CN113049106A - Digital intelligent color sensor system - Google Patents

Abstract

The invention provides a digital intelligent color sensor system, which comprises a processor module, a signal sensing module, a control module and a signal processing module, wherein the processor module is used for processing a color signal; the processor module is respectively connected with the signal sensing module, the control module and the signal processing module, and the signal sensing module is connected with the signal processing module; the signal sensing module is used for emitting a detection light source and receiving light signals, wherein the received light signals comprise red light signals, green light signals and blue light signals; the control module is used for detecting the light intensity of the object to be detected and outputting a corresponding control instruction according to the light intensity detection result to adjust the intensity of the detection light source emitted by the signal sensing module; the signal processing module is used for carrying out signal processing according to the received optical signal and outputting an AD sampling signal to the processor module; the processor module carries out analysis processing according to the received AD sampling signal to obtain a color detection result. The invention can effectively improve the accuracy and the intelligent level of the color detection result.

Description

A digital intelligent color sensor system

technical field

The invention relates to the technical field of color sensors, in particular to a digital intelligent color sensor system.

Background technique

With the development of modern industrial production towards high speed and automation, the demand for color measurement and identification instruments in my country is increasing, and the requirements are getting higher and higher; at present, most of the existing color sensors use fixed light sources, which cannot be Adapt to the measurement needs of different occasions or different target objects.

The information disclosed in this Background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person of ordinary skill in the art.

SUMMARY OF THE INVENTION

In view of the above problems, the present invention aims to provide a digital intelligent color sensor system.

The object of the present invention adopts the following technical solutions to realize:

The invention shows a digital intelligent color sensor system, comprising a processor module, a signal sensing module, a control module and a signal processing module; wherein the processor module is respectively connected with the signal sensing module, the control module and the signal processing module, and the signal The sensing module is connected with the signal processing module;

The signal sensing module is used for emitting and detecting light sources and receiving light signals, wherein the received light signals include red light signals, green light signals and blue light signals;

The control module is used to detect the light intensity of the object to be measured, and according to the detection result of the light intensity, output corresponding control commands to adjust the intensity of the detection light source emitted by the signal sensing module;

The signal processing module is used to perform signal processing according to the received optical signal, and output the AD sampling signal to the processor module;

The processor module analyzes and processes the received AD sampling signal to obtain the color detection result.

In one embodiment, the signal sensing module includes a light source unit, an RGB light signal collection unit, and a white light signal collection unit; wherein,

The light source unit is used to provide a white light source;

The RGB light signal collection unit includes a photosensitive collection unit that is respectively provided with a red light filter device, a green light green light device and a blue light filter device, which are used to collect the red light signal, the green light signal and the blue light signal respectively, and collect the light signal. The collected red light signal, green light signal and blue light signal are transmitted to the signal processing module;

The white light signal collection unit is used to directly collect the white light signal reflected back after the white light source illuminates the object, and transmit the collected white light signal to the signal processing module.

In one embodiment, the control module includes a light intensity feedback unit and a light source control unit;

The light intensity feedback unit is used to perform light intensity detection according to the received white light signal, and obtain the light intensity detection value;

The light source control unit is used for judgment according to the acquired light intensity detection value, and when the light intensity detection value is weakened or smaller than the set threshold, it sends a compensation control signal to the light source unit to control the light source unit to adjust the brightness of the light source.

In one embodiment, it also includes an external detection module;

The external detection module is used to connect with the external detection head, sample the optical signal through the external detection head, and transmit the optical signal sampled by the external detection head to the signal processing module;

The processor module includes a signal selection unit, wherein the signal selection unit is respectively connected with the signal sensing module and the external detection module; when it is detected that the external detection module is connected with an external detection head, the signal selection unit cuts off the signal sampling of the signal sensing module and selects The external detection head connected to the external detection module performs optical signal sampling.

In one embodiment, the signal processing module includes an AD conversion unit, a preprocessing unit and an amplifying unit that are connected in sequence; wherein

The AD conversion unit is used to perform analog-to-digital conversion processing on the received optical signal, and obtain the AD sampling signal; wherein the received optical signal includes red light signal, green light signal, blue light signal, white light signal transmitted by the signal sensing module signal or optical signal transmitted by an external detection module.

