Object detection method, device and equipment based on four-quadrant detector and medium

Abstract

The invention discloses an object detection method, device and equipment based on a four-quadrant detector and a medium. The method comprises the following steps: acquiring a photoelectric sensor, and transmitting a detection light beam to a target detection object through a transmitting end of the photoelectric sensor; receiving a reflected light beam reflected by the target detection object through a receiving end of a photoelectric sensor, and enabling the reflected light beam to form a light spot on a four-quadrant detector; acquiring an electric signal output by each photosensitive quadrant of the four-quadrant detector, and calculating a first offset and a second offset of a light spot position on the four-quadrant detector based on the electric signal output by each photosensitive quadrant; based on preset calibration data, converting the first offset into a rotation angle value of the target detection object, and converting the second offset into a distance value of the target detection object; and screening the target detection object according to the rotation angle value and the distance value. According to the invention, the rotation angle can be detected while the distance of the target detection object is detected, and the application scene of the sensor is effectively expanded.

Description

Technical Field

[0001] This invention relates to the field of sensor technology, and specifically to an object detection method, apparatus, device, and medium based on a four-quadrant detector. Background Technology

[0002] In the field of photoelectric detection, diffuse reflection sensors are widely used due to their simple structure for non-contact detection of target objects. These sensors determine the presence of an object by judging whether the intensity of the light signal reflected from the surface of the target object exceeds a threshold. However, the performance of these sensors is highly dependent on the surface characteristics of the target object. When the target object is dark in color or has low reflectivity, the signal may be too weak, leading to missed detections; conversely, when the ambient background reflectivity is high, false triggering may occur.

[0003] To overcome the limitations of optical signal-based judgment, background suppression sensors have emerged. These sensors transform detection criteria into the geometric distance of the target object. Their core principle is to ensure the sensor output responds within a preset distance range, independent of the object's surface reflectivity, thus effectively suppressing interference from background outside this range. Currently, background suppression sensors primarily utilize triangulation and time-of-flight (TOF) methods. Specifically, triangulation employs a dual photodiode structure, comparing the difference between the signals received by the near and far diodes to determine if the target object falls within a preset distance range; or, based on a position-sensitive detector, it calculates the target distance by analyzing the simulated displacement of the reflected light spot on its continuous photosensitive surface. Furthermore, time-of-flight (TOF) based schemes directly calculate the absolute distance by precisely measuring the time or phase difference between the emission and reflection of the light signal, and achieve background suppression by setting a distance threshold. However, traditional background suppression sensors can only detect the presence of a target object within the effective area, failing to determine if the target object has a rotation angle. This makes them unsuitable for more complex applications, such as those requiring multi-parameter control and angle alignment.

[0004] Therefore, determining the rotation angle of a target object while simultaneously detecting its distance is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] This invention provides an object detection method, apparatus, device, and medium based on a four-quadrant detector, which solves the technical problem of determining the rotation angle of an object while detecting the distance to the target.

[0006] To address the aforementioned technical problems, in a first aspect, the present invention provides an object detection method based on a four-quadrant detector, comprising: Acquire a photoelectric sensor with a four-quadrant detector, and emit a detection beam towards the target object through the transmitter of the photoelectric sensor; The photoelectric sensor receives a reflected light beam from the target object and forms a light spot on the four-quadrant detector of the photoelectric sensor. The four-quadrant detector includes four photosensitive quadrants divided along a first direction and a second direction. The electrical signals output from each photosensitive quadrant of the four-quadrant detector are collected, and based on the electrical signals output from each photosensitive quadrant, the first offset and the second offset of the light spot position on the four-quadrant detector are calculated. Based on preset calibration data, the first offset is converted into the rotation angle value of the target detection object, and the second offset is converted into the distance value of the target detection object; The target objects are filtered based on their rotation angle and distance values.

[0007] Optionally, acquiring a photoelectric sensor with a four-quadrant detector and emitting a detection beam towards the target object through the emitting end of the photoelectric sensor includes: A continuous driving current is provided to the light-emitting diode through the driving circuit of the transmitting end, and the light-emitting diode emits a detection beam. The detection beam is collimated by the transmitting lens of the transmitting end, and the collimated detection beam is sent to the target detection object through the output window of the transmitting end.

