An infrared temperature measurement value correction method and system based on distance compensation

Abstract

The application discloses a kind of infrared temperature measurement value correction method and system based on distance compensation, belong to cage chicken environment monitoring technical field, infrared temperature measurement value correction method includes the following steps: the optical structure of distance sensor is designed with pertinence optimization;In turn complete crosstalk signal calibration and equipment distance deviation calibration;Through combination filtering algorithm, the distance original data collected is optimized and handled with noise reduction;Infrared temperature measurement value is implemented multidimensional dynamic compensation;Through the pertinence optimization of distance sensor optical structure and crosstalk, deviation double calibration, eliminate ranging interference from source, rely on combination filtering algorithm to complete data transmission verification, abnormal value is rejected, break through the application limit of fixed distance, realize infrared temperature measurement value dynamic following compensation in combination with filtered distance data, form multidimensional temperature measurement and power regulation system, adapt to the actual application scene of dynamic distance, and effectively deal with environmental temperature, complex working condition interference such as mains voltage fluctuation.

Description

Technical Field

[0001] This invention relates to the field of infrared temperature measurement correction technology, specifically to an infrared temperature measurement correction method and system based on distance compensation. Background Technology

[0002] Infrared temperature measurement is frequently used in fields such as smart homes, intelligent control, and automated equipment. Infrared temperature measurement is a non-contact measurement method that calculates the surface temperature of a target object by receiving infrared radiation emitted by the target object. Among these factors, distance is one of the most critical factors affecting the accuracy of infrared temperature measurement. As the distance increases, the infrared radiation energy received by the sensor will decrease, resulting in a lower measured value. Current solutions usually require the target object to be fixed at a specific distance, which is extremely unsuitable for many applications.

[0003] For example, patent CN118670543A discloses a distance compensation correction method for infrared sensor temperature measurement results. Its main steps are as follows: using an infrared sensor to collect temperature observation data at different temperatures and spatial distances, performing nonlinear fitting on the temperature observation data at different temperatures to obtain the average fitting curve, solving for the parameter values ​​to be solved using the least squares method, predicting the temperature value from the solved average fitting curve, calculating the error between the predicted temperature value and the corresponding true temperature value, and minimizing the constant coefficient value to be determined using the least squares method; using the solved constant coefficient value and parameter value as parameters for the distance-based temperature correction formula, the temperature observed at any distance can be compensated by the temperature correction formula to obtain the accurate temperature of the object.

[0004] For example, patent CN112556856B discloses an infrared temperature measurement correction method, device, and electronic device. The infrared temperature measurement correction method includes the following steps: obtaining an initial grayscale value of the target based on the infrared radiation energy of the target object acquired by an infrared thermal imager; obtaining a compensated target grayscale value based on the initial grayscale value and a pre-calibrated compensation coefficient; obtaining the measured temperature of the target object based on the compensated target grayscale value and a pre-constructed standard grayscale value-standard temperature relationship table; wherein, the pre-calibrated compensation coefficient is obtained by fitting different standard blackbody surface source sizes and corresponding grayscale value relationships. When performing infrared temperature measurement correction, the infrared radiation energy is obtained by the infrared thermal imager to obtain an initial grayscale value that reflects the size of the target object, and this grayscale value is corrected to correct the influence of the target object size on the temperature measurement, thereby improving the accuracy of the temperature measurement.

[0005] For example, patent CN119779492A discloses a multi-point temperature correction method, device, and system based on visible light and thermal infrared. The multi-point temperature correction method includes: acquiring reference visible light images and reference thermal infrared images during joint calibration of a visible light camera and a thermal infrared camera to generate joint calibration parameters for the visible light camera and the thermal infrared camera; constructing a temperature compensation curve based on the actual temperature values ​​measured by the thermal infrared camera at different distances from the same heat source; extracting visible light feature points of the target object in the target visible light image and thermal infrared feature points of the target object in the target thermal infrared image; matching target feature point pairs from the visible light feature points and thermal infrared feature points according to the joint calibration parameters; and matching target feature point pairs according to the target feature points. The initial temperature value of the target object measured by the thermal infrared camera is corrected by using feature point pairs, joint calibration parameters, and temperature compensation curves. Distance measurement is performed by combining the calibration of the visible light camera and the thermal infrared camera with feature point matching, and the temperature measurement results are corrected according to the distance, thereby improving the accuracy and reliability of temperature measurement while controlling costs. However, most of these methods assume that the distance between the target and the sensor is fixed and do not consider the impact of distance changes on the attenuation of infrared radiation energy, resulting in poor temperature measurement accuracy in dynamic distance scenarios. The optical structure of the distance sensor is not specifically optimized, and there is a lack of Xtalk crosstalk calibration and OFFSET deviation calibration, resulting in hardware interference and poor equipment consistency, making it difficult to guarantee temperature measurement accuracy and stability.

[0006] To address the aforementioned issues, there is an urgent need for innovative designs based on existing infrared temperature measurement correction methods. Summary of the Invention

[0007] The purpose of this invention is to provide an infrared temperature measurement correction method and system based on distance compensation, in order to solve the problems in the background art, which mostly assume that the distance between the target and the sensor is fixed, do not consider the influence of distance change on the attenuation of infrared radiation energy, resulting in poor temperature measurement accuracy in dynamic distance scenarios, lack of targeted optimization of the optical structure of the distance sensor, lack of Xtalk crosstalk calibration and OFFSET deviation calibration, resulting in hardware interference and poor equipment consistency, and difficulty in guaranteeing temperature measurement accuracy and stability.

[0008] Firstly, this application provides a method for correcting infrared thermometry values ​​based on distance compensation. The intelligent environmental monitoring method includes the following steps: S1. Preliminary preparation: Targeted optimization design of the optical structure of the distance sensor is carried out. By selecting a cover plate of specific material and thickness, controlling the gap between the sensor and the cover plate, and setting a barrier between the transmitter and receiver, the ranging interference factors are avoided from the hardware level, reducing the original ranging error and laying a stable hardware foundation for subsequent calibration work.

[0009] S2. Dual calibration of distance sensor: Under a preset standard environment, crosstalk signal calibration and inter-device ranging deviation calibration are completed sequentially. The calibration results are saved to the corresponding register of MCU to eliminate the influence of the two types of core errors on ranging and ensure the accuracy of distance acquisition data.

