CN115902818A - Signal detection system, radar system and detection method of image fusion laser - Google Patents
Signal detection system, radar system and detection method of image fusion laser Download PDFInfo
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Abstract
The present disclosure relates to a signal detection system, a radar system and a detection method thereof of image fusion laser, the signal detection system includes: the receiving lens group is used for converging echo signals reflected by an object to be detected in the area to be detected; the echo signals comprise laser signals and visible light signals reflected by an object to be detected; the detection assembly comprises a first receiving detector and a second receiving detector, the detection assembly is arranged at the position of the image surface of the receiving lens group, and the first receiving detector receives the laser signal passing through the receiving lens group so as to determine point cloud data; the second receiving detector receives the visible light signal after passing through the receiving lens group to determine image data. Based on the setting, the synchronous receiving of the laser signals and the visible light signals can be completed by utilizing the same detection assembly, the accurate space synchronization and time synchronization of the fixed-point cloud data and the image data are correspondingly realized, and the fusion quality of the point cloud data and the image data of the radar system is favorably improved.
Description
Technical Field
The disclosure relates to the technical field of laser radars, in particular to a signal detection system, a radar system and a detection method of image fusion laser.
Background
In the current automatic driving field, the transverse resolution of a laser detection component in a laser radar system is low, and an image sensing device is used for acquiring a two-dimensional image, although the transverse resolution is high, the image sensing device does not have the capability of direct three-dimensional imaging. In the prior art, point cloud data and image data are usually obtained and then fused, but the point cloud data and image data fusion method based on an image processing algorithm has high requirements on the density of the point cloud data and is complex in algorithm.
In a point cloud data and image data fusion technology of the related art, in order to synchronize time of image data and point cloud data, a photoelectric detector and an image detector need to be coupled into the same signal detection system. For example, referring to fig. 15, a light splitting component may be arranged to guide different optical signals in the echo signals reflected by the object to be detected to different optical paths in different directions, so that the photodetector and the image detector can receive the required optical signals in the corresponding optical paths. Although the method realizes the time synchronization of the point cloud data and the image data to a certain extent, the light splitting component can separate different optical signals and guide the optical signals to light paths in different directions, so that the space synchronization of the point cloud data and the image data is poor, and the fusion quality of the point cloud data and the image data is influenced.
Disclosure of Invention
In order to solve the technical problem or at least partially solve the technical problem, the present disclosure provides a signal detection system of an image fusion laser, a radar system, and a detection method thereof.
The present disclosure provides a signal detection system of image fusion laser, including:
the receiving lens group is used for converging echo signals reflected by the object to be detected in the area to be detected; the echo signal comprises a laser signal and a visible light signal reflected by the object to be detected;
the detection assembly comprises a first receiving detector and a second receiving detector and is arranged at the position of the image surface of the receiving lens group;
wherein the first receiving detector receives the laser signal after passing through the receiving lens group so as to determine point cloud data; the second receiving detector receives the visible light signal after passing through the receiving lens group to determine image data.
Optionally, the first receiving detector and the second receiving detector are both linear array detectors;
the number of channels of the first receiving detector is smaller than the number of channels of the second receiving detector.
Optionally, the detection assembly includes at least one detection unit, and each detection unit includes the first receiving detector and the second receiving detector arranged side by side along a preset direction;
in the preset direction, the distance between the first receiving detector and the second receiving detector is equal to or smaller than a first preset distance; the preset direction is perpendicular to the array arrangement direction.
Optionally, the number of the detection units is equal to or greater than two;
the detection units are arranged along the array arrangement direction and/or along the preset direction.
Optionally, the number of the detection units is equal to or greater than two along the array arrangement direction and/or the preset direction;
the relative positions of the first receiving detector and the second receiving detector in the two adjacent detection units in the preset direction are the same.
Optionally, the number of the detection units is equal to or greater than two along the array arrangement direction and/or the preset direction;
the relative positions of the first receiving detector and the second receiving detector in the two adjacent detection units in the preset direction are opposite.
