CN118091782A - Multi-light curtain detection system - Google Patents

Abstract

In order to solve the problems in the prior art, the present invention provides a multi-light curtain detection system, comprising: at least two light curtains covering the monitoring area and an analysis module. And the analysis module receives the information of each light curtain, and then performs target analysis to form a control instruction. The target analysis includes: and (5) analyzing a target model and analyzing a target motion path. And analyzing the outer contour information of the target according to the received light curtain information, and further obtaining virtual model information of the target. And analyzing the target motion path, namely analyzing the trigger change of the target in the light curtain area according to the received light curtain information and the virtual model information of the target, so as to obtain the path of the target passing through the light curtain area and the current position and/or motion trend of the target in the light curtain area. The invention can realize the analysis of the target position, the motion trail and the motion trend in the light curtain detection area by arranging the plurality of light curtains, thereby more accurately forming the control instruction of the automatic device.

Description

Multi-light curtain detection system

Technical Field

The invention relates to the technical field of light curtain sensors, in particular to a multi-light curtain detection system.

Background

The scanning type light curtain sensor is a sensor which is used for automatically controlling the sensing end of equipment and is quite mainstream at present, and the scanning type light curtain sensor deflects pulse laser which is emitted in a fixed direction into a plurality of laser beams in a plane corresponding to the mirror surface of a polygon mirror through the polygon mirror which rotates continuously, so that a scanning light curtain is formed. When a reflective object exists in the scanning light curtain, laser is emitted back to the photoelectric detector end of the scanning light curtain sensor, and the existence and distance detection of the reflective object is realized based on the TOF principle.

However, the existing light curtain can only detect the existence of the target in the scanning area and the distance between the target and the sensor, and can not analyze the movement track and movement trend of the target, and because the automatic device has a reaction time in controlled movement, the light curtain always needs to be a certain distance from the automatic device, which causes an error response of the automatic device to be triggered when an object which is not the target of the automatic device passes through the light curtain, and brings bad use experience to users.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a multi-light curtain detection system, comprising: at least two light curtains covering the monitoring area and an analysis module. And the analysis module receives the information of each light curtain, and then performs target analysis to form a control instruction.

The target analysis includes: and (5) analyzing a target model and analyzing a target motion path. And analyzing the outline information of the target according to the received light curtain information, and further obtaining virtual model information of the target. And analyzing the target motion path, namely analyzing the trigger change of the target in the light curtain area according to the received light curtain information and the virtual model information of the target, so as to obtain the path of the target passing through the light curtain area and the current position and/or motion trend of the target in the light curtain area.

And the control instruction is formed according to the current position and the movement trend of the target in the light curtain area.

Further, the at least two light curtains are formed by one or more laser scanning sensors.

Further, the laser scanning sensor continuously deflects the laser emitted in a fixed direction through the mirror surface of the rotary mirror to form a scanning sector corresponding to the mirror surface, and one scanning sector is a light curtain.

Further, the rotary mirror is a polygon mirror, and each mirror surface deflects outwards by different angles relative to the central rotating shaft of the rotary mirror, so that the scanning surface sectors formed by each mirror surface are not overlapped with each other, and a plurality of light curtains which are not overlapped with each other are obtained.

Further, the target model analysis includes the following analysis steps:

Step 1.1, obtaining the distance information of the target point detected by each detection light path in each light curtain without a target object, and forming scanning background information A.

Step 1.2, obtaining the distance information of the target point detected by each detection light path in each light curtain when the target object exists, and forming scanning detection information B.

And step 1.3, obtaining virtual section contour information C of the target object by comparing the scanning background information A and the scanning detection information B.

And step 1.4, connecting the virtual section profile information C obtained by each light curtain to obtain an outer profile fitting model D of the target. And taking the outer contour fitting model D of the target as a virtual model of the target.

Further, the target motion path analysis includes:

And 2.1, recording the spatial position information E of each light curtain, recording the contour information F formed by the light curtain which is triggered by the target and is closest to the automatic device, and judging the current position G of the target in the light curtain area according to the position of the triggered light curtain in the light curtain area by the contour information F.

