CN103354028B - Intelligent testing height device and method based on infrared light curtain - Google Patents
Intelligent testing height device and method based on infrared light curtain Download PDFInfo
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Abstract
一种基于红外光幕的智能测高装置及方法，所述装置包括红外发射装置、红外接收装置和L型可调基座；红外发射装置包括单片机、红外发射电路和红外发射管；红外接收装置包括单片机、红外接收电路和红外接收管；L型可调基座的水平部分通过可升降螺栓固定在测量平台上，竖直部分中间设置有条形孔；红外发射装置和红外接收装置相互连接并分别通过穿过条形孔的调节旋钮固定在被测物体两侧的L型可调基座上。所述方法包括：获取接收二极管接收红外光的模拟值；计算相邻两个红外接收二极管的模拟差值；将模拟差值与门限值比较来确定物体高度的分界区；计算修正值；计算被测物体高度。本发明具有成本低、安装方便、响应速度快、抗干扰强和适应性强的特点。
An intelligent height measuring device and method based on an infrared light curtain, the device includes an infrared emitting device, an infrared receiving device and an L-shaped adjustable base; the infrared emitting device includes a single-chip microcomputer, an infrared emitting circuit and an infrared emitting tube; the infrared receiving device It includes a single-chip microcomputer, an infrared receiving circuit and an infrared receiving tube; the horizontal part of the L-shaped adjustable base is fixed on the measuring platform through liftable bolts, and a strip hole is arranged in the middle of the vertical part; the infrared emitting device and the infrared receiving device are connected to each other and They are respectively fixed on the L-shaped adjustable bases on both sides of the measured object through the adjustment knobs passing through the strip holes. The method includes: acquiring the analog value of the infrared light received by the receiving diode; calculating the analog difference between two adjacent infrared receiving diodes; comparing the analog difference with the threshold value to determine the boundary area of the height of the object; calculating the correction value; calculating The height of the measured object. The invention has the characteristics of low cost, convenient installation, fast response speed, strong anti-interference and strong adaptability.
Description
技术领域technical field
本发明涉及一种测量装置，具体地说是一种基于红外光幕的智能测高装置及方法。The invention relates to a measuring device, in particular to an intelligent height measuring device and method based on an infrared light curtain.
背景技术Background technique
红外光幕是一种光电技术，其主要原理为光束被遮挡使光敏元件产生开关信号。红外光幕是由多束红外光束在一平面平行或交叉构成一面光墙,凡有物体通过该警戒平面均能产生信号以达到测量、报警等作用。红外光幕在物体测高、电梯、防盗、加工中心外防护等许多领域有大量的应用。Infrared light curtain is a kind of photoelectric technology, its main principle is that the light beam is blocked to make the photosensitive element generate switching signal. The infrared light curtain is a light wall composed of multiple infrared beams parallel or intersecting on a plane, and any object passing through the warning plane can generate a signal to achieve the functions of measurement and alarm. Infrared light curtains have a large number of applications in many fields such as object height measurement, elevators, anti-theft, and external protection of machining centers.
红外光幕具有隐敝性、高可靠性、较强的环境适应能力,具有较高的科技含量。红外光幕在国外已经有相应的产品但售价昂贵,如英国门科公司生产的电梯用红外光幕产品报价1万多美元,而我国在这方面刚刚起步，因此，深入研究、分析光幕系统,使其早日商品化具有重要意义。Infrared light curtain has concealment, high reliability, strong environmental adaptability, and high technological content. Infrared light curtains already have corresponding products in foreign countries, but the price is expensive. For example, the price of infrared light curtain products for elevators produced by British Memco Company is more than 10,000 US dollars, but our country has just started in this area. Therefore, in-depth research and analysis of light curtains system, it is of great significance to make it commercialized as soon as possible.
在自然界在存在大量可见光和红外光,而光幕的设计则需要对自己所发光进行识别以便于判断是否有遮挡。为了光幕自身的隐敝，我们采用人眼看不见的红外光作为光源,并用对该波长红外光敏感的光电接收器接收所发红外光,并且在接收器件前设置能通过该波长红外光的滤光片以防杂光干扰,当该光遇遮挡,则系统输出形式变化。There are a lot of visible light and infrared light in nature, and the design of the light curtain needs to identify the light it emits in order to judge whether there is occlusion. In order to conceal the light curtain itself, we use infrared light invisible to the human eye as the light source, and use a photoelectric receiver sensitive to this wavelength of infrared light to receive the emitted infrared light, and set a filter that can pass this wavelength of infrared light before the receiving device. The light sheet is used to prevent the interference of stray light. When the light is blocked, the output form of the system will change.
