CN111766591A - High accuracy bluetooth BLE ranging system based on TOF sensor - Google Patents
High accuracy bluetooth BLE ranging system based on TOF sensor Download PDFInfo
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- CN111766591A CN111766591A CN202010686422.4A CN202010686422A CN111766591A CN 111766591 A CN111766591 A CN 111766591A CN 202010686422 A CN202010686422 A CN 202010686422A CN 111766591 A CN111766591 A CN 111766591A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
- G01K13/02—Thermometers specially adapted for specific purposes for measuring temperature of moving fluids or granular materials capable of flow
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume, or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- 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
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a high-precision Bluetooth BLE distance measuring system based on a TOF sensor, which comprises: the power management system is used for supplying instantaneous high current to the TOF sensor distance acquisition system and supplying power to the low-power-consumption BLE master control system, and ensuring that the whole system stably runs in a low-power-consumption state; the low-power-consumption BLE master control system is used as the master control of the whole system and is in wireless communication with other equipment through Bluetooth; the TOF sensor distance acquisition system sends and receives infrared rays through the TOF sensor, calculates the distance according to the time difference between sending and receiving, and inputs data into the low-power-consumption BLE master control system; TOF sensors calculate distance by continuously emitting outward pulses of near-infrared light of a particular wavelength and then measuring the time difference between the reflected and emitted light. The invention has the advantages of centimeter-level measurement precision, extremely low power consumption and capability of increasing the portability of the product by adopting the battery for power supply. The invention has wide application prospect in the fields of industrial automation, intelligent agriculture and the like.
Description
Technical Field
The invention relates to a distance measuring technology based on a TOF sensor, in particular to a high-precision Bluetooth BLE distance measuring system based on the TOF sensor.
Background
TOF is an abbreviation of Time of Flight for the distance to a target by continuously transmitting light pulses to the target and then receiving light returning from the object with a sensor, by detecting the round trip Time of these transmitted and received light pulses. Common distance measurement schemes in the market are generally based on laser radar or ultrasonic distance measurement, and the schemes have the defects of high power consumption, low precision and the like, and cannot meet the requirements of people on low-power-consumption battery power supply, high-precision distance measurement and the like.
With the development of the internet of things technology, Bluetooth BLE becomes a common wireless connection technology, and on such a background, the invention provides an intelligent distance measurement scheme based on TOF, wherein data acquired by a TOF sensor is sent to a mobile phone or a Bluetooth gateway through the Bluetooth BLE, so that a user can quickly check high-precision distance data.
Disclosure of Invention
In view of the foregoing defects in the prior art, the technical problem to be solved by the present invention is to provide a high-precision bluetooth BLE ranging system based on a TOF sensor, where acquired data can be transmitted to a mobile phone or a bluetooth gateway through bluetooth BLE, so as to implement real-time centralized management on the data.
In order to achieve the above object, the present invention provides a high-precision bluetooth BLE ranging scheme based on a TOF sensor, including:
the power management system is used for supplying instantaneous high current to the TOF sensor distance acquisition system and supplying power to the low-power-consumption BLE master control system, and ensuring that the whole system stably runs in a low-power-consumption state;
the low-power-consumption BLE master control system is used as the master control of the whole system and is in wireless communication with other equipment through Bluetooth;
the TOF sensor distance acquisition system sends and receives infrared rays through the TOF sensor, calculates the distance according to the time difference between sending and receiving, and inputs data into the low-power-consumption BLE master control system; TOF sensors are the core devices that enable distance measurement by constantly emitting outward pulses of near-infrared light of a particular wavelength and then measuring the time difference between the reflected and emitted light to calculate the distance.