And 2.2, recording a triggering sequence Hn of triggering the light curtain In the light curtain area and a triggering position In of each light curtain, wherein n is the serial number of the recording point.

And 2.3, judging a movement path J of the target in the light curtain area according to the triggering sequence Hn and the current position G.

Further, when the current position G of the target in the light curtain area reaches the preset target area, a corresponding control instruction is formed.

Further, the method for determining the movement path J of the target in the light curtain area according to the triggering sequence Hn and the current position G in step 2.3 includes:

And 2.3.1, sequentially connecting the designated points of the contour information F according to the triggering sequence Hn to form a motion track K.

And 2.3.2, on the motion track K, according to the trigger sequence Hn, the directivity mark is marked by the trigger pointing at the back of the previous trigger to obtain a motion path J.

Further, the target motion path analysis further includes a target motion trend analysis, the target motion trend analysis including:

And 2.4, acquiring a motion trail K, and making a tangent line L of the motion trail K at a designated point of the profile information F of the light curtain triggered by the target newly.

And 2.5, marking the movement trend on the tangent line L according to the direction of the directivity mark to form a target movement trend line M, and marking the target movement trend by the target movement trend line M.

Further, the target movement trend analysis further includes:

and 2.6, recording time Nn of each time the target triggers the light curtain in the light curtain area according to the triggering sequence Hn, wherein n is the serial number of the recorded point.

Step 2.7, calculating the speed Qm of the object passing through the adjacent light curtain according to the time difference Om of the object passing through the adjacent light curtain and the distance Pm of the corresponding adjacent light curtain, wherein m is the sequence number of the adjacent light curtain formed according to the motion path J, and qm=Pm/Om.

And 2.8, correcting the Qm by using a difference average S of R data points closest to the Qm to obtain a movement speed trend value Tm of the target in the light curtain area, and marking the movement speed trend value Tm by using a directivity marking direction.

Whether a control instruction is formed is judged according to the current position G and the movement speed trend value Tm of the target.

The invention has at least one of the following beneficial effects:

1. the invention can realize the analysis of the target position, the motion trail and the motion trend in the light curtain detection area by arranging the plurality of light curtains, thereby more accurately forming the control instruction of the automatic device.

2. The multi-channel light curtain can be formed by one sensor or a plurality of sensors in a combined mode, and can be flexibly selected according to the installation environment.

3. The invention can further judge whether a control instruction is formed or not according to the formed movement speed trend of the target and the target position, thereby further improving the accuracy and suitability of the control instruction.

Drawings

FIG. 1 is a schematic view of the principles of light curtain formation and virtual model contour formation of the present invention;

FIG. 2 is a schematic view of a multi-pass light curtain forming light curtain region according to the present invention;

FIG. 3 is a schematic diagram of the present invention for forming a motion trajectory in a virtual space;

FIG. 4 is a schematic diagram of a polygon mirror of the multi-light-curtain scanning sensor of the present invention;

FIG. 5 is a schematic diagram of a multi-pass light curtain formed by the multi-light curtain scanning sensor of the present invention.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" depending on the context.

The multi-light curtain detection system of the present application will be described in detail with reference to the accompanying drawings. The features of the examples and embodiments described below may be combined with each other without conflict.

Example 1

A multiple light curtain detection system, as shown in fig. 1, comprising: two or three or five or ten or other designs covering the monitored area require a number of light curtains and analysis modules. And the analysis module receives the information of each light curtain, and then performs target analysis to form a control instruction.

The target analysis includes: and (5) analyzing a target model and analyzing a target motion path. And analyzing the outline information of the target according to the received light curtain information, and further obtaining virtual model information of the target. And analyzing the target motion path, namely analyzing the trigger change of the target in the light curtain area according to the received light curtain information and the virtual model information of the target, so as to obtain the path of the target passing through the light curtain area and the current position and/or motion trend of the target in the light curtain area.

And the control instruction is formed according to the current position and the movement trend of the target in the light curtain area.

Fig. 1 is a schematic view of a light curtain formed by a scanning light curtain sensor, in which under the rotation action of a rotating mirror, a pulse light source forms detection light beams 1 with different deflection angles, and a mirror surface of the rotating mirror forms a plurality of detection light beams 1 during rotation, so as to form a light curtain 2.

