Optoelectronic sensor and ranging compensation method and system therefor

Abstract

A photoelectric sensor ranging compensation method, setting the distance value L between the photoelectric sensor and the ranging target object, changing the illumination intensity A of the simulated ambient light within the range of A1~A2 with ΔA as the adjustment amount, recording the ranging value L displayed by the photoelectric sensor with the change of the illumination intensity A of the simulated ambient light n and the corresponding ambient light illumination intensity value A n ; within the range of L1~L2, changing the distance value L between the photoelectric sensor and the ranging target object with ΔL1 as the adjustment amount, obtaining the first group of data D1(n); setting the simulated ambient light illumination intensity A, changing the distance between the photoelectric sensor and the target object within the range of L1~L2 with ΔL2 as the adjustment amount, recording the ranging value L displayed by the photoelectric sensor n and the corresponding ambient light illumination intensity value A n , and compensating and calculating the ranging value of the photoelectric sensor according to the measured illumination intensity B of the ambient light.

Description

Technical Field

[0001] This invention belongs to the field of sensor technology, and specifically relates to a photoelectric sensor and its ranging compensation method and system. Background Technology

[0002] In photoelectric ranging sensor solutions, ambient light mixes with the effective light signal through diffuse reflection and enters the sensor, causing a decrease in the signal-to-noise ratio and resulting in measurement errors. To achieve high measurement accuracy under strong ambient light, a method is typically used to compensate for changes in ambient light illuminance. However, existing ambient light compensation methods still reduce the sensor's measurement accuracy under the influence of ambient light. The method involves the sensor compensating for the measured value based on the ambient light illuminance to reduce its impact. This approach only considers the linear effect of ambient light on the sensor and does not account for the non-linear influence of different ambient light illuminance levels on measurement accuracy. Furthermore, it does not consider the distance between the sensor and the target object, meaning the compensation factors are relatively singular, incomplete, and imprecise. Therefore, the compensation range is not wide enough, and the compensation accuracy is low. Summary of the Invention

[0003] One embodiment of this application discloses a segmented adaptive ambient light compensation method for a photoelectric sensor, comprising the following steps:

[0004] S100, Set the distance L between the photoelectric sensor and the target object. Within the range of light intensity values ​​A1 to A2, adjust the light intensity A of the simulated ambient light by ΔA. Record the distance value L displayed by the photoelectric sensor as the light intensity A of the simulated ambient light changes. n and the corresponding ambient light intensity value A n ;

[0005] S101, within the range of distance value L1 to L2, change the distance value L between the photoelectric sensor and the ranging target object by adjusting ΔL1, repeat step S101, and obtain the first set of data D1(n);

[0006] S200, set the simulated ambient light intensity A, and within the distance value L1 to L2, adjust the distance between the photoelectric sensor and the target object using ΔL2 as the adjustment amount, and record the distance value L displayed by the photoelectric sensor. n and the corresponding ambient light intensity value A n We obtain the second set of data, D2(n);

[0007] S300, based on the obtained first set of data D1(n) and second set of data D2(n), and according to the measured ambient light intensity B, the ranging value of the photoelectric sensor is compensated. The measurement range is divided into different numerical segments, and the ranging value of the photoelectric sensor is compensated segmentally according to the segment in which the measured ambient light intensity B falls.

[0008] This application embodiment divides the impact of different ambient light levels on the product into different compensation segments by comparing the degree of impact. Based on the ambient light level and sensor ranging values, the required compensation value is calculated and then merged with the original data. This results in data with relatively high measurement accuracy. Based on the segmented compensation concept in this scheme, the scheme can be further optimized by further refining the segmentation to achieve more detailed compensation, further improving the resistance to ambient light, and enhancing measurement accuracy. Attached Figure Description

[0009] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description taken in conjunction with the accompanying drawings. Several embodiments of the invention are illustrated in the drawings by way of example, not limitation, in which:

[0010] Figure 1 A flowchart of a compensation method according to one embodiment of the present invention.

[0011] Figure 2 A schematic diagram of a ranging compensation system according to one embodiment of the present invention. Detailed Implementation

[0012] Existing ranging compensation schemes for photoelectric ranging sensors only use ambient light intensity for linear compensation, neglecting its nonlinear effects. This results in low accuracy and limited compensation effectiveness. Furthermore, compensation based solely on ambient light intensity, without considering the distance between the sensor and the target, is not comprehensive enough. Without constraints in the compensation calculation, overcompensation may occur.