Optionally, a distance between two adjacent detection units is equal to or smaller than a second preset distance.
The disclosure also provides an image fusion laser radar system comprising any one of the signal detection systems.
Optionally, the image-fusion laser radar system further includes:
an emission plate provided with a laser; the laser is used for emitting a laser signal for detection;
and the emission lens group is used for collimating the laser signal emitted by the laser into linear laser and irradiating the linear laser to the area to be detected.
The present disclosure also provides a detection method, which is implemented by using any one of the above radar systems with image fusion laser, and the detection method includes:
triggering the laser and the detection assembly simultaneously;
receiving the laser signal after passing through the lens group based on the first receiving detector;
receiving the visible light signal after passing through the receiving lens group based on the second receiving detector;
and fusing point cloud data and image data based on the laser signal received by the first receiving detector and the visible light signal received by the second receiving detector.
Compared with the related art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
the signal detection system of image fusion laser that this disclosure provided includes: the receiving lens group is used for converging echo signals reflected by an object to be detected in the area to be detected; the echo signals comprise laser signals and visible light signals reflected by an object to be detected; the detection assembly comprises a first receiving detector and a second receiving detector, and is arranged at the position of the image surface of the receiving lens group; the first receiving detector receives the laser signal after passing through the receiving lens group so as to determine point cloud data; the second receiving detector receives the visible light signal after passing through the receiving lens group to determine image data. Based on the above arrangement, because the first receiving detector and the second receiving detector included in the detection assembly are both arranged at the image surface position of the receiving lens group, the laser signal and the visible light signal reflected by the object to be detected are converged by the receiving lens group and then reach the image surface position, that is, the light paths of the laser signal and the visible light signal reflected by the object to be detected are consistent, and a complex light splitting design is not required.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or technical solutions in the related art, the drawings used in the description of the embodiments or related art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a signal detection system of an image fusion laser according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a first receiving detector and a second receiving detector provided in the embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a detection assembly according to an embodiment of the present disclosure;
FIG. 4 is a schematic structural diagram of another probe assembly provided in the embodiments of the present disclosure;
FIG. 5 is a schematic structural diagram of another probe assembly provided in an embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of another probe assembly provided in an embodiment of the present disclosure;
FIG. 7 is a schematic structural diagram of another probe assembly provided in an embodiment of the present disclosure;
FIG. 8 is a schematic structural diagram of another probe assembly provided in an embodiment of the present disclosure;
FIG. 9 is a schematic structural diagram of another probe assembly provided in an embodiment of the present disclosure;
FIG. 10 is a schematic structural diagram of another probe assembly provided in an embodiment of the present disclosure;
FIG. 11 is a schematic structural diagram of another probe assembly provided in an embodiment of the present disclosure;
FIG. 12 is a schematic structural diagram of another probe assembly provided in an embodiment of the present disclosure;
fig. 13 is a schematic structural diagram of a radar system according to an embodiment of the present disclosure;
fig. 14 is a schematic flow chart of a detection method according to an embodiment of the present disclosure;
fig. 15 is a schematic structural diagram of a radar system in the related art.
Wherein, in the embodiment of the present disclosure: 30. a radar system; 300. an object to be detected; 10. a signal detection system; 20. a signal transmitting system; 11. a receiving lens group; 12. a detection component; 121. a first receiving detector; 122. a second receiving detector; 120. a detection unit; 01. presetting a direction; 02. array arrangement direction; 21. a launch plate; 22. an emission lens group; 210. a laser;
in the related art: 001. a laser emission module; 002. a focusing lens group; 003. a light splitting component; 004. a photodetector; 005. an image detector.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
The technical scheme provided by the embodiment of the disclosure can be applied to the field of laser radars, for example, in scenes of three-dimensional environment measurement and perception.
