CN112325982A - Liquid level detection method based on TOF (time of flight), automatic liquid injection method and liquid drinking machine - Google Patents
Liquid level detection method based on TOF (time of flight), automatic liquid injection method and liquid drinking machine Download PDFInfo
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- 239000007788 liquid Substances 0.000 title claims abstract description 244
- 238000001514 detection method Methods 0.000 title claims abstract description 52
- 230000035622 drinking Effects 0.000 title claims abstract description 41
- 238000002347 injection Methods 0.000 title claims abstract description 39
- 239000007924 injection Substances 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000004364 calculation method Methods 0.000 claims description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 15
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000037452 priming Effects 0.000 description 2
- 238000002310 reflectometry Methods 0.000 description 2
- 238000010079 rubber tapping Methods 0.000 description 2
- 239000000243 solution Substances 0.000 description 2
- 241000190070 Sarracenia purpurea Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000002366 time-of-flight method Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
- G01F23/292—Light, e.g. infrared or ultraviolet
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D9/00—Level control, e.g. controlling quantity of material stored in vessel
- G05D9/12—Level control, e.g. controlling quantity of material stored in vessel characterised by the use of electric means
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- Measurement Of Levels Of Liquids Or Fluent Solid Materials (AREA)
Abstract
The invention discloses a liquid level detection method based on TOF, an automatic liquid injection method and a liquid drinking machine; the detection method comprises the following steps: continuously emitting light pulses to the cup placing area; receiving at least part of photons reflected by a target object in the cup placing area through a one-dimensional first TOF sensor and forming first photon information, wherein a vertical downward projection of the first TOF sensor is positioned in the cup placing area; receiving at least part of photons reflected by the target object through a one-dimensional second TOF sensor and forming second photon information, wherein the vertical downward projection of the second TOF sensor is positioned outside the cup placing region; processing the first photon information to obtain liquid level distance information; processing the second photon information to obtain cup edge distance information; calculating to obtain liquid level information according to the liquid level distance information and the cup edge distance information; the automatic liquid injection method controls liquid injection according to liquid level information; the liquid drinking machine has an automatic liquid injection function; the invention can realize liquid level detection, can automatically control liquid injection, and has good user experience and controllable cost.
Description
Technical Field
The invention relates to the technical field of electric appliances and electric appliance control, in particular to a liquid level detection method based on TOF (time of flight), an automatic liquid injection method and a liquid drinking machine.
Background
When the liquid drinking machine is used, a user places the cup below the liquid outlet of the drinking machine, so that the liquid outlet can be aligned to the liquid outlet of the cup, the drinking machine injects liquid such as mineral water, coffee and the like into the cup through the liquid outlet, and the user takes out the cup from the cup placing area below the liquid outlet after liquid injection, namely liquid taking operation is completed.
However, when the existing liquid drinking machine is used, a water outlet valve needs to be manually opened, a user needs to observe the water receiving amount, and when the water receiving amount reaches the target water amount, a water-saving valve is manually closed; the whole process of the user needs manual operation, the liquid taking process is troublesome, and the user experience is influenced.
Disclosure of Invention
One object of an embodiment of the present invention is to: a liquid level detection method based on TOF is provided, and liquid level information of a target area can be detected and obtained through a flight time detection technology.
Another object of an embodiment of the present invention is to: provided is an automatic liquid injection method of a liquid drinking machine, which can detect liquid level information in a cup, and can automatically inject liquid and automatically stop injecting liquid.
Another object of an embodiment of the present invention is to: the liquid drinking machine capable of automatically injecting liquid is provided, the liquid can be automatically injected, the use is convenient, the user experience is high, and the cost is controllable.
In order to achieve the purpose, the invention adopts the following technical scheme:
a liquid level detection method based on TOF comprises the following steps:
s1: continuously emitting light pulses to the cup placing area;
s2: receiving at least part of photons reflected by a target object in the cup placing region through a one-dimensional first TOF sensor and forming first photon information, wherein a vertical downward projection of the first TOF sensor is positioned in the cup placing region;
s3: receiving at least part of photons reflected by the target object through a one-dimensional second TOF sensor and forming second photon information, wherein the vertical downward projection of the second TOF sensor is positioned outside the cup placing region;
s4: processing the first photon information to obtain liquid level distance information;
s5: processing the second photon information to obtain cup edge distance information;
s6: and calculating to obtain liquid level information according to the liquid level distance information and the cup edge distance information.
