A single-point laser ranging precision compensation method, system, storage medium and device

Abstract

The application discloses a single-point laser ranging precision compensation method and system, a storage medium and equipment, and relates to the technical field of laser ranging compensation. The method comprises the following steps: when it is determined that the operation state of each angle motor is normal, the angle motors are controlled to rotate in a preset rotation sequence one by one, so that the obstacle plates with different reflectivities installed on the rotating discs of the angle motors enter a laser light path; after the second angle motor and the third angle motor are controlled to rotate, remote distance compensation data is determined based on original remote distance data collected by a single-point laser ranging sensor; after the first angle motor is controlled to rotate, near distance compensation data is determined based on original near distance data collected by the single-point laser ranging sensor; and the near distance compensation data and the remote distance compensation data are stored in a database of the single-point laser ranging sensor as a compensation data set. The technical scheme provided by the application can improve the ranging precision of the single-point laser ranging sensor.

Description

Technical Field

[0001] This application relates to the field of laser ranging compensation technology, specifically to a single-point laser ranging accuracy compensation method, system, storage medium, and device. Background Technology

[0002] With the rapid development of industrial automation and intelligent manufacturing, single-point laser ranging technology has been widely used in industrial inspection, robot navigation, and other fields due to its non-contact and high-precision characteristics. The basic principle of single-point laser ranging is to calculate the distance by emitting a laser beam and receiving the laser signal reflected back from the target object.

[0003] In existing technologies, single-point laser rangefinders typically use factory-calibrated fixed compensation parameters to improve ranging accuracy. This compensation method can meet basic ranging requirements under ideal conditions. However, in actual industrial applications, due to the significant differences in the reflective properties of target objects and the wide range of ranging distances, fixed compensation parameters are difficult to adapt to the ranging needs under different working conditions. Especially during long-distance measurements, the laser signal attenuates significantly, while during short-distance measurements, the reflected signal may be too strong, resulting in low ranging accuracy for single-point laser rangefinders. Summary of the Invention

[0004] This application provides a single-point laser ranging accuracy compensation method, system, storage medium, and device, which can improve the ranging accuracy of a single-point laser ranging sensor.

[0005] In a first aspect, this application provides a single-point laser ranging accuracy compensation method, applied to a compensation device. The compensation device includes a servo motor, a guide rail, a first angle motor, a second angle motor, and a third angle motor. A single-point laser ranging sensor is disposed at one end of the guide rail. The first angle motor, the second angle motor, and the third angle motor are respectively disposed at the other end of the guide rail, and are respectively at different distances from the single-point laser ranging sensor, ranging from near to far. The method includes:

[0006] The servo motor is controlled to move the single-point laser rangefinder to a preset position on the guide rail.

[0007] When it is confirmed that the operating status of each angle motor is normal, the second angle motor, the third angle motor and the first angle motor are controlled to rotate in sequence according to the preset rotation order, so that the obstacle plates with different reflectivity installed on the turntable of each angle motor enter the laser light path. The laser light path refers to the propagation path of the laser beam emitted by the single-point laser ranging sensor.

[0008] Specifically, after controlling the rotation of the second angle motor and the third angle motor respectively, long-distance compensation data is determined based on the original long-distance data collected by the single-point laser ranging sensor; and after controlling the rotation of the first angle motor, short-distance compensation data is determined based on the original short-distance data collected by the single-point laser ranging sensor.

[0009] The near-range compensation data and the far-range compensation data are combined to form a compensation dataset, and the compensation dataset is stored in the database of the single-point laser ranging sensor.

[0010] By adopting the above technical solution, a first angle motor, a second angle motor, and a third angle motor, distributed from near to far, are set in the compensation device, and obstacle plates with different reflectivities are installed on the turntables of each angle motor. By sequentially controlling the rotation of each angle motor to bring the obstacle plates into the laser beam path, target objects with various reflective characteristics in the actual measurement environment can be simulated at different distance positions. Furthermore, long-distance compensation data is determined based on the original long-distance data corresponding to the second and third angle motors, and short-distance compensation data is determined based on the original short-distance data corresponding to the first angle motor, thereby obtaining compensation datasets for different distance ranges. This compensation dataset fully considers practical problems such as signal attenuation during long-distance measurement and excessive signal strength during short-distance measurement, enabling the single-point laser rangefinder sensor to select appropriate compensation parameters according to the actual measurement distance and the reflective characteristics of the target object, effectively improving the ranging accuracy.

[0011] A second aspect of this application provides a single-point laser ranging accuracy compensation system applied to a compensation device. The compensation device includes a servo motor, a guide rail, a first angle motor, a second angle motor, and a third angle motor. A single-point laser ranging sensor is disposed at one end of the guide rail. The first angle motor, the second angle motor, and the third angle motor are respectively disposed at the other end of the guide rail, and are respectively at different distances from the single-point laser ranging sensor, ranging from near to far. The system includes:

[0012] The motor control module is used to control the servo motor to drive the single-point laser rangefinder to move to a preset position on the guide rail;

[0013] The motor control module is also used to control the second angle motor, the third angle motor and the first angle motor to rotate in a preset rotation order when the normal operating status of each angle motor is determined, so that the obstacle plates with different reflectivity installed on the turntable of each angle motor enter the laser light path, and the laser light path refers to the propagation path of the laser beam emitted by the single-point laser ranging sensor.

[0014] The data acquisition module is used to determine long-distance compensation data based on the original long-distance data acquired by the single-point laser ranging sensor after controlling the rotation of the second angle motor and the third angle motor respectively; and to determine short-distance compensation data based on the original short-distance data acquired by the single-point laser ranging sensor after controlling the rotation of the first angle motor.

[0015] The data storage module is used to construct a compensation dataset from the near-range compensation data and the far-range compensation data, and to store the compensation dataset in the database of the single-point laser ranging sensor.

[0016] A third aspect of this application provides a computer storage medium storing a plurality of instructions adapted for loading by a processor and executing the method steps described above.

[0017] A fourth aspect of this application provides an electronic device, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to execute the above-described method steps.

[0018] In summary, one or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0019] This application incorporates a first angle motor, a second angle motor, and a third angle motor arranged from near to far in a compensation device, with obstacle plates of varying reflectivity mounted on the turntables of each angle motor. By sequentially controlling the rotation of each angle motor to bring the obstacle plates into the laser beam path, various reflective properties of target objects in the actual measurement environment can be simulated at different distances. Furthermore, long-distance compensation data is determined based on the original long-distance data corresponding to the second and third angle motors, and short-distance compensation data is determined based on the original near-distance data corresponding to the first angle motor, thereby obtaining compensation datasets for different distance ranges. This compensation dataset fully considers practical issues such as signal attenuation during long-distance measurement and excessive signal strength during near-distance measurement, enabling the single-point laser rangefinder to select appropriate compensation parameters based on the actual measurement distance and the reflective characteristics of the target object, effectively improving ranging accuracy. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating a single-point laser ranging accuracy compensation method provided in an embodiment of this application;

[0021] Figure 2 This is a schematic diagram of a single-point laser ranging accuracy compensation system provided in an embodiment of this application;

[0022] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0023] Explanation of reference numerals in the attached drawings: 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. Detailed Implementation

[0024] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0025] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0026] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0027] This application proposes a single-point laser ranging accuracy compensation method, applied to a compensation device. The device includes a horizontally positioned guide rail, with a single-point laser ranging sensor mounted at one end. The guide rail is driven by a servo motor to move the single-point laser ranging sensor along the rail. At the other end of the guide rail, a first angle motor, a second angle motor, and a third angle motor are sequentially arranged along the length of the guide rail. The distances between these three angle motors and the single-point laser ranging sensor increase sequentially, forming a distance distribution from near to far. Specifically, the distance between the first angle motor and the single-point laser ranging sensor is 0.5 meters to 1 meter, the second angle motor is 2 meters to 3 meters, and the third angle motor is 4 meters to 5 meters. A turntable is fixedly mounted on the output shaft of each angle motor. Multiple obstacle plates with different reflectivities are evenly arranged around the circumference of the turntable. The reflectivity range of these obstacle plates covers 5% to 95% to simulate target objects with different reflection characteristics in the actual measurement environment. For example, each turntable has ten evenly spaced mounting positions. Six of these positions are equipped with obstacle plates (5%, 10%, 60%, and 90% reflectivity), high-reflectivity brick-grade plates, and ordinary high-reflectivity plates, respectively. The remaining four positions are reserved as light spot channels to ensure unobstructed laser beam paths. Each angle motor is controlled by a precise drive control system to regulate its speed and angle, ensuring that the obstacle plate accurately enters the laser beam path of the single-point laser rangefinder. This laser beam path refers to the propagation path of the laser beam emitted by the single-point laser rangefinder. The laser beam path is perpendicular to the length of the guide rail, ensuring that the laser beam accurately illuminates the obstacle plates on each angle motor turntable.