In a technology based on Advanced Driving Assistance System (ADAS) and an automatic driving System, spatial distance measurement and three-dimensional environment reconstruction are performed on a vehicle surrounding environment, which are preconditions for realizing high-precision driving control. The millimeter wave radar and the camera three-dimensional visual reconstruction are common distance measurement technologies, but in an automatic driving application scene, the transverse resolution of the millimeter wave radar cannot meet the requirement easily, and the millimeter wave radar is easily interfered by metal objects; the distance measurement precision of the three-dimensional visual reconstruction of the camera is low, and accurate distance measurement is difficult to achieve for a long-distance target. The laser radar actively emits pulse infrared laser beams, forms diffuse reflection echoes after irradiating the detected objects, and collects the diffuse reflection echoes by a receiving system (namely a signal detection system); by measuring the time difference between the transmitted pulse and the received echo, distance information of the object to be measured can be obtained. The laser radar has the advantages of high ranging precision and high transverse resolution, and has wide application prospects in assistant driving and automatic driving.
In the image fusion scheme of the laser radar in the related art, a camera for detecting a visible light signal and a laser radar for detecting a laser signal are generally two separate devices, and the spatial positions of the camera and the laser radar are not consistent, so that complicated and complex position relation conversion needs to be performed when point cloud data and image data are fused. Secondly, it is difficult to time synchronize image data and point cloud data. Herein, time synchronization refers to that a uniform external clock source provides the same reference time for each sensor, and each sensor adds timestamp information to the data of different types acquired by each sensor according to the calibrated respective time, thereby realizing timestamp synchronization of all sensors. Most of the current sensor systems for autonomous vehicles support a time synchronization method with a Global Positioning System (GPS) timestamp. However, time synchronization still has some problems, for example, because the self-acquisition periods of various sensors are different, it is difficult to ensure that different sensors acquire information corresponding to the same time at the same time.
To this end, in order to synchronize time of image data and point cloud data, in a related technical scheme, a photodetector for laser and an image detector for visible light may be coupled to the same signal detection system, for example, see fig. 15, the laser emission module 001 may emit laser, the focusing lens group 002 may converge the echo signal, wherein the light splitting assembly 003 is disposed to guide different optical signals in the echo signal to optical paths in different directions, so that the photodetector 004 and the image detector 005 may receive corresponding laser signals and visible light signals in corresponding optical paths, respectively. Because the light splitting component 003 can separate different optical signals and guide the optical paths in different directions, the structure of the optical system is complex, the spatial synchronization consistency of the point cloud data and the image data is poor, and the fusion quality of the point cloud data and the image data is affected.
In view of at least some of the above problems, embodiments of the present disclosure provide a signal detection system, a radar system, and a detection method thereof for image fusion laser, in which a detection assembly includes detectors for visible light signals and laser signals, and both the two detectors are disposed at image plane positions of a receiving lens group, so that simultaneous detection of light and laser can be achieved by using only one signal detection system, and no additional conversion calculation of time synchronization and space synchronization is required, and no complicated design of a beam splitting optical system is required, so that the signal detection system has a simple structure and high accuracy of time and space synchronization.
The following describes an exemplary signal detection system, a radar system, and a detection method thereof of image fusion laser according to an embodiment of the present disclosure with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a signal detection system of image fusion laser according to an embodiment of the present disclosure, and fig. 2 is a schematic structural diagram of a first receiving detector and a second receiving detector according to an embodiment of the present disclosure. For the purpose of illustrating the working principle, an object 300 to be detected is also shown in fig. 1. Referring to fig. 1 and 2, the signal detection system 10 includes: a receiving lens group 11 and a detection assembly 12; the receiving lens group 11 is used for converging echo signals reflected by an object 300 to be detected in a region to be detected; the echo signals comprise laser signals and visible light signals reflected by an object to be detected; the detecting assembly 12 includes a first receiving detector 121 and a second receiving detector 122, the detecting assembly 12 is disposed at an image plane position of the receiving lens group 11, such that the first receiving detector 121 and the second receiving detector 122 are both located at a mirror surface position of the receiving lens group 11; wherein, the first receiving detector 121 receives the laser signal after passing through the receiving lens group 11 so as to determine point cloud data; the second receiving detector 122 receives the visible light signal after passing through the receiving lens group 11 to determine image data.
