CN116381704A - Sensor, method for detecting sensor, and computer-readable storage medium - Google Patents
Sensor, method for detecting sensor, and computer-readable storage medium Download PDFInfo
- Publication number
- CN116381704A CN116381704A CN202310354591.1A CN202310354591A CN116381704A CN 116381704 A CN116381704 A CN 116381704A CN 202310354591 A CN202310354591 A CN 202310354591A CN 116381704 A CN116381704 A CN 116381704A
- Authority
- CN
- China
- Prior art keywords
- distance
- signal
- sensor
- detection
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 138
- 230000003287 optical effect Effects 0.000 claims abstract description 51
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims abstract description 8
- 238000004590 computer program Methods 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 19
- 238000004364 calculation method Methods 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 17
- 239000000463 material Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 229920006395 saturated elastomer Polymers 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000001747 exhibiting effect Effects 0.000 description 1
- 230000031700 light absorption Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000001579 optical reflectometry Methods 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
Images
Classifications
-
- 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
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4808—Evaluating distance, position or velocity data
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to the field of sensors, and in particular, to a sensor, a method for detecting a sensor, and a computer-readable storage medium. The sensor provided by the invention can adjust the self parameters of the detection light signals and the calculation method according to the target measurement distance so as to improve the detection precision and the detection stability of the sensor for targets with different distances. The sensor provided by the invention comprises: the signal transmitting module is used for transmitting optical signals; the signal receiving module is used for receiving the returned optical signal; the control module is respectively in communication connection with the signal transmitting module and the signal receiving module, and calculates the distance between the target objects based on the time difference value from the transmission of the optical signals by the signal transmitting module to the reception of the optical signals by the signal receiving module; and the control module determines the luminous intensity of the signal and a distance output judging algorithm according to the distance range corresponding to the distance of the target object obtained through teaching.
Description
Technical Field
The present invention relates to the field of sensors, and in particular, to a sensor, a method for detecting a sensor, and a computer-readable storage medium.
Background
In the prior art, general sensors for detecting distance include laser sensors, optical fiber sensors, photoelectric sensors, infrared sensors, and the like. The distance measuring method of the sensor is to transmit a detection light signal to a target detection object, receive the reflected detection light signal, and then analyze and calculate parameters of the detection light signal to obtain a detection result. Specifically, there are two common detection methods for the sensor.
The first method is to detect the distance of the obstacle by utilizing the principle that the reflected intensity is different when the signal encounters different obstacle distances, namely, calculating the distance value by the light intensity of the detection light signal reflected by the target detection object. However, since the reflection effect of the optical signal is greatly affected by factors such as the material and color of the reflection surface, when the intensity of the optical signal emitted by the sensor is the same, the intensities of the optical signals reflected by objects of different materials and different colors often have great differences, and thus the measurement result is affected to some extent.
The second method is to calculate the distance value by the time difference between the sensor emitting the detection light signal and receiving the returned detection light signal, so that the influence of the light reflectivity of different objects on the detection result can be effectively reduced. However, the signal strength and time difference are not linear over all distance ranges using the above method. As shown in fig. 1, when the distance from the target detection object 200 to the sensor 100 is relatively short, the intensity of the detection light signal reflected by the target detection object 200 that can be received by the sensor 100 is relatively large, and the detection light signal is easily interfered by the secondary reflection light of the object or the optical crosstalk of the mirror surface, so that erroneous judgment is easily generated; when the distance from the target detection object 200 to the sensor 100 is long, the sensor 100 may also receive the interference light emitted or reflected by the non-target detection object 300, such as a highly reflective interference object, where the non-target detection object 300 may be another light source or a highly reflective interference object, and the light intensity of the detection light signal reflected by the target detection object 200 may be reduced, and the signal received by the sensor 100 may be reduced or even not received, which may lead to misalignment or failure of the detection result. Moreover, because reflected light of different materials exists in the measurement space, the received signal intensity is different, the problems that the calculated value of the detection result of the close-range detection fluctuates greatly and the measurement accuracy of the long-range detection is poor or various errors occur in the prior art often occur, and the whole sensor cannot realize the accurate measurement of each distance section.