为了避免自然界中红外波长光的干扰,需要对光源进行了调制使其有别于自然光。在接收方面,经电子滤波后解调出原有信号,并加以判别，这就是单束光对射管原理。将多个单束光对射管排列在一起顺序发射和同步接收就形成光幕，这就需要智能的发射接收控制器。In order to avoid the interference of infrared wavelength light in nature, it is necessary to modulate the light source to make it different from natural light. In terms of reception, the original signal is demodulated after electronic filtering and discriminated. This is the principle of single-beam light-to-radiation tube. A light curtain is formed by arranging multiple single-beam light-emitting tubes together for sequential emission and synchronous reception, which requires an intelligent emission and reception controller.
目前，在国内外有类似红外光幕测高的产品，但是，产品价格昂贵，测量精度10毫米的需要近3万元。现有类似红外光幕测高产品的主要应用测量原理是：1、光幕一起发射接收，采用不同的编码，以区分相互干扰。该产品是第一代产品，缺点是抗干扰能力很弱。2、在第一代产品基础上发展的第二代产品：编码调制和逐个扫描识别方法，该方法在一定环境下能够满足工艺要求，但当环境光强度和本身发射强度变化时就难以满足要求；3、在第二代产品基础上发展的第三代产品：编码调制和逐个扫描识别并自动控制收发增益，该方法拟补了光信号变化的缺陷，但参数检测等方面也存在较大误差，从而造成产品有误差。At present, there are products similar to infrared light curtain altimetry at home and abroad, but the products are expensive, and the measurement accuracy of 10 mm requires nearly 30,000 yuan. The main application measurement principles of existing similar infrared light curtain altimetry products are: 1. The light curtain transmits and receives together, and adopts different codes to distinguish mutual interference. This product is the first generation product, the disadvantage is that the anti-interference ability is very weak. 2. The second-generation product developed on the basis of the first-generation product: code modulation and one-by-one scanning recognition method, which can meet the process requirements in a certain environment, but it is difficult to meet the requirements when the ambient light intensity and its own emission intensity change ;3. The third-generation product developed on the basis of the second-generation product: coded modulation and one-by-one scanning recognition and automatic control of the transceiver gain. This method intends to make up for the defects of optical signal changes, but there are also large errors in parameter detection and other aspects , resulting in product errors.
发明内容Contents of the invention
针对上述不足，本发明提供了一种基于红外光幕的智能测高装置及方法，其不仅能够提高测量精度和抗干扰能力，而且省成本、便于安装。In view of the above shortcomings, the present invention provides an intelligent height measuring device and method based on an infrared light curtain, which can not only improve measurement accuracy and anti-interference ability, but also save cost and facilitate installation.
本发明解决其技术问题采取的技术方案是：一种基于红外光幕的智能测高装置，其特征是，包括红外发射装置、红外接收装置和基座；The technical solution adopted by the present invention to solve the technical problem is: an intelligent height measuring device based on an infrared light curtain, which is characterized in that it includes an infrared emitting device, an infrared receiving device and a base;
所述红外发射装置通过基座设置在测量平台上，包括依次连接的单片机、红外发射电路和红外发射管；The infrared emitting device is arranged on the measurement platform through the base, and comprises a single-chip microcomputer, an infrared emitting circuit and an infrared emitting tube connected in sequence;
所述红外接收装置通过基座设置在测量平台上，包括依次连接的单片机、红外接收电路和红外接收管；The infrared receiving device is arranged on the measurement platform through the base, including a single-chip microcomputer, an infrared receiving circuit and an infrared receiving tube connected in sequence;
所述红外发射装置和红外接收装置相互连接并相对应设置在被测物体两侧；The infrared emitting device and the infrared receiving device are connected to each other and correspondingly arranged on both sides of the measured object;
所述基座包括L型可调基座，所述L型可调基座的水平部分通过可升降螺栓固定在测量平台上，竖直部分中间设置有条形孔；所述的红外发射装置和红外接收装置分别通过穿过条形孔的调节旋钮固定在L型可调基座上。The base includes an L-shaped adjustable base, the horizontal part of the L-shaped adjustable base is fixed on the measurement platform by a liftable bolt, and a strip hole is arranged in the middle of the vertical part; the infrared emitting device and The infrared receiving devices are respectively fixed on the L-shaped adjustable base through adjusting knobs passing through the strip holes.
进一步地，本发明所述的智能测高装置还包括上位机，所述上位机与红外发射装置相连接。Further, the intelligent height measuring device according to the present invention also includes a host computer, and the host computer is connected with the infrared emitting device.
进一步地，所述红外发射装置包括红外发射主模块和若干红外发射子模块，所述的红外发射子模块依次设置在红外发射主模块上面且分别通过总线与红外发射主模块连接。Further, the infrared emitting device includes an infrared emitting main module and several infrared emitting sub-modules, and the infrared emitting sub-modules are sequentially arranged on the infrared emitting main module and respectively connected to the infrared emitting main module through a bus.