As shown in fig. 1, after reaching the region to be detected, the visible light and the laser light are reflected by the object to be detected in the region to be detected, so as to form an echo signal; correspondingly, the echo signal includes a laser signal and a visible light signal reflected by the object to be detected, and the laser signal and the visible light signal synchronously reach the detection assembly 12 after passing through the converging action of the receiving lens assembly 11, so that the detection assembly 12 including the first receiving detector 121 and the second receiving detector 122 can simultaneously receive the visible light signal and the laser signal at the same spatial position.
Exemplarily, in conjunction with the radar system 30 shown in fig. 13, the signal emission system 20 is provided with an emission plate 21 and an emission lens group 22; the signal light emitted by the laser 210 on the emitting plate 21 is laser light, and the laser light is collimated by the emitting lens group 22 and then irradiates the object 300 to be detected. The collimated emitted laser is a linear laser, and enters the receiving lens group 11 after being reflected by the object 300 to be detected, and the object 300 to be detected also reflects natural light irradiated on the surface of the object 300 to be detected, so that the echo signal returned by the object 300 to be detected comprises a laser signal and a visible light signal, and the laser signal and the visible light signal are converged by the receiving lens group 11 and then reach the detecting component 12 on the receiving plate at the image surface position, so as to realize signal detection.
In the signal detection system 10 of image fusion laser provided in the embodiment of the present disclosure, the detection assemblies 12 including the first receiving detector 121 and the second receiving detector 122 are both disposed at the image surface position of the receiving lens assembly 11, and the laser signal and the visible light signal reflected by the object 300 to be detected both reach the image surface position after being converged by the receiving lens assembly 11, that is, the light paths of the laser signal and the visible light signal reflected by the object 300 to be detected are consistent, and the first receiving detector 121 and the second receiving detector 122 can respectively receive the laser signal and the visible light signal at the same spatial position, thereby not only realizing accurate spatial synchronization and time synchronization between the point cloud data and the image data, effectively improving the fusion quality of the point cloud data and the image data, but also avoiding the design and the arrangement of a complex spectroscopic optical system, and simplifying the structures of the detection signal system and the radar system.
In some embodiments, as shown in fig. 2, a schematic structural diagram of a first receiving detector and a second receiving detector provided in this embodiment is provided. The first receiving detector 121 and the second receiving detector 122 are both linear array detectors to receive linear laser light and visible light; the number of channels of the first receiving detector 121 is smaller than the number of channels of the second receiving detector 122.
The first receiving detector 121 is illustratively a line infrared detector, and may include, but is not limited to, an Avalanche Photodiode (APD), a Single Photon Avalanche photodiode (SPAD), and a Silicon photomultiplier (SIPM).
The second receiving detector 122 is illustratively a line visible light detector, and may include, but is not limited to, a Charge Coupled Device (CCD) and a Complementary Metal-Oxide-Semiconductor (CMOS) based image sensor.
The number of channels of the first receiving detector 121 is less than the number of channels of the second receiving detector 122, that is, the number density of the linear array infrared detector arrays is less than the number density of the linear array visible light detector arrays. The number of common infrared detector arrays is 16, 64 and the like, and the number of visible line detector arrays is 512, 1024, 2048 and the like. Assuming that the number of channels of the linear array infrared detector is n, n channels are shown as CH _1 to CH _ n in fig. 2; the number of pixels of the linear array visible light detector is m, and m pixels are shown by Pixel _1 to Pixel _ m in fig. 2; because m is greater than n, a plurality of visible light detector pixels can correspond to one infrared detector channel, namely k = m/n, and therefore missed detection targets caused by insufficient vertical resolution of the laser radar can be made up. The larger k is, the higher the image resolution in the image fusion laser radar system is, the better the infrared detector is made up, and the fusion quality of point cloud data and image data is further improved.
