WO2020142962A1

WO2020142962A1 - Temperature data processing method and device, ranging system, and mobile terminal

Info

Publication number: WO2020142962A1
Application number: PCT/CN2019/071050
Authority: WO
Inventors: 王闯; 刘祯
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-01-09
Filing date: 2019-01-09
Publication date: 2020-07-16
Also published as: CN111684235A

Abstract

A temperature data processing method comprises: (S11) acquiring a plurality of temperatures measured by a plurality of temperature sensors (110); (S12) determining whether there is abnormal data among the plurality of temperatures; and (S13) if there is abnormal data among the plurality of temperatures, determining confidence data of the abnormal data according to preset temperature data. The present application also discloses a temperature data processing device (10), a ranging system (100), and a mobile terminal (1000).

Description

Temperature data processing method and device, distance measuring system and mobile terminal

Technical field

The present application relates to the field of temperature data processing, and in particular to a temperature data processing method, a temperature data processing device, a ranging system, and a mobile terminal.

Background technique

Related technologies generally perform scanning and distance measurement through a laser ranging system to obtain three-dimensional information of surrounding scenes to achieve three-dimensional reconstruction. However, in actual use, the performance of many key components inside the laser ranging system will be affected by temperature. Therefore, it is necessary to obtain the current temperature of the key components of the system as accurately as possible, and compensate the working parameters and measurement results to ensure the stable performance of the laser ranging system. The heating model or heat dissipation model of each part in the laser ranging system is very different, so it is generally necessary to use multiple temperature sensors for distributed measurement. Since each sensor has a certain probability of failure, if a temperature sensor suddenly fails during operation, resulting in an error in the collected temperature, then the measures based on the wrong temperature value are likely to bring erroneous compensation, or even damage the device or Ranging system.

Summary of the invention

The embodiments of the present application provide a temperature data processing method, a temperature data processing device, a ranging system, and a mobile terminal.

The temperature data processing method according to the embodiment of the present application includes:

Obtain multiple temperatures detected by multiple temperature sensors;

Determine whether there is abnormal data in multiple of the temperatures;

When the abnormal data exists in a plurality of the temperatures, the confidence data of the abnormal data is determined according to preset temperature data.

The temperature data processing device according to an embodiment of the present application includes a processor and a memory. The memory stores one or more programs. The processor is used to acquire multiple temperatures detected by multiple temperature sensors; Whether there is abnormal data in the temperature; and when there is the abnormal data in a plurality of the temperatures, the confidence data of the abnormal data is determined according to the preset temperature data.

The distance measuring system according to the embodiment of the present application includes a plurality of temperature sensors provided inside the distance measuring system and the aforementioned temperature data processing device.

The mobile terminal according to the embodiment of the present application includes the above-mentioned ranging system.

The temperature data processing method, temperature data processing device, ranging system, and mobile terminal of the embodiments of the present application determine the confidence data of abnormal data according to preset temperature data, while improving the accuracy of identifying abnormal data, the abnormal data may appear Afterwards, the accuracy of temperature compensation is ensured through confidence data.

Additional aspects and advantages of the embodiments of the present application will be partially given in the following description, and some will become apparent from the following description, or be learned through practice of the embodiments of the present application.

BRIEF DESCRIPTION

The above and/or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

FIG. 1 is a schematic flowchart of a temperature data processing method according to an embodiment of the present application;

2 is a block diagram of a distance measuring system according to an embodiment of the present application;

3 is a schematic diagram of the relationship between laser output power and current of a semiconductor laser at different temperatures;

4 is a schematic diagram of the relationship between the signal magnification and temperature of an avalanche photodiode at different temperatures;

5 is a schematic diagram of preset temperature data of a temperature data processing method according to an embodiment of the present application;

6 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

7 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

8 is a schematic flowchart of a temperature data processing method according to still another embodiment of the present application;

9 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

10 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

11 is a schematic flowchart of a temperature data processing method according to still another embodiment of the present application;

12 is a block diagram of a ranging system according to another embodiment of the present application;

13 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

14 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

15 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

16 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

17 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

18 is a schematic flowchart of a temperature data processing method according to still another embodiment of the present application;

19 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

20 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

21 is a schematic flowchart of a temperature data processing method according to still another embodiment of the present application;

22 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

23 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

24 is a schematic flowchart of a temperature data processing method according to still another embodiment of the present application;

25 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

26 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

27 is a schematic flowchart of a temperature data processing method according to still another embodiment of the present application;

FIG. 28 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

29 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

30 is a schematic flowchart of a temperature data processing method according to still another embodiment of the present application;

31 is a schematic flowchart of a temperature data processing method according to another embodiment of the present application;

32 is a schematic structural diagram of a mobile terminal according to an embodiment of the present application.

Symbol description of main components:

Mobile terminal 1000, laser ranging system 100, temperature sensor 110, temperature data processing device 10, memory 101, processor 102, laser transmitter 120, receiver 130, ambient temperature sensor 200.

detailed description

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the drawings, in which the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary, and are only used to explain the present application, and cannot be construed as limiting the present application.

In the description of the present application, it should be understood that the terms “first” and “second” are used for description purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise specifically limited.

In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be fixed connection or detachable Connected, or integrally connected; may be mechanical, electrical, or may communicate with each other; may be directly connected, or may be indirectly connected through an intermediary, may be the connection between two elements or the interaction of two elements relationship. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

The following disclosure provides many different implementations or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit this application. In addition, the present application may repeat reference numerals and/or reference letters in different examples. Such repetition is for simplicity and clarity, and does not itself indicate the relationship between the various embodiments and/or settings discussed. In addition, the present application provides examples of various specific processes and materials, but those of ordinary skill in the art may be aware of the application of other processes and/or the use of other materials.

Please refer to FIG. 1, an embodiment of the present application provides a temperature data processing method. The temperature data processing method according to the embodiment of the present application includes:

Step S11: Acquire multiple temperatures detected by multiple temperature sensors 110;

Step S12: Determine whether there is abnormal data in multiple temperatures;

Step S13: When there is abnormal data in multiple temperatures, the confidence data of the abnormal data is determined according to the preset temperature data.

The temperature data processing method according to the embodiment of the present application may be applied to a system or device that uses multiple temperature sensors to obtain temperature data, such as a distance measuring system 100, a home appliance, and the like.

Please refer to FIG. 2. In the embodiment of the present application, the temperature data processing method is applied to the ranging system 100 as an example for explanation and description. Please note that this does not represent a limitation on the application scenarios of temperature data processing methods.

The distance measuring system 100 of the embodiment of the present application includes a plurality of temperature sensors 110 and a temperature data processing device 10 provided inside the distance measuring system 100.

The temperature data processing device 10 includes a memory 101 and a processor 102. The memory 101 stores one or more programs. The processor 102 is used to execute one or more programs to implement the above temperature data processing method. That is to say, the processor 102 is used to execute step S11: acquiring multiple temperatures detected by multiple temperature sensors 110; step S12: determining whether there is abnormal data among multiple temperatures; step S13: having abnormalities among multiple temperatures For data, the confidence data of abnormal data is determined according to the preset temperature data.

Among them, it can be understood that the abnormal data in the present application is unsure temperature data among multiple temperatures, and the confidence data can be data with higher reliability, that is, the temperature data with confidence.

The temperature data processing method, the temperature data processing device 10 and the ranging system 100 of the embodiment of the present application determine the confidence data of abnormal data according to the preset temperature data, while improving the accuracy of identifying abnormal data, the abnormal data Confidence data ensures the accuracy of temperature compensation.

Specifically, in the example of FIG. 2, the ranging system 100 is a laser ranging system 100, and the laser ranging system 100 includes a laser transmitter 120 and a receiver 130. The laser ranging system 100 is a perception system that uses a laser transmitter 120 to emit laser light and a receiver 130 to receive laser light reflected from the environment, and then performs scanning and distance measurement to obtain three-dimensional information in the surrounding scene. The basic principle of the laser ranging system 100 is to actively emit laser pulses to the detected object, and capture the laser echo signal, and calculate the distance of the measured object according to the time difference between the laser emission and reception; based on the known emission direction of the laser, Obtain the angle information of the measured object; through high frequency transmission and reception, you can obtain the distance and angle information of a large number of detection points, that is, point cloud, based on the point cloud, you can reconstruct the three-dimensional information of the surrounding scene.

In actual use, because the performance of many key components in the laser ranging system 100 will be affected by temperature, it is necessary to obtain the current temperature of the key components of the system as accurately as possible, and compensate for the operating parameters and measurement results to ensure stable system performance .

Devices that may be affected by temperature in the laser ranging system 100 include lasers, receivers, and other electronic devices. It can be understood that the ranging system 100 may also be other types of ranging systems, such as an ultrasonic ranging system. Alternatively, the temperature data processing device 10 can also be applied to other electrical systems. These electrical systems need to perform temperature detection on system components and perform corresponding operations based on the results of temperature detection.

Please refer to FIG. 3, in general, the light output power of the laser emitter will decrease as the temperature increases. This is mainly caused by the following two reasons: first, the threshold current Ith of the laser increases with increasing temperature; second, the external quantum efficiency ηd decreases with increasing temperature. 3 is a schematic diagram of the relationship between the laser output power and current of a semiconductor laser emitter at different temperatures.

Please refer to FIG. 4. Generally speaking, the receiver includes a photodiode (PIN), an avalanche photodiode (APD), a silicon photomultiplier (SiPM), a single photon avalanche diode (Single Photon Avalanche Diode, SPAD ). 4 is a schematic diagram of the relationship between the signal amplification factor and temperature of an APD at different temperatures.

In addition, the performance parameters of electronic devices such as resistors, capacitors, inductors, digital/analog chips are all affected by temperature to varying degrees, so the final received laser echo signal and the calculated distance and direction information also have a certain degree of temperature Coupling relationship. In addition, the power consumption and service life of the system will also be affected by temperature.

The solution of the above problem requires accurate acquisition of the current temperature of the laser ranging system 100 and the initiation of specific processing measures based on the temperature. However, since the heating/heat dissipation models of various parts in the system vary greatly, it is generally necessary to use multiple temperature sensors 110 for distributed measurement. Since each sensor has a certain probability of failure, if a certain temperature sensor 110 suddenly fails during operation, resulting in an error in the collected temperature, the processing measures based on the wrong temperature value are likely to bring erroneous compensation, or even damage the device or Distance measuring system 100.

