CN203849614U - Gray scale sensor for automatically calculating average gray-value - Google Patents
Gray scale sensor for automatically calculating average gray-value Download PDFInfo
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- CN203849614U CN203849614U CN201420199988.4U CN201420199988U CN203849614U CN 203849614 U CN203849614 U CN 203849614U CN 201420199988 U CN201420199988 U CN 201420199988U CN 203849614 U CN203849614 U CN 203849614U
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Abstract
The utility model relates to a gray scale sensor for automatically calculating an average gray-value. The sensor comprises a gray scale detecting module, a sampling trigger module, an analog-digital converter, a calculation comparing module and an output interface, wherein an output end of the sampling trigger module is electrically connected with a control end of the gray scale detecting module, an output end of the gray scale detecting module is electrically connected with an input end of the analog-digital converter, an output end of the analog-digital converter is electrically connected with an input end of the calculation comparing module, and an output end of the calculation comparing module is electrically connected with the output interface. A sampling signal is sent by the sampling trigger module, the gray scale detecting module automatically takes samples, the analog signal is converted into a digital signal, and thus automatic sampling and automatic calculation of the average gray-value are realized; when the current gray value is compared with the average gray-value, a control signal is output, a robot can automatically change directions according to the control signal when advancing by tracking, so as to realize automatic control, and enable the rotor to accurately advance by tracking; and the adjustment is very simple.
Description
Technical field
The utility model relates to a kind of gray-scale sensor, relates in particular to a kind of gray-scale sensor of automatic calculating average gray.
Background technology
At present, gray-scale sensor has comparatively widely application on detection field, normally utilizes gray-scale sensor to obtain the real-time gray scale of measurand, by the judgement of real-time gray scale being determined to whether the surface of measurand meets standard.
Also application to some extent in the control that gray-scale sensor advances at robot tracking, when the robot tracking in the past advances, generally need to adopt artificial visually examine's method to adjust intensity contrast value, by virtue of experience guestimate gray scale of user is state (size of intensity contrast value) relatively, and carry out manual adjustment, normally by screwdriver, regulate the adjustable resistance on sensor, so not only regulate quite trouble, and easily occur that intensity contrast value deviation is larger, cause robot easily to make mistakes when tracking advances.
Summary of the invention
The technical problems to be solved in the utility model is to provide a kind of gray-scale sensor of automatic calculating average gray, the gray-scale sensor of this automatic calculating average gray regulates quite simple, can automatically calculate average gray, and average gray is more accurate, make robot more accurately tracking advance.The technical scheme adopting is as follows:
A gray-scale sensor for automatic calculating average gray, comprises gray scale detecting module, it is characterized in that: also comprise sample trigger module, analog to digital converter, calculating and comparing module and output interface; The output terminal of sample trigger module is electrically connected to the control end of gray scale detecting module; The output terminal of gray scale detecting module is electrically connected to the input end of analog to digital converter; The output terminal of analog to digital conversion mould device is electrically connected to the input end of calculating and comparing module; The output terminal of calculating and comparing module is electrically connected to output interface.
Sample trigger module is sent sampled signal to gray scale detecting module, and gray scale detecting module is in the situation that receive the sampled signal from sample trigger module, the gray scale of detection measurand, generation sampling gray scale simulating signal; In other cases, gray scale acquisition sensor is surveyed the gray scale of measurand, produces current gray level simulating signal.
Analog to digital converter is converted to respectively sampling gray-scale value and current gray level value by the sampling gray scale simulating signal from gray scale detecting module and front gray scale simulating signal.
Calculating and comparing module receives sampling gray-scale value and the current gray level value from analog to digital converter, calculating and comparing module is calculated the mean value of two sub-sampling gray-scale values, and save as average gray, current gray level value and average gray compare, and according to comparative result, export a control signal to output interface.
The gray-scale sensor of this automatic calculating average gray, by sample trigger module, send sampled signal, make gray scale detecting module automatic sampling, and simulating signal is converted to digital signal, realize automatic sampling, automatically calculate average gray (gray scale comparison value), and real-time current gray level value and average gray compare, output control signal, robot is when tracking advances, rely on control signal automatically to commutate, realize Automatic Control, and owing to automatically calculating average gray, than artificial visually examine in the past, adjust intensity contrast value more accurate, make robot more accurately tracking advance, and as long as trigger sampling by sample trigger module (generally comprising trigger switch), regulate quite simple.
As preferred version of the present utility model, also comprise wave filter, wave filter is connected electrically between described gray scale detecting module and digital to analog converter.By wave filter is set, the sampling gray scale simulating signal that gray scale acquisition sensor is sent and front gray scale simulating signal are carried out filtering, make sampling gray-scale value and current gray level value after analog to digital conversion more accurate.
As the further preferred version of the utility model, described calculating and comparing module comprises reservoir, mean value calculation module and comparer; An input end of reservoir, comparer is electrically connected to the output terminal of described digital to analog converter, and another input end of comparer is electrically connected to reservoir, and mean value calculation module is electrically connected to reservoir; The output terminal of comparer is electrically connected to described output interface.Reservoir receives from the sampling gray-scale value of analog to digital converter and stores; Mean value calculation module reads two sampling gray-scale values and calculates the mean values of two sampling gray-scale values from reservoir, and returns to reservoir and save as average gray; Comparer receives the current gray level value and the average gray that reads reservoir from digital to analog converter, current gray level value and average gray is compared, and export control signal to output interface according to comparative result.A subtracter of the general employing of above-mentioned comparer.
As the utility model preferred version further, described mean value calculation module comprises totalizer and multiplier.Two input ends of totalizer are electrically connected to described reservoir, and the output terminal of totalizer is electrically connected to the input end of multiplier, and the output terminal of multiplier is electrically connected to reservoir.Totalizer is added two sampling gray-scale values, exports to multiplier and 0.5 and multiplies each other, and the result of calculation of multiplier returns to reservoir.Multiplier (multiplier) is a kind of electron device that completes two mutual incoherent simulating signal synergisms.It can multiply each other two binary numbers.It is comprised of more basic totalizer.Multiplier not only, as the main elementary cell of the simulation trials such as multiplication, division, power and evolution, is controlled as modulation, demodulation, mixing, phase demodulation and automatic gain but also be widely used in electronic communication system; Also can be used in addition the occasions such as filtering, waveform formation and frequency control, is therefore a kind of broad-spectrum functional circuit.A desirable general purpose multipliers, should not limited the polarity of any one input signal, that is to say to have the circuit of the calculation function that can complete four quadrants.Hardware multiplier, its basis is exactly adder structure, and it has been a requisite part in modern computer.The model of multiplier is exactly the algorithm based on " displacement and addition ".In this algorithm, in multiplier, each bit can produce a partial products.First partial products is produced by the LSB of multiplier, and second product produced by the second of multiplier, by that analogy.If corresponding multiplier bit is 1, partial products is exactly the value of multiplicand so, if corresponding multiplier bit is 0, partial products is 0 entirely so.Each partial products is all moved to the left one.Multiplier can represent by more general mode.Each input, partial products number, and result has all been endowed a logical name (as A1, A2, B1, B2), and these titles in circuit theory diagrams just as signal name.Comparison signal title in the multiplication example of schematic diagram, just can find the behavioral trait of mlultiplying circuit.In multiplier circuit, each in multiplier all will with multiplicand each with, and produce its corresponding product position.These partial products will be fed in the array of full adder (suitable time also can use half adder), and totalizer is to shifting left and expressing multiplication result simultaneously.The product term finally obtaining is added in CLA circuit.Note, some full adder circuit can be brought into signal carry input (for substituting the carry of juxtaposition).The application of a kind of full adder circuit that Here it is; Full adder is added any three bits of its input end.
As the further preferred version of the utility model, described sample trigger module comprises current potential pull-up resistor, anti-shake electric capacity, trigger switch and the first current-limiting resistance; Trigger switch is connected with anti-shake Capacitance parallel connection; One end of one end of current potential pull-up resistor, the first current-limiting resistance is all connected with same one end of anti-shake electric capacity.When connection, the positive pole of power supply is connected to the other end of voltage pull-up resistor, and the negative pole of power supply is connected to the other end of anti-shake electric capacity.
As the further preferred version of the utility model, described gray scale detecting module comprises luminous branch road and sampling slip; Luminous branch road comprises light emitting diode and the second current-limiting resistance being connected in series; Sampling slip comprises photoresistance and the 3rd current-limiting resistance being connected in series; Extension line between photoresistance and the 3rd current-limiting resistance is the output terminal of gray scale detecting module.
As the further preferred version of the utility model, also comprise sampling state indicating module, sampling state indicating module comprises sampling indication branch road and current indication branch road; Sampling slip comprises sampling pilot lamp and the 4th current-limiting resistance being connected in series; Current indication branch road comprises current pilot lamp and the 5th current-limiting resistance being connected in series; One end of sampling indication branch road is electrically connected to the output terminal of described sample trigger module; One end of current indication branch road is electrically connected to the output terminal of described gray scale detecting module.If sampling pilot lamp and current pilot lamp light simultaneously, the sampling state that is in is described; Iff current pilot lamp, light, the state in real-time detection gray scale is described.
As the further preferred version of the utility model, described wave filter, analog to digital converter, reservoir, mean value calculation module and comparer are integrated into an integrated chip.
Compared with prior art, tool has the following advantages the utility model:
By sample trigger module, send sampled signal, make gray scale detecting module automatic sampling, and simulating signal is converted to digital signal, realize automatic sampling, automatically calculate average gray (gray scale comparison value), and real-time current gray level value and average gray compare, output control signal, robot is when tracking advances, rely on control signal automatically to commutate, realize Automatic Control, and owing to automatically calculating average gray, than artificial visually examine in the past, adjust intensity contrast value more accurate, make robot more accurately tracking advance, and as long as trigger sampling by sample trigger module (generally comprising trigger switch), regulate quite simple.
Accompanying drawing explanation
Fig. 1 is the frame principle figure of the utility model preferred implementation;
Fig. 2 is the circuit theory diagrams of sample trigger module;
Fig. 3 is the circuit theory diagrams of gray scale detecting module;
Fig. 4 is the circuit theory diagrams of sampling state indicating module.
Embodiment
Below in conjunction with accompanying drawing and preferred implementation of the present utility model, be described further.
As shown in Figure 1, the gray-scale sensor of this automatic calculating average gray, comprises gray scale detecting module 1, sample trigger module 2, wave filter 3, analog to digital converter 4, calculating and comparing module 5 and output interface 6; The output terminal of sample trigger module 2 is electrically connected to the control end of gray scale detecting module 1; The output terminal of gray scale detecting module 1 is electrically connected to the input end of analog to digital converter 4 by wave filter 3; The output terminal of analog to digital conversion mould device 4 is electrically connected to the input end of calculating and comparing module 5; The output terminal of calculating and comparing module 5 is electrically connected to output interface 6.
As shown in Figure 1, calculating and comparing module 5 comprises reservoir 501, mean value calculation module 502 and comparer 503; An input end of reservoir 501, comparer 503 is electrically connected to the output terminal of digital to analog converter 4, and another input end of comparer 503 is electrically connected to reservoir 501, and mean value calculation module 502 is electrically connected to reservoir 501; The output terminal of comparer 503 is electrically connected to output interface 6.A subtracter 503 of comparer 503 general employings.
Mean value calculation module 502 comprises totalizer 5021 and multiplier 5022.Two input ends of totalizer 5021 are electrically connected to reservoir 501, and the output terminal of totalizer 5021 is electrically connected to the input end of multiplier 5022, and the output terminal of multiplier 5022 is electrically connected to reservoir 501.
As shown in Figure 2, sample trigger module 2 comprises current potential pull-up resistor 201, anti-shake electric capacity 202, trigger switch 203 and the first current-limiting resistance 204; Trigger switch 203 is connected in parallel with anti-shake electric capacity 202; One end of one end of current potential pull-up resistor 201, the first current-limiting resistance 204 is all connected with same one end of anti-shake electric capacity 202.
Gray scale detecting module 1 comprises luminous branch road 101 and sampling slip 102; Luminous branch road 101 comprises light emitting diode 1011 and the second current-limiting resistance 1012 being connected in series; Sampling slip 102 comprises photoresistance 1021 and the 3rd current-limiting resistance 1022 being connected in series; Extension line 1023 between photoresistance 1021 and the 3rd current-limiting resistance 1022 is the output terminal of gray scale detecting module 1.
The gray-scale sensor of this automatic calculating average gray also comprises sampling state indicating module 7, and sampling state indicating module 7 comprises sampling indication branch road 701 and current indication branch road 702; Sampling slip 701 comprises sampling pilot lamp 7011 and the 4th current-limiting resistance 7012 being connected in series; Current indication branch road 702 comprises current pilot lamp 7021 and the 5th current limliting 7022 resistance that are connected in series; One end of sampling indication branch road 701 is electrically connected to the output terminal of sample trigger module 2; One end of current indication branch road 702 is electrically connected to the output terminal of gray scale detecting module 1.
Sample trigger module 2 is sent sampled signal to gray scale detecting module 1, gray scale detecting module 1 is in the situation that receive the sampled signal from sample trigger module 2, survey the gray scale of measurand (stitching or other parts in working direction), produce sampling gray scale simulating signal; In other cases, gray scale acquisition sensor 1 is surveyed the gray scale of measurand (stitching or other parts in working direction), produces current gray level simulating signal.
Analog to digital converter 4 is converted to respectively sampling gray-scale value and current gray level value by the sampling gray scale simulating signal from gray scale detecting module and front gray scale simulating signal.
Sampling gray-scale value and current gray level value that calculating and comparing module 5 receives from analog to digital converter 4, calculating and comparing module is calculated the mean value of two sub-sampling gray-scale values, and save as average gray, current gray level value and average gray compare, and according to comparative result, export a control signal to output interface 6.
Reservoir 501 receives from the sampling gray-scale value of analog to digital converter 4 and stores; Mean value calculation module 502 reads two sampling gray-scale values and calculates the mean values of two sampling gray-scale values from reservoir 501, and returns to reservoir 501 and save as average gray; Comparer 503(subtracter 503) receive the current gray level value and the average gray that reads reservoir 501 from digital to analog converter 4, current gray level value and average gray are compared, and export control signal to output interface 6 according to comparative result.
The gray-scale sensor of this automatic calculating average gray, by sample trigger module 2, send sampled signal, make gray scale detecting module 1 automatic sampling, and simulating signal is converted to digital signal, realize automatic sampling, automatically calculate average gray (gray scale comparison value), and real-time current gray level value and average gray compare, output control signal, robot is when tracking advances, rely on control signal automatically to commutate, realize Automatic Control, and owing to automatically calculating average gray, than artificial visually examine in the past, adjust intensity contrast value more accurate, make robot more accurately tracking advance, and as long as trigger sampling by sample trigger module (generally comprising trigger switch), regulate quite simple.
In other embodiments, above-mentioned wave filter, analog to digital converter, reservoir, mean value calculation module and comparer are integrated into an integrated chip.
In addition; it should be noted that, the specific embodiment described in this instructions, its each several part titles etc. can be different; all equivalence or simple change of doing according to described structure, feature and the principle of the utility model patent design, are included in the protection domain of the utility model patent.The utility model person of ordinary skill in the field can make various modifications or supplements or adopt similar mode to substitute described specific embodiment; only otherwise depart from structure of the present utility model or surmount this scope as defined in the claims, all should belong to protection domain of the present utility model.
Claims (8)
1. automatically calculate a gray-scale sensor for average gray, comprise gray scale detecting module, it is characterized in that: also comprise sample trigger module, analog to digital converter, calculating and comparing module and output interface; The output terminal of sample trigger module is electrically connected to the control end of gray scale detecting module; The output terminal of gray scale detecting module is electrically connected to the input end of analog to digital converter; The output terminal of analog to digital conversion mould device is electrically connected to the input end of calculating and comparing module; The output terminal of calculating and comparing module is electrically connected to output interface.
2. the gray-scale sensor of automatic calculating average gray as claimed in claim 1, is characterized in that: also comprise that wave filter, wave filter are connected electrically between described gray scale detecting module and digital to analog converter.
3. the gray-scale sensor of automatic calculating average gray as claimed in claim 1 or 2, is characterized in that: described calculating and comparing module comprises reservoir, mean value calculation module and comparer; An input end of reservoir, comparer is electrically connected to the output terminal of described digital to analog converter, and another input end of comparer is electrically connected to reservoir, and mean value calculation module is electrically connected to reservoir; The output terminal of comparer is electrically connected to described output interface.
4. the gray-scale sensor of automatic calculating average gray as claimed in claim 3, is characterized in that: described mean value calculation module comprises totalizer and multiplier.
5. the gray-scale sensor of automatic calculating average gray as claimed in claim 1 or 2, is characterized in that: described sample trigger module comprises current potential pull-up resistor, anti-shake electric capacity, trigger switch and the first current-limiting resistance; Trigger switch is connected with anti-shake Capacitance parallel connection; One end of one end of current potential pull-up resistor, the first current-limiting resistance is all connected with same one end of anti-shake electric capacity.
6. the gray-scale sensor of automatic calculating average gray as claimed in claim 1 or 2, is characterized in that: described gray scale detecting module comprises luminous branch road and sampling slip; Luminous branch road comprises light emitting diode and the second current-limiting resistance being connected in series; Sampling slip comprises photoresistance and the 3rd current-limiting resistance being connected in series; Extension line between photoresistance and the 3rd current-limiting resistance is the output terminal of gray scale detecting module.
7. the gray-scale sensor of automatic calculating average gray as claimed in claim 1 or 2, is characterized in that: also comprise sampling state indicating module, sampling state indicating module comprises sampling indication branch road and current indication branch road; Sampling slip comprises sampling pilot lamp and the 4th current-limiting resistance being connected in series; Current indication branch road comprises current pilot lamp and the 5th current-limiting resistance being connected in series; One end of sampling indication branch road is electrically connected to the output terminal of described sample trigger module; One end of current indication branch road is electrically connected to the output terminal of described gray scale detecting module.
8. the gray-scale sensor of automatic calculating average gray as claimed in claim 3, is characterized in that: described wave filter, analog to digital converter, reservoir, mean value calculation module and comparer are integrated into an integrated chip.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420199988.4U CN203849614U (en) | 2014-04-23 | 2014-04-23 | Gray scale sensor for automatically calculating average gray-value |
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| CN201420199988.4U CN203849614U (en) | 2014-04-23 | 2014-04-23 | Gray scale sensor for automatically calculating average gray-value |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103970136A (en) * | 2014-04-23 | 2014-08-06 | 汕头市快畅计算机有限公司 | Grayscale sensor and tracking control method based on grayscale sensor |
| CN110456783A (en) * | 2018-05-08 | 2019-11-15 | 深圳市优必选科技有限公司 | A kind of intelligent terminal and its gray scale tracking sense mould group, gray-scale sensor |
| CN112697167A (en) * | 2020-11-23 | 2021-04-23 | 深圳市越疆科技有限公司 | Threshold adjusting method of infrared tracking sensor and electronic equipment |
-
2014
- 2014-04-23 CN CN201420199988.4U patent/CN203849614U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103970136A (en) * | 2014-04-23 | 2014-08-06 | 汕头市快畅计算机有限公司 | Grayscale sensor and tracking control method based on grayscale sensor |
| CN103970136B (en) * | 2014-04-23 | 2017-07-07 | 汕头市快畅机器人科技有限公司 | A kind of gray-scale sensor and a kind of tracking control method based on gray-scale sensor |
| CN110456783A (en) * | 2018-05-08 | 2019-11-15 | 深圳市优必选科技有限公司 | A kind of intelligent terminal and its gray scale tracking sense mould group, gray-scale sensor |
| CN112697167A (en) * | 2020-11-23 | 2021-04-23 | 深圳市越疆科技有限公司 | Threshold adjusting method of infrared tracking sensor and electronic equipment |
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