CN111413705A - TOF sensor for automatic control of automobile door - Google Patents
TOF sensor for automatic control of automobile door Download PDFInfo
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- CN111413705A CN111413705A CN202010347656.6A CN202010347656A CN111413705A CN 111413705 A CN111413705 A CN 111413705A CN 202010347656 A CN202010347656 A CN 202010347656A CN 111413705 A CN111413705 A CN 111413705A
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- module
- value
- measured distance
- distance value
- infrared light
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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
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
- E05F2015/765—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using optical sensors
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a TOF sensor for automatically controlling an automobile door, which comprises a control module, an OPT module, a VCSE L module, an ESP module and a power supply module, wherein the control module is used for receiving a starting instruction of an external controller to start distance detection of a leg of a target user, receiving a measured distance value of the leg of the target user sent by the OPT module, calculating a final distance value according to the measured distance value of the leg of the target user, sending the final distance value to the external controller, sending a control instruction to drive the VCSE L module to emit infrared light, receiving the infrared light reflected by the leg of the target user in a specific direction by the ESP, and further obtaining the measured distance value, and the control module further comprises a correction module which can correct the measured distance value according to the detected value of power supply voltage.
Description
Technical Field
The invention belongs to the technical field of electronics for intelligent control of automobiles, and particularly relates to a TOF sensor for automatic control of an automobile door.
Background
Nowadays, the technical field of automobile electronics is changing day by day, more electronic products are more and more humanized, and the pursuit of people for factors such as comfort, safety, intelligence and the like is met. For better user experience, the automatic control device of the vehicle door is preferred by users with the characteristics of comfort, convenience, safety and the like.
The electric environment on the automobile is complex, the influence on each part is different, the sensor sensitivity of the automatic automobile door control device is influenced by voltage change, the control accuracy is poor, and the user experience is influenced.
Meanwhile, the existing automatic opening device for the automobile door is generally arranged at the lower part of the automobile door, and has a lot of influences of unknown environmental factors, so that the accuracy deviation of user operation identification is large, and the user experience is not good.
Disclosure of Invention
Aiming at the defects in the prior art, the invention discloses a TOF sensor for automatic control of an automobile door, which is used for improving the detection precision and the detection reliability of the sensor in the automatic control process of the automobile door. The technical scheme of the invention is as follows by combining the attached drawings of the specification:
a TOF sensor for automatic control of an automobile door, the TOF sensor comprising a control module, an OPT module, a VCSE L module, an ESP module, and a power module, wherein:
the control module is in two-way communication with the external controller through a URAT interface, and is used for receiving a starting instruction of the external controller to start the distance detection of the leg of the target user, receiving the measured distance value of the leg of the target user sent by the OPT module, calculating according to the measured distance value of the leg of the target user to obtain a final distance value and sending the final distance value to the external controller;
the OPT module is bidirectionally connected with the control module through an I2C interface, and is used for receiving a control instruction sent by the control module to drive the VCSE L module to emit infrared light, receiving a signal sent by the ESP module, amplifying, demodulating or filtering the signal, and uploading a measured distance value to the control module;
the VCSE L module is used for periodically emitting modulated infrared light outwards;
the ESP module is used for receiving infrared light reflected by the leg of the target user in a specific direction;
the power supply module is respectively connected with the control module and the OPT module and used for supplying power;
the power supply module comprises a detection chip for detecting power supply voltage and sends a voltage detection value to the control module;
the control module further comprises a correction module for correcting the measured distance value according to the voltage detection value, when the voltage detection value is higher than a standard voltage value, the measured distance value is increased by a preset distance to obtain a corresponding corrected distance value, and when the voltage detection value is lower than the standard voltage value, the measured distance value is decreased by the preset distance to obtain a corresponding corrected distance.
Further, the detection distance of the VCSE L module can be customized as required.
Further, the detection range is customized by modulating the wavelength of the infrared light emitted by the VCSE L module.
Further, the cross section of the infrared light emitted by the VCSE L module is in a T-shaped array shape;
the ESP module receives the infrared light reflected by the target user leg in the form of a "rectangular surface" array.
Further, the OPT module calculates the measured distance value according to the flight time of the infrared light, calculates the reliability of the measured distance value according to the intensity attenuation value of the reflected infrared light relative to the emitted infrared light, and sends the measured distance value and the reliability corresponding to the measured distance value to the control module in a group.
Furthermore, within a preset time, the control module receives multiple sets of measured distance values and the reliability corresponding to the measured distance values, which are continuously sent by the OPT module, and discards the measured distance values in the set if the reliability corresponding to the measured distance values is lower than a preset reliability value;
and correcting the rest of the measured distance values through the correction module to obtain a plurality of corrected distance values, and calculating the mean value of the corrected distance values to obtain the final distance value.