[0008] Optionally, the receiving end of the photoelectric sensor receives the reflected light beam reflected by the target detection object and forms a light spot on the four-quadrant detector of the photoelectric sensor; wherein, the four-quadrant detector includes four photosensitive quadrants divided along a first direction and a second direction, including: The received beam is received by the receiving lens of the receiving end, and the received reflected beam is converged. The converged reflected beam is sent to the photosensitive surface of the four-quadrant detector, and a light spot is formed on the photosensitive surface; wherein, the four-quadrant detector is composed of four photodiodes in a 2×2 array, each corresponding to one of the four photosensitive quadrants.

[0009] Optionally, the step of acquiring the electrical signals output from each photosensitive quadrant of the four-quadrant detector, and calculating the first and second offsets of the light spot position on the four-quadrant detector based on the electrical signals output from each photosensitive quadrant, includes: The optical signals of each photosensitive quadrant of the four-quadrant detector are collected respectively, and the collected optical signals are converted into corresponding analog electrical signals; The analog electrical signals of each photosensitive quadrant are input into the differential amplifier circuit of the four-quadrant detector for differential amplification, and the differentially amplified analog electrical signals are then converted from analog to digital. The digital signal after analog-to-digital conversion is input to the microcontroller module of the photoelectric sensor to calculate the first position offset of the light spot in the first direction and the second position offset of the light spot in the second direction.

[0010] Optionally, the step of inputting the analog-to-digital converted digital signal to the microcontroller module of the photoelectric sensor and calculating the first position offset of the light spot in the first direction and the second position offset of the light spot in the second direction includes: The first position offset of the light spot in the first direction The calculation formula is: in, , , , These are the digital signal values ​​output from the four quadrants of the four-quadrant detector, respectively. This indicates the dimension of the displacement sensor on the four-axis detector in the first direction; The second position offset of the light spot in the second direction The calculation formula is: in, This indicates the dimension of the displacement sensor on the quadrant detector in the second direction.

[0011] Optionally, the step of converting the first offset into a rotation angle value of the target object and the second offset into a distance value of the target object based on preset calibration data includes: A first calibration mapping relationship between the first offset and the rotation angle is preset, and the first offset is converted into the rotation angle value of the target detection object; A second calibration mapping relationship is preset between the second offset and the detection distance, and the second offset is converted into the distance value of the target object to be detected.

[0012] Optionally, the step of filtering the target detection objects based on the rotation angle value and distance value of the target detection objects includes: The rotation angle value of the target object is compared with a preset angle threshold range, and the distance value of the target object is compared with a preset distance threshold range. When the rotation angle value is within the angle threshold range and the distance value is within the distance threshold range, a judgment signal indicating that the target detection object is qualified is generated.

[0013] Secondly, the present invention provides an object detection device based on a four-quadrant detector, comprising: The acquisition module is used to acquire the photoelectric sensor with a four-quadrant detector and emit a detection beam towards the target object through the transmitter of the photoelectric sensor. The receiving module is used to receive the reflected light beam reflected by the target detection object through the receiving end of the photoelectric sensor, and to make the reflected light beam form a light spot on the four-quadrant detector of the photoelectric sensor; wherein, the four-quadrant detector includes four photosensitive quadrants divided along a first direction and a second direction. The calculation module is used to collect the electrical signals output by each photosensitive quadrant of the four-quadrant detector, and calculate the first offset and the second offset of the position of the light spot on the four-quadrant detector based on the electrical signals output by each photosensitive quadrant. The conversion module is used to convert the first offset into the rotation angle value of the target detection object based on preset calibration data, and to convert the second offset into the distance value of the target detection object; The filtering module is used to filter the target detection object based on the rotation angle value and distance value of the target detection object.

[0014] Thirdly, the present invention provides an object detection device based on a four-quadrant detector, comprising a memory and a processor, wherein: The memory is used to store computer programs; The processor is used to read the program in the memory and execute the steps of the object detection method based on a four-quadrant detector as provided in the first aspect above.

[0015] Fourthly, the present invention provides a computer-readable storage medium having a readable computer program stored thereon, which, when executed by a processor, implements the steps of the object detection method based on a four-quadrant detector as provided in the first aspect above.

