CN114527469A - Object detection device, object detection method, and storage medium - Google Patents
Object detection device, object detection method, and storage medium Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/04—Systems determining the presence of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention provides an object detection device, an object detection method and a storage medium, wherein a central processing unit of the object detection device is respectively in communication connection with a transmitting unit and a receiving unit, a plurality of transmitting tubes of the transmitting unit and a plurality of receiving tubes of the receiving unit are arranged at one side of a convex lens array at intervals, the transmitting tubes transmit light rays to the convex lenses one by one, the receiving tubes receive object reflection light rays converged by the convex lenses in the convex lens array, and send generated detection signals to the central processing unit; the central processing unit receives the detection signal, and determines the position of the object to be measured and the size of the object to be measured according to the position information of the receiving tube for generating the detection signal and the transmitting tube for transmitting light. The invention solves the problems that the traditional light intensity detection method can not accurately define a detection area, can not shield the interference of objects outside the detection area, is easily influenced by the reflectivity of the object to be detected and the background reflectivity, and the like, and can screen the object according to the size of the object while detecting the object.
Description
Technical Field
The present invention relates to an object detection device, and more particularly, to an object detection device, an object detection method, and a storage medium.
Background
Diffuse reflection type object detectors are widely used in industry, especially in automation equipment, and basically, a plurality of detectors are installed on each equipment or even one equipment. The diffuse reflection type object detector is internally provided with a transmitting tube which can emit a detection light beam outwards, and is also provided with a receiving tube which is used for receiving the light beam reflected by an external object.
The detector with multiple receiving tubes is generally long-strip-shaped in appearance, is provided with a plurality of transmitting tubes and receiving tubes in rows, and can be used for judging whether objects exist in a larger range. The general working principle of detection is that the transmitting tube is intermittently or continuously electrified to emit a detection light beam, the voltage of the output pin of the receiving tube is detected to be compared with a set threshold voltage, when an object appears in front of the detector, the detection light beam emitted by the transmitting tube is reflected into the receiving tube by the object, the voltage of the output pin of the receiving tube reaches the threshold voltage, and at the moment, the detector judges that the object is detected and outputs a corresponding signal.
As can be seen from the above principle, the conventional diffuse reflection type object detecting device relies on the intensity of reflected light to determine whether an object is present, and the intensity of reflected light is related to three factors, i.e., the distance from the detecting device to the object, the reflectivity of the object, and the reflection area of the object. The reflected light intensity is related to these three factors: the reflected light becomes stronger as the distance from the detection device is closer to the same object, the reflected light becomes stronger as the object surface reflectance becomes higher, and the reflected light becomes stronger as the object reflection area becomes larger. The conventional diffuse reflection type object detection device has great limitations in use due to the influence of three factors at the same time, and the limitations include:
first, a detected object closer to a background object cannot be detected. When the background object exists in the usable range of the detection device and is close to the detected object, the background object and the detected object reflect the detection light beams, and the detection device cannot normally work because the detected object and the background object cannot be effectively separated.
② it is not possible to reliably detect low reflectivity objects in a high reflectivity background. When the reflectivity of the background is significantly higher than that of the object to be detected, even if the object to be detected is significantly closer to the detection device than the background, the detection will fail because the actual reflected light intensity of the object to be detected is close to the background.
When the object volume is small, the light capable of being reflected is limited, and the detector may miss detection.
And fourthly, the effective detection distance and area cannot be set. Since the detection device cannot determine the actual position of the object to be detected relative to the detection device, the effective detection distance and area cannot be set.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an object detection device, an object detection method and a storage medium, wherein a convex lens array is arranged in front of a transmitting tube and a receiving tube, parallel light and converged and reflected light are generated by utilizing convex lenses in the convex lens array, and the position and the size of a detected object are detected according to the distance information between the transmitting tube and a critical receiving tube, so that the problems that a detection area cannot be accurately defined, the interference of objects outside the detection area cannot be shielded, the influence of the reflectivity and the background reflectivity of the object to be detected is easy to occur and the like in the traditional detection method can be effectively solved, and the object can be screened according to the size of the object while being detected.