The preprocessing unit is used to filter the acquired AD sampled signal, and output the preprocessed AD sampled signal;

The amplifying unit is used for amplifying the preprocessed AD sampled signal, and outputting the amplified AD sampled signal.

In one embodiment, the preprocessing unit performs filtering processing on the acquired AD sampled signal, specifically including:

Perform empirical mode decomposition on the acquired AD sampled signal to obtain the IMF component of the AD sampled signal;

The acquired IMF components are divided into high and low frequencies, the IMF components are divided into low-frequency IMF components and high-frequency IMF components, and the low-frequency signals are obtained by reconstructing according to the low-frequency IMF components; the high-frequency signals are obtained by reconstructing according to the high-frequency IMF components;

Use the set wavelet base and decomposition scale to perform wavelet decomposition processing on the low-frequency signal, obtain the high-frequency wavelet coefficients and low-frequency wavelet coefficients of the low-frequency signal, perform threshold processing on the obtained high-frequency wavelet coefficients, and obtain the thresholded high-frequency wavelet coefficients ;

Reconstruct the low-frequency wavelet coefficients and the thresholded high-frequency wavelet coefficients to obtain a filtered low-frequency signal;

Perform weighted median filtering on the high-frequency signal to obtain the filtered high-frequency signal;

The filtered low-frequency signal and the filtered high-frequency signal are reconstructed to obtain the preprocessed AD sampling signal.

In one embodiment, the processor module includes a power supply unit, a storage unit, and a color conversion unit; wherein

The power supply unit is connected to each module of the system respectively, and is used to supply power to each module of the system;

The storage unit is used to store system configuration parameters and color conversion standard reference data;

The color conversion unit is used for comparing with the stored color conversion standard reference data according to the AD sampling signal transmitted by the signal processing module, and outputting the color detection result.

The beneficial effects of the present invention are: the light intensity of the measured object is detected by the control module, and the intensity of the detection light source is adaptively adjusted according to the light intensity detection result, so that the red, green and blue light signals collected by the signal sensing module It can be at a suitable brightness level, and the signal processing module and the processor module sequentially perform color detection processing according to the collected red, green, and blue light signals, and finally obtain the color detection results, which can effectively improve the accuracy and intelligence of the color detection results. level.

Description of drawings

The present invention will be further described by using the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. For those of ordinary skill in the art, under the premise of no creative work, other Attached.

1 is a frame structure diagram of a digital intelligent color sensor system of the present invention, an exemplary embodiment;

FIG. 2 is a frame structure diagram of a processor module, a signal sensing module, a control module and a signal processing module in the embodiment of FIG. 1 .

Reference number:

Processor module 1, signal sensing module 2, control module 3, signal processing module 4, external detection module 5, communication module 6, light source unit 21, RGB light signal collection unit 22, white light signal collection unit 23, light intensity feedback unit 31 , light source control unit 32, AD conversion unit 41, preprocessing unit 42, amplification unit 43

Detailed ways

The present invention will be further described with reference to the following application scenarios.

Referring to FIG. 1 and FIG. 2, a digital intelligent color sensor system includes a processor module 1, a signal sensing module 2, a control module 3 and a signal processing module 4; wherein the processor module 1 is connected to the signal sensing module 1 respectively. The module 2, the control module 3 and the signal processing module 4 are connected, and the signal sensing module 2 is connected with the signal processing module 4;

The signal sensing module 2 is used for emitting and detecting light sources and receiving light signals, wherein the received light signals include red light signals, green light signals and blue light signals;

The control module 3 is used to detect the light intensity of the object to be measured, and output corresponding control instructions to adjust the intensity of the detection light source emitted by the signal sensing module 2 according to the light intensity detection result;

The signal processing module 4 is used to perform signal processing according to the received optical signal, and output the AD sampling signal to the processor module 1;

The processor module 1 performs analysis and processing according to the received AD sampling signal, and obtains the color detection result.

In the above embodiment, a digital intelligent color sensor system is proposed, which detects the light intensity of the measured object through the control module 3, and adaptively adjusts the intensity of the detected light source according to the light intensity detection result, so that the signal sensor module 2 The collected red, green, and blue light signals can be at a suitable brightness level, and the signal processing module 4 and the processor module 1 sequentially perform color detection processing according to the collected red, green, and blue light signals, and finally obtain a color detection result. , which can effectively improve the accuracy and intelligence level of color detection results.