[0010] S3. Distance data filtering processing: The raw distance data is denoised and optimized using a combined filtering algorithm. First, the transmitted data is verified to remove erroneous data. Then, the valid data is sorted, extreme values ​​are removed, and the mean is calculated. The data stability is further improved through queue updates and real-time averaging calculations, providing accurate data for distance compensation in infrared thermometry. Abnormal fluctuation values ​​in the data are filtered out, providing accurate data for distance compensation in infrared thermometry.

[0011] S4. Infrared temperature measurement and power adjustment: Combining the accurate distance data after filtering and the actual working conditions, the infrared temperature measurement value is dynamically compensated in multiple dimensions, and the heating power is adjusted in conjunction with it to form a closed-loop control of temperature measurement and power, so as to achieve accurate correction of the infrared temperature measurement value. Among them, the heating control adopts a resistive load heating wire with AC mains power as input. The thyristor is turned on when it crosses zero through the thyristor drop control method, and the heating power is adjusted with a minimum amplitude of 1% to reduce the impact on EMC.

[0012] Preferably, the optical structure optimization in S1 specifically includes: S11. Cover plate selection: glass, PC and PMMA materials are selected, with a thickness of 1mm and a transmittance of more than 88% at 940nm wavelength.

[0013] S12. Gap control: The gap between the surface of the distance sensor and the inner surface of the cover plate is strictly controlled within 1mm.

[0014] S13. Anti-crosstalk design: A barrier is installed between the transmitter and receiver of the distance sensor, using foam and silicone sleeves.

[0015] Preferably, the crosstalk signal calibration method in S2 includes: S21, Xtalk crosstalk calibration, removes crosstalk signals caused by cover plate reflection and scattering, and avoids misjudging the target distance.

[0016] The calibration environment must be free of obstructions and infrared light interference within 60 cm. The Xtalk signal range is controlled by the calibration card to ensure that the target signal can be accurately identified rather than crosstalk signal during ranging.

[0017] S22, OFFSET deviation calibration, eliminates ranging deviations between different devices, and ensures consistent performance of batch products.

[0018] A standard chart with a reflectivity of 17%-88% was placed at a distance of 100 mm. To address the differences in distance measurement between similar devices, a fixed bias was removed through calibration.

[0019] Preferably, the data filtering process in S3 includes: S31. Data verification based on CRC check algorithm, specifically: data appending, appending R bits of binary check code to the K-bit binary data sequence to form a binary sequence of total length N=K+R bits; relation verification, using the specific relationship between the data sequence and the check code to verify the received data; error handling, if the verification fails, the data is determined to be erroneous and discarded without further processing, thereby ensuring the correctness of the data.

[0020] S32. Coarse filtering of dynamic data based on bubble sort algorithm, specifically: data sorting, sorting multiple distance values ​​collected by MCU from smallest to largest; extreme value removal, removing the minimum and maximum values ​​in the sorted array; mean calculation, averaging the remaining data to obtain stable distance values.

[0021] S33. Recursive average filtering algorithm to improve response speed. Specifically: queue construction, storing continuously collected distance values ​​into a queue of fixed length; data update, adopting the first-in-first-out principle, adding new data to the tail of the queue and removing the oldest data; real-time calculation, averaging the latest N data in the queue, balancing accuracy and response speed.

[0022] Preferably, the infrared temperature measurement and power adjustment method in S4 is as follows: S41. Pre-compensation: Establishing the relationship between distance and power.

[0023] S42, real-time compensation, infrared temperature measurement closed-loop control.

[0024] S43, Auxiliary compensation, input voltage and power compensation.

[0025] Preferably, under the conditions of an ambient temperature of 25°C and a fixed target temperature, step S41 tests the heating power corresponding to different distance values, stores the relationship between distance and power in the system, realizes preliminary power compensation when there is no infrared temperature measurement, and makes the target temperature close to the set value.

[0026] Preferably, during normal operation, S42 collects distance data in real time and filters it. Based on the distance change, it dynamically corrects the temperature value collected by the infrared sensor. Combined with the corrected temperature value, it adjusts the heating power to form a closed-loop control.

[0027] Preferably, S43 detects mains voltage fluctuations in real time and adjusts the output ratio of the thyristor according to the voltage changes to avoid temperature deviations caused by voltage fluctuations.

[0028] Preferably, the normal operating mode of infrared temperature measurement in S4 includes: Upon system power-up, the distance sensor position is calibrated. During normal operation, the infrared temperature sensor acquires temperature data, and the distance sensor acquires position data. The temperature control system automatically performs initial calibration, saving the calibration values ​​in the corresponding register of the MCU. The initial calibration process includes: After the distance sensor is powered on for the first time, the MCU initializes, starts calibrating the Xtalk signal to prevent interference from the cover and structure on the distance sensor, and obtains the Xtalk calibration result. Then, it starts calibrating the OFFSET to improve the consistency of ranging performance between different units of the whole machine, obtains the OFFSET calibration result, and saves the Xtalk calibration value and the OFFSET calibration value.

[0029] Secondly, this application provides an infrared temperature measurement correction system for performing the above-mentioned distance-compensated infrared temperature measurement correction method. The infrared temperature measurement correction system includes a hardware layer and an algorithm control layer.

[0030] The hardware layer includes: The distance sensor subsystem, which integrates an MCU, is responsible for distance data acquisition, and its optimized optical structure ensures the accuracy of the original ranging.

[0031] Infrared temperature sensor, which collects infrared radiation temperature data of target object in real time.

[0032] The main system MCU, as the control core, is responsible for data reception, algorithm processing, calibration storage, logic judgment, and control command output.

[0033] The heating actuator consists of a silicon controlled rectifier (SCR) and a resistive load heating wire. It takes AC mains power as input and achieves precise adjustment of heating power through a drop-out control method.

[0034] The algorithm control layer includes: The dual calibration module includes Xtalk crosstalk calibration and OFFSET deviation calibration to eliminate hardware interference and device consistency errors.

[0035] The combined filtering module integrates CRC check, bubble sort coarse filtering, and recursive average filtering to ensure the accuracy, stability, and response speed of distance data.

[0036] The multi-dimensional compensation module includes pre-compensation, real-time compensation, and auxiliary compensation.

