CN106443688A - Anti-jamming infrared barrier measuring method - Google Patents

Anti-jamming infrared barrier measuring method Download PDF

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Publication number
CN106443688A
CN106443688A CN201610777774.4A CN201610777774A CN106443688A CN 106443688 A CN106443688 A CN 106443688A CN 201610777774 A CN201610777774 A CN 201610777774A CN 106443688 A CN106443688 A CN 106443688A
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CN
China
Prior art keywords
infrared
valuea
light intensity
jamproof
detection method
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Pending
Application number
CN201610777774.4A
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Chinese (zh)
Inventor
恽为民
杜建强
庞作伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Xpartner Robotics Co Ltd
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Shanghai Xpartner Robotics Co Ltd
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Publication date
Application filed by Shanghai Xpartner Robotics Co Ltd filed Critical Shanghai Xpartner Robotics Co Ltd
Priority to CN201610777774.4A priority Critical patent/CN106443688A/en
Publication of CN106443688A publication Critical patent/CN106443688A/en
Priority to PCT/CN2017/093217 priority patent/WO2018040766A1/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

The invention provides an anti-jamming infrared barrier measuring method. The method comprises the steps that (1) conduction and closing of an infrared transmitting and receiving device are controlled by an electronic control device; (2) at the instant of the conduction of the infrared transmitting and receiving device, the infrared light intensity is recorded as ValueH; (3) when infrared transmitting stops, the ambient light intensity is recorded as ValueL; (4) the effective infrared light intensity ValueS is equal to ValueH-ValueL; (5) the above steps are repeated in a period of time to acquire N ValueSes, and a smoothing filter algorithm is used to acquire the average value ValueA which is equal to ValueS/N; and (6) the ValueA is linearly adjusted according to the value range of the ValueA; the electronic control device outputs different voltage values; and finally the measurement value of the corresponding distance is acquired according to voltage value transformation. According to the invention, the measurement distance is improved; ambient light interference can be resisted; and the measurement value and the distance are linearly increased.