In one embodiment, the signal sensing module 2 includes a light source unit 21, an RGB light signal collection unit 22 and a white light signal collection unit 23; wherein,

The light source unit 21 is used to provide a white light source;

The RGB light signal collection unit 22 includes a photosensitive collection unit respectively provided with a red light filter device, a green light green light device and a blue light filter device, and is used to collect the red light signal, the green light signal and the blue light signal respectively, and collect the red light signal, green light signal and blue light signal respectively. The collected collected red light signal, green light signal and blue light signal are transmitted to the signal processing module 4;

The white light signal collection unit 23 is configured to directly collect the white light signal reflected back after the white light source illuminates the object to be measured, and transmit the collected white light signal to the signal processing module 4 .

The light source unit 21 adopts a white LED lamp, wherein the light intensity of the white LED lamp can be adjusted.

In one scenario, the RGB light signal collection unit 22 may set filter devices for red light, green light and blue light on the photosensitive element, respectively, to collect red, green, and blue light signals; an existing three-primary color sensor may also be used. , respectively collect red, green, and blue light signals.

In one embodiment, the control module 3 includes a light intensity feedback unit 31 and a light source control unit 32;

The light intensity feedback unit 31 is configured to perform light intensity detection according to the received white light signal, and obtain a light intensity detection value;

The light source control unit 32 is used to judge according to the acquired light intensity detection value, and when the light intensity detection value is weakened or less than the set threshold, it will send a compensation control signal to the light source unit 21 to control the light source unit 21 to adjust the brightness of the light source to increase .

At the same time, when the detected value of the light intensity increases or is greater than the set threshold, an adjustment control signal is sent to the light source unit 21 to control the light source unit 21 to adjust the brightness of the light source to decrease.

In one scenario, the light intensity feedback unit 31 can use an existing light intensity detection unit (such as a light intensity sensor), and the light intensity detection unit directly detects the light intensity of the measured object; or obtains light according to the received white light signal. Intensity detection value.

In one embodiment, it also includes an external detection module 5;

The external detection module 5 is used to connect with the external detection head, sample the optical signal through the external detection head, and transmit the optical signal sampled by the external detection head to the signal processing module 4;

The processor module 1 includes a signal selection unit, wherein the signal selection unit is respectively connected with the signal sensing module 2 and the external detection module 5; when it is detected that the external detection module 5 is connected with an external detection head, the signal selection unit cuts off the signal sensing module 2 and select the external detection head connected to the external detection module 5 to sample the optical signal.

The external detection head can choose the optical fiber type detection head;

The processor module 1 detects the signal source of the optical signal (signal sensing module 2, external detection module 5), that is, judges whether the external detection head is involved, and the selection unit selects the detection mode according to the judgment result of the signal source. When an external detection head has been connected, the external signal is preferentially selected to enter the signal processing module 4 and the processor module 1 for processing.

In one embodiment, the signal processing module 4 includes an AD conversion unit 41, a preprocessing unit 42 and an amplifying unit 43 connected in sequence; wherein

The AD conversion unit 41 is configured to perform analog-to-digital conversion processing on the received optical signal to obtain AD sampling signals; wherein the received optical signal includes the red light signal, green light signal, blue light signal, The white light signal or the light signal transmitted by the external detection module 5 .

The preprocessing unit 42 is used for filtering the acquired AD sampled signal, and outputs the preprocessed AD sampled signal;

The amplifying unit 43 is used for amplifying the preprocessed AD sampled signal, and outputting the amplified AD sampled signal.

The signal processing module 4 is provided with an AD conversion unit 41 to perform analog-to-digital conversion on the received optical signal, obtain a digital AD sampled signal, and further filter and amplify the AD sampled signal; The acquired AD sampling signal accurately identifies the value of each color component, thereby acquiring the color detection result.

At the same time, setting the preprocessing unit to filter the acquired AD sampled signal can effectively remove the noise signal interference in the AD sampled signal, improve the quality and effect of the AD sampled signal, and make the color detection processing based on the AD sampled signal more accurate. .

In one scenario, the signal processing module 4 adopts a DPS processing chip (Digital Signal Processor), which can perform analog-to-digital conversion on the received optical signal, and further complete the digital signal-based signal processing process on the converted AD sampled signal.

In one scenario, the above-mentioned optical signal is specifically a photocurrent signal.