进一步地，所述红外发射主模块和红外发射子模块均采用STM系列单片机；所述红外发射电路包括16路PWM发射电路，所述红外发射管包括16路红外发射二极管。Further, the infrared emitting main module and the infrared emitting sub-module both adopt STM series single-chip microcomputers; the infrared emitting circuit includes 16 channels of PWM emitting circuits, and the infrared emitting tube includes 16 channels of infrared emitting diodes.
进一步地，所述红外发射主模块确定红外发射子模块地址的过程为：设备上电瞬间红外发射主模块向第一个红外发射子模块发一个脉冲，第一个红外发射子模块接到一个脉冲后向第二个红外发射子模块发送两个脉冲，以此类推，第N个红外发射子模块接到N个脉冲后向第N+1个红外发射子模块发送N+1个脉冲；各个红外发射子模块把接收脉冲的数量作为自己的地址反馈给红外发射主模块。Further, the process of determining the address of the infrared transmitting sub-module by the infrared transmitting main module is as follows: the infrared transmitting main module sends a pulse to the first infrared transmitting sub-module when the device is powered on, and the first infrared transmitting sub-module receives a pulse Then send two pulses to the second infrared emission sub-module, and so on, the Nth infrared emission sub-module sends N+1 pulses to the N+1th infrared emission sub-module after receiving N pulses; The transmitting sub-module feeds back the number of received pulses as its own address to the infrared transmitting main module.
进一步地，所述红外接收装置包括红外接收主模块和若干红外接收子模块，所述的红外接收子模块依次设置在红外接收主模块上面且分别通过总线与红外接收主模块连接。Further, the infrared receiving device includes an infrared receiving main module and several infrared receiving sub-modules, and the infrared receiving sub-modules are sequentially arranged on the infrared receiving main module and respectively connected to the infrared receiving main module through a bus.
进一步地，所述红外接收主模块和红外接收子模块均采用STM系列单片机；所述红外接收管包括16路红外接收二极管，所述红外接收电路包括16路PWM接收电路和二阶滤波电路，所述16路PWM接收电路经过二阶滤波电路与红外接收装置单片机的A/D转换电路连接。Further, the infrared receiving main module and the infrared receiving sub-module both adopt STM series single-chip microcomputer; the infrared receiving tube includes 16 infrared receiving diodes, and the infrared receiving circuit includes 16 PWM receiving circuits and a second-order filter circuit, so The 16-way PWM receiving circuit is connected with the A/D conversion circuit of the single-chip microcomputer of the infrared receiving device through a second-order filter circuit.
进一步地，所述红外接收主模块确定红外接收子模块地址的过程为，设备上电瞬间红外接收主模块向第一个红外接收子模块发一个脉冲，第一个红外接收子模块接到一个脉冲后向第二个红外接收子模块发送两个脉冲，以此类推，第N个红外接收子模块接到N个脉冲后向第N+1个红外接收子模块发送N+1个脉冲；各个红外接收子模块把接收脉冲的数量作为自己的地址反馈给红外发射主模块。Further, the process of determining the address of the infrared receiving sub-module by the infrared receiving main module is that the infrared receiving main module sends a pulse to the first infrared receiving sub-module when the device is powered on, and the first infrared receiving sub-module receives a pulse Then send two pulses to the second infrared receiving sub-module, and so on, after receiving N pulses, the Nth infrared receiving sub-module sends N+1 pulses to the N+1th infrared receiving sub-module; each infrared receiving sub-module The receiving sub-module feeds back the number of received pulses as its own address to the infrared emitting main module.
进一步地，所述L型可调基座的竖直部分侧面设置有刻度尺。Further, a scale is provided on the side of the vertical portion of the L-shaped adjustable base.