[0016] Compared with existing technologies, the object detection method, apparatus, device, and medium based on a four-quadrant detector provided by this invention have the following beneficial effects: This invention receives a reflected light beam from a target object via a photoelectric sensor's receiver, and forms a light spot on the four-quadrant detector of the photoelectric sensor. This allows the four-quadrant detector to simultaneously detect changes in the position of the light spot in both the horizontal and vertical directions. Furthermore, by acquiring the electrical signals output from each photosensitive quadrant of the four-quadrant detector and calculating the first and second offsets of the light spot position on the detector based on these signals, the displacement of the light spot can be accurately quantified. Simultaneously, changes in the target object's rotation angle and distance can be calculated, effectively expanding the sensor's applicable scenarios while simultaneously detecting the target object's distance. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and not all embodiments. For those skilled in the art, other drawings obtained from these drawings without creative effort are all within the scope of protection of this application.

[0018] Figure 1 This is a flowchart of an object detection method based on a four-quadrant detector provided in an embodiment of the present invention.

[0019] Figure 2 This is a photosensitive quadrant diagram of a four-quadrant detector provided in an embodiment of the present invention.

[0020] Figure 3 This is a flowchart for calculating the offset of a light spot position, provided as an embodiment of the present invention.

[0021] Figure 4 This is a structural diagram of a target detection object rotation angle change provided in an embodiment of the present invention.

[0022] Figure 5 This is a structural diagram of a target detection object distance change provided in an embodiment of the present invention.

[0023] Figure 6 This invention provides an object detection device based on a four-quadrant detector.

[0024] Figure 7 This is a schematic diagram of the structure of an object detection device based on a four-quadrant detector, provided in an embodiment of the present invention.

[0025] Figure 8 This is a schematic diagram of the structure of a computer-readable storage medium provided in an embodiment of the present invention.

[0026] Among them, 10 is a four-quadrant detector, 11 is a receiving lens, 21 is a driving circuit, 22 is a light-emitting diode, 23 is a transmitting lens, 31 is the first detection angle of the target object, 32 is the second detection angle of the target object, 41 is the first position of the target object, and 42 is the second position of the target object. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0028] To make the description of this disclosure more detailed and complete, illustrative descriptions of embodiments and specific examples of the present invention are provided below; however, these are not the only forms of implementing or utilizing the specific embodiments of the present invention. The embodiments cover features of multiple specific embodiments and the methods, steps, and their order for constructing and operating these specific embodiments. However, other specific embodiments may also be used to achieve the same or equivalent functions and step sequences. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in sequences other than those illustrated or described herein.

[0030] In the description of the embodiments of the present invention, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The word "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more. Other quantifiers should be understood similarly. The preferred embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention. Furthermore, the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0031] Example 1 like Figure 1 The above is a flowchart of an object detection method based on a four-quadrant detector provided in an embodiment of the present invention, including the following steps.

[0032] S10: Obtain a photoelectric sensor with a four-quadrant detector, and emit a detection beam towards the target object through the emitting end of the photoelectric sensor. Specifically, in this embodiment of the invention, a photoelectric sensor with a four-quadrant detector can be obtained first. The four-quadrant photoelectric detector is a photoelectric conversion device composed of four photodiodes with the same performance arranged in a rectangular coordinate system. The position offset can be calculated by detecting the distribution difference of the light spot in the four quadrants. The photoelectric sensor of the present invention includes a sensor housing, in which a emitting end and a receiving end are provided. The emitting end includes a light-emitting diode 22, a driving circuit 21, a emitting lens 23, and an output window. The output end of the driving circuit 21 is connected to the light-emitting diode 22, providing the driving current required for the light-emitting diode 22 to light up. The emitting lens 23 is located in front of the light-emitting diode 22 and is used to collimate the output light source of the light-emitting diode 22.

[0033] S20: The receiving end of the photoelectric sensor receives the reflected light beam from the target object and forms a light spot on the four-quadrant detector of the photoelectric sensor; wherein, the four-quadrant detector includes four photosensitive quadrants divided along a first direction and a second direction. Specifically, in this embodiment of the invention, the receiving end of the photoelectric sensor includes a four-quadrant detector 10, a receiving lens 11, a differential amplifier circuit, and a microcontroller module. The light beam emitted by the emitting end of the photoelectric sensor is reflected back to the receiving end after being reflected by the target object. Figure 2 The image shown is a photosensitive quadrant diagram of a four-quadrant detector provided in an embodiment of the present invention. The first direction is the X-axis direction, and the second direction is the Y-axis direction. A light spot is formed on the four-quadrant detector by reflecting a light beam, which can accurately locate the position of the target object. The four-quadrant sensor can simultaneously capture the changes in the position of the light spot in both the horizontal and vertical directions, increasing the accuracy and range of detection.