In one scenario, the signal processing module 4 can adjust the magnification of the amplifier in the amplifying unit 43, and select different magnifications according to different detection modes. Choose a low magnification for objects with strong light reflections.

In one embodiment, the preprocessing unit 42 performs filtering processing on the acquired AD sampled signal, specifically including:

Perform empirical mode decomposition on the acquired AD sampled signal to obtain the IMF component of the AD sampled signal;

The acquired IMF components are divided into high and low frequencies, the IMF components are divided into low-frequency IMF components and high-frequency IMF components, and the low-frequency signals are obtained by reconstructing according to the low-frequency IMF components; the high-frequency signals are obtained by reconstructing according to the high-frequency IMF components;

Use the set wavelet base and decomposition scale to perform wavelet decomposition processing on the low-frequency signal, obtain the high-frequency wavelet coefficients and low-frequency wavelet coefficients of the low-frequency signal, perform threshold processing on the obtained high-frequency wavelet coefficients, and obtain the thresholded high-frequency wavelet coefficients ;

Reconstruct the low-frequency wavelet coefficients and the thresholded high-frequency wavelet coefficients to obtain a filtered low-frequency signal;

Perform weighted median filtering on the high-frequency signal to obtain the filtered high-frequency signal;

The filtered low-frequency signal and the filtered high-frequency signal are reconstructed to obtain the preprocessed AD sampling signal.

Wherein, the preprocessing unit 42 performs high and low frequency division on the acquired IMF components, which specifically includes:

For each acquired IMF component, the high and low frequency eigenfactors of each IMF component are calculated respectively, and the high and low frequency eigenfactor calculation functions used are:

表示根据第x个IMF分量获取的调节分量，其中

表示调节分量的第k个采样点的幅值，IMF_x(k)表示第x个IMF分量中第k个采样点的幅值，k＝1,2,…,K，K表示采样点的总数，max(IMF_x(k))表示第x个IMF分量中各采样点幅值的最大值，β表示调节因子，其中β∈[0.03,0.06]，

表示调节分量

的过零率，Z(IMF_x-1)表示根据第x-1个IMF分量获取的调节分量，

表示调节分量

的过零率，ω₁和ω₂分别表示权重因子，其中ω₁＞ω₂；In the formula, w(x) represents the high and low frequency characteristic factor of the xth IMF component, x=2,...,I, I represents the total number of IMF components, Z( _IMFx ) represents the zero-crossing rate of the xth IMF component, Z(IMF _x-1 ) represents the zero-crossing rate of the x-1th IMF component;

represents the adjustment component obtained from the xth IMF component, where

Indicates the amplitude of the k-th sampling point of the adjustment component, IMF _x (k) represents the amplitude of the k-th sampling point in the x-th IMF component, k=1,2,…,K, K represents the total number of sampling points , max(IMF _x (k)) represents the maximum amplitude of each sampling point in the xth IMF component, β represents the adjustment factor, where β∈[0.03,0.06],

Indicates the adjustment amount

The zero-crossing rate of , Z(IMF _x-1 ) represents the adjustment component obtained according to the x-1th IMF component,

Indicates the adjustment amount

The zero-crossing rate of , ω ₁ and ω ₂ respectively represent the weight factor, where ω ₁ >ω ₂ ;

Compare the acquired high and low frequency characteristic factors of each IMF component with the set threshold T in turn. When w(x)<T, divide the xth to I IMF components into low frequency IMF components, and divide the 1st to xth IMF components into low-frequency IMF components. -1 IMF component is divided into high frequency IMF components; if the high and low frequency characteristic factors of each IMF component are less than the set threshold T, the first IMF component is divided into high frequency IMF components, and the rest IMF components are divided into low frequency components IMF component.

