CN106093928A - A kind of many ripples detection and imaging system - Google Patents
A kind of many ripples detection and imaging system Download PDFInfo
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- CN106093928A CN106093928A CN201610580622.5A CN201610580622A CN106093928A CN 106093928 A CN106093928 A CN 106093928A CN 201610580622 A CN201610580622 A CN 201610580622A CN 106093928 A CN106093928 A CN 106093928A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/881—Radar or analogous systems specially adapted for specific applications for robotics
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
Abstract
The invention discloses the detection of a kind of many ripples and imaging system, belonging to image detection technical field, the detection of described many ripples includes with imaging system: the first noumenon (11) that bearing (10) and bearing (10) are rotatably connected and the second body (12)；It is separately positioned on the first sensor assembly (110) on the first noumenon (11) and the second body (12) and the second sensor cluster (120), all includes the sensor for detecting multiple waveforms signal.This system also includes: controller (15) and signal processing unit (16)；Controller (15), for according to detection demand, controls to adjust the angle between the first noumenon (11) and the second body (12), controls at least one working sensor simultaneously, to detect measurand, and obtain detection data；Signal processing unit (16) is for processing described detection data, to obtain view data.This system supports multiple image detection form, and flexible structure is adjustable.
Description
Technical field
The present invention relates to image detection technical field, particularly relate to the detection of a kind of many ripples and imaging system.
Background technology
Along with the progress of science and technology, the vehicles in the fields such as Modern Traffic transport, logistics, military affairs are (such as the nothing such as vehicle, aircraft
Man-machine), all trend towards being changed into machine automatic Pilot, also known as " unmanned " by artificial driving.Unmanned do not having exactly
In the case of the mankind participate in, rely on computer system, by the vehicles such as vehicle or aircraft equipment intelligence software and multiple
Sensing apparatus, including sensor, radar, GPS and image first-class, carrys out perception unmanned plane surrounding, and is obtained according to perception
Path, position and the obstacle information obtained, judgement of reacting immediately, control traveling and turn to and speed, so that unmanned function
Enough travelings reliably and securely completed from starting point to destination.
Wherein, detection imaging function is the core of " unmanned ", how surrounding is carried out Real time identification and imaging,
The precision the most how improving Real time identification and imaging is to ensure that the research emphasis that unmanned plane safety automation is driven.At present, existing
Having detecting and imaging device generally to use infrared camera or natural light video camera head to carry out image detection, it can be good at ambient light
Under conditions of meet unmanned demand.But, when rainy day or greasy weather, the photographic effect of existing detecting and imaging device is often
Unsatisfactory；And existing detecting and imaging device to the image detection limited angle of measurand (such as only front or side
Face), it is impossible to obtain the multi-faceted view data of measurand.
Summary of the invention
The present invention is directed to present in prior art, the image detection mode of detecting and imaging device is single, it is impossible at nature
Light is fuzzy or there is the technical problem that measurand carries out under the bad scenarios hindering thing image detection, it is provided that Yi Zhongduo
Ripple detection and imaging system, support multiple image detection form, and system structure be the most adjustable, it is possible to fuzzy at available light or
Exist, under the bad scenarios of obstruction thing, mobile measurand is carried out image detection, and image detection is respond well, it is possible to meet
Unpiloted real time environment identification and imaging demand.
The invention provides the detection of a kind of many ripples and imaging system, including:
Bearing；
About the symmetrically arranged the first noumenon of described bearing and the second body；Described the first noumenon and described second body divide
It is not rotatably connected with described bearing by the first attachment structure and the second attachment structure；
It is separately positioned on described the first noumenon and described second body and about the symmetrical first sensor of described bearing
Assembly and the second sensor cluster；Described first sensor assembly and described second sensor cluster all include for detecting multiple
The sensor of waveshape signal；
Described many ripples detection also include with imaging system: with described first sensor assembly, described second sensor cluster,
The controller that described the first noumenon and described second body connect, with described controller, described first sensor assembly and second
The signal processing unit that sensor cluster connects；
Described controller is for according to detection demand, controlling described the first noumenon and described second body relative to described
Seat rotates, and to adjust the angle between described the first noumenon and described second body, controls described first sensor assembly simultaneously
At least one working sensor with in described second sensor cluster, to detect measurand, and obtains detection data；
Described signal processing unit is for processing described detection data, to obtain view data, and by described figure
As data output shows to display device.