Illustratively, fig. 3 to 12 respectively show the structures of a plurality of different detection assemblies provided by the embodiments of the present disclosure, and the different detection assemblies are different in the splicing arrangement of the detectors. Referring to any of fig. 3 to 12, the detecting assembly 12 includes at least one detecting unit 120, and each detecting unit 120 includes a first receiving detector 121 and a second receiving detector 122 arranged side by side along a preset direction 01; in the preset direction 01, the distance between the first receiving detector 121 and the second receiving detector 122 is equal to or smaller than a first preset distance; the predetermined direction 01 is perpendicular to the array arrangement direction 02.
The number of the detection units 120 included in the detection assembly 12 may be one, two or more, and is not limited herein.
Illustratively, the detection assembly 12 shown in fig. 3 and 4 includes one detection unit 120, the detection assembly 12 shown in fig. 5-8 includes two detection units 120, and the detection assembly 12 shown in fig. 9-12 includes more detection units 120. The number of detection units 120 in the detection assembly 12 may be set based on the detection viewing angle and the resolution requirement, and is not limited herein.
Specifically, in the case where the angle of view is constant, the greater the number of the detection units 120, the higher the resolution in the corresponding direction; alternatively, in the case of a fixed resolution, the larger the number of the detecting units 120, the larger the angle of view in the corresponding direction.
In the embodiment of the present disclosure, each detection unit 120 includes a first receiving detector 121 and a second receiving detector 122 that are arranged side by side along a preset direction 01, and the preset direction 01 is perpendicular to the array arrangement direction 02. Taking the orientation shown in any one of fig. 3 to 12 as an example, the array arrangement direction 02 of the linear array detector is the up-down direction, and the corresponding detection direction is the vertical direction; the preset direction 01 is perpendicular to the array arrangement direction 02, and the corresponding detection direction may be a horizontal direction. Thus, the first receiving probe 121 and the second receiving probe 122 may be arranged side by side in a horizontal direction. The first receiving detector 121 and the second receiving detector 122 are arranged side by side along the horizontal direction, which is beneficial to receiving the echo signal converged by the receiving lens group 11, so that the laser signal and the visible light signal reach the first receiving detector 121 and the second receiving detector 122 arranged side by side along the horizontal direction after converging through the receiving lens group 11.
In the embodiment of the present disclosure, the distance between the first receiving detector 121 and the second receiving detector 122 is equal to or smaller than a first preset distance; so that the distance between the two is as small as possible, and spatial synchronization is achieved.
The first predetermined distance may be a smaller value. Illustratively, the first spacing may be 0.5cm, 0.2cm, or 0.1cm.
It should be noted that the theoretical distance between the first receiving detector 121 and the second receiving detector 122 is 0, that is, the first receiving detector 121 and the second receiving detector 122 are ideally closely attached to each other to ensure the consistency of the spatial positions of the two, so that the echo signals reflected by the receiving lens group 11 to the object can be converged onto the first receiving detector 121 and the second receiving detector 122 in a spatially synchronous and time synchronous manner, so as to implement synchronization and fusion of the image data corresponding to the visible light signals and the point cloud data corresponding to the laser signals.
Meanwhile, taking the orientations shown in fig. 3 and 4 as examples, in the detection unit 120, the left-right arrangement orientation of the first receiving detector 121 and the second receiving detector 122 is not limited, and the first receiving detector 121 may be on the left and the second receiving detector 122 may be on the right, as shown in fig. 3; the first receiving detector 121 may also be on the right, and the second receiving detector 122 may also be on the left, as shown in fig. 4, which is not limited herein.
In some embodiments, as shown in any of fig. 5-12, the number of detection units 120 in detection assembly 12 is equal to or greater than two; also, the detection units 120 are disposed along the array arrangement direction 02 and/or along the preset direction 01.
For example, as shown in fig. 5, 7, 9, or 10, the detection units 120 may be disposed along the array arrangement direction 02; alternatively, as shown in fig. 6, 8, 11, and 12, the detection unit 120 may be disposed along the preset direction 01; alternatively, the detecting units 120 may be disposed along the array arrangement direction 02 and the preset direction 01 to form an array structure of rows and columns, which is not limited herein. The number of the detection units 120 may be two or more, and is not limited herein.
