Laser rangefinder temperature compensation method, system, device and medium

Abstract

The present application relates to the field of laser rangefinder control, and specifically to a laser rangefinder temperature compensation method, system, device, and medium, comprising: obtaining an ambient temperature and a recommended operating temperature; calculating a temperature difference between the ambient temperature and the recommended operating temperature; determining whether the temperature difference is greater than or equal to a first difference threshold; if the determination result is yes, executing a correction scheme, the correction scheme including: a first-class correction scheme and a second-class correction scheme, comprising the steps of: determining whether the remaining power of the rangefinder is greater than or equal to a first threshold; if the determination result is yes, executing the first-class correction scheme; if the determination result is no, executing the following steps: obtaining the power consumption required to execute the first-class correction scheme; determining whether the power difference between the remaining power and the power consumption is less than or equal to a first preset power difference threshold; if the determination result is yes, executing the second-class correction scheme. The present invention can greatly improve the ranging efficiency of the laser rangefinder by performing gradient temperature compensation.

Description

Technical Field

[0001] The present invention relates to the field of laser rangefinder control, and in particular to a laser rangefinder temperature compensation method, system, equipment and medium. Background Art

[0002] At present, the measurement accuracy of laser rangefinders will be reduced because the characteristics of their internal components are affected by the ambient temperature. Therefore, data correction is required during actual use to ensure that the measurement accuracy of the laser rangefinder meets performance requirements.

[0003] For example, patent application CN111722243A discloses a temperature-compensated distance measurement method based on the low-temperature drift output of a laser triangulation system, comprising the following steps: S1: establishing a temperature-compensated laser triangulation system; S2: using the temperature-compensated laser triangulation system to measure the distance between the object being measured and the aperture to obtain a measured distance; and S3: compensating the measured distance using a compensation formula to obtain a compensated distance. This temperature-compensated distance measurement method based on the low-temperature drift output of a laser triangulation system not only resolves measurement deviation issues at high and low temperatures, but also significantly improves measurement errors caused by temperature accumulation during long-term operation.

[0004] For another example, patent application CN115657757A discloses a temperature-compensated laser rangefinder, comprising an MCU control unit module applied to the rangefinder's optical engine and display system. The rangefinder's optical engine includes a signal processing unit module, which converts data processed by the signal processing unit into electrical signals and feeds them back to the display system for display. The MCU control unit module also includes an MCU control unit module applied to the rangefinder's optical engine and display system, wherein the rangefinder's optical engine is provided with an electric heating module for the transmitting shielding cover and an electric heating module for the receiving shielding cover. The temperature-compensated laser rangefinder provided by this invention reduces the impact of light energy loss on ranging performance due to wavelength changes caused by temperature changes in the LD, resulting in a mismatch between the LD emission spectrum and the APD receiving spectrum, caused by wavelength changes caused by temperature changes in the LD.

[0005] However, the applicant has noticed that traditional correction schemes may be difficult to adapt to the performance requirements of special operating environments (such as extremely cold areas). Therefore, there is an urgent need for a temperature compensation method for laser rangefinders that can adapt to complex ranging working environments without the need to integrate multiple devices. Summary of the Invention

[0006] The object of the present invention is to provide a laser rangefinder temperature compensation method, system, device and medium, which partially solve or alleviate the above-mentioned deficiencies in the prior art, can comprehensively consider the complex working conditions of the laser rangefinder, and greatly improve its scene adaptability and measurement efficiency.

[0007] In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions:

[0008] A first aspect of the present invention is to provide a temperature compensation method for a laser rangefinder, comprising:

[0009] S101, obtaining the ambient temperature and the recommended operating temperature;

[0010] S102, calculating the temperature difference between the ambient temperature and the recommended operating temperature;

[0011] S103, determining whether the temperature difference is greater than or equal to a first difference threshold;

[0012] S104: If the judgment result of S103 is yes, then execute the correction scheme, which includes: a first-class correction scheme and a second-class correction scheme, including the steps of:

[0013] S105, determining whether the remaining power of the rangefinder is greater than or equal to a first threshold;

[0014] S106. If the judgment result of S105 is yes, then execute the first type of correction scheme;

[0015] S107: If the judgment result of S105 is no, then execute the following steps:

[0016] S108, obtaining the power consumption required to execute the correction scheme;

[0017] S109, determining whether the power difference between the remaining power and the power consumption is less than or equal to a first preset power difference threshold;

[0018] S110. If the judgment result of S109 is yes, execute the second type of correction scheme.

[0019] In some embodiments, the rangefinder includes a temperature control module and a rangefinder module, the temperature control module includes at least a heating circuit, the temperature control module is used to execute the correction scheme on the rangefinder module; the correction scheme includes: a data compensation scheme and a temperature compensation scheme; the heating circuit is used to execute the temperature compensation scheme;

[0020] Correspondingly, the steps of implementing the correction scheme include:

[0021] S201, correcting the distance measurement data calculated by the rangefinder according to a data compensation amount, wherein the data compensation amount is obtained from a preset data compensation table according to the ambient temperature;

[0022] S202, inputting the current recommended operating temperature into the temperature control module;

[0023] S203, the heating circuit heats the ranging module according to the current recommended operating temperature to compensate for local temperature;

[0024] The recommended operating temperature of the first type of correction scheme is a first recommended operating temperature; the recommended operating temperature of the second type of correction scheme is a second recommended operating temperature; and the second recommended operating temperature is lower than the first recommended operating temperature.