Optionally, described first sensor assembly and described second sensor cluster the most at least include: optical sensor unit,
Electromagnetic sensor unit and acoustic transducer element.
Optionally, described the first noumenon includes: the first sub-body, the second sub-body and the 3rd attachment structure；
Described first sub-body is connected with described bearing by described first attachment structure, and described second sub-body passes through institute
State the 3rd attachment structure to be rotatably connected with described first sub-body.
Optionally, described second body includes: the 3rd sub-body, the 4th sub-body and the 4th attachment structure；
Described 3rd sub-body is connected with described bearing by described second attachment structure, and described 4th sub-body passes through institute
State the 4th attachment structure to be rotatably connected with described 3rd sub-body.
Optionally, described second sub-body by described 3rd attachment structure relative to the rotation model of described first sub-body
Enclosing is 0 °～360 °, described 4th sub-body by described 4th attachment structure relative to the slewing area of described 3rd sub-body
It it is 0 °～360 °.
Optionally, described the first noumenon by described first attachment structure relative to the slewing area of described bearing be 0 °～
180 °, described second body is 0 °～180 ° by described second attachment structure relative to the slewing area of described bearing.
Optionally, described the first noumenon also includes: at least one the 5th attachment structure and at least one the 5th sub-body；
At least one the 5th sub-body described by least one the 5th attachment structure described and described first sub-body or
Described second sub-body is rotatably connected.
Optionally, described second body also includes: at least one the 6th attachment structure and at least one the 6th sub-body；
At least one the 6th sub-body described by least one the 6th attachment structure described and described 3rd sub-body or
Described 4th sub-body is rotatably connected.
Optionally, described first sensor assembly and described second sensor cluster include multiple microwave remote sensor list respectively
Unit, and described multiple microwave remote sensor unit one_to_one corresponding includes multiple quarter-wave antenna.
The one or more technical schemes provided in the present invention, at least have the following technical effect that or advantage:
Due in the present invention, the detection of many ripples and imaging system, including: bearing；About described bearing symmetrically arranged
One body and the second body；Described the first noumenon and described second body are respectively by the first attachment structure and the second attachment structure
It is rotatably connected with described bearing；It is separately positioned on described the first noumenon and described second body and about described bearing pair
The first sensor assembly claimed and the second sensor cluster；Described first sensor assembly and described second sensor cluster all wrap
Include the sensor for detecting multiple waveforms signal；The detection of described many ripples also includes with imaging system: controller and signal processing
Unit；Described controller is for according to detection demand, controlling described the first noumenon and described second body relative to described bearing
Rotate, to adjust the angle between described the first noumenon and described second body, control simultaneously described first sensor assembly and
At least one working sensor in described second sensor cluster, to detect measurand, and obtains detection data；Institute
State signal processing unit for described detection data is processed, to obtain view data, and described view data is exported
Show to display device.It is to say, Ben Duobo detection and imaging system, support multiple image detection form, and system
Flexible structure is adjustable, it is possible under the bad scenarios that or existence fuzzy at available light hinders thing, mobile measurand is carried out image
Detection, and image detection is respond well, it is possible to meet unpiloted real time environment identification and imaging demand.Efficiently solve
In prior art, the image detection mode of detecting and imaging device is single, it is impossible to or existence fuzzy at available light hinders the severe of thing
Under situation, measurand is carried out the technical problem of image detection.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to
The accompanying drawing provided obtains other accompanying drawing.
The first many ripple that Figure 1A provides for the embodiment of the present invention detect and imaging system structural representation；
The many ripples of the second that Figure 1B provides for the embodiment of the present invention detect and imaging system structural representation；
Fig. 1 C is the top view of the many ripples detection shown in Figure 1A and imaging system；
Fig. 2 A is that the second body of the many ripples detection shown in Figure 1A and imaging system is illustrated relative to the primary importance of bearing
Figure；
Fig. 2 B is that the second body of the many ripples detection shown in Figure 1A and imaging system is illustrated relative to the second position of bearing
Figure；
Fig. 2 C is second body the 3rd position signal relative to bearing of the many ripples detection shown in Figure 1A and imaging system
Figure；
Fig. 2 D is second body the 4th position signal relative to bearing of the many ripples detection shown in Figure 1A and imaging system
Figure；
Fig. 2 E is second body the 5th position signal relative to bearing of the many ripples detection shown in Figure 1A and imaging system
Figure；
Fig. 2 F is that the many ripples shown in Figure 1A detect the first noumenon with imaging system and the second body relative to the one of bearing
Plant position view；
One many ripples detection that Fig. 2 G provides for the embodiment of the present invention carries out elevation carrection with imaging system to measurand
Schematic diagram；
The third many ripples that Fig. 3 A provides for the embodiment of the present invention detect and imaging system structural representation；
Fig. 3 B is the top view of the many ripples detection shown in Fig. 3 A and imaging system；
Fig. 4 is the multi-angle detection schematic diagram of the many ripples detection shown in Fig. 3 A and imaging system；
The ripple more than the 4th kind that Fig. 5 provides for the embodiment of the present invention detects and imaging system structural representation.