In order to solve the above problems, the present invention adopts a technical solution as follows: an object detecting device, the object detecting device comprising: the device comprises a convex lens array, a transmitting unit, a receiving unit and a central processing unit, wherein the central processing unit is respectively in communication connection with the transmitting unit and the receiving unit, the convex lens array comprises a plurality of convex lenses which are arranged side by side, a plurality of transmitting tubes of the transmitting unit and a plurality of receiving tubes of the receiving unit are arranged on one side of the convex lens array at intervals, the transmitting tubes transmit light rays to the convex lenses one by one, the light rays are converged into parallel light beams by the convex lenses and are emitted to an object to be measured, the light rays reflected by the object reenter the convex lenses, and the receiving tubes receive the reflected light rays converged by the convex lenses and send generated detection signals to the central processing unit; the central processing unit receives the detection signals, and calculates the distance between each part of the object to be measured and the object detection device according to the relative position information of the receiving tube generating the detection signals and the transmitting tube transmitting the light, so as to determine the position of the object to be measured and the size of the object to be measured.
Furthermore, the optical centers of the convex lenses in the convex lens array are on the same straight line, the main optical axes of the convex lenses are parallel and coplanar, the transmitting unit and the receiving unit are both arranged on the same side of the convex lens array, the central axis of the transmitting tube is superposed with the main optical axis of the corresponding convex lens, and the distance from the receiving tube to the optical center of the convex lens is equal to the focal length of the convex lens.
Furthermore, the transmitting unit also comprises a transmitting control module, and the transmitting control module is respectively connected with the central processing unit and the transmitting tube.
Furthermore, the receiving unit further comprises a receiving and amplifying module, and the receiving and amplifying module is respectively connected with the central processing unit and the receiving pipe.
Further, the step of calculating the distance between the object to be measured and the object detection device according to the relative position information of the receiving tube generating the detection signal and the transmitting tube transmitting the light so as to determine the position of the object to be measured specifically includes: the maximum distance difference between the transmitting tube which is currently transmitting light and all receiving tubes which receive object reflected light is obtained, the distance from the part, which is positioned right in front of the transmitting tube which is currently transmitting light, in the object to be measured to the transmitting tube which is currently transmitting light is calculated according to the distance difference, and the position and the size of the whole object to be measured relative to the object detection device are obtained by integrating the positions of all transmitting tubes.
Further, the step of obtaining the maximum distance difference from the transmitting tube currently emitting light to the receiving tubes receiving the object reflected light among all the receiving tubes specifically includes: the method comprises the steps of obtaining the position of a transmitting tube which is transmitting light, checking all receiving tubes one by one in the transmitting process of the transmitting tube, finding out the part which can receive reflected light, judging the distance between each receiving tube in the part of the receiving tubes and the transmitting tube which is transmitting light one by one, finding out the receiving tube which is farthest away, and obtaining the distance value between the receiving tube and the transmitting tube which is transmitting light.
Further, the step of calculating the distance from the portion of the measured object located right in front of the transmitting tube for transmitting light to the transmitting tube according to the maximum distance difference specifically includes: and obtaining the distance from the intersection point to the optical center of the convex lens corresponding to the transmitting tube emitting light through a lens imaging formula according to the maximum distance difference value, the vertical distance from the receiving tube to the main optical axis of the corresponding convex lens and the focal length of the convex lens.
Further, the step of determining the position of the object to be measured and the size of the object to be measured further includes: and screening out the object to be measured in the set range according to the position and the size, outputting a corresponding control signal, and ignoring the object which is out of the set range or has inconsistent size.
Based on the same inventive concept, the present invention also provides an object detection method applied to the object detection apparatus as described above, the object detection method including: s101: controlling the transmitting tubes in the transmitting unit to transmit light rays to the measured object one by one, receiving the light reflected by the measured object through the receiving tube, and sending a detection signal generated by the receiving tube to the central processing unit; s102: and controlling the central processing unit to receive the detection signal, and determining the position of the object to be measured and the size of the object to be measured according to the position information of the receiving tube for generating the detection signal and the transmitting tube for transmitting light.
Based on the same inventive concept, the present invention further proposes a computer-readable storage medium storing program data for executing the object detection method as described above.
Compared with the prior art, the invention has the beneficial effects that: the convex lens array is arranged in front of the transmitting tube and the receiving tube, the method for judging the position of the critical receiving tube relative to the transmitting tube is skillfully utilized, the value of the distance between a certain part of an object and the detection device, which cannot be directly measured, is converted into the known data of the distance between a certain receiving tube and the transmitting tube which is emitting light, and then the position and the size of the whole object to be measured are obtained. The detection method has the advantages of being free from the influence of the size, reflectivity and background reflectivity of the detected object, high in detection reliability, capable of accurately defining an effective detection range, capable of detecting and screening the object according to the size of the object and the like.