Preferably, in the step S5: and when the second photon information is processed, the distance information of the cup placing supporting plate is also obtained.
Preferably, in the step S5: when the second photon information is processed, the distance information of the cup placing supporting plate is obtained;
in the step S6: and calculating to obtain liquid level information according to the liquid level distance information, the cup edge distance information and the cup placing supporting plate distance information.
Preferably, the first photon information comprises a number of return photons received by the first TOF sensor and a return time for each return photon, and the second photon information comprises a number of return photons received by the second TOF sensor and a return time for each return photon.
Preferably, in the step of S4, the first photon information is processed by:
a statistical processing step: after the first photon information is received, carrying out statistical processing on photon return time and photon return quantity to generate a first photon information statistical histogram;
distance calculation step: extracting target peak data in the first photon information statistical histogram, and fitting and calculating a distance value from a target object to the first TOF sensor according to the target peak data;
in the S5 step, the second photon information is processed by:
a statistical processing step: after the second photon information is received, carrying out statistical processing on the photon return time and the photon return quantity to generate a second photon information statistical histogram;
distance calculation step: extracting target peak data in the second photon information statistical histogram, and fitting and calculating a distance value from a target object to the second TOF sensor according to the target peak data;
the horizontal axis of the first photon information statistical histogram and the second photon information statistical histogram is photon flight time, and the vertical axis is photon number.
Preferably, when a cup is placed in the cup placing region, the first TOF sensor receives a number of returned photons, including photons reflected by a liquid level of the liquid in the cup;
when a cup is placed in the cup placing area, the photons reflected by the cup edge of the cup and the cup placing supporting plate for supporting the cup are contained in the returned photons received by the second TOF sensor.
Preferably, in the step S6, the height of the cup is calculated according to the cup edge distance information and the cup placing pallet information, and the height of the liquid level is calculated according to the liquid level distance information and the cup placing pallet distance information; calculating a ratio between the cup height and the liquid level height to obtain the liquid level information.
Preferably, in the S1 step, photons are continuously emitted to the target region by VSCEL at a preset modulation frequency.
An automatic liquid filling method of a liquid drinking machine is characterized by comprising the following steps:
liquid level information detection: the liquid level detection method is implemented, and the liquid level information in the cup is detected in real time;
liquid injection control step: acquiring the liquid level information, wherein the liquid level information is numerical value information; judging whether the liquid level information is within a preset threshold value; when the liquid level information is out of the preset threshold value, controlling a liquid injection device of the liquid drinking machine to stop injecting liquid; and when the liquid level information is within the preset threshold value, controlling a liquid injection device of the liquid drinking machine to start injecting liquid or continue injecting liquid.
A liquid drinking machine capable of automatically injecting liquid comprises a machine body, a TOF ranging module and a main controller, wherein the TOF ranging module and the main controller are matched to execute the automatic liquid injection method;
the machine body comprises a top plate, wherein a liquid injection port is formed in the top plate, and a central detection area is formed in the top plate; the TOF ranging module comprises a transmitting unit and a receiving unit; the transmitting unit comprises a light emitter for emitting photons to a target region, and the receiving unit comprises both the first TOF sensor and the second TOF sensor; the first TOF sensor is arranged in the central detection area, and the second TOF sensor is arranged outside the central detection area.
Preferably, the TOF ranging module comprises at least two second TOF sensors, and at least one second TOF sensor is arranged on each of two sides of the first TOF sensor in the width direction of the liquid drinking machine.
The invention has the beneficial effects that: according to the liquid level detection method based on the TOF, liquid level information of a target area can be obtained through detection through a flight time detection technology; the automatic liquid injection method of the liquid drinking machine can detect the liquid level information in the cup and automatically control the liquid injection; this liquid drinking machine that can annotate liquid automatically, it can annotate liquid automatically, convenient to use, and user experience is high, and the cost is controllable.
Drawings
The invention is explained in more detail below with reference to the figures and examples.