[0028] To achieve automated control of the equipment, the servo motor and three angle motors are connected to the control host via motor serial communication modules. The single-point laser rangefinder is connected to the control host via a sensor serial communication module. The control host is equipped with control software used to coordinate the actions of various components and collect measurement data.

[0029] In practical applications, by controlling a servo motor to drive the guide rail in reciprocating motion, and simultaneously controlling motors at various angles to rotate their turntables, obstacles with different reflectivities can be sequentially introduced into the laser beam path, thereby acquiring measurement data under different distances and reflection characteristics. This data will then be used to generate near-range compensation data and long-range compensation data, ultimately achieving accuracy compensation for the single-point laser rangefinder.

[0030] Please refer to Figure 1A flowchart illustrating a single-point laser ranging accuracy compensation method is presented. This method can be implemented using a computer program, a microcontroller, or run on a single-point laser ranging accuracy compensation system. The computer program can be integrated into a computer device or run as a standalone application. Specifically, the method includes steps 10 to 50, as follows:

[0031] Step 10: Control the servo motor to move the single-point laser rangefinder sensor on the guide rail to the preset position.

[0032] Specifically, to ensure the accuracy and consistency of subsequent measurements, control commands are sent to the serial communication module of the servo motor. Upon receiving the commands, the servo motor drives the guide rail to rotate via a coupling. Since the single-point laser rangefinder sensor is mounted on a mounting platform at one end of the guide rail, the mounting platform moves linearly as the guide rail rotates, thereby moving the single-point laser rangefinder sensor to a preset position. In this embodiment, the preset position is 1.5 meters from the starting end of the guide rail to the first angle motor. This position is chosen to fully consider the needs of close-range measurement and ensure that the laser beam can accurately illuminate the obstacle plate on the turntable of the first angle motor. During the movement, the servo motor adopts a closed-loop control method, adjusting the motor speed and direction by detecting the position feedback signal in real time, ensuring that the single-point laser rangefinder sensor can smoothly and accurately reach the preset position. This precise position control provides a stable measurement benchmark for subsequent acquisition of close-range and long-range compensation data, while also ensuring the repeatability and reliability of the compensation data. By fixing the single-point laser rangefinder sensor at the preset position, errors caused by measurement position deviations can be eliminated, laying the foundation for obtaining high-quality compensation data.

[0033] Step 20: When it is confirmed that the operating status of each angle motor is normal, control the second angle motor, the third angle motor and the first angle motor to rotate in sequence according to the preset rotation order, so that the obstacle plates with different reflectivity installed on the turntable of each angle motor enter the laser light path. The laser light path refers to the propagation path of the laser beam emitted by the single-point laser rangefinder.

[0034] Specifically, the control host sends test commands to each angle motor via the motor serial communication module to confirm the operating status. Initially, small-angle rotation commands can be sent to each angle motor. Upon receiving a normal status feedback signal, the host begins controlling the second, third, and first angle motors to rotate their turntables sequentially according to a preset rotation order. In an optional configuration, each angle motor drives the turntable to rotate at a preset angular velocity and dwell time, allowing obstacle plates with different reflectivities on the turntable to enter the laser beam path sequentially. This measurement sequence from far to near effectively avoids interference from nearby obstacles on long-distance measurements, thus ensuring the accuracy of the measurement data. This orderly control method enables the laser beam emitted by the single-point laser rangefinder to interact stably with obstacle plates at different distances and with different reflective characteristics, providing a reliable guarantee for obtaining comprehensive compensation data.

[0035] Based on the above embodiments, as an optional embodiment, after controlling the servo motor to move the single-point laser ranging sensor to a preset position on the guide rail, the following steps may be included:

[0036] Step 101: Collect the optical coding patterns emitted by the grating array installed on the turntable of each angle motor.

[0037] Specifically, to monitor the operating status of each angle motor in real time, a grating array is installed on the turntable of each angle motor. As the turntable rotates, the grating array generates periodic optically encoded patterns. The control unit collects these optically encoded patterns using high-speed photoelectric sensors at a frequency of 1000Hz to ensure the capture of subtle changes during turntable rotation. The collected optically encoded patterns contain crucial information such as the instantaneous angular position, angular velocity, and angular acceleration of the turntable, which directly reflect the operating characteristics of the angle motors.

[0038] Step 102: Perform Fourier transform analysis on the optical coding pattern, and extract the rotation characteristic parameters of the motor at each angle based on the spectral characteristics of the transform result.

[0039] Specifically, after acquiring the optically encoded pattern, it undergoes Fast Fourier Transform (FFT) processing. First, the acquired optically encoded pattern data is divided into several time windows, and a Fourier transform is performed within each window. By analyzing the transformed spectral characteristics, key parameters characterizing the motor's rotational properties are extracted, including the amplitude and phase of the fundamental frequency component, the distribution characteristics of harmonic components, and the spectral energy distribution. These parameters reflect the smoothness, synchronization, and dynamic response characteristics of the motor's rotation.

[0040] Step 103: Compare the rotational characteristic parameters with the standard operating parameter library of the motor using an adaptive neural network to generate a health status assessment index for the motor at each angle.

[0041] Specifically, the adaptive neural network employs a three-layer structure: the input layer has 15 neurons corresponding to rotational characteristic parameters, the hidden layer has 30 neurons, and the output layer has one neuron outputting a health status assessment index. The hidden layer uses the hyperbolic tangent activation function, and the output layer uses the sigmoid function to map the output to the range of 0-100. The network is trained using the Levenberg-Marquardt algorithm, establishing parameter mapping relationships based on 10,000 sets of standard operating data. The motor standard operating parameter library stores standard parameter spectra under different operating conditions, divided into four levels: normal, slightly abnormal, moderately abnormal, and severely abnormal, with each level containing 2,500 sets of feature parameter samples. When new rotational characteristic parameters are input, the neural network adaptively adjusts the weights and calculates the health status assessment index in real time.

[0042] For example, the encoded pattern of the grating array on the second-angle motor turntable can be acquired. 2048 data points are obtained through 1000Hz sampling, and FFT analysis yields the fundamental frequency amplitude of 2.5V and various harmonics. Harmonic ratios (A1 / A0=0.12, A2 / A0=0.08, etc.) and frequency band energy distribution (35% in 0-100Hz) are calculated. These parameters are input into an adaptive neural network, normalized, and then the hidden layer output values ​​(e.g., 0.75, 0.82, 0.79) are calculated using a weight matrix, ultimately outputting a health assessment index of 87 points. This index is composed of fundamental frequency characteristics (26.1 points), harmonic characteristics (21.75 points), energy distribution (21.25 points), and phase characteristics (17.9 points), and is higher than the 80-point health threshold.

[0043] Step 104: When the motor health status assessment index of each angle motor is higher than the preset health threshold, it is determined that the operating status of each angle motor is normal.

[0044] Specifically, this application embodiment sets three health threshold levels: above 90 points is the optimal state, 80-90 points is a good state, and 80 points is the critical threshold. The calculation of the health status assessment index considers the weighted average of multiple influencing factors: fundamental frequency characteristics account for 30%, harmonic characteristics account for 25%, energy distribution characteristics account for 25%, and phase characteristics account for 20%. Each characteristic parameter has a standard deviation tolerance, for example, the allowable deviation for the fundamental frequency amplitude is ±3%, and the allowable deviation for the harmonic ratio is ±5%. The system updates the health status assessment every 100ms, and only when 10 consecutive assessments are above 80 points is the motor considered to be in normal condition.