Drawings
FIG. 1 is a flow chart of an embodiment of an object detecting device according to the present invention;
FIG. 2 is a block diagram of another embodiment of the object detecting device according to the present invention;
FIG. 3 is a schematic view of an embodiment of an object detecting device of the object detecting device according to the present invention;
FIG. 4 is a flowchart of an embodiment of an object detection method according to the present invention;
FIG. 5 is a block diagram of one embodiment of a computer-readable storage medium.
Detailed Description
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It should be noted that the various embodiments of the present disclosure, described and illustrated in the figures herein generally, may be combined with one another without conflict, and that the structural components or functional modules therein may be arranged and designed in a variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure, presented in the figures, is not intended to limit the scope of the claimed disclosure, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
Referring to fig. 1 to 3, fig. 1 is a flowchart illustrating an embodiment of an object detecting device according to the present invention;
FIG. 2 is a block diagram of another embodiment of the object detecting device according to the present invention; FIG. 3 is a schematic diagram of an embodiment of an object detecting device in the object detecting device according to the present invention. The object detecting device of the present invention will be described in detail with reference to fig. 1 to 3.
In the present embodiment, the object detection device includes: the device comprises a convex lens array, a transmitting unit, a receiving unit and a central processing unit, wherein the central processing unit is respectively in communication connection with the transmitting unit and the receiving unit, the convex lens array comprises a plurality of convex lenses which are arranged side by side, a plurality of transmitting tubes of the transmitting unit and a plurality of receiving tubes of the receiving unit are arranged on one side of the convex lens array at intervals, the transmitting tubes transmit light rays to the convex lenses one by one, the light rays are converged into parallel light beams by the convex lenses and are emitted to an object to be measured, the light rays reflected by the object reenter the convex lenses, the receiving tubes receive the reflected light rays converged by the convex lenses and send generated detection signals to the central processing unit; the central processing unit receives the detection signals, and calculates the distance between each part of the object to be measured and the object detection device according to the relative position information of the receiving tube generating the detection signals and the transmitting tube transmitting the light, so as to determine the position of the object to be measured and the size of the object to be measured.
In this embodiment, the optical centers of the convex lenses in the convex lens array are on the same straight line, the primary optical axes of the convex lenses are parallel to each other and coplanar, the transmitting unit and the receiving unit are both disposed on the same side of the convex lens array, the central axis of the transmitting tube coincides with the primary optical axis of the corresponding convex lens, and the distance from the receiving tube to the optical center of the convex lens is equal to the focal length of the convex lens.
The transmitting unit also comprises a transmitting control module which is respectively connected with the central processing unit and the transmitting tube. The receiving unit also comprises a receiving and amplifying module which is respectively connected with the central processing unit and the receiving tube.
In one embodiment, all the transmitting tubes are connected with the same transmitting control module, all the receiving tubes are connected with the same receiving amplification module, and the number of the transmitting tubes is 1 less than that of the receiving tubes.
In this embodiment, a convex lens, a transmitting tube behind the convex lens, and a receiving tube beside the transmitting tube are defined as a detecting unit, and the object to be detected is detected by each detecting unit.
In a specific embodiment, the emission control module alternately drives the emission tubes to emit detection light pulses, and at the same time, all the receiving tubes simultaneously attempt to receive the light reflected by the object. When the object to be measured is not placed in front of the detection device, all the receiving tubes cannot receive the reflected light, and the central processing unit determines that the object to be measured does not exist.
When the object to be measured exists in front of the object detection device, the step of calculating the distance between the object to be measured and the object detection device according to the relative position information of the receiving tube for generating the detection signal and the transmitting tube for transmitting light so as to determine the position of the object to be measured specifically comprises the following steps: the maximum distance difference between the transmitting tube which is currently transmitting light and the receiving tubes which are used for receiving the reflected light of the object in all the receiving tubes is obtained, the distance from the part, which is positioned right in front of the transmitting tube which is currently transmitting light, in the object to be measured to the transmitting tube which is currently transmitting light is calculated according to the distance difference, and the position and the size of the whole object to be measured relative to the object detection device are obtained by integrating the positions of all the transmitting tubes.