[0037] Compared with the prior art, the beneficial effects of the present invention are: The ranging accuracy is improved by eliminating errors at the source. Through targeted optimization of the optical structure of the distance sensor, coupled with dual-item calibration of crosstalk signals and ranging deviations between devices, and saving the calibration results, ranging interference factors are avoided at the hardware level, eliminating equipment consistency errors and solving the problem of inaccurate ranging data in existing methods. This lays a precise distance data foundation for temperature compensation.

[0038] The data processing is more reliable, ensuring the validity of the compensation basis. The combined filtering algorithm is used to optimize the noise reduction of the original distance data throughout the process. First, erroneous data in the transmission is checked and removed. Then, extreme values ​​are removed by sorting and real-time averaging of the queue, which greatly improves the stability and reliability of the distance data.

[0039] It abandons the stringent requirement of existing methods for a fixed distance to the target, and can detect distance changes in real time and dynamically follow and compensate for infrared temperature measurement values. It is perfectly adapted to practical application scenarios with dynamic distance changes in fields such as smart homes and automated equipment, thus improving the practicality and adaptability of the method.

[0040] Multi-dimensional dynamic compensation enables more precise temperature control and correction. It constructs a multi-dimensional compensation system that includes distance-power pre-compensation, real-time infrared temperature measurement compensation, and auxiliary compensation for mains voltage fluctuations. At the same time, it links heating power to form a closed-loop control of temperature measurement and power, which can effectively cope with complex operating conditions such as ambient temperature and voltage fluctuations.

[0041] The heating control is more precise, taking into account both stability and compatibility. The heating control adopts a resistive load heating wire combined with a thyristor drop control. When the mains power crosses zero, the thyristor is turned on to reduce the impact on EMC. The heating power is adjusted in a minimum increment of 1%, which realizes the fine control of the heating power. This makes the power output after temperature measurement correction more in line with actual needs, and further ensures the final effect of temperature measurement correction. Attached Figure Description

[0042] Figure 1 This is a schematic diagram illustrating the distance measurement principle of the distance sensor of the present invention.

[0043] Figure 2 This is the ranging histogram of the distance sensor of the present invention.

[0044] Figure 3 This is a schematic diagram of the Xtalk crosstalk signal principle of the present invention.

[0045] Figure 4 This is the histogram of the ranging signal of the present invention.

[0046] Figure 5 This is a schematic diagram illustrating the offset calibration principle of this invention.

[0047] Figure 6 This is an example diagram of the bubble sort algorithm of the present invention.

[0048] Figure 7 This is an example diagram of the intelligent high-speed air duct of the present invention.

[0049] Figure 8 This is a flowchart of the temperature control process of the present invention.

[0050] Figure 9 This is a flowchart of the initial calibration process for this invention.

[0051] Figure 10 This is a flowchart illustrating the implementation of the temperature measurement and control method of the present invention. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] This application provides a distance-compensated infrared temperature measurement correction method. Its core is preliminary preparation, specifically optimizing the optical structure of the distance sensor. This involves selecting a cover plate of specific material and thickness, controlling the gap between the sensor and the cover plate, and setting a barrier between the transmitter and receiver to avoid ranging interference factors at the hardware level, reducing the original ranging error and laying a stable hardware foundation for subsequent calibration. The distance sensor undergoes dual calibration: under a preset standard environment, crosstalk signal calibration and inter-device ranging deviation calibration are performed sequentially, and the calibration results are saved to the corresponding register of the MCU, eliminating the influence of these two types of core errors on ranging and ensuring the accuracy of the distance acquisition data. Finally, distance data filtering processing involves using a combined filtering algorithm to perform noise reduction and optimization processing on the acquired raw distance data, first filtering the transmitted data... Data is validated to remove erroneous data, and then the valid data is sorted, extreme values ​​are removed, and the mean is calculated. Data stability is further improved through queue updates and real-time averaging calculations, providing accurate data for distance compensation in infrared temperature measurement. Abnormal fluctuation values ​​in the data are filtered out to provide accurate data for distance compensation in infrared temperature measurement. Infrared temperature measurement and power adjustment, combined with the filtered accurate distance data and actual working conditions, implement multi-dimensional dynamic compensation for infrared temperature measurement values ​​and adjust the heating power in conjunction, forming a closed-loop control of temperature measurement and power to achieve accurate correction of infrared temperature measurement values. Among them, the heating control uses a resistive load heating wire with AC mains power as input. The thyristor is turned on at zero crossing through the thyristor drop control method, and the heating power is adjusted in a minimum increment of 1% to reduce the impact on EMC.

[0054] Example 1: To better understand the above technical solution, the following will describe it in detail with reference to the accompanying drawings and specific implementation methods. The infrared temperature measurement correction method includes the following steps: S1. Preliminary preparation: Targeted optimization design of the optical structure of the distance sensor is carried out. By selecting a cover plate of specific material and thickness, controlling the gap between the sensor and the cover plate, and setting a barrier between the transmitter and receiver, the ranging interference factors are avoided from the hardware level, reducing the original ranging error and laying a stable hardware foundation for subsequent calibration work.

[0055] The receiver and transmitter are shown in Figure 5. The receiver has a field of view of 25° and the transmitter has a field of view of 35°.

[0056] S11. Cover plate selection: glass, PC and PMMA materials are selected, with a thickness of 1mm and a transmittance of more than 88% at 940nm wavelength.

[0057] S12. Gap control: The gap between the surface of the distance sensor and the inner surface of the cover plate is strictly controlled within 1mm.

[0058] S13. Anti-crosstalk design: A barrier is installed between the transmitter and receiver of the distance sensor, using foam and silicone sleeves.

[0059] In this embodiment, the cover plate is a key component of the optical path of the distance sensor. Its material, thickness, and optical properties directly affect the transmission efficiency and signal quality of the laser, which is the basis for reducing ranging errors from the source. Glass, PC, or PMMA materials are selected. These materials have good optical transmittance and mechanical stability at a laser wavelength of 940nm, which can effectively reduce the energy loss of the laser during transmission. The thickness is strictly controlled to 1mm. If the cover plate is too thick, it will increase the scattering and absorption of the laser, while if it is too thin, it may affect the structural strength. 1mm is the optimal choice that balances optical performance and structural reliability. The transmittance at a wavelength of 940nm needs to be greater than 88%. High transmittance ensures that most of the laser energy can penetrate the cover plate to reach the target and be reflected back, ensuring the strength and signal-to-noise ratio of the ranging signal and avoiding measurement deviations caused by weak signals.