The temperature data processing method and ranging system 100 of the embodiment of the present application, because the confidence data of the abnormal data is determined according to the preset temperature data, not only can the accuracy of identifying the abnormal data be improved, but also can be guaranteed by the confidence data after the abnormal data occurs The accuracy rate of temperature compensation improves the safety of the ranging system 100 and ensures that the ranging system 100 can continue to work normally after abnormal data occurs.

In step S11, a plurality of temperature sensors 110 may be disposed in the location within the distance measuring system 100 where temperature detection is required. The number of temperature sensors 110 may be 2, 3, 5 or other numbers. Here, the specific position and the number of the temperature sensors 110 are not limited.

In step S12, determining whether there is abnormal data in multiple temperatures refers to whether there is abnormal temperature data in multiple temperatures collected by multiple temperature sensors. When one data in multiple temperatures is abnormal, it can be considered that there is abnormal data in multiple temperatures. It can be understood that when there is abnormal data in multiple temperatures, one or more data in multiple temperatures may be abnormal, or all data in multiple data may be abnormal. In addition, after determining whether there is abnormal data in multiple temperatures, the normal data can be formed into an effective temperature data set, and after the confidence data of the abnormal data is determined, the confidence data can be added to the effective temperature data set.

In step S13, the preset temperature data may be stored in the memory 101 in advance. Further, the preset temperature data can be calibrated by simulating actual use conditions through experiments, and stored in the memory 101 or other storage medium of the ranging system 100 before the ranging system 100 is shipped from the factory.

Please refer to FIG. 5, in one example, the ambient temperature is T0, and there are five temperature sensors 110 in the laser ranging system 100, namely: temperature sensor TS1, temperature sensor TS2, temperature sensor TS3, temperature sensor TS4 and temperature sensor TS5 The temperature values measured by the five temperature sensors 110 are T1, T2, T3, T4, and T5, respectively, and the temperature rise of the i-th sensor is defined as TRi=Ti-T0, where i=1, 2, 3, 4, and 5. The five temperature sensors 110 are respectively distributed in five positions of P1, P2, P3, P4, and P5, and the calorific value of the five positions is P1>P2>P3>P4>P5. Since the above position can be thermally conducted through metal heat conduction or air convection, when the ambient temperature T0 tends to be stable, the temperature of each temperature sensor 110 tends to a state of thermal equilibrium. Through thermodynamic simulation or experimental testing, the historical data of the above five temperature sensors 110 can be recorded in the range from the lowest to the highest temperature allowed by the ranging system 100 to obtain the curve shown in FIG. 5 and the curve shown in FIG. 5 The corresponding data can be used as preset temperature data.

Please refer to FIG. 6. In some embodiments, the temperature data processing method further includes:

Step S16: Perform temperature compensation based on normal data and confidence data in multiple temperatures.

In some embodiments, the processor 102 is used to perform temperature compensation based on normal data and confidence data in multiple temperatures.

In this way, it is possible to ensure that the ranging system 100 continues to work normally after abnormal data occurs. It can be understood that when there is no abnormal data in multiple temperatures, temperature compensation may be performed according to multiple temperatures. When there is abnormal data in multiple temperatures, because the confidence data of the abnormal data is determined according to the preset temperature data in step S13, the confidence data can be used to replace the role of the abnormal data in the process of temperature compensation, that is, Temperature compensation is performed according to normal data and confidence data in multiple temperatures, so as to ensure the normal operation of the ranging system 100.

Specifically, normal data and confidence data may be brought into a preset calculation model to obtain data required for temperature compensation to achieve temperature compensation; or other devices of the ranging system 100 may be adjusted according to the normal data and confidence data. The specific method of temperature compensation based on normal data and confidence data is not limited here.

Please refer to FIG. 7. In some embodiments, before step S16, the temperature data processing method further includes:

Step S14: verify whether the confidence data is normal; and when the confidence data is normal, enter the step of performing temperature compensation according to the normal data and the confidence data in multiple temperatures;

Step S15: When the confidence data is abnormal, perform temperature compensation according to the normal data in multiple temperatures.

In some embodiments, the processor 102 is used to verify whether the confidence data is normal; and to enter the step of performing temperature compensation based on the normal data and the confidence data in multiple temperatures when the confidence data is normal; and When the confidence data is abnormal, temperature compensation is performed based on the normal data in multiple temperatures.

In this way, the reliability of the confidence data is guaranteed, thereby further ensuring the normal progress of the temperature compensation. It can be understood that the confidence data of the abnormal data determined according to the preset temperature data in step S13 may be abnormal due to various reasons such as the loss or failure of the preset temperature data. In the embodiment of the present application, by verifying whether the confidence data is normal, the reliability of the confidence data can be ensured, thereby further ensuring the rationality of the temperature compensation, and thereby preventing the ranging system 100 from performing errors based on abnormal confidence data Reasonable temperature compensation and damage.

Please refer to FIG. 8. In some embodiments, step S14 includes:

Step S142: Determine whether the confidence data is normal according to the normal data in multiple temperatures.

In some embodiments, the processor 102 is used to determine whether the confidence data is normal based on normal data in multiple temperatures.

In this way, the verification of whether the confidence data is normal is achieved. In the embodiment of the present application, the method for determining whether the confidence data is normal is the same as the method for determining whether there is abnormal data in multiple temperatures. It can be understood that the judgment method for verifying whether the confidence data is normal may also be inconsistent with the judgment method for determining whether there is abnormal data in multiple temperatures. Alternatively, the judgment method for verifying whether the confidence data is normal is one or more of the judgment methods for determining whether there is abnormal data in multiple temperatures. The method for determining whether there is abnormal data in multiple temperatures will be described in detail later.

Please refer to FIG. 9. In some embodiments, the temperature data processing method further includes:

Step S17: Adjust the temperature within the detection range of the temperature sensor 110 corresponding to the abnormal data according to the confidence data.

In some embodiments, the processor 102 is configured to adjust the temperature within the detection range of the temperature sensor 110 corresponding to the abnormal data according to the confidence data.

In this way, the application of confidence data is realized. It can be understood that the confidence data may represent the current temperature within the detection range of the temperature sensor 110 corresponding to the abnormal data.

Adjusting the temperature within the detection range of the temperature sensor 110 corresponding to the abnormal data according to the confidence data may refer to determining whether the temperature within the detection range of the temperature sensor 110 corresponding to the abnormal data is within the normal operating temperature range according to the confidence data, at When the confidence data is greater than the expected temperature range for normal operation, the processor 102 may send a heat dissipation control signal to a heat dissipation component (such as a fan) corresponding to the detection range, so that the temperature within the detection range of the temperature sensor 110 corresponding to the abnormal data is reduced to normal operation Temperature range. When the confidence data is less than the expected temperature range for normal operation, the processor 102 may send a heating control signal to the heating component corresponding to the detection range, so that the temperature within the detection range of the temperature sensor 110 corresponding to the abnormal data increases to the temperature for normal operation Interval. In this way, the temperature within the detection range of the temperature sensor 110 corresponding to the abnormal data is adjusted to ensure the normal operation of the ranging system 100.

Referring to FIG. 10, in some embodiments, the preset temperature data includes a first correspondence between the ambient temperature and the standard temperature rise of each temperature sensor 110, and the temperature data processing method includes:

Step S131: Obtain the current ambient temperature;

Step S13 includes:

Step S132: Determine the standard temperature rise of the temperature sensor 110 corresponding to the abnormal data according to the current ambient temperature and the first correspondence;

Step S133: Determine the confidence data according to the current ambient temperature and the standard temperature rise of the temperature sensor 110 corresponding to the abnormal data.

In some embodiments, the processor 102 is used to obtain the current ambient temperature; and to determine the standard temperature rise of the temperature sensor 110 corresponding to the abnormal data according to the current ambient temperature and the first correspondence; and to determine the standard temperature rise of the current ambient temperature and The standard temperature rise of the temperature sensor 110 corresponding to the abnormal data determines the confidence data.

In this way, the confidence data of the abnormal data is determined according to the preset temperature data. Specifically, the first correspondence between the ambient temperature and the standard temperature rise of each temperature sensor 110 may be stored in the memory 101 or other storage medium in the form of a table. In step S132, the first correspondence table of the temperature sensor 110 corresponding to the abnormal data may be searched according to the current ambient temperature, so as to determine the standard temperature rise of the temperature sensor 110 corresponding to the abnormal data.

In addition, the confidence data in step S133 can be implemented by the following formula:

T _x = T ₀ +TR _x ;

Where T ₀ is the ambient temperature, TR _x is the standard temperature rise of the temperature sensor 110 corresponding to the abnormal data, and T _x is the confidence data of the abnormal data.

It can be understood that the difference between the temperature detected by the temperature sensor 110 during normal operation and the ambient temperature is the standard temperature rise of the temperature sensor 110. Therefore, the sum of the standard temperature rise of the temperature sensor 110 corresponding to the current ambient temperature and the abnormal data at the current ambient temperature can be used as the actual temperature that the temperature sensor 110 corresponding to the abnormal data should detect, that is, the confidence data.

In the example shown in FIG. 10, step S131 follows step S12 and before step S132. It can be understood that in other examples, step S131 may be performed before step S11 and may be performed simultaneously with step S11, may be performed after step S11, and step S131 may be performed before step S12 and may be performed simultaneously with step S12. Here, the order of step S131 and other steps is not limited. Please refer to FIGS. 11 and 12. In some embodiments, step S131 includes:

Step S1311: Obtain the current ambient temperature through the ambient temperature sensor 200.

In some embodiments, the processor 102 is used to obtain the current ambient temperature through the ambient temperature sensor 200.

In this way, the current ambient temperature is obtained. Specifically, the ambient temperature sensor 200 is provided outside the ranging system 100. It can be understood that, since the plurality of temperature sensors 110 are all provided inside the ranging system 100, the ambient temperature where the ranging system 100 is located can be directly obtained through the ambient temperature sensor 200 provided outside the ranging system 100 and used as the current Ambient temperature. In this way, the current ambient temperature can be obtained conveniently, quickly and accurately.

