Transparent glass detection method and system based on linear array sensor

Abstract

The invention provides a transparent glass detection method and system based on a linear array sensor, and belongs to the technical field of data processing, and the method comprises the following steps: receiving a reflected or perspective optical signal, and outputting a linear array voltage signal; determining a mass center position corresponding to the peak value; judging whether the centroid position meets a preset condition or not; if yes, the linear array voltage signal is processed, and whether transparent glass exists or not is further judged; otherwise, the linear array voltage signal is not processed. The method has the beneficial effects that effective signals are intelligently screened according to preset conditions through the mass center position of a reflection or perspective optical signal corresponding to a linear array voltage signal, peak signals of transparent glass and a long-distance background object within a preset distance range can be quickly and effectively distinguished, stable detection on the existence of the transparent glass under a complex background is realized, and the detection accuracy is improved. The method improves the reliability of transparent glass detection, does not need to depend on a complex background suppression algorithm, improves the processing speed, reduces the implementation cost, and is suitable for a scene where the transparent glass needs to be efficiently and accurately detected.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a transparent glass detection method and system based on a linear array sensor. Background Art

[0002] In industrial applications such as automated production and robot navigation, transparent glass detection technology can accurately identify and avoid transparent glass, effectively avoiding equipment collisions and improving the quality and efficiency of production lines.

[0003] Transparent glass is difficult to detect directly due to its unique optical properties - high transmittance and low reflectivity. When there is a background object with high reflectivity (such as a stainless steel plate or other materials with strong reflective properties) behind the transparent glass, the sensor may receive a weak reflection signal from the front surface of the glass and a strong reflection signal from the background object behind it in the same field of view. Since the reflection peak of the background object is often much stronger than the reflection peak from the glass, the sensor is very likely to make misjudgments when parsing these mixed signals, and thus cannot correctly identify the presence of glass.

[0004] Traditional diffuse reflection detection methods are not up to the task. Diffuse reflection detection usually relies on diffuse reflection light generated by the roughness of the object's surface for identification, but the surface of transparent glass is smooth and produces almost no diffuse reflection, so this method cannot be effectively applied in such scenarios.

[0005] At present, some technical solutions attempt to use more complex image processing algorithms, multimodal data fusion or large-scale calculations for the entire distance range. However, although these methods improve the accuracy of detection to a certain extent, they also significantly increase the complexity and processing time of the system. In high-speed production lines or fast-moving robot application scenarios, these additional computational burdens may cause system response delays and fail to meet real-time requirements, thus limiting the widespread application of these technologies in actual production. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a transparent glass detection method based on a linear array sensor; on the other hand, it also provides a transparent glass detection system based on a linear array sensor.

[0007] The technical problem solved by the present invention can be achieved by adopting the following technical solutions:

[0008] A first aspect of the present invention is to provide a transparent glass detection method based on a linear array sensor, comprising:

[0009] Receive reflected or transmitted light signals and output corresponding linear array voltage signals;

[0010] Determine the centroid position corresponding to the peak value according to the linear array voltage signal;

[0011] Determining whether the centroid position meets a preset condition;

[0012] If the centroid position meets the preset condition, the linear array voltage signal is processed to further determine whether transparent glass exists;

[0013] If the centroid position does not satisfy the preset condition, the linear array voltage signal is not processed.

[0014] Preferably, the preset condition is that the centroid position is within a centroid parameter range corresponding to a preset distance interval.

[0015] Preferably, the centroid parameter range corresponding to the preset distance interval is determined based on calibration:

[0016] A first position and a second position of the upper and lower limits of the preset distance interval;

[0017] Obtaining corresponding centroid parameters when the calibration test object is placed at a first position and a second position of the linear array sensor respectively;

[0018] A range of centroid parameters corresponding to the preset distance interval is determined according to the first position, the second position and the corresponding centroid parameters.