Detailed description of the invention
The embodiment of the present invention, by providing a kind of many ripples to detect and imaging system, solves present in prior art, visits
The image detection mode surveying imaging device is single, it is impossible to tested under the bad scenarios that or existence fuzzy at available light hinders thing
Object carries out the technical problem of image detection, and it supports multiple image detection form, and system structure is the most adjustable, it is possible to certainly
So light obscures or exists, under the bad scenarios hindering thing, mobile measurand carried out image detection, and image detection effect is good
Good, it is possible to meet unpiloted real time environment identification and imaging demand.
The technical scheme of the embodiment of the present invention is for solving above-mentioned technical problem, and general thought is as follows:
Embodiments provide the detection of a kind of many ripples and imaging system, including: bearing；Set about described bearing symmetry
The first noumenon put and the second body；Described the first noumenon and described second body are respectively by the first attachment structure and second even
Access node structure is rotatably connected with described bearing；It is separately positioned on described the first noumenon and described second body and about described
The first sensor assembly of bearing symmetry and the second sensor cluster；Described first sensor assembly and described second sensor group
Part all includes the sensor for detecting multiple waveforms signal；The detection of described many ripples also includes with imaging system: with described first
The controller that sensor cluster, described second sensor cluster, described the first noumenon and described second body connect, with described control
The signal processing unit that device processed, described first sensor assembly and the second sensor cluster connect；Described controller is used for basis
Detection demand, controls described the first noumenon and described second body rotates relative to described bearing, to adjust described the first noumenon
And the angle between described second body, controls in described first sensor assembly and described second sensor cluster extremely simultaneously
A few working sensor, to detect measurand, and obtains detection data；Described signal processing unit is for described
Detection data processes, and to obtain view data, and the output of described view data is shown to display device.
Visible, in the present invention program, the first noumenon and the second body are rotatably connected with bearing, and at the first noumenon and
Second body arranges and is provided with sensor cluster (including the sensor for detecting multiple waveforms signal).At this architecture basics
On, controller, according to detection demand, controls described the first noumenon and described second body rotates relative to described bearing, to adjust
Angle between described the first noumenon and described second body, controls at least one working sensor in sensor cluster simultaneously,
So that measurand is carried out image detection, and obtain detection data so that signal processing unit to described detection data at
Reason, to obtain view data, and shows the output of described view data to display device.The detection of this programme many ripples and imaging
System, supports multiple waveforms image detection form, and system structure is the most adjustable, it is possible to or existence fuzzy at available light hinders
Under the bad scenarios of thing, mobile measurand is carried out image detection, and image detection is respond well, it is possible to meet unmanned
Real time environment identification and imaging demand.Efficiently solve the image detection mode list of detecting and imaging device in prior art
One, it is impossible under the bad scenarios that or existence fuzzy at available light hinders thing, mobile measurand is carried out the technology of image detection
Problem.
In order to be better understood from technique scheme, below in conjunction with Figure of description and specific embodiment to upper
State technical scheme to be described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment is to the application
The detailed description of technical scheme rather than the restriction to technical scheme, in the case of not conflicting, the present invention implements
Technical characteristic in example and embodiment can be mutually combined.