FIG. 1 is a schematic perspective view of a liquid drinking machine according to an embodiment of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 illustrates a TOF sensor arrangement in accordance with an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a TOF sensor according to an embodiment of the present invention (dashed-dotted line in the figure is a liquid injection centerline);
FIG. 5 is a second schematic diagram of detection of a TOF sensor according to an embodiment of the present invention (dashed-dotted line in the figure is a liquid injection centerline);
fig. 6 is a second photon information statistical histogram obtained after performing statistical processing on photon information detected by a second TOF sensor according to an embodiment of the present invention;
FIG. 7 is a schematic perspective view of a liquid dispenser according to an embodiment of the present invention;
FIG. 8 is a schematic diagram showing a matching relationship between a TOF liquid level detection module, a main controller and a liquid outlet valve according to an embodiment of the present disclosure;
in the figure: 11. a body; 12. a top plate; 13. a liquid outlet; 14. a support plate; 15. a liquid storage tank; 20. a TOF liquid level detection module; 21. a three-dimensional TOF sensor; 221. a first TOF sensor; 222. a second TOF sensor; 81. the sensor cover plate reflects a peak signal; 82. cup edge reflection spikes; 83. the cup placing supporting plate reflects a peak signal; 90. a cup; 91. a cup rim; 92. the liquid level.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected" and "fixed" are to be understood broadly, e.g., as being fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
It should be noted that the TOF technique, i.e. time-of-flight ranging technique, mainly uses the time of flight of the flight medium (e.g. photons) after they fly out of the transmitter and impact on the target object and then return to the TOF sensor in the receiver to measure the distance between the receiver and the target object.
The first embodiment is as follows:
the embodiment provides a liquid level detection method based on TOF, and the liquid level detection method can be used for detecting cup edge distance information, cup placing supporting plate distance information and liquid level distance information of a cup 90. After the distance information is detected, liquid level information can be obtained through calculation, whether the liquid level information is in a preset threshold value or not is judged, and a liquid outlet valve of the liquid drinking machine can be opened or closed through the main controller, so that automatic liquid injection is realized.
In this embodiment, the cup edge distance information, the cup placing support plate distance information, the liquid level distance information and the liquid level information are numerical value information. The distance between the cup edge 91 and the liquid surface 92 is a, the distance between the cup surface 92 and the liquid surface is b, and the distance between the cup placing supporting plate 14 is c.
By the liquid level detection method, the liquid level information of the cup 90 can be detected, and the liquid level detection method can be matched with a main controller to control the opening or closing of a liquid outlet valve of a liquid drinking machine.
As shown in fig. 1-8, the liquid level detection method comprises the following steps:
s1: continuously emitting light pulses to the cup placing area;
s2: receiving at least a portion of the photons reflected by the target in the cupped region and forming first photon information by a one-dimensional first TOF sensor 221, a vertical downward projection of the first TOF sensor 221 being located within the cupped region;
s3: receiving at least part of the photons reflected by the target object by a one-dimensional second TOF sensor 222 and forming second photon information, wherein the vertical downward projection of the second TOF sensor 222 is positioned outside the cup placing region;
s4: processing the first photon information to obtain liquid level distance information;
s5: processing the second photon information to obtain cup edge distance information;
s6: and calculating to obtain liquid level information according to the liquid level distance information and the cup edge distance information.
Further, in the step S5: when the second photon information is processed, the distance information of the cup placing supporting plate is obtained;
in step S6: and calculating to obtain liquid level information according to the liquid level distance information, the cup edge distance information and the cup placing supporting plate distance information.
Further, each TOF sensor is matched to a light emitter.
Further, in step S1, photons are continuously emitted to the target region by VSCEL at a preset modulation frequency. Wherein the VSCEL is a vertical cavity surface emitting laser.
The sequence numbers of the above steps are not used to limit the execution sequence among the steps. Wherein, the steps S2 and S3 may be performed in synchronization, and the steps S4 and S5 may be performed in synchronization.
The liquid level detection method based on TOF is suitable for being executed by a TOF ranging module and applied to a liquid drinking machine to detect liquid level height information in a cup 90 used for receiving liquid below a liquid outlet 13 of the liquid drinking machine, so that a liquid obtaining controller can judge whether liquid injection operation is needed or not and whether liquid injection operation is needed to be stopped or not according to the detected liquid level height information.
In the detection method, during detection, the first TOF sensor 221 needs to be arranged right above the cup opening (namely, the first TOF sensor 221 falls into the cup 90 vertically), and the second TOF sensor 222 needs to be arranged obliquely above the cup 90 (namely, the first TOF sensor 221 falls out of the cup 90 vertically); the arrangement is such that the first TOF sensor 221 can receive photons reflected back from the liquid level 92 to form first photon information and the second TOF sensor 222 can receive photons reflected back from the cup rim 91 and the tray 14 for placing the cup to form second photon information.
