Laser sensor-based smart car ramp detection

Laser-based sensor smart car, using a single level of irradiation of the laser sensor to detect ramp, make a corresponding control program for the ramp. Car models is automatically tracking, track information to rely on a relatively high degree of sensor accuracy and anti-jamming capability requirements are relatively high. Laser sensors by modulating the transmitter to avoid the natural light of its impact, and improve the anti-jamming capability. Compared to the laser sensor to the infrared sensor to a much higher priority in the operating range, therefore Prospects larger distance, greatly enhance the control effect, and the receiving circuit of the laser sensor can be obtained directly after the binarization results, eliminating the intermediate modulus conversion and binarization process, the collected signal return directly to the microcontroller is 0 and 1, to reduce the workload of the microcontroller, and improve the overall speed of operation of the microcontroller. Laser sensor can not overcome the problem, precisely because the role of the laser distance, it appeared difficult to detect ramp information.

A description of the problem

Laser sensor smart car uphill, the reflection of light due to light the role of changes in the distance and slope will produce interference signal laser sensor can not properly identify the position of the black line, and eventually Cars can not ramp. To solve this problem, there are a variety of solutions, these programs can be divided into two categories, one is blind law, and the other non-blind over law. The unblinded law process is as follows: First, the data collected by infrared sensors, and analog-to-digital conversion of data mined, mined in the vicinity of the black line data than the interference signal, and then through a simple filter can It is easy to judge the position of the black line. But this method requires modulus conversion, and requires the participation of the infrared sensor, also need to set the threshold is binarized to determine the location of the black lines, the hardware implementation and algorithm process is more complicated, and occupy more MCU resources. The process of blind through method are as follows: the first detected by some sort of ramp sensor ramp, once detected Claim shielding laser sensors, the use of the sensor to the data of the previous time to be estimated, when the the ramps sensor detects the model car has passed ramp, immediately open the laser sensor, car models into the normal driving state. The blind Compared with non-blind method, the main problem is too much blindness, but most of all because of the ramp on the track on the straights, so the impact is not great, but also can be coupled with a row of infrared sensors or role from the more recent laser sensor to overcome this defect. In this paper, an example to the blind over the law.

2 single laser tube ramp detection program

2.1 Hardware Design

Laser sensor works in Figure 1 shows, when the laser launch tube to the white part of the track, a lot of light through the diffuse reflection is reflected back the receiver tube light received, the data transferred to the microcontroller to 0, when the laser irradiated to the black portion of the track, a large number of the light is absorbed and does not receive the light receiving pipe. The data transferred to the microcontroller.