Embodiment one
Refer to Figure 1A, embodiments provide the detection of a kind of many ripples and imaging system, can be applicable to vehicle-mounted pick-up
The field needing to carry out image detection Deng other, the detection of described many ripples includes with imaging system:
Bearing 10；
About the symmetrically arranged the first noumenon of bearing 10 11 and the second body 12；The first noumenon 11 and the second body 12 are respectively
It is rotatably connected with bearing 10 by the first attachment structure 13 and the second attachment structure 14；Wherein, the first attachment structure 13, second
Attachment structure 14 and following attachment structure involved in this programme all can use hinge；
It is separately positioned on the first noumenon 11 and the second body 12 and about the first sensor assembly of bearing 10 symmetry
110 and second sensor cluster 120；First sensor assembly 110 and the second sensor cluster 120 all include for detecting multiple
The sensor (sensor_1～sensor_N) of waveshape signal；
The detection of described many ripples also includes with imaging system: with first sensor assembly the 110, second sensor cluster 120, the
The controller 15 that one body 11 and the second body 12 connect, with controller 15, first sensor assembly 110 and the second sensor group
The signal processing unit 16 that part 120 connects；
Controller 15, for according to detection demand, controls the first noumenon 11 and the second body 12 rotates relative to bearing 10,
To adjust the angle between the first noumenon 11 and the second body 12, control first sensor assembly 110 and the second sensor simultaneously
At least one working sensor in assembly 120, to detect measurand, and obtains detection data；
Signal processing unit 16 is for processing described detection data, to obtain view data, and by described image
Data output shows to display device.
In specific implementation process, refer to Figure 1B, in order to detection multiple waveforms signal, first sensor assembly
110 and second sensor cluster 120 the most at least include: the optical sensor unit (light_sensor) of array arrangement, electromagnetic wave
Sensor unit (electromagnetic_wave_sensor) and acoustic transducer element (acoustic_wave_
sensor).Optical sensor unit includes that nature optical sensor unit and infrared sensor unit, electromagnetic sensor unit include
Microwave remote sensor unit, acoustic transducer element includes ultrasonic sensor units.
Wherein, the main member of described natural optical sensor unit is nature optical sensor, is used for receiving measurand anti-
The available light penetrated, and it is carried out opto-electronic conversion, to obtain the signal of telecommunication, further this signal of telecommunication is transmitted to signal processing list
Unit 16 processes.Generally, described natural optical sensor unit work when available light by day is good.
The main member of described infrared sensor unit is infrared sensor, and it utilizes infra-red radiation and matter interaction
The physical effect detection infra-red radiation presented, is in most cases the electricity effect utilizing this interaction to be presented
Should.Sensors with auxiliary electrode can be divided into photon sensor and the big type of thermo-responsive sensor two, is used for receiving measurand and sends or send out
The infrared ray penetrated, and it is converted into the signal that signal processing unit 16 is capable of identify that, so that signal processing unit 16 is based on this
Signal, calculates or converts the signal into thermal-induced imagery data to the distance of measurand.
Described infrared sensor unit can be not only used for range finding, can be used for again imaging.When described infrared sensor unit is used for
During range finding, described infrared sensor unit has a pair infrared signal and launches and reception diode, and transmitting tube launches characteristic frequency
Infrared signal, receive pipe and receive the infrared signal of this frequency, when infrared detection direction, to run into barrier (the most tested right
As) time, infrared signal reflects and is received by reception pipe, and the intensity according to the different reflections running into obstacle distance are the most different
Principle, carries out the detection that barrier is far and near.When described infrared sensor unit is for imaging, described infrared sensor unit is also
Including optical system；Described optical system for receiving infrared ray that measurand sends and focusing on infrared sensor, institute
State the infrared sensor sensing infrared ray through optical system, and send a signal to signal processing unit 16；Signal processing list
The signal coming from infrared sensor is changed into thermal-induced imagery by unit 16, and is sent in display device and carries out thermal-induced imagery and show
Show.
Further, infrared sensor unit have common infrared sensor unit and dot matrix infrared sensor unit point, point
Battle array infrared sensor unit is better than common, and irradiation distance is remote, and image quality is fine and smooth clear, and service life, ratio was the most infrared
Long.User can need to select suitable infrared sensor unit form according to actual use.
The main member of described microwave remote sensor unit is microwave remote sensor.Its work process particularly as follows: by launch antenna
Send microwave, will be absorbed or reflected when the microwave sent runs into measurand, make power change；Sky is received if utilizing
Line, receives by measurand or the microwave that reflected by measurand, and is converted into the signal of telecommunication, then by measuring circuit
Measure and instruction, be achieved that microwave detects process.According to above-mentioned principle, microwave detection sensor can be divided into reflective and blocking
Formula two kinds: 1) reflection sensor, the microwave power or the elapsed time that are reflected by detection measurand are spaced, and carry out table
Reach the parameters such as the position of measurand, thickness；2) interruptible sensor, the microwave power received by detection reception antenna is big
The parameters such as the little position judging measurand between transmitting antenna and reception antenna and water content.