本发明还提供了一种基于红外光幕的智能测高方法，其特征是，通过红外发射装置和红外接收装置对被测物体进行高度测量，所述方法包括以下步骤：The present invention also provides an intelligent height measurement method based on an infrared light curtain, which is characterized in that the height of the measured object is measured through an infrared emitting device and an infrared receiving device, and the method includes the following steps:
步骤1：获取每个红外接收二极管接收红外光的模拟值An；Step 1: Obtain the analog value A n of infrared light received by each infrared receiving diode;
步骤2：计算相邻两个红外接收二极管红外光的模拟差值E，E=An+1-An；Step 2: Calculate the analog difference E of the infrared light of two adjacent infrared receiving diodes, E=A n+1 -A n ;
步骤3：将模拟差值E与门限值E0进行比较，如果E>E0,则确定被测物体高度的分界区；Step 3: Compare the analog difference E with the threshold value E 0 , if E>E 0 , then determine the boundary area of the height of the measured object;
步骤4：根据公式（1）计算修正值h′，Step 4: Calculate the correction value h′ according to formula (1),
h′=E校/E*h校（1）h'=E school /E*h school (1)
式中，h校为校准物体的顶端处的相邻两点位置修正值，E校为校准物体的模拟差值；In the formula, h correction is the correction value of the adjacent two points at the top of the calibration object, and E correction is the simulated difference of the calibration object;
步骤5：根据公式（2）计算被测物体高度H,Step 5: Calculate the height H of the measured object according to the formula (2),
H=k*Xn+h′（2）H=k*Xn+h′ (2)
式中，k为相邻两个红外接收二极管之间的间距。In the formula, k is the distance between two adjacent infrared receiving diodes.
本发明的工作原理是：红外发射主模块根据设置时间间隔控制红外发射主模块和红外发射子模块的红外发射管进行逐个发射，同时通过RS485总线启动红外接收主模块和红外接收子模块进行同步接收；实现红外发射、接收一对一同步，信号持续保持一定时间。所有红外发射接收进行完毕，接收主模块将接收数据传给红外发射主模块进行被测物体高度计算和存储，同时红外发射主模块将被测物体高度数据发送给上位机进行显示和存储。The working principle of the present invention is: the infrared emitting main module controls the infrared emitting tubes of the infrared emitting main module and the infrared emitting sub-module to transmit one by one according to the set time interval, and simultaneously starts the infrared receiving main module and the infrared receiving sub-module to receive synchronously through the RS485 bus ; Realize one-to-one synchronization of infrared emission and reception, and the signal will continue for a certain period of time. After all the infrared transmission and reception are completed, the receiving main module will transmit the received data to the infrared transmitting main module to calculate and store the height of the measured object, and at the same time, the infrared transmitting main module will send the measured object height data to the host computer for display and storage.
本发明的有益效果是：本发明的红外发射装置和红外接收装置均采用STM系列单片机作为控制核心，红外发射装置和红外接收装置的模块与上位机、模块与模块之间采用RS485总线进行通信，增加了远传距离，提高了测高速度；采用38KHZ载波调制红外发射电路发射，增强了发射距离；接收端接收PWM信号后经过二阶滤波转化成模拟信号输入给接红外收装置单片机的A/D通道，提高了抗干扰能力；可通过相邻两点斜率（或模拟值的差值）来确定被测物体高度的分界区，再由校准值确定分界点，同时具有自我校准功能，极大提高了测试精度及稳定性；红外发射装置和红外接收装置的各个子模块的地址在上电瞬间通过接收脉冲数量来自动识别自己的位置地址，方便现场组装。同时，本发明具有被测物体直径测量功能。本发明具有成本低、安装方便、响应速度快、抗干扰强和适应性强的特点。The beneficial effects of the present invention are: the infrared emitting device and the infrared receiving device of the present invention both adopt the STM series single-chip microcomputer as the control core, and the modules of the infrared emitting device and the infrared receiving device communicate with the upper computer and between the modules and modules using the RS485 bus. The long-distance transmission distance is increased, and the speed of height measurement is improved; the transmission distance is enhanced by using 38KHZ carrier modulation infrared transmission circuit; the receiving end receives the PWM signal and converts it into an analog signal through second-order filtering to input to the A/ D channel improves the anti-interference ability; the demarcation area of the height of the measured object can be determined by the slope of two adjacent points (or the difference between the analog value), and then the demarcation point can be determined by the calibration value. At the same time, it has a self-calibration function, greatly Improve the test accuracy and stability; the address of each sub-module of the infrared emitting device and the infrared receiving device can automatically identify its own position and address by receiving the number of pulses at the moment of power-on, which is convenient for on-site assembly. At the same time, the invention has the function of measuring the diameter of the measured object. The invention has the characteristics of low cost, convenient installation, fast response speed, strong anti-interference and strong adaptability.