Disclosure of Invention
In view of the above, the present invention provides a sensor. The sensor provided by the invention can adjust the emission intensity of the detection light signal and the calculation and judgment method of the distance value according to the target measurement distance so as to improve the detection precision and the detection stability of the sensor for different distance target segments.
In the technical scheme of the invention, a sensor is provided, which comprises: the signal transmitting module is used for transmitting optical signals; the signal receiving module is used for receiving the returned optical signal; the control module is respectively in communication connection with the signal transmitting module and the signal receiving module, and calculates the distance between the target objects based on the time difference value from the transmission of the optical signals by the signal transmitting module to the reception of the optical signals by the signal receiving module; and the control module determines the luminous intensity of the signal transmitting module and a distance output judging algorithm according to the distance range corresponding to the distance of the object obtained through teaching.
According to the technical scheme, when the sensor detects the detection target, the signal transmitting module transmits the optical signal to the detection target, the signal receiving module receives the optical signal reflected by the detection target, and the distance between the detection target and the sensor can be accurately calculated according to the time difference between the transmitted optical signal and the received optical signal and the propagation speed of the optical signal. Before the detection action is performed, the distance between the sensor and the target object is calculated through one distance teaching, the corresponding distance measurement range is confirmed, and different luminous intensities are arranged corresponding to different detection distance ranges, so that when the detection target is detected at different distances, the detection light signal reflected by the target detection object can be maintained in a certain interval, the accuracy of each distance detection of the sensor is ensured, and the detection stability of the whole sensor is improved. Furthermore, on the basis of the accurate distance detection, different distance output judging algorithms are adopted corresponding to different detection distance ranges, so that calculation according to a distance detection result is more accurate, and the detection performance of the sensor is further improved.
In the technical scheme of the invention, the distance range of the sensor comprises a short-distance range and a long-distance range, and the luminous intensity corresponding to the short-distance range is smaller than the luminous intensity corresponding to the long-distance range.
According to the technical scheme of the invention, under the condition that the luminous intensity of the signal transmitting module is the same, the closer the distance from the target detection object to the sensor is, the larger the light intensity of the reflected light signal received by the signal receiving module is; the farther the target detection object is from the sensor, the smaller the light intensity of the reflected light signal that the signal receiving module can receive. When the sensor is set to a measurement mode corresponding to a short-distance range, the light receiving intensity of the corresponding sensor is not saturated due to the fact that the reflectivity of the detected object is too high. In the long-distance measurement mode, the corresponding light receiving intensity can not be missed in measurement and false measurement due to too small light receiving caused by the light absorption property and roughness of the detection object. The luminous intensity of the emitted light is regulated through different distance measurement modes, so that the light intensity of the light signal reflected by the target detection object in a close range or a long range is kept in a certain interval, the accuracy of each distance detection of the sensor is ensured, and the overall detection stability of the sensor is improved.
Preferably, in the technical scheme of the invention, the signal transmitting module in the sensor adjusts the luminous intensity by adjusting the pulse width and/or the period of the transmitted light signal. The light intensity is regulated through pulse width and/or period, and the control is accurate and convenient to operate.
In the technical scheme of the invention, the sensor further comprises an output module which is in communication connection with the control module and sends out an output signal based on whether the distance of the target object belongs to the target distance interval.
According to the technical scheme of the invention, the output module can intuitively feed back the detection result of the sensor to the user in real time.
Preferably, in the technical solution of the present invention, the end points of the target distance interval are provided with different rate of change of the stress difference, and the rate of change of the stress difference corresponding to the end points is different in different distance ranges.
According to the technical scheme of the invention, when the target detection objects are in different distance ranges, the propagation paths, the propagation time and the reflected light intensity of the optical signals are different, and further the distance output judging algorithm for calculating the detection result according to the time difference between the transmitted optical signals and the received optical signals is also different. Different stress difference change rates are adopted in different distance ranges, namely, a distance output judging algorithm is adjusted according to different distance ranges, so that calculation of a distance detection result is more accurate.