[0019] Preferably, the centroid parameter range corresponding to the preset distance interval is calibrated based on a set threshold:

[0020] Set the upper and lower limit thresholds of the centroid parameter range, determine the distances corresponding to the upper and lower limit thresholds of the centroid parameter range based on the relationship between the distance and the centroid parameter pre-calibrated at the factory, and obtain the preset distance interval and the corresponding centroid parameter range.

[0021] Preferably, the processing of the linear array voltage signal comprises:

[0022] performing gain adjustment processing on the linear array voltage signal; and / or

[0023] Performing analog-to-digital conversion processing on the linear array voltage signal; and / or

[0024] The linear array voltage signal is filtered.

[0025] A second aspect of the present invention is to provide a transparent glass detection system based on a linear array sensor, which is used to implement the transparent glass detection method based on a linear array sensor as described above, and the system comprises:

[0026] A linear array sensor module is used to receive reflected or perspective light signals and output corresponding linear array voltage signals;

[0027] A centroid position determination module, connected to the linear array sensing module, and configured to determine the centroid position corresponding to the peak value according to the linear array voltage signal;

[0028] A judgment module, connected to the mass center position determination module, used to judge whether the mass center position meets a preset condition;

[0029] A processing module is connected to the judgment module and is used to process the linear array voltage signal and further judge whether there is transparent glass if the preset condition is met at the centroid position; and not process the linear array voltage signal if the preset condition is not met at the centroid position.

[0030] Preferably, the preset condition is that the centroid position is within a centroid parameter range corresponding to a preset distance interval.

[0031] Preferably, it further comprises a first calibration module connected to the judgment module, wherein the first calibration module comprises:

[0032] A distance interval preset unit, used for presetting a first position and a second position of an upper and lower limit of a distance interval;

[0033] A centroid parameter acquisition unit, connected to the distance interval preset unit, to acquire the corresponding centroid parameters when the calibration test object is placed at the first position and the second position of the distance linear array sensor respectively;

[0034] A first calibration unit is connected to the centroid parameter acquisition unit and is used to determine the centroid parameter range corresponding to the preset distance interval according to the first position, the second position and the corresponding centroid parameters.

[0035] Preferably, it further comprises a second calibration module connected to the judgment module, wherein the second calibration module comprises:

[0036] Setting unit, used to set the upper and lower thresholds of the centroid parameter range,

[0037] The second calibration unit is connected to the centroid parameter threshold setting unit, and is used to determine the distances corresponding to the upper and lower limit thresholds of the centroid parameter range according to the set upper and lower limit thresholds of the centroid parameter range, based on the relationship between the distance and the centroid parameter pre-calibrated at the factory, to obtain the preset distance interval and the corresponding centroid parameter range.

[0038] Preferably, the processing module comprises:

[0039] A gain adjustment unit, used for performing gain adjustment processing on the linear array voltage signal;

[0040] An analog-to-digital conversion unit, used for performing analog-to-digital conversion processing on the linear array voltage signal;

[0041] A filtering unit is used to filter the linear array voltage signal.

[0042] The advantages or beneficial effects of the technical solution of the present invention are:

[0043] The present invention calculates the peak centroid position of the linear array voltage signal corresponding to the reflected or perspective light signal and intelligently screens the effective signal according to preset conditions. It can quickly and effectively distinguish the peak signals of transparent glass within a predetermined distance range and distant background objects, thereby achieving stable detection of the presence of transparent glass under complex backgrounds, improving the reliability of detecting transparent glass, and eliminating the need to rely on complex background suppression algorithms, thereby increasing processing speed and reducing implementation costs. The present invention is suitable for scenes such as automated production lines and robot navigation that require efficient and accurate detection of transparent glass. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A schematic diagram of a flow chart of a transparent glass detection method based on a linear array sensor in a preferred embodiment of the present invention;

[0045] Figure 2 A schematic diagram of a calibration process of a centroid parameter range corresponding to a preset distance interval in a preferred embodiment of the present invention;

[0046] Figure 3 It is a schematic diagram of the calibration process of the threshold setting of the centroid parameter range corresponding to the preset distance interval in a preferred embodiment of the present invention;