附图说明Description of drawings
图1为本发明的原理框图；Fig. 1 is a block diagram of the present invention;
图2为本发明的结构示意图；Fig. 2 is a structural representation of the present invention;
图3为本发明所述红外发射电路的电路图；Fig. 3 is the circuit diagram of infrared emission circuit of the present invention;
图4为本发明所述红外接收电路的电路图；Fig. 4 is the circuit diagram of infrared receiving circuit of the present invention;
图5为本发明所述红外发射装置和红外接收装置的子模块地址识别示意图；Fig. 5 is a schematic diagram of sub-module address identification of the infrared emitting device and the infrared receiving device according to the present invention;
图6为本发明所述被测物体高度的测量示意图；Fig. 6 is a schematic diagram of measuring the height of the object to be measured according to the present invention;
图2中，1可调基座、2测量平台、3上位机、4被测物体、5红外发射主模块、6红外发射子模块、7红外接收主模块、8红外接收子模块、9红外光幕、10升降螺栓、11条形孔、12调节旋钮、13刻度尺。In Fig. 2, 1 adjustable base, 2 measuring platform, 3 host computer, 4 measured object, 5 infrared emitting main module, 6 infrared emitting sub-module, 7 infrared receiving main module, 8 infrared receiving sub-module, 9 infrared light Curtain, 10 lifting bolts, 11 strip holes, 12 adjustment knobs, 13 scales.
具体实施方式detailed description
为能清楚说明本方案的技术特点，下面通过具体实施方式，并结合其附图，对本发明进行详细阐述。In order to clearly illustrate the technical features of this solution, the present invention will be described in detail below through specific implementation modes and in conjunction with the accompanying drawings.
如图1和图2所示，本发明的一种基于红外光幕的智能测高装置，它包括红外发射装置、红外接收装置、可调基座1和上位机3；所述红外发射装置通过可调基座1设置在测量平台2上，所述红外接收装置通过可调基座1设置在测量平台2上，所述红外发射装置和红外接收装置相对应设置在被测物体4的两侧并形成红外光幕9；所述上位机3分别通过RS48总线与红外发射装置和红外接收装置相连接。As shown in Fig. 1 and Fig. 2, a kind of intelligent height measuring device based on infrared light curtain of the present invention, it comprises infrared emitting device, infrared receiving device, adjustable base 1 and host computer 3; Described infrared emitting device passes through The adjustable base 1 is set on the measuring platform 2, the infrared receiving device is set on the measuring platform 2 through the adjustable base 1, and the infrared emitting device and the infrared receiving device are correspondingly arranged on both sides of the measured object 4 And an infrared light curtain 9 is formed; the host computer 3 is respectively connected with the infrared emitting device and the infrared receiving device through the RS48 bus.
所述红外发射装置包括红外发射主模块5和若干红外发射子模块6，所述的红外发射子模块6依次设置在红外发射主模块上面且分别通过RS48总线与红外发射主模块5连接。所述红外发射主模块5包括依次连接的STM32F107单片机、16路38KHZ载波脉冲调制的红外发射电路和16路红外发射二极管以及为红外发射装置和红外接收装置提供工作电压的电源模块，所述红外发射子模块6均包括依次连接的STM8S207单片机、16路38KHZ载波脉冲调制的红外发射电路和16路红外发射二极管，用于发射红外光。The infrared emitting device includes an infrared emitting main module 5 and several infrared emitting sub-modules 6, and the infrared emitting sub-modules 6 are sequentially arranged on the infrared emitting main module and connected with the infrared emitting main module 5 through RS48 bus respectively. Described infrared emission main module 5 comprises the STM32F107 single-chip microcomputer connected sequentially, the infrared emission circuit of 16 roads 38KHZ carrier pulse modulation and 16 roads infrared emission diodes and the power supply module that provides operating voltage for infrared emission device and infrared receiving device, and described infrared emission The sub-modules 6 all include sequentially connected STM8S207 single-chip microcomputers, 16-way 38KHZ carrier pulse-modulated infrared emitting circuits and 16-way infrared emitting diodes for emitting infrared light.
所述红外接收装置包括红外接收主模块7和若干红外接收子模块8，所述的红外接收子模块8依次设置在红外接收主模块上面且分别通过总线与红外接收主模块7连接；所述的红外接收主模块7和红外接收子模块8均包括依次连接的16路红外接收二极管、16路PWM转模拟信号电路和STM8S207单片机，所述16路PWM转模拟信号电路与STM8S207单片机的A/D转换电路连接。The infrared receiving device includes an infrared receiving main module 7 and several infrared receiving sub-modules 8, and the infrared receiving sub-modules 8 are sequentially arranged on the infrared receiving main module and are respectively connected with the infrared receiving main module 7 through a bus; The infrared receiving main module 7 and the infrared receiving sub-module 8 all include 16 road infrared receiving diodes, 16 road PWM conversion analog signal circuits and STM8S207 single-chip microcomputer connected in sequence, and the A/D conversion between the 16 road PWM conversion analog signal circuits and the STM8S207 single-chip microcomputer circuit connection.