By processing the first photon information and the second photon information, the liquid level information in the cup 90 can be obtained, and the liquid level information includes: the liquid level in the cup 90 is 50% of the height of the cup 90.
As shown in FIG. 4, the area inside the dotted circle is the cup-holding area.
The cup placing area is an area for placing a cup 90 below the top plate 12, and when the cup 90 is placed in the cup placing area, liquid flowing out of the liquid outlet 13 can be injected into the cup 90 to realize liquid injection; wherein the position of the tapping area is related to the position of the tapping orifice 13.
The cup 90 height and the liquid level 92 height are detected by adopting the one-dimensional TOF sensor, the cup does not need to be matched with photographing equipment for use, and compared with the method for measuring distance by adopting the three-dimensional TOF sensor 21, the cost can be reduced by several times because a pixel matrix does not need to be integrated in the one-dimensional TOF sensor; the one-dimensional TOF sensor is adopted for ranging, the cost is controllable, only distance data of a target object need to be acquired, a three-dimensional depth image does not need to be established according to the RAW image and the distance information, and the implementation is simple.
Further, the first photon information includes the number of return photons received by the first TOF sensor 221 and the return time of each return photon, and the second photon information includes the number of return photons received by the second TOF sensor 222 and the return time of each return photon.
Further, when a cup 90 is placed in the cup placing area, the liquid outlet 13 of the liquid drinking machine is aligned with the mouth of the cup 90, and liquid is present in the cup 90, the first TOF sensor 221 receives a number of returned photons, including photons reflected by the liquid level 92 of the liquid in the cup 90;
when a cup 90 is placed in the cup placing area, the liquid outlet 13 of the liquid drinking machine is aligned with the mouth of the cup 90, and liquid is in the cup 90, the first TOF sensor 221 receives a plurality of returned photons, including photons reflected by the bottom of the cup 90;
the second TOF sensor 222 receives a number of returned photons when a cup 90 is placed in the cup placement region, including photons reflected by the rim 91 of the cup 90 and photons reflected by the cup pallet 14 holding the cup 90.
Further, in the step S4, a statistical processing step is included; the statistical treatment steps are as follows: after the first photon information is received, carrying out statistical processing on photon return time and photon return quantity to generate a first photon information statistical histogram;
in the step S5, a statistical processing step is included; the statistical treatment steps are as follows: and after receiving the second photon information, performing statistical processing on the photon return time and the photon return quantity to generate a second photon information statistical histogram.
The horizontal axis of the first photon information statistical histogram and the second photon information statistical histogram is photon flight time, and the vertical axis is photon number.
Further, in the step S4, a distance calculation step performed after the statistical processing step is further included; the distance calculation step is as follows: extracting target peak data in the first photon information statistical histogram, and fitting and calculating a distance value from a target object to the first TOF sensor 221 according to the target peak data;
when a plurality of target peaks appear in the first photon information statistical histogram, identifying distance values between a plurality of target objects in the target area and the first TOF sensor 221 by performing a distance calculation step;
in the step S5, a distance calculation step performed after the statistical processing step is further included; the distance calculation step is as follows: extracting target peak data in the second photon information statistical histogram, and fitting and calculating a distance value from a target object to the second TOF sensor 222 according to the target peak data;
when a plurality of target spikes occur in the second photon information statistical histogram, distance values of a plurality of targets within the target region from the second TOF sensor 222 are identified by performing a distance calculation step.
Fig. 6 shows a second statistical histogram of photon information, in which three target peaks appear, the first peak is a sensor cover reflection peak 81, the second peak is a cup edge reflection peak 82, and the third peak is a cup-releasing pallet reflection peak 83. Wherein, the sensor cover plate is a light-transmitting cover plate on the surface of the TOF liquid level detection module 20, and is used for protecting the TOF sensor.
In fig. 6, the hollow circles indicate the vertex positions of the bars in the original statistical histogram, and the dotted lines are fitted lines.
According to FIG. 6, the cup edge distance information of the second TOF sensor 222 to the cup edge 91 can be calculated from D1 data, and the pallet distance information of the second TOF sensor 222 to the set-top pallet 14 can be calculated from D2 data.