The step of obtaining the maximum distance difference from the transmitting tube currently transmitting light to the receiving tubes receiving the object reflected light among all the receiving tubes specifically includes: the method comprises the steps of obtaining the position of a transmitting tube which is emitting light, checking all receiving tubes one by one in the transmitting process of the transmitting tube, finding out the part which can receive reflected light, judging the distance between each receiving tube in the part of the receiving tubes and the transmitting tube which is emitting light one by one, finding out the receiving tube which is farthest away, and obtaining the distance value between the receiving tube and the transmitting tube which is emitting light.
The step of calculating the distance from the portion of the measured object located directly in front of the transmitting tube, which is emitting light, to the transmitting tube according to the maximum distance difference specifically includes: and obtaining the intersection point formed by the central axis of the transmitting tube and the object, and obtaining the distance from the intersection point to the optical center of the convex lens corresponding to the transmitting tube through a lens imaging formula according to the maximum distance difference, the vertical distance from the receiving tube to the main optical axis of the convex lens and the focal length of the convex lens, wherein the distance is the distance from the part of the measured object which is positioned right in front of the transmitting tube which is transmitting to the transmitting tube.
The process of detecting the object to be detected will be further described with reference to fig. 3.
When the object to be detected is placed in front of the detection device, part of the detection light emitted by the emission tube will be reflected back to the detection device. (for simplicity of explanation, only the case that the receiver tube in the detection unit on the right side of the object receives the reflected light and participates in the calculation when the object is located on the left side in the figure, and actually the receiver tube in the detection unit on the left side of the object can also be used for receiving the reflected light and participating in the calculation.) assuming that the object is located right in front of the kth detection unit, and the main optical axis of the convex lens of the kth detection unit intersects with the object at the point a, when the point a is irradiated by the parallel light beam emitted from the emitter tube in the kth detection unit and converged by the convex lens, the light diffused from the point a of the object falls back to the detection device. However, due to the converging effect of the convex lens in the detection unit, only part of the receiving tubes in the detection unit can receive the diffuse reflection light in the whole detection device.
Suppose that the vertical distance from the point A to the optical center of the convex lens is H, the distance from the point A to the main optical axis of the convex lens is L, the imaging point of the point A behind the convex lens is a point a, the distance from the point a to the optical center of the convex lens is H, and the distance from the point a to the main optical axis of the convex lens is L. Then, when the focal length f of the convex lens is relatively small and the vertical distance H from the point a to the optical center of the convex lens is much larger than 2 times f, according to the imaging rule of the lens, the following can be obtained:
h is approximately equal to the focal length f of the lens, and the relationship between the values of H, L, H, L satisfies the formula:
H/L＝h/l
if the receiver in each detection unit is installed at a horizontal distance l and a vertical distance f from the optical center of the convex lens of the detection unit, only the receiver in the detection unit satisfying the above formula can receive the reflected light on the point A of the object to be measured. In fact, because the parallel light beam emitted by the emitting tube has a certain width and the light receiving surface of the receiving tube also has a certain width, when the kth detecting unit emits the detecting light beam to the object to be detected, a plurality of adjacent receiving tubes in the receiving tube array can simultaneously receive the light reflected by the object.
If in a detection process, when the k emitting unit emits a detection light beam to the point a, the receiving and amplifying module can receive reflected light from the receiving tube in the k + m detection unit, and the receiving tube in the adjacent k + m +1 detection unit does not receive the reflected light (at this time, the receiving tube of the k + m detection unit can be referred to as a critical receiving tube). And assuming that the horizontal distance from the main optical axis of the convex lens of the k + m-th detection unit to the point a (i.e. the main optical axis of the convex lens of the k-th detection unit) is L, and the distance from the main optical axis to the edge of the light receiving surface of the receiving tube of the k + m-th detection unit is L, the vertical distance H from the point a to the optical center of the convex lens of the k-th detection unit is L/H and L/f. Since L and f in the formula are known fixed values, and L can be obtained from the relative positions of the detection unit k and the detection unit k + m, H can be calculated by the above formula, thereby obtaining the distance from the object detection device to the point a of the object to be measured.