[0025] In some embodiments, it further includes:

[0026] S111, determining whether the temperature difference is greater than or equal to a second difference threshold;

[0027] If so, correspondingly, S110 includes the steps of:

[0028] The second recommended operating temperature is updated to a third recommended operating temperature; wherein the third recommended operating temperature is lower than the second recommended operating temperature.

[0029] In some embodiments, it further includes:

[0030] S112, determining whether the temperature difference is less than a second difference threshold and greater than a third difference threshold;

[0031] If the result of executing S112 is yes, correspondingly, S110 further includes the steps of:

[0032] The second recommended operating temperature is updated to a fourth recommended operating temperature; wherein the fourth recommended operating temperature is lower than the second recommended operating temperature and higher than the third recommended operating temperature.

[0033] In some embodiments, it further includes:

[0034] S113: If the result of executing S103 is yes, determine whether the temperature difference is less than a fourth difference threshold;

[0035] If the result of executing S113 is yes, correspondingly, S106 further includes:

[0036] S114. Determine whether the power difference is less than a second preset power difference threshold; wherein the second preset power difference threshold is greater than the first preset power difference threshold;

[0037] S115: If yes, update the first type of correction scheme to the second type of correction scheme.

[0038] In some embodiments, including:

[0039] S601, obtaining the operating frequency of the rangefinder;

[0040] S602: Determine whether the operating frequency is greater than or equal to a preset frequency;

[0041] S603: If yes, lower the first recommended operating temperature or the second recommended operating temperature accordingly.

[0042] In some embodiments, including:

[0043] S701, recording the average value of the ambient temperature within a period;

[0044] S702: Determine a compensation mode according to the average ambient temperature, including:

[0045] S7021: If the average value of the ambient temperature is greater than or equal to a preset average value, executing a first compensation mode;

[0046] S7022: If the average value of the ambient temperature is less than the preset average value, executing the second compensation mode;

[0047] The recommended operating temperature in the second compensation mode is greater than the recommended operating temperature in the first compensation mode.

[0048] A second aspect of the present invention is to provide a temperature compensation system for a laser rangefinder, comprising:

[0049] Temperature acquisition module, used to obtain ambient temperature and recommended operating temperature;

[0050] a temperature difference calculation module, configured to calculate the temperature difference between the ambient temperature and the recommended operating temperature;

[0051] a temperature difference judgment module, configured to judge whether the temperature difference is greater than or equal to a first difference threshold;

[0052] The correction scheme execution module is used to execute the correction scheme when the judgment result of the temperature difference judgment module is yes. The correction scheme includes: a first-class correction scheme and a second-class correction scheme, including:

[0053] A remaining power determination module, configured to determine whether the remaining power of the rangefinder is greater than or equal to a first threshold;

[0054] a correction scheme execution module, configured to execute the correction scheme when the determination result of the remaining power determination module is yes;

[0055] The second correction solution execution module is used to execute the following steps when the judgment result of the remaining power judgment module is negative:

[0056] Obtaining the power consumption required to execute the correction scheme;

[0057] Determine whether the power difference between the remaining power and the power consumption is less than or equal to a first preset power difference threshold; if so, execute the second type of correction scheme.

[0058] A third aspect of the present invention is to provide a computer device, the device comprising a memory and a processor;

[0059] The memory is used to store computer programs;

[0060] The processor is configured to execute the computer program and implement the laser rangefinder temperature compensation method as described in any one of the first aspects of the present invention when executing the computer program.

[0061] A fourth aspect of the present invention is to provide 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 processor implements the laser rangefinder temperature compensation method as described in any one of the first aspects of the present invention.

[0062] Beneficial technical effects:

[0063] The present invention proposes a correction scheme switching mechanism based on a comprehensive decision-making process of energy consumption cost and measurement efficiency. Through the coordination of different correction schemes, it can balance the contradiction of energy consumption cost while improving the measurement accuracy of the laser rangefinder, greatly improving the adaptability of the laser rangefinder in complex ranging scenarios, especially suitable for ranging environments in high latitudes and low temperatures in winter. Specifically:

[0064] (1) The complex temperature compensation process of the laser rangefinder is divided into low-temperature scenarios of different gradients through the first difference threshold to the fourth difference threshold, which effectively covers the typical temperature compensation situations that may be involved and avoids the high-precision requirements of the rangefinder equipment due to complex parameters;

[0065] (2) The overall correction scheme update (for example, the first correction scheme is updated to the second correction scheme) and the partial correction scheme update (for example, different second recommended operating temperature update schemes are set for different situations with extremely large and large temperature differences) work together and are dynamically adjusted to further improve the temperature compensation efficiency;

[0066] (3) Data compensation and temperature compensation work together to further improve the accuracy and effectiveness of the correction scheme. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or the description of the prior art. In all drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the various elements or parts are not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without inventive work.