In one example, the ambient temperature sensor 200 can continuously acquire the current ambient temperature and send the current ambient temperature to the memory 101 or other storage medium for storage. When the current ambient temperature is required, the processor 102 can directly access the memory 101 or other storage medium Read the current ambient temperature. Even, when the ambient temperature at a certain moment in history needs to be acquired, the processor 102 can also directly read from the memory 101.

In another example, when the current ambient temperature is required, the processor 102 may send a data request signal to the ambient temperature sensor 200. After receiving the data request signal, the ambient temperature sensor 200 directly sends the current ambient temperature to the processor 102, Thus, the processor 102 obtains the current ambient temperature.

Referring to FIG. 13, in some embodiments, the preset temperature data includes the second correspondence between the temperature of each temperature sensor 110 and the standard temperature rise, and step S131 includes:

Step S1312: Acquire the standard temperature rise of the temperature sensor 110 corresponding to the normal data according to the normal data in multiple temperatures and the second corresponding relationship;

Step S1313: Determine the current ambient temperature according to the normal data, the standard temperature rise of the temperature sensor 110 corresponding to the normal data, and the confidence weight of the temperature sensor 110 corresponding to the normal data.

In some embodiments, the processor 102 is configured to acquire the standard temperature rise of the temperature sensor 110 corresponding to the normal data according to the normal data in the plurality of temperatures and the second correspondence; and to use the temperature corresponding to the normal data and the normal data The standard temperature rise of the sensor 110 and the confidence weight of the temperature sensor 110 corresponding to the normal data determine the current ambient temperature.

In this way, the current ambient temperature is obtained. It can be understood that since the plurality of temperature sensors 110 are all provided inside the ranging system 100, it can be considered that the current ambient temperature of the plurality of temperature sensors 110 is the same, that is to say, the current temperature of the temperature sensor 110 corresponding to the normal data The current ambient temperature of the temperature sensor 110 corresponding to the ambient temperature and the abnormal data is the same. Therefore, the current ambient temperature can be determined according to the normal data, the standard temperature rise of the temperature sensor 110 corresponding to the normal data, and the confidence weight of the temperature sensor 110 corresponding to the normal data, and according to the current ambient temperature and abnormal data obtained in this way. The standard temperature rise of the temperature sensor 110 determines the confidence data.

Specifically, the second correspondence between the temperature of each temperature sensor 110 and the standard temperature rise may be stored in the memory 101 or other storage medium in the form of a table, for example. In step S1312, the corresponding second correspondence table may be searched according to the normal data, so as to determine the standard temperature rise of the temperature sensor 110 corresponding to the normal data.

In addition, the ambient temperature of step S1313 can be achieved by the following formula:

T ₀ =∑(T _i -TR _i )*W _i ;

Among them, T ₀ is the ambient temperature, Ti is the current temperature (normal data) of the i-th temperature sensor 110, TR _i is the standard temperature rise of the i-th temperature sensor 110, Wi is the confidence weight of the i-th temperature sensor 110, ∑W _i =1.

Further, in the embodiment of the present application, the confidence weight may be preset according to the definitions of the reliability and accuracy of the plurality of temperature sensors 110 in the ranging system 100. The reliability of the temperature sensor 110 is positively correlated with the confidence weight, and the accuracy of the temperature sensor 110 is positively correlated with the confidence weight. The confidence weight may be stored in the memory 101 or other storage medium in advance.

In an example, there are five temperature sensors 110 in the ranging system 100, namely: temperature sensor TS1, temperature sensor TS2, temperature sensor TS3, temperature sensor TS4, and temperature sensor TS5, wherein the temperature sensor TS5 is abnormal, and five temperature sensors The reliability of 110 from strong to weak is as follows: temperature sensor TS1, temperature sensor TS2, temperature sensor TS3, temperature sensor TS4 and temperature sensor TS5. The confidence weights of the temperature sensor TS1, the temperature sensor TS2, the temperature sensor TS3, and the temperature sensor TS4 are: 0.4, 0.3, 0.2, 0.1 in this order. Since the temperature sensor TS5 is abnormal, the confidence weight of the temperature sensor TS5 is 0. The temperatures measured by the temperature sensor TS1, the temperature sensor TS2, the temperature sensor TS3, and the temperature sensor TS4 are, in order: 10°C, 20°C, 30°C, and 40°C. According to the second corresponding relationship, it is assumed that the standard temperature rises of the temperature sensor TS1, the temperature sensor TS2, the temperature sensor TS3, and the temperature sensor TS4 are sequentially: 0°C, 10°C, 20°C, and 30°C. According to the formula T ₀ =∑(T _i -TR _i )*W _i , the current ambient temperature can be obtained as: T ₀ =(10-0)*0.4+(20-10)*0.3+(30-20)* 0.2+(40-30)*0.1=10. According to the first correspondence, if the standard temperature rise of the temperature sensor TS5 is 5°C when the current ambient temperature is 10°C, the confidence temperature of the temperature sensor TS5 can be obtained according to the formula T _x =T ₀ +TR _x It is: 10+5=15°C.

Please refer to FIG. 14. In some embodiments, the temperature data processing method further includes:

Step S1314: Based on the change of the temperature sensor 110 corresponding to the normal data, the confidence weight of the temperature sensor 110 corresponding to the normal data is adjusted in real time.

In some embodiments, the processor 102 is configured to adjust the confidence weight of the temperature sensor 110 corresponding to the normal data in real time according to the change of the temperature sensor 110 corresponding to the normal data.

In this way, the adjustment of the confidence weight is realized. Specifically, before determining whether there is abnormal data in multiple temperatures, the sum of the confidence weights of the multiple temperature sensors 110 is 1, and after determining the abnormal data, the confidence weight of the temperature sensor 110 corresponding to the abnormal data is assigned to the normal data In the confidence weight of the corresponding temperature sensor 110, the confidence weight of the temperature sensor 110 corresponding to the abnormal data is adjusted to 0, and the sum of the confidence weights of the temperature sensor 110 corresponding to the normal data is 1, thereby real-time adjustment of the normal data correspondence The confidence weight of the temperature sensor 110.

Similarly, when the confidence weight of the temperature sensor 110 corresponding to the abnormal data is allocated to the confidence weight of the temperature sensor 110 corresponding to the normal data, the reliability and accuracy of the temperature sensor 110 corresponding to the normal data may also be allocated.

It can be understood that each time it is determined whether there is abnormal data in multiple temperatures, the temperature sensor 110 corresponding to the abnormal data may be different, that is, the temperature sensor 110 corresponding to the normal data is different, and the temperature sensor 110 corresponding to the normal data The real-time adjustment of the confidence weight of the temperature sensor 110 corresponding to the normal data in real time can ensure that the sum of the confidence weight of the temperature sensor 110 corresponding to the normal data is 1, thereby ensuring the reliability of the obtained current ambient temperature.

Please refer to FIG. 15. In some embodiments, the temperature data processing method further includes:

Step S1315: When heating measures or heat dissipation measures are performed in the detection range of the temperature sensor 110 corresponding to the normal data, the confidence weight of the temperature sensor 110 corresponding to the normal data is adjusted.

In some embodiments, the processor 102 is configured to adjust the confidence weight of the temperature sensor 110 corresponding to the normal data when the heating measure or the heat dissipation measure is performed in the detection range of the temperature sensor 110 corresponding to the normal data.

In this way, the confidence weight of the temperature sensor 110 corresponding to the normal data is adjusted according to the environmental change of the detection range of the temperature sensor 110. It can be understood that, when performing heating measures or heat dissipation measures, the processor 102 will send an enable signal to the corresponding heating component or heat dissipation component. Therefore, for the ranging system 100, is the detection range of the temperature sensor 110 corresponding to the normal data It is known to implement heating measures or heat dissipation measures. Based on this, it can be determined whether the detection range of the temperature sensor 110 corresponding to the normal data performs heating measures or heat dissipation measures, thereby adjusting the confidence weight of the temperature sensor 110 corresponding to the normal data.

In addition, if heating or heat dissipation measures are performed within the detection range of the temperature sensor 110, the temperature law of the temperature sensor 110 may no longer meet the preset temperature data under natural conditions, and its confidence weight should be reduced, thereby reducing the temperature sensor 110 The impact of the relevant data on the calculation.

Of course, when performing heating measures or heat dissipation measures, the temperature data and confidence weights of the plurality of temperature sensors 110 may be stored in the memory 101, and when the detection range of the temperature sensor 110 corresponding to the normal data is determined to execute heating measures or heat dissipation measures, Instead of using the confidence weights corresponding to the preset temperature data under natural conditions, the confidence weights when performing heating measures or heat dissipation measures are used to avoid the inaccurate calculation of the current ambient temperature caused by the opening of the heating measures or heat dissipation measures.

Referring to FIG. 16, in some embodiments, step S12 includes:

Step S121: Determine whether each temperature of the plurality of temperatures is within a preset temperature range;

Step S122: when each temperature is within a preset temperature range, it is determined that there is no abnormal data in multiple temperatures;

Step S123: When at least one temperature is not within the preset temperature range, it is determined that there is abnormal data in multiple temperatures; wherein, the temperature among the multiple temperatures that is not within the preset temperature range is abnormal data.

In some embodiments, the processor 102 is used to determine whether each temperature of the plurality of temperatures is within a preset temperature range; and to determine whether there is no temperature among the plurality of temperatures when each temperature is within the preset temperature range Abnormal data; and for determining that there is abnormal data in multiple temperatures when at least one temperature is not within the preset temperature range; wherein, the temperature outside the preset temperature range among the multiple temperatures is abnormal data.

In this way, it is determined whether there is abnormal data in multiple temperatures. It can be understood that in the ranging system 100, the temperature detected by each temperature sensor 110 in a normal state may fluctuate. In the embodiment of the present application, fluctuations within a preset temperature range are regarded as normal. If the temperature sensor 110 If the detected temperature exceeds its preset temperature range, the temperature sensor 110 may be determined to be abnormal, and the temperature is abnormal data.

Specifically, the preset temperature range can be determined through experiments and stored in the memory 101 or other storage medium. When determining whether each temperature of the plurality of temperatures is within the preset temperature range, the processor 102 can directly access the memory 101 or Read the preset temperature range from other storage media.

Of course, the temperature history curves of multiple temperature sensors 110 as shown in FIG. 5 may also be stored in the memory 101, and the processor 102 processes and analyzes the temperature history curves to obtain a preset temperature range.