[0060] like Figure 1 and Figure 2 As shown, the basic principle of distance sensor ranging is: The transmission and reception process involves the transmitter Tx emitting laser light towards the target object, and the receiver Rx receiving the laser light reflected from the target.

[0061] Time measurement, precisely measuring the flight time t of the laser from emission Tx to reception Rx.

[0062] Distance calculation, using formula Calculate the distance, where D is the target distance and c is the speed of light. Divide by 2 because the laser travels back and forth between the sensor and the target.

[0063] Data optimization involves processing the raw measurement data using algorithms to output accurate distance values.

[0064] In this embodiment, the gap between the surface of the distance sensor and the inner surface of the cover plate is a key geometric parameter affecting Xtalk crosstalk and directly relates to the accuracy of ranging. The gap is strictly controlled within 1 mm. When the gap is too large, the laser reflected from the cover plate can more easily enter the receiver Rx directly, forming severe Xtalk crosstalk and causing the ranging system to misjudge the target distance. On the other hand, if the gap is too small, the sensor may come into contact with the cover plate due to assembly tolerances, damaging the device. A gap of 1 mm is a verified optimal value that can effectively suppress crosstalk.

[0065] In practice, the transmitter Tx of the distance sensor actively emits a 940nm infrared laser beam towards the target object. After the laser beam hits the target surface, it undergoes diffuse reflection. A portion of the reflected light is captured by the receiver Rx of the sensor. The laser emitted by Tx is the reference signal for distance measurement, while the reflected light received by Rx is the echo signal carrying the target distance information. The time difference between the two is the core basis for distance calculation. Small errors in time measurement are amplified by the speed of light, directly leading to deviations in distance calculation. Therefore, high-precision time measurement is one of the core technical challenges of the entire distance measurement system. The raw time-of-flight measurement data is affected by environmental noise, circuit interference, and multipath effects, resulting in certain fluctuations and errors. Through histogram statistics, filtering, and other algorithms, a large amount of raw measurement data is processed to remove outliers and extract the most representative time-of-flight t, thereby outputting a precise and stable distance value D, ensuring the reliability of the basic data for subsequent temperature compensation.

[0066] S2. Dual calibration of distance sensor: Under a preset standard environment, crosstalk signal calibration and inter-device ranging deviation calibration are completed sequentially. The calibration results are saved to the corresponding register of MCU to eliminate the influence of the two types of core errors on ranging and ensure the accuracy of distance acquisition data.

[0067] S21, Xtalk crosstalk calibration, removes crosstalk signals caused by cover plate reflection and scattering, and avoids misjudging the target distance; the calibration environment must meet the requirements of no obstructions and no infrared light interference within 60 cm. The calibration card controls the Xtalk signal range to ensure that the target signal can be accurately identified instead of crosstalk signal when measuring distance.

[0068] The Xtalk phenomenon and its impact, such as Figure 3 and Figure 4As shown, after the cover plate structure is installed in front of the distance sensor, the light passes through the cover plate for scattering, reflection, or refraction and reflection and then directly enters the Rx terminal to form an Xtalk crosstalk signal. When the Xtalk intensity exceeds the intensity of the target signal, the Xtalk signal will be regarded as the target signal. At this time, only the distance to the cover plate can be measured, and the target signal cannot be measured correctly. When the Xtalk is too large, it will affect the accuracy of close-range ranging. Therefore, Xtalk calibration is required and the range of the Xtalk structure is controlled to remove the influence of Xtalk during ranging.

[0069] In this embodiment, the calibration environment must ensure that there are no obstructions within 60 cm to avoid additional reflected signals interfering with the calibration process. There must be no other infrared light sources in the environment to prevent the Rx end from receiving infrared signals that are not used for calibration, thus ensuring the purity of the calibration data. Through Xtalk calibration, the system will learn and record the characteristics of crosstalk signals generated by the cover plate, thereby effectively identifying and eliminating these interferences during actual ranging. After calibration, the system can clearly distinguish between target reflected signals and cover plate crosstalk signals, ensuring that the target locked during ranging is the real target, rather than structural components such as the cover plate, fundamentally solving the misjudgment and accuracy problems caused by crosstalk.

[0070] S22, OFFSET calibration, eliminates ranging deviations between different devices and ensures consistent performance of batch products; a standard chart with a reflectivity of 17%-88% is placed at a distance of 100 mm. For ranging differences between similar devices, the fixed deviation is removed through calibration. Offset calibration can be performed at other distance points, and can be selected according to actual application requirements.

[0071] OFFSET phenomenon and calibration, such as Figure 5 As shown, there are differences in the consistency of distance measurement performance between different units. For example, if the distance measurement is 10cm, some units may read 11cm, while others may read 9cm. Therefore, OFFSET calibration is required to eliminate the deviation.

[0072] In this embodiment, through OFFSET calibration, the system measures and calculates the inherent deviation value of each device and saves it as a compensation parameter. In subsequent distance measurement, the system will automatically apply this compensation parameter to eliminate distance measurement deviation between different devices, ensure that the distance measurement performance of products in the same batch is highly consistent, and improve the reliability and standardization level of the products.

[0073] S3. Distance data filtering processing: The raw distance data is denoised and optimized using a combined filtering algorithm. First, the transmitted data is verified to remove erroneous data. Then, the valid data is sorted, extreme values ​​are removed, and the mean is calculated. The data stability is further improved through queue updates and real-time averaging calculations, providing accurate data for distance compensation in infrared thermometry. Abnormal fluctuation values ​​in the data are filtered out, providing accurate data for distance compensation in infrared thermometry.

[0074] S31. Data verification based on CRC check algorithm, specifically: Data appending involves appending an R-bit binary checksum to the K-bit binary data sequence, resulting in a binary sequence of total length N = K + R bits.

[0075] Relationship verification uses a specific relationship between the data sequence and the check code to verify the received data.

[0076] Error handling: If the validation fails, the data is determined to be erroneous and discarded without further processing, thus ensuring the correctness of the data.

[0077] The specific implementation of the verification algorithm is explained below: The smart product consists of several PCBs. The distance measurement PCB reads the distance value and then transmits the data to the main system PCB via the TX and RX serial ports. Since the data transmission process may be interfered with, causing the main system MCU to receive incorrect data, data verification is added to the data transmission. If the received data is not equal after verification and calculation, the data is not processed.