[0045] Step 105: When there is an abnormal angle motor whose motor health status assessment index is lower than the preset health threshold, perform fault analysis based on the rotation characteristic parameters of the abnormal angle motor, optimize the control parameters of the abnormal angle motor according to the fault analysis results, and re-execute the motor health status assessment after optimization until the motor health status assessment index of the abnormal angle motor is higher than the preset health threshold.

[0046] Specifically, when any motor with an abnormal angle has a health status assessment index lower than a preset health threshold, the system first establishes a fault feature vector containing anomaly indices for multiple rotational characteristic parameters. A pattern recognition algorithm is used to match the fault features with standard patterns in a fault feature library, which includes typical fault modes such as mechanical vibration, electrical parameter deviations, and transmission system anomalies. Based on the matching results, the system calls the corresponding parameter optimization scheme from an optimization strategy library. The optimization strategy library contains combinations of control parameters for different fault types, such as PID parameter matrices, acceleration / deceleration time curves, and current limits. After each optimization, the system waits for 5 sampling cycles to ensure the motor reaches a steady state before re-evaluating the health status. If the assessment index still fails to meet the standard, the system continues to adjust the parameters based on the current parameters, according to a preset step size, until the motor health status assessment index of the abnormal angle motor is higher than the preset health threshold, with a maximum of 5 rounds of optimization attempts.

[0047] For example, when a motor exhibits an abnormal second harmonic response, spectrum analysis shows a second harmonic ratio of 0.15 (normal value <0.08) and a health status assessment index of 75 points. The system identifies this as a mechanical vibration fault. The optimization plan includes: adjusting the PID parameters from P=2.5, I=0.8, D=0.1 to P=2.2, I=0.6, D=0.15; extending the acceleration time from 0.5 seconds to 0.8 seconds; and reducing the maximum acceleration from 200 rad / s² to 150 rad / s². After the first round of optimization, the second harmonic ratio decreased to 0.11, and the assessment index improved to 82 points, meeting the health threshold requirements.

[0048] Based on the above embodiments, as another optional embodiment, the step of performing fault analysis based on the rotational characteristic parameters of the abnormal angle motor and optimizing the control parameters of the abnormal angle motor according to the fault analysis results may further include the following steps:

[0049] Step 1051: Construct an energy loss curve based on the rotational speed fluctuation value, rotational inertia change value, and phase angle deviation value in the rotational characteristic parameters.

[0050] Specifically, photoelectric sensors are used to sample the rotational state of the angle motor at high frequency, acquiring speed, torque, and angular position data. Based on this raw data, three key rotational characteristic parameters are calculated: speed fluctuation, moment of inertia change, and phase angle deviation. Speed ​​fluctuation is obtained through statistical analysis of the speed data, characterizing the stability of the motor speed; moment of inertia change is calculated based on the relationship between torque and angular acceleration, reflecting changes in load characteristics; and phase angle deviation is obtained by comparing the actual angular position with the theoretical position, reflecting the position control accuracy. The system constructs an energy loss curve based on these three parameters: first, the kinetic energy loss caused by speed fluctuation is calculated by substituting the speed deviation into the kinetic energy equation; then, the additional power loss is calculated based on the moment of inertia change, considering the impact of inertia change on acceleration and deceleration; finally, the mechanical work loss caused by the phase angle deviation is calculated by multiplying the angle deviation by the output torque. The relationship between these three energy losses and time is then plotted as an energy loss curve. For example, if a motor is sampled and has a speed fluctuation of ±5 rpm, a moment of inertia change of 0.015 kg·m², and a phase angle deviation of 2.5°, the calculated energy loss curve will fluctuate with a period of 0.2 seconds and a peak power loss of 15 W.

[0051] Step 1052: Determine the drive current compensation value and speed correction value based on the energy loss curve.

[0052] Specifically, regarding the determination of the drive current compensation value: First, analyze the characteristic parameters of the energy loss curve, including the fluctuation period, peak-to-valley values, and changing trends. Perform Fourier analysis on the loss curve to extract the fundamental frequency and harmonic components, obtaining the spectral characteristics of the loss. Based on the spectral analysis results, the system calculates the current compensation value: divide the power loss corresponding to the fundamental frequency component by the motor operating voltage to obtain the basic compensation current. Then, considering the influence of harmonic components, the basic compensation current is corrected. The specific correction method is: when the harmonic loss exceeds 20% of the fundamental frequency loss, add a 10% margin to the basic compensation current; when the peak factor (the ratio of peak value to effective value) of the loss curve is greater than 1.5, add an additional 5% dynamic compensation.

[0053] To determine the speed correction value: First, the root mean square value of the power loss is calculated, and its ratio to the motor's rated power is used as the reference coefficient. Then, the autocorrelation function of the loss curve is analyzed to obtain the main period and phase characteristics of the fluctuation. Finally, the speed correction amount is calculated based on the period characteristics and the reference coefficient. The correction amount is calculated using a piecewise function: when the reference coefficient is less than 0.1, the speed correction value is set to -1% of the rated speed; when the reference coefficient is between 0.1 and 0.2, the correction value increases linearly to -2%; when it is greater than 0.2, the correction value further increases to -3%. Simultaneously, the system adjusts the dynamic compensation law of the speed correction value according to the periodic characteristics of the loss curve to ensure that the correction effect matches the loss variation law.

[0054] The system employs an iterative optimization method to verify the effectiveness of the compensation parameters: First, an initial compensation value is applied, and the energy loss change is measured within 0.5 seconds; if the loss reduction is greater than 30% and tends to stabilize, the compensation parameters are confirmed to be effective; otherwise, the compensation parameters are adjusted according to the loss change trend, and the next round of optimization is performed. The entire parameter determination process uses an update frequency of 100Hz to ensure timely tracking of changes in the motor state.

[0055] Step 1053: Apply the drive current compensation value and speed correction value to the drive circuit and speed controller of the abnormal angle motor, respectively, to optimize the motor control parameters.

[0056] Specifically, the system employs a branched control approach to apply compensation parameters to the motor control system: the drive current compensation value is superimposed on the original drive current via PWM modulation, with the PWM signal using a high-frequency carrier wave to ensure smooth current regulation; the speed correction value is input to the setpoint of the speed controller, while simultaneously optimizing the PID controller parameters to improve the system's dynamic performance. The compensation parameters are applied gradually to avoid shocks caused by abrupt parameter changes. The entire control process maintains continuous real-time adjustment to ensure the stability of the compensation effect.

[0057] Step 1054: Detect the rotational characteristic parameters corresponding to the optimized motor control parameters. Optimization is completed when the detection results meet the preset conditions.

[0058] Specifically, the system continuously monitors the optimized motor's operating status, focusing on changes in key parameters such as speed fluctuation and phase angle deviation. Data from multiple sampling periods is used for evaluation to ensure the motor has reached a stable operating state. The system calculates the optimized health assessment index. When multiple consecutive evaluation results meet preset conditions, the optimization process is considered complete. In this embodiment, the preset conditions may include: speed fluctuation less than ±0.5% of the rated speed for more than 1 second; phase angle deviation less than 1 / 4 of the encoder resolution with no periodic fluctuations; peak power of the energy loss curve reduced by more than 40% compared to before optimization; drive current fluctuation less than 5% of the rated current; and motor temperature rise curve with an increase rate of less than 2℃ / minute within 10 minutes. The system requires these parameters to simultaneously meet the requirements and remain stable for 15 consecutive sampling periods. At this point, the calculated health assessment index must exceed 85 points for 10 consecutive times. This evaluation method based on multi-period steady-state criteria ensures the reliability of the optimization results. If the optimization effect does not meet expectations, the system will return to step 2052 to recalculate the compensation parameters, achieving closed-loop control of the optimization process.

[0059] Based on the above embodiments, as an optional embodiment, the step of controlling the second angle motor, the third angle motor, and the first angle motor to rotate in a preset rotation order so that the obstacle plates with different reflectivities mounted on the turntables of each angle motor enter the laser light path may include the following steps:

[0060] Step 201: Detect the initial position of the obstacle plates with different reflectivity on the motor turntables at each angle.

