CN116558553B - Small background suppression photoelectric sensor - Google Patents

Small background suppression photoelectric sensor Download PDF

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Publication number
CN116558553B
CN116558553B CN202310829827.2A CN202310829827A CN116558553B CN 116558553 B CN116558553 B CN 116558553B CN 202310829827 A CN202310829827 A CN 202310829827A CN 116558553 B CN116558553 B CN 116558553B
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curve
difference
peak
sequence
matching
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CN116558553A (en
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罗杰
王怡心
肖仁义
苏财兴
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Shenzhen Huazhong Automation Engineering Co ltd
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Shenzhen Huazhong Automation Engineering Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
    • G01D3/028—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure
    • G01D3/036—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups mitigating undesired influences, e.g. temperature, pressure on measuring arrangements themselves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Abstract

The application provides a small background suppression photoelectric sensor, which is characterized in that the relative distance between a signal reflection point and the small background suppression photoelectric sensor is calculated by detecting the magnitude of two paths of output currents of a one-dimensional position sensitive detector in real time, a distance change curve of the signal reflection point is constructed according to the change of the relative distance between the signal reflection point and the small background suppression photoelectric sensor, a characteristic curve is extracted from the distance change curve, the characteristic curve is a dynamic curve section with the same width and the same edge shape, which repeatedly appears on the distance change curve, the construction parameters of a target object and an auxiliary bearing object are obtained, the construction parameters at least comprise the height data of the target object and the auxiliary bearing object in the detection direction, the characteristic curve is matched with the construction parameters of the target object and the auxiliary bearing object, and the matching result is output as a detection result, so that the object loaded in the bearing object can be detected.

Description

Small background suppression photoelectric sensor
Technical Field
The application relates to the technical field of electronic information, in particular to a small background suppression photoelectric sensor.
Background
In the fields of industry and logistics, the photoelectric sensor has wide application, particularly after people research a low-cost background suppression technology, the manufacturing cost of the photoelectric sensor is reduced, and meanwhile, the efficiency of object detection is improved, so that a detected object is not influenced by the background in shape and color, and the application range is wider. The traditional photoelectric sensor generally adopts an adjustable receiving lens to adaptively adjust the detection distance, and a corresponding number of photodiodes are required to be arranged as sensing devices aiming at different detection distances, so that the scheme is not beneficial to miniaturization of the photoelectric sensor. With the development of technology, a photoelectric sensor using a PSD (Position Sensitive Detector ) as a sensing device has been studied, and a dynamic detection distance is adapted according to a position on the PSD where a spot of incident light falls, so that further miniaturization of the photoelectric sensor is possible. However, whether the receiving lens is mechanically adjusted or the photoelectric sensor for adaptively detecting the distance by using the PSD is used, only the reflected light of the object within the specific distance range is received, the object larger than the specific distance is used as the background to be filtered, and although the influence of the background on the detection of the object can be effectively shielded in most application scenes, some detected objects such as fruits or other objects easy to roll in irregular shapes need to be detected by using a tray, a basket and the like, and the objects are easy to be influenced by the carriers in different shapes, so that an effective detection result cannot be obtained.
Disclosure of Invention
The present application is based on the above-described problems, and proposes a small background-suppressing photoelectric sensor capable of detecting an article loaded in a carrier.
In view of this, the present application proposes a small background-suppressing photosensor comprising a signal transmitting section including a first lens, a light emitting diode, and a light emitting diode control circuit, a signal receiving section including a second lens, a one-dimensional position-sensitive detector including a first output electrode and a second output electrode, and an output signal processing circuit including a first amplifier and a first analog-to-digital converter connected to the first output electrode and a second amplifier and a second analog-to-digital converter connected to the second output electrode, and a control section including a processor and a memory, the light emitting diode control circuit, the output signal processing circuit, the memory being connected to the processor, the processor being configured to execute a computer program stored by the memory to implement the method of:
detecting the magnitudes of two paths of output currents of the one-dimensional position sensitive detector in real time through the output signal processing circuit;
calculating the relative distance between a signal reflection point and the small background suppression photoelectric sensor according to the magnitude of two paths of output currents of the one-dimensional position sensitive detector, wherein the signal reflection point is the position of a light spot on the surface of an object, irradiated to a detection area by a light ray emitted by a light emitting diode of the light emitting part through the first lens;
constructing a distance change curve of the signal reflection point according to the change of the relative distance between the signal reflection point and the small background suppression photoelectric sensor;
extracting a characteristic curve from the distance change curve, wherein the characteristic curve is a dynamic curve segment with the same width and the same edge shape, which repeatedly appears on the distance change curve;
acquiring construction parameters of a target object and an auxiliary bearing object, wherein the construction parameters at least comprise height data of the target object and the auxiliary bearing object in a detection direction;
matching the characteristic curve with the construction parameters of the target object and the auxiliary bearing object;
and outputting the matching result as a detection result.
Further, in the small background suppression photoelectric sensor, in the step of calculating the relative distance between the signal reflection point and the small background suppression photoelectric sensor according to the magnitudes of the two output currents of the one-dimensional position sensitive detector, the processor is configured to:
obtaining two paths of output currents of the one-dimensional position sensitive detectorAnd->Wherein->For the near-end current of the one-dimensional position-sensitive detector,/or->A distal current for the one-dimensional position sensitive detector;
according to the two paths of output currents of the one-dimensional position sensitive detectorAnd->Calculating the position of the light spot at which the reflected light of the signal reflection point falls on the one-dimensional position-sensitive detector through the second lens:
，
wherein the method comprises the steps ofFor the distance between the first output electrode and the second output electrode +.>Is an empirical constant;
acquiring an optical axis line spacing of the first lens and the second lensAnd the distance of the second lens from the one-dimensional position-sensitive detector +.>；
Calculating the distance between the signal reflection point and the center point of the first lens:
。
further, in the small background-suppressing photoelectric sensor described above, in the step of extracting a characteristic curve from the distance change curve, the processor is configured to:
constructing a peak sequence on the distance change curveWherein->，/>For the number of peaks on the current distance change curve,/I>To detect->Time of peak->Is->Amplitude of each peak;
constructing the peak sequenceCorresponding time difference sequence->Sum-amplitude difference sequence；
From the time difference sequenceAnd the amplitude difference sequence ∈ ->Extracting a synchronization period;
and extracting the characteristic curve according to the synchronous period.
Further, in the small background-suppressing photosensor described above, the time difference sequence is determined from the time difference sequenceAnd the amplitude difference sequence ∈ ->In the step of extracting the synchronization period, the processor is configured to:
from the firstThe peaks start to traverse the time difference sequence and the amplitude difference sequence in a reverse order;
when traversing to the firstWhen the wave peaks are counted, the corresponding time difference is +.>A preceding time difference from said time difference sequence +.>Sequentially matching each of them, and comparing the amplitude differences thereof>Difference from the previous amplitude in said sequence of amplitude differences +.>Sequentially matching each of the above;
when the first isTime difference corresponding to each wave crest->And amplitude difference->And->Time differences corresponding to the wave peaksAnd amplitude difference->Judging +.>Time difference corresponding to each wave crest->Sum and difference in amplitudeAnd->Time difference corresponding to each wave crest->And amplitude difference->Whether or not to match;
when the first isTime difference corresponding to each wave crest->And amplitude difference->And->Time difference corresponding to each wave crest->And amplitude difference->When matching, the sequence is matched forward to determine the number of peaks +.>So that the peak sequence->Each peak and peak sequence +.>The time difference and the amplitude difference corresponding to each wave crest are matched one by one;
when presentSequence of individual peaks->Meet the matching conditions and +.>，/>When it willAnd determining the synchronization period.
Further, the small background-suppressing photoelectric sensor further includes:
preconfigured first time difference matching thresholdSecond time difference matching threshold +.>Amplitude difference matching threshold ++>The first time difference matching threshold and the amplitude difference matching threshold are fixed thresholds, the second time difference matching threshold is a dynamic threshold, and the second time difference matching threshold is larger than the first time difference matching threshold;
sequential forward matching to determine a peak countSo that the peak sequence->Each peak and peak sequence +.>In the step of matching the time difference and the amplitude difference corresponding to each peak one by one, the processor is configured to:
sequential forward matching to determine a peak countSo that the peak sequence->Amplitude difference corresponding to each peak in the series of peaks +.>The difference between the amplitude differences corresponding to the respective peaks in (a) is smaller than said amplitude difference matching threshold +.>And->Time difference corresponding to each wave crest->And->Time difference corresponding to each wave crest->Difference between, th->Time difference corresponding to each wave crest->And->Time differences corresponding to the wave peaksThe difference between them is smaller than said first time difference matching threshold +.>The difference between the time differences therebetween is smaller than said second time difference matching threshold +.>。
Further, in the small background-suppressing photosensor described above, the order is matched forward to determine the number of peaksSo that the peak sequence->Each peak and peak sequence +.>In the step of matching the time difference and the amplitude difference corresponding to each peak one by one, the processor is configured to:
acquisition of the firstWave crest and->Time corresponding to each peak->And->；
Obtaining a sequence of peaksRemove%>Wave crest and->Width of other peaks than the individual peakWherein->；
Calculating the second time difference matching threshold:
。
further, in the above-described small-sized background suppressing photoelectric sensor, the configuration parameter includes a plurality of height data of the target object and the auxiliary carrying object in a detection direction, the plurality of height data being on a detection plane where the target object and the auxiliary carrying object are parallel to a movement direction, and in the step of matching the characteristic curve with the configuration parameters of the target object and the auxiliary carrying object, the processor is configured to:
respectively constructing a first construction parameter curve of the target object on the detection plane and a second construction parameter curve of the auxiliary bearing object on the detection plane according to the target object and a plurality of height data of the auxiliary bearing object in the detection direction;
scaling the characteristic curve in equal proportion so that the width of the characteristic curve is the same as the width of the second construction parameter curve;
matching the edge shapes of the characteristic curve and the second construction parameter curve;
when the edge shapes of the characteristic curve and the second construction parameter curve are successfully matched, extracting a difference curve of the characteristic curve and the second construction parameter curve;
matching the difference curve with the first configuration parameter curve.
Further, in the small background-suppressing photoelectric sensor described above, in the step of matching the edge shapes of the characteristic curve and the second configuration parameter curve, the processor is configured to:
acquiring the width of the first peak of the characteristic curveAnd width of the last peak +.>；
Acquiring the width of the first peak of the second construction parameter curveWidth of last peak；
When (when)And->Difference of->And->Is smaller than said first time difference matching threshold +.>And determining that the characteristic curve is matched with the edge shape of the second construction parameter curve.
Further, in the small background-suppressing photoelectric sensor described above, in the step of extracting a difference curve of the characteristic curve and the second configuration parameter curve, the processor is configured to:
constructing a curve function of the characteristic curveAnd the curve function of said second construction parameter curve +.>；
Constructing a curve function of a difference curve of the characteristic curve and the second construction parameter curve:
。
further, in the small background-suppressing photoelectric sensor described above, in the step of matching the difference curve with the first configuration parameter curve, the processor is configured to:
obtaining the wave crest number of the first construction parameter curve；
Obtaining the peak number of the difference curve between the characteristic curve and the second construction parameter curve；
The number of peaks of the first construction parameter curveThe number of peaks of the difference curve from the characteristic curve and the second construction parameter curve +.>When the first construction parameter curves are equal, the width of each wave crest on the first construction parameter curves is obtained>And the width of each peak on the difference curve of the characteristic curve and the second construction parameter curve +.>Wherein；
When for any oneThe values satisfy:
and when the difference curve is matched with the first construction parameter curve, determining.
The application provides a small background suppression photoelectric sensor, which is characterized in that the relative distance between a signal reflection point and the small background suppression photoelectric sensor is calculated by detecting the magnitude of two paths of output currents of a one-dimensional position sensitive detector in real time, a distance change curve of the signal reflection point is constructed according to the change of the relative distance between the signal reflection point and the small background suppression photoelectric sensor, a characteristic curve is extracted from the distance change curve, the characteristic curve is a dynamic curve section with the same width and the same edge shape, which repeatedly appears on the distance change curve, the construction parameters of a target object and an auxiliary bearing object are obtained, the construction parameters at least comprise the height data of the target object and the auxiliary bearing object in the detection direction, the characteristic curve is matched with the construction parameters of the target object and the auxiliary bearing object, and the matching result is output as a detection result, so that the object loaded in the bearing object can be detected.
Drawings
FIG. 1 is a schematic block diagram of a small background-suppressing photosensor provided by an embodiment of the present application;
fig. 2 is a schematic flow chart of a background suppression method according to an embodiment of the present application.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced otherwise than as described herein, and therefore the scope of the present application is not limited to the specific embodiments disclosed below.
In the description of the present application, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are based on the orientation or positional relationship shown in the drawings, merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application. The terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of this specification, the terms "one embodiment," "some implementations," "particular embodiments," and the like, 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 application. In this specification, schematic representations of the above terms do not necessarily 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.
A small background-suppressing photoelectric sensor provided according to some embodiments of the present application is described below with reference to the accompanying drawings.
As shown in fig. 1, the application provides a small background suppression photoelectric sensor, which comprises a signal transmitting part, a signal receiving part and a control part, wherein the signal transmitting part comprises a first lens, a light emitting diode and a light emitting diode control circuit, the signal receiving part comprises a second lens, a one-dimensional position sensitive detector and an output signal processing circuit, the one-dimensional position sensitive detector comprises a first output electrode and a second output electrode, the output signal processing circuit comprises a first amplifier and a first analog-to-digital converter which are connected with the first output electrode, and a second amplifier and a second analog-to-digital converter which are connected with the second output electrode, and the control part comprises a processor and a memory, and the light emitting diode control circuit, the output signal processing circuit and the memory are connected with the processor.
As shown in fig. 2, the processor is configured to execute the computer program stored by the memory to implement the following method:
detecting the magnitudes of two paths of output currents of the one-dimensional position sensitive detector in real time through the output signal processing circuit;
calculating the relative distance between a signal reflection point and the small background suppression photoelectric sensor according to the magnitude of two paths of output currents of the one-dimensional position sensitive detector, wherein the signal reflection point is the position of a light spot on the surface of an object, irradiated to a detection area by a light ray emitted by a light emitting diode of the light emitting part through the first lens;
constructing a distance change curve of the signal reflection point according to the change of the relative distance between the signal reflection point and the small background suppression photoelectric sensor;
extracting a characteristic curve from the distance change curve, wherein the characteristic curve is a dynamic curve segment with the same width and the same edge shape, which repeatedly appears on the distance change curve;
acquiring construction parameters of a target object and an auxiliary bearing object, wherein the construction parameters at least comprise height data of the target object and the auxiliary bearing object in a detection direction;
matching the characteristic curve with the construction parameters of the target object and the auxiliary bearing object;
and outputting the matching result as a detection result.
For example, when the detection direction of the small background suppression photoelectric sensor is longitudinal, the small background suppression photoelectric sensor is installed above the detection area, and the light emitting diode emits the detection light downwards to the detection area, so that the signal receiving part obtains the light reflected by the object on the detection area to realize the detection of the object on the detection area. For another example, when the detection direction of the small background suppression photoelectric sensor is transverse, the small background suppression photoelectric sensor is mounted on one side of the detection area, and the light emitting diode emits detection light transversely to the detection area, so that the signal receiving portion obtains light reflected by an object on the detection area to detect the object on the detection area.
In some embodiments of the application, the construction parameters of the target object and the auxiliary carrying object are stereoscopic models of the target object and the auxiliary carrying object. For example, when the target object is a plurality of parts with different shapes, each part or a plurality of parts is/are loaded through the detection area by using a tray or an open packing box, and the small background suppression photoelectric sensor acquires the height data of the target object and the auxiliary bearing object through the three-dimensional model of the target object and the auxiliary bearing object to match the detected characteristic curve, so that a detection result is obtained.
In the above-described small background suppression photosensor, in the step of calculating the relative distance between the signal reflection point and the small background suppression photosensor according to the magnitudes of the two output currents of the one-dimensional position-sensitive detector, the processor is configured to:
obtaining two paths of output currents of the one-dimensional position sensitive detectorAnd->Wherein->For the near-end current of the one-dimensional position-sensitive detector,/or->A distal current for the one-dimensional position sensitive detector;
according to the two paths of output currents of the one-dimensional position sensitive detectorAnd->Calculating the position of the light spot at which the reflected light of the signal reflection point falls on the one-dimensional position-sensitive detector through the second lens:
，
wherein the method comprises the steps ofFor the distance between the first output electrode and the second output electrode +.>Is experience ofA constant;
acquiring an optical axis line spacing of the first lens and the second lensAnd the distance of the second lens from the one-dimensional position-sensitive detector +.>；
Calculating the distance between the signal reflection point and the center point of the first lens:
。
in particular, due to individual differences between the different position sensitive detectors, lenses, empirical constantsOften, the empirical constant +.>The following formula can be used by using a number of different standard distances:
the test is carried out, and the same scheme can be adopted to calibrate the test in the use process.
In the small background-suppressed photosensor described above, in the step of extracting a characteristic curve from the distance change curve, the processor is configured to:
constructing a peak sequence on the distance change curveWherein->，/>For the number of peaks on the current distance change curve,/I>To detect->Time of peak->Is->Amplitude of each peak;
constructing the peak sequenceCorresponding time difference sequence->Sum-amplitude difference sequence；
From the time difference sequenceAnd the amplitude difference sequence ∈ ->Extracting a synchronization period;
and extracting the characteristic curve according to the synchronous period.
In the small background-suppressed photosensor described above, the time difference sequence is used to determine the time difference sequenceAnd the amplitude difference sequence ∈ ->In the step of extracting the synchronization period, the processor is configured to:
from the firstThe peaks start to traverse the time difference sequence and the amplitude difference sequence in a reverse order;
when traversing to the firstWhen the wave peaks are counted, the corresponding time difference is +.>A preceding time difference from said time difference sequence +.>Sequentially matching each of them, and comparing the amplitude differences thereof>Difference from the previous amplitude in said sequence of amplitude differences +.>Sequentially matching each of the above;
when the first isTime difference corresponding to each wave crest->And amplitude difference->And->Time differences corresponding to the wave peaksAnd amplitude difference->Judging +.>Peak-to-peak pairsDifferential time of response->Sum and difference in amplitudeAnd->Time difference corresponding to each wave crest->And amplitude difference->Whether or not to match;
when the first isTime difference corresponding to each wave crest->And amplitude difference->And->Time difference corresponding to each wave crest->And amplitude difference->When matching, the sequence is matched forward to determine the number of peaks +.>So that the peak sequence->Each peak and peak sequence +.>The sum of the corresponding time differences of each peak in (a)The amplitude differences are matched one by one;
when presentSequence of individual peaks->Meet the matching conditions and +.>，/>When it willAnd determining the synchronization period.
The small background-suppressing photoelectric sensor described above further includes:
preconfigured first time difference matching thresholdSecond time difference matching threshold +.>Amplitude difference matching threshold ++>The first time difference matching threshold and the amplitude difference matching threshold are fixed thresholds, the second time difference matching threshold is a dynamic threshold, and the second time difference matching threshold is larger than the first time difference matching threshold;
sequential forward matching to determine a peak countSo that the peak sequence->Each peak and peak sequence +.>Each of (3)In the step of matching the time differences and the amplitude differences corresponding to the wave peaks one by one, the processor is configured to:
sequential forward matching to determine a peak countSo that the peak sequence->Amplitude difference corresponding to each peak in the series of peaks +.>The difference between the amplitude differences corresponding to the respective peaks in (a) is smaller than said amplitude difference matching threshold +.>And->Time difference corresponding to each wave crest->And->Time difference corresponding to each wave crest->Difference between, th->Time difference corresponding to each wave crest->And->Time differences corresponding to the wave peaksThe difference between them is smaller than said first time difference matching threshold +.>The difference between the time differences therebetween is smaller than said second time difference matching threshold +.>。
In the small background-suppressing photoelectric sensor described above, the order is matched forward to determine the number of peaksSo that the peak sequence->Each peak and peak sequence +.>In the step of matching the time difference and the amplitude difference corresponding to each peak one by one, the processor is configured to:
acquisition of the firstWave crest and->Time corresponding to each peak->And->；
Obtaining a sequence of peaksRemove%>Wave crest and->Width of other peaks than the individual peakWherein->；
Calculating the second time difference matching threshold:
。
in the above-described small-sized background suppressing photoelectric sensor, the configuration parameter includes a plurality of height data of the target object and the auxiliary carrying object in a detection direction, the plurality of height data being on a detection plane in which the target object and the auxiliary carrying object are parallel to a movement direction, and in the step of matching the characteristic curve with the configuration parameters of the target object and the auxiliary carrying object, the processor is configured to:
respectively constructing a first construction parameter curve of the target object on the detection plane and a second construction parameter curve of the auxiliary bearing object on the detection plane according to the target object and a plurality of height data of the auxiliary bearing object in the detection direction;
scaling the characteristic curve in equal proportion so that the width of the characteristic curve is the same as the width of the second construction parameter curve;
matching the edge shapes of the characteristic curve and the second construction parameter curve;
when the edge shapes of the characteristic curve and the second construction parameter curve are successfully matched, extracting a difference curve of the characteristic curve and the second construction parameter curve;
matching the difference curve with the first configuration parameter curve.
In the above-described small background-suppressing photoelectric sensor, in the step of matching the edge shapes of the characteristic curve and the second configuration parameter curve, the processor is configured to:
acquiring the width of the first peak of the characteristic curveAnd width of the last peak +.>；
Acquiring the width of the first peak of the second construction parameter curveWidth of last peak；
When (when)And->Difference of->And->Is smaller than said first time difference matching threshold +.>And determining that the characteristic curve is matched with the edge shape of the second construction parameter curve.
In the small background-suppressing photoelectric sensor described above, in the step of extracting a difference curve of the characteristic curve and the second configuration parameter curve, the processor is configured to:
constructing the curve function number of the characteristic curveAnd the curve function of said second construction parameter curve +.>；
Constructing a curve function of a difference curve of the characteristic curve and the second construction parameter curve:
。
in the above-described small background-suppressing photoelectric sensor, in the step of matching the difference curve with the first configuration parameter curve, the processor is configured to:
obtaining the wave crest number of the first construction parameter curve；
Obtaining the peak number of the difference curve between the characteristic curve and the second construction parameter curve；
The number of peaks of the first construction parameter curveThe number of peaks of the difference curve from the characteristic curve and the second construction parameter curve +.>When the first construction parameter curves are equal, the width of each wave crest on the first construction parameter curves is obtained>And the width of each peak on the difference curve of the characteristic curve and the second construction parameter curve +.>Wherein；
When for any oneThe values satisfy:
and when the difference curve is matched with the first construction parameter curve, determining.
The application provides a small background suppression photoelectric sensor, which is characterized in that the relative distance between a signal reflection point and the small background suppression photoelectric sensor is calculated by detecting the magnitude of two paths of output currents of a one-dimensional position sensitive detector in real time, a distance change curve of the signal reflection point is constructed according to the change of the relative distance between the signal reflection point and the small background suppression photoelectric sensor, a characteristic curve is extracted from the distance change curve, the characteristic curve is a dynamic curve section with the same width and the same edge shape, which repeatedly appears on the distance change curve, the construction parameters of a target object and an auxiliary bearing object are obtained, the construction parameters at least comprise the height data of the target object and the auxiliary bearing object in the detection direction, the characteristic curve is matched with the construction parameters of the target object and the auxiliary bearing object, and the matching result is output as a detection result, so that the object loaded in the bearing object can be detected.
It should be noted that in this document relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Embodiments in accordance with the present application, as described above, are not intended to be exhaustive or to limit the application to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best utilize the application and various modifications as are suited to the particular use contemplated. The application is limited only by the claims and the full scope and equivalents thereof.

Claims (9)

1. A miniature background-suppressing photoelectric sensor comprising a signal transmitting section, a signal receiving section and a control section, the signal transmitting section comprising a first lens, a light emitting diode and a light emitting diode control circuit, the signal receiving section comprising a second lens, a one-dimensional position-sensitive detector comprising a first output electrode and a second output electrode, and an output signal processing circuit comprising a first amplifier and a first analog-to-digital converter connected to the first output electrode and a second amplifier and a second analog-to-digital converter connected to the second output electrode, the control section comprising a processor and a memory, the light emitting diode control circuit, the output signal processing circuit, the memory being connected to the processor, the processor being configured to execute a computer program stored by the memory to implement the method of:
detecting the magnitudes of two paths of output currents of the one-dimensional position sensitive detector in real time through the output signal processing circuit;
calculating the relative distance between a signal reflection point and the small background suppression photoelectric sensor according to the magnitude of two paths of output currents of the one-dimensional position sensitive detector, wherein the signal reflection point is the position of a light spot on the surface of an object, irradiated to a detection area by a light ray emitted by a light emitting diode of the signal emission part through the first lens;
constructing a distance change curve of the signal reflection point according to the change of the relative distance between the signal reflection point and the small background suppression photoelectric sensor;
extracting a characteristic curve from the distance change curve, wherein the characteristic curve is a dynamic curve segment with the same width and the same edge shape, which repeatedly appears on the distance change curve;
acquiring construction parameters of a target object and an auxiliary bearing object, wherein the construction parameters at least comprise height data of the target object and the auxiliary bearing object in a detection direction;
matching the characteristic curve with the construction parameters of the target object and the auxiliary bearing object;
outputting a matching result as a detection result;
in the step of calculating the relative distance of the signal reflection point and the small background suppression photosensor from the magnitudes of the two output currents of the one-dimensional position sensitive detector, the processor is configured to:
obtaining two paths of output currents of the one-dimensional position sensitive detectorAnd->Wherein->For the near-end current of the one-dimensional position-sensitive detector,/or->A distal current for the one-dimensional position sensitive detector;
according to the two paths of output currents of the one-dimensional position sensitive detectorAnd->Calculating the light spot of the reflected light of the signal reflection point falling onto the one-dimensional position sensitive detector through the second lensIs defined by the position of:
，
wherein the method comprises the steps ofFor the distance between the first output electrode and the second output electrode +.>Is an empirical constant;
acquiring an optical axis line spacing of the first lens and the second lensAnd the distance of the second lens from the one-dimensional position-sensitive detector +.>；
Calculating the distance between the signal reflection point and the center point of the first lens:
。
2. the miniature background suppressing photosensor of claim 1, wherein in the step of extracting a characteristic from the distance variation curve, the processor is configured to:
constructing a peak sequence on the distance change curveWherein->，/>For the number of peaks on the current distance change curve,/I>To detect->Time of peak->Is->Amplitude of each peak;
constructing the peak sequenceCorresponding time difference sequence and amplitude difference sequence, the time difference in the time difference sequence being +.>The amplitude difference in the amplitude difference sequence is +.>；
Extracting a synchronization period from the time difference sequence and the amplitude difference sequence;
and extracting the characteristic curve according to the synchronous period.
3. The miniature background suppressed photosensor of claim 2, wherein in the step of extracting a synchronization period from the sequence of time differences and the sequence of amplitude differences, the processor is configured to:
from the firstThe peaks start to traverse the time difference sequence and the amplitude difference sequence in a reverse order;
when traversing to the firstWhen the wave peaks are counted, the corresponding time difference is +.>From a preceding time difference in the sequence of time differencesSequentially matching each of them, and comparing the amplitude differences thereof>Difference from the previous amplitude in said sequence of amplitude differences +.>Sequentially matching each of the above;
when the first isTime difference corresponding to each wave crest->And amplitude difference->And->Time differences corresponding to the wave peaksAnd amplitude difference->Judging +.>Time difference corresponding to each wave crest->Sum and difference in amplitudeAnd->Time difference corresponding to each wave crest->And amplitude difference->Whether or not to match;
when the first isTime difference corresponding to each wave crest->And amplitude difference->And->Time difference corresponding to each wave crest->And amplitude difference->When matching, the sequence is matched forward to determine the number of peaks +.>So that the peak sequence->Each peak and peak sequence +.>The time difference and the amplitude difference corresponding to each wave crest are matched one by one;
when presentSequence of individual peaks->Meet the matching conditions and +.>，/>When in use, will->And determining the synchronization period.
4. A miniaturized context suppressing photosensor according to claim 3, wherein the processor is configured to:
preconfigured first time difference matching thresholdSecond time difference matching threshold +.>Amplitude difference matching threshold ++>The first time difference matching threshold and the amplitude difference matching threshold are fixed thresholds, the second time difference matching threshold is a dynamic threshold, and the second time difference matching threshold is larger than the first time difference matching threshold;
matching in sequence to determine the number of peaksSo that the peak sequence->Each peak and peak sequence +.>In the step of matching the time difference and the amplitude difference corresponding to each peak one by one, the processor is configured to:
sequential forward matching to determine a peak countSo that the peak sequence->Amplitude difference corresponding to each peak in the series of peaks +.>The difference between the amplitude differences corresponding to the respective peaks in (a) is smaller than said amplitude difference matching threshold +.>And->Time difference corresponding to each wave crest->And->Time differences corresponding to the wave peaksDifference between, th->Time differences corresponding to the wave peaks/>And->Time differences corresponding to the wave peaksThe difference between them is smaller than said first time difference matching threshold +.>The difference between the time differences therebetween is smaller than said second time difference matching threshold +.>。
5. The miniaturized background suppressing photosensor of claim 4, wherein the order is matched forward to determine a peak countSo that the peak sequence->Each peak and peak sequence +.>In the step of matching the time difference and the amplitude difference corresponding to each peak one by one, the processor is configured to:
acquisition of the firstWave crest and->Time corresponding to each peak->And->；
Obtaining a sequence of peaksRemove%>Wave crest and->Width of other peaks than the individual peak +.>Wherein->；
Calculating the second time difference matching threshold:
。
6. a miniaturized context suppressing photoelectric sensor according to any one of claims 4-5, wherein the construction parameters comprise a plurality of height data of the target object and the auxiliary carrier object in a detection direction, the plurality of height data being on a detection plane of the target object and the auxiliary carrier object parallel to a direction of motion, in the step of matching the characteristic curves with the construction parameters of the target object and the auxiliary carrier object, the processor is configured to:
respectively constructing a first construction parameter curve of the target object on the detection plane and a second construction parameter curve of the auxiliary bearing object on the detection plane according to the target object and a plurality of height data of the auxiliary bearing object in the detection direction;
scaling the characteristic curve in equal proportion so that the width of the characteristic curve is the same as the width of the second construction parameter curve;
matching the edge shapes of the characteristic curve and the second construction parameter curve;
when the edge shapes of the characteristic curve and the second construction parameter curve are successfully matched, extracting a difference curve of the characteristic curve and the second construction parameter curve;
matching the difference curve with the first configuration parameter curve.
7. The miniature background suppressing photoelectric sensor of claim 6, wherein in the step of matching the edge shapes of the characteristic curve and the second construction parameter curve, the processor is configured to:
acquiring the width of the first peak of the characteristic curveAnd width of the last peak +.>；
Acquiring the width of the first peak of the second construction parameter curveAnd width of the last peak +.>；
When (when)And->Difference of->And->Is smaller than said first time difference matching threshold +.>And determining that the characteristic curve is matched with the edge shape of the second construction parameter curve.
8. The miniature background suppressing photoelectric sensor of claim 7, wherein in the step of extracting a difference curve of the characteristic curve and the second construction parameter curve, the processor is configured to:
constructing a curve function of the characteristic curveAnd the curve function of said second construction parameter curve +.>；
Constructing a curve function of a difference curve of the characteristic curve and the second construction parameter curve:
。
9. the miniature background suppressing photoelectric sensor of claim 8, wherein in the step of matching the difference curve to the first construction parameter curve, the processor is configured to:
obtaining the wave crest number of the first construction parameter curve；
Acquiring the characteristic curve and the second structurePeak number of difference curve of parametric curve；
The number of peaks of the first construction parameter curveThe number of peaks of the difference curve from the characteristic curve and the second construction parameter curve +.>When the first construction parameter curves are equal, the width of each wave crest on the first construction parameter curves is obtained>And the width of each peak on the difference curve of the characteristic curve and the second construction parameter curve +.>Wherein；
When for any oneThe values satisfy:
and when the difference curve is matched with the first construction parameter curve, determining.
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