[0034] S30: Acquire the electrical signals output from each photosensitive quadrant of the four-quadrant detector, and calculate the first and second offsets of the light spot position on the four-quadrant detector based on the electrical signals output from each photosensitive quadrant. Specifically, in this embodiment of the invention, by acquiring the electrical signals from each photosensitive quadrant, the offset of the light spot on the detector can be accurately calculated. The calculation of the first and second offsets provides an important basis for determining the rotation angle and distance of the object, thereby enhancing the automation level of object detection by the photoelectric sensor.

[0035] S40: Based on preset calibration data, the first offset is converted into the rotation angle value of the target detection object, and the second offset is converted into the distance value of the target detection object. Specifically, in this embodiment of the invention, using preset calibration data to convert the spot offset into the rotation angle and distance of the object can ensure the accuracy of the conversion process and reduce the uncertainty caused by measurement errors.

[0036] S50: The target detection object is filtered based on its rotation angle and distance values. Specifically, in this embodiment of the invention, filtering the detected target detection objects based on rotation angle and distance information can quickly determine the characteristics of the target detection objects and effectively improve the detection efficiency.

[0037] As an optional implementation, step S10, which involves acquiring a photoelectric sensor with a four-quadrant detector and emitting a detection beam towards the target object through the emitting end of the photoelectric sensor, includes: S11: A continuous driving current is provided to the light-emitting diode (LED) through the driving circuit at the transmitting end, causing the LED to emit a detection beam. Specifically, in this embodiment of the invention, a driving circuit is used to provide a continuous driving current to the LED, ensuring the stability of the detection beam emitted by the LED. The continuously emitted beam can monitor the state changes of the target object in real time, making the entire detection process more dynamic and responsive. Furthermore, using an LED as a light source has the advantages of low power consumption and long lifespan.

[0038] S12: The detection beam is collimated using the transmitting lens at the transmitting end, and the collimated detection beam is then sent to the target object through the output window of the transmitting end. Specifically, in this embodiment of the invention, using the transmitting lens to collimate the detection beam can effectively focus the beam, reduce scattering and diffusion during propagation, thereby improving the effective illumination range and intensity of the beam. Furthermore, sending the collimated beam to the target object through the output window ensures the directionality of the beam, providing a more reliable basis for subsequent detection.

[0039] As an optional implementation, in step S20, the reflected light beam reflected by the target object is received by the receiving end of the photoelectric sensor, and the reflected light beam forms a light spot on the four-quadrant detector of the photoelectric sensor; wherein, the four-quadrant detector includes four photosensitive quadrants divided along a first direction and a second direction, including: S21: The reflected light beam is received by the receiving lens of the receiving end, and the received reflected light beam is converged. Specifically, in this embodiment of the invention, the use of the receiving lens can effectively converge the reflected light beam, enhancing the intensity and clarity of the optical signal. This ensures that even under conditions of weak light or complex environments, the sensor can obtain sufficient optical signal for subsequent processing. By converging the reflected light beam, scattering and loss during beam propagation can be reduced, thereby improving detection accuracy.

[0040] S22: The converged reflected beam is sent to the photosensitive surface of the four-quadrant detector, forming a light spot on the photosensitive surface; wherein, the four-quadrant detector is composed of four photodiodes in a 2×2 array, each corresponding to one of the four photosensitive quadrants. Specifically, in this embodiment of the invention, sending the converged beam to the photosensitive surface of the four-quadrant detector can form a clear light spot in each photosensitive quadrant, providing accurate feedback on the position of the target object. The 2×2 array structure of the four photodiodes can simultaneously detect the position of the light spot in two directions, thereby realizing real-time monitoring of the position of the target object. In addition, the formation and distribution of the light spot can directly reflect the characteristics of the target object, providing direct and reliable data support for subsequent angle and distance calculations.

[0041] As an optional implementation method, such as Figure 3 As shown, Figure 3 The flowchart provided in this embodiment of the invention provides a method for calculating the offset of a light spot position. In step S30, the electrical signals output from each photosensitive quadrant of the four-quadrant detector are collected, and based on the electrical signals output from each photosensitive quadrant, a first offset and a second offset of the light spot position on the four-quadrant detector are calculated. This includes: S31: Collect the light signals from each photosensitive quadrant of the four-quadrant detector, and convert the collected light signals into corresponding analog electrical signals. Specifically, in this embodiment of the invention, by converting the light signals into analog electrical signals, the position and state changes of the object can be accurately reflected.