Concrete, first sensor assembly 110 and the second sensor cluster 120 include multiple microwave remote sensor list respectively
Unit, and described multiple microwave remote sensor unit one_to_one corresponding includes multiple quarter-wave antenna.Can be according to measurand
The distance of distance native system, selects the microwave remote sensor unit work controlling have different quarter-wave antenna
Make, thus in the case of microwave remote sensor antenna gain is optimal, measurand is tracked detection, this microwave remote sensor side
Case is applicable to the situation that measurand quickly moves.
The main member of described ultrasonic sensor units is ultrasonic sensor, is used for sending ultrasound wave and detects and send out
The ultrasound wave gone out, calculates the distance of object simultaneously according to velocimeter.
In specific implementation process, the positive and negative at the first noumenon 11 and the second body 12 is all both provided with first sensor
Sensor cluster on assembly 110 or the second sensor 120, and the first noumenon 11 and the second body 12 and the first noumenon 11
All symmetrical about bearing 10 with the sensor cluster on the second body 12.Further, refer to Fig. 1 C, with in bearing 10 cross section
Centered by the heart point O point make two orthogonal with reference to straight line L1, L2, the first noumenon 11 be positioned at straight line L2 left field and
Can be 0 °～180 ° (the angle model as shown in curve arrow a relative to the slewing area of bearing 10 by the first attachment structure 13
Enclose)；Same, the second body 12 also can be 0 °～180 ° relative to the slewing area of bearing 10 by the second attachment structure 14.
Further, refer to Fig. 2 A-Fig. 2 E, as a example by second body 12 position relative to bearing 10, the second body 12
Can be at the direction (as shown in Fig. 2 A, Fig. 2 E) vertical with reference to straight line L1 and there is the direction of certain acute angle with reference to straight line L1
The direction (as shown in Figure 2 C) that (as shown in Fig. 2 B, Fig. 2 D) is identical with reference to straight line L1, the sensor on the second body 12 sends
Probing wave Wt, and receive probing wave Wt probing wave Wr after measurand X reflects, transmission and the reception to probing wave Wt, Wr
Time difference or power therebetween carry out calculating process, with determine measurand X range sensor distance, relative to
The direction of sensor, material composition etc..
In specific implementation process, refer to Fig. 2 F, as the probing wave Wt sent due to the sensor on the first noumenon 11
The problem launching angle, and when cannot be received by the sensor on the first noumenon 11, adjustable the second body 12 is relative to first
The angle of body 11, so that the sensor on the second body 12 is able to receive that probing wave Wt spy after measurand X reflects
Survey ripple Wr.
In specific implementation process, as shown in Figure 2 G, multiple also by the first noumenon 11 and/or the second body 12
Sensor one_to_one corresponding, simultaneously to measurand X emission detection ripple Wti～Wtj, is come by multiple sensor one_to_one corresponding simultaneously
Receive probing wave Wti～Wtj probing wave Wri～Wrj after measurand X reflects；Further, based on emission detection ripple Wti
～multiple sensors of Wtj positional information is set, and the sending out of emission detection ripple Wti～Wtj, reception probing wave Wri～Wrj
Send and receive the data message such as time difference and power therebetween, calculate the height obtaining measurand X.Fig. 2 G only illustrates one
Plant the mode measuring measurand X height, when practical operation, can be according to measurand X relative to Ben Duobo detection and imaging
The orientation of system, arranges the first noumenon 11 and the angle of the second body 12 flexibly, and then measures the height of measurand.
Embodiment two
On the architecture basics of scheme shown in embodiment one, refer to Fig. 3 A, the first noumenon 11 includes: the first sub-body
111, the second sub-body 112 and the 3rd attachment structure 113；First sub-body 111 is by the first attachment structure 13 with bearing 10 even
Connecing, the second sub-body 112 is rotatably connected with the first sub-body 111 by the 3rd attachment structure 113.
Further, referring still to Fig. 3 A, the second body 12 includes: the 3rd sub-body 122 and the 4th of sub-body the 121, the 4th
Attachment structure 123；3rd sub-body 121 is connected with bearing 10 by the second attachment structure 14, and the 4th sub-body 122 is by the 4th
Attachment structure 123 is rotatably connected with the 3rd sub-body 121.