[0061] Specifically, the system uses high-resolution photoelectric sensors to detect the initial position of obstacle plates on the turntables of each angle motor. A 1000-line incremental encoder is installed around the perimeter of each turntable, working in conjunction with a zero-point Hall sensor to determine the absolute position. First, zero-point calibration is triggered: each motor is controlled to rotate slowly until the Hall sensor output changes abruptly, and this position is recorded as the zero point. Then, the system uses reflective photoelectric sensors to scan the turntable surface. When a sudden change in the reflected signal is detected, it indicates that the edge of the obstacle plate has been scanned. The angular position of the obstacle plate relative to the zero point is determined by the encoder readings. The system performs this detection process simultaneously on all three motors, recording the initial angle values ​​for the obstacle plate at 95% reflectivity (second angle motor), 50% reflectivity (third angle motor), and 10% reflectivity (first angle motor).

[0062] Step 202: Calculate the rotation compensation angle of the motor for each angle based on the initial position.

[0063] Specifically, the system calculates the rotation compensation angle based on the initial position of the obstacle plate. First, the angle of 45° between the laser path and the horizontal plane is determined as the target position reference point. The system reads the initial position angle α2 of the 95% reflectivity obstacle plate of the second angle motor and calculates its rotation compensation angle θ2 = 45° - α2 to the target position; if θ2 > 180°, then θ2' = θ2 - 360° is taken, and the smaller value is selected as the final rotation compensation angle. For the 50% reflectivity obstacle plate of the third angle motor, the initial angle is α3, and the rotation compensation angle θ3 = 45° - α3 is calculated. Similarly, the final compensation angle is determined based on whether θ3 is greater than 180°. The initial angle of the 10% reflectivity obstacle plate of the first angle motor is α1, and its rotation compensation angle θ1 = 45° - α1. The final determined rotational compensation angle needs to take into account mechanical characteristics. To ensure smooth start-up and shutdown, the system adds an extra 5° reserve angle to the second angle motor based on the calculated compensation angle, that is, θ2_final = θ2 + 5°, to facilitate subsequent precise positioning. The calculation process of the compensation angle is performed in real time and can be dynamically updated according to the zero-point drift.

[0064] Step 203: Control the second angle motor, the third angle motor and the first angle motor to rotate according to the corresponding rotation compensation angle.

[0065] Specifically, the system controls each angle motor to perform rotational compensation sequentially according to a preset order. First, the second angle motor is controlled to rotate according to the compensation angle θ2_final, using an S-shaped acceleration / deceleration curve: the acceleration phase accounts for 20% of the compensation angle, the constant speed phase accounts for 60%, and the deceleration phase accounts for 20%. The maximum speed during the acceleration phase is 30° / second, and the PID parameters are set to P=2.5, I=0.8, and D=0.1. When the position error is less than 0.1° and remains stable for 0.5 seconds, the second angle motor is considered to have completed the compensation. Then, the third angle motor is controlled to rotate according to the compensation angle θ3, using the same speed curve and control parameters. After the third angle motor has completed the compensation, the first angle motor is finally controlled to rotate according to the compensation angle θ1. The system monitors the rotation process of each motor in real time, ensuring position accuracy through encoder feedback. If a motor exceeds the tolerance during compensation, the sequence execution is paused and the motor is recompensated until it reaches the correct position, after which the compensation of subsequent motors continues.

[0066] Step 204: After each angle motor completes its rotation, control each angle motor to rotate at a preset speed so that each obstacle plate enters the laser path in sequence.

[0067] Specifically, after each angle motor completes its rotation, the system controls each motor to rotate at a uniform speed in a preset order: second angle motor, third angle motor, and first angle motor. For example, the second angle motor is controlled to rotate at a preset speed of 30° / second to ensure that the 95% reflectivity obstacle plate on its turntable is measured. The third angle motor is controlled to rotate at the same preset speed of 30° / second to allow the 50% reflectivity obstacle plate on its turntable to enter the laser beam path for measurement. Finally, the first angle motor is controlled to rotate at a preset speed of 30° / second to allow the 10% reflectivity obstacle plate on its turntable to enter the laser beam path. The system monitors the speed of each motor in real time through an encoder and uses PI control to ensure that the speed is stable at 30±0.5° / second, guaranteeing the uniformity of the speed during the measurement process.

[0068] Step 205: When the obstacle plate enters the laser light path, the reflected light intensity signal collected by the single-point laser rangefinder is acquired. When the reflected light intensity signal is greater than the preset reflected light intensity threshold, the speed of the corresponding angle motor is reduced. When the reflected light intensity signal is less than the preset reflected light intensity threshold, the speed of the corresponding angle motor is increased, so that the dwell time of the obstacle plate in the laser light path is inversely proportional to the reflectivity of the obstacle plate.

[0069] Specifically, when the obstacle plate enters the laser beam path, a single-point laser rangefinder sensor collects the reflected light intensity signal in real time at a sampling frequency of 500Hz, with a preset reflected light intensity threshold set to 60% of the sensor's range. When the obstacle plate enters the laser beam path, the system activates an adaptive reflected light intensity control strategy: a PID controller (P=2.0, I=0.5, D=0.1) adjusts the speed of the corresponding angle motor based on the real-time reflected light intensity signal, with a speed adjustment response time of less than 10ms. The speed adjustment is gradual, allowing a maximum change of 5° / second every 50ms to avoid sudden speed changes. Once the reflected light intensity signal stabilizes within the target range (error less than ±5%) and remains stable for 100ms, the current speed is locked until the measurement is complete. The system employs an algorithm that establishes an inverse relationship between the obstacle plate's reflectivity and dwell time: dwell time t=k / R, where k is a proportionality coefficient (set to 9.5), and R is the reflectivity of the obstacle plate. The algorithm achieves this by dynamically adjusting the motor speed: when the reflected light intensity signal is greater than a preset threshold, the motor speed is reduced to extend the dwell time; when the reflected light intensity signal is less than the preset threshold, the motor speed is increased to shorten the dwell time.

[0070] For example, in a certain measurement, when an obstacle plate with 95% reflectivity on the second angle motor turntable enters the laser path, the reflected light intensity reaches 85% of the measurement range, exceeding the preset threshold. The system reduces the rotation speed from 30° / s to 5° / s, and the dwell time is 0.1 seconds (9.5 / 95%≈0.1 seconds). When an obstacle plate with 50% reflectivity on the third angle motor turntable enters, the reflected light intensity is 55% of the measurement range, below the preset threshold. The system increases the rotation speed to 35° / s, and the dwell time is 0.19 seconds (9.5 / 50%≈0.19 seconds). When an obstacle plate with 10% reflectivity on the first angle motor turntable enters, the reflected light intensity is only 25% of the measurement range. The system increases the rotation speed to 40° / s, and the dwell time is extended to 0.95 seconds (9.5 / 10%≈0.95 seconds).

[0071] Step 30: After controlling the rotation of the second angle motor and the third angle motor respectively, determine the long-distance compensation data based on the original long-distance data collected by the single-point laser rangefinder; and after controlling the rotation of the first angle motor, determine the short-distance compensation data based on the original short-distance data collected by the single-point laser rangefinder.

[0072] Specifically, when the second and third angle motors rotate to bring 95% and 50% reflectivity obstacle plates into the laser beam path, respectively, the single-point laser rangefinder operates in long-range measurement mode, acquiring raw long-range data. Because the laser power is high (100mW) during long-range measurement, saturation errors easily occur when measuring high-reflectivity targets. Based on the acquired raw long-range data, combined with two known reflectivity (95% and 50%) calibration values, the system uses least squares fitting to obtain long-range compensation data. Then, when the first angle motor rotates to bring a 10% reflectivity obstacle plate into the laser beam path, the single-point laser rangefinder switches to short-range measurement mode, acquiring raw short-range data. Because the laser power is low (10mW) in short-range mode, the signal-to-noise ratio is low when measuring low-reflectivity targets. Based on the acquired raw short-range data, combined with the known 10% reflectivity calibration value, the system uses a Kalman filter algorithm to obtain short-range compensation data. This scheme achieves high-precision measurement across the entire measurement range through the combined use of long-range and short-range modes.