[0042] S32: The analog electrical signals from each photosensitive quadrant are input to the differential amplifier circuit of the four-quadrant detector for differential amplification, and the amplified analog electrical signals are then converted from analog to digital. Specifically, in this embodiment of the invention, the differential amplifier circuit can effectively improve the signal-to-noise ratio, reduce the interference of environmental noise on the signal, and ensure the signal quality for subsequent processing. The analog-to-digital conversion process converts the continuous analog signal into a discrete digital signal, facilitating subsequent digital processing and calculation.

[0043] S33: The digital signal after analog-to-digital conversion is input to the microcontroller module of the photoelectric sensor to calculate the first position offset of the light spot in the first direction and the second position offset of the light spot in the second direction. Specifically, in this embodiment of the invention, as follows... Figures 4 to 5 As shown, Figure 4 This is a structural diagram of a target detection object rotation angle change provided in an embodiment of the present invention. Figure 5 This is a structural diagram illustrating the distance variation of a target detection object according to an embodiment of the present invention. When a detection beam is emitted to the target object, if an angular deviation occurs, the position of the light spot reflected back to the receiving end by the target object will shift along the X-axis, such as... Figure 4As shown, the target object, at different angles, such as the first detection angle and the second detection angle, will have its spot position on the quadrant detector shifted along the X-axis. If the target object is located at different detection positions, due to the principle of laser triangulation, the spot position reflected back to the quadrant detector by the target object will have a shift along the Y-axis, such as... Figure 5 As shown, when the target object changes from the first position to the second position, the light spot will eventually shift on the Y-axis.

[0044] As an optional implementation, the first position offset of the light spot in the first direction The calculation formula is: in, , , , These are the digital signal values ​​output from the four quadrants of the four-quadrant detector, respectively. This indicates the dimension of the displacement sensor on the four-axis detector in the first direction; The second position offset of the light spot in the second direction The calculation formula is: in, This indicates the dimension of the displacement sensor on the quadrant detector in the second direction.

[0045] As an optional implementation, in step S40, converting the first offset into a rotation angle value of the target detection object based on preset calibration data, and converting the second offset into a distance value of the target detection object, includes: S41: A first calibration mapping relationship is preset between the first offset and the rotation angle, converting the first offset into the rotation angle value of the target detection object. Specifically, in this embodiment of the invention, the conversion between the first offset and the rotation angle can be realized through the preset calibration mapping relationship. This allows the offset of the light spot on the four-quadrant detector to be directly associated with the rotation angle of the target detection object, enabling the photoelectric sensor to quickly and accurately determine the direction and attitude of the object.

[0046] S42: A second calibration mapping relationship is preset between the second offset and the detection distance, and the second offset is converted into the distance value of the target object being detected. Specifically, in this embodiment of the invention, by establishing a calibration mapping relationship between the second offset and the detection distance, the offset of the light spot can be effectively converted into the actual distance of the target object being detected. This enables the photoelectric sensor to provide accurate distance measurement.

[0047] As an optional implementation, the step of filtering the target detection objects based on their rotation angle and distance values ​​includes: S51: Compare the rotation angle value of the target detection object with a preset angle threshold range, and compare the distance value of the target detection object with a preset distance threshold range. Specifically, in this embodiment of the invention, by comparing the rotation angle value and distance value of the target detection object with preset threshold ranges, effective screening of the target detection object can be achieved, and it can quickly determine whether the target detection object meets specific detection conditions, thereby improving the accuracy and response speed of the photoelectric sensor. This allows the photoelectric sensor to be adjusted according to different application scenarios or needs, thus adapting to various working environments.

[0048] S52: When the rotation angle value is within the angle threshold range and the distance value is within the distance threshold range, a judgment signal indicating that the target detection object is qualified is generated. Specifically, in this embodiment of the invention, a qualified judgment signal is generated when the rotation angle and distance conditions are met, enabling the photoelectric sensor to clearly classify and process the target detection object. This not only makes subsequent processing more efficient but also reduces unnecessary computation and resource consumption, because only target detection objects that meet the standards will be subject to subsequent operation processes. This effectively improves the efficiency of the photoelectric sensor in detecting target detection objects.