[0047] Figure 4 This is a structural block diagram of a transparent glass detection system based on a linear array sensor in a preferred embodiment of the present invention;

[0048] Figure 5 This is a structural block diagram of a first calibration module in a preferred embodiment of the present invention;

[0049] Figure 6 This is a structural block diagram of a second calibration module in a preferred embodiment of the present invention;

[0050] Figure 7 A structural block diagram of a processing module in a preferred embodiment of the present invention;

[0051] Figure 8 This is a schematic diagram of the structure of transparent object detection in a preferred embodiment of the present invention;

[0052] Fig. 9 This is a schematic diagram of the structure during calibration in a preferred embodiment of the present invention;

[0053] Fig.10This is a schematic diagram of the relationship between the calibrated distance and the centroid parameter in a preferred embodiment of the present invention; wherein the abscissa x represents the distance of the object from the sensor, and the ordinate C represents the centroid parameter;

[0054] Fig.11 This is a structural schematic diagram of a preferred embodiment of the present invention, in which the transparent object is located between the first position and the second position during actual detection;

[0055] Fig.12 Schematic diagram of pixel voltage of a linear array sensor in a preferred embodiment of the present invention; wherein the horizontal axis x represents the distance of the object from the sensor, the vertical axis VP represents the pixel voltage, s1 represents the voltage of the sth to tth pixels, s2 represents the voltage of the mth to nth pixels, and s, t, m and n are all greater than 0;

[0056] Fig.13 FIG. 4 is a schematic diagram of the relationship between the actually detected distance and the centroid parameter in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0059] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0060] In a preferred embodiment of the present invention, based on the above problems existing in the prior art, a transparent glass detection method based on a linear array sensor is provided. Figure 1 As shown, including:

[0061] Receive reflected or transmitted light signals and output corresponding linear array voltage signals;

[0062] Determine the centroid position corresponding to the peak value according to the linear array voltage signal;

[0063] Determine whether the centroid position meets the preset conditions;

[0064] If the centroid position meets the preset conditions, the linear array voltage signal is processed and further judged whether there is transparent glass A1;

[0065] If the centroid position does not meet the preset conditions, the linear array voltage signal is not processed.

[0066] Specifically, in this embodiment, first, the linear array sensor receives reflected or perspective light signals, which may come from the transparent glass A1 or the high-reflectivity background object A2 behind the transparent glass A1 or other objects. The sensor outputs a corresponding linear array voltage signal according to the received light signal. Then, according to the output linear array voltage signal, the centroid position corresponding to the peak value is determined by calculation. The centroid position is the center point of the signal intensity distribution, which is usually calculated by the weighted average method. Then, it is determined whether the centroid position meets the preset conditions.

[0067] In the embodiment of the present invention, the preset condition is that the centroid position is within the corresponding centroid parameter range, wherein the centroid parameter range may be preset or determined by factory settings.

[0068] If the centroid position is within the corresponding centroid parameter range, the linear array voltage signal is processed, including analog-to-digital conversion, gain adjustment and / or filtering, to further determine whether the transparent glass A1 exists.

[0069] If there is a highly reflective object behind the transparent glass A1, the signal formed on the linear array sensor by the light signal generated by the highly reflective object is directly ignored because its centroid position exceeds the corresponding centroid parameter range, and no calculation and processing are required. Therefore, the existence of the transparent glass A1 can still be stably detected under complex backgrounds, avoiding interference from the background object A2, and improving the reliability of detecting transparent detection glass.

[0070] The embodiment of the present invention processes only the peak values ​​of the reflected or perspective light signals within a preset distance interval, thereby effectively filtering out the strong peak interference caused by the background object A2. Even if the background reflection is stronger than the glass signal, it can be ignored.

[0071] As a preferred implementation, the preset condition is that the centroid position is within a centroid parameter range corresponding to a preset distance interval.