The detection principle of the liquid level detection method is as follows:
because the one-dimensional TOF sensor can only measure an integral distance in a front target area and cannot distinguish distance values of targets with different distances, in order to realize effective measurement of the cup body, a multi-target object measurement algorithm program is added into the controller on the basis of the basic functions of the first TOF sensor 221 and the second TOF sensor 222; by executing the program, distance information of one or more target objects in the target area can be calculated.
The multi-target object measurement algorithm program is based on a statistical histogram technology.
When the liquid level information is detected:
a VCSEL light source of the TOF sensor continuously emits a large number of photons (940nm wavelength) to a target area according to a certain modulation frequency, and at least part of the photons return to the TOF sensor after impacting a target object and are received by the TOF sensor; the TOF sensor records the required time for each photon to return and the number of returned photons, and according to the two data, a statistical histogram as shown in fig. 6 is formed through statistics; the horizontal axis of the statistical histogram is the return time, the vertical axis is the number of photons, and when two effective targets are in the target region and the distances are unequal, two target peaks are displayed in the statistical histogram.
Here, the effective target means a target having a sufficiently large surface area; when the area of the target is large enough, the target peak is formed in the placement map. Therefore, data of a target peak of an effective target object are extracted through the algorithm, and a time value received by the sensor after photons impact the target object and return is fitted through the fitting algorithm, so that the distance value of the target object from the sensor can be calculated according to the light speed, and the distance values of a plurality of target objects in the target area are identified and detected.
As the water level rises, the effective area of the liquid level 92 in the cup 90 is larger than the effective area of the rim 91 of the cup 90; and the reflectivity of the liquid level 92 is greater than the reflectivity of the cup rim 91; if only one TOF sensor arranged right above the cup 90 is used for simultaneous detection, the number of photons returned from the rim 91 of the cup 90 that can be received by the sensor is small, and effective rim distance information cannot be obtained.
Therefore, in order to be able to efficiently acquire: liquid level distance information, cup edge distance information and cup placing supporting plate distance information; the first TOF sensor 221 and the second TOF sensor 222 are arranged, the first TOF sensor 221 detects distance data of the liquid level 92 right above the cup 90, and the second TOF sensor 222 detects distance data of the cup edge 91 and the cup bottom of the cup 90 on the side of the cup 90.
Meanwhile, in order to avoid interference of photons reflected by the outer surface of the cup body of the cup 90 on the obtained data detected by the second TOF sensor 222, a peak signal reflected by the cup edge 91 and a peak signal reflected by the cup placing pallet 14 cannot be clearly found in the statistical histogram; this application is through being equipped with second TOF sensor 222 the ascending top of cup 90 direction of height, the ascending side of horizontal direction, the response face of two sensors of cup body surface perpendicular to for the photon by cup body reflection can't return to second TOF sensor 222 almost, thereby avoids the photon of cup body reflection to cause the interference to the validity of second photon information statistics histogram, guarantees to obtain effectual cup along 91 distances and layer board 14 distance from second photon information statistics histogram.
By the detection method, the distance information of the cup edge 91, the cup placing supporting plate 14 and the liquid level 92 can be detected, and the height of the cup 90 and the liquid level height can be calculated, so that the liquid level information can be calculated, and the opening, closing or opening degree of the liquid outlet valve can be automatically controlled.
Example two:
the embodiment provides an automatic liquid injection method of a liquid drinking machine, which can detect liquid level information in a cup 90 and can automatically control liquid injection.
As shown in fig. 1 to 8, the automatic liquid injection method comprises the following steps:
liquid level information detection: performing the method of detecting liquid level as claimed in the above embodiment, detecting the liquid level information in the cup 90 in real time;
liquid injection control step: acquiring liquid level information, wherein the liquid level information is numerical value information; judging whether the liquid level information is within a preset threshold value; when the liquid level information is out of the preset threshold value, controlling a liquid injection device of the liquid drinking machine to stop injecting liquid; and when the liquid level information is within a preset threshold value, controlling a liquid injection device of the liquid drinking machine to start injecting liquid or continue injecting liquid.
In this embodiment, the value of the liquid level information is x, x is (b-a)/(c-a), and x is not more than 0.7.
In other embodiments, x is (c-a)/(b-a), or x is b-a.
