CN109581403A - The method of infrared radar and identification infrared emitter direction - Google Patents
The method of infrared radar and identification infrared emitter direction Download PDFInfo
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- CN109581403A CN109581403A CN201910071922.4A CN201910071922A CN109581403A CN 109581403 A CN109581403 A CN 109581403A CN 201910071922 A CN201910071922 A CN 201910071922A CN 109581403 A CN109581403 A CN 109581403A
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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
- G01S17/66—Tracking systems using electromagnetic waves other than radio waves
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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
- G01S17/88—Lidar systems specially adapted for specific applications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
This application discloses a kind of infrared radars.One specific embodiment of the infrared radar includes: the infrared receiver tube array being made of the infrared receiver tube of different directions；The two-stage amplifying circuit formed is cascaded by first order amplifying circuit, second level amplifying circuit, first order amplifying circuit amplifies the electric signal that the infrared receiver tube being connected electrically generates, it generates level-one and amplifies electric signal, level-one amplifies electric signal after the amplification of second level amplifying circuit, generates second level and amplifies electric signal；And electric signal, second level amplification electric signal are amplified according to the level-one of infrared receiver tube, while identifying that infrared ray is the micro-control unit in the direction of analog signal and/or digital signal and analog signal radiation source and/or the direction of digital signal radiation source.The embodiment realizes the direction that identification infrared ray is analog signal and/or digital signal and analog signal radiation source and/or digital signal radiation source.
Description
Technical field
This application involves electronic fields, and in particular to the method for infrared radar and identification infrared emitter direction.
Background technique
The direction of identification infrared emitter is the basis of search, tracking infrared emitter.Often pass through infrared heat at present
Imaging technique realizes search, the tracking of high-precision infrared target.Corresponding equipment is more complex, volume is big, and cost is also high.
Lack a kind of device that can easily identify infrared ray analog signal radiation source and digital signal radiation source simultaneously.
Summary of the invention
The purpose of the application is to propose a kind of infrared radar and the method with identification infrared emitter direction, to solve
The technical issues of certainly background section above is mentioned.
In a first aspect, this application provides a kind of infrared radars.The infrared radar includes: infrared receiver tube battle array
Column, two-stage amplifying circuit, micro-control unit, specific: the infrared receiver tube array, by the infrared receiver of different directions
Pipe composition, wherein each infrared receiver tube support in the infrared receiver tube array carries out received infrared ray
Photoelectric conversion, generates electric signal, and each infrared receiver tube is electrically connected a two-stage amplifying circuit；The two-stage amplifying circuit,
It is made of first order amplifying circuit, the cascade of second level amplifying circuit, wherein the first order amplifying circuit will be connected electrically
The electric signal that infrared receiver tube generates amplifies, and generates level-one and amplifies electric signal, the level-one is amplified described in electric signal warp
After the amplification of second level amplifying circuit, generates second level and amplify electric signal, the first order amplifying circuit, the second level amplifying circuit
It is electrically connected respectively with the micro-control unit；The micro-control unit amplifies telecommunications according to the level-one of each infrared receiver tube
Number determine infrared ray whether be analog signal, if it is analog signal, then determine the direction of analog signal radiation source；According to each
The second level amplification electric signal of infrared receiver tube determines whether infrared ray is digital signal, if it is digital signal, if there is
Most second level amplification electric signals are not less than default saturation threshold, then determine digital signal radiation using second level amplification electric signal
Otherwise the direction in source determines the side of the digital signal radiation source using the level-one amplification electric signal of each infrared receiver tube
To.
In some embodiments, the infrared receiver tube array is by adjacent angle in the same plane is 30 degree 5
A infrared receiving tube composition.
In some embodiments, the micro-control unit includes: that analog signal determines subelement, analog signal radiation source side
To subelement, digital signal judgement subelement, digital signal radiation source direction determining subelement is determined, specifically: the simulation
Signal determining subelement constantly reads the level-one amplification electric signal of each infrared receiver tube by several times, and that reads every time is each
Maximum value in the level-one amplification electric signal of infrared receiver tube subtracts minimum value and obtains difference, if in preset duration, often
The secondary difference being calculated is both greater than preset analog threshold, then determines that infrared ray is analog signal；The analog signal radiation
Source direction determining subelement will last time if the analog signal determines that subelement determines that infrared ray is analog signal
The direction of the corresponding infrared receiver tube of maximum value is as mould in the level-one amplification electric signal of each infrared receiver tube read
The direction in quasi- signal radiation source；The digital signal determines subelement, constantly reads the two of each infrared receiver tube by several times
Grade amplification electric signal, for each infrared receiver tube, the second level amplification electric signal that this is read subtracts last reading
Second level amplification electric signal obtains difference, if the difference is positive, and is greater than default rising edge threshold value, then determines to be in rising edge,
The duration between two adjacent rising edges is calculated as cycle duration, it is corresponding if there is at least one infrared receiver tube
Second level amplification electric signal cycle duration be consistent with the cycle duration of target number signal, then determine infrared ray for digital signal,
The infrared receiver tube being consistent is known as effective infrared receiver tube, wherein the electric signal between two adjacent rising edges is known as
Periodic signal；The second level of each effective infrared receiver tube is amplified electricity by the digital signal radiation source direction determining subelement
The periodic signal of signal is known as second stage cycle signal, and the maximum value of each second stage cycle signal is all done ratio with default saturation threshold
Compared with if the both less than default saturation threshold of the maximum value of all second stage cycle signals, chooses each second stage cycle signal
Maximum value compares, and the direction of the corresponding effective infrared receiver tube of the maximum second stage cycle signal of maximum value is as digital signal
The direction of radiation source, if the maximum value of the second stage cycle signal of only one effective infrared receiver tube is more than or equal to described pre-
If saturation threshold, then using the direction of effective infrared receiver tube as the direction of digital signal radiation source, if at least two
The maximum value of the second stage cycle signal of a effective infrared receiver tube is more than or equal to the default saturation threshold, then reads maximum value
More than or equal to the first-order cycle signal of all effective infrared receiver tubes of the default saturation threshold, each first-order cycle is believed
Number maximum value compare, the direction of the corresponding effective infrared receiver tube of the maximum first-order cycle signal of maximum value is as number
The direction in signal radiation source.