[0049] This invention receives a reflected light beam from a target object via a photoelectric sensor's receiver, and forms a light spot on the four-quadrant detector of the photoelectric sensor. This allows the four-quadrant detector to simultaneously detect changes in the position of the light spot in both the horizontal and vertical directions. Furthermore, by acquiring the electrical signals output from each photosensitive quadrant of the four-quadrant detector and calculating the first and second offsets of the light spot position on the detector based on these signals, the displacement of the light spot can be accurately quantified. Simultaneously, changes in the target object's rotation angle and distance can be calculated, effectively expanding the sensor's applicable scenarios while simultaneously detecting the target object's distance.

[0050] Example 2 Based on the above-described object detection method using a four-quadrant detector, this invention provides an object detection device based on a four-quadrant detector, such as... Figure 6 As shown in Figure 6, the object detection device based on a four-quadrant detector includes: The acquisition module 61 is used to acquire the photoelectric sensor with a four-quadrant detector and emit a detection beam towards the target object through the emitting end of the photoelectric sensor. The receiving module 62 is used to receive the reflected light beam reflected by the target detection object through the receiving end of the photoelectric sensor, and to make the reflected light beam form a light spot on the four-quadrant detector of the photoelectric sensor; wherein, the four-quadrant detector includes four photosensitive quadrants divided along a first direction and a second direction. The calculation module 63 is used to collect the electrical signals output by each photosensitive quadrant of the four-quadrant detector, and calculate the first offset and the second offset of the position of the light spot on the four-quadrant detector based on the electrical signals output by each photosensitive quadrant. The conversion module 66 is used to convert the first offset into the rotation angle value of the target detection object based on preset calibration data, and to convert the second offset into the distance value of the target detection object; The filtering module 65 is used to filter the target detection object based on the rotation angle value and distance value of the target detection object.

[0051] For further details regarding the implementation of the above technical solution by each module in the object detection device based on the four-quadrant detector, please refer to the description in the object detection method based on the four-quadrant detector provided in the above embodiments of the invention, which will not be repeated here.

[0052] Example 3 Based on the above object detection method based on a four-quadrant detector, such as Figure 7 As shown in the diagram, an embodiment of the present invention provides a schematic diagram of an object detection device based on a four-quadrant detector. The device includes a processor 71 and a memory 72 coupled to the processor 71. The memory 72 stores a computer program, which, when executed by the processor 71, causes the processor 71 to perform the steps of the object detection method based on a four-quadrant detector described in the above embodiment.

[0053] For further details regarding the implementation of the above technical solution by the processor 71 in the object detection device based on the four-quadrant detector, please refer to the description in the object detection method based on the four-quadrant detector provided in the above embodiments of the invention, which will not be repeated here.

[0054] The processor 71 can also be called a CPU (Central Processing Unit). The processor 71 may be an integrated circuit chip with signal processing capabilities. The processor 71 can also be a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor, or the processor 71 can be any conventional processor.

[0055] Example 4 like Figure 8 The diagram illustrates the structure of a computer-readable storage medium provided in this embodiment of the invention. The storage medium stores a readable computer program 81. This computer program 81 can be stored in the storage medium as a software product and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in various embodiments of the invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic disks or optical disks, ROM (Read-Only Memory), RAM (Random Access Memory), or terminal devices such as computers, servers, mobile phones, and tablets.

[0056] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, apparatuses, or modules, and may be electrical, mechanical, or other forms.

[0057] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0058] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium.

[0059] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.

[0060] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0061] The technical solutions provided in this application have been described in detail above. Specific examples have been used in this application to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

[0062] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0063] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0064] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0065] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0066] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. An object detection method based on a four-quadrant detector, characterized in that, include: Acquire a photoelectric sensor with a four-quadrant detector, and emit a detection beam towards the target object through the transmitter of the photoelectric sensor; The photoelectric sensor receives a reflected light beam from the target object and forms a light spot on the four-quadrant detector of the photoelectric sensor. The four-quadrant detector includes four photosensitive quadrants divided along a first direction and a second direction. The electrical signals output from each photosensitive quadrant of the four-quadrant detector are collected, and based on the electrical signals output from each photosensitive quadrant, the first offset and the second offset of the light spot position on the four-quadrant detector are calculated. Based on preset calibration data, the first offset is converted into the rotation angle value of the target detection object, and the second offset is converted into the distance value of the target detection object; The target objects are filtered based on their rotation angle and distance values.