Further, in this embodiment, the TOF liquid level detection module 20 detects liquid level information in the target area in real time, when the liquid level information is calculated, the main controller controls the liquid outlet 13 of the water dispenser or the coffee machine to automatically discharge water, measures liquid level information data in the cup 90 in real time, and when the liquid level reaches 70% of the height of the cup 90 (which can be set by itself as required), automatically stops water injection, and completes automatic detection.
The liquid drinking machine can also carry out a certain protection mechanism according to the liquid level information, for example, when a solid cylindrical object is placed, the current object can be calculated and judged to not meet the requirements of a water cup according to the measured distance parameters, and automatic water injection cannot be carried out; when the cup 90 is moved, the water can automatically stop flowing out; when the cup 90 is leaked, the water level is judged according to whether the water level rises after the water is injected for a certain time, and if the water level is abnormal, the cup is automatically stopped.
Example three:
this embodiment provides a can annotate liquid drinking machine of liquid automatically, but this can annotate liquid drinking machine of liquid automatically can annotate liquid automatically, convenient to use, and user experience is high, and the cost is controllable.
As shown in fig. 1 to 8, in an embodiment of the automatic priming liquid drinking machine of the present invention, the automatic priming liquid drinking machine comprises:
the automatic liquid injection method comprises a machine body 11, a TOF ranging module and a main controller, wherein the TOF ranging module and the main controller are matched to execute the automatic liquid injection method in the embodiment;
the machine body 11 comprises a top plate 12, wherein a liquid injection port is formed in the top plate 12, and a central detection area is formed in the top plate 12; the TOF ranging module comprises a transmitting unit and a receiving unit; the emitting unit comprises a light emitter for emitting photons towards the target region, and the receiving unit comprises a first TOF sensor 221 and a second TOF sensor 222; the first TOF sensor 221 is located in the central detection region and the second TOF sensor 222 is located outside the central detection region.
Further, the control processing module in the TOF ranging module is configured to execute steps S4 and S5, and the main controller is configured to execute step S6.
Further, the TOF ranging module comprises at least two second TOF sensors 222, and at least one second TOF sensor 222 is arranged on each of two sides of the first TOF sensor 221 in the width direction of the liquid drinking machine.
In particular, when the aperture of the cup 90 is large and the cup 90 is off-set, the situation shown in fig. 5 may occur, which may result in one of the second TOF sensors 222 being affected by the liquid level 92 and being unable to effectively detect and acquire the cup edge distance information. Therefore, at this time, another second TOF sensor 222 is needed to detect and acquire the cup edge distance information and the cup bottom distance information.
In other embodiments, only one second TOF sensor 222 may be used if the cup 90 is not of a larger gauge.
Further, in the TOF liquid level detection module 20, two or more second TOF sensors 222 are included, including one first TOF sensor 221.
Specifically, one second TOF sensor 222 or a plurality of second TOF sensors 222 can be employed depending on actual needs.
As shown in fig. 5, when the cup mouth of the cup 90 is too large, when the cup 90 is placed in the cup placing area, the first TOF sensor 221 and the second TOF sensor 222 thereof are both located right above the cup 90, at this time, the second TOF sensor 222 located right above the cup 90 may be affected by the liquid level 92 and cannot effectively detect the cup edge distance information, and at this time, the cup edge 91 distance data may be detected by the other second TOF sensor 222.
Further, as shown in fig. 5, since a user may sometimes place a cup 90 to the left or right when placing the cup 90 on the cup pallet 14, in order to ensure that at least one second TOF sensor 222 can detect valid cup edge distance information, two or more second TOF sensors 222 are included in the TOF liquid level detection module 20; the two second TOF sensors 222 are symmetrically distributed on both sides of the first TOF sensor 221 in the width direction of the liquid drinking machine.
Further, the body 11 includes a reservoir 15 for storing liquid.
In the description herein, it is to be understood that the terms "upper", "lower", "left", "right", and the like are used in an orientation or positional relationship based on that shown in the drawings, and are used for convenience of description and simplicity of operation only, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning. In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be appropriately combined to form other embodiments as will be appreciated by those skilled in the art.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. A liquid level detection method based on TOF is characterized by comprising the following steps:
s1: continuously emitting light pulses to the cup placing area;
s2: receiving at least a portion of photons reflected by a target in the cupped region and forming first photon information by a one-dimensional first TOF sensor (221), a vertical downward projection of the first TOF sensor (221) being located within the cupped region;
s3: receiving at least a portion of the photons reflected by the target and forming second photon information by a one-dimensional second TOF sensor (222), a vertical downward projection of the second TOF sensor (222) being outside the cup placing region;
s4: processing the first photon information to obtain liquid level distance information;
s5: processing the second photon information to obtain cup edge distance information;
s6: and calculating to obtain liquid level information according to the liquid level distance information and the cup edge distance information.