In the above embodiment, for the AD sampling signal obtained based on the optical signal (especially the AD sampling signal obtained by the optical signal collected by the fiber probe), the high-frequency noise signal performance is not obvious, so the traditional denoising filtering technology is easy to appear. In the case of over-processing or poor processing effect, in view of the above problems, a technical solution is proposed to divide the high and low frequency signals based on empirical mode decomposition, and filter the high and low frequency signals respectively. The technical scheme for dividing high and low frequencies can first calculate the high and low frequency characteristic factors of each IMF component through the characteristics of the IMF components, and especially add the adjustment components after the upward adjustment according to the original IMF components as the basis, which can effectively filter Under the influence of noise, the zero-crossing rate characteristics of the original signal are obtained, and the high- and low-frequency characteristics of the IMF components are further reflected according to the zero-crossing rate characteristics, which can adaptively and accurately select the division boundaries of high-frequency and low-frequency signals. At the same time, for the divided high-frequency signals, a weighted median filtering processing method with a relatively obvious processing effect is used for filtering processing. For low-frequency signals that reflect signal characteristics, the technical solution based on wavelet decomposition and high-frequency wavelet coefficient threshold processing is further processed, which can further remove the hidden noise interference in the low-frequency signal on the basis of high-frequency division. Improve the quality of AD sampled signals. It lays a foundation for further amplification and accurate conversion of color component values according to the AD sampling signal.

Wherein, the preprocessing unit 42 performs threshold processing on the acquired high-frequency wavelet coefficients, and the threshold processing function specifically adopted is:

σ表示噪声估计，V表示AD采样信号的长度；sgn(·)表示符号函数；ω₁和ω₂分别表示设定的调节权重因子。In the formula, w'(i, j) represents the j-th high-frequency wavelet coefficient of the i-th scale after thresholding, w(i, j) represents the j-th high-frequency wavelet coefficient of the i-th scale obtained by wavelet decomposition, and j represents the decomposition scale of w(i,j), α represents the set influence factor, b represents the set compensation factor, T represents the set threshold, where

σ represents the noise estimate, V represents the length of the AD sampled signal; sgn(·) represents the sign function; ω ₁ and ω ₂ represent the set adjustment weight factors, respectively.

In the above embodiment, based on the high-frequency wavelet coefficients obtained after the low-frequency signal is decomposed, the threshold processing function is used to perform threshold processing, so that the small noise contained in the high-frequency wavelet coefficients can be invisible filtered, so that the low-frequency signal can be fine-tuned. The quality of the AD sampled signal is further improved.

In one embodiment, the processor module 1 includes a power supply unit, a storage unit, and a color conversion unit; wherein

The power supply unit is connected to each module of the system respectively, and is used to supply power to each module of the system;

The storage unit is used to store system configuration parameters and color conversion standard reference data;

The color conversion unit is configured to compare the AD sampling signal transmitted by the signal processing module 4 with the stored color conversion standard reference data, and output the color detection result.

The color conversion unit respectively receives the red, green, and blue optical signals and the AD sampling signals processed by the white optical signals, and obtains the red, green, and blue three-color optical signals according to the AD sampling signals of the red, green, and blue optical signals. The light intensity is converted into a frequency signal according to the light intensity signal, and the R, G and B values are quantified to obtain the color detection result;

The light intensity value of the white light signal is compared with the preset white quasi-white light intensity, which is used to compensate the quantized R, G, and B values according to the comparison result.

In one embodiment, the system further includes a communication module 6, which is connected to the processor module 1;

The communication module 6 realizes wireless data interaction with the external terminal, and is used for sending the color detection result obtained by the processor module 1 to the external terminal. It helps to improve the communication capability between the sensor system and external terminals, and improves the adaptability of the sensor system to different scenarios.

It should be noted that each functional unit/module in each embodiment of the present invention may be integrated into one processing unit/module, or each unit/module may exist physically alone, or two or more units/modules/ Modules are integrated in one unit/module. The above-mentioned integrated units/modules may be implemented in the form of hardware, or may be implemented in the form of software functional units/modules.

From the above description of the embodiments, those skilled in the art can clearly understand and understand that the embodiments described herein can be implemented in hardware, software, firmware, middleware, code or any appropriate combination thereof. For hardware implementation, the processor may be implemented in one or more of the following units: Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Program gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic units designed to implement the functions described herein, or combinations thereof. For software implementation, part or all of the processes of the embodiments may be implemented by computer programs instructing relevant hardware. When implemented, the above-described programs may be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage medium can be any available medium that a computer can access. Computer readable media may include, but are not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program code in the form of instructions or data structures and any other medium that can be accessed by a computer.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit the protection scope of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should analyze the , the technical solutions of the present invention may be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims (7)

1. A digital intelligent color sensor system is characterized by comprising a processor module, a signal sensing module, a control module and a signal processing module; the processor module is respectively connected with the signal sensing module, the control module and the signal processing module, and the signal sensing module is connected with the signal processing module;

the signal sensing module is used for emitting a detection light source and receiving light signals, wherein the received light signals comprise red light signals, green light signals and blue light signals;

the control module is used for detecting the light intensity of the object to be detected and outputting a corresponding control instruction according to the light intensity detection result to adjust the intensity of the detection light source emitted by the signal sensing module;

the signal processing module is used for carrying out signal processing according to the received optical signal and outputting an AD sampling signal to the processor module;

the processor module carries out analysis processing according to the received AD sampling signal to obtain a color detection result.