In one example, by measuring the historical data of the entire temperature range of the ranging system 100, it can be obtained that the upper and lower temperature limits of each temperature sensor 110 can be reached during normal operation, that is, multiple temperature sensors 110 each preset temperature range. When the ranging system 100 is working, if a certain temperature sensor 110 exceeds its preset temperature range, it is regarded as abnormal.

The preset temperature range of each temperature sensor 110 may be different; some of the plurality of temperature sensors 110 may have the same preset temperature range of the temperature sensor 110, and some may be different; the preset temperature range of the plurality of temperature sensors 110 may all be the same . Here, the relationship between the preset temperature ranges of the plurality of temperature sensors 110 is not limited.

In another example, there are three temperature sensors 110 in the ranging system 100, namely: a temperature sensor TS1, a temperature sensor TS2, and a temperature sensor TS3. The temperature measured by the temperature sensor TS1 is 10°C, the preset temperature range of the temperature sensor TS1 is 8°C-12°C, the temperature measured by the temperature sensor TS1 is within the preset temperature range of the temperature sensor TS1; the temperature measured by the temperature sensor TS2 The temperature is 12℃, the preset temperature range of the temperature sensor TS2 is 10℃-13℃, the temperature measured by the temperature sensor TS2 is within the preset temperature range of the temperature sensor TS2; the temperature measured by the temperature sensor TS3 is 6℃, the temperature The preset temperature range of the sensor TS3 is 0°C-4°C, and the temperature measured by the temperature sensor TS3 is not within the preset temperature range of the temperature sensor TS3. Therefore, since one temperature is not within the preset temperature range, it can be determined that there is abnormal data among multiple temperatures. In addition, the temperature measured by the temperature sensor TS3 may be marked as abnormal data, and the temperature sensor TS3 may be marked as an abnormal sensor.

Related technologies usually have the following solutions to determine whether there is abnormal data in multiple temperatures: design a reasonable temperature range, if the temperature of a sensor exceeds this range, it is considered an error; design a reasonable temperature difference range, if a certain two temperatures If the temperature difference of the sensor 110 exceeds this range, it is regarded as an error. However, it can only be roughly judged whether a certain temperature sensor 110 has an error. For some complex scenarios, such as when heating measures are performed inside the system, a misjudgment may occur. In addition, in this way, it is impossible to continue to ensure the normal operation of the ranging system 100 after the temperature sensor 110 fails.

For this reason, the temperature data processing method according to the embodiment of the present application proposes multiple solutions for determining whether there is abnormal data in multiple temperatures. Next, the multiple schemes for determining whether there is abnormal data in multiple temperatures are explained and explained.

Referring to FIG. 17, in some embodiments, step S12 includes:

Step S124: Calculate the temperature change rate of each temperature sensor 110 according to multiple temperatures;

Step S125: Determine whether there is abnormal data in multiple temperatures according to the temperature change rate.

In some embodiments, the processor 102 is used to calculate the temperature change rate of each temperature sensor 110 according to the plurality of temperatures; and to determine whether there is abnormal data in the plurality of temperatures according to the temperature change rate.

In this way, it is determined whether there is abnormal data in multiple temperatures. It can be understood that the temperature change rate of each temperature sensor 110 may reflect the temperature change of the temperature sensor 110 with time. In the ranging system 100, due to the specific heat capacity, the rate of change of the temperature detected by each temperature sensor 110 in a normal state is stable. When the temperature sensor 110 is damaged, the temperature it detects may increase or decrease sharply, that is, its temperature change rate may change suddenly. Therefore, it is possible to determine whether there is abnormal data in multiple temperatures according to the temperature change rate.

Referring to FIG. 18, in some embodiments, step S125 includes:

Step S1251: determine whether each temperature change rate is within the first preset change range;

Step S1252: when each temperature change rate is within the first preset change range, it is determined that there is no abnormal data in multiple temperatures;

Step S1253: when at least one temperature change rate is not within the first preset change range, it is determined that there is abnormal data in multiple temperatures; wherein, the temperature corresponding to the temperature change rate not within the first preset change range is abnormal data.

In some embodiments, the processor 102 is used to determine whether each temperature change rate is within the first preset change range; and when each temperature change rate is within the first preset change range, determine There is no abnormal data in each temperature; and it is used to determine that there is abnormal data in multiple temperatures when at least one temperature change rate is not within the first preset change range; wherein, the temperature change rate not within the first preset change range corresponds to The temperature is abnormal data.

In this way, it can be determined whether there is abnormal data in multiple temperatures according to the temperature change rate. It can be understood that in the ranging system 100, the temperature change rate detected by each temperature sensor 110 in a normal state may fluctuate. In the embodiment of the present application, the temperature change rate within the first preset change range The fluctuation of is regarded as normal. If the temperature change rate of the temperature sensor 110 exceeds its first preset change range, the temperature sensor 110 may be deemed abnormal, and the temperature that causes the temperature change rate to exceed its first preset change range is abnormal data.

Specifically, the first preset change range may be determined through experiments and stored in the memory 101 or other storage medium. When determining whether each temperature change rate is within the first preset change range, the processor 102 may directly access the memory The first preset change range is read from 101 or other storage media.

Of course, it is also possible to store the historical curve of the temperature change rate under various conditions such as the increase and decrease of the ambient temperature, the internal heating of the system, and the measures for turning on the heat dissipation in the memory 101 or other storage media, and use the processor 102 to record these historical data Perform processing and analysis to obtain the first preset change range.

In one example, by analyzing the historical curve of the temperature change rate under various conditions such as the increase and decrease of the ambient temperature, the internal heating of the system, and the opening of heat dissipation measures, the upper and lower limits of the temperature change rate of each temperature sensor 110 can be obtained, that is Is its first preset change range. During the operation of the system, if the change rate of a certain temperature sensor 110 exceeds its first preset change range, the temperature sensor 110 may be determined to be abnormal, and the temperature that causes the temperature change rate to be out of its first preset change range is abnormal data.

Similarly, the first preset change range of each temperature sensor 110 may be different; some of the plurality of temperature sensors 110 may have the same first preset change range of the temperature sensor 110, and some may be different; The first preset change range may all be the same. Here, the relationship between the first preset change ranges of the plurality of temperature sensors 110 is not limited.

Referring to FIG. 19, in some embodiments, step S12 includes:

Step S126: Calculate the first difference between any two of the multiple temperatures;

Step S127: Determine whether there is abnormal data in multiple temperatures according to the first difference.

In some embodiments, the processor 102 is used to calculate a first difference between any two temperatures in the plurality of temperatures; and used to determine whether there is abnormal data in the plurality of temperatures according to the first difference.

In this way, it is determined whether there is abnormal data in multiple temperatures. It can be understood that in the ranging system 100, the temperature measured by each temperature sensor 110 in the normal state at the same time is stable, therefore, in the normal state, any two temperature sensors 110 of the plurality of temperature sensors 110 are at the same time The first difference between the detected temperatures should also be stable. Therefore, whether there is abnormal data in the plurality of temperatures can be determined by the first difference in the temperature detected by any two temperature sensors 110 in the plurality of temperature sensors 110 at the same time.

Referring to FIG. 20, in some embodiments, step S127 includes:

Step S1271: Determine whether the first difference is within the first preset difference range;

Step S1272: when the first difference is within the first preset difference range, determine that the two temperatures used to calculate the first difference are not abnormal data;

Step S1273: When the first difference is not within the first preset difference range, it is determined that there is abnormal data in multiple temperatures.

In some embodiments, the processor 102 is used to determine whether the first difference is within the first preset difference range; and used to determine to calculate the first difference when the first difference is within the first preset difference range The two temperatures of are not abnormal data; and used to determine that there is abnormal data in multiple temperatures when the first difference is not within the range of the first preset difference.

In this way, it is realized whether there is abnormal data in multiple temperatures according to the first difference. It can be understood that in the ranging system 100, under normal conditions, the first difference between the two temperature sensors 110 may fluctuate. In the embodiment of the present application, the fluctuation of the first difference within the first preset difference range is regarded as normal. If the first difference between two temperature sensors 110 exceeds its first preset difference range, it can be determined that there is abnormal data in multiple temperatures.

Specifically, the first preset difference range may be determined through experiments and stored in the memory 101 or other storage medium. When determining whether each first difference is within the first preset difference range, the processor 102 may directly access the memory The first preset difference range is read from 101 or other storage media.

Further, the first difference between the two temperatures may refer to the temperature difference between the two temperatures. In one example, there are five temperature sensors 110 in the ranging system 100. By analyzing the temperature difference between every two temperature sensors 110 of the five temperature sensors 110 in the entire temperature range of the ranging system 100, five temperatures can be obtained The upper and lower limits of the temperature difference between every two temperature sensors 110 in the sensor 110 during normal operation are also the first preset difference range. When the ranging system 100 is in operation, if the temperature difference between two temperature sensors 110 exceeds the first preset difference range of the two temperature sensors 110, it is determined that there is abnormal data in multiple temperatures.

Similarly, the first preset difference range of each two temperature sensors 110 may be different; in the first preset difference range of each two temperature sensors 110, some of the first preset difference ranges may be the same, and some may be different ; The first preset difference range of each two temperature sensors 110 may all be the same. Here, the relationship between the first preset difference ranges of every two temperature sensors 110 is not limited.

In some embodiments, step S1273 includes:

Use the two temperatures used to calculate the first difference as the two first pending data;

When the first difference between one of the first to-be-determined data and at least one of the plurality of temperatures is within the first preset difference range, the other first to-be-determined data is determined to be abnormal data.

In some embodiments, the processor 102 is configured to use the two temperatures used to calculate the first difference as two first to-be-determined data; and to use one of the first to-be-determined data and at least one temperature among the plurality of temperatures When the first difference between them is within the first preset difference range, another first pending data is determined as abnormal data.

As such, when the first difference is not within the first preset difference range, abnormal data in multiple temperatures is determined. It can be understood that, generally, among the plurality of temperature sensors 110, it is rare that the plurality of temperature sensors 110 are abnormal at the same time, that is to say, when the abnormality judgment is performed, the number of abnormal temperature sensors 110 is usually higher than that of the normal temperature sensors 110. The number is small. The difference between the normal data and the normal data is within the first preset difference range.