In specific implementation process, at first sub-body the 111, second sub-body the 112, the 3rd sub-body 121 and the 4th son
The positive and negative of body 122 is all both provided with sensor unit.Sensor unit type includes that optical sensor unit, electromagnetic wave sense
At least one in device unit and acoustic transducer element.As shown in Figure 3A, the first sub-body 111 and the 3rd sub-body 121 set
It is equipped with sensor sensor_1～sensor_M, the second sub-body 112 and the 4th sub-body 122 are provided with sensor
Sensor_M+1～sensor_N, wherein, M and N represents the number of sensor, and N is more than M.
Then, refer to Fig. 3 B, centered by the central point O in bearing 10 cross section, point makees two orthogonal reference straight lines
L1, L2, the first sub-body 111 and the second sub-body 112 be positioned at the left field of straight line L2, and the first sub-body 111 is by first
Attachment structure 13 is 0 °～180 ° (angular range as shown in curve arrow a1) relative to the slewing area of bearing 10, the second son
Body 112 by the 3rd attachment structure 113 relative to the slewing area of the first sub-body 111 be 0 °～360 ° (such as curve arrow
Angular range shown in b1)；Same, the 3rd sub-body 121 can pass through the rotation relative to bearing 10 of second attachment structure 14
Scope is 0 °～180 ° (angular range as shown in curve arrow a2), and the 4th sub-body 122 can pass through the 4th attachment structure 123
It is 0 °～360 ° (angular range as shown in curve arrow b2) relative to the slewing area of the 3rd sub-body 121.
In specific implementation process, first sub-body the 111, second sub-body 121 of sub-body the 112, the 3rd and the 4th son are originally
Body 122 can any angle changing, when detecting measurand, can by the sensor emission probing wave on a certain sub-body, and
The probing wave of reflection is received by the sensor on another sub-body.Concrete, as shown in Figure 4, the biography on the second sub-body 112
The probing wave Wt1 that sensor is launched, is received by the sensor on the first sub-body 111 through the probing wave Wr1 of measurand Y1 reflection；
The probing wave Wt2 of the sensor emission on the first sub-body 111, through measurand Y2 reflection probing wave Wr2 by the 3rd son this
Sensor on body 121 receives；The probing wave Wt3 of the sensor emission on the 3rd sub-body 121, through the reflection of measurand Y3
Probing wave Wr3 is received by the sensor on the 4th sub-body 122.If three measurands Y1, Y2, Y3 in Fig. 4 are seen as
Three different faces of same measurand, then understand: by the system structure shown in Fig. 3 A, can be to same measurand
Different faces detects, and to obtain the stereo-picture (i.e. the shape of measurand) of measurand, thus obtains more accurately
Detection image effect.
Embodiment three
In embodiment two on the basis of the system structure of scheme shown in Fig. 3 A, refer to Fig. 5, the first noumenon 11 also includes:
At least one the 5th attachment structure 114 and at least one the 5th sub-body 115；At least one the 5th sub-body 115 is by least
One the 5th attachment structure 114 is rotatably connected with the first sub-sub-body of body 111 or the second 112.
Further, referring still to Fig. 5, the second body 12 also includes: at least one the 6th attachment structure 124 and at least one
6th sub-body 125；At least one the 6th sub-body 125 is by least one the 6th attachment structure 124 and the 3rd sub-body 121
Or the 4th sub-body 122 be rotatably connected.
Concrete, in Figure 5, the 5th attachment structure the 114, the 5th sub-body the 115, the 6th attachment structure 124 and the 6th son
Body 125 is 2 respectively.First sub-body 111 is 0 ° by the first attachment structure 13 relative to the slewing area of bearing 10
～180 °, direction of rotation sees the a1 direction in Fig. 3 B, it is possible to for the reverse direction in a1 direction；Second sub-body 112 is by the 3rd
Attachment structure 113 is 0 °～360 ° relative to the slewing area of the first sub-body 111, and direction of rotation sees the b1 side in Fig. 3 B
To, it is possible to for the reverse direction in b1 direction；One the 5th sub-body 115 is by one the 5th attachment structure 114 and the first sub-body
111 are rotatably connected, and slewing area is 0 °～360 °, be specially from the page to outside the page or from the page extroversion page, to
First sub-body 111 folds and rotates；Another the 5th sub-body 115 is by another the 5th attachment structure 114 and the previous 5th
Sub-body 115 is rotatably connected, and slewing area is 0 °～360 °, and direction of rotation sees the b1 direction in Fig. 3 B, it is possible to for b1 side
To reverse direction；Another the 5th sub-body 115 or can be revolved with the second sub-body 112 by another the 5th attachment structure 114
Turning and connect, slewing area is 0 °～360 °, be specially from the page to outside the page or from the page extroversion page, to the second son this
Body 112 folds and rotates.