As shown in fig. 2, when the target 4 intrudes into the light curtain area formed by the light curtains 2-1 to 2-6, the detection point of the light curtain contacting the target 4 is caused to change, thereby forming response information. Based on the TOF principle, the sensor can also detect the distance of the outer contour of the object 4 relative to the sensor.

The invention forms the corresponding control instruction based on the movement of the target 4 in the light curtain area through the target model analysis and the target movement path analysis, has higher judgment accuracy compared with the existing light curtain triggering property, and can start the control of the automatic device when the target 4 approaches to the automatic device, and the control of the automatic device is not triggered when the target 4 only passes through the movement of the light curtain, thereby effectively improving the control accuracy of the sensor system to the automatic device and improving the user experience.

Taking an automatic device as an automatic gate as an example, the prior art generally sets a detection light curtain at a position 0.5-1 m in front of the entrance side of the automatic gate, so that when a person touches the light curtain, the automatic gate can be opened in time, but the automatic gate also exists, when the person passes in front of the automatic gate, the automatic gate is opened by mistake due to the fact that the light curtain is triggered, and poor use experience is brought to users of pedestrians and the automatic gate. After the multi-light curtain detection system is adopted, the opening trigger of the automatic door is related to the position of a person in a light curtain area and also related to the motion trail and motion trend of the person, so that the motion trail or motion trend of the person does not face the automatic door, the automatic door cannot be opened by mistake even if the person is in the light curtain area, the control accuracy of the automatic door is effectively improved, and the user experience is improved.

Example 2

Based on the multi-light curtain detection system of embodiment 1, the object model analysis includes the following analysis steps:

Step 1.1, obtaining the distance information of the target point detected by each detection light path in each light curtain without a target object, and forming scanning background information A.

Step 1.2, obtaining the distance information of the target point detected by each detection light path in each light curtain when the target object exists, and forming scanning detection information B.

And step 1.3, obtaining virtual section contour information C of the target object by comparing the scanning background information A and the scanning detection information B.

And step 1.4, connecting the virtual section profile information C obtained by each light curtain to obtain an outer profile fitting model D of the target. And taking the outer contour fitting model D of the target as a virtual model of the target.

For target identification, the prior art generally needs to adopt an image comparison technology, which results in that a shooting device and a graphic analysis system are additionally arranged outside the light curtain sensor, the requirements on hardware equipment and a software system are both increased, and the use cost of a user can be obviously increased. If the target identification is not added, any target entering the light curtain detection area may trigger the control of the automatic device, and the false triggering rate is difficult to control.

The invention realizes the contour recognition of the target entering the light curtain area by the method, thereby more accurately judging whether the target entering the light curtain detection area is a response target of the automatic device. The basic principle is shown in fig. 1, in a light curtain, when an object 4 appears, each detection light beam 1 sweeps across the object 4 to form a light reflection point and a ranging value, and by simulating the position of a sensor and the orientation and the ranging value of the corresponding detection light beam 1 in a virtual space, the corresponding reflection point position of the object 4 at the detection light beam 1 can be simulated. By connecting the positions of reflection points formed by all the detection beams 1 irradiating the target 4, a virtual model contour 4-1 similar to the outer contour of the target 4 can be obtained, and the higher the density of the detection beams 1, the higher the accuracy of the virtual model 4-1. And the virtual model of the target 4 in the light curtain area can be obtained by connecting the virtual model outlines 4-1 of all the light curtains triggered by the target 4. And comparing the virtual model with a preset model to judge whether the target 4 is a response target of the automatic device.

Taking an automatic door as an example, when the virtual model judges that the cat is moving, the multi-light curtain detection system refuses to send an opening instruction to the automatic door no matter whether the target 4 moves to the automatic door. When the virtual model performance is judged to be a person, the multi-light curtain detection system can send an opening instruction to the automatic door in combination with other judgment analysis results.