Preferably, in the technical solution of the present invention, an endpoint of the target distance interval is provided with a rate of change of the difference, and the rate of change of the difference decreases as the target object distance increases.
The technical scheme of the invention also provides a detection method of the sensor, which comprises the steps of teaching, namely sending out a teaching signal, calculating a teaching distance based on a time difference value from the transmission of the teaching signal by the signal transmitting module to the reception of the teaching signal by the signal receiving module, and determining and setting luminous intensity and a distance output judging algorithm corresponding to the distance range according to the distance range corresponding to the teaching distance; and a detection step of adjusting the light intensity of the detection signal to be the light intensity corresponding to the distance range, calculating the distance of the target object based ON the time difference between the transmission of the detection signal from the signal transmitting module and the reception of the detection signal from the signal receiving module and a distance output judging algorithm, and carrying out ON/OFF output judgment.
According to the technical scheme of the invention, in the detection method of the sensor, firstly, the teaching step is carried out, according to the distance range of the distance from the target detection object to the sensor during teaching, the luminous intensity of the detection light signal of the sensor and the distance output judging algorithm are adjusted to be matched with the distance range, so that when the sensor carries out actual detection of the target detection object, the light intensity of the received detection light signal is ensured to be in a stable range, and meanwhile, the detection result obtained by calculating according to the distance of the light signal can be more accurate, thereby improving the detection precision and the detection stability of the sensor for targets with different distances.
Preferably, in the technical scheme of the present invention, the distance range in the detection method includes a short distance range and a long distance range, and the light emitting intensity corresponding to the short distance range is smaller than the light emitting intensity corresponding to the long distance range.
According to the technical scheme of the invention, the sensor is set to have the luminous intensity corresponding to the short-distance range smaller than the luminous intensity corresponding to the long-distance range, so that the luminous intensity of the light signal reflected by the target detection object in the short-distance range or in the long-distance range is kept in a certain interval, the accuracy of each distance detection of the sensor is ensured, and the detection stability of the whole sensor is improved.
Preferably, in the technical scheme of the present invention, the detection method further includes an output step of sending out an output signal based on whether the target object distance obtained in the detection step belongs to the target distance zone; the end points of the target distance interval are provided with the stress difference change rates, and the stress difference change rates corresponding to the end points are different in different distance ranges.
According to the technical scheme of the invention, different stress difference change rates are adopted in different distance ranges, namely, the distance output judging algorithm is adjusted according to different distance ranges, so that the calculation of the distance detection result is more accurate.
In the technical solution of the present invention, there is also provided a computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the steps of the detection method of the sensor as described in the claims.
Drawings
FIG. 1 is a schematic diagram of a detection scenario of a prior art sensor;
FIG. 2 is a block diagram of a sensor provided in an embodiment of the invention;
FIG. 3 is a schematic diagram of one teaching scenario of the sensor provided in an embodiment of the present invention;
FIG. 4 (a) is a schematic diagram of the optical signal intensity at close range of a prior art sensor;
FIG. 4 (b) is a schematic diagram of the remote optical signal intensity of a prior art sensor;
FIG. 5 (a) is a schematic diagram showing the optical signal intensity at a close distance of the sensor reaching an appropriate interval according to the embodiment of the present invention;
FIG. 5 (b) is a schematic diagram showing the light signal intensity at a long distance of the sensor provided in the embodiment of the present invention reaching an appropriate interval;
FIG. 6 is a schematic diagram of one teaching scenario of a sensor provided in an embodiment of the present invention;
FIG. 7 is a schematic diagram of the rate of change of strain of a sensor provided in an embodiment of the invention.
Reference numerals illustrate: 100-sensor, 200-target detection object, 300-non-target detection object, 1-sensor, 2-signal transmitting module, 3-signal receiving module, 4-control module, 5-output module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
Fig. 2 is a block diagram of a sensor provided in an embodiment of the invention.