[0072] Specifically, in this embodiment, the preset distance interval and its corresponding centroid parameter range are determined through a calibration process. The calibration process includes measuring and recording the centroid parameters at different distances between the transparent object and the sensor to establish a mapping relationship between the distance and the centroid parameters.

[0073] The preset distance interval refers to the distance range between the transparent object and the linear array sensor. The interval has clear upper and lower limits, namely the first position (representing the lower limit of the distance interval) and the second position (representing the upper limit of the distance interval). The embodiment of the present invention is suitable for accurately detecting whether the transparent glass A1 exists within a limited distance range.

[0074] The centroid parameter range is defined based on the centroid parameters corresponding to different distances between the transparent object and the sensor within the preset distance interval. The range also includes upper and lower limits, namely the first centroid parameter and the second centroid parameter.

[0075] The first centroid parameter is a centroid parameter value corresponding to a first distance between the object and the sensor; correspondingly, the second centroid parameter is a centroid parameter value corresponding to a second distance between the object and the sensor.

[0076] In specific applications, when the distance between the transparent object and the sensor falls within the preset distance range, the centroid parameter obtained through real-time detection will be compared with the centroid parameter range determined during the calibration process. If the real-time centroid parameter is within the range defined by the first centroid parameter and the second centroid parameter, it is determined that the centroid position meets the preset conditions, and the linear array voltage signal is further processed to determine whether the transparent glass A1 exists, thereby realizing accurate detection of the transparent glass A1 within the limited distance range.

[0077] The calibration process is used to determine the preset distance interval and the corresponding centroid parameter range, and can use either of the following two calibration methods.

[0078] As a preferred embodiment, wherein Figure 2 As shown, the centroid parameter range corresponding to the preset distance interval is determined based on calibration:

[0079] A first position and a second position of the upper and lower limits of the preset distance interval;

[0080] Obtaining corresponding centroid parameters when the calibration test object is placed at a first position and a second position of the linear array sensor respectively;

[0081] A range of centroid parameters corresponding to a preset distance interval is determined according to the first position, the second position and the corresponding centroid parameters.

[0082] Specifically, in this embodiment, a calibration process of a centroid parameter range corresponding to a preset distance interval is implemented based on a calibration test object. This calibration process is applicable to a transparent object detection scenario in which a transparent object placement position range has been determined.

[0083] In this embodiment, the calibration test object can be a white paper or a highly reflective panel. The calibration test object can be a sheet, such as a 100mm×100mm white paper or a highly reflective panel, to ensure that the calibration test object can fully cover the detection area of ​​the linear array sensor and is easy to place and move in actual operation.

[0084] During the calibration process, a calibration test object (such as white paper or a highly reflective panel) is placed at a first position x1 from the linear array sensor, and the linear array sensor detects and obtains the centroid parameters at this time, which are recorded as the first centroid parameters corresponding to the first position.

[0085] Then, the calibration test object is moved to the second position x2, and the voltage distribution of the light spot on the pixels of the sensor is detected and obtained by the linear array sensor at this time, and the centroid position of the light spot is calculated (such as obtaining the centroid pixel coordinates by weighted averaging the pixel voltages) and recorded as the second centroid parameter corresponding to the second position.

[0086] According to the first centroid parameter corresponding to the first position and the second centroid parameter corresponding to the second position, the centroid parameter range corresponding to the preset distance interval can be determined.

[0087] The embodiment of the present invention can flexibly set the first position x1 and the second position x2 according to actual needs, and is suitable for various industrial detection and intelligent obstacle avoidance scenarios.

[0088] As a preferred embodiment, wherein Figure 3 As shown, the centroid parameter range corresponding to the preset distance interval is calibrated based on the set threshold:

[0089] Set the upper and lower limit thresholds of the centroid parameter range, determine the distances corresponding to the upper and lower limit thresholds of the centroid parameter range based on the relationship between the distance and the centroid parameter pre-calibrated at the factory, and obtain the preset distance interval and the corresponding centroid parameter range.