所述可调基座1采用L型可调基座，所述L型可调基座的水平部分通过可升降螺栓10固定在测量平台2上，竖直部分中间设置有条形孔11；所述的红外发射装置和红外接收装置分别通过穿过条形孔的调节旋钮12固定在L型可调基座上；所述L型可调基座的竖直部分侧面设置有刻度尺，便于调节红外发射装置和红外接收装置的基础高度h。The adjustable base 1 adopts an L-shaped adjustable base, and the horizontal part of the L-shaped adjustable base is fixed on the measurement platform 2 through a liftable bolt 10, and a strip hole 11 is arranged in the middle of the vertical part; The infrared emitting device and the infrared receiving device are respectively fixed on the L-shaped adjustable base through the adjusting knob 12 passing through the bar-shaped hole; the side of the vertical part of the L-shaped adjustable base is provided with a scale for easy adjustment. The base height h of the infrared emitting device and the infrared receiving device.
下面对本发明各个关键技术进行详细说明：Each key technology of the present invention is described in detail below:
一、控制部分1. Control part
本发明装置的控制部分主要包括红外发射主模块、红外发射子模块、红外接收主模块和红外接收子模块四个部分。模块与模块之间通过5个接口相连，分别是所需电源接口、脉冲联络信号接口和RS485通讯数据线接口。红外发射主模块采用STM32F107嵌入式单片机，为控制部分的核心控制单元。STM32F107芯片是ARMCortex-M3内核的32位微控制器，具有极强的抗干扰能力，宽电压2-3.5V使用范围，硬件集成了乘除算法，便于进行复杂的浮点运算。由于具有100个管脚，16路PWM输出，16路12位A/D，5个USART接口，因此STM32F107芯片足以满足了本发明的控制需要。红外发射子模块、红外接收主模块和红外接收子模块均采用工业级的STM8S207嵌入式单片机。STM8S207芯片也具有极强的抗干扰能力，宽电压2.96-5.5V电压范围，适合较恶劣的环境。由于具有80个管脚，具有68个I/O接口，16路PWM输出，16路10位A/D，2个USART接口，因此STM8S207芯片也能够满足本发明的控制要求。The control part of the device of the present invention mainly includes four parts: an infrared emitting main module, an infrared emitting sub-module, an infrared receiving main module and an infrared receiving sub-module. The modules are connected through 5 interfaces, which are the required power interface, the pulse contact signal interface and the RS485 communication data line interface. The infrared emission main module adopts STM32F107 embedded single-chip microcomputer, which is the core control unit of the control part. The STM32F107 chip is a 32-bit microcontroller with ARM Cortex-M3 core, which has strong anti-interference ability, wide voltage range of 2-3.5V, and the hardware integrates multiplication and division algorithms, which is convenient for complex floating-point operations. Since it has 100 pins, 16 PWM outputs, 16 12-bit A/Ds, and 5 USART interfaces, the STM32F107 chip is sufficient to meet the control needs of the present invention. The infrared transmitting sub-module, the infrared receiving main module and the infrared receiving sub-module all adopt industrial-grade STM8S207 embedded single-chip microcomputer. The STM8S207 chip also has strong anti-interference ability, wide voltage range of 2.96-5.5V, suitable for harsh environments. Since it has 80 pins, 68 I/O interfaces, 16 channels of PWM output, 16 channels of 10-bit A/D, and 2 USART interfaces, the STM8S207 chip can also meet the control requirements of the present invention.
红外发射主模块既有发射功能又有管理和运算功能，它的3个RS485接口，一个与上位机相连，进行数据和命令传输；一个与红外接收主模块相连，实现红外光发射、接收的同步及获取红外接收模块的模拟量数据；一个与红外发射子模块相连，传递控制信息。红外接收主模块具有与红外发射主模块进行通讯和与红外接收子模块传递信息的功能。本发明红外发射主模块和红外接收主模块均可以级联最多9个子模块，每个模块的发射或接收二极管为16个，可直线或错位布置，相邻两个二极管之间的间距为2.5mm～20mm。本发明还可以在发射处安装凸透镜，使光平行度增强，增加测量精度；可以在发射、接收处分别安装滤光片，提高抗干扰能力。The infrared emission main module has both emission function and management and calculation function. One of its three RS485 interfaces is connected to the host computer for data and command transmission; the other is connected to the infrared receiving main module to realize the synchronization of infrared light emission and reception. And obtain the analog data of the infrared receiving module; one is connected with the infrared emitting sub-module to transmit control information. The infrared receiving main module has the functions of communicating with the infrared emitting main module and transmitting information with the infrared receiving sub-module. Both the infrared emitting main module and the infrared receiving main module of the present invention can be cascaded with up to 9 sub-modules, and each module has 16 emitting or receiving diodes, which can be arranged in a straight line or misplaced, and the distance between two adjacent diodes is 2.5mm ~20mm. In the present invention, a convex lens can also be installed at the emitting place to enhance the light parallelism and increase the measurement accuracy; optical filters can be installed at the emitting and receiving places respectively to improve the anti-interference ability.