As a further improvement of the present invention, the functions of the low-power BLE master control system are as follows:
a) the TOF sensor is responsible for control management of the TOF sensor, including control of TOF opening time, control of TOF sensor opening time duration, filtering processing of data acquired by TOF, and the like.
b) And the Bluetooth module is responsible for managing the BLE Bluetooth module, including sending processed TOF data to a peripheral device through Bluetooth. The peripheral equipment can be a mobile phone or a Bluetooth gateway, and comprises the steps of using a mobile phone APP to carry out parameter configuration on a TOF ranging system through BLE, wherein specific parameters comprise TOF operating parameters and BLE operating parameters.
c) The low-power consumption BLE major control system transmits the acquired data to the peripheral equipment in a BLE broadcasting mode, and the BLE broadcasting mode is adopted to transmit the data, so that the power consumption of the system can be reduced, the distance data of a plurality of pieces of equipment can be collected simultaneously, and the purpose of simultaneously managing a plurality of distance measuring equipment is realized.
As a further improvement of the present invention, the low-power BLE master control system includes:
the BLE Bluetooth module is used for wirelessly communicating with peripheral equipment through Bluetooth and is in a low-power standby state when not used;
the MCU is used as a main control chip and is used for receiving and transmitting analysis control instructions, and performing data calculation and program operation;
the memory is used for storing data, and the flash memory card is selected in the embodiment;
the temperature and humidity sensor is used for detecting the temperature and humidity in the environment;
an air particle sensor for detecting the amount of particles in the air;
the power supply management system comprises a temperature and humidity sensor, an air particle sensor, a contactor, a power supply management system and a power supply management system, wherein the temperature and humidity sensor is connected with the air particle sensor through the power supply management system; temperature and humidity sensor, air particle sensor, memory, BLE bluetooth module's signal end, the control end of contactor are connected with MCU's different signal end electricity respectively to make MCU can receive temperature and humidity sensor, air particle sensor's signal, can read and write data to the memory simultaneously, and send control signal to BLE bluetooth module, contactor.
As a further improvement of the present invention, the TOF sensor distance acquisition system comprises:
the TOF sensor is used for emitting infrared rays, the infrared rays are blocked by a measured object and then are reflected to the TOF sensor, so that the TOF sensor receives the reflected infrared rays, and meanwhile, the TOF sensor converts the time of emitting the infrared rays and the time of receiving the infrared rays into electric signals and then transmits the electric signals to the filter;
a filter for filtering the interference signal, so as to facilitate the subsequent identification of the electrical signal sent by the TOF sensor;
the signal amplifier is used for amplifying the electric signal sent by the TOF sensor so as to facilitate the identification of a subsequent MCU;
and after the MCU identifies the electric signal sent by the TOF sensor, the infrared ray emitting time T1 and the infrared ray receiving time T2 are respectively extracted, then the time difference delta T is calculated, and the distance between the measured object and the TOF sensor is obtained by multiplying the delta T by the light speed.
As a further improvement of the invention, in an initial state, the BLE Bluetooth module, the MCU and the memory are synchronously started, and the BLE Bluetooth module, the MCU and the memory are operated at full power after being started; and when high-precision measurement is needed, the contactor is closed, so that the temperature and humidity of air and the particle quantity value are obtained, a compensation algorithm is established according to a pre-designed calculation program and the influence of the parameter values of the temperature and humidity and the particle quantity on the infrared transmission efficiency, and the time difference of infrared ray emission and infrared ray receiving of the TOF sensor is compensated through the compensation algorithm.
As a further improvement of the present invention, when a compensation scheme is established, the high-precision bluetooth BLE ranging system is placed in different temperature, humidity and air particle environments, then a measured object is placed, the system of the present embodiment is used to detect the distance of the measured object to obtain a detection distance, then a higher-precision ranging device is used to detect the distance of the measured object to obtain a correction distance, a correlation function model is established according to the temperature, humidity, air particle value, detection distance and correction distance, and finally the function model is trained through a large amount of data.
The invention has the beneficial effects that:
the invention has the advantages of centimeter-level measurement precision, extremely low power consumption and capability of increasing the portability of the product by adopting the battery for power supply. The invention has wide application prospect in the fields of industrial automation, intelligent agriculture and the like.