[0090] Specifically, in this embodiment, if the linear array sensor has calibrated the relationship between the distance of the object from the sensor and the centroid parameter before leaving the factory, in actual use, the first position x1 and the second position x2 are directly selected by setting the centroid threshold.

[0091] At the factory stage, the linear array sensor completes the calibration of the relationship between distance and center of mass parameters within the full range.

[0092] Preferably, the first position, the second position, the first centroid parameter, and the second centroid parameter are stored in the linear array sensor. By storing a threshold table for quickly determining the centroid interval, the signal is processed only when the centroid position is within the interval of the threshold table, so as to achieve effective recognition of a specific distance range.

[0093] As a preferred implementation, the processing of the linear array voltage signal includes:

[0094] Performing gain adjustment processing on the linear array voltage signal; and / or

[0095] Performing analog-to-digital conversion on the linear array voltage signal; and / or

[0096] The linear array voltage signal is filtered.

[0097] Specifically, signal processing includes but is not limited to gain adjustment, analog-to-digital conversion (ADC) and filtering. For transparent objects between the first position x1 and the second position x2, the peak signal in the collected linear array voltage signal is modulated and calculated to ensure the signal quality of the pixel voltage is good, and the existence of transparent glass A1 is accurately determined by calculating the center of mass, thereby achieving stable detection of transparent glass A1.

[0098] When processing the peak signal, the light intensity and sensor channel gain are adjusted to keep the voltage amplitude within a preset range, ensuring that the subsequent ADC conversion obtains a high-quality digital signal to improve the accuracy of centroid calculation and glass judgment.

[0099] In this embodiment, the linear array sensor adopts a CMOS integrated linear array sensor. The object forms a light spot on the linear array sensor through reflection. The voltage on the pixel of the linear array sensor is a reflection of the light spot intensity and the light spot size. The voltage distribution of the pixel is used for centroid calculation.

[0100] The present invention also provides a transparent glass A1 detection system based on a linear array sensor, which is used to implement the transparent glass A1 detection method based on a linear array sensor as described above. Figure 4 As shown, the system includes:

[0101] Linear array sensor module 1, used to receive reflected or perspective light signals and output corresponding linear array voltage signals;

[0102] A centroid position determination module 2, connected to the linear array sensing module 1, for determining the centroid position corresponding to the peak value according to the linear array voltage signal;

[0103] The judging module 3 is connected to the mass center position determining module 2 and is used to judge whether the mass center position meets the preset conditions;

[0104] The processing module 4 is connected to the judging module 3 and is used to process the linear array voltage signal and further judge whether there is transparent glass A1 if the preset condition is met at the centroid position; and not process the linear array voltage signal if the preset condition is not met at the centroid position.

[0105] Specifically, in this embodiment, the system shown in the present invention provides a simple and effective transparent glass A1 detection solution. By processing only the signals that meet the preset conditions during actual detection, without complex algorithms, stable detection of transparent glass A1 within a predetermined distance range can be achieved under complex background conditions, greatly improving the accuracy and reliability of transparent glass A1 detection.

[0106] This solution has low implementation cost and good real-time performance. It can be applied to quality inspection of transparent plates in automated production lines, as well as obstacle avoidance decisions for robots and drones when approaching transparent windows or glass obstacles.

[0107] As a preferred implementation, the preset condition is that the centroid position is within a centroid parameter range corresponding to a preset distance interval.

[0108] Specifically, if the centroid position is within the centroid parameter range corresponding to the preset distance interval, the linear array voltage signal is processed, including but not limited to gain adjustment processing, analog-to-digital conversion processing, and / or filtering processing, to further determine whether transparent glass A1 exists.

[0109] If the centroid position exceeds the centroid parameter range corresponding to the preset distance interval, for example, there is a highly reflective object behind the transparent glass A1, and the signal formed on the linear array sensor by the light signal generated by the highly reflective object, its centroid position will exceed the corresponding centroid parameter range. These signals exceeding the centroid parameter range are directly ignored without the need for calculation and processing, so that the existence of the transparent glass A1 can still be stably detected under complex backgrounds, avoiding interference from the background object A2, and improving the reliability of detecting transparent detection glass.