Example 3

The multi-light curtain detection system based on embodiment 1 or 2, the target motion path analysis comprising:

And 2.1, recording the spatial position information E of each light curtain, recording the contour information F formed by the light curtain which is triggered by the target and is closest to the automatic device, and judging the current position G of the target in the light curtain area according to the position of the triggered light curtain in the light curtain area by the contour information F.

And 2.2, recording a triggering sequence Hn of triggering the light curtain In the light curtain area and a triggering position In of each light curtain, wherein n is the serial number of the recording point.

And 2.3, judging a movement path J of the target in the light curtain area according to the triggering sequence Hn and the current position G.

The method for judging the motion path J of the target in the light curtain area according to the triggering sequence Hn and the current position G in the step 2.3 comprises the following steps:

And 2.3.1, sequentially connecting the designated points of the contour information F according to the triggering sequence Hn to form a motion track K. The designated points may be points in the upper profile, points on the left-hand outermost side of the upper profile, etc., as desired.

And 2.3.2, on the motion track K, according to the trigger sequence Hn, the directivity mark is marked by the trigger pointing at the back of the previous trigger to obtain a motion path J.

As shown in fig. 2 and 3, virtual light curtains 6-1 to 6 corresponding to the number and positions of the light curtains are formed in the virtual space 5 according to the space position information E of the actual light curtains 2-1 to 2-6, when the target 4 enters the actual light curtain area, a virtual model 7 of the target 4 is correspondingly formed in the virtual light curtain area, and the sequence of triggering the light curtains by the target 4 is sequentially recorded to form a motion track K. For example, when the object 4 moves toward the robot, it sequentially activates the actual light curtains 2-1 to 2-6 and forms a moving track shown as a track 8 in the virtual light curtain area, and the light curtains 2-1 to 2-6 are activated according to the order in which the object 4 activates the light curtains at this time, so that an arrow pointing from the virtual light curtain 6-1 to the virtual light curtain 6-6 as shown in the figure is marked on the track 8 as a directivity mark. When the target 4 passes through the actual light curtain area, the sequence of triggering the actual light curtains is 2-1 to 2-4 to 2-2, and a motion track shown as a track 9 is formed in the virtual light curtain area, and the sequence of triggering the light curtains by the target 4 is 2-1 to 2-4 to 2-2 according to the moment, so that an arrow which is shown as a figure and points to the virtual light curtain 6-1 from the virtual light curtain 6-4 is finally marked on the track 9 as a directivity mark.

The motion path J of the target 4 can be obtained in the virtual space 5 in a simulation mode, so that whether the target 4 is intentionally close to the automatic device can be judged, for example, the target enters the response area 10 (taking fig. 3 as an example, the response area 10 is a detection area corresponding to the virtual light curtain 6-6), or is only a light curtain passing area, and the automatic device can be controlled to be started or stopped more accurately.

Example 4

The multi-light curtain detection system of embodiment 3, wherein the target motion path analysis further comprises a target motion trend analysis comprising:

And 2.4, acquiring a motion trail K, and making a tangent line L of the motion trail K at a designated point of the profile information F of the light curtain triggered by the target newly.

And 2.5, marking the movement trend on the tangent line L according to the direction of the directivity mark to form a target movement trend line M, and marking the target movement trend by the target movement trend line M.

For the automatic device with slower partial opening time, the automatic device can not be started in time when waiting for the judgment that the motion trail forms to be close to the automatic device, so the invention introduces motion trend analysis, and judges whether the motion trend of the target is towards the automatic device or not by analyzing the target motion trend line M formed when the target passes through the light curtain each time, if so, the automatic device can be controlled to start when the light curtain far away from the automatic device is triggered, and the motion trail does not need to wait for the complete entering of the response area. If not, continuing to judge the motion trail, and at the moment, even if the motion trail of the target passes through the response area, if the motion trend of the target still does not face the automatic device, still not performing response control on the automatic device. The robot is controlled to respond only when the motion trajectory of the object passes through the response area and the motion trend of the portion of the motion trajectory located in the response area is toward the robot.

The method can further improve the judgment accuracy of the target of the automatic device and further effectively reduce the false triggering caused by the contact of the target on the automatic device.

Example 5

The multi-light curtain detection system of embodiment 4, wherein the target movement trend analysis further comprises:

and 2.6, recording time Nn of each time the target triggers the light curtain in the light curtain area according to the triggering sequence Hn, wherein n is the serial number of the recorded point.

Step 2.7, calculating the speed Qm of the object passing through the adjacent light curtain according to the time difference Om of the object passing through the adjacent light curtain and the distance Pm of the corresponding adjacent light curtain, wherein m is the sequence number of the adjacent light curtain formed according to the motion path J, and qm=Pm/Om.

And 2.8, correcting the Qm by using a difference average S of R data points closest to the Qm to obtain a movement speed trend value Tm of the target in the light curtain area, and marking the movement speed trend value Tm by using a directivity marking direction.

Whether a control instruction is formed is judged according to the current position G and the movement speed trend value Tm of the target.

Since the automatic device needs a certain time for responding, the movement speeds of the targets are often inconsistent, especially when the targets are different. If the same position judging method is adopted, the automatic device is likely to not complete the response action in time for the fast moving target, so that the user experience is poor. The method provided by the embodiment 5 of the invention can generate corresponding advance analysis aiming at targets with different movement speeds. Taking fig. 3 as an example, when the virtual model 7 passes through the time difference o1= 0.0281 seconds between the virtual light curtain 6-1 and the virtual light curtain 6-2 and the distance p1=5 cm between the virtual light curtain 6-1 and the virtual light curtain 6-2, the motion speed q1=p1/o1=0.05/0.0181=1.78 m/s of the target 4 corresponding to the virtual model 7 at this time can be calculated, and belongs to the walking speed of a normal adult relatively fast, and then the response area is adjusted to the virtual light curtain 6-5 by the virtual light curtain 6-6 so as to perform certain advanced control.

Example 6

The multi-light curtain detection system based on the above embodiments, the light curtain being formed by one or more laser scanning sensors.

The laser scanning sensor continuously deflects the laser emitted in a fixed direction through the mirror surface of the rotary mirror to form a scanning sector corresponding to the mirror surface, and one scanning sector is a light curtain. At this time, one laser scanning sensor forms a light curtain, each mirror surface is repeatedly scanned in the light curtain area, the detection frequency of the sensor on the same position is higher, the detection precision is better, but a plurality of sensors are needed to form a multi-light curtain detection area, and the sensors need more proper installation space for matching.

Also or as shown in fig. 4 and 5, the rotating mirror includes a transmitting-end deflecting mirror 301 and a receiving-end deflecting mirror 302, where each mirror surface 303 of the transmitting-end deflecting mirror 301 and each mirror surface 303 are deflected outwards by different angles synchronously with respect to the central rotation axis of the rotating mirror, so that the scan planes formed by each mirror surface are not overlapped with each other, and thus a plurality of light curtains which are not overlapped with each other are obtained. In this case, a laser scanning sensor forms a plurality of light curtains, and each mirror forms a non-overlapping light curtain area, such as light curtains 2-1 through 2-5 shown in FIG. 5. The sensor has lower detection frequency and accuracy than those of a single light curtain sensor, but can form a required multi-light curtain detection area by one sensor, thereby greatly saving the use cost and the installation space.

Different sensors can be selected to be combined according to the requirements of the installation environment to obtain the number of the light curtains required by design.

According to the requirement, the analysis module can exist as one analysis module of the sensor inside the scanning laser sensor, can also exist as one analysis module additionally installed in a control system of an automatic device or a remote system, and can also be used as an independent analysis device to perform data receiving, data analysis and control instruction sending work after being respectively connected with the sensor and the automatic device through signals.

With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.

Claims (10)

1. A multiple light curtain detection system, comprising: at least two light curtains covering the monitoring area and an analysis module; the analysis module receives the information of each light curtain and then performs target analysis to form a control instruction;

The target analysis includes: analyzing a target model and analyzing a target motion path; the target model analysis is used for analyzing the outline information of the target according to the received light curtain information and further obtaining virtual model information of the target; the target motion path analysis is used for analyzing the trigger change of the target in the light curtain area according to the received light curtain information and the virtual model information of the target so as to obtain the path of the target passing through the light curtain area and the current position and motion trend of the target in the light curtain area;

the control instruction is triggered to form according to the current position and/or movement trend of the target in the light curtain area.