[0013] According to one or more embodiments, please refer to Figure 1 and Figure 2 A segmented ambient light adaptation algorithm for photoelectric sensors includes the following steps:

[0014] S1, fix the distance between the sensor and the target, adjust the simulated ambient light from 1000 lux to 100000 lux, and record the effect of ambient light on the sensor;

[0015] S2, with a fixed simulated ambient light level, the moving target changes from 0.1m to 10m, and the effect of ambient light on the sensor is recorded;

[0016] S3 compensates for measured values ​​based on ambient light intensity and sensor measurements.

[0017] In step S1, as follows Figure 2 The sensor and the target are on the same horizontal line, with a distance L ranging from 0.5 to 10 meters. Simulated ambient light is incident on the target at a 15-degree angle. A small lux meter is placed at the center of the target to measure the illuminance of the simulated ambient light. The illuminance range of the simulated ambient light is adjustable from 1000 lux to 100000 lux. Starting from a distance of 0.5 meters between the target and the sensor, the sensor is moved at 0.5-meter intervals. After each movement, the illuminance of the simulated ambient light is gradually increased to 100000 lux at 1000 lux intervals. The sensor's distance measurement and the ambient light illuminance value are recorded; these data will serve as the first set of raw data.

[0018] In step S2, as Figure 2 The sensor and the target are on the same horizontal line, with a distance L ranging from 0.5 to 10 meters. Simulated ambient light is incident on the target at a 15-degree angle. A small lux meter is placed at the center of the target to measure the illuminance of the simulated ambient light. The illuminance of the simulated ambient light is fixed at 100,000 lux. The target is moved at intervals of 0.1 meters, with the distance L varying from 0.1 meters to 10 meters, and the sensor's distance measurement and the ambient light illuminance value are recorded. These data serve as the second set of raw data.

[0019] In step S3, the simulated ambient light adjustment range changes from 1000 Lux to 100000 Lux, dividing the ambient light illuminance value into 256 levels. Each level corresponds to an illuminance value of approximately 386 Lux. Level 1 is 386 Lux, Level 2 is 2*386 Lux, Level 3 is 3*386 Lux, and so on. By analyzing and fitting the first and second sets of original data from steps 1 and 2, the compensation value can be calculated based on the following four compensation scenarios:

[0020] First paragraph: When the ambient light level is less than or equal to 2, the influence of ambient light does not need to be considered. Compensation value: The compensation value c_value = 0, that is, no compensation is performed;

[0021] The second paragraph states that the ambient light level is greater than 2 and less than or equal to 8. In this case, the sensor ranging value should be considered in two situations.

[0022] 2.1. In the first case, if the sensor ranging value is less than or equal to 0.6m, the compensation value is:

[0023] Calculate the compensation value c_value:

[0024] c_value=(x*22*d) / 1210(2.1);

[0025] 2.2. Second case: If the sensor ranging value is greater than 0.6m, the compensation value is:

[0026] Calculate the compensation value c_value:

[0027] c_value = (d*x)*81(2.2);

[0028] The third paragraph states that the ambient light level is greater than 8 and less than or equal to 29. In this case, the sensor ranging value should be considered, which can be divided into two situations.

[0029] 3.1. In the first case, if the current sensor measurement is less than or equal to 4.5m, the compensation value is:

[0030] Calculate the compensation value c_value:

[0031] c_value = x + 159 (3.1);

[0032] In the second scenario, if the current sensor ranging value is greater than 4.5m, the compensation value is:

[0033] Calculate the compensation value c_value:

[0034] c_value = 14 * x (4.1);

[0035] Fourth paragraph: When the ambient light level is greater than 29, the sensor ranging value does not need to be considered. The compensation value is:

[0036] Calculate the compensation value c_value:

[0037] c_value := 200 (5.1);

[0038] Where c_value represents the compensation value in mm, x represents the ambient light level, and d represents the current sensor ranging value in mm;

[0039] To prevent overcompensation, the compensation value c_value should be limited to a maximum value of 200, i.e., c_value ≤ 200. Otherwise, when c_value > 200, the compensation value should be limited to c_value = 200.