As shown in fig. 2, in an embodiment of the present invention, there is provided a sensor 1, the sensor 1 including: the signal transmitting module 2 is used for transmitting optical signals and is in communication connection with the control module 4; the signal receiving module 3 is configured to receive the returned optical signal, and is connected to the control module 4 in a communication manner.
Specifically, when the sensor 1 in this embodiment detects a detection target, the signal transmitting module 2 transmits an optical signal to the detection target, and the signal receiving module 3 receives the optical signal reflected by the detection target, so that the distance value between the detection target and the sensor 1 can be accurately calculated according to the time difference between the transmission time and the receiving time of the optical signal and the propagation speed of the optical signal.
A control module 4, which is respectively connected with the signal transmitting module 2 and the signal receiving module 3 in a communication way, and calculates the distance from the target object to the sensor 1 based on the time difference value from the transmission of the optical signal by the signal transmitting module 2 to the reception of the optical signal by the signal receiving module 3; the control module 4 can determine the luminous intensity of the signal transmitting module 2 and select a distance determination algorithm for measuring the target detection object according to the distance range corresponding to the distance of the target object obtained through teaching.
In the embodiment of the present invention, the detection method of the sensor 1 includes a teaching step and a detection step.
Fig. 3 is a schematic diagram of one teaching scenario of the sensor provided in an embodiment of the present invention.
As shown in fig. 3, in the embodiment of the present invention, the sensor 1 may perform teaching operations for multiple times, that is, the signal transmitting module 2 transmits an optical signal (i.e., a teaching signal) to the target detection object (to-be-detected product), the signal receiving module 3 receives the optical signal reflected by the target detection object, and the control module 4 calculates the teaching distance d based on the time difference between the transmission of the teaching signal from the signal transmitting module 2 and the reception of the teaching signal by the signal receiving module 3 0 . The sensor 1 performs distance calculation according to the propagation time and propagation speed of the optical signal, but in practical application, when the intensity of the reflected optical signal is too strong, the signal received by the signal receiving module 3 is too saturated, and may not be converted into a corresponding electrical signal; when the intensity of the reflected optical signal is too weak, the signal receiving module 3 is likely not to receive the signal, so that the light intensity received by the signal receiving module 3 needs to be maintained within a certain effective interval to ensure that the signal receiving module 3 can receive an effective and stable optical signal each timeAnd performing data conversion.
Fig. 4 (a) is a schematic diagram of the optical signal intensity of the sensor in the short distance in the prior art, and fig. 4 (b) is a schematic diagram of the optical signal intensity of the sensor in the long distance in the prior art.
As shown in fig. 4 (a) and 4 (b), the histogram of 24 pins is used to represent the data of one measurement ranging, the data of 3 pins with the maximum light signal reflected by the target detection object is taken as the detection data during each measurement, and the suitable light receiving intensity interval of the received light signal in the signal receiving module 3 is I 1 -I 2 The intensity of the received light is greater than I 2 Belonging to a signal saturation region, the light intensity is smaller than I 1 Belonging to the signal shortage section.
Referring to fig. 4 (a), if the signal emitting module 2 emits the light signal with the luminous intensity I to the target detection object (the product to be detected) 0 The intensity of the light power is always kept constant, and the distance between the target detection object and the sensor 1 is relatively short, namely the teaching distance d 0 When the light signal is in a short distance range (0.05 m-1 m), the intensity of the light signal measured in a relatively short distance range is larger and possibly exceeds a proper light receiving intensity interval I 1 -I 2 Greater than I 2 Namely belonging to the signal saturation region; referring to FIG. 4 (b), when the target detection object is far from the sensor 1, the teaching distance d 0 In the case of the long distance range (1 m-3 m), the intensity of the optical signal measured at a relatively long distance may be small, and the appropriate light receiving intensity interval I may not be reached 1 -I 2 Less than I 1 Namely belonging to the signal shortage region; both of which result in values converted from the optical signal not exhibiting a linear proportional relationship as the distance becomes larger, and also result in an increase in erroneous data. In summary, if the signal emitting module 2 emits the light signal with the luminous intensity I to the target detection object (the product to be detected) 0 Is not changed all the time, and the intensity of the optical signal received by the signal receiving module 3 cannot be kept in a proper light receiving intensity interval (I) when the distance from the target detection object to the sensor 1 is short or long 1 -I 2 ) In between, the detection effect is not ideal.