[0078] The CRC principle is essentially to append an R-bit binary check code to a K-bit binary data sequence, thus forming a binary sequence of total length N = K + R bits. There is a specific relationship between this check code appended to the data sequence and the content of the data sequence. If one or more bits in the data sequence are erroneous due to interference or other reasons, this specific relationship will be broken. Therefore, by checking this relationship, the correctness of the data can be verified.

[0079] In this embodiment, the ranging function of the smart product is completed by an independent PCB board. The distance data needs to be transmitted to the MCU on the main system PCB board through the TX / RX serial port. The serial port transmission process is susceptible to electromagnetic interference, signal attenuation, etc., which may cause errors in the data bits. If the erroneous data is used directly, it will seriously affect the ranging accuracy. Therefore, the correctness of the transmitted data needs to be verified by the CRC check algorithm to cut off the flow of erroneous data at the data transmission stage, ensuring that the distance data entering the subsequent processing is valid data without transmission errors, and providing a clean original data foundation for the subsequent filtering algorithm.

[0080] S32. Coarse filtering of dynamic data based on the bubble sort algorithm, specifically: Data sorting involves sorting multiple distance values ​​collected by the MCU from smallest to largest.

[0081] Extreme value removal removes the minimum and maximum values ​​from the sorted array.

[0082] The mean is calculated by averaging the remaining data to obtain a stable distance value.

[0083] In specific implementation, according to Figure 6 As shown, the bubble sort algorithm is calculated as follows: by Figure 6 Taking an array as an example, the data is compared pairwise and traversed from front to back. In the first round of traversal, 9 is placed at the end. In the second round, 8 and 7 are compared, and so on until the sorting is completed. The distance values ​​read by the MCU may vary. For example, if 6 distance values ​​are read and placed in the array arr[11, 15, 12, 9, 11, 10], after bubble sorting, the array will be [9, 10, 11, 11, 12, 15]. Then, the minimum value 9 and the maximum value 15 are removed, and the other values ​​are averaged to obtain relatively stable data.

[0084] In this embodiment, the raw distance data collected by the MCU is affected by environmental factors (such as light and target surface reflectivity) and fluctuations in the sensor itself, resulting in some extreme values ​​(such as suddenly high / low distance values). These extreme values ​​can cause the ranging results to be distorted. Therefore, a bubble sort algorithm is needed for coarse filtering to remove abnormal extreme values. Through the logic of sorting, removing extreme values, and averaging, extreme outliers caused by random interference are quickly filtered out, significantly reducing the data fluctuation amplitude and achieving initial stabilization of the distance data, laying the foundation for subsequent fine filtering.

[0085] S33, Recursive Average Filtering Algorithm, improves response speed, specifically: Queue construction stores continuously collected distance values ​​into a queue of fixed length.

[0086] Data updates follow a first-in, first-out (FIFO) principle, with new data added to the end of the queue and the oldest data removed.

[0087] Real-time calculation, averaging the latest N data in the queue, balancing accuracy and response speed.

[0088] The recursive average filtering algorithm is calculated as follows: Consider N consecutive sampled values ​​as a queue with a fixed length of N. Each time a new data point is sampled, it is placed at the tail of the queue, and the previous data at the head of the queue is discarded. Following the first-in, first-out (FIFO) principle, the N data points in the queue are averaged to obtain a new filtering result. For example, after filtering out highly fluctuating distance values ​​using the bubble sort algorithm, the distance values ​​are placed in the array arr[7, 8, 9, 10, 11, 12]. The earliest distance value placed is 7, and the last distance value placed is 12. Then, the recursive average filtering algorithm is used to average the latest three distance values ​​(10, 11, 12) to obtain a distance value of 11, which also improves the distance value response speed.

[0089] In this embodiment, the data after coarse filtering by bubble sort still needs further smoothing. At the same time, it is necessary to take into account both data stability and real-time responsiveness. For example, smart home and automation equipment need to quickly adapt to distance changes. Therefore, a recursive average filtering algorithm is used to complete fine filtering. By averaging the latest N data, small random fluctuations in the data are further eliminated, improving data stability. Only the latest N data are retained, and old data is removed to ensure that the output value can quickly follow the actual distance change. This avoids the problem of response lag in traditional average filtering, and takes into account both accuracy and response speed. Finally, it provides accurate, real-time and stable distance data for distance compensation in infrared temperature measurement.

[0090] In summary, the advantages of the three algorithms are as follows: the CRC check algorithm focuses on the transmission link, using binary feature verification to eliminate erroneous data and ensure the correctness of the data source; the bubble sort algorithm focuses on coarse filtering, using sorting to eliminate extreme values ​​to achieve initial data stabilization and filter out extreme outliers; and the recursive average filtering algorithm focuses on fine filtering and response speed, using real-time averaging of a fixed queue to balance data smoothness and real-time performance, ultimately outputting accurate distance data.

[0091] S4. Infrared temperature measurement and power adjustment: Combining the accurate distance data after filtering and the actual working conditions, the infrared temperature measurement value is dynamically compensated in multiple dimensions, and the heating power is adjusted in conjunction with it to form a closed-loop control of temperature measurement and power, so as to achieve accurate correction of the infrared temperature measurement value. Among them, the heating control adopts a resistive load heating wire with AC mains power as input. The thyristor is turned on when it crosses zero through the thyristor drop control method, and the heating power is adjusted with a minimum amplitude of 1% to reduce the impact on EMC.

[0092] S41. Pre-compensation: Establishing the relationship between distance and power.

[0093] Under the conditions of an ambient temperature of 25℃ and a fixed target temperature, S41 tests the heating power corresponding to different distance values, stores the relationship between distance and power in the system, realizes preliminary power compensation when there is no infrared temperature measurement, and makes the target temperature close to the set value.