In some embodiments, the micro-control unit includes: that analog signal determines subelement, analog signal radiation source side
To subelement, digital signal judgement subelement, digital signal radiation source direction determining subelement is determined, specifically: the simulation
Signal determining subelement constantly reads the level-one amplification electric signal of each infrared receiver tube by several times, and that reads every time is each
Maximum value in the level-one amplification electric signal of infrared receiver tube subtracts minimum value and obtains difference, if in preset duration, often
The secondary difference being calculated is both greater than preset analog threshold, then determines that infrared ray is analog signal；The analog signal radiation
Source direction determining subelement first calculates reading if the analog signal determines that subelement determines that infrared ray is analog signal
Then the mean value of the last n times level-one amplification electric signal of each infrared receiver tube is done the mean value of each infrared receiver tube
Compare, using the direction of the maximum infrared receiver tube of mean value as the direction of analog signal radiation source；The digital signal determines
Subelement constantly reads the second level amplification electric signal of each infrared receiver tube, for each infrared receiver tube by several times
Second level amplifies electric signal, and the second level amplification electric signal that the second level amplification electric signal that this is read subtracts last reading obtains difference
Value then determines to be in rising edge, if the difference is negative, and be less than if the difference is positive, and is greater than default rising edge threshold value
Default failing edge threshold value then determines to be in failing edge, using the duration between rising edge and failing edge as high level duration, by this
Duration between failing edge and next rising edge as low level duration, by high level duration and low level duration and conduct
Cycle duration, if there is high level duration, the low level of the corresponding second level amplification electric signal of at least one infrared receiver tube
Duration, cycle duration are all consistent with the high level duration of target number signal, low level duration, cycle duration, then determine infrared
Line is digital signal, and the infrared receiver tube being consistent is known as effective infrared receiver tube, wherein between two adjacent rising edges
Electric signal is known as periodic signal；The digital signal radiation source direction determining subelement, by the second level of effective infrared receiver tube
The periodic signal of amplification electric signal is known as second stage cycle signal, by the maximum telecommunications between each second stage cycle signal high level duration
Number value is all compared with default saturation threshold, if the maximum value of electrical signals in all second stage cycle signal high level times is all small
In default saturation threshold, then the maximum value of electrical signals chosen between each second stage cycle signal high level duration compares, maximum electricity
Direction of the direction of the corresponding effective infrared receiver tube of the maximum second stage cycle signal of signal value as digital signal radiation source,
If the maximum value of electrical signals between the second stage cycle signal high level duration of only one effective infrared receiver tube is more than or equal to
The default saturation threshold, then using the direction of effective infrared receiver tube as the direction of digital signal radiation source, if extremely
Maximum value of electrical signals between few second stage cycle signal high level duration there are two effective infrared receiver tube is more than or equal to described
Default saturation threshold then reads all effective infrared receiver tubes that maximum value of electrical signals is more than or equal to the default saturation threshold
First-order cycle signal, the maximum value of electrical signals between each first-order cycle signal high level duration is compared, maximum electric signal
It is worth direction of the direction of the corresponding effective infrared receiver tube of maximum first-order cycle signal as digital signal radiation source.
In some embodiments, infrared radar further includes USB interface, master control by the USB interface with it is described infrared
Line radar communication and power supply.
Second aspect, this application provides a kind of methods for identifying infrared emitter direction, which comprises different
The infrared receiver tube of direction distinguishes receiving infrared-ray, and carries out photoelectric conversion, generates electric signal；By each infrared receiver tube
The electric signal of generation carries out level-one amplification and second level amplification, generates level-one amplification electric signal respectively, second level amplifies electric signal；According to
The level-one amplification electric signal of each infrared receiver tube determines whether infrared ray is analog signal, if it is analog signal, then is sentenced
Cover half intends the direction in signal radiation source；Amplify electric signal according to the second level of each infrared receiver tube and determines whether infrared ray is several
Word signal is not less than default saturation threshold if there is most second levels amplification electric signal, then uses if it is digital signal
Second level amplifies the direction that electric signal determines digital signal radiation source, otherwise, amplifies telecommunications using each infrared receiver tube level-one
Number determine the direction of the digital signal radiation source.
In some embodiments, the infrared receiver tube of the different directions refers to that adjacent angle in the same plane is
30 degree of 5 infrared receiving tubes.
In some embodiments, described to amplify whether electric signal determines infrared ray according to the level-one of each infrared receiver tube
For analog signal, if it is analog signal, then the direction of analog signal radiation source is determined, comprising: constantly read by several times each
The level-one of infrared receiver tube amplifies electric signal, and the level-one of each infrared receiver tube read every time is amplified in electric signal most
Big value subtracts minimum value and obtains difference；If the difference being calculated every time is both greater than preset simulation threshold in preset duration
Value, then determine that infrared ray is analog signal, in the level-one amplification electric signal for each infrared receiver tube that last time is read
Direction of the direction of the corresponding infrared receiver tube of maximum value as analog signal radiation source.
In some embodiments, described to amplify whether electric signal determines infrared ray according to the second level of each infrared receiver tube
It is not less than default saturation threshold if there is most second levels amplification electric signal, then if it is digital signal for digital signal
Determine otherwise the direction in digital signal radiation source is amplified using each infrared receiver tube level-one using second level amplification electric signal
Electric signal determines the direction of the digital signal radiation source, comprising: constantly reads the second level of each infrared receiver tube by several times
Amplify electric signal, for each infrared receiver tube, the second level amplification electric signal that this is read subtracts the two of last reading
Grade amplification electric signal obtains difference, if the difference is positive, and is greater than default rising edge threshold value, then determines to be in rising edge, meter
Duration between two adjacent rising edges is as cycle duration, if there is the corresponding second level of at least one infrared receiver tube
The cycle duration of amplification electric signal is consistent with the cycle duration of target number signal, then determines that infrared ray for digital signal, is consistent
Infrared receiver tube be known as effective infrared receiver tube, wherein the electric signal between two adjacent rising edges be known as the period letter
Number；The periodic signal of the second level amplification electric signal of effective infrared receiver tube is known as second stage cycle signal, by each second level week
The maximum value of phase signal is all compared with default saturation threshold, if the maximum value of all second stage cycle signals is both less than default
Saturation threshold, the then maximum value for choosing each second stage cycle signal compare, and the maximum second stage cycle signal of maximum value is corresponding
Direction of the direction of effective infrared receiver tube as digital signal radiation source, if only one effective infrared receiver tube
The maximum value of second stage cycle signal be more than or equal to the default saturation threshold, then using the direction of effective infrared receiver tube as
The direction of digital signal radiation source, if at least there are two the maximum values of the second stage cycle signal of effective infrared receiver tube to be greater than
Equal to the default saturation threshold, then all effective infrared receivers that maximum value is more than or equal to the default saturation threshold are read
The first-order cycle signal of pipe compares the maximum value of each first-order cycle signal, the maximum first-order cycle signal pair of maximum value
Direction of the direction for the effective infrared receiver tube answered as digital signal radiation source.
In some embodiments, described to amplify whether electric signal determines infrared ray according to the second level of each infrared receiver tube
For digital signal, comprising: amplify whether electric signal determines continuous 3 cycle durations according to the second level of each infrared receiver tube
Be consistent with the cycle duration of target number signal, if be all consistent, judge the 4th cycle duration whether with the target number
The cycle duration of signal is consistent, if be consistent, just determines that infrared ray is digital signal.
The method of infrared radar provided by the present application and identification infrared emitter direction, passes through the infrared of different directions
Line reception pipe receives the infrared ray that different directions radiation comes, and carries out photoelectric conversion, electric signal is generated, then, to each infrared ray
The electric signal that reception pipe generates carries out level-one amplification, second level amplification generates level-one amplification electric signal respectively, second level amplifies electric signal,
Finally, according to level-one amplify electric signal identification analog signal and analog signal radiation source direction, according to level-one amplify electric signal,
Second level amplifies electric signal, the direction sum number of the strong and weak different and/or different distance digital signal radiation source of identification infrared ray
Word signal.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of one embodiment of the infrared radar of the application；
Fig. 2 is infrared receiver tube distribution schematic diagram in one embodiment of the infrared radar of the application；
Fig. 3 is the corresponding level-one amplification telecommunications of each infrared receiver tube in one embodiment of the infrared radar of the application
Number figure；
Fig. 4 is the corresponding second level amplification telecommunications of each infrared receiver tube in one embodiment of the infrared radar of the application
Number figure；
Fig. 5 is the schematic diagram of an application scenarios of the infrared radar of the application；
Fig. 6 is the flow chart of one embodiment of the method in the identification infrared emitter direction of the application.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 shows the structural schematic diagram of one embodiment of the infrared radar of the application.As shown, infrared ray thunder
Up to including shade 101, infrared receiver tube array 102, wherein infrared receiver tube array 102 is red by 5 different directions
Outside line reception pipe composition.Each infrared receiver tube is electrically connected a second amplifying circuit, and each second amplifying circuit is by first
Grade amplifying circuit, the second level amplifying circuit composition, wherein the first order amplifying circuit, second level amplifying circuit respectively with micro-control
Unit 104 processed is electrically connected.
In the present embodiment, shade 101 uses PMMA (Polymethyl methacrylate, the poly- methyl-prop of black
E pioic acid methyl ester) also known as organic glass be made, the transmission of visible light can be stopped, but infrared ray is allowed to penetrate.The shade 101 of black
Prevent user from seeing the structure inside infrared radar, it is more attractive.
In the present embodiment, infrared receiver tube array 102 is 5 infrared by angle adjacent on same plane is 30 degree connects
Closed tube composition, each infrared receiver tube only receive corresponding light in infrared wavelength range, do not receive the light of other wavelength.
As shown in Fig. 2 (a), the solid line marked as 1,2,3,4,5 indicates 5 infrared receiving tubes and its direction, this 5 infrared receiver tubes
In approximately the same plane, adjacent infrared receiver tube angle is 30 degree, wherein infrared receiver tube 1 is 30 with OA wire clamp angle
Degree, infrared receiver tube 5 and OB wire clamp angle are 30 degree.The range of each received infrared ray of infrared receiver tube is where it
Centrum centered on line.For example, the longitudinal section of the corresponding centrum of infrared receiver tube 3 is shown part between dotted line OC, OD, it is empty
The angle of line OC, OD solid line corresponding with infrared receiving tube 3 is 15 degree respectively.Infrared receiver tube 1,2,3,4,5 is corresponding
Centrum space is respectively defined as left, left front, front, has front, right.The angle of certain infrared receiver tube does not limit to 30
Degree, for example, the angle between adjacent infrared receiver tube is set as 45 degree, as shown in Fig. 2 (b).
In some optional implementations of the present embodiment, the quantity of infrared receiver tube in infrared receiver tube array
5 are not limited to, the direction of detection is also not limited to left, left front, front, has front, right.For example, in the base of Fig. 2 (a)
On plinth again plus 2 infrared receiver tubes, i.e. infrared receiver tube 6, infrared receiver tube 7, wherein infrared receiver tube 6, infrared
Line reception pipe 7 is located at the two sides of infrared receiver tube 3, and the angle with infrared receiver tube 3 is all 30 degree, infrared receiver tube 6,
In the same plane, which intersects vertically with plane before for infrared receiver tube 3, infrared receiver tube 7.Infrared ray
Reception pipe 6, infrared receiver tube 7 are respectively used to detect front, inferoanterior infrared emitter.
In the present embodiment, the outer reception pipe of 5 red lines receives the infrared ray of respective party always, carries out photoelectric conversion respectively,
Generate electric signal.The electric signal numerical value generated at this time is smaller, needs to amplify processing, so each infrared receiver tube connects
A second amplifying circuit is connect, as shown in Figure 1, infrared receiver tube 1 connects second amplifying circuit 1031, infrared receiver tube 2
Connect second amplifying circuit 1032, infrared receiver tube 3 connects second amplifying circuit 1033, infrared receiver tube 4 connects second level
Amplifying circuit 1034, infrared receiver tube 5 connect second amplifying circuit 1035.Each second amplifying circuit amplifies electricity by the first order
Road, second level amplifying circuit cascade composition.The amplification factor of the first order amplifying circuit of each second amplifying circuit is identical, often
The amplification factor of the second level amplifying circuit of a second amplifying circuit is also all identical.First order amplifying circuit is by infrared receiver tube
The electric signal of generation carries out level-one amplification and generates level-one amplification electric signal, and level-one amplifies electric signal as second level amplifying circuit
The level-one amplification electric signal of input is carried out secondary amplification, generates second level and amplify electric signal by input, second level amplifying circuit.For
The infrared emitter of remote infrared emitter and/or the weaker short distance of light intensity, infrared transmission to infrared ray connect
When closed tube, infrared ray is weaker, and the electric signal numerical value that corresponding each infrared receiver tube generates is all smaller, amplifies electricity through the first order
After the amplification of road, numerical value is still smaller, and the value difference of the corresponding level-one amplification electric signal of each infrared receiver tube is different smaller, is not enough to
The direction of infrared emitter is distinguished, so need to amplify again through second level amplifying circuit.If infrared receiver tube receives
Infrared ray it is stronger, the corresponding electric signal numerical value generated is big, when carrying out second and amplifying, can exceed second level amplifying circuit
Range is saturated, so identification infrared emitter need to be carried out using each infrared receiver tube corresponding level-one amplification electric signal
Direction.Before the formally direction of identification infrared emitter, a large amount of analog signal radiation sources, digital signal spoke are first passed through in advance
The data debugging first order amplifying circuit in source, the amplification factor of second level amplifying circuit are penetrated, guarantees the electricity that infrared receiving tube generates
Signal is all unsaturated after the amplification of first order amplifying circuit, and the electric signal that only part infrared receiving tube generates amplifies electricity through the second level
It is saturated after the amplification of road.
In the present embodiment, the first order amplifying circuit of each second amplifying circuit, second level amplifying circuit output end with
The different AD pins connections of micro-control unit 104, as an example, the first order amplifying circuit of second amplifying circuit 1031, the
Second amplifying circuit is connected with AD0, AD1 pin of micro-control unit 104 respectively, the first order amplification of second amplifying circuit 1032
Circuit, second level amplifying circuit are connected with AD2, AD3 pin of micro-control unit 104 respectively, and the of second amplifying circuit 1033
Level-one amplifying circuit, second level amplifying circuit are connected with AD4, AD5 pin of micro-control unit 104 respectively, second amplifying circuit
1034 first order amplifying circuit, second level amplifying circuit are connected with AD6, AD7 pin of micro-control unit 104 respectively, second level
The first order amplifying circuit of amplifying circuit 1035, second level amplifying circuit respectively with AD8, AD9 pin phase of micro-control unit 104
Even.Micro-control unit 104 first samples the electric signal on AD0-AD9 pin according to the preset time interval, carries out AD analog-to-digital conversion
After store.
Substance because being higher than absolute zero all generates infrared ray, in addition, also containing some infrared ray in sunlight, it is contemplated that
The interference of the infrared ray of these matter-radiations, so the only identification stronger analog signal radiation source of light in the present embodiment, wherein
The analog signal radiation source includes but is not limited to flame, infrared lamp.So it is infrared to only use level-one amplification electric signal judgement
Line whether be analog signal and analog signal radiation source direction.
In the present embodiment, infrared radar can retrieve the side of analog signal radiation source and digital signal radiation source simultaneously
To, and support to retrieve dynamic and/or static infrared emitter.Micro-control unit 104 includes: that analog signal determines that son is single
Member, analog signal radiation source direction determining subelement, digital signal determine that subelement, digital signal radiation source direction determining are single
Member.Wherein, analog signal determines that the continuous level-one for reading each infrared receiver tube stored amplifies telecommunications to subelement by several times
Number, the maximum value in the level-one amplification electric signal of each infrared receiver tube read every time subtracts minimum value and obtains difference,
In, minimum value is considered as the infrared ray in environment.If the difference being calculated every time is both greater than default in preset duration
Analog threshold, then determine that infrared ray is analog signal, otherwise determine infrared ray be not analog signal.
In the present embodiment, if above-mentioned analog signal determines that subelement determines that infrared ray is analog signal, analog signal
Maximum value in the level-one amplification electric signal for each infrared receiver tube that radiation source direction determining subelement reads last time
Direction of the direction of corresponding infrared receiver tube as analog signal radiation source.It is read using only last time each infrared
The level-one amplification electric signal of line reception pipe determines the direction of analog signal radiation source, to allow for infrared radar and analog signal
The case where relative movement of radiation source, improves the accuracy of real-time judgment.Wherein, above-mentioned preset duration is reference object number letter
Number cycle duration or high level duration setting, for target number signal distinguishing, above-mentioned preset duration is at least more than target
The high level duration of digital signal, for the sake of assurance, preset duration is greater than the cycle duration of target number signal in the present embodiment.
For example, the cycle duration of target number signal is 15 milliseconds, preset duration is set as 17 milliseconds.Wherein, the value of analog threshold is
It is determined according to a large amount of test results.
As an example, with reference to Fig. 3, Fig. 3 shows the corresponding level-one amplification telecommunications of each infrared receiver tube in the present embodiment
Number figure.In this example, infrared emitter is flame, and flame is movement, from the left direction infrared ray of infrared radar
The front of radar is mobile.The figure of the level-one amplification electric signal of infrared receiver tube 1,2,3,4,5 is corresponding in turn in figure from top to bottom,
Y-axis indicates the time, and x-axis indicates the value of level-one amplification electric signal, and dotted line 1,2,3,4,5,6,7,8,9,10 indicates micro-control unit
Sample the time point of the level-one amplification electric signal of each infrared receiver tube.It can be seen that shown in 1 moment, that is, dotted line 1, Ge Gehong
The corresponding level-one electric signal of infrared receiver tube 1 is maximum in outside line reception pipe, the corresponding level-one electric signal of infrared receiver tube 3 most
Small, the difference of above-mentioned maxima and minima is greater than predetermined analog threshold value, then records current time as initial time.Hereafter every
The secondary level-one for reading each infrared receiver tube amplifies electric signal, if to subtract minimum value big for the maximum value of level-one amplification electric signal
In predetermined analog threshold value, then current time is read, whether the judgement difference that the time subtracted initial time at that time is greater than preset duration, such as
Fruit, which is not more than, then to continue to read next moment.2 moment, the corresponding level-one of infrared receiver tube 1 in each infrared receiver tube
Amplify electric signal maximum, the corresponding level-one electric signal minimum of infrared receiver tube 5, their difference is also greater than above-mentioned simulation threshold
Value, 2,3,4,5,6 moment are similar with 2 moment, are all the corresponding level-one electric signal of infrared receiver tube 1 maximum, infrared receiver
The corresponding level-one electric signal of pipe 5 is minimum, their difference is both greater than above-mentioned analog threshold, and at 7 moment, infrared receiver tube 2 is right
The level-one electric signal answered is maximum, the corresponding level-one electric signal of infrared receiver tube 5 is minimum, but their difference is also greater than above-mentioned
Analog threshold, the difference that current time subtracts initial time are greater than preset duration, then judge that infrared ray is analog signal.7 moment of cause,
The corresponding level-one electric signal of infrared receiver tube 2 is maximum, so using the corresponding direction of infrared receiver tube 2 as analog signal spoke
The direction in source is penetrated, i.e., flame is in the left front of infrared radar.
In some optional implementations of the present embodiment, because of noise jamming reason, the level-one of last time amplifies electricity
Signal may be inaccurate, and analog signal radiation source direction determining subelement first calculates the last of each infrared receiver tube of reading
Then the mean value of n times level-one amplification electric signal compares the mean value of each infrared receiver tube, mean value is maximum infrared
Direction of the direction of line reception pipe as analog signal radiation source.As an example, the value of n is one in 2,3.
In the present embodiment, the digital signal of micro-control unit 104 determines that subelement constantly reads each of storage by several times
The second level of a infrared receiver tube amplifies electric signal, for each infrared receiver tube, no matter whether second level amplified signal is greater than
Default saturation threshold, the second level amplification electric signal that the second level amplification electric signal that this is read subtracts last reading obtain difference
Value then determines to be in rising edge, calculates two adjacent rising edges if the difference is positive, and is greater than default rising edge threshold value
Between duration as cycle duration, if there is the period of the corresponding second level amplification electric signal of at least one infrared receiver tube
Duration is consistent with the cycle duration of target number signal, then determines infrared ray for digital signal, wherein above-mentioned target number signal
It is the known infrared digital signals that known digital signal radiation source is radiated.The period of cycle duration and target number signal
Duration, which is consistent, refers to that the difference of the cycle duration of cycle duration and target number signal is less than error amount, and error amount can be set as one
Sampling interval duration.The infrared receiver tube being consistent is known as effective infrared receiver tube, wherein unified definition level-one amplifies telecommunications
Number, second level amplification electric signal, target number signal adjacent two rising edge between electric signal be known as periodic signal.Its
In, the value of rising edge threshold value is determined according to a large amount of test results.
In some optional implementations of the present embodiment, digital signal determines that subelement determines accuracy to improve,
It judges whether continuous 3 cycle durations are consistent with the cycle duration of target number signal, if be all consistent, judges the 4th
Whether a cycle duration is consistent with the cycle duration of target number signal, if be consistent, just determines that infrared ray is digital signal.
In the present embodiment, the digital signal radiation source direction determining subelement of micro-control unit 104 will be each effectively red
The periodic signal of the second level amplification electric signal of outside line reception pipe is known as second stage cycle signal, by the maximum of each second stage cycle signal
Value is all compared with default saturation threshold, if the both less than default saturation threshold of the maximum value of all second stage cycle signals,
The maximum value for choosing each second stage cycle signal compares, and the corresponding effective infrared ray of the maximum second stage cycle signal of maximum value connects
Direction of the direction of closed tube as digital signal radiation source, if the second stage cycle signal of only one effective infrared receiver tube
Maximum value be more than or equal to the default saturation threshold, then using the direction of effective infrared receiver tube as digital signal radiation
The direction in source, if at least there are two the maximum values of the second stage cycle signal of effective infrared receiver tube to be more than or equal to described preset
Saturation threshold then reads first-order cycle of the maximum value more than or equal to all effective infrared receiver tubes of the default saturation threshold
Signal, wherein the periodic signal of level-one amplification electric signal is known as first-order cycle signal.By the maximum of each first-order cycle signal
Value compares, and the direction of the corresponding effective infrared receiver tube of the maximum first-order cycle signal of maximum value is radiated as digital signal
The direction in source.Wherein, the full scale value that above-mentioned default saturation threshold is set as second level amplifying circuit subtracts an one lesser number, should
Lesser number includes but is not limited to one in 1,2,3.
The corresponding second level amplification electric signal figure of each infrared receiver tube in the present embodiment is shown with reference to Fig. 4, Fig. 4.Fig. 4 with
Fig. 3 is to respectively correspond second level in different time periods to amplify electric signal, level-one amplification electric signal.
Be corresponding in turn to the second level amplification electric signal of infrared receiver tube 1,2,3,4,5 in Fig. 4 from top to bottom, dotted line 1,2,3,
4,5,6,7,8,9,10 expression micro-control units sample the time point of the second level amplification electric signal of each infrared receiver tube.As schemed
Show, infrared receiver tube 1 absolutely not receives the digital signal transmitted with infrared ray medium, infrared receiver tube 2,3,4,5
All receive digital signal.The second level amplification electric signal for reading this for each infrared receiver tube subtracts last reading
Second level amplification electric signal obtain difference, if the difference is positive, and is greater than default rising edge threshold value, then determine in rising
Edge.Wherein, the second level amplification electric signal at 2 moment of infrared receiver tube 2,3,4,5 subtracts the second level amplification electricity at respective 1 moment
The difference of signal is greater than rising edge threshold value, then determines that a rising edge occurred in 2 moment, similarly, determine infrared receiver tube 2,3,
4,5 there is a rising edge at 9 moment.9 moment subtracted 2, and the moment obtains cycle duration, the cycle duration and target number signal
Cycle duration is consistent, and determines that infrared ray is digital signal.Infrared receiver tube 2,3,4,5 is known as effective infrared receiver tube.When 2
The second level amplification electric signal carved between 9 moment is known as second stage cycle signal.For each effective infrared receiver tube, compare
The size at 2 moment and 3 moment second levels amplification electric signal, the maximum of the maximum second stage cycle signal as the diode of selected value
Value, the maximum value of each second stage cycle signal is all compared with default saturation threshold, effective infrared receiver tube 2 is determined, has
The second stage cycle signal for imitating infrared receiver tube 5 is unsaturated, the second level of effective infrared receiver tube 3, effective infrared receiver tube 4
Periodic signal saturation, then the direction of digital signal radiation source is one of two surely.Then read effective infrared receiver tube 3, effectively
The first-order cycle signal of infrared receiver tube 4 read for 2 moment for effective infrared receiver tube 3, the level-one at 3 moment amplifies electricity
Signal compares, and the big maximum value as first-order cycle signal of selected value similarly chooses the one of effective infrared receiver tube 4
The maximum value of grade periodic signal connects because the maximum value of the first-order cycle signal of effective infrared receiver tube 4 is greater than effective infrared ray
The maximum value of the first-order cycle signal of closed tube 3, so direction of the direction of infrared receiver tube 4 as digital signal radiation source.
In some optional implementations of the present embodiment, digital signal determines that subelement puts this second level read
The second level amplification electric signal that big electric signal subtracts last reading obtains difference, if the difference is positive, and is greater than default rise
Along threshold value, then determine to be in rising edge, if the difference is negative, and is less than default failing edge threshold value, then determine to be in failing edge,
Using the duration between rising edge and failing edge as high level duration, the duration between the failing edge and next rising edge is made
For low level duration, using the sum of high level duration and low level duration as cycle duration, if there is at least one infrared ray
The high level duration of reception pipe corresponding second level amplification electric signal, low level duration, cycle duration and target number signal height
Level duration, low level duration, cycle duration are all consistent, then determine infrared ray for digital signal.It removes and is determined with cycle duration
Whether it is outside digital signal, high level duration is also used together, low level duration determines whether digital signal, improves measurement
Accuracy.The infrared receiver tube being consistent is known as effective infrared receiver tube, wherein the electric signal between two adjacent rising edges
Referred to as periodic signal.
In some optional implementations of the present embodiment, digital signal radiation source direction determining subelement will be effectively red
The periodic signal of the second level amplification electric signal of outside line reception pipe is known as second stage cycle signal, and selection second stage cycle signal starts pre-
If the second level amplification electric signal of number is compared, the maximum maximum electricity being known as in second stage cycle signal high level time of value
Signal.Wherein, above-mentioned predetermined number is the duration of target number signal high level and the integer part of the ratio in sampling interval.Afterwards
The maximum value of second stage cycle signal, first-order cycle signal are replaced with the maximum electric signal between second stage cycle signal high level duration in face
The maximum value of maximum electric signal replacement first-order cycle signal between high level duration, for determining the side in digital signal radiation source
To.Because rejecting the interference signal between low level duration, judgement accuracy is improved.
In the present embodiment, infrared radar further includes USB interface, and infrared radar passes through above-mentioned USB interface and master control
It is communicated, because infrared radar does not have internal battery, while communication, it is infrared ray thunder that master control, which also passes through the USB interface,
Up to power supply.Wherein, infrared radar, master control are all the electronic components of robot, and master control is the brain of robot, with motor, biography
The electronic components such as sensor, infrared radar communication, to transmit data or instruction.
In some optional implementations of the present embodiment, infrared radar further includes bluetooth module, passes through bluetooth mould
Block is communicated with other electron component.
With continued reference to Fig. 5, which is the schematic diagram of an application scenarios of the infrared radar of the application.The application scenarios
Including infrared radar 501, infrared ray bulb 502, infrared foot 503.Wherein, infrared ray bulb 502 also known as infrared ray add
The main component of thermolamp, radiation is infrared ray, which is analog signal.Infrared foot 503 believes external radiation number
Number, i.e., the infrared ray of the certain power of sustained radiation between the high period of digital signal, non-radiating infrared ray between low period.It opens
After infrared radar 501, red watt of line radar 501 identifies that there are analog signal radiation source i.e. infrared ray bulbs 502 for left front, right
There are digital signal radiation source, that is, infrared foots 503 in front.
In the present embodiment, infrared radar can identify analog signal, digital signal and corresponding analog signal spoke simultaneously
The direction in source, the direction of digital signal radiation source are penetrated, and identifies the strong and weak different and/or different distance infrared ray of infrared ray
The range of radiation source, identification is wider.
With further reference to Fig. 6, it illustrates the methods using above-mentioned infrared radar identification infrared emitter direction
The flow chart of one embodiment, the process the following steps are included:
Step 601, the infrared receiver tube of different directions distinguishes receiving infrared-ray, and carries out photoelectric conversion, generates telecommunications
Number.
In the present embodiment, the infrared receiver tube of different directions refers to that adjacent angle in the same plane is 30 degree
5 infrared receiving tubes, each infrared receiver tube only receive corresponding light in infrared wavelength range, do not receive other wavelength
Light.
Step 602, the electric signal each infrared receiver tube generated carries out level-one amplification and second level is amplified, and generates respectively
Level-one amplifies electric signal, second level amplifies electric signal.
In the present embodiment, to take into account weak infrared ray and strong infrared ray, and level-one amplification and second level amplification are carried out.
Step 603, electric signal is amplified according to the level-one of each infrared receiver tube and determines whether infrared ray is analog signal,
If it is analog signal, then determine the direction of analog signal radiation source.
In the present embodiment, the level-one amplification electric signal for constantly reading each infrared receiver tube by several times, reads every time
Each infrared receiver tube level-one amplification electric signal in maximum value subtract minimum value and obtain difference；If in preset duration
Interior, the difference being calculated every time is both greater than preset analog threshold, then determines that infrared ray is analog signal, and last time is read
The direction of the corresponding infrared receiver tube of maximum value is as simulation in the level-one amplification electric signal of each infrared receiver tube taken
The direction in signal radiation source.
In some optional implementations of the present embodiment, the last n of each infrared receiver tube of reading is first calculated
Then the mean value of secondary level-one amplification electric signal compares the mean value of each infrared receiver tube, by the maximum infrared ray of mean value
Direction of the direction of reception pipe as analog signal radiation source.Using mean value, noise jamming is reduced, improves accuracy.
Step 604, electric signal is amplified according to the second level of each infrared receiver tube and determines whether infrared ray is digital signal,
If it is digital signal, it is not less than default saturation threshold if there is most second levels amplification electric signal, is then put using second level
Big electric signal determines the direction in digital signal radiation source, otherwise, is determined using each infrared receiver tube level-one amplification electric signal
The direction of the digital signal radiation source.
In the present embodiment, the second level amplification electric signal for constantly reading each infrared receiver tube by several times, for each
Infrared receiver tube, the second level amplification electric signal that the second level amplification electric signal that this is read subtracts last reading obtain difference
Value then determines to be in rising edge, calculates two adjacent rising edges if the difference is positive, and is greater than default rising edge threshold value
Between duration as cycle duration, if there is the corresponding second level amplification electric signal of at least one infrared receiver tube period when
Length is consistent with the cycle duration of target number signal, then determines infrared ray for digital signal, the infrared receiver tube being consistent is known as
Effective infrared receiver tube, wherein the electric signal between two adjacent rising edges is known as periodic signal.
In the present embodiment, the periodic signal of the second level amplification electric signal of effective infrared receiver tube is known as second stage cycle
Signal all compares the maximum value of each second stage cycle signal with default saturation threshold, if all second stage cycle signals
The both less than default saturation threshold of maximum value, then the maximum value for choosing each second stage cycle signal compares, and maximum value is maximum
Direction of the direction of the corresponding effective infrared receiver tube of second stage cycle signal as digital signal radiation source, if only one
The maximum value of the second stage cycle signal of effective infrared receiver tube is more than or equal to the default saturation threshold, then this is effectively infrared
Direction of the direction of line reception pipe as digital signal radiation source, if at least there are two the second level of effective infrared receiver tube weeks
The maximum value of phase signal is more than or equal to the default saturation threshold, then reads maximum value more than or equal to the default saturation threshold
The first-order cycle signal of all effective infrared receiver tubes compares the maximum value of each first-order cycle signal, and maximum value is most
Direction of the direction of the corresponding effective infrared receiver tube of big first-order cycle signal as digital signal radiation source.
In some optional implementations of the present embodiment, electric signal is amplified according to the second level of each infrared receiver tube
Determine whether continuous 3 cycle durations are consistent with the cycle duration of target number signal, if be all consistent, judges the 4th
Whether cycle duration is consistent with the cycle duration of target number signal, if be consistent, just determines that infrared ray is digital signal.
In some optional implementations of the present embodiment, the second level amplification electric signal of each infrared receiver tube is identified
Rising edge, failing edge, calculate high level duration, low level duration, cycle duration, if there is at least one infrared receiver
Manage the high level duration of corresponding second level amplification electric signal, low level duration, cycle duration and target number signal high level
Duration, low level duration, cycle duration are all consistent, then determine infrared ray for digital signal.It removes and is determined whether with cycle duration
Outside for digital signal, high level duration is also used together, low level duration determines whether digital signal, improve the accurate of measurement
Property.
In the present embodiment, infrared ray is first converted into electric signal, then, level-one amplification is carried out to electric signal and second level is put
Greatly, level-one amplification electric signal, second level amplification electric signal are generated, finally, amplifying electric signal, two according to the level-one of infrared receiver tube
Grade amplification electric signal, at the same identify infrared ray be analog signal and/or digital signal and analog signal radiation source direction and/
Or the direction of digital signal radiation source.Support the strong and weak different and/or different distance infrared emitter of identification infrared ray,
Identification range is wide.Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.This field skill
Art personnel should be appreciated that invention scope involved in the application, however it is not limited to made of the specific combination of above-mentioned technical characteristic
Technical solution, while should also cover in the case where not departing from the inventive concept, by above-mentioned technical characteristic or its equivalent feature
The other technical solutions for carrying out any combination and being formed.Such as features described above and (but being not limited to) disclosed herein have class
Technical characteristic like function is replaced mutually and the technical solution that is formed.
Claims (10)
1. a kind of infrared radar, which is characterized in that the infrared radar includes: infrared receiver tube array, two-stage amplification
Circuit, micro-control unit, specific:
The infrared receiver tube array, is made of the infrared receiver tube of different directions, wherein the infrared receiver tube battle array
Each infrared receiver tube in column is supported received infrared ray progress photoelectric conversion generating electric signal, each infrared ray
Reception pipe is electrically connected a two-stage amplifying circuit；
The two-stage amplifying circuit is made of, wherein the first order first order amplifying circuit, the cascade of second level amplifying circuit
Amplifying circuit amplifies the electric signal that the infrared receiver tube being connected electrically generates, and generates level-one and amplifies electric signal, institute
Level-one amplification electric signal is stated after second level amplifying circuit amplification, second level is generated and amplifies electric signal, the first order amplification
Circuit, the second level amplifying circuit are electrically connected with the micro-control unit respectively；
The micro-control unit amplifies electric signal according to the level-one of each infrared receiver tube and determines whether infrared ray is simulation letter
Number, if it is analog signal, then determine the direction of analog signal radiation source；Amplify electricity according to the second level of each infrared receiver tube
Whether signal determining infrared ray is digital signal, if it is digital signal, not if there is most second levels amplification electric signal
Less than default saturation threshold, then the direction in digital signal radiation source is determined using second level amplification electric signal, otherwise, using each red
The level-one amplification electric signal of outside line reception pipe determines the direction of the digital signal radiation source.
2. infrared radar according to claim 1, which is characterized in that the infrared receiver tube array is by same
5 infrared receiving tubes composition that adjacent angle is 30 degree in plane.
3. infrared radar according to claim 1 or 2, which is characterized in that the micro-control unit includes: analog signal
Determine that subelement, analog signal radiation source direction determining subelement, digital signal determine subelement, digital signal radiation source direction
Determine subelement, specific:
The analog signal determines subelement, constantly reads the level-one amplification electric signal of each infrared receiver tube by several times, often
Maximum value in the level-one amplification electric signal of each infrared receiver tube of secondary reading subtracts minimum value and obtains difference, if pre-
If in duration, the difference being calculated every time is both greater than preset analog threshold, then determine that infrared ray is analog signal；
The analog signal radiation source direction determining subelement, if the analog signal determines that subelement determines that infrared ray is mould
The level-one of quasi- signal, the then each infrared receiver tube read last time amplifies the corresponding infrared ray of maximum value in electric signal
Direction of the direction of reception pipe as analog signal radiation source；
The digital signal determines subelement, constantly reads the second level amplification electric signal of each infrared receiver tube by several times, right
In each infrared receiver tube, the second level amplification electric signal that the second level amplification electric signal that this is read subtracts last reading is obtained
To difference, if the difference is positive, and is greater than default rising edge threshold value, then determines to be in rising edge, calculate on adjacent two
The duration between is risen as cycle duration, if there is the corresponding second level amplification electric signal of at least one infrared receiver tube
Cycle duration is consistent with the cycle duration of target number signal, then determines infrared ray for digital signal, the infrared receiver being consistent
Pipe is known as effective infrared receiver tube, wherein the electric signal between two adjacent rising edges is known as periodic signal；
The digital signal radiation source direction determining subelement, by the second level amplification electric signal of each effective infrared receiver tube
Periodic signal is known as second stage cycle signal, the maximum value of each second stage cycle signal is all compared with default saturation threshold, such as
The both less than default saturation threshold of the maximum value of all second stage cycle signals of fruit, then choose the maximum value of each second stage cycle signal
It compares, the direction of the corresponding effective infrared receiver tube of the maximum second stage cycle signal of maximum value is as digital signal radiation source
Direction, if the maximum value of the second stage cycle signal of only one effective infrared receiver tube be more than or equal to the default saturation
Threshold value, then using the direction of effective infrared receiver tube as the direction of digital signal radiation source, if at least there are two effectively
The maximum value of the second stage cycle signal of infrared receiver tube be more than or equal to the default saturation threshold, then read maximum value be greater than etc.
In the first-order cycle signal of all effective infrared receiver tubes of the default saturation threshold, most by each first-order cycle signal
Big value compares, and the direction of the corresponding effective infrared receiver tube of the maximum first-order cycle signal of maximum value is as digital signal spoke
Penetrate the direction in source.
4. infrared radar according to claim 1 or 2, which is characterized in that the micro-control unit includes: analog signal
Determine that subelement, analog signal radiation source direction determining subelement, digital signal determine subelement, digital signal radiation source direction
Determine subelement, specific:
The analog signal determines subelement, constantly reads the level-one amplification electric signal of each infrared receiver tube by several times, often
Maximum value in the level-one amplification electric signal of each infrared receiver tube of secondary reading subtracts minimum value and obtains difference, if pre-
If in duration, the difference being calculated every time is both greater than preset analog threshold, then determine that infrared ray is analog signal；
The analog signal radiation source direction determining subelement, if the analog signal determines that subelement determines that infrared ray is mould
Quasi- signal, the mean value for first calculating the last n times level-one amplification electric signal of each infrared receiver tube of reading then will be each
The mean value of infrared receiver tube compares, using the direction of the maximum infrared receiver tube of mean value as the side of analog signal radiation source
To；
The digital signal determines subelement, constantly reads the second level amplification electric signal of each infrared receiver tube by several times, right
Amplify electric signal in the second level of each infrared receiver tube, the second level amplification electric signal that this is read subtracts last reading
Second level amplification electric signal obtains difference, if the difference is positive, and is greater than default rising edge threshold value, then determines to be in rising edge,
If the difference is negative, and is less than default failing edge threshold value, then determine to be in failing edge, by between rising edge and failing edge when
It is long to be used as high level duration, using the duration between the failing edge and next rising edge as low level duration, when by high level
Long and low level duration sum amplifies telecommunications as cycle duration, if there is the corresponding second level of at least one infrared receiver tube
Number high level duration, low level duration, cycle duration and the high level duration of target number signal, low level duration, period
Duration is all consistent, then determines infrared ray for digital signal, and the infrared receiver tube being consistent is known as effective infrared receiver tube,
In, the electric signal between two adjacent rising edges is known as periodic signal；
The digital signal radiation source direction determining subelement, by the period of the second level amplification electric signal of effective infrared receiver tube
Signal is known as second stage cycle signal, by the maximum value of electrical signals between each second stage cycle signal high level duration all with default saturation
Threshold value compares, if the both less than default saturation threshold of the maximum value of electrical signals in all second stage cycle signal high level times,
The maximum value of electrical signals then chosen between each second stage cycle signal high level duration compares, the maximum maximum second level of value of electrical signals
Direction of the direction of the corresponding effective infrared receiver tube of periodic signal as digital signal radiation source, if only one is effectively
Maximum value of electrical signals between the second stage cycle signal high level duration of infrared receiver tube is more than or equal to the default saturation threshold,
Then using the direction of effective infrared receiver tube as the direction of digital signal radiation source, if at least there are two effective infrared rays
Maximum value of electrical signals between the second stage cycle signal high level duration of reception pipe is more than or equal to the default saturation threshold, then reads
Maximum value of electrical signals is more than or equal to the first-order cycle signal of all effective infrared receiver tubes of the default saturation threshold, will be each
Maximum value of electrical signals between a first-order cycle signal high level duration compares, the maximum maximum first-order cycle signal of value of electrical signals
Direction of the direction of corresponding effective infrared receiver tube as digital signal radiation source.
5. infrared radar according to claim 3, which is characterized in that infrared radar further includes USB interface, and master control is logical
It crosses the USB interface and communicates and power with the infrared radar.
6. a kind of method for identifying infrared emitter direction, which is characterized in that the described method includes:
The infrared receiver tube of different directions distinguishes receiving infrared-ray, and carries out photoelectric conversion, generates electric signal；
The electric signal that each infrared receiver tube is generated carries out level-one amplification and second level amplification, generates level-one respectively and amplifies telecommunications
Number, second level amplify electric signal；
Amplify electric signal according to the level-one of each infrared receiver tube and determine whether infrared ray is analog signal, believes if it is simulation
Number, then determine the direction of analog signal radiation source；
Amplify electric signal according to the second level of each infrared receiver tube and determine whether infrared ray is digital signal, believes if it is number
Number, it is not less than default saturation threshold if there is most second levels amplification electric signal, then is determined using second level amplification electric signal
Otherwise the direction of digital signal radiation source determines the digital signal using each infrared receiver tube level-one amplification electric signal
The direction of radiation source.
7. the method in identification infrared emitter direction according to claim 6, which is characterized in that the difference direction
Infrared receiver tube refers to 5 infrared receiving tubes that adjacent angle in the same plane is 30 degree.
8. the method in identification infrared emitter direction according to claim 6 or 7, which is characterized in that the basis is each
The level-one amplification electric signal of a infrared receiver tube determines whether infrared ray is analog signal, if it is analog signal, then is determined
The direction of analog signal radiation source, comprising:
The level-one amplification electric signal of each infrared receiver tube, each infrared receiver tube read every time are constantly read by several times
Level-one amplification electric signal in maximum value subtract minimum value and obtain difference；
If the difference being calculated every time is both greater than preset analog threshold in preset duration, then determine that infrared ray is mould
Quasi- signal connects the corresponding infrared ray of maximum value in the level-one amplification electric signal for each infrared receiver tube that last time is read
Direction of the direction of closed tube as analog signal radiation source.
9. the method in identification infrared emitter direction according to claim 6 or 7, which is characterized in that the basis is each
The second level amplification electric signal of a infrared receiver tube determines whether infrared ray is digital signal, if it is digital signal, if deposited
It is not less than default saturation threshold in most second levels amplification electric signal, then digital signal amplitude is determined using second level amplification electric signal
The direction in source is penetrated, otherwise, the side of the digital signal radiation source is determined using each infrared receiver tube level-one amplification electric signal
To, comprising:
The second level amplification electric signal for constantly reading each infrared receiver tube by several times incite somebody to action this for each infrared receiver tube
The second level amplification electric signal that the second level amplification electric signal of secondary reading subtracts last reading obtains difference, if the difference is positive,
And be greater than default rising edge threshold value, then determine to be in rising edge, when calculating the duration between two adjacent rising edges as the period
It is long, if there is the cycle duration and target number signal of the corresponding second level amplification electric signal of at least one infrared receiver tube
Cycle duration is consistent, then determines infrared ray for digital signal, and the infrared receiver tube being consistent is known as effective infrared receiver tube,
In, the electric signal between two adjacent rising edges is known as periodic signal；
The periodic signal of the second level amplification electric signal of effective infrared receiver tube is known as second stage cycle signal, by each second level week
The maximum value of phase signal is all compared with default saturation threshold, if the maximum value of all second stage cycle signals is both less than default
Saturation threshold, the then maximum value for choosing each second stage cycle signal compare, and the maximum second stage cycle signal of maximum value is corresponding
Direction of the direction of effective infrared receiver tube as digital signal radiation source, if only one effective infrared receiver tube
The maximum value of second stage cycle signal be more than or equal to the default saturation threshold, then using the direction of effective infrared receiver tube as
The direction of digital signal radiation source, if at least there are two the maximum values of the second stage cycle signal of effective infrared receiver tube to be greater than
Equal to the default saturation threshold, then all effective infrared receivers that maximum value is more than or equal to the default saturation threshold are read
The first-order cycle signal of pipe compares the maximum value of each first-order cycle signal, the maximum first-order cycle signal pair of maximum value
Direction of the direction for the effective infrared receiver tube answered as digital signal radiation source.
10. the method in identification infrared emitter direction according to claim 9, which is characterized in that described according to each
The second level amplification electric signal of infrared receiver tube determines whether infrared ray is digital signal, comprising:
Amplify electric signal according to the second level of each infrared receiver tube and determines whether continuous 3 cycle durations are believed with target number
Number cycle duration be consistent, if be all consistent, judge the 4th cycle duration whether period with the target number signal when
Length is consistent, if be consistent, just determines that infrared ray is digital signal.
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