二、可调基座2. Adjustable base
为节约成本，在物体高度最小高度已知的情况下，本发明通过安装可调基座，可调基座的调节范围为0～500mm，将红外发射装置和红外接收装置的基础高度h调节到相应位置，这样，可节省模块数量，从而降低成本。In order to save cost, when the minimum height of the object is known, the present invention adjusts the base height h of the infrared emitting device and the infrared receiving device to In this way, the number of modules can be saved, thereby reducing costs.
三、发射、接收电路3. Transmitting and receiving circuits
为了提高发射能量，本发明采用38KHZ的载波脉冲调制，这样可以使能量加强，测宽距物体。如图3和图4所示，红外发射电路通过内部可调电阻可以调节发射电流以满足不同距离的的需要，红外接收电路收到是PWM脉冲，为了防止干扰，正确识别发射接收点，将PWM信号经过巴特沃斯(Butterworth)二阶滤波器换成模拟信号，进入STM系列单片机的内部A/D进行模拟采集，这样用模拟信号的大小决定此点物体的遮光度，用相邻两点斜率来区分被测物体的分界区。In order to increase the emission energy, the present invention adopts 38KHZ carrier pulse modulation, which can strengthen the energy and measure wide-distance objects. As shown in Figure 3 and Figure 4, the infrared transmitting circuit can adjust the transmitting current through the internal adjustable resistance to meet the needs of different distances. The infrared receiving circuit receives PWM pulses. In order to prevent interference and correctly identify the transmitting and receiving points, the PWM The signal is converted into an analog signal through a Butterworth second-order filter, and enters the internal A/D of the STM series microcontroller for analog acquisition. In this way, the size of the analog signal determines the shading degree of the object at this point, and the slope of two adjacent points is used to determine the shading degree of the object at this point. To distinguish the boundary area of the measured object.
四、子模块地址的确定4. Determination of submodule address
红外发射子模块和红外接收子模块各个子模块的地址可以通过编码开关设置，但缺点是需要打开壳体，现场操作比较麻烦。本发明采用让地址自动识别的设计理念，如图5。该方法是上电瞬间红外发射（或接受）主模块向红外发射（或接受）子模块发一个脉冲，第一个红外发射（或接受）子模块接到后向第二个红外发射（或接受）子模块发两个脉冲，以此类推，第N个红外发射（或接受）子模块接到N个脉冲后向第N+1个红外发射（或接受）子模块发送N+1个脉冲。各个红外发射（或接受）子模块把接收脉冲的数量作为自己的地址，同时红外接收主模块把红外接收子模块的数量反馈给红外发射主模块，脉冲间隔时间超过一定时间即判定脉冲结束。The addresses of each sub-module of the infrared transmitting sub-module and the infrared receiving sub-module can be set through the coding switch, but the disadvantage is that the housing needs to be opened, and the on-site operation is more troublesome. The present invention adopts the design concept of automatic address identification, as shown in Fig. 5 . The method is that the infrared transmitting (or receiving) main module sends a pulse to the infrared transmitting (or receiving) sub-module at the moment of power-on, and the first infrared transmitting (or receiving) sub-module receives it and sends a pulse to the second infrared transmitting (or receiving) ) sub-module sends two pulses, and so on. After receiving N pulses, the Nth infrared transmitting (or receiving) sub-module sends N+1 pulses to the N+1 infrared transmitting (or receiving) sub-module. Each infrared transmitting (or receiving) sub-module takes the number of received pulses as its own address, and at the same time, the infrared receiving main module feeds back the number of infrared receiving sub-modules to the infrared transmitting main module. When the pulse interval exceeds a certain time, it is determined that the pulse ends.
五、物体高度的确定算法5. Determination Algorithm of Object Height
图6中，X轴表示红外接受二极管数量，能够接受到光的二极管数量乘以其间距就是物体的高度；Y轴表示接受二极管的方波经滤波转换成的模拟值经A/D采样的数值；（Xn，Xn+1）表示被测物体高度的分界区；E1表示分界点；An表示分界区Xn点接收对方光的A/D的模拟值，An+1表示分界区Xn+1点接收对方光的A/D的模拟值。In Figure 6, the X-axis represents the number of infrared receiving diodes, and the number of diodes that can receive light multiplied by the distance is the height of the object; the Y-axis represents the A/D sampled value of the square wave of the receiving diodes that is filtered and converted into an analog value ;(Xn, Xn+1) indicates the demarcation area of the height of the measured object; E1 indicates the demarcation point; A n indicates the analog value of the A/D of receiving the other party's light at point Xn in the demarcation area, A n+1 indicates the demarcation area Xn+1 The analog value of the A/D point receiving the other party's light.