[0094] In this embodiment, pre-compensation is a preliminary power adaptation method when infrared temperature measurement is not available, laying the foundation for subsequent real-time compensation. The core is to establish a fixed distance-power correlation benchmark through standardized environmental testing, allowing the heating power to match the target temperature requirement in advance. The test is strictly limited to the standard operating conditions of an ambient temperature of 25°C and a fixed target temperature to eliminate the interference of changes in ambient and target temperatures on power matching, ensuring that the distance-power correspondence obtained from the test is referential. The optimal heating power corresponding to different distance values ​​is tested and recorded, and this set of distance-power correspondence data is stored in the system MCU to form a standardized power matching benchmark. When infrared temperature measurement is not started or no effective temperature value has been collected, the system can directly retrieve the pre-stored corresponding heating power based on the real-time detected distance value to achieve preliminary power compensation, allowing the target temperature to quickly approach the set value and reducing the adjustment range of subsequent real-time compensation.

[0095] S42, real-time compensation, infrared temperature measurement closed-loop control.

[0096] When operating normally, the S42 collects distance data in real time and filters it. Based on the change in distance, it dynamically corrects the temperature value collected by the infrared sensor. Combined with the corrected temperature value, it adjusts the heating power to form a closed-loop control.

[0097] In this embodiment, real-time compensation is the core step in achieving accurate correction of infrared temperature measurement values. Based on filtered, precise distance data, a closed-loop control system is formed, encompassing distance detection, temperature correction, power adjustment, and temperature feedback. This adapts to the temperature measurement and control needs of dynamic distance scenarios. During normal system operation, distance data is collected in real time and processed using a combination of algorithms including CRC check, bubble sort, and recursive average filtering to ensure accurate, stable, and fluctuation-free input distance data. Based on the real-time changes in distance, the original temperature value collected by the infrared sensor is dynamically corrected to compensate for temperature deviations caused by the attenuation / enhancement of infrared radiation energy due to distance changes, restoring the true temperature of the target object. Using the corrected true temperature value as a basis, the heating power is adjusted in real time compared to the set temperature value: if the corrected temperature is lower than the set value, the heating power is increased; if the corrected temperature is higher than the set value, the heating power is decreased; if both are the same, the current power is maintained, forming a closed-loop control of temperature measurement and power to ensure that the target temperature always matches the set value.

[0098] S43, Auxiliary compensation, input voltage and power compensation.

[0099] The S43 detects mains voltage fluctuations in real time and adjusts the thyristor output ratio according to voltage changes to avoid temperature deviations caused by voltage fluctuations.

[0100] In this embodiment, auxiliary compensation is a supplementary compensation method for fluctuations in mains voltage. It solves the power deviation caused by changes in power supply conditions, avoids the indirect impact of voltage fluctuations on the temperature measurement correction effect, and ensures the integrity of the compensation system. The system detects changes in AC mains voltage in real time and promptly captures voltage fluctuations that deviate from the rated value, such as a rise from 220VAC to 230VAC or a drop to 200VAC. Based on the detected voltage fluctuation amplitude, the output ratio of the thyristor is adjusted synchronously. If the voltage rises, the output ratio of the thyristor is reduced to avoid excessive heating power; if the voltage drops, the output ratio of the thyristor is increased to avoid insufficient heating power. Through the linkage adjustment of voltage and power, the actual output power of the heating unit is ensured to be consistent with the system's set power, avoiding temperature deviations caused by voltage fluctuations and ensuring that the correction effect of infrared temperature measurement is not affected by power supply conditions.

[0101] The three stages of pre-compensation, real-time compensation, and auxiliary compensation work together in a progressive manner. Combined with standardized heating control, they form a complete temperature measurement and correction system that is adaptable to complex working conditions. Pre-compensation achieves initial matching between distance and power, allowing the temperature to quickly approach the target value. Real-time compensation relies on accurate distance data to complete the core temperature measurement correction and achieves accurate and stable temperature through closed-loop control. Auxiliary compensation eliminates the interference of voltage fluctuations and ensures the accuracy of power output. Ultimately, the infrared temperature measurement value remains accurate under actual working conditions such as dynamic distance and voltage fluctuations, solving the problems of single compensation and poor adaptability of existing methods.

[0102] In this embodiment, S4 is the implementation step of the infrared temperature measurement correction method based on distance compensation. The core revolves around the filtered accurate distance data and actual working conditions to build a multi-dimensional dynamic compensation system of pre-compensation, real-time compensation, and auxiliary compensation. At the same time, it is combined with a standardized heating control method to realize closed-loop control of temperature measurement and power, and finally complete the accurate correction of infrared temperature measurement. This not only solves the temperature measurement deviation caused by distance changes, but also copes with the interference of working condition fluctuations on temperature control, ensuring the dual accuracy of temperature measurement and temperature control.

[0103] As the execution carrier of temperature measurement correction, the heating control adopts standardized hardware configuration and regulation method, taking into account both power adjustment accuracy and electromagnetic compatibility, providing stable hardware support for the implementation of the compensation system. The heating power is adjusted in a minimum increment of 1%, realizing fine power control, which can accurately match the power demand after temperature measurement correction and avoid temperature fluctuations caused by excessive power adjustment.

[0104] like Figure 7 As shown, taking a smart high-speed air duct as an example, the precise temperature control method is as follows: (1) At a fixed distance, with a fixed heating power, and with no change in ambient temperature, the temperature read by the infrared temperature sensor is a stable temperature.

[0105] The precise temperature control of the intelligent high-speed air duct is based on the fundamental logic of stable temperature measurement under fixed conditions. Under the triple conditions of fixed distance, fixed heating power, and no change in ambient temperature, the air outlet temperature of the air duct collected by the infrared temperature sensor is a stable value. This fundamental logic clarifies that distance, heating power, and ambient temperature are the core variables affecting the temperature measurement and control of the air duct, and also provides a basis for subsequent targeted design of compensation and calibration schemes, which is the theoretical foundation of the entire temperature control system.

[0106] (2) During the product development process, under the condition that the target temperature remains unchanged, at an ambient temperature of 25 degrees, we debugged and tested the corresponding different distance values ​​and heating power values. The purpose is to make the output heating power make the target temperature close to the set temperature even when the infrared temperature value is not read.

[0107] As described above, the accuracy of the distance value has a significant impact on the pre-heating power value. Therefore, measures such as distance sensor calibration, bubble sorting algorithm for MCU distance value reading, and recursive average filtering algorithm all improve the accuracy of the distance value and enhance temperature control precision.