Drawings
Fig. 1 is a block diagram of the system of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Referring to fig. 1, in this embodiment, the low-power BLE master control system includes:
the BLE Bluetooth module is used for wirelessly communicating with peripheral equipment through Bluetooth and is in a low-power standby state when not used;
the MCU is used as a main control chip and is used for receiving and transmitting analysis control instructions, and performing data calculation and program operation;
the memory is used for storing data, and the flash memory card is selected in the embodiment;
the temperature and humidity sensor is used for detecting the temperature and humidity in the environment;
an air particle sensor for detecting the amount of particles in the air.
The power supply management system is characterized in that the power connection ends of the temperature and humidity sensor and the air particle sensor are respectively and electrically connected with the movable contact of the contactor, and the fixed contact of the contactor is connected with the current output end of the power supply management system, so that the current on-off (starting and stopping) of the temperature and humidity sensor and the air particle sensor is controlled through the contactor. Temperature and humidity sensor, air particle sensor, memory, BLE bluetooth module's signal end, the control end of contactor are connected with MCU's different signal end electricity respectively to make MCU can receive temperature and humidity sensor, air particle sensor's signal, can read and write data to the memory simultaneously, and send control signal to BLE bluetooth module, contactor.
In an initial state, the BLE Bluetooth module, the MCU and the memory are synchronously started, and the BLE Bluetooth module, the MCU and the memory are operated at full power after being started; and when high-precision measurement is needed, the contactor is closed, so that the temperature and humidity of air and the particle quantity are obtained, a compensation algorithm is established according to the pre-designed calculation program and the influence of the parameter values of the temperature and humidity and the particle quantity on the infrared transmission efficiency, the time difference of infrared ray emission and infrared ray receiving of the TOF sensor is compensated through the compensation algorithm, and the distance measurement with higher precision can be obtained. The influence of temperature, humidity and particle quantity on the infrared transmission speed is the prior art, and a compensation algorithm can be obtained by directly adopting the prior art.
The TOF sensor distance acquisition system, comprising:
the TOF sensor is used for emitting infrared rays, the infrared rays are blocked by a measured object and then are reflected to the TOF sensor, so that the TOF sensor receives the reflected infrared rays, and meanwhile, the TOF sensor converts the time of emitting the infrared rays and the time of receiving the infrared rays into electric signals and then transmits the electric signals to the filter;
a filter for filtering the interference signal, so as to facilitate the subsequent identification of the electrical signal sent by the TOF sensor;
and the signal amplifier is used for amplifying the electric signal transmitted by the TOF sensor, so that the subsequent MCU identification is facilitated.
And after the MCU identifies the electric signal sent by the TOF sensor, the infrared ray emitting time T1 and the infrared ray receiving time T2 are respectively extracted, then the time difference delta T is calculated, and the distance between the measured object and the TOF sensor is obtained by multiplying the delta T by the light speed. The light speed is influenced by the temperature and humidity of air and the number of particles in the air, so that the delta T also needs to be compensated through a compensation algorithm to obtain delta T, and finally the distance between the measured object and the TOF sensor is obtained by multiplying the delta T by the light speed. Because the equipment error already has a corresponding compensation scheme at present, the equipment error can be compensated by adopting the existing compensation scheme. And the influence of the temperature and the humidity of air and air particles on light transmission is not concerned with in the prior art, so the compensation scheme is creatively provided, and the distance measurement precision can be greatly improved through the compensation scheme. And the temperature and humidity sensor and the air particle sensor can not be started on the premise of low distance measurement precision, so that different requirements are met.
When the compensation scheme is established, the method can be placed in different temperature and humidity and air particle environments, then a measured object is placed, the distance (detection distance) of the measured object is detected through the system of the embodiment, then the distance (correction distance) of the measured object is detected again through the high-precision distance measuring equipment, a correlation function model is established through the temperature and humidity, the air particle value, the detection distance and the correction distance, and finally the function model is trained through a large amount of data.
The invention is not described in detail, but is well known to those skilled in the art.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (6)
1. The utility model provides a high accuracy bluetooth BLE ranging system based on TOF sensor which characterized in that includes:
the power management system is used for supplying instantaneous high current to the TOF sensor distance acquisition system and supplying power to the low-power-consumption BLE master control system, and ensuring that the whole system stably runs in a low-power-consumption state;
the low-power-consumption BLE master control system is used as the master control of the whole system and is in wireless communication with other equipment through Bluetooth;
the TOF sensor distance acquisition system sends and receives infrared rays through the TOF sensor, calculates the distance according to the time difference between sending and receiving, and inputs data into the low-power-consumption BLE master control system; TOF sensors calculate distance by continuously emitting outward pulses of near-infrared light of a particular wavelength and then measuring the time difference between the reflected and emitted light.