In addition, when the first difference is not within the range of the first preset difference, it may be that both temperatures used to calculate the first difference are abnormal data, or one of the two temperatures used to calculate the difference is abnormal data .

Therefore, when the difference between one of the first to-be-determined data and at least one of the plurality of temperatures is within the first preset difference range, it may be presumed that the other first to-be-determined data is determined to be abnormal data.

In one example, there are five temperature sensors 110 in the laser ranging system 100, namely: a temperature sensor TS1, a temperature sensor TS2, a temperature sensor TS3, a temperature sensor TS4, and a temperature sensor TS5, wherein the temperature sensor TS1 and the temperature sensor TS2 The first difference between the detected temperature is 5°C, and the first preset difference range of the temperature sensor TS1 and the temperature sensor TS2 is 1°C-4°C, the first between the temperature detected by the temperature sensor TS1 and the temperature sensor TS2 The difference is not within the range of the first preset difference, and it can be determined that there is abnormal data in multiple temperatures.

The first difference between the temperatures detected by the temperature sensor TS1 and the temperature sensor TS3, the first difference between the temperatures detected by the temperature sensor TS1 and the temperature sensor TS4, and the first difference between the temperatures detected by the temperature sensor TS1 and the temperature sensor TS5 The difference is not within the range of the corresponding first preset difference.

Meanwhile, the first difference between the temperatures detected by the temperature sensor TS2 and the temperature sensor TS3, the first difference between the temperatures detected by the temperature sensor TS2 and the temperature sensor TS4, and the first difference between the temperatures detected by the temperature sensor TS2 and the temperature sensor TS5 A difference is within the corresponding first preset difference range.

Then it can be determined that the temperature sensor TS1 is abnormal, and the temperature measured by the temperature sensor TS1 is abnormal data.

Referring to FIG. 21, in some embodiments, step S12 includes:

Step S128: Determine the temperature rise data of each temperature sensor 110 according to multiple temperatures;

Step S129: Determine whether there is abnormal data in multiple temperatures according to the temperature rise data.

In some embodiments, the processor 102 is used to determine the temperature rise data of each temperature sensor 110 according to the plurality of temperatures; and used to determine whether there is abnormal data in the plurality of temperatures according to the temperature rise data.

In this way, it is determined whether there is abnormal data in multiple temperatures. As mentioned above, the temperature rise is the difference between the temperature detected by the temperature sensor 110 and the ambient temperature. It can be understood that when the temperature detected by the temperature sensor 110 is abnormal, the difference between the temperature detected by the temperature sensor 110 and the ambient temperature will also be abnormal. Therefore, whether abnormal data exists in multiple temperatures may be determined according to the temperature rise data.

In some embodiments, the temperature rise data includes the current actual temperature rise of each temperature sensor 110, or the current actual temperature rise and standard temperature rise of each temperature sensor 110.

That is to say, whether there is abnormal data in multiple temperatures can be determined according to the current actual temperature rise of each temperature sensor 110, or whether multiple temperatures can be determined according to the current actual temperature rise and standard temperature rise of each temperature sensor 110 There is abnormal data.

Referring to FIG. 22, in some embodiments, step S128 includes:

Step S1281: Obtain the current ambient temperature through the ambient temperature sensor 200;

Step S1282: determine the actual temperature rise of each temperature sensor 110 according to multiple temperatures and the current ambient temperature, and determine the standard temperature rise of each temperature sensor 110 at the current ambient temperature according to the preset temperature data, the preset temperature data including the environment The first correspondence between the temperature and the standard temperature rise of each temperature sensor 110;

Step S129 includes:

Step S1291: Determine whether there is abnormal data in multiple temperatures according to the difference between the actual temperature rise and the standard temperature rise.

In some embodiments, the processor 102 is used to obtain the current ambient temperature through the ambient temperature sensor 200; and used to determine the actual temperature rise of each temperature sensor 110 according to multiple temperatures and the current ambient temperature, and according to the preset temperature data Determine the standard temperature rise of each temperature sensor 110 at the current ambient temperature, the preset temperature data includes the first correspondence between the ambient temperature and the standard temperature rise of each temperature sensor 110; and used to determine the actual temperature rise and the standard temperature rise The gap determines whether there is abnormal data in multiple temperatures.

In this way, it can be determined whether there is abnormal data in multiple temperatures according to the current actual temperature rise of each temperature sensor 110 and the standard temperature rise. Specifically, the first correspondence between the ambient temperature and the standard temperature rise of each temperature sensor 110 may be stored in the memory 101 in the form of a table, for example. When determining the standard temperature rise of each temperature sensor 110 at the current ambient temperature according to the preset temperature data, the first correspondence table of each temperature sensor 110 may be searched according to the current ambient temperature, thereby determining that each temperature sensor 110 is currently at Standard temperature rise at ambient temperature.

Of course, according to the reliability of multiple temperature sensors 110, the most reliable temperature sensor 110 can be used as the main control temperature sensor, and the temperature detected by the main control temperature sensor can be used as the main control temperature, and according to the main control temperature and the preset temperature The data finds the standard temperature rise of each other temperature sensor 110. It can be understood that, in this case, the preset temperature data may include the correspondence between the master temperature and the standard temperature rise of each other temperature sensor 110.

It can be understood that under normal conditions, the actual temperature rise of each temperature sensor 110 in the current environment is stable. Therefore, in a normal state, the difference between the actual temperature rise of each temperature sensor 110 and the standard temperature rise should also be stable. Based on this, it can be determined whether there is abnormal data in multiple temperatures by the difference between the actual temperature rise and the standard temperature rise.

In some embodiments, the temperature data processing method is used in the ranging system 100, a plurality of temperature sensors 110 are disposed inside the ranging system 100, and the ambient temperature sensor 200 is disposed outside the ranging system 100.

It can be understood that, since multiple temperature sensors 110 are provided inside the ranging system 100, and the ambient temperature sensor 200 is provided outside the ranging system 100, the temperature of the current environment of the ranging system 100 can be directly obtained through the ambient temperature sensor 200 And use it as the current ambient temperature. In this way, the current ambient temperature can be obtained conveniently, quickly and accurately.

Referring to FIG. 23, in some embodiments, step S1291 includes:

Step S1292: Determine whether the gap is within the preset gap range;

Step S1293: When each gap is within the preset gap range, it is determined that there is no abnormal data in multiple temperatures;

Step S1294: When at least one gap is not within the preset gap range, it is determined that there is abnormal data in multiple temperatures; wherein, the temperature corresponding to the gap that is not within the gap range is abnormal data.

In some embodiments, the processor 102 is used to determine whether the gap is within the preset gap range; and to determine that there is no abnormal data in multiple temperatures when each gap is within the preset gap range; and When at least one gap is not within the preset gap range, it is determined that there is abnormal data in multiple temperatures; wherein, the temperature corresponding to the gap that is not within the gap range is abnormal data.

In this way, it is possible to determine whether there is abnormal data in multiple temperatures according to the difference between the actual temperature rise and the standard temperature rise. It can be understood that in the ranging system 100, in a normal state, the difference between the actual temperature rise of each temperature sensor 110 and the standard temperature rise may fluctuate. In the embodiment of the present application, the gap within the preset gap range will fluctuate. Treat as normal. If the difference between the actual temperature rise of a certain temperature sensor 110 and the standard temperature rise exceeds its preset difference range, it can be determined that the temperature sensor 110 is abnormal, and the temperature measured by the temperature sensor 110 is abnormal data.

Similarly, the preset gap range may be determined through experimentation and stored in the memory 101. When determining whether the gap is within the preset gap range, the processor 102 may directly read the preset gap range from the memory 101.

Of course, the temperature history curves of multiple temperature sensors 110 as shown in FIG. 5 may also be stored in the memory 101, and the processor 102 processes and analyzes the temperature history curves to obtain a preset gap range.

Referring to FIG. 24, in some embodiments, step S1291 includes:

Step S1295: Calculate the temperature rise rate of each temperature sensor 110 according to the gap;

Step S1296: Determine whether there is abnormal data in multiple temperatures according to the temperature rise change rate.

In some embodiments, the processor 102 is used to calculate the rate of change of temperature rise of each temperature sensor 110 according to the gap; and to determine whether there is abnormal data in multiple temperatures according to the rate of change of temperature rise.

In this way, it is possible to determine whether there is abnormal data in multiple temperatures according to the difference between the actual temperature rise and the standard temperature rise. It can be understood that the rate of change of the temperature rise of each temperature sensor 110 may reflect the change of the temperature rise of the temperature sensor 110 with time. In the ranging system 100, due to the specific heat capacity, the change rate of the temperature rise detected by each temperature sensor 110 in a normal state is generally stable. When the temperature sensor 110 is suddenly damaged, the temperature detected by it will suddenly increase or decrease, and its rate of change in temperature rise will also change suddenly. Therefore, it is possible to determine whether there is abnormal data in multiple temperatures according to the rate of change in temperature rise.

Referring to FIG. 25, in some embodiments, step S1296 includes:

Step S1297: Determine whether each temperature rise change rate is within the second preset change range;

Step S1298: When each temperature rise change rate is within the second preset change range, it is determined that there is no abnormal data in multiple temperatures;

Step S1299: when at least one temperature rise change rate is not within the second preset change range, it is determined that there is abnormal data in multiple temperatures; wherein, the temperature corresponding to the temperature rise change rate not within the second preset change range is abnormal data .

In some embodiments, the processor 102 is used to determine whether each temperature rise rate of change is within a second preset change range; and when each temperature rise rate of change is within a second preset change range, Determining that there is no abnormal data in multiple temperatures; and for determining that there is abnormal data in multiple temperatures when at least one rate of change in temperature rise is not within the second preset change range; wherein, the temperature is not within the second preset change range The temperature corresponding to the rate of change is abnormal data.

In this way, it is realized whether abnormal data is present in a plurality of temperatures according to the temperature rise change rate. It can be understood that, in the ranging system 100, the temperature rise rate of change of the temperature detected by each temperature sensor 110 in a normal state may fluctuate. In the embodiment of the present application, the temperature within the second preset change range The fluctuation of the temperature change rate is regarded as normal. If the temperature change rate of the temperature sensor 110 exceeds its second preset change range, the temperature sensor 110 may be deemed abnormal, causing the temperature change rate to exceed the second preset change range. Temperature is abnormal data.