[0110] As a preferred embodiment, wherein Figure 5 As shown, it also includes a first calibration module 5 and a connection judgment module 3. The first calibration module 5 includes:

[0111] A distance interval presetting unit 51, used for presetting a first position and a second position of an upper and lower limit of a distance interval;

[0112] A centroid parameter acquisition unit 52 is connected to the distance interval preset unit 51 to acquire the corresponding centroid parameters when the calibration test object is placed at the first position and the second position of the distance linear array sensor respectively;

[0113] The first calibration unit 53 is connected to the centroid parameter acquisition unit 52, and is used to determine the centroid parameter range corresponding to the preset distance interval according to the first position, the second position and the corresponding centroid parameters.

[0114] As a preferred embodiment, wherein Figure 6 As shown, it also includes a second calibration module 6, connected to the judgment module 3, and the second calibration module 6 includes:

[0115] The setting unit 61 is used to set the upper and lower limit thresholds of the centroid parameter range.

[0116] The second calibration unit 62 is connected to the centroid parameter threshold setting unit 61, and is used to determine the distances corresponding to the upper and lower limit thresholds of the centroid parameter range according to the set upper and lower limit thresholds of the centroid parameter range, based on the relationship between the distance and the centroid parameter pre-calibrated at the factory, and obtain the preset distance interval and the corresponding centroid parameter range.

[0117] As a preferred embodiment, wherein Figure 7 As shown, the processing module 4 includes:

[0118] A gain adjustment unit 41, used for performing gain adjustment processing on the linear array voltage signal;

[0119] The analog-to-digital conversion unit 42 is used to perform analog-to-digital conversion processing on the linear array voltage signal;

[0120] The filtering unit 43 is used to filter the linear array voltage signal.

[0121] Further, such as Figure 8 As shown, the system further includes a control / computing module 8, a transmitting module 9, a power module 10 and a communication output module 11. The above-mentioned centroid position determination module 2, judgment module 3, processing module 4, first calibration module 5 and second calibration module 6 can be integrated into the control / computing module 8 to realize the functions of the corresponding modules.

[0122] The transmitting module 9 includes a light transmitting end 91 and a first lens 92. The control / computing module 8 controls the light transmitting end 91 to transmit a light signal, which is transmitted through the first lens 92, transmitted or reflected through the transparent glass A1 or the background object A2, and converged through the second lens 12 before being received by the linear array sensor 11.

[0123] The control / calculation module can control the light intensity of the optical signal emitted by the optical emitting end 91 as required.

[0124] The control / computation module 8 can also control the gain and scanning frequency of the line array sensor 11 to receive the analog output of the line array sensor 11 .

[0125] In the above preferred embodiment, by utilizing the principle that the signals formed when the transparent object is at different distances from the line array sensor 11 are located at different pixel positions on the line array sensor 11, a specific detection distance range (from the first position x1 to the second position x2, with the glass between the first position x1 and the second position x2) is set in advance for the line array sensor 11. The line array sensor 11 only processes the sensor signals within the range and directly ignores the signals beyond the range, thereby being able to stably detect the existence of the transparent glass A1 under a complex background, thereby improving the reliability of detecting the transparent glass.

[0126] The transparent glass A1 detection method and system shown in the present invention include a calibration process and an actual detection process.

[0127] During the calibration process, if the linear array sensor 11 has been pre-calibrated with the relationship between the distance and the centroid parameter within the sensor's measurement range before leaving the factory, the first position x1 and the second position x2 are determined by setting a centroid parameter threshold.

[0128] If the linear array sensor 11 is not calibrated before leaving the factory, then under laboratory conditions, Fig. 9 As shown, the standard test object is placed at the positions x1 and x2 of the distance sensor in sequence, and the light spot voltage distribution of the test object on the CMOS line array is obtained by using the line array sensor 11, and the pixel voltage is calculated to obtain the light spot centroid position, as shown in FIG. Fig.10 As shown, the first position x1 and its corresponding first centroid parameter C1, the second position x2 and its corresponding second centroid parameter C2 are stored in the line array sensor 11.