3rd sub-body 121 is 0 °～180 ° by the second attachment structure 14 relative to the slewing area of bearing 10, rotates
Direction sees the a2 direction in Fig. 3 B, it is possible to for the reverse direction in a2 direction；4th sub-body 122 is by the 4th attachment structure 123
Being 0 °～360 ° relative to the slewing area of the 3rd sub-body 121, direction of rotation sees the b2 direction in Fig. 3 B, it is possible to for b2 side
To reverse direction；One the 6th sub-body 125 is rotatably connected with the 4th sub-body 122 by the 6th attachment structure 124,
Slewing area is 0 °～360 °, is specially from the page to outside the page or from the page extroversion page, to the 4th sub-body 122 folding
Folded rotation；Another the 6th sub-body 125 is rotatable with previous 6th sub-body 125 by another the 6th attachment structure 124
Connecting, slewing area is 0 °～360 °, and direction of rotation sees the b2 direction in Fig. 3 B, it is possible to for the reverse direction in b2 direction；Another
Individual 6th sub-body 125 or be rotatably connected with the 3rd sub-body 121 by another the 6th attachment structure 124, slewing area
Being 0 °～360 °, slewing area is 0 °～360 °, is specially from the page to outside the page or from the page extroversion page, to the 3rd
Sub-body 121 folds and rotates.
Above-mentioned first sub-body the 111, second sub-body the 112, the 3rd sub-body 122 of sub-body the 121, the 4th, at least one
5th sub-body 115 and at least one the 6th sub-body 125 also have other connected mode, can foundation in actual mechanical process
Depending on concrete condition, it is not especially limited here.
Further, referring still to Fig. 5, first sub-body 111, second 112, two the 5th sub-bodies 115 of sub-body divide
It is not provided with different types of sensor unit sensor_A, sensor_B, sensor_C, sensor_D (sensor unit class
Type is selected from optical sensor unit, electromagnetic sensor unit and acoustic transducer element), same, the second sub-body 121, the
Also be respectively arranged with on three 122, two the 6th sub-bodies 125 of sub-body different types of sensor unit sensor_A,
sensor_B、sensor_C、sensor_D。
In specific implementation process, control to adjust first sub-body the 111, second sub-body the 112, the 3rd by controller 15
Each height in the sub-body 122 of sub-body the 121, the 4th, at least one the 5th sub-body 115 and at least one the 6th sub-body 125
Body, relative to the orientation of measurand and angle, carries out comprehensive, multi-angle detection to measurand.
In sum, by using the many ripples detection in the embodiment of the present application at least to possess techniques below effect with imaging system
Really:
1) detection of this programme many ripples and imaging system, sensor unit includes optical sensor unit, electromagnetic sensor list
Unit and acoustic transducer element etc., i.e. support multiple waveforms detection and imaging, and system structure is the most adjustable, it is possible at available light
Obscure or exist, under the bad scenarios hindering thing, mobile measurand is carried out image detection, it is thus achieved that the direction number of measurand
According to, range data, altitude information, material composition data and shape data etc., image detection is respond well, it is possible to meet unmanned
The real time environment identification driven and imaging demand.
2) detection of this programme many ripples uses infrared sensor unit with imaging system, can be not only used for range finding, can be used for again
Image detection is carried out in the case of evening or dark.When infrared sensor uses latticed form, detectivity is higher.
3) detection of this programme many ripples and imaging system use the microwave remote sensor of multiple quarter-wave aerial, can basis
The distance of measurand distance native system, selects the microwave remote sensor list controlling have different quarter-wave aerial
Unit's work, thus in the case of microwave remote sensor antenna gain is optimal, measurand is tracked detection, it is possible to it is suitable for quilt
Surveying the situation that object quickly moves, resolution is higher, and imaging effect is more preferable.
4) in the detection of this programme many ripples with imaging system, the body being used for arranging sensor unit is multiple, and each
Connected by rotating attachment structure between body, it is possible to convert different measurement angles, it is achieved from different perspectives to same quilt
Survey object to detect, to detect its stereo-picture.And the detection of this programme many ripples is symmetrical structure with imaging system, be conducive to fall
The computation complexity of low signal processing unit.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and amendment to these embodiments.So, claims are intended to be construed to include excellent
Select embodiment and fall into all changes and the amendment of the scope of the invention.
