user's approach in advance and respond to water in advance, providing a more convenient user experience.

[0018] This embodiment also provides a control method for a laser sensor, comprising the following steps: S1: Install the laser sensor body 1 at the location to be detected, and adjust the sensitivity and detection range of the laser sensor body 1 according to the actual installation location; wherein the laser sensor body 1 is powered by four 1.5V dry batteries connected in series; S2: The laser sensor body 1 emits a laser beam to the object to be measured, and receives the reflected light. By calculating the time and intensity of the reflected light, the distance and state of the surface of the object to be measured are determined. The object to be measured is a urinal. When the laser sensor body 1 is applied to the urinal, it is installed on the inner wall at the rear side of the urinal to sense the position of the human body. The controller has the function of adjusting the distance of the laser sensor body 1. The laser sensor body 1 calculates the reflected light time by the flight time method and the compensation correction method, and calculates the reflected light intensity by the reflection intensity model and the state detection formula; the flight time method, the compensation correction method, the reflection intensity model and the state detection formula are respectively: S201: The expression of the time-of-flight method is: where c = 3× m / s (speed of light in vacuum); Δt is the time difference between laser emission and reception (unit: seconds); S202: The compensation correction method is used to consider the effect of temperature on the speed of light and circuit delay to make actual environmental corrections. The expression is: The working range of temperature compensation application is 0–50°C; S203: The expression of the reflection intensity model is: in is the emission laser intensity; is the reflectivity of the object surface (0–1); is the effective area of the receiver; is the medium attenuation coefficient (≈0 in air); S204: The state detection formula is used to perform dynamic state discrimination in combination with the threshold formula of the laser sensor body (1), and its expression is: The threshold formula of the laser sensor body (1) is: in is the threshold voltage, which is used to determine whether to trigger the detection; is the ambient noise benchmark, which is the ambient noise level; is the rate of change of voltage over time, that is, the speed of change of the signal; It is the historical voltage data, specifically refers to the previously recorded voltage value or average value.

[0019] In S6, the laser sensor body (1) has a built-in backup power supply, and the specific steps of the controller monitoring the battery power control of the pulse solenoid valve are as follows: S601: Real-time power monitoring. Measure the battery voltage of the pulse solenoid valve through ADC, and use Kalman filtering to eliminate instantaneous noise; S602: State estimation: Use the voltage-electricity mapping model to estimate the state of charge; the expression of the voltage-electricity mapping model is; SoC = ) where SoC is the percentage of remaining battery charge; is the battery voltage measured in real time; is the cut-off voltage of the battery. Below this value, it cannot work properly; is the full-charge voltage of the battery, that is, the voltage when it is fully charged; S603: Power-off detection and response: When the estimated state of charge is lower than the threshold, the controller controls the pulse solenoid valve to close, and when there is no power due to a sudden power-off, the backup power supply is controlled to supply power to the measured pulse solenoid valve to perform temporary emergency control to close the measured pulse solenoid valve.

[0020] Through the above steps, when the power is insufficient or there is a sudden power-off, it can achieve the effect of intelligently and automatically controlling the pulse solenoid valve to close urgently, preventing the phenomenon of serious loss, waste or damage to other objects caused by the unrestricted outflow of water in an emergency, and ensuring the safety of use; S7: The control system of the controller has a fault self-checking function. When a fault occurs in the laser sensor main body 1, the pulse solenoid valve or the controller, it will automatically alarm and display the fault information.

[0021] In this embodiment, by adjusting the sensing control distance of the laser sensor main body 1 and cooperating with the optical convex lens 301 to condense light, it can achieve sensing at a farther distance, which is convenient for some applications of urinals at a farther distance and improves applicability; by adjusting the sensing sensitivity of the laser sensor main body 1 and cooperating with filtering, amplification and other processing during data transmission, interference is eliminated and the signal accuracy is ensured, improving the sensing control accuracy, and combining with the automatic alarm and display of fault information when a fault occurs in the laser sensor main body 1, the pulse solenoid valve or the controller, it is convenient for relevant personnel to know and handle it in time, providing convenience for subsequent maintenance and repair work; by setting the convex lens housing 3 and the optical convex lens 301, it is convenient to serve as a physical barrier, which can prevent pollutants such as dust, water vapor, oil stains, and water droplets from directly contacting the optical elements inside the laser sensor main body 1, improving the use safety and stability.

[0022] Embodiment 2 Refer to Figure 1 、 24. This embodiment provides a laser sensor, including a laser sensor body 1 electrically connected to a pulse electromagnetic valve and having a built-in controller, wherein the laser at the transmitting end and the photosensitive element at the receiving end of the laser sensor body 1 are installed with the same optical cover 2; and the optical cover 2 is embedded with two coated lenses 201 respectively adapted to the laser at the transmitting end and the photosensitive element at the receiving end of the laser sensor body; When the laser sensor body is used on the wash basin faucet, it is equipped with an optical cover 2, and the optical cover 2 is used to ensure that the laser sensor body 1 can still work normally when dripping or splashing water occurs; The optical cover 2 is used as a physical barrier to prevent dust, water vapor, oil, water droplets and other pollutants from directly contacting the optical elements inside the laser sensor body 1. The coated lens 201 has an optical filtering function, which is used to selectively transmit light of a specific wavelength while blocking light of other wavelengths, which helps to filter out interfering wavelengths in the ambient light and only allows light of a specific wavelength related to the measurement of the laser sensor body 1 to pass, thereby improving the signal-to-noise ratio of the system and enhancing the stability and accuracy of the measurement. The transmitted and received light is subjected to the anti-reflection treatment through the coating technology to increase the transmittance of the light, so that the emitted light can be more effectively transmitted to the target object, and the received light can more efficiently enter the laser sensor body 1, thereby improving the measurement range and accuracy.

[0023] This embodiment also provides a control method for a laser sensor, comprising the following steps: S1: Install the laser sensor body 1 at the location to be detected, and adjust the sensitivity and detection range of the laser sensor body 1 according to the actual installation location; wherein the laser sensor body 1 is powered by four 1.5V dry batteries connected in series; S2: The laser sensor body 1 emits a laser beam to the object to be measured, and receives the reflected light. By calculating the time and intensity of the reflected light, the distance and state of the surface of the object to be measured are determined; wherein the object to be measured is a wash basin faucet, and the laser sensor body 1 is installed on the side of the wash basin faucet outlet when applied to the wash basin faucet to sense the position of the person's hand, and the controller has the function of adjusting the distance of the laser sensor body 1; The laser sensor body 1 calculates the reflected light time by the flight time method and the compensation correction method, and calculates the reflected light intensity by the reflection intensity model and the state detection formula; the flight time method, the compensation correction method, the reflection intensity model and the state detection formula are respectively: S201: The expression of the time-of-flight method is: where c = 3× m / s (speed of light in vacuum); Δt is the time difference between laser emission and reception (unit: seconds); S202: The compensation correction method is used to perform actual environment correction by considering the influence of temperature on the speed of light and circuit delay. Its expression is: Among them, the working range of temperature compensation application is 0–50 °C; S203: The expression of the reflection intensity model is: Among them is the emitted laser intensity; is the reflectivity of the object surface (0–1); is the effective area of the receiver; is the medium attenuation coefficient (≈0 in air); S204: The state detection formula is used to perform dynamic state discrimination in combination with the threshold formula of the laser sensor main body (1). Its expression is: Among them, the threshold formula of the laser sensor main body (1) is: Among them is the threshold voltage, used to determine whether to trigger detection; is the environmental noise benchmark, which is the environmental noise level; is the rate of change of voltage with time, that is, the change speed of the signal; is the historical voltage data, specifically referring to the previously recorded voltage value or average value.

[0024] In the above-mentioned S6, the laser sensor main body (1) is built-in with a backup power supply. The specific steps for the controller to monitor the battery power of the pulse solenoid valve are as follows: S601: Real-time power monitoring, measuring the battery voltage of the pulse solenoid valve through ADC, and using Kalman filtering to eliminate instantaneous noise; S602: State estimation: Using the voltage-electricity mapping model to estimate the power state; the expression of the voltage-electricity mapping model is; SoC = ) Among them, SoC is the percentage of remaining power; is the battery voltage measured in real time; is the cut-off voltage of the battery, and it cannot work properly below this value; is the full-charge voltage of the battery, that is, the voltage when it is fully charged; S603: Power-off detection and response: When the estimated power state is lower than the threshold, the controller controls the pulse solenoid valve to close, and when sudden power-off causes no power, it controls the backup power supply to supply power to the measured pulse solenoid valve, and performs temporary emergency control to close the measured pulse solenoid valve.

[0025] Through the above steps, when the battery is insufficient or there is a sudden power outage, it can intelligently and automatically control the pulse solenoid valve to close emergently, preventing the phenomenon of serious loss, waste or damage to other objects caused by the uncontrolled outflow of water in case of emergency, thus ensuring the safety of use. S7: The control system of the controller has a function of self-checking for faults. When a fault occurs in the laser sensor main body 1, the pulse solenoid valve or the controller, it will automatically alarm and display the fault information.

[0026] In this embodiment, the adjustable sensitivity of the laser sensor main body 1, combined with the filtering, amplification and other processing during data transmission, eliminates interference and ensures signal accuracy, improves the accuracy of induction control. When a fault occurs in the laser sensor main body 1, the pulse solenoid valve or the controller, it will automatically alarm and display the fault information, which is convenient for relevant personnel to know and deal with in time, providing convenience for subsequent maintenance and repair work; through the set optical cover plate 2 and the coated lens 201, it is convenient to serve as a physical barrier, which can prevent pollutants such as dust, water vapor, oil stain and water droplets from directly contacting the optical elements inside the laser sensor main body 1 or accidentally touching and damaging them, improving the safety and stability of use. The coated lens 201 has an optical filtering function, which is used to selectively transmit light of a specific wavelength while blocking light of other wavelengths, helping to filter out the interfering wavelengths in the ambient light and only allowing the light of a specific wavelength related to the measurement of the laser sensor main body 1 to pass through, improving the signal-to-noise ratio of the system, enhancing the stability and accuracy of the measurement, facilitating the stable operation of the laser sensor main body 1 under different lighting conditions, being unaffected by changes in external light, more accurately sensing the departure of the human body and reducing false triggering.

[0027] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitution or change, and all should be covered within the protection scope of the present invention.

Claims

1. A laser sensor, comprising a laser sensor main body (1) electrically connected to a pulse solenoid valve and having a controller built therein, characterized in that: An optical cover plate (2) or a convex lens housing (3) is installed on the laser of the emitting end and the photosensitive element of the receiving end of the laser sensor body (1); two coating lenses (201) respectively adapted to the laser of the emitting end and the photosensitive element of the receiving end of the laser sensor body are embedded on the optical cover plate (2); two optical convex lenses (301) respectively adapted to the laser of the emitting end and the photosensitive element of the receiving end of the laser sensor body are fixedly embedded on the convex lens housing (3).

2. The laser sensor according to claim 1, wherein, When the laser sensor body is applied to a washbasin faucet, it is equipped with an optical cover plate (2), and when the laser sensor body is applied to a urinal, it is equipped with a convex lens housing (3). The optical cover plate (2) and the convex lens housing (3) are used to ensure that the laser sensor body (1) can still work normally when water droplets or splashes occur.