[0129] In the actual testing process, Fig.11 As shown, the linear array sensor 11 images the scene in front of the sensor including the transparent glass A1 and the background, and obtains a linear array voltage signal, such as Fig.12 As shown, the centroid position of the corresponding peak in the signal is calculated; Fig.13 As shown, if the centroid position is between the centroid parameters corresponding to the first position x1 and the second position x2, for example, when the transparent glass A1 is located at the position x0, the corresponding centroid position C0 is between the first centroid parameter C1 and the second centroid parameter C2, then it is determined that the object corresponding to the peak value (such as the transparent glass A1) is within the set distance range, and the peak signal is subjected to analog-to-digital conversion, gain adjustment and filtering processing, and it is further determined whether the transparent glass A1 exists.

[0130] If the centroid position is not within the corresponding centroid parameter range, for example, when located at position x3, the corresponding centroid position C3 is not between the first centroid parameter C1 and the second centroid parameter C2, then it is directly ignored and the peak signal is not processed.

[0131] By recording the corresponding spot centroid parameters when placing standard test objects at distances x1 and x2 during the calibration phase, only signals within the parameter range corresponding to these two centroids are processed in actual applications, thereby quickly and effectively distinguishing the peak signals of the transparent glass A1 within the predetermined distance range and the distant background object A2.

[0132] This method does not require complex background suppression algorithms, has fast processing speed and low implementation cost, and is suitable for automated production lines, robots and other application scenarios for detecting transparent glass A1.

[0133] Application example 1:

[0134] On an automated production line, when transparent glass A1 plates need to be inspected, the linear array sensor 11 may obtain multiple voltage peaks due to the complex background behind the glass, including highly reflective objects. The solution of the present invention calculates the centroid position for each voltage peak of the sensor signal and determines whether the centroid position is within the calibrated centroid parameter range corresponding to x1 and x2.

[0135] For signals whose centroid positions are within the centroid parameter range, the signal quality of the pixel voltage is ensured to be good by adjusting the light intensity, gain, and performing ADC conversion and filtering, so as to accurately determine whether the transparent glass A1 exists by calculating the centroid.

[0136] For signals whose centroid position is not within the centroid parameter range, the peak is ignored directly without any processing, thereby filtering out interference from distant backgrounds.

[0137] By using the solution of the present invention on an automated production line, the transparent glass A1 within a specific distance range on the production line can be quickly identified, and misjudgment can be effectively avoided even if there is a highly reflective background behind it.

[0138] Application Example 2:

[0139] For robots or drones, when approaching transparent glass A1, by only processing the signal peaks within the set distance range, they can effectively identify glass obstacles in complex environments and reduce the risk of collision.

[0140] The advantages or beneficial effects of adopting the above technical solution are: the present invention calculates the peak centroid position of the linear array voltage signal corresponding to the reflected or transparent light signal, and intelligently filters the effective signal according to preset conditions, so as to quickly and effectively distinguish the peak signals of transparent glass A1 within a predetermined distance range and distant background objects, thereby achieving stable detection of the existence of transparent glass A1 under complex backgrounds, improving the reliability of detecting transparent glass A1, and eliminating the need to rely on complex background suppression algorithms, thereby improving processing speed and reducing implementation costs. The present invention is suitable for scenes such as automated production lines and robot navigation that require efficient and accurate detection of transparent glass A1.

[0141] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the contents of this specification and illustrations should be included in the protection scope of the present invention.

Claims

1. A transparent glass detection method based on a linear array sensor, characterized in that: include: Receive reflected or transmitted light signals and output corresponding linear array voltage signals; Determine the centroid position corresponding to the peak value according to the linear array voltage signal; Determining whether the centroid position meets a preset condition; If the centroid position meets the preset condition, the linear array voltage signal is processed to further determine whether transparent glass exists; If the centroid position does not satisfy the preset condition, the linear array voltage signal is not processed.