Fig. 5 (a) is a schematic diagram showing that the optical signal intensity of the sensor provided in the embodiment of the present invention reaches the appropriate interval at a short distance, and fig. 5 (b) is a schematic diagram showing that the optical signal intensity of the sensor provided in the embodiment of the present invention reaches the appropriate interval at a long distance.
In the embodiment of the present invention, the distance range of the target detection object to the sensor 1 is divided into a short distance range (0.05 m to 1 m) and a long distance range (1 m to 3.3 m), and a measurement range of less than 0.05m or more than 3.3m is determined as an unmeasurable region. The luminous intensity of the pulse light projection is different in different distance ranges. Wherein, the luminous intensity corresponding to the short-distance range is smaller than the luminous intensity corresponding to the long-distance range. As shown in FIG. 5 (a), the distance d is taught 0 When the light signal is in a short distance range, the luminous intensity of the light signal emitted by the signal emitting module 2 to the target detection object (to-be-detected product) is reduced to I 01 And I 01 ＜I 0 So that the intensity of the reflected light signal received by the signal receiving module 3 is reduced to a proper light receiving intensity interval I 1 -I 2 Between them; as shown in FIG. 5 (b), the distance d is taught 0 When the light signal belongs to a long-distance range, the luminous intensity of the light signal emitted by the signal emitting module 2 to the target detection object (to-be-detected product) at any distance ranging from 1m to 3.3m is increased to I 02 And I 02 ＞I 0 So that the intensity of the reflected light signal received by the signal receiving module 3 is increased to a proper light receiving intensity interval I 1 -I 2 Between them.
In the embodiment of the present invention, the above-described division of the short-distance range and the long-distance range is used to set the light signal intensities corresponding to the short-distance range and the long-distance range, that is, the light emission intensities, so that the light signal intensity received by the signal receiving module 3 can be always maintained at the appropriate light receiving intensity interval (I 1 -I 2 ) Thereby reducing false detection caused by erroneous data to improve the detection stability of the sensor 1.
It should be noted that, in the embodiment of the present invention, the specific values, the division manner, and the corresponding luminous intensity values of the short-distance range and the long-distance range can be adjusted according to the requirements of the detection target and the detection precision, and are not limited to the reference data.
Further, in the embodiment of the present invention, the signal emitting module 2 in the sensor 1 adjusts the luminous intensity by adjusting the pulse width and/or the period of the emitted light signal. The method for adjusting the luminous intensity through pulse width and/or period is convenient to control and operate.
In the embodiment of the present invention, the sensor 1 further includes an output module 5 communicatively connected to the control module 4, and configured to output an output signal based ON whether the target distance d belongs to the target distance zone, for example, the target detection ON distance zone is (0, 0.5), the output signal is ON when the target distance is 0.3m, the output signal is OFF when the target distance is 1m, and the detection result of the sensor 1 can be intuitively fed back to the user in real time through the output module 5.
Fig. 6 is a schematic diagram of one teaching scenario of the sensor provided in an embodiment of the present invention.
As shown in fig. 6, when the sensor 1 in the embodiment of the present invention performs teaching, the control module 4 calculates a teaching distance d based on a teaching signal from a time difference value transmitted from the signal transmitting module 2 to received by the signal receiving module 3 0 Then, the teaching distance d is determined 0 The distance range to which the device belongs. In the present embodiment, d in FIG. 6 1 ＝0.05m，d 2 ＝0.5m，d 3 For example, =3.3m, dividing the distance range into a first distance range d 1 -d 2 (0.05 m-0.5 m) and a second distance range d 2 -d 3 (0.5 m-3.3 m) according to the teaching distance d 0 Belonging to a first distance range (0.05 m-0.5 m) or a second distance range (0.5 m-3.3 m), and selecting a first algorithm or a second algorithm. The first algorithm is suitable for short-distance stable detection, and the second algorithm is suitable for long-distance accurate detection.