[0068] Figure 1 A schematic diagram of the process of a temperature compensation method for a laser rangefinder provided in one embodiment of the present application;

[0069] Figure 2 A schematic diagram of a preset power difference threshold provided in an embodiment of the present application;

[0070] Figure 3 A schematic diagram of a difference threshold provided in an embodiment of the present application;

[0071] Figure 4 A schematic diagram of recommended operating temperatures provided in an embodiment of the present application;

[0072] Figure 5 A schematic diagram of the structure of a rangefinder for executing the method of the present invention provided in one embodiment of the present application;

[0073] Figure 6 A schematic diagram of the structure of another rangefinder for executing the method of the present invention provided in one embodiment of the present application;

[0074] Figure 7 is a schematic block diagram of a temperature compensation system for a laser rangefinder provided in one embodiment of the present application;

[0075] Figure 8 This is a schematic block diagram of the structure of a computer device provided in one embodiment of the present application.

[0076] Summary of reference numerals: heating resistor 01, IMU device 02, filter capacitor 03. DETAILED DESCRIPTION

[0077] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0078] Herein, suffixes such as "module," "component," or "unit" used to represent elements are only used to facilitate description of the present invention and have no specific meaning. Therefore, "module," "component," or "unit" may be used interchangeably.

[0079] As used herein, terms such as "upper," "lower," "inner," "outer," "front," "back," "one end," and "the other end" indicate positions or locations based on those shown in the accompanying drawings. These terms are intended solely to facilitate and simplify the description of the present invention and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0080] As used herein, unless otherwise expressly specified or limited, the terms "installed," "provided with," and "connected" should be understood broadly. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection, a direct connection, an indirect connection via an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention on a case-by-case basis.

[0081] As used herein, "and / or" includes any and all combinations of one or more of the associated listed items.

[0082] Herein, "plurality" means two or more than two, ie, it includes two, three, four, five, etc.

[0083] As used in this specification, the term "about" typically means + / - 5% of the stated value, more typically + / - 4% of the stated value, more typically + / - 3% of the stated value, more typically + / - 2% of the stated value, even more typically + / - 1% of the stated value, and even more typically + / - 0.5% of the stated value.

[0084] In this specification, certain embodiments may be disclosed in a format that is within a range. It should be understood that this description of "within a range" is merely for convenience and brevity and should not be interpreted as a rigid limitation on the disclosed range. Therefore, the description of a range should be considered to have specifically disclosed all possible subranges and individual numerical values ​​within this range. For example, the description of a range of 1-6 should be considered to have specifically disclosed subranges such as from 1 to 3, from 1 to 4, from 1 to 5, from 2 to 4, from 2 to 6, from 3 to 6, etc., as well as individual numbers within this range, such as 1, 2, 3, 4, 5, and 6. Regardless of the breadth of the range, the above rules apply.

[0085] Example 1:

[0086] Figure 1 For a flow chart of a laser rangefinder temperature compensation method provided in one embodiment of the present application, please refer to Figure 1 The method comprises the steps of:

[0087] S101, obtaining the ambient temperature and the recommended operating temperature;

[0088] S102, calculating the temperature difference between the ambient temperature and the recommended operating temperature;

[0089] S103, determining whether the temperature difference is greater than or equal to a first difference threshold;

[0090] In some embodiments, if the determination result in S103 is negative, the correction scheme may not be implemented. Preferably, the first difference threshold is a tolerable temperature difference (typically a very small value, such as 1°C) at which temperature compensation is not required. If the temperature difference is less than the first difference threshold, temperature compensation may not be performed. In other words, when the temperature difference is less than the first difference threshold, local heating of the laser rangefinder may not be performed. The specific value of the first difference threshold is not limited here and can be adjusted by the user according to measurement accuracy requirements during actual use.

[0091] S104: If the judgment result of S103 is yes, then execute the correction scheme, which includes: a first-class correction scheme and a second-class correction scheme, including the steps of:

[0092] S105, determining whether the remaining power of the rangefinder is greater than or equal to a first threshold;

[0093] S106. If the judgment result of S105 is yes, then execute the first type of correction scheme;

[0094] S107: If the judgment result of S105 is no, then execute the following steps:

[0095] S108, obtaining the power consumption required to execute the correction scheme;

[0096] S109, determining whether the power difference between the remaining power and the power consumption is less than or equal to a first preset power difference threshold;

[0097] S110. If the judgment result of S109 is yes, execute the second type of correction scheme.

[0098] In some embodiments, if the result of the determination in step S109 is negative, a correction scheme is generally executed. For specific execution methods, please refer to Figure 2 The corresponding instruction manual content.

[0099] In some embodiments, the recommended operating temperature is the operating temperature that the current laser ranging device should reach when meeting the required ranging accuracy. The recommended operating temperature can be a mapping value obtained based on previous experimental data, or can be adjusted by the user, and is not limited here.