2. The transparent glass detection method based on the linear array sensor according to claim 1, characterized in that: The preset condition is that the centroid position is within a centroid parameter range corresponding to a preset distance interval.

3. The transparent glass detection method based on the linear array sensor according to claim 2, characterized in that: The centroid parameter range corresponding to the preset distance interval is determined based on calibration: A first position and a second position of the upper and lower limits of the preset distance interval; Obtaining corresponding centroid parameters when the calibration test object is placed at a first position and a second position of the linear array sensor respectively; A range of centroid parameters corresponding to the preset distance interval is determined according to the first position, the second position and the corresponding centroid parameters.

4. The transparent glass detection method based on the linear array sensor according to claim 2, characterized in that: The centroid parameter range corresponding to the preset distance interval is calibrated based on the set threshold: Set the upper and lower thresholds of the centroid parameter range; According to the set upper and lower limit thresholds of the center of mass parameter range, based on the relationship between the distance and the center of mass parameter pre-calibrated at the factory, the distances corresponding to the upper and lower limit thresholds of the center of mass parameter range are determined to obtain the preset distance interval and the corresponding center of mass parameter range.

5. The transparent glass detection method based on a linear array sensor according to claim 1, characterized in that: The processing of the linear array voltage signal comprises: performing gain adjustment processing on the linear array voltage signal; and / or Performing analog-to-digital conversion processing on the linear array voltage signal; and / or The linear array voltage signal is filtered.

6. A transparent glass detection system based on a linear array sensor, characterized in that: The system is used to implement the transparent glass detection method based on a linear array sensor as described in any one of claims 1 to 5, the system comprising: A linear array sensor module is used to receive reflected or perspective light signals and output corresponding linear array voltage signals; A centroid position determination module, connected to the linear array sensing module, and configured to determine the centroid position corresponding to the peak value according to the linear array voltage signal; A judgment module, connected to the mass center position determination module, used to judge whether the mass center position meets a preset condition; A processing module is connected to the judgment module and is used to process the linear array voltage signal and further judge whether there is transparent glass if the preset condition is met at the centroid position; and not process the linear array voltage signal if the preset condition is not met at the centroid position.

7. The transparent glass detection system based on the linear array sensor according to claim 6, characterized in that: The preset condition is that the centroid position is within a centroid parameter range corresponding to a preset distance interval.

8. The transparent glass detection system based on the linear array sensor according to claim 7, characterized in that: The system further comprises a first calibration module connected to the judgment module, wherein the first calibration module comprises: A distance interval preset unit, used for presetting a first position and a second position of an upper and lower limit of a distance interval; A centroid parameter acquisition unit, connected to the distance interval preset unit, to acquire the corresponding centroid parameters when the calibration test object is placed at the first position and the second position of the distance linear array sensor respectively; A first calibration unit is connected to the centroid parameter acquisition unit and is used to determine the centroid parameter range corresponding to the preset distance interval according to the first position, the second position and the corresponding centroid parameters.

9. The transparent glass detection system based on the linear array sensor according to claim 7, characterized in that: The system further comprises a second calibration module connected to the judgment module, wherein the second calibration module comprises: Setting unit, used to set the upper and lower thresholds of the centroid parameter range, The second calibration unit is connected to the centroid parameter threshold setting unit, and is used to determine the distances corresponding to the upper and lower limit thresholds of the centroid parameter range according to the set upper and lower limit thresholds of the centroid parameter range, based on the relationship between the distance and the centroid parameter pre-calibrated at the factory, to obtain the preset distance interval and the corresponding centroid parameter range.

10. The transparent glass detection system based on the linear array sensor according to claim 6, characterized in that: The processing module comprises: A gain adjustment unit, used for performing gain adjustment processing on the linear array voltage signal; An analog-to-digital conversion unit, used for performing analog-to-digital conversion processing on the linear array voltage signal; A filtering unit is used to filter the linear array voltage signal.

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