In the embodiment of the present disclosure, under the condition that the field angle is fixed, the resolution in the corresponding direction is higher when the number of the detection units 120 is larger; alternatively, in the case of a fixed resolution, the larger the number of the detecting units 120, the larger the angle of view in the corresponding direction.
By way of example, providing a plurality of detecting units 120 in the array arrangement direction 02 can increase vertical direction resolution at a fixed vertical field angle. Alternatively, if the vertical resolution is not changed, the plurality of detection units 120 are disposed in the array arrangement direction 02, and the angle of view in the vertical direction can be increased. The horizontal direction is the same, and is not described herein.
It should be noted that the specific arrangement manner of the detection units 120 may be set according to the image plane position after the echo signal is converged by the receiving lens assembly 11 and the coverage area size of the converged echo signal, so that all the detection units in the detection assembly 12 are within the coverage area of the converged echo signal, and thus, the corresponding laser signal and visible light signal can be effectively received, and the fusion and synchronous detection of the point cloud data and the image data can be realized.
In some embodiments, as shown in fig. 5 or 9, the number of the detection units 120 is equal to or greater than two in the array arrangement direction 02; the relative positions of the first receiving detector 121 and the second receiving detector 122 in the preset direction 01 in two adjacent detecting units 120 are the same. Alternatively, as shown in fig. 6 or 11, along the preset direction 01, the number of the detection units 120 is equal to or greater than two; the relative positions of the first receiving detector 121 and the second receiving detector 122 in the preset direction 01 in two adjacent detecting units 120 are the same.
Taking the orientation shown in fig. 5 or fig. 9 as an example, the relative positions of the first receiving detector 121 and the second receiving detector 122 in the upper detection unit 120 are the same as the relative positions of the first receiving detector 121 and the second receiving detector 122 in the lower detection unit 120, and both are that the first receiving detector 121 is on the left and the second receiving detector 122 is on the right.
Alternatively, taking the orientation shown in fig. 6 or fig. 11 as an example, the relative positions of the first receiving probe 121 and the second receiving probe 122 in the left detection unit 120 are the same as the relative positions of the first receiving probe 121 and the second receiving probe 122 in the right detection unit 120, and both the first receiving probe 121 is on the left and the second receiving probe 122 is on the right.
In some embodiments, as shown in fig. 7 or fig. 10, the number of the detection units 120 is equal to or greater than two along the array arrangement direction 02; the relative positions of the first receiving detector 121 and the second receiving detector 122 in two adjacent detection units 120 in the preset direction 01 are opposite. Alternatively, as shown in fig. 8 or 12, the number of the detection units 120 is equal to or greater than two along the preset direction 01; the relative positions of the first receiving detector 121 and the second receiving detector 122 in two adjacent detecting units 120 in the preset direction 01 are opposite.
Wherein fig. 7 shows that two detection units 120 are arranged crosswise in the array arrangement direction 02, and fig. 11 shows that a plurality of detection units 120 are arranged crosswise in the array arrangement direction 02. As shown in fig. 7 and 11, the relative positions of the first receiving detector 121 and the second receiving detector 122 in the upper detection unit 120 are opposite to the relative positions of the first receiving detector 121 and the second receiving detector 122 in the lower detection unit 120. So set up for first receiving detector 121 and second receiving detector 122 are crisscross to alternate in space and are arranged, and its distribution is more even, and then makes the precision of the point cloud data that obtains of surveying and image data higher, thereby has promoted the fusion quality of point cloud data and image data.
In some embodiments, the distance between two adjacent detection units 120 is equal to or less than the second preset distance.
The smaller the distance between two adjacent detection units 120 is, the smaller the distance between the linear array detectors in the corresponding two adjacent detection units 120 is, the better the spatial consistency is, and the higher the spatial synchronism is; meanwhile, the higher the resolution or the field angle of the image fusion laser radar.