According to the maximum distance difference value obtained by reflecting light rays by the point A of the object, the vertical distance from the receiving tube to the main optical axis of the corresponding convex lens and the focal length of the convex lens, after the step of obtaining the distance from the point A of the object to the detection device, the method further comprises the following steps: the emitting tubes are controlled to emit light one by one along the arrangement sequence, and the distance from a series of points on the surface of the object to be measured to the detecting device is determined according to the change information of the reflected light received by each receiving tube when the different emitting tubes emit light, so that the position of the object to be measured relative to the detecting device and the size of the object to be measured are determined.
Specifically, the position of the transmitting tube for transmitting light when the object to be measured is initially detected and the position of the transmitting tube for transmitting light when the object to be measured is detected for the last time are obtained in a scanning and transmitting process of the transmitting tube, the projection length of the object to be measured on the detecting device can be determined according to the difference between the two positions, and the size of the object to be measured can be calculated according to the distance from different points on the object to the object detecting device. The size can be the width, length and other size information of the object to be measured, and the specific information can be determined according to the arrangement mode of the object detection device relative to the object to be measured.
Wherein the step of determining the position of the object to be measured and the size of the object to be measured further comprises: and screening out the object to be measured in the set range according to the position and the size, outputting a corresponding control signal, and ignoring the object outside the set range.
In a specific embodiment, in practical use, the central processing unit drives the emitting tubes in the detecting units one by one in one detecting wheel through the emitting tube control module to emit detecting light pulses, and then finds out the receiving tube in the detecting unit in the critical receiving state through the receiving tube amplifying module in each light pulse emitting process, so as to calculate the vertical distance from all the detected object parts in front of the detecting unit emitting light to the detecting unit. As long as the detected object distance is directly ignored when being larger than the preset value, the purposes of shielding the background object and ignoring the interference detection of the object outside the effective area can be achieved. The same principle can be used to realize the function of measuring the size of the object or screening the object according to the preset size.
Has the advantages that: the object detection device of the invention is provided with the convex lens array in front of the transmitting tube and the receiving tube, and the method of judging the position of the critical receiving tube relative to the transmitting tube is skillfully utilized to convert the value of the distance which can not be directly measured from a certain part of the object to the detection device into the known data of the distance from a certain receiving tube to the transmitting tube which is emitting light, thereby obtaining the position and the size of the whole detected object. The detection method is not influenced by the size, reflectivity and background reflectivity of the detected object, and has the advantages of high detection reliability, accurate definition of effective detection range, capability of detecting and screening the object according to the size of the object, and the like.
Based on the same inventive concept, the present invention further provides an object detection method, please refer to fig. 4, fig. 4 is a flowchart of an embodiment of the object detection method of the present invention, and the object detection method of the present invention is described with reference to fig. 4.
In the present embodiment, an object detection method is applied to the object detection apparatus as described above, the object detection method including:
s101: the transmitting tubes in the transmitting unit are controlled to transmit light rays to the measured object one by one, the light reflected by the measured object is received through the receiving tube, and the detection signal generated by the receiving tube is sent to the central processing unit.
S102: and the control central processing unit receives the detection signals, and determines the position of the object to be detected and the size of the object to be detected according to the position information of the receiving tube for generating the detection signals and the transmitting tube for transmitting light.
The specific process of the object detection device executing the object detection method to detect the detected object has been described in the above embodiments, and is not described herein again.
Based on the same inventive concept, the present invention further provides a computer-readable storage medium, please refer to fig. 5, fig. 5 is a structural diagram of an embodiment of the computer-readable storage medium of the present invention, and the computer-readable storage medium of the present invention is described with reference to fig. 5.
In the present embodiment, a computer-readable storage medium stores program data used to execute the object detection method as described in the above embodiments.
The computer-readable storage medium may include, but is not limited to, floppy diskettes, optical disks, CD-ROMs (compact disc-read only memories), magneto-optical disks, ROMs (read only memories), RAMs (random access memories), EPROMs (erasable programmable read only memories), EEPROMs (electrically erasable programmable read only memories), magnetic or optical cards, flash memory, or other type of media/machine-readable medium suitable for storing machine-executable instructions. The computer readable storage medium may be an article of manufacture that is not accessible to the computer device or may be a component that is used by an accessed computer device.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An object detection device, characterized in that the object detection device comprises: the device comprises a convex lens array, a transmitting unit, a receiving unit and a central processing unit, wherein the central processing unit is respectively connected with the transmitting unit and the receiving unit in a communication way,
the convex lens array comprises a plurality of convex lenses arranged side by side, a plurality of transmitting tubes of the transmitting unit and a plurality of receiving tubes of the receiving unit are arranged on one side of the convex lens array at intervals, the transmitting tubes transmit light rays to the convex lenses one by one, and the receiving tubes receive the light rays converged by the convex lenses and reflected by an object and send generated detection signals to the central processing unit;
the central processing unit receives the detection signal, and calculates the distance between the object to be measured and the object detection device according to the relative position information of the receiving tube for generating the detection signal and the transmitting tube for transmitting light, so as to determine the position of the object to be measured and the size of the object to be measured.