Preferably, in an embodiment of the present invention, the end points of the target distance section are provided with differential rates of change, and the differential rates of change corresponding to the end points are different in different distance ranges. The change rate a% of the stress difference is the ratio of the distance difference value from ON to OFF of the output signal to the distance value of the ON point. The main purpose is to keep the buffer interval of the output ON/OFF, and avoid the error detection of the alternate output of the ON/OFF at the critical distance.
FIG. 7 is a schematic diagram of the rate of change of strain of a sensor provided in an embodiment of the invention.
As shown in fig. 7, in the embodiment of the present invention, the rate of change a% of the difference should decrease as the distance D between the targets increases, so that the detection of the target detection objects disposed at different distances by the sensor 1 can improve the accuracy of the detection calculation while ensuring the stability of the detection.
In the embodiment of the present invention, in the above-described detection method of the sensor 1, the teaching step is first performed, and the light emission intensity of the detection light signal of the sensor 1 and the distance output determination algorithm are adjusted to be matched with the distance range to which the distance from the target detection object to the sensor 1 belongs at the time of teaching.
For example, in a first distance range d 1 -d 2 The corresponding stress difference change rate of (0.05 m-0.5 m) is between x and y percent, namely the stress difference change rate is set to be 15 to 3.5 percent according to the teaching distance. The first target measurement distance interval is (0.05 m,0.5 m), the ON end point is 0.5m, the OFF end point is 0.5175m, the distance difference value from ON to OFF of the output signal is 0.5175 m-0.5m=0.0175 m, and the change rate of the difference should be 3.5%; the second target measurement distance interval is (0.05 m,0.3 m), the end point is the ON end point and is 0.3m, the OFF end point is 0.3165m, the distance difference value from ON to OFF of the output signal is 0.3165m-0.3 m=0.0165 m, and the rate of change of the difference is equal to 5.5%.
For a first distance range (0.05 m-0.5 m) where the distance from the target detection object to the sensor 1 is short, the short-distance optical signal reflection time difference and the large fluctuation are caused, and the change rate of the difference range is set to be large in order to ensure the detection stability. And the change rate of the difference is in a curve descending trend along with the gradual change of the distance.
Also for example in the second distance range d 2 -d 3 The corresponding strain difference change rate of (0.5 m-3.3 m) is between y% and z%, namely the strain difference change rate is set to be 3.5% to 2.5% which changes along with the teaching distance. The third target distance interval is (0)05m,3.3 m) with an ON end point of 3.3m and an OFF end point of 3.3825m, wherein the difference between the distances of the output signals from ON to OFF is 3.3825m-3.3 m=0.0825 m, and the rate of change of the difference is equal to 2.5%; the fourth target distance interval is (0.05 m,2 m), the end point is ON end point is 2m, the OFF end point is 2.06m, the distance difference value from ON to OFF of the output signal is 2.06m-2 m=0.06 m, and the rate of change of the difference is equal to 3%.
For the second distance range (0.5-3.3 m) with a longer distance from the target detection object to the sensor 1, the change rate of the strain rate can be set smaller due to the longer reflection time difference and smaller fluctuation proportion of the long-distance optical signal, so as to improve the accuracy of the long-distance detection.
In conclusion, different stress difference change rates are adopted in different distance ranges, namely, a distance output judging algorithm is adjusted according to different distance ranges, so that calculation of a distance detection result is more accurate.
Similarly, the specific values and the division manner of the first distance range and the second distance range for selecting the rate of change of the differential, and the specific values and the values of the rate of change of the differential respectively corresponding to the first distance range and the second distance range can be adjusted according to the requirements of the detection target and the detection precision, and are not limited to the reference data.