The second predetermined distance may be a smaller value. Illustratively, the second predetermined distance may be 3cm, 1cm, 0.5cm, or 0.2cm or other values, but is not limited thereto.
In some embodiments, band pass filters corresponding to the signal light wavelength are respectively disposed on the surfaces of the first receiving detector 121 and the second receiving detector 122 to filter out the influence of other stray light, so as to improve the signal-to-noise ratio of the visible light signal and the laser signal, and further improve the fusion quality of the point cloud data and the image data.
Exemplarily, a band-pass filter corresponding to the laser wavelength is placed on the surface of the linear array infrared detector to filter the influence of other stray light; a band-pass filter with visible light wavelength is placed on the surface of the linear array visible light detector to filter the influence of other stray light, and further the signal-to-noise ratio is improved.
According to the signal detection system of the image fusion laser provided by the embodiment of the disclosure, the linear array infrared light detector and the linear array visible light detector are arranged in the array direction and/or the preset direction and are both positioned at the image surface position of the receiving lens group, so that the simultaneous detection of infrared light and visible light can be completed by using only one receiving system (i.e. the signal detection system). The point cloud detection and the image detection are both arranged on the image surface of the same receiving lens group, and a complex light splitting optical system is not needed in the middle, so that the structure is simplified; because the linear array infrared light detector and the linear array visible light detector are at the same physical spatial position, the point cloud data and the image data are completely under the same coordinate axis, and accurate spatial synchronization can be realized without performing complex spatial synchronization conversion; the trigger sources used by the linear array infrared detector and the linear array visible light detector are the same trigger source, for example, the trigger sources can be laser signal trigger sources, so that the time for detecting the laser signal and the visible light signal is real and synchronous, and accurate time synchronization can be realized without performing complicated time synchronization and calibration.
On the basis of the foregoing embodiment, an embodiment of the present disclosure further provides a radar system of image fusion laser, where the radar system may include any one of the signal detection systems provided in the foregoing embodiments, and has a corresponding beneficial effect.
Illustratively, referring to fig. 13, the radar system 30 may further include a signal transmitting system 20, which may include, for example: a transmitting plate 21 on which a laser 210 is provided; the laser 210 is used for emitting a laser signal for detection; and the emission lens group 22 is used for collimating the laser signal emitted by the laser 210 into line laser and irradiating the line laser to the area to be detected.
Specifically, the laser 210 on the emitting plate 21 emits signal light (i.e., laser light), and the laser light is collimated by the emitting lens group 22 and then irradiates the object 300 to be detected, where the laser light emitted after being collimated is linear laser light, and after being reflected by the object 300 to be detected, the linear laser light and the visible light emitted by the object 300 to be detected enter the signal detecting system 10 together.
On the basis of the above embodiment, the embodiment of the present disclosure further provides a detection method for a radar system, which can be executed based on any one of the radar systems provided in the above real-time manner, and has corresponding beneficial effects.
Exemplarily, fig. 14 is a schematic flowchart of a detection method provided in an embodiment of the present disclosure. Referring to fig. 14, the method includes:
s41: triggering both the laser and the detection assembly.
Specifically, in the radar system, the laser and the detection assembly are simultaneously triggered, so that the time alignment of the point cloud data and the image data acquisition level can be realized, and since the detection assembly including the first receiving detector and the second receiving detector is disposed at the image plane position of the receiving lens group, not only precise time synchronization but also strict spatial synchronization can be realized when the first receiving detector and the second receiving detector are simultaneously triggered.
S42: and receiving the laser signal after passing through the lens group based on the first receiving detector.
Specifically, a laser emits a laser signal to a region to be detected, the laser signal enters a receiving lens group after being reflected by an object to be detected in the region to be detected, the laser reaches a first receiving detector located at the image surface position of the receiving lens group after being converged by the receiving lens group, and the converged laser signal is correspondingly received based on the first receiving detector and subjected to photoelectric conversion to obtain corresponding point cloud data.