[0100] It's important to note that the recommended operating temperature is obtained to calculate the difference between it and the ambient temperature, thus providing a reference value for the temperature compensation scheme. This reference value has at least the following implications: 1) Temperature compensation isn't determined solely by the temperature difference, so the recommended operating temperature isn't the absolute operating temperature the laser rangefinder must meet; 2) The recommended operating temperature can change dynamically based on actual conditions, meaning that the correction scheme at each moment may also change based on actual conditions.

[0101] In some embodiments, if the temperature difference is greater than or equal to a first difference threshold, a correction scheme is executed. The correction schemes include first and second correction schemes. If the remaining battery level of the rangefinder is greater than or equal to a first threshold (e.g., 90%), the first correction scheme is directly executed. If the remaining battery level of the rangefinder is less than the first threshold, whether to execute the second correction scheme is determined based on the difference between the remaining battery level and the power consumption.

[0102] In other words, when the temperature difference falls within the compensation range (greater than or equal to the first difference threshold), and the rangefinder has sufficient battery power, the first type of correction scheme can be directly implemented. When the difference between the remaining battery power and the power consumption of the rangefinder is less than the first preset power difference threshold, the second type of correction scheme can be adaptively implemented to achieve a balance between temperature compensation and energy consumption costs.

[0103] The present invention provides a temperature compensation method for a laser rangefinder. This method comprehensively considers both energy consumption and measurement efficiency to perform temperature compensation on the rangefinder, facilitating the comprehensive determination of a correction solution. Furthermore, from a temperature compensation perspective, a comprehensive assessment of power consumption and temperature compensation can improve the operating efficiency of the rangefinder and select the optimal correction solution for the current ambient temperature and power consumption. This method can thus reduce unnecessary compensation costs caused by inefficient compensation. (For example, when temperatures are extremely low, the present invention can avoid the significant waste of compensation due to inefficient compensation, where the compensation effect is relatively small compared to the power consumption loss, or where the cost-effectiveness is relatively low. Similarly, when the temperature difference is small, applying the same correction solution as when the temperature difference is large will also result in energy waste.)

[0104] It should be noted that the distinction between Type 1 and Type 2 correction schemes in this implementation is intended to improve the ratio of energy consumption cost to measurement efficiency (or cost-effectiveness) by setting different temperature compensation amounts. It should be understood that Type 1 and Type 2 correction schemes are essentially the same: both apply compensation to the rangefinder to maximize the cost-effectiveness ratio. The only difference is that the two correction schemes correspond to different recommended operating temperatures, resulting in different compensation amounts. Preferably, the compensation amount of Type 1 correction scheme is greater than that of Type 2 correction scheme.

[0105] In some embodiments, if the temperature difference is the same or very similar, different correction schemes can be implemented based on different power differences. For example, if the power difference is 10% (i.e., the remaining power is 10% greater than the power consumption), the second correction scheme can be implemented (e.g., compensating for the temperature by 10°C); if the power difference is 30% (i.e., the remaining power is 30% greater than the power consumption), the first correction scheme can be implemented (e.g., compensating for the temperature by 20°C).

[0106] In some embodiments, the rangefinder includes a temperature control module and a rangefinder module, the temperature control module includes at least a heating circuit, the temperature control module is used to execute the correction scheme on the rangefinder module; the correction scheme includes: a data compensation scheme and a temperature compensation scheme; the heating circuit is used to execute the temperature compensation scheme;

[0107] Correspondingly, the steps of implementing the correction scheme include:

[0108] S201, correcting the distance measurement data calculated by the rangefinder according to a data compensation amount, wherein the data compensation amount is obtained from a preset data compensation table according to the ambient temperature;

[0109] S202, inputting the current recommended operating temperature into the temperature control module;

[0110] S203, the heating circuit heats the ranging module according to the current recommended operating temperature to compensate for local temperature;

[0111] The recommended operating temperature of the first type of correction scheme is a first recommended operating temperature; the recommended operating temperature of the second type of correction scheme is a second recommended operating temperature; and the second recommended operating temperature is lower than the first recommended operating temperature.

[0112] In some embodiments, the first recommended operating temperature can be the target compensation temperature when implementing a correction scheme; correspondingly, the second recommended operating temperature can be a value reduced by a certain percentage based on the first recommended operating temperature. This percentage can be adaptively adjusted based on the actual ranging accuracy requirements and cost budget. For example, if the first recommended operating temperature is 40°C, the second recommended operating temperature can be 32°C, which is 20% lower than the first recommended operating temperature. By updating the recommended operating temperature, the efficiency of temperature compensation of the present invention can be optimized in complex ranging environments, especially low-temperature scenarios.

[0113] In some embodiments, it may be preferable to perform ranging after temperature compensation to avoid the influence of temperature on the precision of the ranging module and improve ranging accuracy.

[0114] In some embodiments, the data compensation amount may also be calculated based on performance indicators (such as measurement accuracy) of the ranging module.

[0115] For example, the data compensation amount can be the temperature-induced systematic error of the ranging module measured at the factory, specifically the deviation between the actual distance and the measured distance data. For example, if the systematic error of the ranging module is measured to be 1% at a certain operating temperature (or ambient temperature), the data compensation amount applied when executing the data compensation scheme is correspondingly 1%. Accordingly, by measuring the data compensation amounts at different ambient temperatures, a data compensation table can be pre-generated containing data compensation amounts for multiple ambient temperatures.

[0116] It should be understood that the correction schemes proposed in this invention encompass at least two levels: 1) From the perspective of compensation level, they include first- and second-level correction schemes. 2) From the perspective of compensation content, they include data compensation schemes and temperature compensation schemes. The data compensation scheme, on the one hand, involves correcting the distance measurement data calculated by the rangefinder based on a data compensation amount, where the data compensation amount can be obtained from a preset data compensation table based on the ambient temperature. The temperature compensation scheme, on the other hand, involves performing local temperature compensation on the ranging module.

[0117] In other words, the present invention aims to obtain the accurate spatial posture of the laser rangefinder by adding influencing factors (i.e., temperature compensation, data compensation) to the measurement data of the ranging module under different ambient temperatures, thereby externally ensuring that the ranging module is within the normal operating temperature range.

[0118] In some embodiments, the process of the temperature control module executing the temperature compensation scheme in the correction scheme can also include the following steps: (1) collecting temperature T; (2) model fitting; (3) calculating bias B(T); (4) filtering small errors with a filter; and (5) outputting the temperature compensation amount.

[0119] In some embodiments, the model fitting is preferably performed using an existing polynomial model; the method of using a filter to filter small errors to further optimize the correction solution can use an existing filtering algorithm; the present invention does not impose any restrictions on this.

[0120] See Figure 5 Exemplarily, the laser rangefinder may include: a heating resistor 01 for performing local temperature compensation or local heating on the IMU device (or ranging module).

[0121] See Figure 6 For example, the laser rangefinder may also include: an IMU device 02, which can capture the motion state of the laser rangefinder itself (such as acceleration and angular velocity) in real time, and compensate for the distortion of the laser point cloud caused by the movement of the device through high-frequency data, so as to improve the ranging accuracy and positioning reliability; a filter capacitor 03, which can stabilize the circuit voltage and filter out high-frequency noise interference, ensuring the purity of the laser modulation signal and the echo processing signal, and is used to improve the ranging accuracy and system stability.

[0122] In some embodiments, it further includes:

[0123] S111, determining whether the temperature difference is greater than or equal to a second difference threshold;

[0124] If so, correspondingly, S110 includes the steps of:

[0125] The second recommended operating temperature is updated to a third recommended operating temperature; wherein the third recommended operating temperature is lower than the second recommended operating temperature.

[0126] In this embodiment, if the temperature difference is greater than or equal to the second difference threshold, the second recommended operating temperature is updated to the third recommended operating temperature. Specifically, if the temperature difference is extremely large (such as in northern my country during winter, where ambient temperatures remain below zero for extended periods), the present invention proposes a temperature compensation scheme for extreme weather (i.e., extremely cold weather). Specifically, a second-type correction scheme is preferred. Furthermore, based on the implementation of the second-type correction scheme, the recommended operating temperature can be updated while simultaneously limiting the temperature compensation process from multiple perspectives to avoid energy waste.

[0127] In other words, in extremely cold weather, the present invention preferably takes energy consumption costs and compensation effects into consideration, switching the correction scheme to reasonably limit energy consumption while improving ranging accuracy. Alternatively, the present invention introduces energy consumption cost factors to constrain the temperature compensation process. Specifically, by setting correction schemes with different correction levels, or updating the recommended operating temperature to varying degrees, the cost-effectiveness of the correction scheme is improved, thereby better balancing the contradiction between energy consumption costs and measurement accuracy.

[0128] In some embodiments, it further includes:

[0129] S112, determining whether the temperature difference is less than a second difference threshold and greater than a third difference threshold;

[0130] If the result of executing S112 is yes, correspondingly, S110 further includes the steps of:

[0131] The second recommended operating temperature is updated to a fourth recommended operating temperature; wherein the fourth recommended operating temperature is lower than the second recommended operating temperature and higher than the third recommended operating temperature.

[0132] In some embodiments, if the temperature difference is less than the second difference threshold and greater than the third difference threshold, the second recommended operating temperature of the second type correction scheme is updated to a fourth recommended operating temperature, wherein the fourth recommended operating temperature is less than the second recommended operating temperature and greater than the third recommended operating temperature.

[0133] It should be understood that for some non-extremely low temperature weather, but the ambient temperature still does not meet the measurement accuracy of the rangefinder, the second recommended operating temperature can be updated to the fourth recommended operating temperature based on the second type of correction scheme, so as to further balance energy consumption and efficiency.

[0134] It should be noted that the present invention's distinction between the second and third difference thresholds allows for targeted determination of the approximate temperature ranges applicable to corresponding correction schemes under varying ambient temperatures. From another perspective, the present invention proposes a gradient-based correction scheme update mechanism. By using the first to fourth difference thresholds, the complex laser rangefinder temperature compensation process is divided into several scenarios. This effectively covers typical temperature compensation scenarios while avoiding the high precision requirements imposed by complex parameters on the rangefinder.

[0135] In some embodiments, it further includes:

[0136] S113: If the result of executing S103 is yes, determine whether the temperature difference is less than a fourth difference threshold;

[0137] If the result of executing S113 is yes, correspondingly, S106 further includes:

[0138] S114. Determine whether the power difference is less than a second preset power difference threshold; wherein the second preset power difference threshold is greater than the first preset power difference threshold;

[0139] S115: If yes, update the first type of correction scheme to the second type of correction scheme.

[0140] In some embodiments, if the temperature difference is greater than or equal to a first difference threshold (e.g., 1°C) and less than a fourth difference threshold (e.g., 5°C), and the power difference is less than a second preset power difference threshold, the first type of correction scheme is updated to a second type of correction scheme.

[0141] It should be understood that this step is to further and more subdivided the situation where the temperature difference is not large (for example, 3°C) and the power is not sufficient (for example, the power difference is 10%), and the first type of correction scheme that should be executed is updated to the second type of correction scheme, which makes up for the loophole that executing the first type of correction scheme in this case will still cause a certain degree of waste, once again balancing energy consumption and efficiency, and increasing the adaptability of the present invention to complex ranging environments.

[0142] Next, we will combine Figures 2 to 4 The functions and relationships between the different preset power difference thresholds, recommended operating temperatures, and difference thresholds in this embodiment are uniformly explained.

[0143] See Figure 2 The relationship between the power difference and the first preset power difference threshold is the basis for determining whether to implement the first or second type of correction scheme, that is, when the power difference is less than the first preset power difference threshold, the second type of correction scheme is implemented; if the temperature difference is greater than the first preset power difference threshold and less than the second preset power difference threshold, and the temperature difference is less than the fourth difference threshold, then the first type of correction scheme that should be implemented is retreated to the second type of correction scheme to better adapt to the current measurement situation.

[0144] See Figure 3 , determine whether to make compensation based on the relationship between the temperature difference and the first difference threshold, such as 5°C; determine how to update the second recommended operating temperature of the second-category correction scheme based on the relationship between the temperature difference and the second difference threshold; determine how to update the second-category correction scheme accordingly based on the relationship between the temperature difference and the third difference threshold; determine whether to update the first-category correction scheme to the second-category correction scheme based on the relationship between the temperature difference and the fourth difference threshold.

[0145] See Figure 4 The recommended operating temperature refers to the preset optimal operating temperature, that is, the initial target temperature of temperature compensation; the first recommended operating temperature refers to the recommended operating temperature of the first type of correction scheme; the second recommended operating temperature refers to the recommended operating temperature of the second type of correction scheme; the third recommended operating temperature refers to the recommended operating temperature of the updated second type of correction scheme; the fourth recommended operating temperature refers to another recommended operating temperature of the updated second type of correction scheme.

[0146] It should be understood that Figures 2 to 4 The positions of different points on the number axis are only schematic illustrations for the convenience of understanding their relative positions (or size relationships), and do not reflect the absolute numerical size of each point.

[0147] In some embodiments, including:

[0148] S601, obtaining the operating frequency of the rangefinder;

[0149] S602: Determine whether the operating frequency is greater than or equal to a preset frequency;

[0150] S603: If yes, lower the first recommended operating temperature or the second recommended operating temperature accordingly.

[0151] In some embodiments, the present invention further specifically adjusts the recommended operating temperature according to the operating frequency of the rangefinder. Preferably, if the operating frequency of the rangefinder is greater than or equal to the preset frequency, the recommended operating temperature of the corresponding correction scheme can be lowered, taking into account the impact of the operating frequency on the ranging module, thereby improving the adaptability of the temperature compensation scheme as a whole.

[0152] For example, in some embodiments, the operating frequency may refer to the number of times the laser rangefinder operates within a set time, such as the number of distance measurements.

[0153] In some embodiments, including:

[0154] S701, recording the average value of the ambient temperature within a period;

[0155] S702: Determine a compensation mode according to the average ambient temperature, including:

[0156] S7021: If the average value of the ambient temperature is greater than or equal to a preset average value, executing a first compensation mode;

[0157] S7022: If the average value of the ambient temperature is less than the preset average value, executing the second compensation mode;

[0158] The recommended operating temperature in the second compensation mode is greater than the recommended operating temperature in the first compensation mode.

[0159] For example, in some embodiments, the length of a cycle can be set by the user.

[0160] In some embodiments, the present invention further determines different compensation modes based on the size of the indicator of the average ambient temperature. It should be understood that the climate difference between cities in the north and south of my country is very large. Adding the factor of the average ambient temperature to the temperature compensation adjustment process can greatly improve the scene adaptability of the present invention. Exemplarily, if the average ambient temperature is greater than or equal to the preset average value, it means that it is likely to be summer in a southern city, then the first compensation mode is executed, that is, the recommended operating temperature is correspondingly lowered as a whole to avoid energy waste caused by excessive temperature compensation; if the average ambient temperature is less than the preset average value, then the second compensation mode is executed, that is, the recommended operating temperature is correspondingly increased as a whole to improve the temperature compensation effect in cold weather.