2. The TOF based liquid level detection method of claim 1 wherein in the step S5: when the second photon information is processed, the distance information of the cup placing supporting plate is obtained;
in the step S6: and calculating to obtain liquid level information according to the liquid level distance information, the cup edge distance information and the cup placing supporting plate distance information.
3. The TOF based liquid level detection method according to claim 2, wherein the first photon information comprises a number of return photons received by the first TOF sensor (221) and a return time per return photon, and the second photon information comprises a number of return photons received by the second TOF sensor (222) and a return time per return photon.
4. The TOF based liquid level detection method of claim 3 wherein in the step S4, the first photon information is processed by:
a statistical processing step: after the first photon information is received, carrying out statistical processing on photon return time and photon return quantity to generate a first photon information statistical histogram;
distance calculation step: extracting target peak data in the first photon information statistical histogram, and fitting and calculating a distance value from a target object to the first TOF sensor (221) according to the target peak data;
in the S5 step, the second photon information is processed by:
a statistical processing step: after the second photon information is received, carrying out statistical processing on the photon return time and the photon return quantity to generate a second photon information statistical histogram;
distance calculation step: extracting target peak data in the second photon information statistical histogram, and fitting and calculating a distance value from a target object to the second TOF sensor (222) according to the target peak data;
the horizontal axis of the first photon information statistical histogram and the second photon information statistical histogram is photon flight time, and the vertical axis is photon number.
5. The TOF based liquid level detection method according to claim 3 or 4, wherein when a cup (90) is placed in the cup placing area, the first TOF sensor (221) receives a number of returned photons including photons reflected by a level (92) of the liquid in the cup (90);
the second TOF sensor (222) receives a number of returned photons when a cup (90) is placed in the cup placement region, including photons reflected by a rim (91) of the cup (90) and photons reflected by a cup placement pallet (14) holding the cup (90).
6. The TOF-based liquid level detection method according to claim 4, wherein in the step S6, a cup (90) height is calculated according to the cup edge distance information and the cup placing pallet (14) information, and a liquid level height is calculated according to the liquid level distance information and the cup placing pallet distance information; calculating a ratio between the cup (90) height and the liquid level height to obtain the liquid level information.
7. The TOF based liquid level detection method of claim 1 wherein in the step S1, photons are continuously emitted to the target area by VSCEL at a preset modulation frequency.
8. An automatic liquid filling method of a liquid drinking machine is characterized by comprising the following steps:
liquid level information detection: -carrying out the method of any one of claims 1 to 7, detecting in real time the information of the liquid level inside the cup (90);
liquid injection control step: acquiring the liquid level information, wherein the liquid level information is numerical value information; judging whether the liquid level information is within a preset threshold value; when the liquid level information is out of the preset threshold value, controlling a liquid injection device of the liquid drinking machine to stop injecting liquid; and when the liquid level information is within the preset threshold value, controlling a liquid injection device of the liquid drinking machine to start injecting liquid or continue injecting liquid.
9. A liquid drinking machine capable of automatically injecting liquid is characterized by comprising a machine body (11), a TOF ranging module and a main controller, wherein the TOF ranging module is matched with the main controller to execute the automatic liquid injection method according to claim 8;
the machine body (11) comprises a top plate (12), a liquid injection port is formed in the top plate (12), and a central detection area is formed in the top plate (12); the TOF ranging module comprises a transmitting unit and a receiving unit; the emitting unit comprises a light emitter for emitting photons towards a target region, the receiving unit comprises both the first TOF sensor (221) and the second TOF sensor (222); the first TOF sensor (221) is disposed in the central detection region, and the second TOF sensor (222) is disposed outside the central detection region.
10. The liquid drinking machine according to claim 9, characterised in that the TOF ranging module comprises at least two second TOF sensors (222), at least one second TOF sensor (222) being provided on both sides of the first TOF sensor (221) in the width direction of the liquid drinking machine.
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