S43: receiving the visible light signal after passing through the receiving lens group based on a second receiving detector;
specifically, the object to be detected in the area to be detected reflects natural light irradiated on the surface of the object to be detected, the natural light reaches a second receiving detector located at the image surface position of the receiving lens group after passing through the convergence effect of the receiving lens group, and correspondingly, the second receiving detector receives a converged visible light signal and performs photoelectric conversion to obtain corresponding image data.
S44: and fusing point cloud data and image data based on the laser signal received by the first receiving detector and the visible light signal received by the second receiving detector.
Specifically, point cloud data is determined based on laser signals, image data is determined based on visible light signals, and synchronous fusion of the point cloud data and the image data is carried out.
In the detection method based on any one of the above radar systems provided by the embodiments of the present disclosure, since the detection assemblies including the first receiving detector and the second receiving detector are both disposed at the image surface position of the receiving lens group, the laser signal and the visible light signal reflected by the object to be detected both reach the image surface position after being converged by the receiving lens group, that is, the light paths of the laser signal and the visible light signal reflected by the object to be detected are consistent, and a complex light splitting design is not required.
The signal detection system, the radar system and the detection method of the image fusion laser provided by the embodiment of the disclosure are introduced in detail, a specific example is applied in the description to explain the principle and the implementation mode of the disclosure, and the description of the embodiment is only used for helping to understand the method and the core idea of the disclosure; meanwhile, for a person skilled in the art, according to the idea of the present application, the specific implementation manner and the application scope may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present application.
It is noted that, in this document, relational terms such as "first" and "second," and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A signal detection system of an image fusion laser, comprising:
the receiving lens group is used for converging echo signals reflected by an object to be detected in the area to be detected; the echo signal comprises a laser signal and a visible light signal reflected by the object to be detected;
the detection assembly comprises a first receiving detector and a second receiving detector and is arranged at the position of the image surface of the receiving lens group;
wherein the first receiving detector receives the laser signal after passing through the receiving lens group so as to determine point cloud data; the second receiving detector receives the visible light signal after passing through the receiving lens group to determine image data.
2. The signal detection system of claim 1, wherein the first receiving detector and the second receiving detector are linear array detectors;
the number of channels of the first receiving detector is smaller than the number of channels of the second receiving detector.
3. The signal detection system according to claim 1 or 2, wherein the detection assembly comprises at least one detection unit, each detection unit comprising the first receiving detector and the second receiving detector arranged side by side along a preset direction;
in the preset direction, the distance between the first receiving detector and the second receiving detector is equal to or smaller than a first preset distance; the preset direction is perpendicular to the array arrangement direction.
4. The signal detection system of claim 3, wherein the number of detection units is equal to or greater than two;
the detection units are arranged along the array arrangement direction and/or along the preset direction.
5. The signal detection system according to claim 4, wherein the number of the detection units is equal to or greater than two in the array arrangement direction and/or the preset direction;
the relative positions of the first receiving detector and the second receiving detector in the two adjacent detection units in the preset direction are the same.
6. The signal detection system according to claim 4, wherein the number of the detection units is equal to or greater than two in the array arrangement direction and/or the preset direction;
the relative positions of the first receiving detector and the second receiving detector in the two adjacent detection units in the preset direction are opposite.
7. The signal detection system according to claim 4, wherein a distance between two adjacent detection units is equal to or smaller than a second preset distance.
8. An image-fused lidar system comprising the signal detection system of any of claims 1-7.
9. The radar system of claim 8, further comprising:
an emission plate provided with a laser; the laser is used for emitting a laser signal for detection;
and the transmitting lens group is used for collimating the laser signal emitted by the laser into linear laser and irradiating the linear laser to the area to be detected.
10. A detection method based on the radar system of claim 9, comprising:
triggering the laser and the detection assembly simultaneously;
receiving the laser signal after passing through the lens group based on the first receiving detector;
receiving the visible light signal after passing through the receiving lens group based on the second receiving detector;
and fusing point cloud data and image data based on the laser signal received by the first receiving detector and the visible light signal received by the second receiving detector.
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