Specifically, the second preset change range may be determined through experimentation and stored in the memory 101. When determining whether each temperature rise change rate is within the second preset change range, the processor 102 may directly read from the memory 101 Take the second preset change range.

Similarly, the second preset change range of each temperature sensor 110 may be different, and some of the multiple temperature sensors 110 may have the same second preset change range of the temperature sensor 110, and the second preset change range of the multiple temperature sensors 110 The range of variation can all be the same. Here, the relationship between the second preset change ranges of the plurality of temperature sensors 110 is not limited.

Referring to FIG. 26, in some embodiments, step S12 includes:

Step S12a: Calculate the second difference of any two of the multiple gaps;

Step S12b: Determine whether there is abnormal data in multiple temperatures according to the second difference.

In some embodiments, the processor 102 is used to calculate the second difference between any two of the multiple gaps; and to determine whether there is abnormal data in the multiple temperatures according to the second difference.

In this way, it is determined whether there is abnormal data in multiple temperatures. It can be understood that in the ranging system 100, under normal conditions, the temperature rise of each temperature sensor 110 in the same period is stable, then the difference between the actual temperature rise and the standard temperature rise of each temperature sensor 110 in the same period is also stable. Therefore, in the normal state, the second difference of the gap between any two temperature sensors 110 among the plurality of temperature sensors 110 should also be stable. Therefore, it is possible to determine whether there is abnormal data in a plurality of temperatures based on the second difference.

Referring to FIG. 27, in some embodiments, step S12b includes:

Step S12b1: determine whether the second difference is within the second preset difference range;

Step S12b2: when the second difference is within the second preset difference range, determine that the temperature corresponding to the two differences used to calculate the second difference is not abnormal data;

Step S12b3: When the second difference is not within the second preset difference range, it is determined that there is abnormal data in multiple temperatures.

In some embodiments, the processor 102 is used to determine whether the second difference is within the second preset difference range; and used to determine the second difference when the second difference is within the second preset difference range The temperatures corresponding to the two gaps of are not abnormal data; and used to determine that there is abnormal data in multiple temperatures when the second difference is not within the second preset difference range.

In this way, it is realized whether there is abnormal data in multiple temperatures according to the second difference. It can be understood that in the ranging system 100, under normal conditions, the second difference between the two temperature sensors 110 may fluctuate. In the embodiment of the present application, the fluctuation of the second difference within the second preset difference range is regarded as normal. If the second difference between two temperature sensors 110 exceeds its second preset difference range, it can be determined that there is abnormal data in multiple temperatures.

Specifically, the second preset difference range may be determined through experimentation and stored in the memory 101. When determining whether the second difference is within the second preset difference range, the processor 102 may directly read the second difference from the memory 101 Preset difference range.

Further, the second difference between the two temperatures may refer to the difference between the difference between the actual temperature rise of the two temperature sensors and the standard temperature rise.

In some embodiments, step S12b3 includes:

Use the two gaps used to calculate the second difference as two second pending data;

When the second difference between one of the second to-be-determined data and at least one of the plurality of gaps is within the second preset difference range, the temperature corresponding to the other second to-be-determined data is determined to be abnormal data.

In some embodiments, the processor 102 is configured to use the two gaps used to calculate the second difference as two second pending data; and to use one of the second pending data and at least one gap among the multiple gaps When the second difference between them is within the second preset difference range, the temperature corresponding to another second to-be-determined data is determined as abnormal data.

In this way, when the second difference is not within the range of the second preset difference, abnormal data in multiple temperatures is determined. The method for determining abnormal data in multiple temperatures when the second difference is not within the second preset difference range is similar to the method for determining abnormal data in multiple temperatures when the first difference is not within the first preset difference range, is To avoid redundancy, I will not repeat them here.

Please refer to FIG. 28. In some embodiments, the temperature data processing method includes:

Step S18: When there is abnormal data in multiple temperatures, the abnormal data is specifically marked.

In some embodiments, the processor 102 is used to mark the abnormal data when there is abnormal data in multiple temperatures.

In this way, mark abnormal data. Specifically, each temperature may be provided with a flag bit, and each temperature defaults to normal. When there is abnormal data in multiple temperatures, the flag position of the abnormal data is abnormal.

In one example, the flag bit of each temperature is 1 by default to indicate that the temperature is normal. When there is abnormal data in multiple temperatures, the flag position of the abnormal data is 0 to indicate that the temperature is abnormal data.

Of course, the flag bit of each temperature may be set to 0 by default to indicate that the temperature is normal. When there is abnormal data in multiple temperatures, the flag position of the abnormal data is set to 1 to indicate that the temperature is abnormal data. The specific form of marking abnormal data is not limited here.

Similarly, when there is abnormal data in multiple temperatures, the temperature sensor 110 corresponding to the abnormal data may also be specifically marked. Specifically, each temperature sensor 110 may be provided with an identifier. By default, each temperature sensor 110 is normal. When there is abnormal data in multiple temperatures, the identifier of the temperature sensor 110 corresponding to the abnormal data is set to abnormal.

In an example, the identifier of each temperature sensor 110 is “correct” by default to indicate that the temperature sensor 110 is normal. When there is abnormal data in multiple temperatures, the identifier of the temperature sensor 110 corresponding to the abnormal data is set to “ "error" to indicate that the temperature sensor 110 is abnormal.

Referring to FIG. 29, in some embodiments, the temperature data processing method further includes:

Step S19: When there is abnormal data in multiple temperatures, a warning message is issued.

In some embodiments, the processor 102 is used to issue a warning message when there is abnormal data in multiple temperatures.

In this way, the prompt of abnormal data in multiple temperatures is realized. Specifically, when there is abnormal data in multiple temperatures, the processor 102 may issue a warning message to the relevant component in the ranging system 100. After receiving the warning information, the relevant component may take corresponding measures. Of course, the processor 102 can also send the warning information to the server, so that the server can timely understand and record the temperature data in the ranging system 100. The target of sending warning information is not limited here.

Note that in the example shown in FIG. 29, step S19 follows step S13. It can be understood that, in other examples, step S19 may be performed before step S13, or may be performed simultaneously with step S13. The order relationship between step S19 and step S13 is not limited here.

That is to say, when it is determined that there is abnormal data in multiple temperatures, the confidence data of the abnormal data can be determined according to the preset temperature data before the warning message is issued; the warning message can also be issued first, and then the abnormality is determined according to the preset temperature data Confidence data for data; it is also possible to determine the confidence data for abnormal data based on preset temperature data while issuing a warning message.

Referring to FIG. 30, in some embodiments, the temperature data processing method further includes:

Step S20: Determine whether the detection data of the temperature sensor 110 corresponding to the abnormal data within the preset time period returns to normal;

Step S21: When it is detected that the data does not return to normal within a preset time period, the temperature sensor 110 corresponding to the abnormal data is turned off;

Step S22: When the detected data returns to normal within a preset time period, a warning clearing message is issued.

In some embodiments, the processor 102 is used to determine whether the detection data of the temperature sensor 110 corresponding to the abnormal data within a preset time period returns to normal; and used to turn off the abnormal data correspondence when the detection data does not return to normal within the preset time period. Temperature sensor 110; and used to detect when the data returns to normal within a preset period of time, issue a warning to clear the message.

In this way, the temperature sensor 110 whose detected temperature continues to be abnormal can be turned off, and after the abnormal temperature sensor 110 detects a normal temperature, a warning is cleared. It can be understood that when the detection data does not return to normal within the preset time period, it can be presumed that the temperature abnormality detected by the temperature sensor 110 corresponding to the detection data is not accidental and is not suitable for continuing to work. Therefore, the temperature sensor 110 corresponding to the abnormal data can be turned off, thereby avoiding damage to the ranging system 100. When the detected data returns to normal within a preset time period, it can be presumed that the temperature abnormality detected by the temperature sensor 110 corresponding to the detected data is accidental, and it can continue to work after returning to normal.

Similarly, the processor 102 may send the warning clearing information to relevant components and/or servers in the ranging system 100. Further, the processor 102 may send the warning clearing information to the object that has received the corresponding warning information.

Referring to FIG. 31, in some embodiments, the temperature data processing method further includes:

Step S23: When it is detected that the data does not return to normal within a preset time period, an error message for the temperature sensor 110 corresponding to the abnormal data is issued.

In some embodiments, the processor 102 is configured to issue an error message for the temperature sensor 110 corresponding to the abnormal data when it is detected that the data does not return to normal within a preset time period.

In this way, it is realized that the temperature sensor 110 corresponding to the abnormal data is wrong. Similarly, the processor 102 may send the error information to the relevant components and/or servers in the ranging system 100 so that the relevant components and/or servers in the ranging system 100 are aware of the current temperature sensors 110 in the ranging system 100 status.

Note that in the example shown in FIG. 31, step S23 follows step S21. It can be understood that, in other examples, step S23 may precede step S21, or may be performed simultaneously with step S21. The order relationship between step S23 and step S21 is not limited here.

That is to say, when the detected data does not return to normal within the preset time period, you can first turn off the temperature sensor 110 corresponding to the abnormal data, and then send out the error message for the temperature sensor 110 corresponding to the abnormal data; Error information of the temperature sensor 110, and then turn off the temperature sensor 110 corresponding to the abnormal data; while sending out the error information for the temperature sensor 110 corresponding to the abnormal data, the temperature sensor 110 corresponding to the abnormal data can be turned off.

Referring to FIG. 32, an embodiment of the present application provides a mobile terminal 1000. The mobile terminal 1000 according to the embodiment of the present application includes the above-mentioned ranging system 100.

In some embodiments, the mobile terminal 1000 includes a drone or a robot. The mobile terminal 1000 shown in FIG. 32 is a mobile robot. It can be understood that, in other embodiments, the mobile terminal 1000 may be other mobile terminals such as a mobile cart.

In addition, the mobile terminal 1000 may be a product that performs ranging based on lidar, laser ranging, or other time-of-flight (TOF) technology.