2. The object detection method based on a four-quadrant detector according to claim 1, characterized in that, The step of acquiring a photoelectric sensor with a four-quadrant detector and emitting a detection beam towards the target object through the emitting end of the photoelectric sensor includes: A continuous driving current is provided to the light-emitting diode through the driving circuit of the transmitting end, and the light-emitting diode emits a detection beam. The detection beam is collimated by the transmitting lens of the transmitting end, and the collimated detection beam is sent to the target detection object through the output window of the transmitting end.

3. The object detection method based on a four-quadrant detector according to claim 2, characterized in that, The method involves receiving a reflected light beam from the target object through the receiving end of the photoelectric sensor, and forming a light spot on the four-quadrant detector of the photoelectric sensor; wherein the four-quadrant detector includes four photosensitive quadrants divided along a first direction and a second direction, including: The received beam is received by the receiving lens of the receiving end, and the received reflected beam is converged. The converged reflected beam is sent to the photosensitive surface of the four-quadrant detector, and a light spot is formed on the photosensitive surface; wherein, the four-quadrant detector is composed of four photodiodes in a 2×2 array, each corresponding to one of the four photosensitive quadrants.

4. The object detection method based on a four-quadrant detector according to claim 1, characterized in that, The process of acquiring the electrical signals output from each photosensitive quadrant of the four-quadrant detector, and calculating the first and second offsets of the light spot position on the four-quadrant detector based on the electrical signals output from each photosensitive quadrant, includes: The optical signals of each photosensitive quadrant of the four-quadrant detector are collected respectively, and the collected optical signals are converted into corresponding analog electrical signals; The analog electrical signals of each photosensitive quadrant are input into the differential amplifier circuit of the four-quadrant detector for differential amplification, and the differentially amplified analog electrical signals are then converted from analog to digital. The digital signal after analog-to-digital conversion is input to the microcontroller module of the photoelectric sensor to calculate the first position offset of the light spot in the first direction and the second position offset of the light spot in the second direction.

5. The object detection method based on a four-quadrant detector according to claim 1, characterized in that, The microcontroller module that inputs the analog-to-digital converted digital signal to the photoelectric sensor calculates the first position offset of the light spot in the first direction and the second position offset of the light spot in the second direction, including: The first position offset of the light spot in the first direction The calculation formula is: in, , , , These are the digital signal values ​​output from the four quadrants of the four-quadrant detector, respectively. This indicates the dimension of the displacement sensor on the four-axis detector in the first direction; The second position offset of the light spot in the second direction The calculation formula is: in, This indicates the dimension of the displacement sensor on the quadrant detector in the second direction.

6. The object detection method based on a four-quadrant detector according to claim 1, characterized in that, The step of converting the first offset into a rotation angle value of the target object and the second offset into a distance value of the target object based on preset calibration data includes: A first calibration mapping relationship between the first offset and the rotation angle is preset, and the first offset is converted into the rotation angle value of the target detection object; A second calibration mapping relationship is preset between the second offset and the detection distance, and the second offset is converted into the distance value of the target object to be detected.

7. The object detection method based on a four-quadrant detector according to claim 1, characterized in that, The step of filtering the target detection objects based on their rotation angle and distance values ​​includes: The rotation angle value of the target object is compared with a preset angle threshold range, and the distance value of the target object is compared with a preset distance threshold range. When the rotation angle value is within the angle threshold range and the distance value is within the distance threshold range, a judgment signal indicating that the target detection object is qualified is generated.

8. An object detection device based on a four-quadrant detector, characterized in that, include: The acquisition module is used to acquire the photoelectric sensor with a four-quadrant detector and emit a detection beam towards the target object through the transmitter of the photoelectric sensor. The receiving module is used to receive the reflected light beam reflected by the target detection object through the receiving end of the photoelectric sensor, and to make the reflected light beam form a light spot on the four-quadrant detector of the photoelectric sensor; wherein, the four-quadrant detector includes four photosensitive quadrants divided along a first direction and a second direction. The calculation module is used to collect the electrical signals output by each photosensitive quadrant of the four-quadrant detector, and calculate the first offset and the second offset of the position of the light spot on the four-quadrant detector based on the electrical signals output by each photosensitive quadrant. The conversion module is used to convert the first offset into the rotation angle value of the target detection object based on preset calibration data, and to convert the second offset into the distance value of the target detection object; The filtering module is used to filter the target detection object based on the rotation angle value and distance value of the target detection object.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the object detection method based on a four-quadrant detector as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the object detection method based on a four-quadrant detector as claimed in any one of claims 1 to 7.

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