Obviously, those skilled in the art can carry out various change and the modification essence without deviating from the present invention to the present invention
God and scope.So, if these amendments of the present invention and modification belong to the scope of the claims in the present invention and equivalent technologies thereof
Within, then the present invention is also intended to comprise these change and modification.
Claims (9)
1. the detection of ripple more than a kind and imaging system, it is characterised in that including:
Bearing (10)；
About described bearing (10) symmetrically arranged the first noumenon (11) and the second body (12)；Described the first noumenon (11) and institute
State the second body (12) rotatable with described bearing (10) by the first attachment structure (13) and the second attachment structure (14) respectively
Connect；
Be separately positioned on described the first noumenon (11) and described second body (12) upper and about described bearing (10) symmetrical the
One sensor cluster (110) and the second sensor cluster (120)；Described first sensor assembly (110) and described second sensing
Device assembly (120) all includes the sensor for detecting multiple waveforms signal；
The detection of described many ripples also includes with imaging system: with described first sensor assembly (110), described second sensor cluster
(120), the controller (15) that connects of described the first noumenon (11) and described second body (12), with described controller (15), institute
State first sensor assembly (110) and signal processing unit (16) that the second sensor cluster (120) connects；
Described controller (15) is for according to detection demand, controlling described the first noumenon (11) relative with described second body (12)
Rotate in described bearing (10), to adjust the angle between described the first noumenon (11) and described second body (12), same to time control
Make at least one working sensor in described first sensor assembly (110) and described second sensor cluster (120), with to quilt
Survey object to detect, and obtain detection data；
Described signal processing unit (16) is for processing described detection data, to obtain view data, and by described figure
As data output shows to display device.
Many ripples the most as claimed in claim 1 detection and imaging system, it is characterised in that described first sensor assembly (110)
The most at least include with described second sensor cluster (120): optical sensor unit, electromagnetic sensor unit and sonic sensor
Unit.
Many ripples the most as claimed in claim 1 detection and imaging system, it is characterised in that described the first noumenon (11) including: the
One sub-body (111), the second sub-body (112) and the 3rd attachment structure (113)；
Described first sub-body (111) is connected with described bearing (10) by described first attachment structure (13), described second son
Body (112) is rotatably connected with described first sub-body (111) by described 3rd attachment structure (113).
Many ripples the most as claimed in claim 3 detection and imaging system, it is characterised in that described second body (12) including: the
Three sub-bodies (121), the 4th sub-body (122) and the 4th attachment structure (123)；
Described 3rd sub-body (121) is connected with described bearing (10) by described second attachment structure (14), described 4th son
Body (122) is rotatably connected with described 3rd sub-body (121) by described 4th attachment structure (123).
Many ripples the most as claimed in claim 4 detection and imaging system, it is characterised in that described second sub-body (112) passes through
Described 3rd attachment structure (113) is 0 °～360 ° relative to the slewing area of described first sub-body (111), described 4th son
Body (122) by described 4th attachment structure (123) relative to the slewing area of described 3rd sub-body (121) be 0 °～
360°。
Many ripples the most as claimed in claim 1 detection and imaging system, it is characterised in that described the first noumenon (11) is by described
First attachment structure (13) is 0 °～180 ° relative to the slewing area of described bearing (10), and described second body (12) passes through institute
Stating the second attachment structure (14) relative to the slewing area of described bearing (10) is 0 °～180 °.
Many ripples the most as claimed in claim 3 detection and imaging system, it is characterised in that described the first noumenon (11) also includes:
At least one the 5th attachment structure (114) and at least one the 5th sub-body (115)；
At least one the 5th sub-body (115) described is by least one the 5th attachment structure (114) described and described first son
Body (111) or described second sub-body (112) are rotatably connected.
Many ripples the most as claimed in claim 7 detection and imaging system, it is characterised in that described second body (12) also includes:
At least one the 6th attachment structure (124) and at least one the 6th sub-body (125)；
At least one the 6th sub-body (125) described is by least one the 6th attachment structure (124) described and described 3rd son
Body (121) or described 4th sub-body (122) are rotatably connected.
Many ripples the most as claimed in claim 1 detection and imaging system, it is characterised in that described first sensor assembly (110)
Multiple microwave remote sensor unit, and described multiple microwave remote sensor unit is included respectively with described second sensor cluster (120)
One_to_one corresponding includes multiple quarter-wave antenna.
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