如图6所示，本发明用用两相邻的接受管的模拟值斜率的突变阀值大小来确定物体的高度。将所有接收管的模拟信号用相邻两点的斜率来描述，在有被测物体处，光被遮住，接收不到光或接受微弱的光，此处的模拟值很小，相邻两点的斜率也很小，几乎是一条直线；在无被测物体处，对面发射的光全部被接受，此处的模拟值最大，但相邻两点的模拟值斜率也是很小，几乎也是一条直线。但在物体顶端处，称之为分界区，光从无到有，此相邻两点的斜率将很大，是一个突变过程。由此可知，从这相邻两点斜率的突变的梯度可以求得物体的分界区（Xn，Xn+1），从分界区可以求得物体的高度为Xn或Xn+1。进一步，为精确求得，再求得物体的分界点E1，从而求得物体高度H。As shown in Fig. 6, the present invention determines the height of the object by using the abrupt change threshold of the slope of the analog value of two adjacent receiving pipes. The analog signal of all receiving tubes is described by the slope of two adjacent points. At the place where there is a measured object, the light is blocked, no light is received or weak light is received. The analog value here is very small, and the adjacent two points The slope of the point is also very small, almost a straight line; at the place where there is no measured object, all the light emitted from the opposite side is accepted, and the simulated value here is the largest, but the slope of the simulated value of two adjacent points is also very small, almost a straight line straight line. But at the top of the object, it is called the boundary area, where light emerges from nothing, and the slope of these two adjacent points will be very large, which is a sudden change process. It can be seen from this that the boundary area (Xn, Xn+1) of the object can be obtained from the sudden gradient of the slope of the two adjacent points, and the height of the object can be obtained as Xn or Xn+1 from the boundary area. Further, in order to obtain it accurately, the boundary point E1 of the object is obtained to obtain the height H of the object.
通过红外发射装置和红外接收装置对被测物体求得物体高度的计算方法包括以下步骤：The calculation method for obtaining the object height of the measured object through the infrared emitting device and the infrared receiving device includes the following steps:
步骤1：获取每个红外接收二极管接收红外光的模拟值An；Step 1: Obtain the analog value A n of infrared light received by each infrared receiving diode;
步骤2：计算相邻两个红外接收二极管红外光的模拟差值E，E=An+1-An；Step 2: Calculate the analog difference E of the infrared light of two adjacent infrared receiving diodes, E=A n+1 -A n ;
步骤3：将模拟差值E与门限值E0进行比较，如果E>E0,则确定被测物体高度的分界区；Step 3: Compare the analog difference E with the threshold value E 0 , if E>E 0 , then determine the boundary area of the height of the measured object;
步骤4：根据公式（1）计算修正值h′，Step 4: Calculate the correction value h′ according to formula (1),
h′=E校/E*h校（1）h'=E school /E*h school (1)
式中，h校为校准物体的顶端处的相邻两点位置修正值，E校为校准物体的模拟差值；In the formula, h correction is the correction value of the adjacent two points at the top of the calibration object, and E correction is the simulated difference of the calibration object;
步骤5：根据公式（2）计算被测物体高度H,Step 5: Calculate the height H of the measured object according to the formula (2),
H=k*Xn+h′（2）H=k*Xn+h′ (2)
式中，k为相邻两个红外接收二极管之间的间距。In the formula, k is the distance between two adjacent infrared receiving diodes.
若再实现高精度的误差修正，需要根据斜率（相邻两点模拟值的差值）大小与有关参数进行智能推算。To achieve high-precision error correction, it is necessary to perform intelligent calculations based on the slope (the difference between the analog values of two adjacent points) and related parameters.
六、测量过程6. Measurement process
根据图2所示，根据实际情况把主模块与可调基座连接好，按高度要求连接子模块。发射主模块与上位机和接收主模块相连。As shown in Figure 2, connect the main module with the adjustable base according to the actual situation, and connect the sub-modules according to the height requirements. The transmitting main module is connected with the upper computer and the receiving main module.
测量前实现对测高装置进行校准，以实物为准，在上位机输入校准命令及被测物体的初始高度，则测高装置求得校准时的最大光强度EQ、突变斜率梯度E0、分界点E1，将这些数据进行存储，作为每次采样运算的基数。Realize the calibration of the height measuring device before the measurement, subject to the actual object, input the calibration command and the initial height of the measured object on the host computer, then the height measuring device will obtain the maximum light intensity EQ, the sudden slope gradient E0, and the demarcation point during calibration E1 stores these data as the base of each sampling operation.
以上所述只是本发明的优选实施方式，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也被视为本发明的保护范围。The above is only a preferred embodiment of the present invention. For those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also considered as the present invention. protection scope of the invention.
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