[0161] See also Figure 7 , Figure 7 This is a schematic block diagram of a laser rangefinder temperature compensation system provided in an embodiment of the present application. The laser rangefinder temperature compensation system can be configured in a server to execute the aforementioned laser rangefinder temperature compensation method.

[0162] like Figure 7 As shown, the embodiment of the present application further provides a laser rangefinder temperature compensation system 200, the system comprising:

[0163] Temperature acquisition module 201, used to obtain ambient temperature and recommended operating temperature;

[0164] a temperature difference calculation module 202, configured to calculate the temperature difference between the ambient temperature and the recommended operating temperature;

[0165] The temperature difference judgment module 203 is used to judge whether the temperature difference is greater than or equal to a first difference threshold;

[0166] The correction scheme execution module 204 is used to execute the correction scheme when the judgment result of the temperature difference judgment module is yes. The correction scheme includes: a first-class correction scheme and a second-class correction scheme, including:

[0167] The remaining power determination module 205 is used to determine whether the remaining power of the rangefinder is greater than or equal to a first threshold;

[0168] A first-class correction solution execution module 206, configured to execute the first-class correction solution when the determination result of the remaining power determination module is yes;

[0169] The second-category correction scheme execution module 207 is used to execute the following steps when the judgment result of the remaining power judgment module is no: obtain the power consumption required to execute the said first-category correction scheme; determine whether the power difference between the remaining power and the power consumption is less than or equal to the first preset power difference threshold; if so, execute the second-category correction scheme.

[0170] See also Figure 8 , Figure 8 This is a schematic block diagram of the structure of a computer device provided by an embodiment of the present application. The computer program can be used in Figure 8 Run on the computer device shown. Figure 8 As shown, the computer device includes a processor, a memory, and a network interface connected via a system bus, wherein the memory may include a non-volatile storage medium and an internal memory.

[0171] The non-volatile storage medium can store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any one of the laser rangefinder temperature compensation methods.

[0172] The processor is used to provide computing and control capabilities and support the operation of the entire computer equipment.

[0173] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can execute any one of the temperature compensation methods for the laser rangefinder.

[0174] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0175] It should be understood that the processor 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, etc.

[0176] In one embodiment, the processor is configured to execute a computer program stored in the memory to implement the following steps:

[0177] S101, obtaining the ambient temperature and the recommended operating temperature;

[0178] S102, calculating the temperature difference between the ambient temperature and the recommended operating temperature;

[0179] S103, determining whether the temperature difference is greater than or equal to a first difference threshold;

[0180] S104: If the judgment result of S103 is yes, then execute the correction scheme, which includes: a first-class correction scheme and a second-class correction scheme, including the steps of:

[0181] S105, determining whether the remaining power of the rangefinder is greater than or equal to a first threshold;

[0182] S106. If the judgment result of S105 is yes, then execute the first type of correction scheme;

[0183] S107: If the judgment result of S105 is no, then execute the following steps:

[0184] S108, obtaining the power consumption required to execute the correction scheme;

[0185] S109, determining whether the power difference between the remaining power and the power consumption is less than or equal to a first preset power difference threshold;

[0186] S110. If the judgment result of S109 is yes, execute the second type of correction scheme.

[0187] Exemplarily, the processor is used to run a computer program stored in the memory, and is also used to implement the steps of the laser rangefinder temperature compensation method provided in any embodiment of the present application, which will not be repeated here.

[0188] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement any one of the laser rangefinder temperature compensation methods provided in the embodiments of the present application.

[0189] The computer-readable storage medium may be an internal storage unit of the computer device described in the aforementioned embodiment, such as a hard disk or memory of the computer device. The computer-readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a SmartMedia Card (SMC), a Secure Digital (SD) card, a flash memory card, etc., equipped on the computer device.