2. The high-precision bluetooth BLE ranging system according to claim 1, wherein the low-power BLE master control system functions as follows:
a) the TOF sensor is responsible for control management, including controlling TOF opening time, controlling TOF sensor opening time length and filtering data acquired by TOF;
b) the Bluetooth module is responsible for managing the BLE Bluetooth module, and comprises the step of sending processed TOF data to peripheral equipment through Bluetooth;
c) the low-power-consumption BLE master control system transmits the acquired data to the peripheral equipment in a BLE broadcasting mode.
3. The high-precision bluetooth BLE ranging system according to claim 1 or 2, wherein the low-power BLE master control system comprises:
the BLE Bluetooth module is used for wirelessly communicating with peripheral equipment through Bluetooth and is in a low-power standby state when not used;
the MCU is used as a main control chip and is used for receiving and transmitting analysis control instructions, and performing data calculation and program operation;
the memory is used for storing data, and the flash memory card is selected in the embodiment;
the temperature and humidity sensor is used for detecting the temperature and humidity in the environment;
an air particle sensor for detecting the amount of particles in the air;
the power supply management system comprises a temperature and humidity sensor, an air particle sensor, a contactor, a power supply management system and a power supply management system, wherein the temperature and humidity sensor is connected with the air particle sensor through the power supply management system; temperature and humidity sensor, air particle sensor, memory, BLE bluetooth module's signal end, the control end of contactor are connected with MCU's different signal end electricity respectively to make MCU can receive temperature and humidity sensor, air particle sensor's signal, can read and write data to the memory simultaneously, and send control signal to BLE bluetooth module, contactor.
4. The high accuracy Bluetooth BLE ranging system of claim 3, wherein the TOF sensor distance acquisition system comprises:
the TOF sensor is used for emitting infrared rays, the infrared rays are blocked by a measured object and then are reflected to the TOF sensor, so that the TOF sensor receives the reflected infrared rays, and meanwhile, the TOF sensor converts the time of emitting the infrared rays and the time of receiving the infrared rays into electric signals and then transmits the electric signals to the filter;
a filter for filtering the interference signal, so as to facilitate the subsequent identification of the electrical signal sent by the TOF sensor;
the signal amplifier is used for amplifying the electric signal sent by the TOF sensor so as to facilitate the identification of a subsequent MCU;
and after the MCU identifies the electric signal sent by the TOF sensor, the infrared ray emitting time T1 and the infrared ray receiving time T2 are respectively extracted, then the time difference delta T is calculated, and the distance between the measured object and the TOF sensor is obtained by multiplying the delta T by the light speed.
5. The high-precision Bluetooth (BLE) ranging system of claim 4, wherein in an initial state, the BLE Bluetooth module, the MCU and the memory are synchronously started and run at full power after being started; and when high-precision measurement is needed, the contactor is closed, so that the temperature and humidity of air and the particle quantity value are obtained, a compensation algorithm is established according to a pre-designed calculation program and the influence of the parameter values of the temperature and humidity and the particle quantity on the infrared transmission efficiency, and the time difference of infrared ray emission and infrared ray receiving of the TOF sensor is compensated through the compensation algorithm.
6. The high-precision Bluetooth BLE distance measuring system according to claim 5, wherein when the compensation scheme is established, the high-precision Bluetooth BLE distance measuring system is placed in different temperature, humidity and air particle environments, then a measured object is placed, the system of the embodiment is used for detecting the distance of the measured object to obtain a detection distance, then a distance measuring device with higher precision is used for detecting the distance of the measured object to obtain a correction distance, a correlation function model is established according to the temperature, humidity, air particle values, the detection distance and the correction distance, and finally the function model is trained through a large amount of data.
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