[0073] Based on the above embodiments, as an optional embodiment, after controlling the rotation of the second angle motor and the third angle motor respectively, determining the long-range compensation data based on the original long-range data collected by the single-point laser ranging sensor; and after controlling the rotation of the first angle motor, determining the short-range compensation data based on the original short-range data collected by the single-point laser ranging sensor, may include the following steps:

[0074] Step 301: Collect the zero-point value of the single-point laser rangefinder and determine whether the zero-point value meets the preset zero-point standard.

[0075] Specifically, before calibration, the system first sets the single-point laser rangefinder sensor to zero-point acquisition mode, with a laser power of 50mW and a sampling frequency of 1kHz. A standard white board with 95% reflectivity is placed 1 meter in front of the sensor, and 1000 zero-point data samples are continuously collected. The system calculates the mean of these 1000 samples as the zero-point value and simultaneously calculates the standard deviation. The preset zero-point standard stipulates that the zero-point value should be within the range of 999.95mm to 1000.05mm, and the standard deviation should be less than 0.02mm. The system ensures that the sensor's reference accuracy meets the requirements by determining whether the zero-point value and its standard deviation meet these standards. This step provides a reliable measurement benchmark for subsequent compensation data acquisition.

[0076] Step 302: When the zero point value meets the preset zero point standard, control the rotation of the second angle motor and the third angle motor respectively, and determine the long distance compensation data based on the original long distance data collected by the single-point laser rangefinder.

[0077] Specifically, when the zero-point value meets the preset zero-point standard, the system first switches the sensor to long-distance measurement mode (laser power 100mW, pulse width 100ns). The second angle motor is controlled to rotate at 30° / second, allowing a 95% reflectivity obstacle to enter the laser path, collecting 500 raw long-distance data points. Subsequently, the third angle motor is controlled to rotate at the same speed, allowing a 50% reflectivity obstacle to enter the optical path, collecting another 500 raw long-distance data points. The system performs Gaussian filtering to denoise the collected data and uses least squares fitting to obtain the functional relationship between reflectivity and ranging error, generating long-distance compensation data. This process achieves the acquisition of system error compensation characteristics under high reflectivity conditions.

[0078] Based on the above embodiments, as an optional embodiment, the step of determining the long-range compensation data based on the raw long-range data collected by the single-point laser ranging sensor may include the following steps:

[0079] Step 3021: When the target obstacle plate of the second angle motor or the third angle motor enters the laser optical path, the original long-distance data corresponding to the target obstacle plate collected by the single-point laser range sensor is acquired. The original long-distance data includes optical path time data, reflected light intensity data and phase difference data.

[0080] Specifically, when the second angle motor rotates to bring the 95% reflectivity obstacle plate into the laser optical path, the single-point laser rangefinder records the time difference between laser emission and reception at a sampling rate of 1 GHz to obtain optical path time data. At the same time, it collects reflected light intensity data at a sampling rate of 500 Hz and obtains phase difference data through a phase detector at a sampling rate of 100 MHz.

[0081] Optical path time data refers to the time interval between the emission of a laser pulse and the receipt of the reflected signal by the single-point laser rangefinder. For example, if the sensor records the laser emission time t1 and the reception of the reflected signal t2 at a sampling rate of 1 GHz, the optical path time t = t2 - t1. For instance, when the laser propagation distance is 3 meters, the theoretical optical path time should be 20 ns, but the actual collected optical path time data may be 20.15 ns. This difference reflects the ranging error of the system. Reflected light intensity data refers to the intensity value of the reflected light signal received by the single-point laser rangefinder. The sensor converts the received light signal into an electrical signal through a photodetector, and obtains a digital quantized value after analog-to-digital conversion. For example, a 95% reflectivity obstacle may produce reflected light intensity data of 80% of the range (e.g., 3277 in level 4096), while a 50% reflectivity obstacle may produce reflected light intensity data of 45% of the range (e.g., 1843 in level 4096). Phase difference data refers to the phase offset between the emitted laser signal and the received reflected signal. The sensor compares the phase relationship between the transmitted and received signals using a phase detector at a sampling rate of 100MHz, and records the offset angle. For example, after a laser travels 3 meters round trip, it may generate a phase difference of 60°. This phase difference has a definite functional relationship with the distance and can be used to help improve the accuracy of ranging.

[0082] Similarly, the same type of data is collected when the third-angle motor introduces a 50% reflectivity obstacle plate into the optical path. The system collects each set of data for 100ms, and after median filtering, stores them as three data arrays, each containing 50 valid data points. This multi-dimensional data acquisition scheme ensures the integrity of the measurement information.

[0083] Step 3022: Calculate the actual distance value and the corresponding theoretical distance value based on the optical path time data to obtain the distance compensation value. The theoretical distance value is the distance from the position of the target obstacle plate to the single-point laser range sensor.

[0084] Specifically, the system calculates the actual distance based on optical path time data using the formula D=c×t / 2 (where c is the speed of light and t is the optical path time). The theoretical distance is calculated using the spatial geometric relationship between the obstacle plate position and the sensor installation position in the robotic arm's three-dimensional coordinate system. The system compares the actual distance with the theoretical distance and uses the least squares method to fit and obtain the distance compensation function.

[0085] ΔD = k1(D-D0) + k2(D-D0)², where D is the actual distance value, D0 is the theoretical distance value, and k1 and k2 are fitting coefficients. This method effectively compensates for the nonlinear error of the system.

[0086] Step 3023: Calculate the power compensation coefficient based on the reflected light intensity data and the reflectivity of the target obstacle plate.

[0087] Specifically, the system establishes a power compensation model using reflected light intensity data and the known reflectivity of the obstacle panel. For a 95% reflectivity panel, when the reflected light intensity exceeds 80% of the sensor's range, an exponential decay function P=P0×e^(-α×I) is used to calculate the power compensation coefficient, where P0 is the nominal power, I is the normalized reflected light intensity, and α is the decay coefficient (experimentally set to 0.8). For a 50% reflectivity panel, a linear compensation function P=k×I+b is used, where k and b are obtained through experimental calibration. This adaptive power compensation ensures measurement accuracy under different reflectivity conditions.

[0088] Step 3024: Calculate the phase compensation value based on the phase difference data.

[0089] Specifically, when calculating the phase compensation value based on the phase difference data, the system first extracts the phase characteristics of the signal using a Fast Fourier Transform (FFT) to obtain the phase offset φ. The phase compensation value is then calculated using the formula ΔΦ = A × sin(φ) + B × sin(2φ), where A and B are compensation coefficients obtained through calibration with a standard phase calibrator. The system applies a temperature correction to the calculated phase compensation value, with a correction coefficient of 0.02°C / ℃. This compensation method effectively eliminates phase distortion during the photoelectric conversion process.

[0090] Step 3025: Combine the distance compensation value, power compensation coefficient, and phase compensation value to generate long-distance compensation data.

[0091] Specifically, the system combines distance compensation values, power compensation coefficients, and phase compensation values ​​into a long-distance compensation data packet according to a specific format. The data packet structure is: frame header (2 bytes) + distance compensation value (4 bytes) + power compensation coefficient (4 bytes) + phase compensation value (4 bytes) + checksum (2 bytes). The system performs CRC verification on the data packet to ensure data integrity. A two-dimensional lookup table is created based on distance and reflectivity after combining the long-distance compensation data, facilitating quick retrieval of the corresponding compensation value during actual measurements.

[0092] Step 303: Determine whether the long-distance compensation data was successfully collected.

[0093] Specifically, the system sets the following criteria for successful long-distance compensation data acquisition: data integrity check (the number of acquired data points should reach more than 95% of the expected number), data stability check (the rate of change between adjacent data points is less than 1%), and data validity check (the goodness of fit R² between the compensated data and the theoretical model is greater than 0.95). The system performs these three checks sequentially, and only when all three pass is the acquisition considered successful. If any check fails, the system will mark the specific reason for the failure, providing a basis for subsequent re-acquisition. This ensures the reliability of long-distance compensation data.

[0094] Step 304: If the long-distance compensation data acquisition is successful, control the first angle motor to rotate and determine the short-distance compensation data based on the original short-distance data acquired by the single-point laser rangefinder.