Compared with the prior art, the invention has the beneficial effects that:
1. in the TOF sensor, the correction module is arranged in the control module, and the measured distance value can be corrected according to the voltage detection result, so that the influence of voltage change on the detection accuracy of the sensor is avoided;
2. the VCSE L module in the TOF sensor adopts a T-shaped array to emit infrared light, and improves the energy gathering of the infrared light emitted from a key position through a focusing point of the infrared light in the T-shaped array;
3. according to the TOF sensor, the OPT module is used for calculating the reliability of the measured distance value according to the intensity attenuation value of the reflected infrared light relative to the emitted infrared light, the measured distance value with low reliability is abandoned, and the reliability of the detection result is improved;
4. in the TOF sensor, the control module receives a plurality of groups of measured distance values within the preset time, and calculates the mean value of a plurality of groups of corrected distance values to obtain the final distance value, so that the reliability of the distance detection result is further improved.
Drawings
FIG. 1 is a schematic diagram of the connection of a TOF sensor according to the present invention in an automatic control system for a door of an automobile;
FIG. 2 is a block diagram illustrating the structure of a TOF sensor according to the present invention.
In the figure:
100-control module, 200-OPT module, 300-VCSE L module,
400-ESP module, 500-power module;
110-a correction module;
510-test chip.
Detailed Description
For clearly and completely describing the technical scheme and the specific working process thereof, the specific implementation mode of the invention is as follows by combining the attached drawings of the specification:
in the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
As shown in fig. 1, the automatic control system of the vehicle door where the TOF sensor is located according to the present invention includes: the system comprises a vehicle body processor, a distance sensing module, an optical module, a TOF sensor and a vehicle door control module; wherein:
the distance sensing module is used for detecting whether a target user exists in a first preset range of the vehicle;
the optical module is used for projecting light spots in a second preset range of the vehicle;
the TOF sensor is used for detecting leg actions of a target user within a second preset range;
the vehicle body processor sends a control instruction to the vehicle door control module according to the result detected by the TOF sensor;
and the vehicle door control module is used for receiving a control command and executing the action of opening the vehicle door.
The working process of the automatic control system of the automobile door is briefly described as follows:
the distance sensing module detects whether a target user exists in a first preset range of the vehicle or not, and sends a detection result to the vehicle body processor, after the vehicle body processor receives a detection signal that the target user exists in the first preset range of the vehicle, the distance sensing module sends a control signal to the optical module, the optical module is controlled to project a light spot in a second preset range of the vehicle, meanwhile, the vehicle body processor sends a control signal to the TOF sensor, the TOF sensor is started, then, the TOF sensor detects leg actions of the target user in the second preset range and sends the leg actions to the vehicle body processor, then, the vehicle body processor sends a control instruction to the vehicle door control module according to the detection result of the TOF sensor, and finally, the vehicle door control module executes a vehicle door opening action according to the received control instruction.
As mentioned above, the TOF sensor of the present invention is used for detecting leg movements of a target user within a second preset range, and as shown in FIG. 2, the TOF sensor comprises a control module 100, an OPT module 200, a VCSE L module 300, an ESP module 400, and a power supply module 500, wherein:
the control module 100 is in bidirectional communication with the body processor through the URAT interface, and is configured to receive a start instruction of the body processor to start distance detection of a leg of a target user, receive a measured distance value of the leg of the target user sent by the OPT module 200, calculate a final distance value according to the measured distance value of the leg of the target user, and send the final distance value to the body processor.
The OPT module 200 is bidirectionally connected to the control module 100 through an I2C interface, and is configured to receive a control instruction sent by the control module 100, further drive the VCSE L module 300 to emit infrared light, receive a signal sent by the ESP module 400, and upload an obtained measured distance value to the control module 100 after amplification, demodulation, or filtering, where:
the OPT module 200 transmits infrared light according to the VCSE L module 300, calculates the measured distance value according to the flight time of the infrared light until the ESP module 400 receives the reflected infrared light, calculates the reliability of the measured distance value according to the intensity attenuation value of the reflected infrared light relative to the transmitted infrared light, and transmits the measured distance value and the reliability corresponding to the measured distance value to the control module 100 in a group.
The VCSE L module 300 for periodically emitting modulated infrared light outwards;
the VCSE L module 300 can self-define the detection distance of the infrared light by modulating the wavelength of the infrared light;
the array of infrared light emitted by the VCSE L module 300 is a "T" type array to achieve improved energy concentration of the infrared light emitted from critical locations by the focal point of the "T" type mid-infrared light.
The ESP module 400 for receiving infrared light reflected by a leg of a target user in a particular direction;
the ESP module 400 receives the infrared light reflected by the leg of the target user in the form of a "rectangular surface" array, so as to improve the receiving light range, improve the receiving uniformity, and greatly reduce the detection error.
The power module 500 is connected to and supplies power to the control module 100 and the OPT module 200, and the power module 500 includes a detection chip 510 for detecting a supply voltage and sends a voltage detection value to the control module 100.