3. A control method for a laser sensor, characterized in that, Including the following steps: S1: Install the laser sensor body (1) at the position to be detected, and adjust the sensitivity and detection range of the laser sensor body (1) according to the actual installation position; S2: The laser sensor body (1) emits a laser beam onto the object to be measured and receives the reflected light. By calculating the time and intensity of the reflected light, the distance and state of the surface of the object to be measured are determined; S3: The laser sensor body (1) transmits the measured and collected data to the controller, and the controller filters and amplifies the signal to eliminate interference and ensure signal accuracy; S4: The controller makes a judgment based on the preset induction distance and transmits the corresponding opening and closing control instructions to the pulse solenoid valve; S5: The pulse solenoid valve quickly opens or closes according to the received corresponding opening and closing control instructions to perform the control on-off work and control the on-off of the water flow; S6: The controller monitors the battery power of the pulse solenoid valve. When a sudden power failure or insufficient power occurs, it controls the pulse solenoid valve to be in the closed state; S7: The control system of the controller has a fault self-checking function. When a fault occurs in the laser sensor body (1), the pulse solenoid valve or the controller, it automatically alarms and displays the fault information.

4. The control method of a laser sensor according to claim 3, characterized in that, In the above S1, the laser sensor body (1) is powered by 4 series-connected 1.5V dry batteries.

5. The control method of a laser sensor according to claim 3, wherein In the above S2, the object to be measured is a urinal or a washbasin faucet. When the laser sensor body (1) is applied to a urinal, it is installed at a position on the rear inner wall of the urinal where a person can be sensed. When the laser sensor body (1) is applied to a washbasin faucet, it is installed at a position on the side of the water outlet of the washbasin faucet where a person's hand can be sensed. The controller has a function of controlling the distance adjustment of the laser sensor body (1).

6. A control method for a laser sensor according to claim 3, characterized in that, In the above S5, the controller has a function of setting and controlling the response time, which is used to perform automatic closing control work when the set time is reached after the pulse solenoid valve is opened.

7. A control method for a laser sensor according to claim 3, characterized in that, In the above S2, the laser sensor body (1) calculates the time of the reflected light through the time-of-flight method and the compensation correction method, and calculates the intensity of the reflected light through the reflection intensity model and the state detection formula; the expressions of the time-of-flight method, the compensation correction method, the reflection intensity model and the state detection formula are respectively: S201: The expression of the time-of-flight method is: where c = 3× m / s (speed of light in vacuum); Δt is the time difference from laser emission to reception (unit: second); S202: The compensation correction method is used to perform actual environment correction considering the influence of temperature on the speed of light and circuit delay, and its expression is: Among them, the working range of temperature compensation application is 0–50 °C; S203: The expression of the reflection intensity model is as follows: wherein is the emission laser intensity; is the reflectivity of the object surface (0–1); is the effective area of the receiver; is the medium attenuation coefficient (≈0 in air); S204: The state detection formula is used to perform dynamic state discrimination in combination with the threshold formula of the laser sensor body (1), and its expression is: The threshold formula of the laser sensor body (1) is as follows: wherein is the threshold voltage used to determine whether to trigger detection; is the ambient noise reference, which is the ambient noise level; is the rate of change of voltage over time, that is, the change speed of the signal; is the historical voltage data, specifically referring to the previously recorded voltage value or average value.

8. The control method of a laser sensor according to claim 3, characterized in that, In S6, a backup power supply is built into the laser sensor body (1). The specific steps for the controller to monitor the battery power of the pulse solenoid valve are as follows: S601: Real-time power monitoring, measuring the battery voltage of the pulse solenoid valve through ADC, and using Kalman filtering to eliminate instantaneous noise; S602: State estimation: Using the voltage-electricity mapping model to estimate the power state; the expression of the voltage-electricity mapping model is; SoC= ) where SoC is the percentage of remaining battery power; is the battery voltage measured in real time; is the cut-off voltage of the battery, below which it cannot work properly; is the full charge voltage of the battery, i.e., the voltage when fully charged; S603: Power-off detection and response: When the estimated power state is lower than the threshold, the controller controls the pulse solenoid valve to close, and when there is no power due to a sudden power-off, it controls the backup power supply to supply power to the measured pulse solenoid valve to perform temporary emergency control to close the measured pulse solenoid valve.

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