[0190] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0191] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), including a number of instructions for enabling a computer terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0192] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. A laser rangefinder temperature compensation method, characterized in that: include: S101, obtaining the ambient temperature and the recommended operating temperature; S102, calculating the temperature difference between the ambient temperature and the recommended operating temperature; S103, determining whether the temperature difference is greater than or equal to a first difference threshold; S104: If the judgment result of S103 is yes, then execute the correction scheme, which includes: a first-class correction scheme and a second-class correction scheme, including the steps of: S105, determining whether the remaining power of the rangefinder is greater than or equal to a first threshold; S106. If the judgment result of S105 is yes, then execute the first type of correction scheme; S107: If the judgment result of S105 is no, then execute the following steps: S108, obtaining the power consumption required to execute the correction scheme; S109, determining whether the power difference between the remaining power and the power consumption is less than or equal to a first preset power difference threshold; S110. If the judgment result of S109 is yes, then execute the second type of correction plan; The rangefinder includes a temperature control module and a rangefinder module, the temperature control module includes at least a heating circuit, the temperature control module is used to execute the correction scheme on the rangefinder module; the correction scheme includes: a data compensation scheme and a temperature compensation scheme; the heating circuit is used to execute the temperature compensation scheme; Correspondingly, the steps of implementing the correction scheme include: S201, correcting the distance measurement data calculated by the rangefinder according to a data compensation amount, wherein the data compensation amount is obtained from a preset data compensation table according to the ambient temperature; S202, inputting the current recommended operating temperature into the temperature control module; S203, the heating circuit heats the ranging module according to the current recommended operating temperature to compensate for local temperature; The recommended operating temperature of the first type of correction scheme is a first recommended operating temperature; the recommended operating temperature of the second type of correction scheme is a second recommended operating temperature; and the second recommended operating temperature is lower than the first recommended operating temperature; wherein the method further includes: S111, determining whether the temperature difference is greater than or equal to a second difference threshold; If so, correspondingly, S110 includes the steps of: The second recommended operating temperature is updated to a third recommended operating temperature; wherein the third recommended operating temperature is lower than the second recommended operating temperature.

2. A laser rangefinder temperature compensation method according to claim 1, characterized in that: Also includes: S112, determining whether the temperature difference is less than a second difference threshold and greater than a third difference threshold; If the result of executing S112 is yes, correspondingly, S110 further includes the steps of: The second recommended operating temperature is updated to a fourth recommended operating temperature; wherein the fourth recommended operating temperature is lower than the second recommended operating temperature and higher than the third recommended operating temperature.

3. The laser rangefinder temperature compensation method according to claim 1, wherein: Also includes: S113: If the result of executing S103 is yes, determine whether the temperature difference is less than a fourth difference threshold; If the result of executing S113 is yes, correspondingly, S106 further includes: S114. Determine whether the power difference is less than a second preset power difference threshold; wherein the second preset power difference threshold is greater than the first preset power difference threshold; S115: If yes, update the first type of correction scheme to the second type of correction scheme.

4. The laser rangefinder temperature compensation method according to claim 1, characterized in that: include: S601, obtaining the operating frequency of the rangefinder; S602: Determine whether the operating frequency is greater than or equal to a preset frequency; S603: If yes, lower the first recommended operating temperature or the second recommended operating temperature accordingly.

5. The laser rangefinder temperature compensation method according to claim 1, characterized in that: include: S701, recording the average value of the ambient temperature within a period; S702: Determine a compensation mode according to the average ambient temperature, including: S7021: If the average value of the ambient temperature is greater than or equal to a preset average value, executing a first compensation mode; S7022: If the average value of the ambient temperature is less than the preset average value, executing the second compensation mode; The recommended operating temperature in the second compensation mode is greater than the recommended operating temperature in the first compensation mode.

6. A laser rangefinder temperature compensation system, characterized in that: include: Temperature acquisition module, used to obtain ambient temperature and recommended operating temperature; a temperature difference calculation module, configured to calculate the temperature difference between the ambient temperature and the recommended operating temperature; a temperature difference judgment module, configured to judge whether the temperature difference is greater than or equal to a first difference threshold; The correction scheme execution module is used to execute the correction scheme when the judgment result of the temperature difference judgment module is yes. The correction scheme includes: a first-class correction scheme and a second-class correction scheme, including: A remaining power determination module, configured to determine whether the remaining power of the rangefinder is greater than or equal to a first threshold; a correction scheme execution module, configured to execute the correction scheme when the determination result of the remaining power determination module is yes; The second correction solution execution module is used to execute the following steps when the judgment result of the remaining power judgment module is negative: Obtaining the power consumption required to execute the correction scheme; determining whether the power difference between the remaining power and the power consumption is less than or equal to a first preset power difference threshold; if so, executing a second type of correction scheme; The rangefinder includes a temperature control module and a rangefinder module, the temperature control module includes at least a heating circuit, the temperature control module is used to execute the correction scheme on the rangefinder module; the correction scheme includes: a data compensation scheme and a temperature compensation scheme; the heating circuit is used to execute the temperature compensation scheme; Correspondingly, the step of executing the correction scheme includes: correcting the ranging data calculated by the rangefinder according to a data compensation amount, wherein the data compensation amount is obtained from a preset data compensation table according to the ambient temperature; inputting the current recommended operating temperature into the temperature control module; heating the ranging module by the heating circuit according to the current recommended operating temperature to perform local temperature compensation; The recommended operating temperature of the first type of correction scheme is a first recommended operating temperature; the recommended operating temperature of the second type of correction scheme is a second recommended operating temperature; and the second recommended operating temperature is lower than the first recommended operating temperature; wherein the system is further configured to: Determining whether the temperature difference is greater than or equal to a second difference threshold; If so, correspondingly, the second recommended operating temperature is updated to a third recommended operating temperature; wherein the third recommended operating temperature is lower than the second recommended operating temperature.

7. A computer device, characterized in that: The device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and implement the laser rangefinder temperature compensation method according to any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to implement the laser rangefinder temperature compensation method according to any one of claims 1 to 5.

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