[0095] Specifically, if the long-distance compensation data acquisition is successful, the system switches the sensor to short-range measurement mode (laser power 10mW, pulse width 10ns). The first angle motor is controlled to rotate at 40° / second, allowing the 10% reflectivity obstacle plate to enter the laser path. The system continuously acquires 1000 raw short-range data points at a high sampling frequency (10kHz), and calculates the short-range compensation data based on this raw short-range data in the same way as the long-distance compensation data.

[0096] Step 305: Determine whether the close-range compensation data was successfully collected.

[0097] Specifically, the system employs a triple verification mechanism for judging close-range compensation data: signal-to-noise ratio verification (required to be greater than 40dB), data continuity verification (deviation between adjacent data points less than 0.1mm), and repeatability verification (standard deviation of multiple measurements less than 0.05mm). The system performs these verifications using a dedicated data analysis algorithm to ensure that the close-range compensation data meets the measurement accuracy requirements. This step guarantees the accuracy of close-range compensation data under low reflectivity conditions.

[0098] Step 306: If the near-range compensation data acquisition is successful, perform a compensation effect test on the near-range compensation data and the far-range compensation data. If the test result does not meet the test standard, repeat the step of acquiring the zero point value of the single-point laser rangefinder sensor until the test result meets the test standard.

[0099] Specifically, if the near-distance compensation data acquisition is successful, the compensation effect needs to be tested on both the near-distance and far-distance compensation data. For example, standard parts with reflectivity of 95%, 50%, and 10% can be used for the compensation effect test, with a preset number of measurements taken in both near-distance and far-distance modes. The test standard stipulates that the deviation between the measured value and the standard value should be less than ±0.1mm, and the repeatability should be better than 0.05mm. The system calculates the accuracy and precision of the measurement results using data statistical analysis software. If the test standard is not met, the zero-point value acquisition step is re-executed, and the number of recalibrations and the results are recorded. This closed-loop verification ensures the validity and reliability of the entire compensation data. Practice shows that a satisfactory compensation effect is usually obtained after 2-3 cycles.

[0100] Based on the above embodiments, as another optional embodiment, the step of testing the compensation effect on near-range compensation data and far-range compensation data may include the following steps:

[0101] Step 3061: Control the servo motor to move the single-point laser rangefinder to different test positions. The test positions include near test positions and far test positions. Each test position corresponds to a standard target plate. Multiple standard target plates at different positions are set on the guide rail.

[0102] Specifically, the system uses a servo motor (rated power 200W, maximum speed 3000rpm) to drive a single-point laser rangefinder sensor along a precision guide rail (straightness better than 0.01mm / m). Six standard target plates are installed on the guide rail at 0.5-meter intervals. The near-test positions include 0.5m, 1m, and 1.5m, while the far-test positions include 2m, 2.5m, and 3m. Each standard target plate is made of ceramic with a specially treated surface exhibiting a standard reflectivity of 50%±1%. Its actual position is calibrated using a coordinate measuring machine, with a positional accuracy better than ±0.01mm. The system uses a PLC to control the servo motor, employing a trapezoidal acceleration / deceleration curve to achieve precise sensor positioning, with a positioning repeatability better than ±0.02mm.

[0103] Step 3062: Test the close-range compensation data using a close-range test location to obtain the close-range test results.

[0104] Specifically, the sensor was set to close-range measurement mode (laser power 10mW), and tests were conducted at each close-range test location. The sensor remained at a position of 0.5 meters for 5 seconds, continuously acquiring 500 data points at a sampling rate of 100Hz; then it moved to a position of 1 meter and acquired 500 data points; finally, it acquired 500 data points at a position of 1.5 meters. The system applied close-range compensation data to correct each set of data and processed it using a Kalman filter algorithm to obtain stable measurement values. Each test location was repeated 3 times, and the resulting dataset constituted the close-range test results. This process verified the effectiveness of the close-range compensation data at different measurement distances.

[0105] Step 3063: Test the long-distance compensation data using a long-distance test location to obtain the long-distance test results.

[0106] Specifically, the sensor was switched to long-range measurement mode (laser power 100mW), and tests were conducted at three distant test locations: 2 meters, 2.5 meters, and 3 meters. The same data acquisition strategy as the near-range test was used at each location: a 5-second pause to collect 500 data points, repeated three times. The system applied long-range compensation data to correct the raw data, and a weighted averaging algorithm was used to eliminate the influence of environmental noise, yielding the long-range test results. This process verified the compensation effect of the long-range compensation data.

[0107] Step 3064: Calculate the deviation values ​​between the close-range test results and the long-range test results and the actual distances to the corresponding standard target plates.

[0108] Specifically, for each test location, the arithmetic mean of 500 data points is first calculated as the measurement result for that location. Then, the measurement result is compared with the actual distance to the standard target plate (stored in a pre-defined database). The system calculates the deviation value using the formula δ=|Dm-Ds|, where Dm is the measurement result and Ds is the standard value. For each test location, the system also calculates the repeatability index σ (the standard deviation of three measurements). This dual evaluation ensures the reliability of the measurement results.

[0109] Step 3065: When all deviation values ​​are within the preset accuracy range, the test result is determined to meet the test standard; otherwise, the test result is determined to not meet the test standard.

[0110] Specifically, the system sets the preset accuracy range as follows: the deviation value for close-range measurements (≤1.5 meters) should be less than ±0.1 mm, the deviation value for long-range measurements (>1.5 meters) should be less than ±0.15 mm, and the repeatability σ of all measurement positions should be less than 0.05 mm. The system comprehensively evaluates the deviation value and repeatability of all test positions through a dedicated judgment procedure. When the evaluation results of all test positions meet the above standards, the system automatically generates a test qualification report; otherwise, the system will mark the specific unqualified positions and parameters to provide a basis for recalibration. If the test results do not meet the test standards, step 40 will not be executed, but the zero-point value acquisition step will be re-executed to reset the reference parameters of the single-point laser rangefinder sensor, and the system will re-acquire compensation data according to the calibration process. If the previous judgment was that the close-range compensation was abnormal, the close-range compensation data will be re-acquired first, and the speed and sampling parameters of the first angle motor will be adjusted; if the judgment was that the long-range compensation was abnormal, the long-range compensation data will be re-acquired, and the control parameters of the second and third angle motors will be optimized until the test results meet the test standards before being stored in the database of the single-point laser rangefinder sensor.

[0111] Step 40: Combine the near-range compensation data and the long-range compensation data to form a compensation dataset, and store the compensation dataset in the database of the single-point laser rangefinder sensor.

[0112] Specifically, the system integrates near-range and long-range compensation data that meet the test standards according to the correspondence between measurement distance and reflectivity, constructing a compensation dataset containing three dimensions: distance, reflectivity, and compensation value. For example, it establishes a mapping relationship between the compensation values ​​under 95% and 50% reflectivity conditions in the long-range compensation data and the corresponding measurement distance, and establishes a mapping relationship between the compensation values ​​under 10% reflectivity conditions in the near-range compensation data and the corresponding measurement distance. A cubic spline interpolation algorithm is used to interpolate the compensation values ​​between different reflectivities, generating a continuous compensation data surface. The system writes the compensation dataset into the EEPROM database built into the single-point laser rangefinder sensor via a serial communication protocol (115200 baud rate, 8 data bits). The data is stored sequentially starting from address 0x1000, with each compensation data occupies 4 bytes. The database is divided into a long-range compensation region (addresses 0x1000-0x2000) and a short-range compensation region (addresses 0x2000-0x3000), facilitating the sensor's rapid indexing of the corresponding compensation value during actual measurements. This compensation data storage scheme enables the sensor to automatically select an appropriate compensation value based on the real-time measured distance and reflectivity. In subsequent actual measurements, the system performs real-time correction between the original measured values ​​and the compensation values ​​in the compensation dataset.