Description

A kind of jamproof infrared barrier detection method
Technical field
The present invention relates to a kind of infrared barrier detection method, particularly to a kind of jamproof infrared barrier detection method, belong to machine People's technical field.
Background technology
Infrared obstacle sensor is sensor indispensable in more avoidance robot at present, including various mobile robots, Major function is measurement distance, avoiding obstacles, the ability of hoisting machine people.
Existing infrared distance measurement scheme is directly persistently to launch IR with certain power mostly, when running into barrier Afterwards, far and near different with distance, the intensity of the IR that infrared receiving tube receives is different, to be determined apart from barrier with this Distance.
The shortcoming of this method be environment resistant light interference poor ability, especially warm light source, and can measure away from From shorter, mostly in the range of 40cm.
Content of the invention
The purpose of the present invention is an up the antijamming capability of sensor, solves the problems, such as that measurement distance is shorter.
In order to solve above-mentioned technical problem, the invention provides a kind of jamproof infrared barrier detection method, walk including following Suddenly：
(1) electronic-controlled installation is relied on to control conducting and the closing of infrared transceiver device, infrared transceiver device includes infrared Transmitter module and infrared receiving module；
(2) in the moment of infrared transceiver device conducting, the IR that infrared transmission module sends reaches the strongest, by infrared Receiver module obtains light intensity, is designated as ValueH；
(3) after infrared transmission module is closed, light intensity is obtained by infrared receiving module, this value is the strong of ambient light Degree, is designated as ValueL；
(4) calculate effective infrared light intensity ValueS=ValueH-ValueL,
(5) repeat above step within a period of time, obtain N number of ValueS, using smothing filtering algorithm, average ValueA=ValueS/N, ValueA are the virtual value of the infrared light intensity after the interference of filtering environmental light；
(6) number range according to ValueA makees Serial regulation to ValueA, is then exported different by electronic-controlled installation Magnitude of voltage, be converted to the measured value of respective distance finally according to magnitude of voltage.
Preferably, 30 ValueS are obtained within a period of time.
Preferably, when the number range of ValueA is 3000～4000, according to formula y=1000+3* (x-3000) weight The new value calculating ValueA.When the number range of ValueA is 1000～3000, according to formula y=(999*x)/3000 again Calculate the value of ValueA.
Preferably, by electronic-controlled installation pulse width modulation output voltage values.The main control chip of electronic-controlled installation Using STM8.
Preferably, infrared transmission module adopts infrared transmitting tube.The current-limiting resistance of infrared transmitting tube is 2 ohm.Infrared The dutycycle penetrating pipe is 10%.
Beneficial effects of the present invention：
1st, improve the distance of measurement, be enhanced to 80cm；
2nd, the interference of environment resistant light, can filter the interference of most of light source；
3rd, measured value and distance are in relatively linear increase.
Brief description
Fig. 1 is the corresponding diagram of the light intensity in a preferred embodiment of the present invention and distance；
Fig. 2 is the corresponding diagram of the light intensity after adjustment in a preferred embodiment of the present invention and distance.
Specific embodiment
Understandable for enabling the above objects, features and advantages of the present invention to become apparent from, below in conjunction with the accompanying drawings to the present invention Specific embodiment be described in detail.It should be noted that, accompanying drawing of the present invention is all in the form of simplifying and all using non-essence Accurate ratio, only in order to purpose that is convenient, lucidly aiding in illustrating the embodiment of the present invention.
By STM8 as main control chip, control infrared transmitting tube with 2 ohm of current-limiting resistance, to be controlled with dutycycle about 10% Tubulation conducting, strengthens, with this, the distance that infrared obstacle sensor can measure, distance can reach 80cm.In the moment of conducting, IR can reach the strongest, the now light intensity now with infrared receiving tube acquisition, and acquisition one is worth for maximum ValueH, after infrared transmitting tube is closed, obtain a light intensity, this value be ambient light intensity, be designated as ValueL, institute 30 ValueS should be obtained as ValueS=ValueH-ValueL within a period of time with effectively infrared light intensity now, Using smothing filtering algorithm, it is to avoid by some interference values, mutation impact, average value ValueA=ValueS/N, and this value is just It is the virtual value of filtering environmental light interference.
Because the infrared light intensity that the light of infrared emission receives in certain scope is larger by the span that dies down by force, it is not Assume the curve of y=kx.So, after getting the ValueA of tens groups of different distance, using equation y=1000+3* (x- 3000), scope is arranged to 1000～4000 in 3000～4000 value；Using equation y=(999*x)/3000, by scope Value 0～3000 arranges 0～999.By the STM8 magnitude of voltage of PWM non-inverting input respective distance, now its value is just Will not export existing with distance change, larger in nearer distance change amplitude, and larger distance change small Problem.
Describe the use of above-mentioned two equation below with actual measurement data in detail.First row in table 1 is infrared light Line launch point and the distance of barrier (measured object), measure 1 time substantially every 4cm, record ValueA, i.e. secondary series in table Each numerical value of " recording light intensity ".The numerical value of the 3rd row " light intensity after adjustment ", is each numerical value of secondary series through equation y=respectively Result after 1000+3* (x-3000) or y=(999*x)/3000 adjustment.
Table 1
Distance (cm) Record light intensity Light intensity after adjustment
0 200 66.6
4 240 79.92
10 350 116.55
14 600 199.8
18 1950 649.35
22 2530 842.49
26 2840 945.72
30 3070 1210
34 3200 1600
38 3280 1840
42 3390 2170
46 3440 2320
50 3490 2470
54 3510 2530
58 3560 2680
62 3580 2740
66 3590 2770
70 3610 2830
74 3640 2920
78 3650 2950
82 3670 3010
For example, when measurement distance is 4cm, obtain ValueA for 240,240 between 0～3000, using equation y= (999*x)/3000.X=240 is substituted into y=(999*x)/3000, obtains y=(999*240)/3000=79.92.
When measurement distance is 26cm, obtain ValueA for 2840,2840 still between 0～3000, using equation y= (999*x)/3000.X=2840 is substituted into y=(999*x)/3000, obtains y=(999*2840)/3000=945.72.
Range of light intensity is arranged 0～999 in 0～3000 value by equation y=(999*x)/3000 utilized above.
When measurement distance is 30cm, obtaining ValueA is 3070,3070 3000～4000, begins to use equation y =1000+3* (x-3000).X=3070 is substituted into y=1000+3* (x-3000), obtain y=1000+3 (3070-3000)= 1210.
Measurement distance is the later data of 30cm, is all calculated using equation y=1000+3* (x-3000), obtains table 1 In all data.Equation y=1000+3* (x-3000) by range of light intensity 3000～4000 value arrange 1000～ 4000.
By first row and the second column data Excel drafting pattern 1, from fig. 1, it can be seen that light intensity value is with distance value and non-linear Corresponding, in 15cm～30cm measuring section, light intensity value drastically changes, and leads to very big measure error.After 40cm, light intensity value becomes Change too little, lose identification it is impossible to play range finding effect.The principle of infrared distance measurement is to rely on light intensity value to be converted to magnitude of voltage, Magnitude of voltage is reconverted into and records distance value.With this traditional infrared distance measuring method, in 15～30cm measuring section, measure gained away from Very big from value and actual distance value error；Measuring section after 40cm, this mode becomes unavailable.
3rd column data based on the second column data, according to equation y=1000+3* (x-3000) or y=(999* X) result after/3000 adjustment.By first row and the 3rd column data Excel drafting pattern 2, as can be seen from Figure 2, from 0～80cm Measuring section, light intensity value and distance value all keep preferable linear relationship, generally conform to the relation of y=42.094x, fitting degree R2=0.9442.In other words, the use of light intensity value measurement distance is reliable, not only error is little, and measurement range is big.Thus It can be seen that, the infrared distance measurement scheme of the present invention is more more advantageous than prior art.
The preferred embodiment of the present invention described in detail above.It should be appreciated that those of ordinary skill in the art is no Need creative work just can make many modifications and variations according to the design of the present invention.Therefore, all technology in the art It is available that personnel pass through logical analysis, reasoning, or a limited experiment under this invention's idea on the basis of existing technology Technical scheme, all should be in the protection domain being defined in the patent claims.