[0108] The accuracy of the distance value directly determines the accuracy of the preheating power. Therefore, Xtalk crosstalk calibration and OFFSET deviation calibration for the distance sensor in the air duct, as well as the bubble sorting algorithm and recursive average filtering algorithm for the distance value read by the MCU, are key prerequisites for ensuring the preheating effect. These measures improve the accuracy of distance detection from the source, avoid excessive deviation of preheating power due to inaccurate distance data, and lay a solid foundation for subsequent precise temperature control.

[0109] (3) Input voltage power compensation: The mains voltage may fluctuate. For example, if the voltage suddenly increases from the normal 220VAC to 230VAC, if the output ratio of the thyristor remains unchanged, the power will increase by 10%, which may cause large temperature fluctuations. Therefore, the MCU needs to compensate the heating power output in real time according to the change of input voltage.

[0110] (4) In actual product application, when the ambient temperature changes, the preheating power supplied in the second step above will deviate from the target temperature. Then, the infrared temperature value is read to participate in temperature control. The temperature control flowchart is as follows. Figure 8 As shown.

[0111] In this embodiment, the normal operating mode of infrared temperature measurement in S4 includes: Upon system power-up, the distance sensor position is calibrated. During normal operation, the infrared temperature sensor acquires temperature data, and the distance sensor acquires position data. The temperature control system automatically performs initial calibration, saving the calibration values ​​in the corresponding register of the MCU. The initial calibration process includes: like Figure 9 As shown, after the distance sensor is powered on for the first time, the MCU initializes, starts calibrating the Xtalk signal to prevent interference from the cover and structure on the distance sensor, and obtains the Xtalk calibration result. Then, it starts calibrating the OFFSET to improve the consistency of ranging performance between different units of the whole machine, obtains the OFFSET calibration result, and saves the Xtalk calibration value and the OFFSET calibration value.

[0112] The core guarantee for the ventilation duct to achieve all the above temperature control logic is the automatic calibration of infrared temperature measurement initialization after the system is powered on. This process focuses on distance sensor calibration to ensure the accuracy of distance detection. The calibration results are permanently saved to the MCU register, providing a benchmark for all subsequent distance-related temperature control operations. After the ventilation duct is powered on, the distance sensor is activated for the first time. The MCU completes its own initialization first, and then triggers the special calibration process of the distance sensor to prepare for normal operation. The first step is to complete Xtalk crosstalk calibration to eliminate light reflection and scattering interference from the ventilation duct shell cover and internal structure on the distance sensor, avoid the sensor misjudging the target distance, and ensure accurate detection of the actual distance between the ventilation duct and the target area. The second step is to complete OFFSET deviation calibration to eliminate the distance measurement performance differences between different ventilation ducts, ensure the distance measurement accuracy of ventilation ducts in the same batch, and achieve standardized production and use. The two sets of calibration values ​​obtained from Xtalk crosstalk calibration and OFFSET deviation calibration are uniformly saved to the corresponding register of the MCU. When the ventilation duct is working normally, it will automatically call the calibration value to correct the distance detection data to ensure the continuous accuracy of the distance data.

[0113] like Figure 10 As shown, the infrared sensor temperature measurement control method is as follows: In actual temperature measurement applications, when the radiation energy received by the infrared sensor changes with the distance, this invention can detect the distance in real time and adjust the data collected by the infrared sensor according to the distance, so as to avoid inaccurate test data due to distance differences.

[0114] Example 2: This application provides an infrared temperature measurement correction system, which includes a hardware layer and an algorithm control layer.

[0115] The hardware layer includes: The distance sensor subsystem, which integrates an MCU, is responsible for distance data acquisition, and its optimized optical structure ensures the accuracy of the original ranging.

[0116] Infrared temperature sensor, which collects infrared radiation temperature data of target object in real time.

[0117] The main system MCU, as the control core, is responsible for data reception, algorithm processing, calibration storage, logic judgment, and control command output.

[0118] The heating actuator consists of a silicon controlled rectifier (SCR) and a resistive load heating wire. It takes AC mains power as input and achieves precise adjustment of heating power through a drop-out control method.

[0119] The algorithm control layer includes: The dual calibration module includes Xtalk crosstalk calibration and OFFSET deviation calibration to eliminate hardware interference and device consistency errors.

[0120] The combined filtering module integrates CRC check, bubble sort coarse filtering, and recursive average filtering to ensure the accuracy, stability, and response speed of distance data.

[0121] The multi-dimensional compensation module includes pre-compensation, real-time compensation, and auxiliary compensation.

[0122] The workflow of the infrared temperature measurement correction system is as follows: (1) Initialization phase: After the system is powered on, the main system MCU triggers the automatic calibration of the distance sensor; Xtalk crosstalk calibration and OFFSET deviation calibration are completed in sequence, and the calibration values ​​are saved to the MCU register.

[0123] (2) In the data acquisition and processing stage, the distance sensor subsystem acquires the raw distance data and transmits it to the main system MCU via serial port; the main system MCU performs CRC check on the data and discards erroneous data; it sequentially performs bubble sort coarse filtering and recursive average filtering on the valid data to output stable and reliable distance data.

[0124] (3) Temperature measurement and control stage: The infrared temperature sensor collects the target temperature data. The main system MCU combines the filtered distance data to dynamically correct the infrared temperature measurement value, calls the pre-established distance-power correspondence, and outputs the initial heating power. Then, based on the corrected temperature value, the output of the thyristor is adjusted with a minimum amplitude of 1% to form a closed-loop control. The mains voltage fluctuation is detected in real time, and the heating power is dynamically compensated to avoid temperature deviation caused by voltage fluctuation.

[0125] The infrared temperature measurement correction system ensures the accuracy of distance data from the hardware level through optical structure optimization and dual calibration. It achieves unified data transmission verification, outlier removal, and real-time response through combined filtering algorithms. Through multi-dimensional dynamic compensation and closed-loop control, it effectively solves the problem of infrared temperature measurement error caused by distance changes and environmental fluctuations.