2. The system of claim 1, wherein the signal sensing module comprises a light source unit, an RGB light signal collecting unit, and a white light signal collecting unit; wherein,

the light source unit is used for providing a white light source;

the RGB optical signal acquisition unit comprises a photosensitive acquisition unit which is respectively provided with a red light filter device, a green light and green light device and a blue light filter device and is used for respectively acquiring red light signals, green light signals and blue light signals and transmitting the acquired red light signals, green light signals and blue light signals to the signal processing module;

the white light signal acquisition unit is used for directly acquiring a white light signal reflected by the white light source after the white light source irradiates an object, and transmitting the acquired white light signal to the signal processing module.

3. The system of claim 2, wherein the control module comprises a light intensity feedback unit and a light source control unit;

the light intensity feedback unit is used for carrying out light intensity detection according to the received white light signal and acquiring a light intensity detection value;

the light source control unit is used for judging according to the acquired light intensity detection value, and when the light intensity detection value is weakened or smaller than a set threshold value, a compensation control signal is sent to the light source unit so as to control the light source unit to adjust the light source brightness.

4. The digital intelligent color sensor system of claim 1, further comprising an external detection module;

the external detection module is used for being connected with the external detection head, sampling optical signals through the external detection head and transmitting the optical signals sampled through the external detection head to the signal processing module;

the processor module comprises a signal selection unit, wherein the signal selection unit is respectively connected with the signal sensing module and the external detection module; when the external detection module is detected to be connected with the external detection head, the signal selection unit cuts off signal sampling of the signal sensing module and selects the external detection head connected with the external detection module to perform optical signal sampling.

5. The system of claim 2, wherein the signal processing module comprises an AD conversion unit, a pre-processing unit and an amplification unit connected in sequence; wherein

The AD conversion unit is used for carrying out analog-to-digital conversion processing on the received optical signal to obtain an AD sampling signal; wherein the received optical signal includes a red light signal, a green light signal, a blue light signal, a white light signal transmitted by the signal sensing module, or an optical signal transmitted by the external detection module.

The preprocessing unit is used for filtering the acquired AD sampling signal and outputting a preprocessed AD sampling signal;

the amplifying unit is used for amplifying the pre-processed AD sampling signal and outputting the amplified AD sampling signal.

6. The system according to claim 5, wherein the pre-processing unit performs filtering processing on the obtained AD sampled signal, and specifically comprises:

performing empirical mode decomposition on the obtained AD sampling signal to obtain an IMF component of the AD sampling signal;

dividing the obtained IMF components into low-frequency IMF components and high-frequency IMF components, and reconstructing according to the low-frequency IMF components to obtain low-frequency signals; reconstructing according to the high-frequency IMF component to obtain a high-frequency signal;

performing wavelet decomposition processing on the low-frequency signal by adopting a set wavelet basis and a set decomposition scale to obtain a high-frequency wavelet coefficient and a low-frequency wavelet coefficient of the low-frequency signal, performing threshold processing on the obtained high-frequency wavelet coefficient, and obtaining a high-frequency wavelet coefficient after the threshold processing;

reconstructing the low-frequency wavelet coefficient and the high-frequency wavelet coefficient after threshold processing to obtain a filtered low-frequency signal;

carrying out weighted median filtering processing on the high-frequency signal to obtain a filtered high-frequency signal;

and reconstructing the filtered low-frequency signal and the filtered high-frequency signal to obtain a preprocessed AD sampling signal.

7. The digital intelligent color sensor system of claim 1, wherein the processor module comprises a power supply unit, a storage unit, a color conversion unit; wherein

The power supply unit is respectively connected with each module of the system and used for supplying power to each module of the system;

the storage unit is used for storing system configuration parameters and color conversion standard reference data;

the color conversion unit is used for comparing the AD sampling signal transmitted by the signal processing module with the stored color conversion standard reference data and outputting a color detection result.

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