[0113] Please see Figure 2 This is a schematic diagram of a single-point laser ranging accuracy compensation system provided in an embodiment of this application. The system is applied to a compensation device, which includes a servo motor, a guide rail, a first angle motor, a second angle motor, and a third angle motor. A single-point laser ranging sensor is disposed at one end of the guide rail. The first angle motor, the second angle motor, and the third angle motor are respectively disposed at the other end of the guide rail, and are respectively located at different distances from the single-point laser ranging sensor, ranging from near to far. The system includes:

[0114] The motor control module is used to control the servo motor to drive the single-point laser rangefinder to move to a preset position on the guide rail;

[0115] The motor control module is also used to control the second angle motor, the third angle motor and the first angle motor to rotate in a preset rotation order when the normal operating status of each angle motor is determined, so that the obstacle plates with different reflectivity installed on the turntable of each angle motor enter the laser light path, and the laser light path refers to the propagation path of the laser beam emitted by the single-point laser ranging sensor.

[0116] The data acquisition module is used to determine long-distance compensation data based on the original long-distance data acquired by the single-point laser ranging sensor after controlling the rotation of the second angle motor and the third angle motor respectively; and to determine short-distance compensation data based on the original short-distance data acquired by the single-point laser ranging sensor after controlling the rotation of the first angle motor.

[0117] The data storage module is used to construct a compensation dataset from the near-range compensation data and the far-range compensation data, and to store the compensation dataset in the database of the single-point laser ranging sensor.

[0118] Optionally, a single-point laser ranging accuracy compensation system also includes a fault clearing module for acquiring optically encoded patterns emitted by the grating array installed on the turntable of each angle motor.

[0119] Fourier transform analysis is performed on the optical coding pattern, and the rotational characteristic parameters of each angle motor are extracted based on the spectral characteristics of the transform result.

[0120] The rotational characteristic parameters are compared with the standard operating parameter library of motors using an adaptive neural network to generate a health status assessment index for each of the aforementioned angles.

[0121] When the motor health status assessment index of each angle motor is higher than the preset health threshold, it is determined that the operating status of each angle motor is normal.

[0122] When there is an abnormal angle motor whose motor health status assessment index is lower than the preset health threshold, a fault analysis is performed based on the rotational characteristic parameters of the abnormal angle motor. The control parameters of the abnormal angle motor are optimized according to the fault analysis results. After optimization, the motor health status assessment is re-executed until the motor health status assessment index of the abnormal angle motor is higher than the preset health threshold.

[0123] Optionally, the fault clearing module is also used to construct an energy loss curve based on the rotational speed fluctuation value, rotational inertia change value, and phase angle deviation value in the rotational characteristic parameters;

[0124] Determine the drive current compensation value and speed correction value based on the energy loss curve;

[0125] The drive current compensation value and the speed correction value are applied to the drive circuit and speed controller of the abnormal angle motor, respectively, to optimize the motor control parameters.

[0126] The rotational characteristic parameters corresponding to the optimized motor control parameters are detected, and optimization is completed when the detection results meet the preset conditions.

[0127] Optionally, the motor control module is also used to detect the initial position of obstacle plates with different reflectivities on each of the angle motor turntables;

[0128] Calculate the rotation compensation angle of each of the aforementioned angle motors based on the initial position;

[0129] The second angle motor, the third angle motor, and the first angle motor are controlled to rotate according to the corresponding rotation compensation angle;

[0130] After each of the angle motors completes its rotation, the angle motors are controlled to rotate at a constant speed according to a preset speed so that each of the obstacle plates enters the laser beam path in sequence.

[0131] When the obstacle plate enters the laser light path, the reflected light intensity signal collected by the single-point laser rangefinder is acquired. When the reflected light intensity signal is greater than the preset reflected light intensity threshold, the rotation speed of the corresponding angle motor is reduced. When the reflected light intensity signal is less than the preset reflected light intensity threshold, the rotation speed of the corresponding angle motor is increased, so that the dwell time of the obstacle plate in the laser light path is inversely proportional to the reflectivity of the obstacle plate.

[0132] Optionally, the data acquisition module is also used to acquire the zero-point value of the single-point laser ranging sensor and determine whether the zero-point value meets the preset zero-point standard.

[0133] When the zero point value meets the preset zero point standard, the second angle motor and the third angle motor are controlled to rotate respectively, and the long distance compensation data is determined based on the original long distance data collected by the single-point laser ranging sensor.

[0134] Determine whether the long-distance compensation data was successfully collected;

[0135] If the long-distance compensation data acquisition is successful, the first angle motor is controlled to rotate, and the short-distance compensation data is determined based on the original short-distance data acquired by the single-point laser ranging sensor.

[0136] Determine whether the near-field compensation data was successfully acquired;

[0137] If the near-range compensation data is successfully acquired, the compensation effect of the near-range compensation data and the far-range compensation data is tested. If the test result does not meet the test standard, the step of acquiring the zero-point value of the single-point laser ranging sensor is repeated until the test result meets the test standard.

[0138] Optionally, the data acquisition module is also used to acquire the original long-distance data corresponding to the target obstacle plate collected by the single-point laser ranging sensor when the target obstacle plate of the second angle motor or the third angle motor enters the laser optical path. The original long-distance data includes optical path time data, reflected light intensity data and phase difference data.

[0139] The distance compensation value is obtained by calculating the actual distance value and the corresponding theoretical distance value based on the optical path time data. The theoretical distance value is the distance from the position of the target obstacle plate to the single-point laser ranging sensor.

[0140] Based on the reflected light intensity data and the reflectivity of the target obstacle plate, the power compensation coefficient is calculated.

[0141] The phase compensation value is calculated based on the phase difference data;

[0142] The distance compensation value, the power compensation coefficient, and the phase compensation value are combined to generate long-distance compensation data.

[0143] Optionally, the data acquisition module is also used to control the servo motor to drive the single-point laser ranging sensor to different test positions. The test positions include near test positions and far test positions. Each test position corresponds to a standard target plate. Multiple standard target plates at different positions are set on the guide rail.

[0144] The near-distance compensation data is tested using the aforementioned near-test location to obtain near-distance test results;

[0145] The long-distance compensation data is tested using the aforementioned long-distance test location to obtain long-distance test results;

[0146] Calculate the deviation values ​​between the close-range test results and the long-range test results and the actual distances to the corresponding standard target plates;

[0147] When all deviation values ​​are within the preset accuracy range, the test result is determined to meet the test standard; otherwise, the test result is determined to not meet the test standard.

[0148] It should be noted that the system provided in the above embodiments is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0149] This application also provides a computer storage medium that can store multiple instructions. The instructions are adapted to be loaded by a processor and executed by the single-point laser ranging accuracy compensation method of the above embodiments. For the specific execution process, please refer to the detailed description of the above embodiments, which will not be repeated here.

[0150] Please refer to Figure 3 This application also discloses an electronic device. Figure 3 This is a schematic diagram of the structure of an electronic device disclosed in an embodiment of this application. The electronic device 300 may include: at least one processor 301, at least one network interface 304, a user interface 303, a memory 305, and at least one communication bus 302.

[0151] The communication bus 302 is used to enable communication between these components.

[0152] The user interface 303 may include a display screen and a camera. Optionally, the user interface 303 may also include a standard wired interface and a wireless interface.

[0153] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0154] The processor 301 may include one or more processing cores. The processor 301 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling data stored in the memory 305. Optionally, the processor 301 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array. The processor 301 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content to be displayed on the screen; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 301 and may be implemented as a separate chip.

[0155] The memory 305 may include random access memory (RAM) or read-only memory. Optionally, the memory 305 may include a non-transitory computer-readable storage medium. The memory 305 may be used to store instructions, programs, code, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 305 may also be at least one storage device located remotely from the aforementioned processor 301. (Refer to...) Figure 3 The memory 305, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for a single-point laser ranging accuracy compensation method.

[0156] exist Figure 3 In the illustrated electronic device 300, the user interface 303 is mainly used to provide an input interface for the user and acquire user input data; while the processor 301 can be used to call an application program stored in the memory 305 for a single-point laser ranging accuracy compensation method. When executed by one or more processors 301, the electronic device 300 performs one or more methods as described in the above embodiments. It should be noted that, for the foregoing method embodiments, for the sake of simplicity, they are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, because according to this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0157] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0158] In the various embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some service interface; the indirect coupling or communication connection between apparatuses or units may be electrical or other forms.