[0126] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for correcting infrared thermometry values ​​based on distance compensation, characterized in that, The infrared temperature measurement correction method Includes the following steps: S1. Preliminary preparation: Targeted optimization design of the optical structure of the distance sensor. By selecting a cover plate of specific material and thickness, controlling the gap between the sensor and the cover plate, and setting a barrier between the transmitter and receiver, the ranging interference factors are avoided from the hardware level, reducing the original ranging error and laying a stable hardware foundation for subsequent calibration work. Optical structure optimization specifically includes: S11. Cover plate selection: Choose one of glass, PC, or PMMA, with a thickness of 1mm and a transmittance of greater than 88% at 940nm wavelength; S12. Gap control: The gap between the surface of the distance sensor and the inner surface of the cover plate is strictly controlled within 1mm. S13. Anti-crosstalk design: A barrier is installed between the transmitter and receiver of the distance sensor, using either foam or silicone sleeve. S2. Dual calibration of distance sensor: Under a preset standard environment, crosstalk signal calibration and inter-device ranging deviation calibration are completed sequentially. The calibration results are saved to the corresponding register of MCU to eliminate the influence of the two types of core errors on ranging and ensure the accuracy of distance acquisition data. S3. Distance data filtering: The collected raw distance data is denoised and optimized by a combination filtering algorithm. First, the transmitted data is verified to remove erroneous data. Then, the valid data is sorted, extreme values ​​are removed, and the mean is calculated. The data stability is further improved by queue updating and real-time average calculation. S4. Infrared temperature measurement and power adjustment: Combining the accurate distance data after filtering and the actual working conditions, the infrared temperature measurement value is dynamically compensated in multiple dimensions, and the heating power is adjusted in conjunction with it to form a closed-loop control of temperature measurement and power, so as to achieve accurate correction of the infrared temperature measurement value. Among them, the heating control adopts a resistive load heating wire with AC mains power as input. The thyristor is turned on when it crosses zero through the thyristor drop control method, and the heating power is adjusted with a minimum amplitude of 1% to reduce the impact on EMC. The infrared temperature measurement and power adjustment methods in S4 are as follows: S41. Pre-compensation: Establishing the relationship between distance and power; S42, Real-time compensation, infrared temperature measurement closed-loop control; S43, Auxiliary compensation, input voltage and power compensation; Under the conditions of an ambient temperature of 25 degrees Celsius and a fixed target temperature, the S41 tests the heating power values ​​corresponding to different distance values, stores the relationship between distance and power in the system, and retrieves the heating power based on the collected distance data when no infrared temperature value is read, so that the output heating power makes the target temperature close to the set temperature. When the S42 is working normally, it collects distance data in real time and filters it. Based on the change in distance, it dynamically corrects the temperature value collected by the infrared sensor. Combined with the corrected temperature value, it adjusts the heating power to form a closed-loop control. The S43 detects mains voltage fluctuations in real time and adjusts the thyristor output ratio according to voltage changes to avoid temperature deviations caused by voltage fluctuations.

2. The infrared thermometry correction method based on distance compensation according to claim 1, characterized in that: The methods for crosstalk signal calibration and inter-device ranging deviation calibration in S2 include: S21. Crosstalk signal calibration: Remove crosstalk signals caused by cover plate reflection and scattering to avoid misjudging target distance; The calibration environment must be free of obstructions and infrared light interference within 60 cm. The Xtalk signal range is controlled by the calibration card to ensure that the target signal can be accurately identified rather than crosstalk signal during ranging. S22. Calibration of distance measurement deviation between equipment: Eliminate distance measurement deviation between different equipment and ensure the performance consistency of batch products; A standard chart with a reflectivity of 17%-88% was placed at a distance of 100 mm. To address the differences in distance measurement between similar devices, a fixed bias was removed through calibration.

3. The infrared thermometry correction method based on distance compensation according to claim 1, characterized in that: The data filtering process in S3 includes: S31. Data verification based on CRC check algorithm, specifically: Data appending involves appending an R-bit binary checksum to the K-bit binary data sequence, resulting in a binary sequence of total length N = K + R bits. Relationship verification uses a specific relationship between the data sequence and the check code to verify the received data; Error handling: If the validation fails, the data is determined to be erroneous and discarded without further processing, thus ensuring the correctness of the data; S32. Coarse filtering of dynamic data based on the bubble sort algorithm, specifically: Data sorting: Sort the multiple distance values ​​collected by the MCU from smallest to largest. Extreme value removal: Removes the minimum and maximum values ​​from the sorted array. Mean calculation involves averaging the remaining data to obtain a stable distance value. S33, Recursive Average Filtering Algorithm, improves response speed, specifically: Queue construction stores continuously collected distance values ​​into a queue of fixed length; Data updates follow a first-in-first-out (FIFO) principle, with new data placed at the end of the queue and the oldest data removed. Real-time calculation, averaging the latest N data in the queue, balancing accuracy and response speed.

4. The infrared thermometry correction method based on distance compensation according to claim 1, characterized in that: The normal operating mode for infrared temperature measurement in S4 includes: Upon system power-up, distance sensor calibration is performed. During normal operation, the infrared temperature sensor acquires temperature data, and the distance sensor acquires position data. The temperature control system automatically performs initialization calibration, storing the calibration values ​​in the corresponding register of the MCU. The initialization calibration process includes: After the distance sensor is powered on for the first time, the MCU initializes and begins to calibrate the crosstalk signal to prevent interference from the cover plate and structure on the distance sensor. It also obtains the crosstalk signal calibration result, begins to calibrate the distance measurement deviation between devices, improves the consistency of distance measurement performance between different units in the whole machine, obtains the distance measurement deviation calibration result between devices, and saves the crosstalk signal calibration value and the distance measurement deviation calibration value between devices.

5. An infrared temperature measurement correction system, used to execute the distance-compensated infrared temperature measurement correction method as described in any one of claims 1 to 4, characterized in that, The infrared temperature measurement correction system includes a hardware layer and an algorithm control layer; The hardware layer includes: The distance sensor subsystem integrates an MCU and is responsible for distance data acquisition. Its optimized optical structure ensures the original ranging accuracy. Infrared temperature sensor, which collects infrared radiation temperature data of target object in real time; The main system MCU, as the control core, is responsible for data reception, algorithm processing, calibration storage, logic judgment and control command output; The heating actuator consists of a silicon controlled rectifier and a resistive load heating wire. It takes AC mains power as input and achieves precise adjustment of heating power through a drop-out control method. The algorithm control layer includes: The dual calibration module includes Xtalk crosstalk calibration and OFFSET deviation calibration to eliminate hardware interference and device consistency errors. The combined filtering module integrates CRC check, bubble sort coarse filtering, and recursive average filtering to ensure the accuracy, stability, and response speed of distance data. The multi-dimensional compensation module includes pre-compensation, real-time compensation, and auxiliary compensation.

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