The control module 100 further includes a correction module 110, where the correction module 110 is configured to correct the received measured distance value according to the received voltage detection value, and when the voltage detection value is higher than a standard voltage value X volt, increase the measured distance value by 2X centimeters to obtain a corrected distance value, and when the voltage detection value is lower than the standard voltage value X volt, decrease the measured distance value by 2X centimeters to obtain the corrected distance value;
within a preset time, the control module 100 receives a plurality of groups of measured distance values continuously sent by the OPT module 200 and the reliability corresponding to the measured distance values, and if the reliability corresponding to the measured distance values is lower than a preset reliability value, the measured distance values in the group are discarded; and the correction module 110 corrects the remaining measured distance values to obtain a plurality of corrected distance values, and calculates the mean value of the plurality of corrected distance values to obtain the final distance value.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (6)
1. A TOF sensor for automatic control of an automobile door is characterized in that:
the TOF sensor comprises a control module, an OPT module, a VCSE L module, an ESP module and a power supply module, wherein:
the control module is in two-way communication with the external controller through a URAT interface, and is used for receiving a starting instruction of the external controller to start the distance detection of the leg of the target user, receiving the measured distance value of the leg of the target user sent by the OPT module, calculating according to the measured distance value of the leg of the target user to obtain a final distance value and sending the final distance value to the external controller;
the OPT module is bidirectionally connected with the control module through an I2C interface, and is used for receiving a control instruction sent by the control module to drive the VCSE L module to emit infrared light, receiving a signal sent by the ESP module, amplifying, demodulating or filtering the signal, and uploading a measured distance value to the control module;
the VCSE L module is used for periodically emitting modulated infrared light outwards;
the ESP module is used for receiving infrared light reflected by the leg of the target user in a specific direction;
the power supply module is respectively connected with the control module and the OPT module and used for supplying power;
the power supply module comprises a detection chip for detecting power supply voltage and sends a voltage detection value to the control module;
the control module further comprises a correction module for correcting the measured distance value according to the voltage detection value, when the voltage detection value is higher than a standard voltage value, the measured distance value is increased by a preset distance to obtain a corresponding corrected distance value, and when the voltage detection value is lower than the standard voltage value, the measured distance value is decreased by the preset distance to obtain a corresponding corrected distance.
2. A TOF sensor for automatic control of vehicle doors according to claim 1 wherein:
the detection distance of the VCSE L module can be customized according to needs.
3. A TOF sensor for automatic control of vehicle doors according to claim 2, wherein:
the detection distance is customized by modulating the wavelength of infrared light emitted by the VCSE L module.
4. A TOF sensor for automatic control of vehicle doors according to claim 1 wherein:
the cross section of infrared light emitted by the VCSE L module is in a T-shaped array shape;
the ESP module receives the infrared light reflected by the target user leg in the form of a "rectangular surface" array.
5. A TOF sensor for automatic control of vehicle doors according to claim 1 wherein:
the OPT module calculates the measured distance value according to the flight time of the infrared light, calculates the reliability of the measured distance value according to the intensity attenuation value of the reflected infrared light relative to the emitted infrared light, and sends the measured distance value and the reliability corresponding to the measured distance value to the control module in a group manner.
6. A TOF sensor for automatic control of an automotive door as claimed in claim 5 wherein:
within a preset time, the control module receives a plurality of groups of measured distance values continuously sent by the OPT module and the credibility corresponding to the measured distance values, and if the credibility corresponding to the measured distance values is lower than a preset credibility value, the measured distance values in the group are discarded;
and correcting the rest of the measured distance values through the correction module to obtain a plurality of corrected distance values, and calculating the mean value of the corrected distance values to obtain the final distance value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010347656.6A CN111413705A (en) | 2020-04-28 | 2020-04-28 | TOF sensor for automatic control of automobile door |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010347656.6A CN111413705A (en) | 2020-04-28 | 2020-04-28 | TOF sensor for automatic control of automobile door |
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| CN111413705A true CN111413705A (en) | 2020-07-14 |
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| CN202010347656.6A Pending CN111413705A (en) | 2020-04-28 | 2020-04-28 | TOF sensor for automatic control of automobile door |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112496736A (en) * | 2020-11-18 | 2021-03-16 | 昆山丘钛微电子科技有限公司 | AA lighting driving device and AA machine table |
| CN114033271A (en) * | 2021-11-26 | 2022-02-11 | 东风悦享科技有限公司 | High-grade automatic driving vehicle door automatic opening and closing system based on infrared technology and control method |
-
2020
- 2020-04-28 CN CN202010347656.6A patent/CN111413705A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112496736A (en) * | 2020-11-18 | 2021-03-16 | 昆山丘钛微电子科技有限公司 | AA lighting driving device and AA machine table |
| CN112496736B (en) * | 2020-11-18 | 2022-04-15 | 昆山丘钛微电子科技股份有限公司 | AA lighting driving device and AA machine table |
| CN114033271A (en) * | 2021-11-26 | 2022-02-11 | 东风悦享科技有限公司 | High-grade automatic driving vehicle door automatic opening and closing system based on infrared technology and control method |
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