2. The object detecting device according to claim 1, wherein the optical centers of the convex lenses in the convex lens array are on the same straight line, the main optical axes of the convex lenses are parallel and coplanar, the transmitting unit and the receiving unit are both disposed on the same side of the convex lens array, the central axis of the transmitting tube coincides with the main optical axis of the corresponding convex lens, and the distance from the receiving tube to the optical center of the convex lens is equal to the focal length of the convex lens.
3. The object detecting device according to claim 1, wherein the transmitting unit further comprises a transmitting control module, and the transmitting control module is respectively connected to the central processing unit and the transmitting tube.
4. The object detecting device according to claim 1, wherein the receiving unit further comprises a receiving and amplifying module, and the receiving and amplifying module is respectively connected to the central processing unit and the receiving pipe.
5. The object detecting device according to claim 1, wherein the step of calculating the distance between the object to be detected and the object detecting device based on the relative position information of the receiving tube for generating the detection signal and the transmitting tube for transmitting the light to determine the position of the object to be detected specifically comprises:
the maximum distance difference between the transmitting tube which is currently transmitting light and all receiving tubes which can receive the reflected light of the object in the receiving tubes is obtained, the distance from the part, which is positioned right in front of the transmitting tube which is currently transmitting light, in the object to be measured to the transmitting tube which is currently transmitting light is calculated according to the distance difference, and the position and the size of the whole object to be measured relative to the object detection device are obtained by integrating the positions of all transmitting tubes.
6. The object detecting device according to claim 5, wherein the step of obtaining the maximum distance difference from the emitting tube currently emitting light to the receiving tube receiving the light reflected by the object among all the receiving tubes comprises:
the method comprises the steps of obtaining the position of a transmitting tube which is transmitting light, checking all receiving tubes one by one in the transmitting process of the transmitting tube, finding out the part which can receive reflected light, judging the distance between each receiving tube in the part of the receiving tubes and the transmitting tube which is transmitting light one by one, finding out the receiving tube which is farthest away, and obtaining the distance value between the receiving tube and the transmitting tube which is transmitting light.
7. The object detecting device according to claim 5, wherein the step of calculating the distance from the portion of the object to be measured located right in front of the transmitting tube for transmitting light to the transmitting tube based on the maximum distance difference includes:
and obtaining the distance from the intersection point to the optical center of the convex lens corresponding to the transmitting tube emitting light through a lens imaging formula according to the maximum distance difference value, the vertical distance from the receiving tube to the main optical axis of the corresponding convex lens and the focal length of the convex lens.
8. The object detecting device according to claim 1, wherein the step of determining the position of the object to be measured and the size of the object to be measured further includes:
and screening out the object to be measured in the set range according to the position and the size, outputting a corresponding control signal, and ignoring objects outside the set range or with inconsistent sizes.
9. An object detection method applied to the object detection apparatus according to any one of claims 1 to 8, the object detection method comprising:
s101: controlling the transmitting tubes in the transmitting unit to transmit light rays to the measured object one by one, receiving the light reflected by the measured object through the receiving tube, and sending a detection signal generated by the receiving tube to the central processing unit;
s102: and controlling the central processing unit to receive the detection signal, and determining the position of the object to be measured and the size of the object to be measured according to the position information of the receiving tube for generating the detection signal and the transmitting tube for transmitting light.
10. A computer-readable storage medium characterized in that the computer-readable storage medium stores program data for executing the object detection method according to claim 9.
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| CN115616679A (en) * | 2022-09-26 | 2023-01-17 | 广州晨日电子技术有限公司 | Diffuse reflection type detection light curtain and object detection method |
| CN119471638A (en) * | 2025-01-16 | 2025-02-18 | 深圳市意普兴科技有限公司 | Diffuse reflection safety grating |
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| CN114527469B (en) | 2023-10-03 |
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