2. The multiple light curtain detection system of claim 1, wherein the at least two light curtains are formed by one or more laser scanning sensors.

3. The multi-light curtain detection system of claim 2 wherein the laser scanning sensor continuously deflects the laser light emitted in a fixed direction through the mirror surface of the rotating mirror to form a scan sector corresponding to the mirror surface, and wherein one scan sector is a light curtain.

4. A multi-light curtain detection system as recited in claim 3 wherein the rotating mirrors are polygonal mirrors and each mirror is outwardly deflected by a different angle relative to a central axis of rotation of the rotating mirrors such that the sweep sectors formed by each mirror do not overlap each other, thereby providing a plurality of light curtains that do not overlap each other.

5. The multiple light curtain detection system of claim 1, wherein the object model analysis comprises the analysis steps of:

step 1.1, acquiring distance information of a target point detected by each detection light path in each light curtain without a target object, and forming scanning background information A;

Step 1.2, acquiring the distance information of a target point detected by each detection light path in each light curtain when a target object exists, and forming scanning detection information B;

step 1.3, obtaining virtual section contour information C of a target object by comparing the scanning background information A and the scanning detection information B;

Step 1.4, connecting virtual section profile information C obtained by each light curtain to obtain an outer profile fitting model D of the target; and taking the outer contour fitting model D of the target as a virtual model of the target.

6. The multi-light curtain detection system of any one of claims 1 or 5, wherein the target motion path analysis comprises:

step 2.1, recording spatial position information E of each light curtain, recording outline information F formed by the light curtain which is triggered by the target and is closest to the automatic device, and judging the current position G of the target in the light curtain area according to the position of the triggered light curtain of the outline information F in the light curtain area;

Step 2.2, recording a triggering sequence Hn of a target triggering light curtain In a light curtain area and a triggering position In of each light curtain, wherein n is a serial number of a recording point;

and 2.3, judging a movement path J of the target in the light curtain area according to the triggering sequence Hn and the current position G.

7. The multi-light curtain detection system of claim 6, wherein the corresponding control command is formed when a current position G of the target in the light curtain area reaches a preset target area.

8. The multi-light curtain detection system of claim 6, wherein the method of determining the movement path J of the target in the light curtain region according to the trigger sequence Hn and the current position G in step 2.3 comprises:

Step 2.3.1, sequentially connecting the same designated points of the profile information F according to the triggering sequence Hn to form a motion track K;

And 2.3.2, on the motion track K, according to the trigger sequence Hn, the directivity mark is marked by the trigger pointing at the back of the previous trigger to obtain a motion path J.

9. The multiple light curtain detection system of claim 8, wherein the target movement path analysis further comprises a target movement trend analysis, the target movement trend analysis comprising:

step 2.4, obtaining a motion trail K, and making a tangent line L of the motion trail K at the same appointed point of the profile information F of the light curtain triggered by the latest target;

and 2.5, marking the movement trend on the tangent line L according to the direction of the directivity mark to form a target movement trend line M, and marking the target movement trend by the target movement trend line M.

10. The multiple light curtain detection system of claim 9, wherein the target movement trend analysis further comprises:

step 2.6, recording time Nn of each time the target triggers the light curtain in the light curtain area according to a triggering sequence Hn, wherein n is the serial number of the recorded point;

Step 2.7, calculating the speed Qm of the target passing through the adjacent light curtain according to the time difference Om of the target passing through the adjacent light curtain and the distance Pm of the corresponding adjacent light curtain, wherein m is the sequence number of the adjacent light curtain formed according to the motion path J, and qm=Pm/Om;

step 2.8, correcting the Qm by using a difference average S of R data points closest to the Qm to obtain a movement speed trend value Tm of the target in the light curtain area, and marking the movement speed trend value Tm by using a directivity marking direction;

whether a control instruction is formed is judged according to the current position G and the movement speed trend value Tm of the target.