In summary, the temperature data processing method, the temperature data processing device 10, the ranging system 100, and the mobile terminal 1000 of the embodiment of the present application propose a solution for the ranging system 100 with built-in multi-channel temperature sensor 110 for temperature measurement and accuracy compensation. A temperature sensor abnormality detection and control scheme can make the ranging system work normally as much as possible when one or more signals are abnormal. Specifically, multiple strategies are used to determine whether the temperature sensor 110 is abnormal, and after a certain temperature sensor 110 fails, the confidence temperature is calculated based on the temperature of other temperature sensors 110 instead of the error value, which can more accurately identify the abnormality of the temperature sensor 110 After the abnormality occurs, the normal working state can be maintained as much as possible, thereby improving the reliability of the ranging system 100, and also avoiding the erroneous temperature compensation measures caused by the abnormality of the temperature sensor 110, damaging the device or the ranging system 100.

In the description of this specification, the descriptions referring to the terms "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" are meant to be combined with the The specific features, structures, materials, or characteristics described in the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic expression of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Any process or method description in a flowchart or otherwise described herein may be understood as representing a module, segment, or portion of code that includes one or more executable instructions for performing specific logical functions or steps of a process , And the scope of the preferred embodiment of the present application includes additional executions, where the order may not be shown or discussed, including performing the functions in a substantially simultaneous manner or in reverse order according to the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present application belong.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, can be regarded as a sequenced list of executable instructions for performing logical functions, and can be specifically executed in any computer-readable medium, For use by or in combination with instruction execution systems, devices or equipment (such as computer-based systems, systems including processors, or other systems that can fetch and execute instructions from instruction execution systems, devices or equipment) Or equipment. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. More specific examples of computer-readable media (non-exhaustive list) include the following: electrical connections (electronic devices) with one or more wires, portable computer cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other appropriate if necessary Process to obtain the program electronically and then store it in computer memory.

It should be understood that each part of the present application may be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods may be performed using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if it is executed by hardware, as in another embodiment, it can be executed by any one or a combination of the following techniques known in the art: a logic gate circuit for performing a logic function on a data signal Discrete logic circuits, dedicated integrated circuits with appropriate combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

Those of ordinary skill in the art can understand that performing all or part of the steps carried by the above-described implementation method can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program is being executed , Including one or a combination of steps of the method embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The above-mentioned integrated modules may be executed in the form of hardware or software function modules. If the integrated module is executed in the form of a software function module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk. Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be construed as limitations on the present application. Those of ordinary skill in the art can The embodiments are changed, modified, replaced, and modified.

Claims

A temperature data processing method, characterized in that the temperature data processing method includes:

Obtain multiple temperatures detected by multiple temperature sensors;

Determine whether there is abnormal data in multiple of the temperatures;

When the abnormal data exists in a plurality of the temperatures, the confidence data of the abnormal data is determined according to preset temperature data.
The temperature data processing method according to claim 1, wherein the temperature data processing method further comprises:

Perform temperature compensation according to the normal data and the confidence data in the plurality of temperatures.
The temperature data processing method according to claim 2, wherein before the temperature compensation is performed according to the normal data and the confidence data in the plurality of temperatures, the temperature data processing method further comprises:

Verify whether the confidence data is normal;

When the confidence data is normal, enter the step of performing temperature compensation based on the normal data and the confidence data in the plurality of temperatures;

When the confidence data is abnormal, temperature compensation is performed according to the normal data in the plurality of temperatures.
The temperature data processing method according to claim 3, wherein the verifying whether the confidence data is normal includes:

It is determined whether the confidence data is normal based on the normal data in the plurality of temperatures.
The temperature data processing method according to claim 1, wherein the temperature data processing method further comprises:

Adjusting the temperature within the detection range of the temperature sensor corresponding to the abnormal data according to the confidence data.
The temperature data processing method according to claim 1, wherein the preset temperature data includes a first correspondence between an ambient temperature and a standard temperature rise of each temperature sensor, and the temperature data processing method further includes :

Get the current ambient temperature;

The determining the confidence data of the abnormal data according to the preset temperature data includes:

Determine the standard temperature rise of the temperature sensor corresponding to the abnormal data according to the current ambient temperature and the first correspondence;

The confidence data is determined according to the current ambient temperature and the standard temperature rise of the temperature sensor corresponding to the abnormal data.
The temperature data processing method according to claim 6, wherein obtaining the current ambient temperature includes:

Obtain the current ambient temperature through an ambient temperature sensor.
The temperature data processing method according to claim 6, wherein the preset temperature data includes a second correspondence between the temperature of each temperature sensor and a standard temperature rise, and obtaining the current ambient temperature includes:

Acquiring the standard temperature rise of the temperature sensor corresponding to the normal data according to multiple normal data in the temperature and the second correspondence;

The current ambient temperature is determined according to the normal data, the standard temperature rise of the temperature sensor corresponding to the normal data, and the confidence weight of the temperature sensor corresponding to the normal data.
The temperature data processing method according to claim 8, wherein the temperature data processing method further comprises:

According to the change of the temperature sensor corresponding to the normal data, the confidence weight of the temperature sensor corresponding to the normal data is adjusted in real time.
The temperature data processing method according to claim 8, wherein the temperature data processing method further comprises:

When heating measures or heat dissipation measures are performed in the detection range of the temperature sensor corresponding to the normal data, the confidence weight of the temperature sensor corresponding to the normal data is adjusted.
The temperature data processing method according to claim 1, wherein the determining whether there is abnormal data in the plurality of temperatures includes:

Determining whether each of the plurality of temperatures is within a preset temperature range;

When each of the temperatures is within the preset temperature range, it is determined that there is no abnormal data in the plurality of temperatures;

When at least one of the temperatures is not within the preset temperature range, it is determined that the abnormal data exists in a plurality of the temperatures;

Among the plurality of temperatures, temperatures that are not within the preset temperature range are the abnormal data.
The temperature data processing method according to claim 1, wherein the determining whether there is abnormal data in the plurality of temperatures includes:

Calculating the temperature change rate of each temperature sensor according to the plurality of temperatures;

It is determined whether there is abnormal data in the plurality of temperatures according to the temperature change rate.
The temperature data processing method according to claim 12, wherein the determining whether there is abnormal data in the plurality of temperatures according to the temperature change rate includes:

Determine whether each of the temperature change rates is within a first preset change range;

When each of the temperature change rates is within the first preset change range, it is determined that there is no abnormal data in the plurality of temperatures;

When at least one of the temperature change rates is not within the first preset change range, it is determined that the abnormal data exists in a plurality of the temperatures;

Wherein, the temperature corresponding to the temperature change rate not within the first preset change range is the abnormal data.
The temperature data processing method according to claim 1, wherein the determining whether there is abnormal data in the plurality of temperatures includes:

Calculating the first difference between any two of the plurality of temperatures;

According to the first difference, it is determined whether there is abnormal data in the plurality of temperatures.
The temperature data processing method according to claim 14, wherein the determining whether there is abnormal data in the plurality of temperatures according to the first difference includes:

Determine whether the first difference is within a first preset difference range;

When the first difference is within the first preset difference range, it is determined that the two temperatures used to calculate the first difference are not the abnormal data;

When the first difference is not within the range of the first preset difference, it is determined that the abnormal data exists in the plurality of temperatures.
The temperature data processing method according to claim 15, wherein the determining that there is abnormal data in the plurality of temperatures includes:

Using the two temperatures used to calculate the first difference as two first to-be-determined data;

When the difference between one of the first to-be-determined data and at least one of the plurality of temperatures is within the first preset difference range, the other of the first to-be-determined data is determined to be the abnormality data.
The temperature data processing method according to claim 1, wherein determining whether there is abnormal data in the plurality of temperatures includes:

Determining the temperature rise data of each temperature sensor according to the plurality of temperatures;

According to the temperature rise data, it is determined whether there is abnormal data in the plurality of temperatures.
The temperature data processing method according to claim 17, wherein the temperature rise data includes a current actual temperature rise of each temperature sensor, or a current actual temperature rise and a standard temperature rise of each temperature sensor .
The temperature data processing method according to claim 18, wherein the determining the temperature rise data of each temperature sensor according to the plurality of temperatures includes:

Obtain the current ambient temperature through the ambient temperature sensor;

Determine the actual temperature rise of each temperature sensor according to the plurality of temperatures and the current ambient temperature, and determine the standard temperature rise of each temperature sensor at the current ambient temperature according to the preset temperature data , The preset temperature data includes a first correspondence between the ambient temperature and the standard temperature rise of each temperature sensor;

The determining whether there is abnormal data in the plurality of temperatures according to the temperature rise data includes:

According to the difference between the actual temperature rise and the standard temperature rise, it is determined whether there is abnormal data in the plurality of temperatures.
The temperature data processing method according to claim 7 or 19, wherein the temperature data processing method is used in a ranging system, a plurality of the temperature sensors are provided inside the ranging system, and the ambient temperature sensor It is arranged outside the distance measuring system.
The temperature data processing method according to claim 19, wherein the determining whether there is abnormal data in the plurality of temperatures according to the difference between the actual temperature rise and the standard temperature rise includes:

Determine whether the gap is within the preset gap;

When each of the gaps is within the preset gap range, it is determined that there is no abnormal data in the plurality of temperatures;

When at least one of the gaps is not within the preset gap range, it is determined that the abnormal data exists in a plurality of the temperatures;

Wherein, the temperature corresponding to the gap that is not within the gap is the abnormal data.
The temperature data processing method according to claim 19, wherein the determining whether there is abnormal data in the plurality of temperatures according to the difference between the actual temperature rise and the standard temperature rise includes:

Calculating the rate of change of temperature rise of each temperature sensor according to the gap;

It is determined whether there is abnormal data in the plurality of temperatures according to the temperature rise change rate.
The temperature data processing method according to claim 22, wherein the determining whether there is abnormal data in the plurality of temperatures according to the temperature rise change rate includes:

Determine whether each of the temperature rise change rates is within a second preset change range;

When each of the temperature rise change rates is within the second preset change range, it is determined that there is no abnormal data in the plurality of temperatures;

When at least one of the temperature rise change rates is not within the second preset change range, it is determined that the abnormal data exists in a plurality of the temperatures;

Wherein, the temperature corresponding to the temperature rise change rate not within the second preset change range is the abnormal data.
The temperature data processing method according to claim 19, wherein the determining whether there is abnormal data in the plurality of temperatures includes:

Calculating the second difference of any two of the gaps among the multiple gaps;

According to the second difference, it is determined whether the abnormal data exists in the plurality of temperatures.
The temperature data processing method according to claim 24, wherein the determining whether there is abnormal data in the plurality of temperatures according to the second difference includes:

Determine whether the second difference is within a second preset difference range;

When the second difference is within the second preset difference range, it is determined that the temperatures corresponding to the two differences used to calculate the second difference are not the abnormal data;

When the second difference is not within the range of the second preset difference, it is determined that the abnormal data exists in the plurality of temperatures.
The temperature data processing method according to claim 25, wherein the determining that there is abnormal data in the plurality of temperatures includes:

Taking the two gaps used to calculate the second difference as two second to-be-determined data;

When the second difference between one of the second to-be-determined data and at least one of the plurality of gaps is within the second preset difference range, the temperature corresponding to the other of the second to-be-determined data It is determined to be the abnormal data.
The temperature data processing method according to claim 1, wherein the temperature data processing method comprises:

When the abnormal data is present in a plurality of the temperatures, the abnormal data is specifically marked.
The temperature data processing method according to claim 1, wherein the temperature data processing method further comprises:

When the abnormal data exists in a plurality of temperatures, a warning message is issued.
The temperature data processing method according to claim 28, wherein the temperature data processing method further comprises:

Determine whether the detection data of the temperature sensor corresponding to the abnormal data within a preset time period returns to normal;

When the detection data does not return to normal within the preset time period, turn off the temperature sensor corresponding to the abnormal data;

When the detection data returns to normal within the preset time period, a warning clearing message is issued.
The temperature data processing method according to claim 29, wherein the temperature data processing method further comprises:

When the detection data does not return to normal within the preset time period, an error message for the temperature sensor corresponding to the abnormal data is issued.
A temperature data processing device is characterized by comprising a processor and a memory, the memory stores one or more programs, the processor is used to acquire multiple temperatures detected by multiple temperature sensors; Whether there is abnormal data in each of the temperatures; and when there is abnormal data in a plurality of the temperatures, the confidence data of the abnormal data is determined according to preset temperature data.
The temperature data processing device according to claim 31, wherein the processor is further configured to perform temperature compensation based on the normal data and the confidence data in a plurality of the temperatures.
The temperature data processing device according to claim 32, wherein the processor is further used to check whether the confidence data is normal; and used to enter the execution of the A step of performing temperature compensation on the normal data in the temperature and the confidence data; and for performing temperature compensation based on a plurality of normal data in the temperature when the confidence data is abnormal.
The temperature data processing device according to claim 33, wherein the processor is specifically configured to determine whether the confidence data is normal according to a plurality of normal data in the temperatures.
The temperature data processing device according to claim 31, wherein the processor is further configured to adjust the temperature within the detection range of the temperature sensor corresponding to the abnormal data according to the confidence data.
The temperature data processing device according to claim 31, wherein the preset temperature data includes a first correspondence between an ambient temperature and a standard temperature rise of each temperature sensor, and the processor is further configured to obtain The current ambient temperature; and specifically used to determine the standard temperature rise of the temperature sensor corresponding to the abnormal data according to the current ambient temperature and the first correspondence; and specifically used to determine the standard temperature rise of the temperature sensor corresponding to the abnormal data The standard temperature rise of the corresponding temperature sensor determines the confidence data.
The temperature data processing device according to claim 36, wherein the processor is specifically configured to acquire the current ambient temperature through an ambient temperature sensor.
The temperature data processing device according to claim 36, wherein the preset temperature data includes a second correspondence between the temperature of each temperature sensor and a standard temperature rise, and the processor is specifically configured to The normal data in the temperature and the second corresponding relationship to obtain the standard temperature rise of the temperature sensor corresponding to the normal data; and specifically used for the normal temperature and the standard temperature of the temperature sensor corresponding to the normal data The confidence weight of the temperature sensor corresponding to the normal data determines the current ambient temperature.
The temperature data processing device according to claim 38, wherein the processor is further configured to adjust the confidence weight of the temperature sensor corresponding to the normal data in real time according to the change of the temperature sensor corresponding to the normal data.
The temperature data processing device according to claim 38, wherein the processor is further configured to adjust the corresponding value of the normal data when a heating measure or a heat dissipation measure is performed in the detection range of the temperature sensor corresponding to the normal data The confidence weight of the temperature sensor.
The temperature data processing device according to claim 31, wherein the processor is specifically configured to determine whether each of the plurality of temperatures is within a preset temperature range; When the temperatures are all within the preset temperature range, it is determined that the abnormal data is absent from the plurality of temperatures; and specifically used to determine a plurality of temperature determinations when at least one of the temperatures is not within the preset temperature range The abnormal data is included in the temperature; wherein, among the plurality of temperatures, a temperature that is not within the preset temperature range is the abnormal data.
The temperature data processing device according to claim 31, wherein the processor is specifically configured to calculate the temperature change rate of each of the temperature sensors based on a plurality of the temperatures; The rate determines whether there is abnormal data among the plurality of temperatures.
The temperature data processing device according to claim 42, wherein the processor is specifically configured to determine whether each of the temperature change rates is within a first preset change range; When the temperature change rates are all within the first preset change range, it is determined that there is no abnormal data in a plurality of the temperatures; and it is specifically used when at least one of the temperature change rates is not in the first preset change range When it is within, it is determined that the abnormal data exists in a plurality of the temperatures; wherein, the temperature corresponding to the temperature change rate not within the first preset change range is the abnormal data.
The temperature data processing device according to claim 31, wherein the processor is specifically configured to calculate a first difference between any two of the plurality of temperatures; The difference determines whether there is abnormal data among the plurality of temperatures.
The temperature data processing device according to claim 44, wherein the processor is specifically configured to determine whether the first difference is within a first preset difference range; When the first preset difference is within the range, it is determined that the two temperatures used to calculate the first difference are not the abnormal data; and specifically used when the first difference is not in the first preset difference When it is within the range, it is determined that the abnormal data exists in a plurality of the temperatures.
The temperature data processing device according to claim 45, wherein the processor is specifically configured to use two of the temperatures used to calculate the first difference as two first to-be-determined data; When the difference between one of the first to-be-determined data and at least one of the plurality of temperatures is within the first preset difference range, the other of the first to-be-determined data is determined to be the abnormality data.
The temperature data processing device according to claim 31, wherein the processor is specifically configured to determine the temperature rise data of each of the temperature sensors according to the plurality of temperatures; and specifically used to determine the temperature rise data according to the temperature rise The data determines whether there is abnormal data among the plurality of temperatures.
The temperature data processing device according to claim 47, wherein the temperature rise data includes a current actual temperature rise of each temperature sensor, or a current actual temperature rise and a standard temperature rise of each temperature sensor .
The temperature data processing device according to claim 48, wherein the processor is specifically configured to obtain a current ambient temperature through an ambient temperature sensor; and is specifically configured to determine each temperature based on a plurality of the temperatures and the current ambient temperature. The actual temperature rise of the temperature sensors, and determine the standard temperature rise of each temperature sensor at the current ambient temperature according to the preset temperature data, the preset temperature data including the ambient temperature and each temperature sensor A first corresponding relationship between the standard temperature rise of the temperature sensor; and specifically used to determine whether there is abnormal data in the plurality of temperatures according to the difference between the actual temperature rise and the standard temperature rise.
The temperature data processing device according to claim 37 or 49, wherein the temperature data processing device is used for a distance measuring system, a plurality of the temperature sensors are provided inside the distance measuring system, and the ambient temperature sensor It is arranged outside the distance measuring system.
The temperature data processing device according to claim 49, wherein the processor is specifically configured to determine whether the gap is within a preset gap range; When it is within the range of the gap, it is determined that there is no abnormal data in a plurality of the temperatures; Data; wherein, the temperature corresponding to the gap that is not within the gap is the abnormal data.
The temperature data processing device according to claim 49, wherein the processor is specifically configured to calculate the temperature rise rate of each of the temperature sensors according to the gap; The rate determines whether there is abnormal data among the plurality of temperatures.
The temperature data processing device according to claim 52, wherein the processor is specifically configured to determine whether each of the temperature rise change rates is within a second preset change range; When the temperature rise rate of change is all within the second preset change range, it is determined that there is no abnormal data in the plurality of temperatures; and it is specifically used when at least one of the temperature rise rate of change is not in the second preset When the change range is set, it is determined that the abnormal data exists in a plurality of the temperatures; wherein, the temperature corresponding to the temperature rise change rate not within the second preset change range is the abnormal data.
The temperature data processing apparatus according to claim 49, wherein the processor is specifically configured to calculate a second difference of any two of the gaps among a plurality of the gaps; and specifically used according to the second The difference determines whether the abnormal data exists in a plurality of the temperatures.
The temperature data processing device according to claim 54, wherein the processor is specifically configured to determine whether the second difference is within a second preset difference range; When the second preset difference is within the range, it is determined that the temperature corresponding to the two differences used to calculate the second difference is not the abnormal data; and specifically used when the second difference is not in the second When it is within the preset difference range, it is determined that the abnormal data exists in a plurality of the temperatures.
The temperature data processing device according to claim 55, wherein the processor is specifically configured to use the two gaps used to calculate the second difference as two second pending data; When the second difference between one of the second to-be-determined data and at least one of the plurality of gaps is within the second preset difference range, the temperature corresponding to the other of the second to-be-determined data It is determined to be the abnormal data.
The temperature data processing device according to claim 31, wherein the processor is further configured to mark the abnormal data when the abnormal data exists in a plurality of the temperatures.
The temperature data processing device according to claim 31, wherein the processor is further configured to issue a warning message when the abnormal data exists in a plurality of the temperatures.
The temperature data processing device according to claim 58, wherein the processor is further used to determine whether the detection data of the temperature sensor corresponding to the abnormal data within a preset time period returns to normal; When the detection data does not return to normal within a preset time period, the temperature sensor corresponding to the abnormal data is turned off; and also used to issue a warning clear message when the detection data returns to normal within the preset time period.
The temperature data processing device according to claim 59, wherein the processor is further configured to issue a temperature sensor corresponding to the abnormal data when the detection data does not return to normal within the preset duration Error message.
A distance measuring system, characterized by comprising a plurality of temperature sensors arranged inside the distance measuring system and the temperature data processing device according to any one of claims 31-60.
A mobile terminal, characterized by comprising the ranging system according to claim 61.
The mobile terminal of claim 62, wherein the mobile terminal comprises a drone or a robot.