Further, in the embodiment of the present invention, when the target detection object is in different distance ranges, the detected object is subjected to different propagation paths, propagation times and reflected light intensities of the light signals affected by the measurement environment, and further, the distance calculation model for calculating the detection result according to the time difference between the transmitted light signal and the received light signal may also be different, so as to further improve the accuracy of the detection calculation of the sensor 1.
Preferably, in the embodiment of the present invention, the end point of the target distance interval is provided with a rate of change of the difference, the rate of change of the difference decreases with increasing target distance, and the rate of change is divided into two distance segments, which are in a nonlinear descent curve.
For example, the teaching step detects that the distance from the object to the sensor 1 is 1m,1m is in a short distance range (0.05 m-1 m), and the sensor 1 needs to transmit a signal to the sensorThe luminous intensity of the block 2 is set to a luminous intensity I corresponding to a short-distance range (0.05 m-1 m) 01 To ensure that the received detection light signal is in a stable range, i.e. in a proper light receiving intensity interval (I 1 -I 2 ) And (3) inner part. Meanwhile, 1m belongs to a second distance range (0.5 m-3.3 m), when the sensor 1 performs distance calculation in each round of measurement, a second algorithm is selected, namely the change rate of the difference is set to be 3.5% -2.5% along with the change of the teaching distance, so that the detection result obtained by the distance calculation according to the optical signal can be more accurate, and the detection precision and the detection stability of the sensor 1 aiming at targets with different distances are improved.
In the embodiment of the present invention, the first distance range/second distance range ON/OFF output determination algorithm for selecting the distance output determination algorithm of the sensor 1 and the short distance range/long distance range mode for selecting the light emission intensity of the sensor 1 may be the same or different, and are not limited herein.
In an embodiment of the invention, there is also provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the detection method of the sensor 1 as described in the claims.
The technical solution of the present invention has been described so far with reference to the accompanying drawings. However, it will be readily appreciated by those skilled in the art that the scope of the present invention is not limited to the above-described specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will fall within the scope of the present invention.
Claims (10)
1. A sensor, comprising:
the signal transmitting module is used for transmitting optical signals;
the signal receiving module is used for receiving the returned optical signal;
the control module is respectively connected with the signal transmitting module and the signal receiving module in a communication way, and calculates the distance between the target objects based on the time difference value of the optical signals from the transmission of the signal transmitting module to the reception of the optical signals by the signal receiving module;
and the control module determines the luminous intensity of the signal transmitting module and a distance output judging algorithm according to the distance range corresponding to the distance of the object obtained through teaching.
2. The sensor of claim 1, wherein the distance range comprises a near range and a far range, the near range corresponding to a less luminous intensity than the far range.
3. The sensor of claim 1, wherein the signal emitting module adjusts the luminous intensity by adjusting a pulse width and/or a period of the emitted light signal.
4. The sensor of claim 1, further comprising an output module in communication with the control module that issues an output signal based on whether the target distance falls within a target distance interval.
5. The sensor of claim 4, wherein endpoints of the target distance interval are provided with strain rates, and wherein the strain rates corresponding to the endpoints are different in different distance ranges.
6. The sensor of claim 5, wherein the end points of the target distance interval are provided with a rate of change of strain that decreases as the target distance increases.
7. A detection method of a sensor is characterized by comprising the following steps of
A teaching step of sending a teaching signal, calculating a teaching distance based on a time difference value from the transmission of the teaching signal by the signal transmitting module to the reception of the teaching signal by the signal receiving module, and determining and setting a luminous intensity and a distance output judging algorithm corresponding to the distance range according to the distance range corresponding to the teaching distance;
and a detection step, namely enabling the light intensity of the detection signal to be the luminous intensity corresponding to the distance range, and calculating the distance between the target object and the detection signal based on the time difference value from the transmission of the detection signal by the signal transmission module to the reception of the detection signal by the signal reception module and the distance output judgment algorithm.
8. The method of detecting according to claim 7, wherein the distance range includes a short distance range and a long distance range, and the light emission intensity corresponding to the short distance range is smaller than the light emission intensity corresponding to the long distance range.