[0040] 3. Based on the compensation value c_value obtained after segmented compensation in step S3, the final sensor output distance value is equal to the current sensor ranging value d plus the compensation value c_value.

[0041] By determining the ambient light level and the current sensor distance measurement, the above compensation method is selected to fuse and compensate the current data. This ultimately enables the sensor to adapt to strong ambient light, resulting in a distance measurement with relatively high accuracy. This effectively solves the problem of low sensor accuracy under strong ambient light.

[0042] This application discloses a segmented ambient light adaptation method for photoelectric ranging sensors. By comparing the impact of different ambient light levels on the product, segmented compensation is performed. The required compensation value is calculated based on the ambient light level and the current sensor ranging value, and then merged with the original data. This results in data with relatively high measurement accuracy. This segmented compensation for ambient light improves measurement accuracy.

[0043] The beneficial effects of this application include:

[0044] 1. Ambient light intensity is graded, and linear compensation is performed for each grade. The linear and nonlinear characteristics of the influence of ambient light intensity on the sensor are also considered.

[0045] 2. The influence of the distance between the sensor and the target object has been incorporated, making the compensation more comprehensive.

[0046] 3. Limitations on compensation have been added to prevent overcompensation.

[0047] The technical solution of this application is also applicable to the problem of ambient light processing by photoelectric sensors based on principles such as infrared photoelectric sensors and laser photoelectric sensors.

[0048] It is worth noting that although the spirit and principles of this invention have been described with reference to several specific embodiments, it should be understood that this invention is not limited to the disclosed specific embodiments, and the division of aspects does not imply that the features in these aspects cannot be combined; such division is merely for the convenience of description. This invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. A method of photoelectric sensor ranging compensation, the photoelectric sensor being used for ranging, characterized in that, The method comprises, S100, setting a distance value L between the photoelectric sensor and a ranging target object, changing the illumination intensity A of the simulated ambient light with ΔA as the adjustment amount in the range of illumination intensity values A1-A2, and recording the ranging value L displayed by the photoelectric sensor as the illumination intensity A of the simulated ambient light changes n and the corresponding ambient light illumination intensity value A n ; In the distance value L1~L2 range, the distance value L between the photoelectric sensor and the ranging target is changed by ΔL1 as the adjusting amount, the step S100 is repeated to obtain a first group of data D1(n); S200, set the simulated ambient light intensity A, in the distance value L1~L2 range, change the distance between the photoelectric sensor and the target object with AL2 as the adjustment amount, record the ranging value L displayed by the photoelectric sensor n and the corresponding ambient light intensity value A n , obtain the second group of data D2(n); S300, according to the obtained first group of data D1(n) and the second group of data D2(n), the ranging value of the photoelectric sensor is compensated and calculated according to the measured illumination intensity B of the ambient light.

2. The compensation method according to claim 1, characterized in that, The photoelectric sensor and the ranging target are in a horizontal straight line.

3. The compensation method according to claim 2, characterized in that, The simulated ambient light is incident on the target at an angle of 15 degrees.

4. The compensation method of claim 1, wherein, The ranging target position is provided with an illuminometer for measuring the illumination intensity A of the simulated ambient light.

5. The compensation method according to claim 4, characterized in that, The change range A1~A2 of the illumination intensity A of the simulated ambient light is 1000lux~100000lux.

6. The compensation method of claim 1, wherein, The measured ambient light illumination intensity value B is divided into 256 levels according to the range of illumination intensity value A1~A2, i.e. from 0 to 255.

7. The compensation method of claim 1, wherein, According to the measured ambient light illumination intensity B value in the segment, the ranging value of the photoelectric sensor is segmented and compensated.

8. A photosensor ranging compensation system characterized by, The system comprises a photoelectric ranging sensor, a simulated ambient light source, an illuminometer and a measured target, The illuminometer is arranged at the center position of the measured target, The photoelectric ranging sensor and the measured target are in a horizontal straight line, The simulated ambient light is incident on the target at an angle of 15 degrees, The system adopts any one of the methods of claims 1 to 7 to realize the compensation calculation of the ranging.

9. A photosensor, characterized by The system adopts any one of the methods of claims 1 to 7 to realize the compensation calculation of the ranging.

Images