Claims (9)

1. a kind of jamproof infrared barrier detection method is it is characterised in that comprise the steps：
(1) electronic-controlled installation is relied on to control conducting and the closing of infrared transceiver device, described infrared transceiver device includes infrared Transmitter module and infrared receiving module；
(2) in the moment of described infrared transceiver device conducting, the IR that described infrared transmission module sends reach the strongest, by Described infrared receiving module obtains light intensity, is designated as ValueH；
(3) after described infrared transmission module is closed, light intensity is obtained by described infrared receiving module, this value is ambient light Intensity, is designated as ValueL；
(4) calculate effective infrared light intensity ValueS=ValueH-ValueL,
(5) repeat above step within a period of time, obtain N number of ValueS, using smothing filtering algorithm, average ValueA =ValueS/N, ValueA are the virtual value of the infrared light intensity after the interference of filtering environmental light；
(6) number range according to ValueA makees Serial regulation to ValueA, is then exported different by described electronic-controlled installation Magnitude of voltage, be converted to the measured value of respective distance finally according to described magnitude of voltage.
2. a kind of jamproof infrared barrier detection method according to claim 1 is it is characterised in that obtain within a period of time 30 ValueS.
3. a kind of jamproof infrared barrier detection method according to claim 1 is it is characterised in that work as the numerical value model of ValueA Enclose when being 3000～4000, recalculate the value of ValueA according to formula y=1000+3* (x-3000).
4. a kind of jamproof infrared barrier detection method according to claim 1 is it is characterised in that work as the numerical value model of ValueA Enclose when being 1000～3000, recalculate the value of ValueA according to formula y=(999*x)/3000.
5. a kind of jamproof infrared barrier detection method according to claim 1 is it is characterised in that filled by described Electronic Control Put and export described magnitude of voltage with pulse width modulation.
6. a kind of jamproof infrared barrier detection method according to claim 1 is it is characterised in that described electronic-controlled installation Main control chip adopt STM8.
7. a kind of jamproof infrared barrier detection method according to claim 1 is it is characterised in that described infrared transmission module Using infrared transmitting tube.
8. a kind of jamproof infrared barrier detection method according to claim 7 is it is characterised in that described infrared transmitting tube Current-limiting resistance is 2 ohm.
9. a kind of jamproof infrared barrier detection method according to claim 7 is it is characterised in that described infrared transmitting tube Dutycycle is 10%.
CN201610777774.4A 2016-08-30 2016-08-30 Anti-jamming infrared barrier measuring method Pending CN106443688A (en)

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PCT/CN2017/093217 WO2018040766A1 (en) 2016-08-30 2017-07-17 Anti-interference infrared obstacle measurement method

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CN107621641A (en) * 2017-09-20 2018-01-23 歌尔股份有限公司 Infrared barrier detection method, apparatus and robot
WO2018040766A1 (en) * 2016-08-30 2018-03-08 上海未来伙伴机器人有限公司 Anti-interference infrared obstacle measurement method
CN110132323A (en) * 2019-04-23 2019-08-16 深圳市志奋领科技有限公司 A kind of removing method and device of ambient light interference
CN110749939A (en) * 2018-07-23 2020-02-04 杰克缝纫机股份有限公司 Cloth detection method and system of sewing machine
WO2020087376A1 (en) * 2018-10-31 2020-05-07 深圳市大疆创新科技有限公司 Light detection method, light detection device, and mobile platform
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Publication number Priority date Publication date Assignee Title
WO2018040766A1 (en) * 2016-08-30 2018-03-08 上海未来伙伴机器人有限公司 Anti-interference infrared obstacle measurement method
CN107621641A (en) * 2017-09-20 2018-01-23 歌尔股份有限公司 Infrared barrier detection method, apparatus and robot
WO2019056788A1 (en) * 2017-09-20 2019-03-28 歌尔股份有限公司 Infrared obstacle detection method and device and robot
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CN110749939B (en) * 2018-07-23 2021-09-24 杰克缝纫机股份有限公司 Cloth detection method and system of sewing machine
WO2020087376A1 (en) * 2018-10-31 2020-05-07 深圳市大疆创新科技有限公司 Light detection method, light detection device, and mobile platform
CN111448475A (en) * 2018-10-31 2020-07-24 深圳市大疆创新科技有限公司 Optical detection method, optical detection device and mobile platform
CN111448475B (en) * 2018-10-31 2024-04-12 深圳市大疆创新科技有限公司 Optical detection method, optical detection device and mobile platform
CN110132323A (en) * 2019-04-23 2019-08-16 深圳市志奋领科技有限公司 A kind of removing method and device of ambient light interference
CN113551598A (en) * 2021-07-20 2021-10-26 钛玛科（北京）工业科技有限公司 Infrared wide sensor detection device and position detection method of shielding object

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