9. The method of detecting according to claim 7, further comprising
An output step of outputting an output signal based on whether or not the target object distance obtained in the detection step belongs to a target distance zone; and the endpoints of the target distance interval are provided with different stress variation rates, and the stress variation rates corresponding to the endpoints are different in different distance ranges.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of detecting a sensor according to any one of claims 7-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310354591.1A CN116381704A (en) | 2023-04-04 | 2023-04-04 | Sensor, method for detecting sensor, and computer-readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310354591.1A CN116381704A (en) | 2023-04-04 | 2023-04-04 | Sensor, method for detecting sensor, and computer-readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116381704A true CN116381704A (en) | 2023-07-04 |
Family
ID=86967082
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310354591.1A Pending CN116381704A (en) | 2023-04-04 | 2023-04-04 | Sensor, method for detecting sensor, and computer-readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116381704A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116087968A (en) * | 2023-01-20 | 2023-05-09 | 松下神视电子（苏州）有限公司 | Sensor for detecting a position of a body |
| CN117006945A (en) * | 2023-10-08 | 2023-11-07 | 钛玛科（北京）工业科技有限公司 | Photoelectric interference suppression method and system based on photoelectric sensor |
-
2023
- 2023-04-04 CN CN202310354591.1A patent/CN116381704A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116087968A (en) * | 2023-01-20 | 2023-05-09 | 松下神视电子（苏州）有限公司 | Sensor for detecting a position of a body |
| CN116087968B (en) * | 2023-01-20 | 2024-04-30 | 松下神视电子（苏州）有限公司 | Sensor for detecting a position of a body |
| CN117006945A (en) * | 2023-10-08 | 2023-11-07 | 钛玛科（北京）工业科技有限公司 | Photoelectric interference suppression method and system based on photoelectric sensor |
| CN117006945B (en) * | 2023-10-08 | 2023-12-26 | 钛玛科（北京）工业科技有限公司 | Photoelectric interference suppression method and system based on photoelectric sensor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116381704A (en) | Sensor, method for detecting sensor, and computer-readable storage medium | |
| CN110749898B (en) | Laser radar ranging system and ranging method thereof | |
| CN108957470B (en) | Time-of-flight ranging sensor and ranging method thereof | |
| US20220026544A1 (en) | Ranging Method, Apparatus, and Device | |
| CN109188452B (en) | Time-of-flight ranging sensor and light source modulation method thereof | |
| CN108445506B (en) | Measuring method for improving fog permeability of laser radar | |
| CN110456370B (en) | Flight time sensing system and distance measuring method thereof | |
| CN106959446B (en) | Radar installations and its measurement mesh calibration method for vehicle | |
| CN103047934A (en) | Optical fiber sensing microspur measurement system | |
| CN104713474A (en) | Multi-beam ladder plane mirror laser interferometer | |
| JP2006010696A (en) | Method and device for measuring light signal flight time | |
| CN108008373B (en) | Echo compensation system based on pulse type laser ranging | |
| US10031230B2 (en) | Method for optically measuring distances in the near and far range | |
| CN115656992A (en) | Reflectivity calibration system and method for laser equipment and readable storage medium | |
| CN202471007U (en) | Fiber sensing microspur measuring system | |
| KR101692009B1 (en) | vehicle related data acquirement system for improving enhancing accuracy of detection | |
| CN116679310B (en) | FMCW laser measuring device | |
| US20230393274A1 (en) | Frequency chirp for lidar for high-velocity targets | |
| US11624811B2 (en) | Apparatus and method for increasing LIDAR sensing distance | |
| CN104697439B (en) | A kind of multiple beam ladder plane angle reflector laser interference instrument | |
| US20060132754A1 (en) | Hand-held laser distance measuring device with a pulse reflection mixing method | |
| CN210243843U (en) | Multi-beam laser ranging sensor based on TOF | |
| CN113900113A (en) | TOF sensing device and distance detection method thereof | |
| KR101209522B1 (en) | Range-finding device for robot | |
| WO2020172892A1 (en) | Power control method and apparatus for radar |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |