CN111366127A - Self-adaptive distance measuring method for infrared photoelectric sensor resisting strong ambient light - Google Patents
Self-adaptive distance measuring method for infrared photoelectric sensor resisting strong ambient light Download PDFInfo
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- CN111366127A CN111366127A CN202010114745.6A CN202010114745A CN111366127A CN 111366127 A CN111366127 A CN 111366127A CN 202010114745 A CN202010114745 A CN 202010114745A CN 111366127 A CN111366127 A CN 111366127A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000000691 measurement method Methods 0.000 claims abstract description 5
- 230000003044 adaptive effect Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 abstract description 14
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
- G01J1/4204—Photometry, e.g. photographic exposure meter using electric radiation detectors with determination of ambient light
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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- Life Sciences & Earth Sciences (AREA)
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- Spectroscopy & Molecular Physics (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a self-adaptive distance measurement method for an infrared photoelectric sensor to resist strong ambient light, which comprises the following steps: s1: measuring a target object by using an infrared photoelectric sensor to obtain a current distance value; s2: grading the intensity values of ambient light entering the infrared photoelectric sensor at different angles; s3: and respectively compensating according to different ambient light levels, and adjusting the current distance value. The invention discloses a strong ambient light resistant self-adaptive distance measuring method of an infrared photoelectric sensor, which solves the problem that the single compensation of the infrared photoelectric sensor under strong ambient light can not achieve high measurement precision in the prior art method, and provides a grading compensation method with high compensation precision.
Description
Technical Field
The invention relates to the field of infrared photoelectric distance measurement, in particular to a self-adaptive distance measurement method for resisting strong ambient light of an infrared photoelectric sensor.
Background
In the infrared photoelectric distance measurement scheme, the high measurement precision can be achieved under outdoor strong ambient light. A method of compensating the measurement accuracy according to the intensity value of the ambient light is generally employed. In the existing ambient light compensation method, a sensor measures the distance of a target object under the influence of ambient light. Ambient light enters the sensor sensing element at different angles and the sensor adjusts the measurement based on the intensity value of the ambient light. So as to resist the influence of strong ambient light. The ambient light compensation method only considers the linear influence of ambient light on the sensor, and does not consider the influence of different ambient light intensities on the measurement accuracy. I.e. the compensation elements are relatively coarse and not fine enough. Therefore, the compensation range is not comprehensive enough, and the final compensation precision can only reach 20%. The compensation accuracy is not high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a strong ambient light resistant self-adaptive distance measurement method for an infrared photoelectric sensor, which solves the problem that the single compensation of the infrared photoelectric sensor under strong ambient light cannot achieve high measurement precision in the prior art method, and provides a grading compensation method with high compensation precision.
In order to achieve the above object, the present invention provides an adaptive ranging method for infrared photoelectric sensor against strong ambient light, comprising the steps of:
s1: measuring a target object by using an infrared photoelectric sensor to obtain a current distance value;
s2: grading the intensity values of ambient light entering the infrared photoelectric sensor at different angles;
s3: and respectively compensating according to different ambient light levels, and adjusting the current distance value.
Preferably, in the step S2, the ambient light intensity value is divided into five levels:
a first stage: when the ambient light intensity value is less than 3, the compensation coefficient is 0 and no compensation is carried out;
and a second stage: when the ambient light intensity value is greater than 3 and less than 9, the compensation coefficient is the current distance value divided by 80 times the current ambient light intensity value;
and a third stage: the ambient light intensity value is greater than 9 and the current distance value is less than 5000, and the compensation coefficient is 160 plus the current ambient light intensity value;
fourth stage: the ambient light intensity value is greater than 9 and less than 30, and the compensation coefficient is 15 times the current ambient light intensity value;
and a fifth stage: the ambient light intensity value is greater than 30 and the compensation factor is 260.
Preferably, in the step S3, the current distance value is adjusted by using a compensation formula.
Preferably, when the current distance value is less than 650mm and the ambient light intensity is less than 13, the compensation value a is calculated according to equation (1):
A＝(G*23*D)/1200 (1)；
wherein G represents the ambient light intensity value and D represents the current distance value; when A is less than or equal to 220, the compensation formula is as follows: d ═ D + a; when a is greater than 220, the compensation formula is: d + 220;
when the current distance value is greater than 650mm and the ambient light intensity value is greater than 3 and less than 9, the compensation formula is: d + D G/80;
when the current distance value is greater than 650mm and less than 5000mm, and the ambient light intensity value is greater than 9, the compensation formula is as follows: d +160+ G;
when the current distance value is greater than 5000mm and the ambient light intensity value is greater than 9 and less than 30, the compensation formula is as follows: d +15 × G;
when the current distance value is greater than 5000mm and the ambient light intensity value is greater than 30, the compensation formula is D-100.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
different compensation levels are divided by comparing the influence degrees of different ambient light intensities on the product. And respectively calculating coefficients to be compensated according to the grades, and then fusing the coefficients with the original data. And finally, obtaining data with higher measurement precision. Based on the idea of graded compensation in the scheme, the scheme can be further optimized. And (5) further grading and refining. So as to achieve more detailed compensation, further improve the capability of resisting ambient light and improve the measurement precision.
Drawings
FIG. 1 is a flowchart of an adaptive ranging method for an infrared photoelectric sensor to resist strong ambient light according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an infrared photoelectric sensor adaptive ranging method against strong ambient light according to an embodiment of the present invention.
Detailed Description
The following description of the preferred embodiments of the present invention, with reference to the accompanying drawings 1 and 2, will provide a better understanding of the function and features of the invention.
Referring to fig. 1 and fig. 2, a method for adaptive ranging of infrared photoelectric sensor against strong ambient light according to an embodiment of the present invention includes:
s1: measuring a target object by using an infrared photoelectric sensor to obtain a current distance value;
s2: grading the ambient light intensity values entering the infrared photoelectric sensor at different angles;
in step S2, the ambient light intensity values are divided into five levels:
a first stage: when the ambient light intensity value is less than 3, the compensation coefficient is 0 and no compensation is carried out;
and a second stage: when the ambient light intensity value is greater than 3 and less than 9, the compensation coefficient is the current distance value divided by 80 times the current ambient light intensity value;
and a third stage: the ambient light intensity value is greater than 9, the current distance value is less than 5000, and the compensation coefficient is 160 plus the current ambient light intensity value;
fourth stage: the ambient light intensity value is greater than 9 and less than 30, and the compensation coefficient is 15 times the current ambient light intensity value;
and a fifth stage: the ambient light intensity value is greater than 30 and the compensation factor is 260.
S3: and respectively compensating according to different ambient light levels, and adjusting the current distance value.
And adjusting the current distance value by using a compensation formula.
When the current distance value is less than 650mm and the ambient light intensity is less than 13, calculating a compensation value a according to equation (1):
A＝(G*23*D)/1200 (1)；
wherein G represents an ambient light intensity value and D represents a current distance value; when A is less than or equal to 220, the compensation formula is as follows: d ═ D + a; when a is greater than 220, the compensation formula is: d + 220;
when the current distance value is greater than 650mm and the ambient light intensity value is greater than 3 and less than 9, the compensation formula is as follows: d + D G/80;
when the current distance value is larger than 650mm and smaller than 5000mm, and the ambient light intensity value is larger than 9, the compensation formula is as follows: d +160+ G;
when the current distance value is greater than 5000mm and the ambient light intensity value is greater than 9 and less than 30, the compensation formula is as follows: d +15 × G;
when the current distance value is greater than 5000mm and the ambient light intensity value is greater than 30, the compensation formula is D-100.
And selecting one compensation formula in the 6 situations to perform fusion compensation on the current data by judging the ambient light intensity and the original current distance value. Finally, the sensor is self-adaptive to strong ambient light, and a distance value with higher measurement precision is obtained. The measurement precision reaches 10%, and is improved by 50% compared with the conventional method. The problem that the infrared sensor is low in precision under the strong environment light is solved well.
According to the anti-strong ambient light self-adaptive distance measurement method of the infrared photoelectric sensor, influence degrees of different ambient light intensities on products are compared, and the different compensation levels are divided. And respectively calculating coefficients to be compensated according to the grades, and then fusing the coefficients with the original data. And finally, obtaining data with higher measurement precision. By the graded compensation of the embodiment to the ambient light, the measurement precision reaches 10%. The improvement is 50% compared with a single compensation scheme.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.
Claims (4)
1. An infrared photoelectric sensor anti-strong ambient light self-adaptive distance measurement method comprises the following steps:
s1: measuring a target object by using an infrared photoelectric sensor to obtain a current distance value;
s2: grading the intensity values of ambient light entering the infrared photoelectric sensor at different angles;
s3: and respectively compensating according to different ambient light levels, and adjusting the current distance value.
2. The adaptive ranging method for infrared photoelectric sensor resisting strong ambient light according to claim 1, wherein in the step S2, the ambient light intensity value is divided into five levels:
a first stage: when the ambient light intensity value is less than 3, the compensation coefficient is 0 and no compensation is carried out;
and a second stage: when the ambient light intensity value is greater than 3 and less than 9, the compensation coefficient is the current distance value divided by 80 times the current ambient light intensity value;
and a third stage: the ambient light intensity value is greater than 9 and the current distance value is less than 5000, and the compensation coefficient is 160 plus the current ambient light intensity value;
fourth stage: the ambient light intensity value is greater than 9 and less than 30, and the compensation coefficient is 15 times the current ambient light intensity value;
and a fifth stage: the ambient light intensity value is greater than 30 and the compensation factor is 260.
3. The adaptive ranging method for infrared photoelectric sensor resisting strong ambient light according to claim 2, wherein in the step S3, the current distance value is adjusted by using a compensation formula.
4. The adaptive ranging method for infrared photoelectric sensor resisting strong ambient light according to claim 3, wherein when the current distance value is less than 650mm and the ambient light intensity is less than 13, the compensation value A is calculated according to formula (1):
A＝(G*23*D)/1200 (1)；
wherein G represents the ambient light intensity value and D represents the current distance value; when A is less than or equal to 220, the compensation formula is as follows: d ═ D + a; when a is greater than 220, the compensation formula is: d + 220;
when the current distance value is greater than 650mm and the ambient light intensity value is greater than 3 and less than 9, the compensation formula is: d + D G/80;
when the current distance value is greater than 650mm and less than 5000mm, and the ambient light intensity value is greater than 9, the compensation formula is as follows: d +160+ G;
when the current distance value is greater than 5000mm and the ambient light intensity value is greater than 9 and less than 30, the compensation formula is as follows: d +15 × G;
when the current distance value is greater than 5000mm and the ambient light intensity value is greater than 30, the compensation formula is D-100.
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| CN202010114745.6A CN111366127A (en) | 2020-02-25 | 2020-02-25 | Self-adaptive distance measuring method for infrared photoelectric sensor resisting strong ambient light |
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