[0159] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0160] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0161] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0162] The above are merely exemplary embodiments of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Other embodiments of this disclosure will be readily apparent to those skilled in the art upon consideration of the disclosure herein.

[0163] This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are to be considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A method for compensating the accuracy of single-point laser ranging, characterized in that, The method is applied to a compensation device, which includes a servo motor, a guide rail, a first angle motor, a second angle motor, and a third angle motor. A single-point laser ranging sensor is disposed at one end of the guide rail. The first angle motor, the second angle motor, and the third angle motor are respectively disposed at the other end of the guide rail, and are respectively located at different distances from the single-point laser ranging sensor, ranging from near to far. The servo motor is controlled to move the single-point laser rangefinder to a preset position on the guide rail. When the operating status of each angle motor is confirmed to be normal, the second angle motor, the third angle motor, and the first angle motor are sequentially controlled to rotate in a preset rotation order, so that obstacle plates with different reflectivities installed on the turntables of each angle motor enter the laser light path. The laser light path refers to the propagation path of the laser beam emitted by the single-point laser ranging sensor, including: detecting the initial position of the obstacle plates with different reflectivities on the turntables of each angle motor; calculating the rotation compensation angle corresponding to each angle motor based on the initial position; controlling the second angle motor, the third angle motor, and the first angle motor to rotate according to the corresponding rotation compensation angle; after each angle motor completes its rotation, controlling each angle motor to rotate at a preset speed at a uniform speed, so that each obstacle plate enters the laser light path sequentially. When the obstacle plate enters the laser light path, the reflected light intensity signal collected by the single-point laser range sensor is acquired. When the reflected light intensity signal is greater than the preset reflected light intensity threshold, the rotation speed of the corresponding angle motor is reduced. When the reflected light intensity signal is less than the preset reflected light intensity threshold, the rotation speed of the corresponding angle motor is increased, so that the dwell time of the obstacle plate in the laser light path is inversely proportional to the reflectivity of the obstacle plate. Specifically, after controlling the rotation of the second angle motor and the third angle motor respectively, long-range compensation data is determined based on the original long-range data collected by the single-point laser ranging sensor; and after controlling the rotation of the first angle motor, short-range compensation data is determined based on the original short-range data collected by the single-point laser ranging sensor, including: Collect the zero-point value of the single-point laser ranging sensor and determine whether the zero-point value meets the preset zero-point standard; When the zero point value meets the preset zero point standard, the second angle motor and the third angle motor are controlled to rotate respectively, and the long distance compensation data is determined based on the original long distance data collected by the single-point laser ranging sensor. Determine whether the long-distance compensation data was successfully collected; If the long-distance compensation data acquisition is successful, the first angle motor is controlled to rotate, and the short-distance compensation data is determined based on the original short-distance data acquired by the single-point laser ranging sensor. Determine whether the near-field compensation data was successfully acquired; If the near-range compensation data is successfully acquired, the compensation effect test is performed on the near-range compensation data and the far-range compensation data. If the test result does not meet the test standard, the step of acquiring the zero point value of the single-point laser rangefinder sensor is repeated until the test result meets the test standard. The near-range compensation data and the far-range compensation data are combined to form a compensation dataset, and the compensation dataset is stored in the database of the single-point laser ranging sensor.

2. The single-point laser ranging accuracy compensation method according to claim 1, characterized in that, After controlling the servo motor to move the single-point laser ranging sensor to a preset position on the guide rail, the method further includes: Collect optically encoded patterns emitted by the grating arrays installed on the motor turntables at various angles; Fourier transform analysis is performed on the optical coding pattern, and the rotational characteristic parameters of each angle motor are extracted based on the spectral characteristics of the transform result. The rotational characteristic parameters are compared with the standard operating parameter library of motors using an adaptive neural network to generate a motor health status assessment index for each of the aforementioned angles. When the motor health status assessment index of each angle motor is higher than the preset health threshold, it is determined that the operating status of each angle motor is normal. When there is an abnormal angle motor whose motor health status assessment index is lower than the preset health threshold, a fault analysis is performed based on the rotational characteristic parameters of the abnormal angle motor. The control parameters of the abnormal angle motor are optimized according to the fault analysis results. After optimization, the motor health status assessment is re-executed until the motor health status assessment index of the abnormal angle motor is higher than the preset health threshold.

3. The single-point laser ranging accuracy compensation method according to claim 2, characterized in that, The fault analysis based on the rotational characteristic parameters of the abnormal angle motor, and the optimization of the control parameters of the abnormal angle motor based on the fault analysis results, include: An energy loss curve is constructed based on the rotational speed fluctuation value, rotational inertia change value, and phase angle deviation value in the rotational characteristic parameters. Determine the drive current compensation value and speed correction value based on the energy loss curve; The drive current compensation value and the speed correction value are applied to the drive circuit and speed controller of the abnormal angle motor, respectively, to optimize the motor control parameters. The rotational characteristic parameters corresponding to the optimized motor control parameters are detected, and optimization is completed when the detection results meet the preset conditions.

4. The single-point laser ranging accuracy compensation method according to claim 1, characterized in that, The determination of long-distance compensation data based on the raw long-distance data collected by the single-point laser ranging sensor includes: When a target obstacle plate of the second angle motor or the third angle motor enters the laser optical path, the original long-distance data corresponding to the target obstacle plate collected by the single-point laser ranging sensor is acquired. The original long-distance data includes optical path time data, reflected light intensity data, and phase difference data. The distance compensation value is obtained by calculating the actual distance value and the corresponding theoretical distance value based on the optical path time data. The theoretical distance value is the distance from the position of the target obstacle plate to the single-point laser ranging sensor. Based on the reflected light intensity data and the reflectivity of the target obstacle plate, the power compensation coefficient is calculated. The phase compensation value is calculated based on the phase difference data; The distance compensation value, the power compensation coefficient, and the phase compensation value are combined to generate long-distance compensation data.

5. The single-point laser ranging accuracy compensation method according to claim 1, characterized in that, The compensation effect test for the near-range compensation data and the far-range compensation data includes: The servo motor is controlled to move the single-point laser rangefinder to different test positions, including near test positions and far test positions. Each test position corresponds to a standard target plate, and multiple standard target plates at different positions are set on the guide rail. The near-distance compensation data is tested using the aforementioned near-test location to obtain near-distance test results; The long-distance compensation data is tested using the aforementioned long-distance test location to obtain long-distance test results; Calculate the deviation values ​​between the close-range test results and the long-range test results and the actual distances to the corresponding standard target plates; When all deviation values ​​are within the preset accuracy range, the test result is determined to meet the test standard; otherwise, the test result is determined to not meet the test standard.

6. A single-point laser ranging accuracy compensation system, characterized in that, For executing the single-point laser ranging accuracy compensation method as described in claim 1, applied to a compensation device, the compensation device including a servo motor, a guide rail, a first angle motor, a second angle motor, and a third angle motor, a single-point laser ranging sensor is provided at one end of the guide rail, the first angle motor, the second angle motor, and the third angle motor are respectively provided at the other end of the guide rail, and are respectively at different distances from the single-point laser ranging sensor from near to far, the system includes: The motor control module is used to control the servo motor to drive the single-point laser rangefinder to move to a preset position on the guide rail; The motor control module is also used to control the second angle motor, the third angle motor and the first angle motor to rotate in a preset rotation order when the normal operating status of each angle motor is determined, so that the obstacle plates with different reflectivity installed on the turntable of each angle motor enter the laser light path, and the laser light path refers to the propagation path of the laser beam emitted by the single-point laser ranging sensor. The data acquisition module is used to determine long-distance compensation data based on the original long-distance data acquired by the single-point laser ranging sensor after controlling the rotation of the second angle motor and the third angle motor respectively; and to determine short-distance compensation data based on the original short-distance data acquired by the single-point laser ranging sensor after controlling the rotation of the first angle motor. The data storage module is used to construct a compensation dataset from the near-range compensation data and the far-range compensation data, and to store the compensation dataset in the database of the single-point laser ranging sensor.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a plurality of instructions adapted to be loaded by a processor and executed as described in any one of claims 1-5.

8. An electronic device, characterized in that, It includes a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, the user interface and the network interface are used for communication, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any one of claims 1-5.

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